Merge remote-tracking branch 'origin/master' into multiarch
authorKeith Packard <keithp@keithp.com>
Fri, 7 Oct 2011 14:34:59 +0000 (08:34 -0600)
committerKeith Packard <keithp@keithp.com>
Fri, 7 Oct 2011 14:34:59 +0000 (08:34 -0600)
Conflicts:
configure.ac

Fix version number and location of ao.h header

250 files changed:
altosui/Altos.java
altosui/AltosBTDevice.java
altosui/AltosCSVUI.java
altosui/AltosConfig.java
altosui/AltosConfigureUI.java
altosui/AltosDataChooser.java
altosui/AltosDevice.java
altosui/AltosDeviceDialog.java
altosui/AltosEepromDownload.java
altosui/AltosEepromManage.java
altosui/AltosFlashUI.java
altosui/AltosIgniteUI.java
altosui/AltosLanded.java
altosui/AltosLaunch.java [new file with mode: 0644]
altosui/AltosLaunchUI.java [new file with mode: 0644]
altosui/AltosPreferences.java
altosui/AltosScanUI.java
altosui/AltosSerial.java
altosui/AltosUI.java
altosui/AltosUSBDevice.java
altosui/Makefile.am
altosui/libaltos/libaltos.c
altosui/libaltos/libaltos.h
configure.ac
src/25lc1024.h [deleted file]
src/Makefile
src/Makefile.proto [deleted file]
src/_bp.c [deleted file]
src/altitude.h [deleted file]
src/ao-make-product.5c [deleted file]
src/ao.h [deleted file]
src/ao_adc.c [deleted file]
src/ao_adc_fake.c [deleted file]
src/ao_aes.c [new file with mode: 0644]
src/ao_beep.c [deleted file]
src/ao_btm.c [deleted file]
src/ao_cmd.c [deleted file]
src/ao_companion.c [deleted file]
src/ao_config.c [deleted file]
src/ao_convert.c [deleted file]
src/ao_convert_test.c [deleted file]
src/ao_dbg.c [deleted file]
src/ao_dma.c [deleted file]
src/ao_ee.c [deleted file]
src/ao_ee_fake.c [deleted file]
src/ao_flash.c [deleted file]
src/ao_flight.c [deleted file]
src/ao_flight_nano.c [deleted file]
src/ao_flight_test.c [deleted file]
src/ao_gps_print.c [deleted file]
src/ao_gps_report.c [deleted file]
src/ao_gps_sirf.c [deleted file]
src/ao_gps_skytraq.c [deleted file]
src/ao_gps_test.c [deleted file]
src/ao_gps_test_skytraq.c [deleted file]
src/ao_host.h [deleted file]
src/ao_ignite.c [deleted file]
src/ao_intflash.c [deleted file]
src/ao_kalman.c [deleted file]
src/ao_led.c [deleted file]
src/ao_log.c [deleted file]
src/ao_log_big.c [deleted file]
src/ao_log_telem.c [deleted file]
src/ao_log_tiny.c [deleted file]
src/ao_m25.c [deleted file]
src/ao_main.c [deleted file]
src/ao_monitor.c [deleted file]
src/ao_mutex.c [deleted file]
src/ao_packet.c [deleted file]
src/ao_packet_master.c [deleted file]
src/ao_packet_slave.c [deleted file]
src/ao_panic.c [deleted file]
src/ao_pins.h [deleted file]
src/ao_product.c [deleted file]
src/ao_radio.c [deleted file]
src/ao_radio_cmac.c [new file with mode: 0644]
src/ao_reboot.c [deleted file]
src/ao_report.c [deleted file]
src/ao_romconfig.c [deleted file]
src/ao_rssi.c [deleted file]
src/ao_sample.c [deleted file]
src/ao_serial.c [deleted file]
src/ao_spi.c [deleted file]
src/ao_state.c [deleted file]
src/ao_stdio.c [deleted file]
src/ao_storage.c [deleted file]
src/ao_task.c [deleted file]
src/ao_telebt.c [deleted file]
src/ao_teledongle.c [deleted file]
src/ao_telelaunch.c [new file with mode: 0644]
src/ao_telem.h [deleted file]
src/ao_telemetrum.c [deleted file]
src/ao_telemetry.c [deleted file]
src/ao_telemini.c [deleted file]
src/ao_telenano.c [deleted file]
src/ao_teleterra.c [deleted file]
src/ao_test.c [deleted file]
src/ao_tidongle.c [deleted file]
src/ao_timer.c [deleted file]
src/ao_usb.c [deleted file]
src/ao_usb.h [deleted file]
src/at45db161d.h [deleted file]
src/avr-demo/Makefile [new file with mode: 0644]
src/avr-demo/ao_demo.c [new file with mode: 0644]
src/avr/ao_adc_avr.c [new file with mode: 0644]
src/avr/ao_arch.h [new file with mode: 0644]
src/avr/ao_avr_stdio.c [new file with mode: 0644]
src/avr/ao_clock.c [new file with mode: 0644]
src/avr/ao_debug_avr.c [new file with mode: 0644]
src/avr/ao_led.c [new file with mode: 0644]
src/avr/ao_pins.h [new file with mode: 0644]
src/avr/ao_romconfig.c [new file with mode: 0644]
src/avr/ao_serial_avr.c [new file with mode: 0644]
src/avr/ao_spi_slave.c [new file with mode: 0644]
src/avr/ao_spi_usart.c [new file with mode: 0644]
src/avr/ao_timer.c [new file with mode: 0644]
src/avr/ao_usb.h [new file with mode: 0644]
src/avr/ao_usb_avr.c [new file with mode: 0644]
src/cc1111.h [deleted file]
src/cc1111/Makefile.cc1111 [new file with mode: 0644]
src/cc1111/_bp.c [new file with mode: 0644]
src/cc1111/ao_adc.c [new file with mode: 0644]
src/cc1111/ao_arch.h [new file with mode: 0644]
src/cc1111/ao_beep.c [new file with mode: 0644]
src/cc1111/ao_dbg.c [new file with mode: 0644]
src/cc1111/ao_dma.c [new file with mode: 0644]
src/cc1111/ao_ignite.c [new file with mode: 0644]
src/cc1111/ao_intflash.c [new file with mode: 0644]
src/cc1111/ao_launch.c [new file with mode: 0644]
src/cc1111/ao_led.c [new file with mode: 0644]
src/cc1111/ao_packet.c [new file with mode: 0644]
src/cc1111/ao_packet_master.c [new file with mode: 0644]
src/cc1111/ao_packet_slave.c [new file with mode: 0644]
src/cc1111/ao_pins.h [new file with mode: 0644]
src/cc1111/ao_radio.c [new file with mode: 0644]
src/cc1111/ao_reboot.c [new file with mode: 0644]
src/cc1111/ao_romconfig.c [new file with mode: 0644]
src/cc1111/ao_serial.c [new file with mode: 0644]
src/cc1111/ao_spi.c [new file with mode: 0644]
src/cc1111/ao_timer.c [new file with mode: 0644]
src/cc1111/ao_usb.c [new file with mode: 0644]
src/cc1111/ao_usb.h [new file with mode: 0644]
src/cc1111/cc1111.h [new file with mode: 0644]
src/check-stack [deleted file]
src/core/altitude.h [new file with mode: 0644]
src/core/ao.h [new file with mode: 0644]
src/core/ao_cmd.c [new file with mode: 0644]
src/core/ao_config.c [new file with mode: 0644]
src/core/ao_convert.c [new file with mode: 0644]
src/core/ao_convert_test.c [new file with mode: 0644]
src/core/ao_ee_fake.c [new file with mode: 0644]
src/core/ao_flight.c [new file with mode: 0644]
src/core/ao_flight_nano.c [new file with mode: 0644]
src/core/ao_gps_print.c [new file with mode: 0644]
src/core/ao_gps_report.c [new file with mode: 0644]
src/core/ao_host.h [new file with mode: 0644]
src/core/ao_kalman.c [new file with mode: 0644]
src/core/ao_log.c [new file with mode: 0644]
src/core/ao_log_big.c [new file with mode: 0644]
src/core/ao_log_single.c [new file with mode: 0644]
src/core/ao_log_telem.c [new file with mode: 0644]
src/core/ao_log_telescience.c [new file with mode: 0644]
src/core/ao_log_tiny.c [new file with mode: 0644]
src/core/ao_monitor.c [new file with mode: 0644]
src/core/ao_mutex.c [new file with mode: 0644]
src/core/ao_panic.c [new file with mode: 0644]
src/core/ao_product.c [new file with mode: 0644]
src/core/ao_report.c [new file with mode: 0644]
src/core/ao_rssi.c [new file with mode: 0644]
src/core/ao_sample.c [new file with mode: 0644]
src/core/ao_state.c [new file with mode: 0644]
src/core/ao_stdio.c [new file with mode: 0644]
src/core/ao_storage.c [new file with mode: 0644]
src/core/ao_task.c [new file with mode: 0644]
src/core/ao_telem.h [new file with mode: 0644]
src/core/ao_telemetry.c [new file with mode: 0644]
src/drivers/ao_25lc1024.c [new file with mode: 0644]
src/drivers/ao_25lc1024.h [new file with mode: 0644]
src/drivers/ao_at45db161d.c [new file with mode: 0644]
src/drivers/ao_at45db161d.h [new file with mode: 0644]
src/drivers/ao_btm.c [new file with mode: 0644]
src/drivers/ao_companion.c [new file with mode: 0644]
src/drivers/ao_gps_sirf.c [new file with mode: 0644]
src/drivers/ao_gps_skytraq.c [new file with mode: 0644]
src/drivers/ao_lcd.c [new file with mode: 0644]
src/drivers/ao_m25.c [new file with mode: 0644]
src/drivers/ao_pyro_slave.c [new file with mode: 0644]
src/drivers/ao_science_slave.c [new file with mode: 0644]
src/gps-cksum [deleted file]
src/make-altitude [deleted file]
src/make-kalman [deleted file]
src/product/Makefile.telebt [new file with mode: 0644]
src/product/Makefile.teledongle [new file with mode: 0644]
src/product/Makefile.telelaunch [new file with mode: 0644]
src/product/Makefile.telemetrum [new file with mode: 0644]
src/product/Makefile.telemini [new file with mode: 0644]
src/product/Makefile.telenano [new file with mode: 0644]
src/product/ao_telebt.c [new file with mode: 0644]
src/product/ao_teledongle.c [new file with mode: 0644]
src/product/ao_telemetrum.c [new file with mode: 0644]
src/product/ao_telemini.c [new file with mode: 0644]
src/product/ao_telenano.c [new file with mode: 0644]
src/product/ao_telepyro.c [new file with mode: 0644]
src/product/ao_telescience.c [new file with mode: 0644]
src/product/ao_teleterra.c [new file with mode: 0644]
src/product/ao_test.c [new file with mode: 0644]
src/product/ao_tidongle.c [new file with mode: 0644]
src/sirf-cksum [deleted file]
src/skytraq-cksum [deleted file]
src/telebt-v0.0/Makefile
src/telebt-v0.0/Makefile.defs [deleted file]
src/telebt-v0.1/Makefile
src/telebt-v0.1/Makefile.defs [deleted file]
src/teledongle-v0.1/.sdcdbrc [new file with mode: 0644]
src/teledongle-v0.1/Makefile
src/teledongle-v0.1/Makefile.defs [deleted file]
src/teledongle-v0.2/Makefile
src/teledongle-v0.2/Makefile.defs [deleted file]
src/telelaunch-v0.1/.gitignore [new file with mode: 0644]
src/telelaunch-v0.1/.sdcdbrc [new file with mode: 0644]
src/telelaunch-v0.1/Makefile [new file with mode: 0644]
src/telelaunch-v0.1/Makefile.defs [new file with mode: 0644]
src/telemetrum-v0.1-sirf/Makefile
src/telemetrum-v0.1-sirf/Makefile.defs [deleted file]
src/telemetrum-v0.1-sky/Makefile
src/telemetrum-v0.1-sky/Makefile.defs [deleted file]
src/telemetrum-v1.0/Makefile
src/telemetrum-v1.0/Makefile.defs [deleted file]
src/telemetrum-v1.1/Makefile
src/telemetrum-v1.1/Makefile.defs [deleted file]
src/telemini-v1.0/Makefile
src/telemini-v1.0/Makefile.defs [deleted file]
src/telenano-v0.1/Makefile
src/telenano-v0.1/Makefile.defs [deleted file]
src/telepyro-v0.1/Makefile [new file with mode: 0644]
src/telescience-v0.1/Makefile [new file with mode: 0644]
src/test/Makefile
src/test/ao_flight_test.c [new file with mode: 0644]
src/test/ao_gps_test.c [new file with mode: 0644]
src/test/ao_gps_test_skytraq.c [new file with mode: 0644]
src/tidongle/Makefile
src/tidongle/Makefile.defs [deleted file]
src/util/ao-make-product.5c [new file with mode: 0644]
src/util/check-avr-mem [new file with mode: 0644]
src/util/check-stack [new file with mode: 0755]
src/util/gps-cksum [new file with mode: 0755]
src/util/make-altitude [new file with mode: 0644]
src/util/make-kalman [new file with mode: 0644]
src/util/sirf-cksum [new file with mode: 0755]
src/util/skytraq-cksum [new file with mode: 0644]

index e4f974f9bedd22dc43b6aaf74a99052cc3133aa6..aa2fd77af1df35b7d44cee6fe4c6c973eb4d474c 100644 (file)
@@ -498,5 +498,5 @@ public class Altos {
 
        public final static String bt_product_telebt = bt_product_telebt();
 
-//     public static AltosBTKnown bt_known = new AltosBTKnown();
+       public static AltosBTKnown bt_known = new AltosBTKnown();
 }
index 7a876c25feae21ee3a56d2a4ccae372ddfd4e50b..55b8f8fc8bf5f28c2b7f848bbe56bf9b2434ff17 100644 (file)
@@ -42,6 +42,13 @@ public class AltosBTDevice extends altos_bt_device implements AltosDevice {
                return getAddr();
        }
 
+       public String getErrorString() {
+               altos_error     error = new altos_error();
+
+               libaltos.altos_get_last_error(error);
+               return String.format("%s (%d)", error.getString(), error.getCode());
+       }
+
        public int getSerial() {
                String name = getName();
                if (name == null)
index e1b6002dfa23235d08a1fb5ae4a92a537be5e15e..a212409ee83e3fc4f60aaa6d361a39cd87e15fc3 100644 (file)
@@ -99,7 +99,7 @@ public class AltosCSVUI
                                writer.close();
                        } catch (FileNotFoundException ee) {
                                JOptionPane.showMessageDialog(frame,
-                                                             file.getName(),
+                                                             ee.getMessage(),
                                                              "Cannot open file",
                                                              JOptionPane.ERROR_MESSAGE);
                        }
index 122ebeccf88d449800286f569a84026e962a5cfb..93def70daaad2e527616da648c4384187d152c95 100644 (file)
@@ -480,8 +480,7 @@ public class AltosConfig implements ActionListener {
                                }
                        } catch (FileNotFoundException ee) {
                                JOptionPane.showMessageDialog(owner,
-                                                             String.format("Cannot open device \"%s\"",
-                                                                           device.toShortString()),
+                                                             ee.getMessage(),
                                                              "Cannot open target device",
                                                              JOptionPane.ERROR_MESSAGE);
                        } catch (AltosSerialInUseException si) {
index bcb9636bd3e176be858479e2d753fde299435c70..980068c0076fa4b867cb992269518f248fa48918 100644 (file)
@@ -52,8 +52,7 @@ public class AltosConfigureUI
 
        JRadioButton    serial_debug;
 
-// BLUETOOTH
-//     JButton         manage_bluetooth;
+       JButton         manage_bluetooth;
        JButton         manage_frequencies;
 
        final static String[] font_size_names = { "Small", "Medium", "Large" };
@@ -241,19 +240,18 @@ public class AltosConfigureUI
                c.anchor = GridBagConstraints.WEST;
                pane.add(serial_debug, c);
 
-// BLUETOOTH
-//             manage_bluetooth = new JButton("Manage Bluetooth");
-//             manage_bluetooth.addActionListener(new ActionListener() {
-//                             public void actionPerformed(ActionEvent e) {
-//                                     AltosBTManage.show(owner, Altos.bt_known);
-//                             }
-//                     });
-//             c.gridx = 0;
-//             c.gridy = row++;
-//             c.gridwidth = 2;
-//             c.fill = GridBagConstraints.NONE;
-//             c.anchor = GridBagConstraints.WEST;
-//             pane.add(manage_bluetooth, c);
+               manage_bluetooth = new JButton("Manage Bluetooth");
+               manage_bluetooth.addActionListener(new ActionListener() {
+                               public void actionPerformed(ActionEvent e) {
+                                       AltosBTManage.show(owner, Altos.bt_known);
+                               }
+                       });
+               c.gridx = 0;
+               c.gridy = row;
+               c.gridwidth = 2;
+               c.fill = GridBagConstraints.NONE;
+               c.anchor = GridBagConstraints.WEST;
+               pane.add(manage_bluetooth, c);
 
                manage_frequencies = new JButton("Manage Frequencies");
                manage_frequencies.addActionListener(new ActionListener() {
@@ -262,9 +260,8 @@ public class AltosConfigureUI
                                }
                        });
                manage_frequencies.setToolTipText("Configure which values are shown in frequency menus");
-// BLUETOOTH
-//             c.gridx = 2;
-               c.gridx = 1;
+               c.gridx = 2;
+               c.gridx = 2;
                c.gridy = row++;
                c.gridwidth = 2;
                c.fill = GridBagConstraints.NONE;
index 15de05c2bb510723dabbe22704cbc41d55e57dad..d81ca6d1a128aa009c7420e0f9a67f96901ae4f4 100644 (file)
@@ -61,7 +61,7 @@ public class AltosDataChooser extends JFileChooser {
                                }
                        } catch (FileNotFoundException fe) {
                                JOptionPane.showMessageDialog(frame,
-                                                             filename,
+                                                             fe.getMessage(),
                                                              "Cannot open file",
                                                              JOptionPane.ERROR_MESSAGE);
                        }
index 3357c550fa632ab66c8f73773ae15849b3605c77..1b5c1a91bf76ec83b52d13bab659855b0eb7a310 100644 (file)
@@ -26,5 +26,6 @@ public interface AltosDevice {
        public abstract int getSerial();
        public abstract String getPath();
        public abstract boolean matchProduct(int product);
+       public abstract String getErrorString();
        public SWIGTYPE_p_altos_file open();
 }
index fa9587bc8d48d2b895c0c6b8e0c5754d9c99efff..610bb73e76dfbae75fc6ab59c5b9f85755e7c477 100644 (file)
@@ -30,8 +30,7 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
        private JList           list;
        private JButton         cancel_button;
        private JButton         select_button;
-// BLUETOOTH
-//     private JButton         manage_bluetooth_button;
+       private JButton         manage_bluetooth_button;
        private Frame           frame;
        private int             product;
 
@@ -42,17 +41,15 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
        private AltosDevice[] devices() {
                java.util.List<AltosDevice>     usb_devices = AltosUSBDevice.list(product);
                int                             num_devices = usb_devices.size();
-// BLUETOOTH
-//             java.util.List<AltosDevice>     bt_devices = Altos.bt_known.list(product);
-//             num_devices += bt_devices.size();
+               java.util.List<AltosDevice>     bt_devices = Altos.bt_known.list(product);
+               num_devices += bt_devices.size();
                AltosDevice[]                   devices = new AltosDevice[num_devices];
 
                for (int i = 0; i < usb_devices.size(); i++)
                        devices[i] = usb_devices.get(i);
-// BLUETOOTH
-//             int off = usb_devices.size();
-//             for (int j = 0; j < bt_devices.size(); j++)
-//                     devices[off + j] = bt_devices.get(j);
+               int off = usb_devices.size();
+               for (int j = 0; j < bt_devices.size(); j++)
+                       devices[off + j] = bt_devices.get(j);
                return devices;
        }
 
@@ -75,10 +72,9 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
                cancel_button.setActionCommand("cancel");
                cancel_button.addActionListener(this);
 
-// BLUETOOTH
-//             manage_bluetooth_button = new JButton("Manage Bluetooth");
-//             manage_bluetooth_button.setActionCommand("manage");
-//             manage_bluetooth_button.addActionListener(this);
+               manage_bluetooth_button = new JButton("Manage Bluetooth");
+               manage_bluetooth_button.setActionCommand("manage");
+               manage_bluetooth_button.addActionListener(this);
 
                select_button = new JButton("Select");
                select_button.setActionCommand("select");
@@ -152,8 +148,7 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
                buttonPane.add(Box.createHorizontalGlue());
                buttonPane.add(cancel_button);
                buttonPane.add(Box.createRigidArea(new Dimension(10, 0)));
-// BLUETOOTH
-//             buttonPane.add(manage_bluetooth_button);
+               buttonPane.add(manage_bluetooth_button);
                buttonPane.add(Box.createRigidArea(new Dimension(10, 0)));
                buttonPane.add(select_button);
 
@@ -173,12 +168,11 @@ public class AltosDeviceDialog extends JDialog implements ActionListener {
        public void actionPerformed(ActionEvent e) {
                if ("select".equals(e.getActionCommand()))
                        value = (AltosDevice)(list.getSelectedValue());
-// BLUETOOTH
-//             if ("manage".equals(e.getActionCommand())) {
-//                     AltosBTManage.show(frame, Altos.bt_known);
-//                     update_devices();
-//                     return;
-//             }
+               if ("manage".equals(e.getActionCommand())) {
+                       AltosBTManage.show(frame, Altos.bt_known);
+                       update_devices();
+                       return;
+               }
                setVisible(false);
        }
 
index 358ad337900e204435726f005cd529a299fc20ab..e7e52466b71b24cd577036e18b51dde4bcf8a3e7 100644 (file)
@@ -248,6 +248,10 @@ public class AltosEepromDownload implements Runnable {
                        done = true;
        }
 
+       void CaptureTelemetry(AltosEepromChunk eechunk) throws IOException {
+               
+       }
+
        void CaptureLog(AltosEepromLog log) throws IOException, InterruptedException, TimeoutException {
                int                     block, state_block = 0;
                int                     log_format = flights.config_data.log_format;
@@ -300,10 +304,10 @@ public class AltosEepromDownload implements Runnable {
                                extension = "eeprom";
                                CaptureTiny(eechunk);
                                break;
-//                     case Altos.AO_LOG_FORMAT_TELEMETRY:
-//                             extension = "telem";
-//                             CaptureTelemetry(eechunk);
-//                             break;
+                       case Altos.AO_LOG_FORMAT_TELEMETRY:
+                               extension = "telem";
+                               CaptureTelemetry(eechunk);
+                               break;
                        case Altos.AO_LOG_FORMAT_TELESCIENCE:
                                extension = "science";
                                CaptureTeleScience(eechunk);
index 2e5206280b1e308e5aef46d5358faefc4b769835..083c73725d44e4f2fa928ce8532b2fd8f7bb363d 100644 (file)
@@ -219,8 +219,7 @@ public class AltosEepromManage implements ActionListener {
                                t.start();
                        } catch (FileNotFoundException ee) {
                                JOptionPane.showMessageDialog(frame,
-                                                             String.format("Cannot open device \"%s\"",
-                                                                           device.toShortString()),
+                                                             ee.getMessage(),
                                                              "Cannot open target device",
                                                              JOptionPane.ERROR_MESSAGE);
                        } catch (AltosSerialInUseException si) {
index 3874b5004995cb0269a612005b2949783f2747de..3956ff20a94789d99148df23fdda1455e9aa0beb 100644 (file)
@@ -200,8 +200,8 @@ public class AltosFlashUI
        void exception (Exception e) {
                if (e instanceof FileNotFoundException) {
                        JOptionPane.showMessageDialog(frame,
-                                                     "Cannot open image",
-                                                     file.toString(),
+                                                     ((FileNotFoundException) e).getMessage(),
+                                                     "Cannot open file",
                                                      JOptionPane.ERROR_MESSAGE);
                } else if (e instanceof AltosSerialInUseException) {
                        JOptionPane.showMessageDialog(frame,
index c11a86145ce1a68b0d8768cfa75a920469f25272..b215c22865604fd0631109e5b03b6ecd8000f6df 100644 (file)
@@ -122,8 +122,7 @@ public class AltosIgniteUI
        void ignite_exception(Exception e) {
                if (e instanceof FileNotFoundException) {
                        JOptionPane.showMessageDialog(owner,
-                                                     String.format("Cannot open device \"%s\"",
-                                                                   device.toShortString()),
+                                                     ((FileNotFoundException) e).getMessage(),
                                                      "Cannot open target device",
                                                      JOptionPane.ERROR_MESSAGE);
                } else if (e instanceof AltosSerialInUseException) {
index 50e6b542f0501093938614b2b4bc4794f0558a8e..4dd9a2dddd7dfe19295db71d8d68c17f0b654dd5 100644 (file)
@@ -250,7 +250,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
                                                FileInputStream in = new FileInputStream(file);
                                                records = new AltosTelemetryIterable(in);
                                        } else {
-                                               throw new FileNotFoundException();
+                                               throw new FileNotFoundException(filename);
                                        }
                                        try {
                                                new AltosGraphUI(records, filename);
@@ -259,7 +259,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio
                                        }
                                } catch (FileNotFoundException fe) {
                                        JOptionPane.showMessageDialog(null,
-                                                                     filename,
+                                                                     fe.getMessage(),
                                                                      "Cannot open file",
                                                                      JOptionPane.ERROR_MESSAGE);
                                }
diff --git a/altosui/AltosLaunch.java b/altosui/AltosLaunch.java
new file mode 100644 (file)
index 0000000..77f681b
--- /dev/null
@@ -0,0 +1,201 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.io.*;
+import java.util.concurrent.*;
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import javax.swing.event.*;
+
+public class AltosLaunch {
+       AltosDevice     device;
+       AltosSerial     serial;
+       boolean         serial_started;
+       int             launcher_serial;
+       int             launcher_channel;
+       int             rssi;
+
+       final static int        Unknown = -1;
+       final static int        Good = 0;
+       final static int        Bad = 1;
+
+       int             armed;
+       int             igniter;
+
+       private void start_serial() throws InterruptedException {
+               serial_started = true;
+       }
+
+       private void stop_serial() throws InterruptedException {
+               if (!serial_started)
+                       return;
+               serial_started = false;
+               if (serial == null)
+                       return;
+       }
+
+       class string_ref {
+               String  value;
+
+               public String get() {
+                       return value;
+               }
+               public void set(String i) {
+                       value = i;
+               }
+               public string_ref() {
+                       value = null;
+               }
+       }
+
+       private boolean get_string(String line, String label, string_ref s) {
+               if (line.startsWith(label)) {
+                       String  quoted = line.substring(label.length()).trim();
+
+                       if (quoted.startsWith("\""))
+                               quoted = quoted.substring(1);
+                       if (quoted.endsWith("\""))
+                               quoted = quoted.substring(0,quoted.length()-1);
+                       s.set(quoted);
+                       return true;
+               } else {
+                       return false;
+               }
+       }
+
+       public boolean status() throws InterruptedException, TimeoutException {
+               boolean ok = false;
+               if (serial == null)
+                       return false;
+               string_ref status_name = new string_ref();
+               start_serial();
+               serial.printf("l %d %d\n", launcher_serial, launcher_channel);
+               for (;;) {
+                       String line = serial.get_reply(20000);
+                       if (line == null)
+                               throw new TimeoutException();
+                       if (get_string(line, "Rssi: ", status_name)) {
+                               try {
+                                       rssi = Altos.fromdec(status_name.get());
+                               } catch (NumberFormatException ne) {
+                               }
+                               break;
+                       } else if (get_string(line, "Armed: ", status_name)) {
+                               armed = Good;
+                               String status = status_name.get();
+                               if (status.startsWith("igniter good"))
+                                       igniter = Good;
+                               else if (status.startsWith("igniter bad"))
+                                       igniter = Bad;
+                               else
+                                       igniter = Unknown;
+                               ok = true;
+                       } else if (get_string(line, "Disarmed: ", status_name)) {
+                               armed = Bad;
+                               if (status_name.get().startsWith("igniter good"))
+                                       igniter = Good;
+                               else if (status_name.get().startsWith("igniter bad"))
+                                       igniter = Bad;
+                               else
+                                       igniter = Unknown;
+                               ok = true;
+                       } else if (get_string(line, "Error ", status_name)) {
+                               armed = Unknown;
+                               igniter = Unknown;
+                               ok = false;
+                               break;
+                       }
+               }
+               stop_serial();
+               if (!ok) {
+                       armed = Unknown;
+                       igniter = Unknown;
+               }
+               return ok;
+       }
+
+       public static String status_string(int status) {
+               switch (status) {
+               case Good:
+                       return "good";
+               case Bad:
+                       return "open";
+               }
+               return "unknown";
+       }
+
+       public void arm() {
+               if (serial == null)
+                       return;
+               try {
+                       start_serial();
+                       serial.printf("a %d %d\n", launcher_serial, launcher_channel);
+                       serial.flush_output();
+               } catch (InterruptedException ie) {
+               } finally {
+                       try {
+                               stop_serial();
+                       } catch (InterruptedException ie) {
+                       }
+               }
+       }
+
+       public void fire() {
+               if (serial == null)
+                       return;
+               try {
+                       start_serial();
+                       serial.printf("i %d %d\n", launcher_serial, launcher_channel);
+                       serial.flush_output();
+               } catch (InterruptedException ie) {
+               } finally {
+                       try {
+                               stop_serial();
+                       } catch (InterruptedException ie) {
+                       }
+               }
+       }
+
+       public void close() {
+               try {
+                       stop_serial();
+               } catch (InterruptedException ie) {
+               }
+               serial.close();
+               serial = null;
+       }
+
+       public void set_frame(Frame frame) {
+               serial.set_frame(frame);
+       }
+
+       public void set_remote(int in_serial, int in_channel) {
+               launcher_serial = in_serial;
+               launcher_channel = in_channel;
+       }
+
+       public AltosLaunch(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
+
+               device = in_device;
+               serial = new AltosSerial(device);
+       }
+}
\ No newline at end of file
diff --git a/altosui/AltosLaunchUI.java b/altosui/AltosLaunchUI.java
new file mode 100644 (file)
index 0000000..47365e0
--- /dev/null
@@ -0,0 +1,517 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import javax.swing.event.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+class FireButton extends JButton {
+       protected void processMouseEvent(MouseEvent e) {
+               super.processMouseEvent(e);
+               switch (e.getID()) {
+               case MouseEvent.MOUSE_PRESSED:
+                       if (actionListener != null)
+                               actionListener.actionPerformed(new ActionEvent(this, e.getID(), "fire_down"));
+                       break;
+               case MouseEvent.MOUSE_RELEASED:
+                       if (actionListener != null)
+                               actionListener.actionPerformed(new ActionEvent(this, e.getID(), "fire_up"));
+                       break;
+               }
+       }
+
+       public FireButton(String s) {
+               super(s);
+       }
+}
+
+public class AltosLaunchUI
+       extends JDialog
+       implements ActionListener
+{
+       AltosDevice     device;
+       JFrame          owner;
+       JLabel          label;
+
+       int             radio_channel;
+       JLabel          radio_channel_label;
+       JTextField      radio_channel_text;
+
+       int             launcher_serial;
+       JLabel          launcher_serial_label;
+       JTextField      launcher_serial_text;
+
+       int             launcher_channel;
+       JLabel          launcher_channel_label;
+       JTextField      launcher_channel_text;
+
+       JLabel          armed_label;
+       JLabel          armed_status_label;
+       JLabel          igniter;
+       JLabel          igniter_status_label;
+       JToggleButton   arm;
+       FireButton      fire;
+       javax.swing.Timer       arm_timer;
+       javax.swing.Timer       fire_timer;
+
+       boolean         firing;
+       boolean         armed;
+       int             armed_status;
+       int             igniter_status;
+       int             rssi;
+
+       final static int        arm_timeout = 1 * 1000;
+       final static int        fire_timeout = 250;
+
+       int             armed_count;
+
+       LinkedBlockingQueue<String>     command_queue;
+
+       class LaunchHandler implements Runnable {
+               AltosLaunch     launch;
+               JFrame          owner;
+
+               void send_exception(Exception e) {
+                       final Exception f_e = e;
+                       Runnable r = new Runnable() {
+                                       public void run() {
+                                               launch_exception(f_e);
+                                       }
+                               };
+                       SwingUtilities.invokeLater(r);
+               }
+
+               public void run () {
+                       try {
+                               launch = new AltosLaunch(device);
+                       } catch (Exception e) {
+                               send_exception(e);
+                               return;
+                       }
+                       launch.set_frame(owner);
+                       launch.set_remote(launcher_serial, launcher_channel);
+
+                       for (;;) {
+                               Runnable        r;
+
+                               try {
+                                       String          command = command_queue.take();
+                                       String          reply = null;
+
+                                       if (command.equals("get_status")) {
+                                               launch.status();
+                                               reply = "status";
+                                               armed_status = launch.armed;
+                                               igniter_status = launch.igniter;
+                                               rssi = launch.rssi;
+                                       } else if (command.equals("set_remote")) {
+                                               launch.set_remote(launcher_serial, launcher_channel);
+                                               reply = "remote set";
+                                       } else if (command.equals("arm")) {
+                                               launch.arm();
+                                               reply = "armed";
+                                       } else if (command.equals("fire")) {
+                                               launch.fire();
+                                               reply = "fired";
+                                       } else if (command.equals("quit")) {
+                                               launch.close();
+                                               break;
+                                       } else {
+                                               throw new ParseException(String.format("invalid command %s", command), 0);
+                                       }
+                                       final String f_reply = reply;
+                                       r = new Runnable() {
+                                                       public void run() {
+                                                               launch_reply(f_reply);
+                                                       }
+                                               };
+                                       SwingUtilities.invokeLater(r);
+                               } catch (Exception e) {
+                                       send_exception(e);
+                               }
+                       }
+               }
+
+               public LaunchHandler(JFrame in_owner) {
+                       owner = in_owner;
+               }
+       }
+
+       void launch_exception(Exception e) {
+               if (e instanceof FileNotFoundException) {
+                       JOptionPane.showMessageDialog(owner,
+                                                     ((FileNotFoundException) e).getMessage(),
+                                                     "Cannot open target device",
+                                                     JOptionPane.ERROR_MESSAGE);
+               } else if (e instanceof AltosSerialInUseException) {
+                       JOptionPane.showMessageDialog(owner,
+                                                     String.format("Device \"%s\" already in use",
+                                                                   device.toShortString()),
+                                                     "Device in use",
+                                                     JOptionPane.ERROR_MESSAGE);
+               } else if (e instanceof IOException) {
+                       IOException ee = (IOException) e;
+                       JOptionPane.showMessageDialog(owner,
+                                                     device.toShortString(),
+                                                     ee.getLocalizedMessage(),
+                                                     JOptionPane.ERROR_MESSAGE);
+               } else {
+                       JOptionPane.showMessageDialog(owner,
+                                                     String.format("Connection to \"%s\" failed",
+                                                                   device.toShortString()),
+                                                     "Connection Failed",
+                                                     JOptionPane.ERROR_MESSAGE);
+               }
+               close();
+       }
+
+       void launch_reply(String reply) {
+               if (reply == null)
+                       return;
+               if (reply.equals("remote set"))
+                       poll_launch_status();
+               if (reply.equals("status")) {
+                       set_launch_status();
+               }
+       }
+
+       void set_arm_text() {
+               if (arm.isSelected())
+                       arm.setText(String.format("%d", armed_count));
+               else
+                       arm.setText("Arm");
+       }
+
+       void start_arm_timer() {
+               armed_count = 30;
+               set_arm_text();
+       }
+
+       void stop_arm_timer() {
+               armed_count = 0;
+               armed = false;
+               arm.setSelected(false);
+               fire.setEnabled(false);
+               set_arm_text();
+       }
+
+       void cancel () {
+               fire.setEnabled(false);
+               firing = false;
+               stop_arm_timer();
+       }
+
+       void send_command(String command) {
+               try {
+                       command_queue.put(command);
+               } catch (Exception ex) {
+                       launch_exception(ex);
+               }
+       }
+
+       boolean getting_status = false;
+
+       void set_launch_status() {
+               getting_status = false;
+               armed_status_label.setText(String.format("\"%s\"", AltosLaunch.status_string(armed_status)));
+               igniter_status_label.setText(String.format("\"%s\"", AltosLaunch.status_string(igniter_status)));
+       }
+
+       void poll_launch_status() {
+               if (!getting_status && !firing && !armed) {
+                       getting_status = true;
+                       send_command("get_status");
+               }
+       }
+
+       void fired() {
+               firing = false;
+               cancel();
+       }
+
+       void close() {
+               send_command("quit");
+               arm_timer.stop();
+               setVisible(false);
+               dispose();
+       }
+
+       void tick_arm_timer() {
+               if (armed_count > 0) {
+                       --armed_count;
+                       if (armed_count <= 0) {
+                               armed_count = 0;
+                               cancel();
+                       } else {
+                               if (!firing) {
+                                       send_command("arm");
+                                       set_arm_text();
+                               }
+                       }
+               }
+               poll_launch_status();
+       }
+
+       void arm() {
+               if (arm.isSelected()) {
+                       fire.setEnabled(true);
+                       start_arm_timer();
+                       if (!firing)
+                               send_command("arm");
+                       armed = true;
+               } else
+                       cancel();
+       }
+
+       void fire_more() {
+               if (firing)
+                       send_command("fire");
+       }
+
+       void fire_down() {
+               if (arm.isEnabled() && arm.isSelected() && armed_count > 0) {
+                       firing = true;
+                       fire_more();
+                       fire_timer.restart();
+               }
+       }
+
+       void fire_up() {
+               firing = false;
+               fire_timer.stop();
+       }
+
+       void set_radio() {
+               try {
+                       radio_channel = Integer.parseInt(radio_channel_text.getText());
+               } catch (NumberFormatException ne) {
+                       radio_channel_text.setText(String.format("%d", radio_channel));
+               }
+       }
+
+       void set_serial() {
+               try {
+                       launcher_serial = Integer.parseInt(launcher_serial_text.getText());
+                       AltosPreferences.set_launcher_serial(launcher_serial);
+                       send_command("set_remote");
+               } catch (NumberFormatException ne) {
+                       launcher_serial_text.setText(String.format("%d", launcher_serial));
+               }
+       }
+
+       void set_channel() {
+               try {
+                       launcher_channel = Integer.parseInt(launcher_channel_text.getText());
+                       AltosPreferences.set_launcher_serial(launcher_channel);
+                       send_command("set_remote");
+               } catch (NumberFormatException ne) {
+                       launcher_channel_text.setText(String.format("%d", launcher_channel));
+               }
+       }
+
+       public void actionPerformed(ActionEvent e) {
+               String cmd = e.getActionCommand();
+               System.out.printf("cmd %s\n", cmd);
+               if (cmd.equals("armed") || cmd.equals("igniter")) {
+                       stop_arm_timer();
+               }
+
+               if (cmd.equals("arm"))
+                       arm();
+               if (cmd.equals("tick_arm"))
+                       tick_arm_timer();
+               if (cmd.equals("close"))
+                       close();
+               if (cmd.equals("fire_down"))
+                       fire_down();
+               if (cmd.equals("fire_up"))
+                       fire_up();
+               if (cmd.equals("tick_fire"))
+                       fire_more();
+               if (cmd.equals("new_serial"))
+                       set_serial();
+               if (cmd.equals("new_channel"))
+                       set_channel();
+       }
+
+       /* A window listener to catch closing events and tell the config code */
+       class ConfigListener extends WindowAdapter {
+               AltosLaunchUI   ui;
+
+               public ConfigListener(AltosLaunchUI this_ui) {
+                       ui = this_ui;
+               }
+
+               public void windowClosing(WindowEvent e) {
+                       ui.actionPerformed(new ActionEvent(e.getSource(),
+                                                          ActionEvent.ACTION_PERFORMED,
+                                                          "close"));
+               }
+       }
+
+       private boolean open() {
+               command_queue = new LinkedBlockingQueue<String>();
+
+               device = AltosDeviceDialog.show(owner, Altos.product_any);
+               if (device != null) {
+                               LaunchHandler   handler = new LaunchHandler(owner);
+                               Thread          t = new Thread(handler);
+                               t.start();
+                               return true;
+               }
+               return false;
+       }
+
+       public AltosLaunchUI(JFrame in_owner) {
+
+               launcher_channel = AltosPreferences.launcher_channel();
+               launcher_serial = AltosPreferences.launcher_serial();
+               owner = in_owner;
+               armed_status = AltosLaunch.Unknown;
+               igniter_status = AltosLaunch.Unknown;
+
+               if (!open())
+                       return;
+
+               Container               pane = getContentPane();
+               GridBagConstraints      c = new GridBagConstraints();
+               Insets                  i = new Insets(4,4,4,4);
+
+               arm_timer = new javax.swing.Timer(arm_timeout, this);
+               arm_timer.setActionCommand("tick_arm");
+               arm_timer.restart();
+
+               fire_timer = new javax.swing.Timer(fire_timeout, this);
+               fire_timer.setActionCommand("tick_fire");
+
+               owner = in_owner;
+
+               pane.setLayout(new GridBagLayout());
+
+               c.fill = GridBagConstraints.NONE;
+               c.anchor = GridBagConstraints.CENTER;
+               c.insets = i;
+               c.weightx = 1;
+               c.weighty = 1;
+
+               c.gridx = 0;
+               c.gridy = 0;
+               c.gridwidth = 2;
+               c.anchor = GridBagConstraints.CENTER;
+               label = new JLabel ("Launch Controller");
+               pane.add(label, c);
+
+               c.gridx = 0;
+               c.gridy = 1;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.WEST;
+               launcher_serial_label = new JLabel("Launcher Serial");
+               pane.add(launcher_serial_label, c);
+
+               c.gridx = 1;
+               c.gridy = 1;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.WEST;
+               launcher_serial_text = new JTextField(7);
+               launcher_serial_text.setText(String.format("%d", launcher_serial));
+               launcher_serial_text.setActionCommand("new_serial");
+               launcher_serial_text.addActionListener(this);
+               pane.add(launcher_serial_text, c);
+
+               c.gridx = 0;
+               c.gridy = 2;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.WEST;
+               launcher_channel_label = new JLabel("Launcher Channel");
+               pane.add(launcher_channel_label, c);
+
+               c.gridx = 1;
+               c.gridy = 2;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.WEST;
+               launcher_channel_text = new JTextField(7);
+               launcher_channel_text.setText(String.format("%d", launcher_channel));
+               launcher_channel_text.setActionCommand("new_channel");
+               launcher_channel_text.addActionListener(this);
+               pane.add(launcher_channel_text, c);
+
+               c.gridx = 0;
+               c.gridy = 3;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.WEST;
+               armed_label = new JLabel ("Armed");
+               pane.add(armed_label, c);
+
+               c.gridx = 1;
+               c.gridy = 3;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.WEST;
+               armed_status_label = new JLabel();
+               pane.add(armed_status_label, c);
+
+               c.gridx = 0;
+               c.gridy = 4;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.WEST;
+               igniter = new JLabel ("Igniter");
+               pane.add(igniter, c);
+
+               c.gridx = 1;
+               c.gridy = 4;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.WEST;
+               igniter_status_label = new JLabel();
+               pane.add(igniter_status_label, c);
+
+               c.gridx = 0;
+               c.gridy = 5;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.CENTER;
+               arm = new JToggleButton ("Arm");
+               pane.add(arm, c);
+               arm.addActionListener(this);
+               arm.setActionCommand("arm");
+               arm.setEnabled(true);
+
+               c.gridx = 1;
+               c.gridy = 5;
+               c.gridwidth = 1;
+               c.anchor = GridBagConstraints.CENTER;
+               fire = new FireButton ("Fire");
+               fire.setEnabled(false);
+               pane.add(fire, c);
+               fire.addActionListener(this);
+               fire.setActionCommand("fire");
+
+               pack();
+               setLocationRelativeTo(owner);
+
+               addWindowListener(new ConfigListener(this));
+
+               setVisible(true);
+       }
+}
\ No newline at end of file
index 716559ab7e0a9dc06e7c94f5a18a225eb6baa044..48aed44125c6c93d74d16d5493e7c4461e8f7b68 100644 (file)
@@ -58,6 +58,12 @@ class AltosPreferences {
        /* font size preferences name */
        final static String fontSizePreference = "FONT-SIZE";
 
+       /* Launcher serial preference name */
+       final static String launcherSerialPreference = "LAUNCHER-SERIAL";
+
+       /* Launcher channel prefernce name */
+       final static String launcherChannelPreference = "LAUNCHER-CHANNEL";
+       
        /* Default logdir is ~/TeleMetrum */
        final static String logdirName = "TeleMetrum";
 
@@ -143,6 +149,9 @@ class AltosPreferences {
                        node.put(String.format(description_format, i), frequencies[i].description);
                }
        }
+       static int launcher_serial;
+
+       static int launcher_channel;
 
        public static void init() {
                preferences = Preferences.userRoot().node("/org/altusmetrum/altosui");
@@ -176,6 +185,10 @@ class AltosPreferences {
                font_size = preferences.getInt(fontSizePreference, Altos.font_size_medium);
                Altos.set_fonts(font_size);
 
+               launcher_serial = preferences.getInt(launcherSerialPreference, 0);
+
+               launcher_channel = preferences.getInt(launcherChannelPreference, 0);
+
                String firmwaredir_string = preferences.get(firmwaredirPreference, null);
                if (firmwaredir_string != null)
                        firmwaredir = new File(firmwaredir_string);
@@ -390,6 +403,32 @@ class AltosPreferences {
                return serial_debug;
        }
 
+       public static void set_launcher_serial(int new_launcher_serial) {
+               launcher_serial = new_launcher_serial;
+               System.out.printf("set launcher serial to %d\n", new_launcher_serial);
+               synchronized (preferences) {
+                       preferences.putInt(launcherSerialPreference, launcher_serial);
+                       flush_preferences();
+               }
+       }
+
+       public static int launcher_serial() {
+               return launcher_serial;
+       }
+
+       public static void set_launcher_channel(int new_launcher_channel) {
+               launcher_channel = new_launcher_channel;
+               System.out.printf("set launcher channel to %d\n", new_launcher_channel);
+               synchronized (preferences) {
+                       preferences.putInt(launcherChannelPreference, launcher_channel);
+                       flush_preferences();
+               }
+       }
+
+       public static int launcher_channel() {
+               return launcher_channel;
+       }
+       
        public static Preferences bt_devices() {
                return preferences.node("bt_devices");
        }
index bce4b32c9ef02e19db030e33eb77a5e5a2558005..df5c51d4a2e3ab74d98dd9ad7b0a7bd7fe9bd1f8 100644 (file)
@@ -130,8 +130,7 @@ public class AltosScanUI
        void scan_exception(Exception e) {
                if (e instanceof FileNotFoundException) {
                        JOptionPane.showMessageDialog(owner,
-                                                     String.format("Cannot open device \"%s\"",
-                                                                   device.toShortString()),
+                                                     ((FileNotFoundException) e).getMessage(),
                                                      "Cannot open target device",
                                                      JOptionPane.ERROR_MESSAGE);
                } else if (e instanceof AltosSerialInUseException) {
@@ -326,8 +325,7 @@ public class AltosScanUI
                        return true;
                } catch (FileNotFoundException ee) {
                        JOptionPane.showMessageDialog(owner,
-                                                     String.format("Cannot open device \"%s\"",
-                                                                   device.toShortString()),
+                                                     ee.getMessage(),
                                                      "Cannot open target device",
                                                      JOptionPane.ERROR_MESSAGE);
                } catch (AltosSerialInUseException si) {
index 0a531aa96faa8b2b0b27fc0f412b78c920648231..4cf306d051e478706294010c90c35c6ce7aae104 100644 (file)
@@ -323,8 +323,10 @@ public class AltosSerial implements Runnable {
                }
                altos = device.open();
                if (altos == null) {
+                       final String    message = device.getErrorString();
                        close();
-                       throw new FileNotFoundException(device.toShortString());
+                       throw new FileNotFoundException(String.format("%s (%s)",
+                                                                     device.toShortString(), message));
                }
                if (debug)
                        System.out.printf("Open %s\n", device.getPath());
index 27c41838e12ea15189d50bf65d4501f2619d9ddb..3e5bcf434fc5b8b8276fe2074873e528d8032d74 100644 (file)
@@ -52,8 +52,7 @@ public class AltosUI extends JFrame {
                                new AltosFlightUI(voice, reader, device.getSerial());
                } catch (FileNotFoundException ee) {
                        JOptionPane.showMessageDialog(AltosUI.this,
-                                                     String.format("Cannot open device \"%s\"",
-                                                                   device.toShortString()),
+                                                     ee.getMessage(),
                                                      "Cannot open target device",
                                                      JOptionPane.ERROR_MESSAGE);
                } catch (AltosSerialInUseException si) {
@@ -210,6 +209,13 @@ public class AltosUI extends JFrame {
                        });
                b.setToolTipText("Check flight readiness of altimeter in idle mode");
 
+               b = addButton(3, 2, "Launch Controller");
+               b.addActionListener(new ActionListener() {
+                               public void actionPerformed(ActionEvent e) {
+                                       LaunchController();
+                               }
+                       });
+
                setTitle("AltOS");
 
                pane.doLayout();
@@ -272,6 +278,10 @@ public class AltosUI extends JFrame {
                new AltosSiteMapPreload(AltosUI.this);
        }
 
+       void LaunchController() {
+               new AltosLaunchUI(AltosUI.this);
+       }
+
        /*
         * Replay a flight from telemetry data
         */
@@ -345,7 +355,7 @@ public class AltosUI extends JFrame {
                        else
                                return new AltosTelemetryIterable(in);
                } catch (FileNotFoundException fe) {
-                       System.out.printf("Cannot open '%s'\n", filename);
+                       System.out.printf("%s\n", fe.getMessage());
                        return null;
                }
        }
@@ -355,7 +365,7 @@ public class AltosUI extends JFrame {
                try {
                        return new AltosCSV(file);
                } catch (FileNotFoundException fe) {
-                       System.out.printf("Cannot open '%s'\n", filename);
+                       System.out.printf("%s\n", fe.getMessage());
                        return null;
                }
        }
@@ -365,7 +375,7 @@ public class AltosUI extends JFrame {
                try {
                        return new AltosKML(file);
                } catch (FileNotFoundException fe) {
-                       System.out.printf("Cannot open '%s'\n", filename);
+                       System.out.printf("%s\n", fe.getMessage());
                        return null;
                }
        }
index dc746a64fb4aa7de038872bbf18f5fde13d7d523..b11a3934b1376906974eab03cdf02b8c698f3817 100644 (file)
@@ -39,6 +39,13 @@ public class AltosUSBDevice  extends altos_device implements AltosDevice {
 
        }
 
+       public String getErrorString() {
+               altos_error     error = new altos_error();
+
+               libaltos.altos_get_last_error(error);
+               return String.format("%s (%d)", error.getString(), error.getCode());
+       }
+
        public SWIGTYPE_p_altos_file open() {
                return libaltos.altos_open(this);
        }
index ba1c830c6c72c42c16281a9768a2175d489eb3f6..c4d1e611ff41ce5f6d2d81f3389735d37b9fd6c1 100644 (file)
@@ -68,6 +68,8 @@ altosui_JAVA = \
        AltosIdleMonitorUI.java \
        AltosIgnite.java \
        AltosIgniteUI.java \
+       AltosLaunch.java \
+       AltosLaunchUI.java \
        AltosInfoTable.java \
        AltosKML.java \
        AltosLanded.java \
@@ -116,7 +118,8 @@ altosui_JAVA = \
        AltosGraphUI.java \
        AltosDataChooser.java \
        AltosVersion.java \
-       AltosVoice.java
+       AltosVoice.java \
+       $(altosui_BT)
 
 JFREECHART_CLASS= \
     jfreechart.jar
index d1f445bd488f14757bf1cb267593df7a5fd95598..48e00a4415d4bd034f33bd45710035a561d69fe9 100644 (file)
@@ -49,6 +49,22 @@ altos_fini(void)
 {
 }
 
+static struct altos_error last_error;
+
+static void
+altos_set_last_error(int code, char *string)
+{
+       last_error.code = code;
+       strncpy(last_error.string, string, sizeof (last_error.string) -1);
+       last_error.string[sizeof(last_error.string)-1] = '\0';
+}
+
+PUBLIC void
+altos_get_last_error(struct altos_error *error)
+{
+       *error = last_error;
+}
+
 #ifdef DARWIN
 
 #undef USE_POLL
@@ -96,6 +112,12 @@ struct altos_file {
        int                             in_read;
 };
 
+static void
+altos_set_last_posix_error(void)
+{
+       altos_set_last_error(errno, strerror(errno));
+}
+
 PUBLIC struct altos_file *
 altos_open(struct altos_device *device)
 {
@@ -103,12 +125,18 @@ altos_open(struct altos_device *device)
        int                     ret;
        struct termios          term;
 
-       if (!file)
+       if (!file) {
+               altos_set_last_posix_error();
                return NULL;
+       }
+
+//     altos_set_last_error(12, "yeah yeah, failed again");
+//     free(file);
+//     return NULL;
 
        file->fd = open(device->path, O_RDWR | O_NOCTTY);
        if (file->fd < 0) {
-               perror(device->path);
+               altos_set_last_posix_error();
                free(file);
                return NULL;
        }
@@ -117,7 +145,7 @@ altos_open(struct altos_device *device)
 #else
        file->out_fd = open(device->path, O_RDWR | O_NOCTTY);
        if (file->out_fd < 0) {
-               perror(device->path);
+               altos_set_last_posix_error();
                close(file->fd);
                free(file);
                return NULL;
@@ -125,7 +153,7 @@ altos_open(struct altos_device *device)
 #endif
        ret = tcgetattr(file->fd, &term);
        if (ret < 0) {
-               perror("tcgetattr");
+               altos_set_last_posix_error();
                close(file->fd);
 #ifndef USE_POLL
                close(file->out_fd);
@@ -143,7 +171,7 @@ altos_open(struct altos_device *device)
 #endif
        ret = tcsetattr(file->fd, TCSAFLUSH, &term);
        if (ret < 0) {
-               perror("tcsetattr");
+               altos_set_last_posix_error();
                close(file->fd);
 #ifndef USE_POLL
                close(file->out_fd);
@@ -195,8 +223,10 @@ altos_flush(struct altos_file *file)
 #else
                ret = write (file->out_fd, file->out_data, file->out_used);
 #endif
-               if (ret < 0)
+               if (ret < 0) {
+                       altos_set_last_posix_error();
                        return -errno;
+               }
                if (ret) {
                        memmove(file->out_data, file->out_data + ret,
                                file->out_used - ret);
@@ -248,7 +278,7 @@ altos_fill(struct altos_file *file, int timeout)
                fd[1].events = POLLIN;
                ret = poll(fd, 2, timeout);
                if (ret < 0) {
-                       perror("altos_getchar");
+                       altos_set_last_posix_error();
                        return LIBALTOS_ERROR;
                }
                if (ret == 0)
@@ -261,7 +291,7 @@ altos_fill(struct altos_file *file, int timeout)
                {
                        ret = read(file->fd, file->in_data, USB_BUF_SIZE);
                        if (ret < 0) {
-                               perror("altos_getchar");
+                               altos_set_last_posix_error();
                                return LIBALTOS_ERROR;
                        }
                        file->in_read = 0;
@@ -598,7 +628,6 @@ altos_list_finish(struct altos_list *usbdevs)
        free(usbdevs);
 }
 
-#if HAS_BLUETOOTH
 struct altos_bt_list {
        inquiry_info    *ii;
        int             sock;
@@ -701,8 +730,10 @@ altos_bt_open(struct altos_bt_device *device)
        if (!file)
                goto no_file;
        file->fd = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
-       if (file->fd < 0)
+       if (file->fd < 0) {
+               altos_set_last_posix_error();
                goto no_sock;
+       }
 
        addr.rc_family = AF_BLUETOOTH;
        addr.rc_channel = 1;
@@ -712,7 +743,7 @@ altos_bt_open(struct altos_bt_device *device)
                         (struct sockaddr *)&addr,
                         sizeof(addr));
        if (status < 0) {
-               perror("connect");
+               altos_set_last_posix_error();
                goto no_link;
        }
        sleep(1);
@@ -730,7 +761,6 @@ no_sock:
 no_file:
        return NULL;
 }
-#endif /* HAS_BLUETOOTH */
 
 #endif
 
@@ -844,6 +874,48 @@ altos_list_finish(struct altos_list *list)
        free(list);
 }
 
+struct altos_bt_list {
+       int             sock;
+       int             dev_id;
+       int             rsp;
+       int             num_rsp;
+};
+
+#define INQUIRY_MAX_RSP        255
+
+struct altos_bt_list *
+altos_bt_list_start(int inquiry_time)
+{
+       return NULL;
+}
+
+int
+altos_bt_list_next(struct altos_bt_list *bt_list,
+                  struct altos_bt_device *device)
+{
+       return 0;
+}
+
+void
+altos_bt_list_finish(struct altos_bt_list *bt_list)
+{
+}
+
+void
+altos_bt_fill_in(char *name, char *addr, struct altos_bt_device *device)
+{
+       strncpy(device->name, name, sizeof (device->name));
+       device->name[sizeof(device->name)-1] = '\0';
+       strncpy(device->addr, addr, sizeof (device->addr));
+       device->addr[sizeof(device->addr)-1] = '\0';
+}
+
+struct altos_file *
+altos_bt_open(struct altos_bt_device *device)
+{
+       return NULL;
+}
+
 #endif
 
 
@@ -872,6 +944,21 @@ struct altos_file {
        OVERLAPPED                      ov_write;
 };
 
+static void
+altos_set_last_windows_error(void)
+{
+       DWORD   error = GetLastError();
+       TCHAR   message[1024];
+       FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM,
+                     0,
+                     error,
+                     0,
+                     message,
+                     sizeof (message) / sizeof (TCHAR),
+                     NULL);
+       altos_set_last_error(error, message);
+}
+
 PUBLIC struct altos_list *
 altos_list_start(void)
 {
@@ -882,7 +969,7 @@ altos_list_start(void)
        list->dev_info = SetupDiGetClassDevs(NULL, "USB", NULL,
                                             DIGCF_ALLCLASSES|DIGCF_PRESENT);
        if (list->dev_info == INVALID_HANDLE_VALUE) {
-               printf("SetupDiGetClassDevs failed %ld\n", GetLastError());
+               altos_set_last_windows_error();
                free(list);
                return NULL;
        }
@@ -916,6 +1003,7 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
                                               DICS_FLAG_GLOBAL, 0, DIREG_DEV,
                                               KEY_READ);
                if (dev_key == INVALID_HANDLE_VALUE) {
+                       altos_set_last_windows_error();
                        printf("cannot open device registry key\n");
                        continue;
                }
@@ -926,6 +1014,7 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
                result = RegQueryValueEx(dev_key, "SymbolicName", NULL, NULL,
                                         symbolic, &symbolic_len);
                if (result != 0) {
+                       altos_set_last_windows_error();
                        printf("cannot find SymbolicName value\n");
                        RegCloseKey(dev_key);
                        continue;
@@ -948,6 +1037,7 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
                                         port, &port_len);
                RegCloseKey(dev_key);
                if (result != 0) {
+                       altos_set_last_windows_error();
                        printf("failed to get PortName\n");
                        continue;
                }
@@ -963,6 +1053,7 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
                                                     sizeof(friendlyname),
                                                     &friendlyname_len))
                {
+                       altos_set_last_windows_error();
                        printf("Failed to get friendlyname\n");
                        continue;
                }
@@ -975,8 +1066,10 @@ altos_list_next(struct altos_list *list, struct altos_device *device)
                return 1;
        }
        result = GetLastError();
-       if (result != ERROR_NO_MORE_ITEMS)
+       if (result != ERROR_NO_MORE_ITEMS) {
+               altos_set_last_windows_error();
                printf ("SetupDiEnumDeviceInfo failed error %d\n", (int) result);
+       }
        return 0;
 }
 
@@ -995,8 +1088,10 @@ altos_queue_read(struct altos_file *file)
                return LIBALTOS_SUCCESS;
 
        if (!ReadFile(file->handle, file->in_data, USB_BUF_SIZE, &got, &file->ov_read)) {
-               if (GetLastError() != ERROR_IO_PENDING)
+               if (GetLastError() != ERROR_IO_PENDING) {
+                       altos_set_last_windows_error();
                        return LIBALTOS_ERROR;
+               }
                file->pend_read = TRUE;
        } else {
                file->pend_read = FALSE;
@@ -1021,8 +1116,10 @@ altos_wait_read(struct altos_file *file, int timeout)
        ret = WaitForSingleObject(file->ov_read.hEvent, timeout);
        switch (ret) {
        case WAIT_OBJECT_0:
-               if (!GetOverlappedResult(file->handle, &file->ov_read, &got, FALSE))
+               if (!GetOverlappedResult(file->handle, &file->ov_read, &got, FALSE)) {
+                       altos_set_last_windows_error();
                        return LIBALTOS_ERROR;
+               }
                file->pend_read = FALSE;
                file->in_read = 0;
                file->in_used = got;
@@ -1066,15 +1163,20 @@ altos_flush(struct altos_file *file)
 
        while (used) {
                if (!WriteFile(file->handle, data, used, &put, &file->ov_write)) {
-                       if (GetLastError() != ERROR_IO_PENDING)
+                       if (GetLastError() != ERROR_IO_PENDING) {
+                               altos_set_last_windows_error();
                                return LIBALTOS_ERROR;
+                       }
                        ret = WaitForSingleObject(file->ov_write.hEvent, INFINITE);
                        switch (ret) {
                        case WAIT_OBJECT_0:
-                               if (!GetOverlappedResult(file->handle, &file->ov_write, &put, FALSE))
+                               if (!GetOverlappedResult(file->handle, &file->ov_write, &put, FALSE)) {
+                                       altos_set_last_windows_error();
                                        return LIBALTOS_ERROR;
+                               }
                                break;
                        default:
+                               altos_set_last_windows_error();
                                return LIBALTOS_ERROR;
                        }
                }
@@ -1102,6 +1204,7 @@ altos_open(struct altos_device *device)
                                  0, NULL, OPEN_EXISTING,
                                  FILE_FLAG_OVERLAPPED, NULL);
        if (file->handle == INVALID_HANDLE_VALUE) {
+               altos_set_last_windows_error();
                free(file);
                return NULL;
        }
@@ -1117,6 +1220,7 @@ altos_open(struct altos_device *device)
 
        dcbSerialParams.DCBlength = sizeof(dcbSerialParams);
        if (!GetCommState(file->handle, &dcbSerialParams)) {
+               altos_set_last_windows_error();
                CloseHandle(file->handle);
                free(file);
                return NULL;
@@ -1126,6 +1230,7 @@ altos_open(struct altos_device *device)
        dcbSerialParams.StopBits = ONESTOPBIT;
        dcbSerialParams.Parity = NOPARITY;
        if (!SetCommState(file->handle, &dcbSerialParams)) {
+               altos_set_last_windows_error();
                CloseHandle(file->handle);
                free(file);
                return NULL;
@@ -1180,4 +1285,38 @@ altos_getchar(struct altos_file *file, int timeout)
        return file->in_data[file->in_read++];
 }
 
+struct altos_bt_list *
+altos_bt_list_start(int inquiry_time)
+{
+       return NULL;
+}
+
+int
+altos_bt_list_next(struct altos_bt_list *bt_list,
+                  struct altos_bt_device *device)
+{
+       return 0;
+}
+
+void
+altos_bt_list_finish(struct altos_bt_list *bt_list)
+{
+       free(bt_list);
+}
+
+void
+altos_bt_fill_in(char *name, char *addr, struct altos_bt_device *device)
+{
+       strncpy(device->name, name, sizeof (device->name));
+       device->name[sizeof(device->name)-1] = '\0';
+       strncpy(device->addr, addr, sizeof (device->addr));
+       device->addr[sizeof(device->addr)-1] = '\0';
+}
+
+struct altos_file *
+altos_bt_open(struct altos_bt_device *device)
+{
+       return NULL;
+}
+
 #endif
index 363a84fd0eed65b080723f83d6e3697c3f69532d..f90fbb879d3934a2cf1ba7251aa50dd3553cf878 100644 (file)
@@ -51,6 +51,11 @@ struct altos_bt_device {
        //%mutable;
 };
 
+struct altos_error {
+       int                             code;
+       char                            string[1024];
+};
+
 #define LIBALTOS_SUCCESS       0
 #define LIBALTOS_ERROR         -1
 #define LIBALTOS_TIMEOUT       -2
@@ -62,6 +67,9 @@ altos_init(void);
 PUBLIC void
 altos_fini(void);
 
+PUBLIC void
+altos_get_last_error(struct altos_error *error);
+
 PUBLIC struct altos_list *
 altos_list_start(void);
 
@@ -93,9 +101,6 @@ altos_flush(struct altos_file *file);
 PUBLIC int
 altos_getchar(struct altos_file *file, int timeout);
 
-// #define HAS_BLUETOOTH 1
-#if HAS_BLUETOOTH
-
 PUBLIC struct altos_bt_list *
 altos_bt_list_start(int inquiry_time);
 
@@ -111,6 +116,4 @@ altos_bt_fill_in(char *name, char *addr, struct altos_bt_device *device);
 PUBLIC struct altos_file *
 altos_bt_open(struct altos_bt_device *device);
 
-#endif
-
 #endif /* _LIBALTOS_H_ */
index 27d56751b0322f25d24659249ea552054af138de..959f3b4d86e2ce1a64b4216f7bc8d9398174432d 100644 (file)
@@ -18,8 +18,8 @@ dnl
 dnl Process this file with autoconf to create configure.
 
 AC_PREREQ(2.57)
-AC_INIT([altos], 1.0.1)
-AC_CONFIG_SRCDIR([src/ao.h])
+AC_INIT([altos], 1.0.9.0)
+AC_CONFIG_SRCDIR([src/core/ao.h])
 AM_INIT_AUTOMAKE([foreign dist-bzip2])
 AM_MAINTAINER_MODE
 
diff --git a/src/25lc1024.h b/src/25lc1024.h
deleted file mode 100644 (file)
index 44e5238..0000000
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-/* Defines for the 25LC1024 1Mbit SPI Bus Serial EEPROM */
-
-#ifndef _25LC1024_H_
-#define _25LC1024_H_
-
-#define EE_READ                0x03
-#define EE_WRITE       0x02
-#define EE_WREN                0x06
-#define EE_WRDI                0x04
-#define EE_RDSR                0x05
-#define EE_WRSR                0x01
-#define EE_PE          0x42
-#define EE_SE          0xd8
-#define EE_CE          0xc7
-#define EE_RDID                0xab
-#define EE_DPD         0xb9
-
-#define EE_STATUS_WIP  (1 << 0)
-#define EE_STATUS_WEL  (1 << 1)
-#define EE_STATUS_BP0  (1 << 2)
-#define EE_STATUS_BP1  (1 << 3)
-#define EE_STATUS_WPEN (1 << 7)
-
-#endif /* _25LC1024_H_ */
index 018f0c5c1f7c46300729661f86362e36dff9a26c..5da7c8556dc02d4842db9b5ef395e11ae1d5e243 100644 (file)
@@ -2,7 +2,13 @@
 # AltOS build
 #
 #
-CC=sdcc
+
+vpath make-altitude util
+vpath make-kalman util
+vpath kalman.5c kalman
+vpath kalman_filter.5c kalman
+vpath load_csv.5c kalman
+vpath matrix.5c kalman
 
 include Version
 
@@ -12,9 +18,10 @@ SUBDIRS=\
        telemini-v1.0 telenano-v0.1 \
        telebt-v0.0 telebt-v0.1 \
        telemetrum-v0.1-sky telemetrum-v0.1-sirf \
-       tidongle test
+       telelaunch-v0.1 \
+       tidongle test telescience-v0.1 telepyro-v0.1
 
-all: all-recursive
+all: all-local all-recursive
 
 RECURSIVE_TARGETS = all-recursive clean-recursive install-recursive
 
@@ -27,8 +34,21 @@ $(RECURSIVE_TARGETS):
 
 distclean:     clean
 
-clean: clean-recursive
+clean: clean-local clean-recursive
 
 install: install-recursive
 
 uninstall:
+
+all-recursive: all-local
+
+all-local: altitude.h ao_kalman.h
+
+altitude.h: make-altitude
+       nickle $< > $@
+
+ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
+       bash $< kalman > $@
+
+clean-local:
+       rm -f altitude.h ao_kalman.h
diff --git a/src/Makefile.proto b/src/Makefile.proto
deleted file mode 100644 (file)
index 8f98d35..0000000
+++ /dev/null
@@ -1,380 +0,0 @@
-#
-# AltOS build
-#
-#
-vpath %.c ..
-vpath %.h ..
-vpath make-altitude ..
-vpath make-kalman ..
-vpath kalman.5c ../kalman
-vpath kalman_filter.5c ../kalman
-vpath load_csv.5c ../kalman
-vpath matrix.5c ../kalman
-vpath ao-make-product.5c ..
-
-CC=sdcc
-
-ifndef VERSION
-include ../Version
-endif
-
-CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
-
-CODESIZE ?= 0x8000
-
-LDFLAGS=--out-fmt-ihx --code-loc 0x0000 --code-size $(CODESIZE) \
-       --xram-loc 0xf000 --xram-size 0xda2 --iram-size 0xff
-
-INC = \
-       ao.h \
-       ao_pins.h \
-       cc1111.h \
-       altitude.h \
-       ao_kalman.h \
-       25lc1024.h
-
-#
-# Common AltOS sources
-#
-ALTOS_SRC = \
-       ao_cmd.c \
-       ao_dma.c \
-       ao_mutex.c \
-       ao_panic.c \
-       ao_task.c \
-       ao_timer.c \
-       ao_romconfig.c \
-       _bp.c
-
-#
-# Shared AltOS drivers
-#
-ALTOS_DRIVER_SRC = \
-       ao_config.c \
-       ao_led.c \
-       ao_radio.c \
-       ao_stdio.c
-
-BEEP_DRIVER_SRC = \
-       ao_beep.c
-
-USB_DRIVER_SRC = \
-       ao_usb.c
-
-TELE_COMMON_SRC = \
-       ao_packet.c
-
-#
-# Receiver code
-#
-TELE_RECEIVER_SRC =\
-       ao_monitor.c \
-       ao_gps_print.c \
-       ao_packet_master.c \
-       ao_state.c \
-       ao_rssi.c
-
-#
-# Shared Tele drivers (on TeleMetrum, TeleTerra, TeleDongle)
-#
-
-TELE_DRIVER_SRC = \
-       ao_convert.c
-
-#
-# Serial port driver
-#
-SERIAL_DRIVER_SRC = \
-       ao_serial.c
-
-#
-# Spi bus driver
-#
-SPI_DRIVER_SRC = \
-       ao_spi.c
-
-#
-# Debug dongle driver (only on TI)
-#
-DBG_SRC = \
-       ao_dbg.c
-
-#
-# Drivers only on TeleMetrum
-#
-TM_DRIVER_SRC = \
-       ao_adc.c \
-       ao_gps_report.c \
-       ao_ignite.c \
-       ao_packet_slave.c \
-       $(BEEP_DRIVER_SRC) \
-       $(USB_DRIVER_SRC)
-
-#
-# 25LC1024 driver source
-EE_DRIVER_SRC = \
-       ao_storage.c \
-       ao_ee.c
-
-#
-# AT45DB161D driver source
-
-FLASH_DRIVER_SRC = \
-       ao_storage.c \
-       ao_flash.c
-
-#
-# Numonyx M25P80 driver source
-#
-
-M25_DRIVER_SRC = \
-       ao_storage.c \
-       ao_m25.c
-
-#
-# SiRF driver source
-#
-SIRF_DRIVER_SRC = \
-       ao_gps_sirf.c
-
-#
-# Skytraq driver source
-#
-SKY_DRIVER_SRC = \
-       ao_gps_skytraq.c
-
-
-#
-# BTM-182 driver source
-#
-BTM_DRIVER_SRC = \
-       ao_btm.c
-
-#
-# Companion port driver source
-#
-COMPANION_SRC = \
-       ao_companion.c
-
-#
-# Tasks run on TeleMetrum
-#
-TM_TASK_SRC = \
-       ao_flight.c \
-       ao_sample.c \
-       ao_kalman.c \
-       ao_log.c \
-       ao_log_big.c \
-       ao_report.c \
-       ao_telemetry.c
-
-TM_MAIN_SRC = \
-       ao_telemetrum.c
-
-#
-# Base sources for TeleMetrum
-#
-TM_BASE_SRC = \
-       $(ALTOS_SRC) \
-       $(ALTOS_DRIVER_SRC) \
-       $(TELE_DRIVER_SRC) \
-       $(SERIAL_DRIVER_SRC) \
-       $(TELE_COMMON_SRC) \
-       $(TM_DRIVER_SRC) \
-       $(TM_TASK_SRC) \
-       $(TM_MAIN_SRC)
-
-#
-# Sources for TeleMini
-TMINI_DRIVER_SRC = \
-       ao_adc.c \
-       ao_ignite.c \
-       ao_config.c \
-       ao_storage.c \
-       ao_packet_slave.c \
-       ao_intflash.c
-
-TMINI_TASK_SRC = \
-       ao_flight.c \
-       ao_sample.c \
-       ao_kalman.c \
-       ao_log.c \
-       ao_log_tiny.c \
-       ao_report.c \
-       ao_telemetry.c
-
-TMINI_MAIN_SRC = \
-       ao_telemini.c
-
-TMINI_BASE_SRC = \
-       $(ALTOS_SRC) \
-       $(ALTOS_DRIVER_SRC) \
-       $(TELE_DRIVER_SRC) \
-       $(TELE_COMMON_SRC) \
-       $(TMINI_DRIVER_SRC) \
-       $(TMINI_TASK_SRC) \
-       $(TMINI_MAIN_SRC)
-
-#
-# Sources for TeleNano
-TNANO_DRIVER_SRC = \
-       ao_adc.c \
-       ao_config.c \
-       ao_storage.c \
-       ao_packet_slave.c \
-       ao_intflash.c
-
-TNANO_TASK_SRC = \
-       ao_flight_nano.c \
-       ao_sample.c \
-       ao_kalman.c \
-       ao_log.c \
-       ao_log_tiny.c \
-       ao_report.c \
-       ao_telemetry.c
-
-TNANO_MAIN_SRC = \
-       ao_telenano.c
-
-TNANO_BASE_SRC = \
-       $(ALTOS_SRC) \
-       $(ALTOS_DRIVER_SRC) \
-       $(TELE_DRIVER_SRC) \
-       $(TELE_COMMON_SRC) \
-       $(TNANO_DRIVER_SRC) \
-       $(TNANO_TASK_SRC) \
-       $(TNANO_MAIN_SRC)
-
-#
-# Sources for TeleBluetooth
-#
-
-TBT_MAIN_SRC = \
-       ao_telebt.c
-
-TBT_BASE_SRC = \
-       $(ALTOS_SRC) \
-       $(ALTOS_DRIVER_SRC) \
-       $(TELE_RECEIVER_SRC) \
-       $(TELE_COMMON_SRC) \
-       $(SERIAL_DRIVER_SRC) \
-       $(USB_DRIVER_SRC) \
-       $(BTM_DRIVER_SRC) \
-       $(DBG_SRC) \
-       $(TBT_MAIN_SRC)
-
-TBT_V_0_1_SRC = \
-       $(TBT_BASE_SRC) \
-       $(SPI_DRIVER_SRC) \
-       $(M25_DRIVER_SRC) \
-       $(BEEP_DRIVER_SRC) \
-       ao_log_telem.c
-
-#
-# TI Dongle sources
-#
-TI_MAIN_SRC = \
-       ao_tidongle.c
-
-#
-# All sources for the TI debug dongle
-#
-TI_SRC = \
-       $(ALTOS_SRC) \
-       $(ALTOS_DRIVER_SRC) \
-       $(TELE_RECEIVER_SRC) \
-       $(TELE_COMMON_SRC) \
-       $(USB_DRIVER_SRC) \
-       $(TI_MAIN_SRC) \
-       $(DBG_SRC)
-
-TT_MAIN_SRC = \
-       ao_teleterra.c
-#
-# All sources for TeleTerra
-#
-TT_SRC = \
-       $(ALTOS_SRC) \
-       $(ALTOS_DRIVER_SRC) \
-       $(TELE_RECEIVER_SRC) \
-       $(TELE_DRIVER_SRC) \
-       $(TELE_COMMON_SRC) \
-       $(USB_DRIVER_SRC) \
-       $(TT_MAIN_SRC)
-
-
-#
-# Sources for TeleDongle
-#
-
-TD_MAIN_SRC = \
-       ao_teledongle.c
-
-TD_SRC = \
-       $(ALTOS_SRC) \
-       $(ALTOS_DRIVER_SRC) \
-       $(TELE_RECEIVER_SRC) \
-       $(TELE_COMMON_SRC) \
-       $(USB_DRIVER_SRC) \
-       $(TD_MAIN_SRC)
-
-include Makefile.defs
-
-CFLAGS += $(PRODUCT_DEF) -I.
-
-NICKLE=nickle
-CHECK_STACK=sh ../check-stack
-
-REL=$(SRC:.c=.rel) ao_product.rel
-ADB=$(REL:.rel=.adb)
-ASM=$(REL:.rel=.asm)
-LNK=$(REL:.rel=.lnk)
-LST=$(REL:.rel=.lst)
-RST=$(REL:.rel=.rst)
-SYM=$(REL:.rel=.sym)
-
-PCDB=$(PROG:.ihx=.cdb)
-PLNK=$(PROG:.ihx=.lnk)
-PMAP=$(PROG:.ihx=.map)
-PMEM=$(PROG:.ihx=.mem)
-PAOM=$(PROG:.ihx=)
-
-V=0
-# The user has explicitly enabled quiet compilation.
-ifeq ($(V),0)
-quiet = @printf "  $1 $2 $@\n"; $($1)
-endif
-# Otherwise, print the full command line.
-quiet ?= $($1)
-
-%.rel : %.c $(INC)
-       $(call quiet,CC,$(PRODUCT_DEF)) $(CFLAGS) -c -o$@ $<
-
-all: ../$(PROG)
-
-../$(PROG): $(REL) Makefile Makefile.defs ../Makefile.proto
-       $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
-       $(call quiet,CHECK_STACK) ../ao.h $(PMEM)
-
-../altitude.h: make-altitude
-       nickle $< > $@
-
-../ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
-       sh $< > $@
-
-ao_product.h: ao-make-product.5c ../Version
-       $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
-
-$(REL): ao_product.h
-
-distclean:     clean
-
-clean:
-       rm -f $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM)
-       rm -f $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM)
-       rm -f ao_product.h
-       rm -f ../$(PROG)
-
-install:
-
-uninstall:
diff --git a/src/_bp.c b/src/_bp.c
deleted file mode 100644 (file)
index 6bf135b..0000000
--- a/src/_bp.c
+++ /dev/null
@@ -1,26 +0,0 @@
-/*-------------------------------------------------------------------------
-
-  _bp.c :- just declares bp as a variable
-
-             Written By -  Sandeep Dutta . sandeep.dutta@usa.net (1999)
-
-   This library is free software; you can redistribute it and/or modify it
-   under the terms of the GNU Library General Public License as published by the
-   Free Software Foundation; either version 2, or (at your option) any
-   later version.
-
-   This library is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU Library General Public License for more details.
-
-   You should have received a copy of the GNU Library General Public License
-   along with this program; if not, write to the Free Software
-   Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
-
-   In other words, you are welcome to use, share and improve this program.
-   You are forbidden to forbid anyone else to use, share and improve
-   what you give them.   Help stamp out software-hoarding!
--------------------------------------------------------------------------*/
-
-__data unsigned char bp ;
diff --git a/src/altitude.h b/src/altitude.h
deleted file mode 100644 (file)
index a278bbc..0000000
+++ /dev/null
@@ -1,132 +0,0 @@
-/*max error 3.197865153490684 at   0.782%. Average error 0.260150920474668*/
-#define NALT 129
-#define ALT_FRAC_BITS 8
-    15835, /*  10.56 kPa   0.000% */
-    15332, /*  11.42 kPa   0.781% */
-    14868, /*  12.29 kPa   1.563% */
-    14435, /*  13.16 kPa   2.344% */
-    14030, /*  14.02 kPa   3.125% */
-    13649, /*  14.90 kPa   3.906% */
-    13290, /*  15.76 kPa   4.688% */
-    12950, /*  16.63 kPa   5.469% */
-    12627, /*  17.50 kPa   6.250% */
-    12320, /*  18.37 kPa   7.031% */
-    12027, /*  19.24 kPa   7.813% */
-    11747, /*  20.10 kPa   8.594% */
-    11479, /*  20.97 kPa   9.375% */
-    11222, /*  21.84 kPa  10.156% */
-    10975, /*  22.71 kPa  10.938% */
-    10736, /*  23.58 kPa  11.719% */
-    10504, /*  24.44 kPa  12.500% */
-    10278, /*  25.31 kPa  13.281% */
-    10059, /*  26.18 kPa  14.063% */
-     9846, /*  27.05 kPa  14.844% */
-     9638, /*  27.91 kPa  15.625% */
-     9435, /*  28.78 kPa  16.406% */
-     9237, /*  29.65 kPa  17.188% */
-     9044, /*  30.52 kPa  17.969% */
-     8855, /*  31.39 kPa  18.750% */
-     8670, /*  32.26 kPa  19.531% */
-     8490, /*  33.13 kPa  20.313% */
-     8313, /*  33.99 kPa  21.094% */
-     8140, /*  34.86 kPa  21.875% */
-     7970, /*  35.73 kPa  22.656% */
-     7803, /*  36.60 kPa  23.438% */
-     7640, /*  37.47 kPa  24.219% */
-     7480, /*  38.33 kPa  25.000% */
-     7322, /*  39.20 kPa  25.781% */
-     7168, /*  40.07 kPa  26.563% */
-     7016, /*  40.94 kPa  27.344% */
-     6867, /*  41.80 kPa  28.125% */
-     6720, /*  42.67 kPa  28.906% */
-     6575, /*  43.54 kPa  29.688% */
-     6433, /*  44.41 kPa  30.469% */
-     6294, /*  45.28 kPa  31.250% */
-     6156, /*  46.15 kPa  32.031% */
-     6020, /*  47.01 kPa  32.813% */
-     5887, /*  47.88 kPa  33.594% */
-     5755, /*  48.75 kPa  34.375% */
-     5625, /*  49.62 kPa  35.156% */
-     5497, /*  50.49 kPa  35.938% */
-     5371, /*  51.35 kPa  36.719% */
-     5247, /*  52.22 kPa  37.500% */
-     5124, /*  53.09 kPa  38.281% */
-     5003, /*  53.96 kPa  39.063% */
-     4883, /*  54.83 kPa  39.844% */
-     4765, /*  55.69 kPa  40.625% */
-     4648, /*  56.56 kPa  41.406% */
-     4533, /*  57.43 kPa  42.188% */
-     4419, /*  58.30 kPa  42.969% */
-     4307, /*  59.17 kPa  43.750% */
-     4196, /*  60.03 kPa  44.531% */
-     4086, /*  60.90 kPa  45.313% */
-     3977, /*  61.77 kPa  46.094% */
-     3870, /*  62.63 kPa  46.875% */
-     3764, /*  63.51 kPa  47.656% */
-     3659, /*  64.38 kPa  48.438% */
-     3555, /*  65.24 kPa  49.219% */
-     3453, /*  66.11 kPa  50.000% */
-     3351, /*  66.98 kPa  50.781% */
-     3250, /*  67.85 kPa  51.563% */
-     3151, /*  68.72 kPa  52.344% */
-     3052, /*  69.58 kPa  53.125% */
-     2955, /*  70.45 kPa  53.906% */
-     2858, /*  71.32 kPa  54.688% */
-     2763, /*  72.19 kPa  55.469% */
-     2668, /*  73.06 kPa  56.250% */
-     2574, /*  73.92 kPa  57.031% */
-     2482, /*  74.79 kPa  57.813% */
-     2390, /*  75.66 kPa  58.594% */
-     2298, /*  76.52 kPa  59.375% */
-     2208, /*  77.40 kPa  60.156% */
-     2119, /*  78.26 kPa  60.938% */
-     2030, /*  79.13 kPa  61.719% */
-     1942, /*  80.00 kPa  62.500% */
-     1855, /*  80.87 kPa  63.281% */
-     1769, /*  81.74 kPa  64.063% */
-     1683, /*  82.60 kPa  64.844% */
-     1598, /*  83.47 kPa  65.625% */
-     1514, /*  84.34 kPa  66.406% */
-     1430, /*  85.21 kPa  67.188% */
-     1347, /*  86.08 kPa  67.969% */
-     1265, /*  86.94 kPa  68.750% */
-     1184, /*  87.81 kPa  69.531% */
-     1103, /*  88.68 kPa  70.313% */
-     1023, /*  89.55 kPa  71.094% */
-      943, /*  90.41 kPa  71.875% */
-      864, /*  91.28 kPa  72.656% */
-      786, /*  92.15 kPa  73.438% */
-      708, /*  93.02 kPa  74.219% */
-      631, /*  93.89 kPa  75.000% */
-      554, /*  94.76 kPa  75.781% */
-      478, /*  95.63 kPa  76.563% */
-      403, /*  96.49 kPa  77.344% */
-      328, /*  97.36 kPa  78.125% */
-      254, /*  98.23 kPa  78.906% */
-      180, /*  99.10 kPa  79.688% */
-      106, /*  99.97 kPa  80.469% */
-       34, /* 100.83 kPa  81.250% */
-      -39, /* 101.70 kPa  82.031% */
-     -111, /* 102.57 kPa  82.813% */
-     -182, /* 103.44 kPa  83.594% */
-     -253, /* 104.30 kPa  84.375% */
-     -323, /* 105.17 kPa  85.156% */
-     -393, /* 106.04 kPa  85.938% */
-     -462, /* 106.91 kPa  86.719% */
-     -531, /* 107.78 kPa  87.500% */
-     -600, /* 108.65 kPa  88.281% */
-     -668, /* 109.51 kPa  89.063% */
-     -736, /* 110.38 kPa  89.844% */
-     -803, /* 111.25 kPa  90.625% */
-     -870, /* 112.12 kPa  91.406% */
-     -936, /* 112.99 kPa  92.188% */
-    -1002, /* 113.85 kPa  92.969% */
-    -1068, /* 114.72 kPa  93.750% */
-    -1133, /* 115.59 kPa  94.531% */
-    -1198, /* 116.46 kPa  95.313% */
-    -1262, /* 117.33 kPa  96.094% */
-    -1326, /* 118.19 kPa  96.875% */
-    -1389, /* 119.06 kPa  97.656% */
-    -1453, /* 119.93 kPa  98.438% */
-    -1516, /* 120.80 kPa  99.219% */
-    -1578, /* 121.67 kPa 100.000% */
diff --git a/src/ao-make-product.5c b/src/ao-make-product.5c
deleted file mode 100644 (file)
index 5f2eb8e..0000000
+++ /dev/null
@@ -1,103 +0,0 @@
-#!/bin/sh
-
-autoimport ParseArgs;
-
-void
-write_ucs2(string a, string description)
-{
-       int len = String::length(a);
-
-       printf("/* %s */\n", description);
-       printf("#define AO_%s_LEN 0x%02x\n", description, len * 2 + 2);
-       printf("#define AO_%s_STRING \"%s\"\n", description, a);
-       printf("#define AO_%s_UCS2", description);
-       for (int i = 0; i < len; i++) {
-               int     c = a[i];
-               if (i > 0)
-                       printf(",");
-               if (0x20 <= c && c < 128)
-                       printf(" '%c', 0", c);
-               else
-                       printf(" LE_WORD(0x%04x),", c);
-       }
-       printf("\n\n");
-}
-
-void
-write_string(string a, string description)
-{
-       printf ("/* %s */\n", description);
-       printf ("#define AO_%s_STRING \"%s\"\n", description, a);
-}
-
-void
-write_int(int a, string description)
-{
-       printf ("/* %s */\n", description);
-       printf ("#define AO_%s_NUMBER %d\n\n", description, a);
-}
-
-void
-write_hex(int a, string description)
-{
-       printf ("/* %s */\n", description);
-       printf ("#define AO_%s_NUMBER 0x%04x\n\n", description, a);
-}
-
-string manufacturer = "altusmetrum.org";
-string product = "TeleMetrum";
-string version = "0.0";
-int serial = 1;
-int user_argind = 0;
-int id_product = 0x000a;
-
-argdesc argd = {
-       .args = {
-               {
-                       .var = { .arg_string = &manufacturer },
-                       .abbr = 'm',
-                       .name = "manufacturer",
-                       .expr_name = "manf",
-                       .desc = "Manufacturer name." },
-               {
-                       .var = { .arg_string = &product },
-                       .abbr = 'p',
-                       .name = "product",
-                       .expr_name = "prod",
-                       .desc = "Product name." },
-               {
-                       .var = { .arg_int = &id_product },
-                       .abbr = 'i',
-                       .name = "id_product",
-                       .expr_name = "id_p",
-                       .desc = "Product ID." },
-               {
-                       .var = { .arg_int = &serial },
-                       .abbr = 's',
-                       .name = "serial",
-                       .expr_name = "number",
-                       .desc = "Serial number." },
-               {
-                       .var = { .arg_string = &version },
-                       .abbr = 'v',
-                       .name = "version",
-                       .expr_name = "string",
-                       .desc = "Program version." },
-       },
-       .prog_name = "usb descriptors",
-};
-
-void
-main()
-{
-       string[dim(argv)-1] nargv = {[n] = argv[n+1]};
-       parseargs(&argd, &nargv);
-       write_ucs2(manufacturer, "iManufacturer");
-       write_ucs2(product, "iProduct");
-       write_ucs2(sprintf("%06d", serial), "iSerial");
-       write_int(serial, "iSerial");
-       write_hex(id_product, "idProduct");
-       write_string(version, "iVersion");
-}
-
-main();
diff --git a/src/ao.h b/src/ao.h
deleted file mode 100644 (file)
index 8ac9ac3..0000000
--- a/src/ao.h
+++ /dev/null
@@ -1,1610 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef _AO_H_
-#define _AO_H_
-
-#include <stdint.h>
-#include <stdio.h>
-#include <string.h>
-#include <stddef.h>
-#include "cc1111.h"
-#include "ao_pins.h"
-
-#define TRUE 1
-#define FALSE 0
-
-/* Convert a __data pointer into an __xdata pointer */
-#define DATA_TO_XDATA(a)       ((void __xdata *) ((uint8_t) (a) | 0xff00))
-
-/* Stack runs from above the allocated __data space to 0xfe, which avoids
- * writing to 0xff as that triggers the stack overflow indicator
- */
-#define AO_STACK_START 0x90
-#define AO_STACK_END   0xfe
-#define AO_STACK_SIZE  (AO_STACK_END - AO_STACK_START + 1)
-
-/* An AltOS task */
-struct ao_task {
-       __xdata void *wchan;            /* current wait channel (NULL if running) */
-       uint16_t alarm;                 /* abort ao_sleep time */
-       uint8_t stack_count;            /* amount of saved stack */
-       uint8_t task_id;                /* unique id */
-       __code char *name;              /* task name */
-       uint8_t stack[AO_STACK_SIZE];   /* saved stack */
-};
-
-extern __xdata struct ao_task *__data ao_cur_task;
-
-#define AO_NUM_TASKS           16      /* maximum number of tasks */
-#define AO_NO_TASK             0       /* no task id */
-
-/*
- ao_task.c
- */
-
-/* Suspend the current task until wchan is awoken.
- * returns:
- *  0 on normal wake
- *  1 on alarm
- */
-uint8_t
-ao_sleep(__xdata void *wchan);
-
-/* Wake all tasks sleeping on wchan */
-void
-ao_wakeup(__xdata void *wchan);
-
-/* set an alarm to go off in 'delay' ticks */
-void
-ao_alarm(uint16_t delay);
-
-/* Yield the processor to another task */
-void
-ao_yield(void) __naked;
-
-/* Add a task to the run queue */
-void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
-
-/* Terminate the current task */
-void
-ao_exit(void);
-
-/* Dump task info to console */
-void
-ao_task_info(void);
-
-/* Start the scheduler. This will not return */
-void
-ao_start_scheduler(void);
-
-/*
- * ao_panic.c
- */
-
-#define AO_PANIC_NO_TASK       1       /* AO_NUM_TASKS is not large enough */
-#define AO_PANIC_DMA           2       /* Attempt to start DMA while active */
-#define AO_PANIC_MUTEX         3       /* Mis-using mutex API */
-#define AO_PANIC_EE            4       /* Mis-using eeprom API */
-#define AO_PANIC_LOG           5       /* Failing to read/write log data */
-#define AO_PANIC_CMD           6       /* Too many command sets registered */
-#define AO_PANIC_STDIO         7       /* Too many stdio handlers registered */
-#define AO_PANIC_REBOOT                8       /* Reboot failed */
-#define AO_PANIC_FLASH         9       /* Invalid flash part (or wrong blocksize) */
-#define AO_PANIC_USB           10      /* Trying to send USB packet while busy */
-#define AO_PANIC_BT            11      /* Communications with bluetooth device failed */
-
-/* Stop the operating system, beeping and blinking the reason */
-void
-ao_panic(uint8_t reason);
-
-/*
- * ao_timer.c
- */
-
-/* Our timer runs at 100Hz */
-#define AO_HERTZ               100
-#define AO_MS_TO_TICKS(ms)     ((ms) / (1000 / AO_HERTZ))
-#define AO_SEC_TO_TICKS(s)     ((s) * AO_HERTZ)
-
-/* Returns the current time in ticks */
-uint16_t
-ao_time(void);
-
-/* Suspend the current task until ticks time has passed */
-void
-ao_delay(uint16_t ticks);
-
-/* Set the ADC interval */
-void
-ao_timer_set_adc_interval(uint8_t interval) __critical;
-
-/* Timer interrupt */
-void
-ao_timer_isr(void) __interrupt 9;
-
-/* Initialize the timer */
-void
-ao_timer_init(void);
-
-/* Initialize the hardware clock. Must be called first */
-void
-ao_clock_init(void);
-
-/*
- * One set of samples read from the A/D converter or telemetry
- */
-struct ao_adc {
-       uint16_t        tick;           /* tick when the sample was read */
-       int16_t         accel;          /* accelerometer */
-       int16_t         pres;           /* pressure sensor */
-       int16_t         temp;           /* temperature sensor */
-       int16_t         v_batt;         /* battery voltage */
-       int16_t         sense_d;        /* drogue continuity sense */
-       int16_t         sense_m;        /* main continuity sense */
-};
-
-#ifndef HAS_ADC
-#error Please define HAS_ADC
-#endif
-
-#if HAS_ADC
-
-#if HAS_ACCEL
-#ifndef HAS_ACCEL_REF
-#error Please define HAS_ACCEL_REF
-#endif
-#else
-#define HAS_ACCEL_REF 0
-#endif
-
-/*
- * ao_adc.c
- */
-
-#define AO_ADC_RING    32
-#define ao_adc_ring_next(n)    (((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n)    (((n) - 1) & (AO_ADC_RING - 1))
-
-
-/*
- * A/D data is stored in a ring, with the next sample to be written
- * at ao_adc_head
- */
-extern volatile __xdata struct ao_adc  ao_adc_ring[AO_ADC_RING];
-extern volatile __data uint8_t         ao_adc_head;
-#if HAS_ACCEL_REF
-extern volatile __xdata uint16_t       ao_accel_ref[AO_ADC_RING];
-#endif
-
-/* Trigger a conversion sequence (called from the timer interrupt) */
-void
-ao_adc_poll(void);
-
-/* Suspend the current task until another A/D sample is converted */
-void
-ao_adc_sleep(void);
-
-/* Get a copy of the last complete A/D sample set */
-void
-ao_adc_get(__xdata struct ao_adc *packet);
-
-/* The A/D interrupt handler */
-
-void
-ao_adc_isr(void) __interrupt 1;
-
-/* Initialize the A/D converter */
-void
-ao_adc_init(void);
-
-#endif /* HAS_ADC */
-
-/*
- * ao_beep.c
- */
-
-/*
- * Various pre-defined beep frequencies
- *
- * frequency = 1/2 (24e6/32) / beep
- */
-
-#define AO_BEEP_LOW    150     /* 2500Hz */
-#define AO_BEEP_MID    94      /* 3989Hz */
-#define AO_BEEP_HIGH   75      /* 5000Hz */
-#define AO_BEEP_OFF    0       /* off */
-
-#define AO_BEEP_g      240     /* 1562.5Hz */
-#define AO_BEEP_gs     227     /* 1652Hz (1655Hz) */
-#define AO_BEEP_aa     214     /* 1752Hz (1754Hz) */
-#define AO_BEEP_bbf    202     /* 1856Hz (1858Hz) */
-#define AO_BEEP_bb     190     /* 1974Hz (1969Hz) */
-#define AO_BEEP_cc     180     /* 2083Hz (2086Hz) */
-#define AO_BEEP_ccs    170     /* 2205Hz (2210Hz) */
-#define AO_BEEP_dd     160     /* 2344Hz (2341Hz) */
-#define AO_BEEP_eef    151     /* 2483Hz (2480Hz) */
-#define AO_BEEP_ee     143     /* 2622Hz (2628Hz) */
-#define AO_BEEP_ff     135     /* 2778Hz (2784Hz) */
-#define AO_BEEP_ffs    127     /* 2953Hz (2950Hz) */
-#define AO_BEEP_gg     120     /* 3125Hz */
-#define AO_BEEP_ggs    113     /* 3319Hz (3311Hz) */
-#define AO_BEEP_aaa    107     /* 3504Hz (3508Hz) */
-#define AO_BEEP_bbbf   101     /* 3713Hz (3716Hz) */
-#define AO_BEEP_bbb    95      /* 3947Hz (3937Hz) */
-#define AO_BEEP_ccc    90      /* 4167Hz (4171Hz) */
-#define AO_BEEP_cccs   85      /* 4412Hz (4419Hz) */
-#define AO_BEEP_ddd    80      /* 4688Hz (4682Hz) */
-#define AO_BEEP_eeef   76      /* 4934Hz (4961Hz) */
-#define AO_BEEP_eee    71      /* 5282Hz (5256Hz) */
-#define AO_BEEP_fff    67      /* 5597Hz (5568Hz) */
-#define AO_BEEP_fffs   64      /* 5859Hz (5899Hz) */
-#define AO_BEEP_ggg    60      /* 6250Hz */
-
-/* Set the beeper to the specified tone */
-void
-ao_beep(uint8_t beep);
-
-/* Turn on the beeper for the specified time */
-void
-ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
-
-/* Initialize the beeper */
-void
-ao_beep_init(void);
-
-/*
- * ao_led.c
- */
-
-#define AO_LED_NONE    0
-
-/* Turn on the specified LEDs */
-void
-ao_led_on(uint8_t colors);
-
-/* Turn off the specified LEDs */
-void
-ao_led_off(uint8_t colors);
-
-/* Set all of the LEDs to the specified state */
-void
-ao_led_set(uint8_t colors);
-
-/* Toggle the specified LEDs */
-void
-ao_led_toggle(uint8_t colors);
-
-/* Turn on the specified LEDs for the indicated interval */
-void
-ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
-
-/* Initialize the LEDs */
-void
-ao_led_init(uint8_t enable);
-
-/*
- * ao_romconfig.c
- */
-
-#define AO_ROMCONFIG_VERSION   2
-
-extern __code __at (0x00a0) uint16_t ao_romconfig_version;
-extern __code __at (0x00a2) uint16_t ao_romconfig_check;
-extern __code __at (0x00a4) uint16_t ao_serial_number;
-extern __code __at (0x00a6) uint32_t ao_radio_cal;
-
-#ifndef HAS_USB
-#error Please define HAS_USB
-#endif
-
-#if HAS_USB
-extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
-#endif
-
-/*
- * ao_usb.c
- */
-
-/* Put one character to the USB output queue */
-void
-ao_usb_putchar(char c);
-
-/* Get one character from the USB input queue */
-char
-ao_usb_getchar(void);
-
-/* Poll for a charcter on the USB input queue.
- * returns AO_READ_AGAIN if none are available
- */
-char
-ao_usb_pollchar(void);
-
-/* Flush the USB output queue */
-void
-ao_usb_flush(void);
-
-#if HAS_USB
-/* USB interrupt handler */
-void
-ao_usb_isr(void) __interrupt 6;
-#endif
-
-/* Enable the USB controller */
-void
-ao_usb_enable(void);
-
-/* Disable the USB controller */
-void
-ao_usb_disable(void);
-
-/* Initialize the USB system */
-void
-ao_usb_init(void);
-
-/*
- * ao_cmd.c
- */
-
-enum ao_cmd_status {
-       ao_cmd_success = 0,
-       ao_cmd_lex_error = 1,
-       ao_cmd_syntax_error = 2,
-};
-
-extern __pdata uint16_t ao_cmd_lex_i;
-extern __pdata uint32_t ao_cmd_lex_u32;
-extern __pdata char    ao_cmd_lex_c;
-extern __pdata enum ao_cmd_status ao_cmd_status;
-
-void
-ao_cmd_lex(void);
-
-void
-ao_cmd_put8(uint8_t v);
-
-void
-ao_cmd_put16(uint16_t v);
-
-void
-ao_cmd_white(void);
-
-void
-ao_cmd_hex(void);
-
-void
-ao_cmd_decimal(void);
-
-uint8_t
-ao_match_word(__code char *word);
-
-struct ao_cmds {
-       void            (*func)(void);
-       __code char     *help;
-};
-
-void
-ao_cmd_register(__code struct ao_cmds *cmds);
-
-void
-ao_cmd_init(void);
-
-#if HAS_CMD_FILTER
-/*
- * Provided by an external module to filter raw command lines
- */
-uint8_t
-ao_cmd_filter(void);
-#endif
-
-/*
- * ao_dma.c
- */
-
-/* Allocate a DMA channel. the 'done' parameter will be set when the
- * dma is finished and will be used to wakeup any waiters
- */
-
-uint8_t
-ao_dma_alloc(__xdata uint8_t * done);
-
-/* Setup a DMA channel */
-void
-ao_dma_set_transfer(uint8_t id,
-                   void __xdata *srcaddr,
-                   void __xdata *dstaddr,
-                   uint16_t count,
-                   uint8_t cfg0,
-                   uint8_t cfg1);
-
-/* Start a DMA channel */
-void
-ao_dma_start(uint8_t id);
-
-/* Manually trigger a DMA channel */
-void
-ao_dma_trigger(uint8_t id);
-
-/* Abort a running DMA transfer */
-void
-ao_dma_abort(uint8_t id);
-
-/* DMA interrupt routine */
-void
-ao_dma_isr(void) __interrupt 8;
-
-/*
- * ao_mutex.c
- */
-
-void
-ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
-
-void
-ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
-
-/*
- * Storage interface, provided by one of the eeprom or flash
- * drivers
- */
-
-/* Total bytes of available storage */
-extern __pdata uint32_t        ao_storage_total;
-
-/* Block size - device is erased in these units. At least 256 bytes */
-extern __pdata uint32_t        ao_storage_block;
-
-/* Byte offset of config block. Will be ao_storage_block bytes long */
-extern __pdata uint32_t        ao_storage_config;
-
-/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
-extern __pdata uint16_t ao_storage_unit;
-
-#define AO_STORAGE_ERASE_LOG   (ao_storage_config + AO_CONFIG_MAX_SIZE)
-
-/* Initialize above values. Can only be called once the OS is running */
-void
-ao_storage_setup(void) __reentrant;
-
-/* Write data. Returns 0 on failure, 1 on success */
-uint8_t
-ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Read data. Returns 0 on failure, 1 on success */
-uint8_t
-ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Erase a block of storage. This always clears ao_storage_block bytes */
-uint8_t
-ao_storage_erase(uint32_t pos) __reentrant;
-
-/* Flush any pending writes to stable storage */
-void
-ao_storage_flush(void) __reentrant;
-
-/* Initialize the storage code */
-void
-ao_storage_init(void);
-
-/*
- * Low-level functions wrapped by ao_storage.c
- */
-
-/* Read data within a storage unit */
-uint8_t
-ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Write data within a storage unit */
-uint8_t
-ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Initialize low-level device bits */
-void
-ao_storage_device_init(void);
-
-/* Print out information about flash chips */
-void
-ao_storage_device_info(void) __reentrant;
-
-/*
- * ao_log.c
- */
-
-/* We record flight numbers in the first record of
- * the log. Tasks may wait for this to be initialized
- * by sleeping on this variable.
- */
-extern __xdata uint16_t ao_flight_number;
-
-extern __pdata uint32_t ao_log_current_pos;
-extern __pdata uint32_t ao_log_end_pos;
-extern __pdata uint32_t ao_log_start_pos;
-extern __xdata uint8_t ao_log_running;
-extern __pdata enum flight_state ao_log_state;
-
-/* required functions from the underlying log system */
-
-#define AO_LOG_FORMAT_UNKNOWN          0       /* unknown; altosui will have to guess */
-#define AO_LOG_FORMAT_FULL             1       /* 8 byte typed log records */
-#define AO_LOG_FORMAT_TINY             2       /* two byte state/baro records */
-#define AO_LOG_FORMAT_TELEMETRY                3       /* 32 byte ao_telemetry records */
-#define AO_LOG_FORMAT_TELESCIENCE      4       /* 32 byte typed telescience records */
-#define AO_LOG_FORMAT_NONE             127     /* No log at all */
-
-extern __code uint8_t ao_log_format;
-
-/* Return the flight number from the given log slot, 0 if none */
-uint16_t
-ao_log_flight(uint8_t slot);
-
-/* Flush the log */
-void
-ao_log_flush(void);
-
-/* Logging thread main routine */
-void
-ao_log(void);
-
-/* functions provided in ao_log.c */
-
-/* Figure out the current flight number */
-void
-ao_log_scan(void) __reentrant;
-
-/* Return the position of the start of the given log slot */
-uint32_t
-ao_log_pos(uint8_t slot);
-
-/* Start logging to eeprom */
-void
-ao_log_start(void);
-
-/* Stop logging */
-void
-ao_log_stop(void);
-
-/* Initialize the logging system */
-void
-ao_log_init(void);
-
-/* Write out the current flight number to the erase log */
-void
-ao_log_write_erase(uint8_t pos);
-
-/* Returns true if there are any logs stored in eeprom */
-uint8_t
-ao_log_present(void);
-
-/* Returns true if there is no more storage space available */
-uint8_t
-ao_log_full(void);
-
-/*
- * ao_log_big.c
- */
-
-/*
- * The data log is recorded in the eeprom as a sequence
- * of data packets.
- *
- * Each packet starts with a 4-byte header that has the
- * packet type, the packet checksum and the tick count. Then
- * they all contain 2 16 bit values which hold packet-specific
- * data.
- *
- * For each flight, the first packet
- * is FLIGHT packet, indicating the serial number of the
- * device and a unique number marking the number of flights
- * recorded by this device.
- *
- * During flight, data from the accelerometer and barometer
- * are recorded in SENSOR packets, using the raw 16-bit values
- * read from the A/D converter.
- *
- * Also during flight, but at a lower rate, the deployment
- * sensors are recorded in DEPLOY packets. The goal here is to
- * detect failure in the deployment circuits.
- *
- * STATE packets hold state transitions as the flight computer
- * transitions through different stages of the flight.
- */
-#define AO_LOG_FLIGHT          'F'
-#define AO_LOG_SENSOR          'A'
-#define AO_LOG_TEMP_VOLT       'T'
-#define AO_LOG_DEPLOY          'D'
-#define AO_LOG_STATE           'S'
-#define AO_LOG_GPS_TIME                'G'
-#define AO_LOG_GPS_LAT         'N'
-#define AO_LOG_GPS_LON         'W'
-#define AO_LOG_GPS_ALT         'H'
-#define AO_LOG_GPS_SAT         'V'
-#define AO_LOG_GPS_DATE                'Y'
-
-#define AO_LOG_POS_NONE                (~0UL)
-
-struct ao_log_record {
-       char                    type;
-       uint8_t                 csum;
-       uint16_t                tick;
-       union {
-               struct {
-                       int16_t         ground_accel;
-                       uint16_t        flight;
-               } flight;
-               struct {
-                       int16_t         accel;
-                       int16_t         pres;
-               } sensor;
-               struct {
-                       int16_t         temp;
-                       int16_t         v_batt;
-               } temp_volt;
-               struct {
-                       int16_t         drogue;
-                       int16_t         main;
-               } deploy;
-               struct {
-                       uint16_t        state;
-                       uint16_t        reason;
-               } state;
-               struct {
-                       uint8_t         hour;
-                       uint8_t         minute;
-                       uint8_t         second;
-                       uint8_t         flags;
-               } gps_time;
-               int32_t         gps_latitude;
-               int32_t         gps_longitude;
-               struct {
-                       int16_t         altitude;
-                       uint16_t        unused;
-               } gps_altitude;
-               struct {
-                       uint16_t        svid;
-                       uint8_t         unused;
-                       uint8_t         c_n;
-               } gps_sat;
-               struct {
-                       uint8_t         year;
-                       uint8_t         month;
-                       uint8_t         day;
-                       uint8_t         extra;
-               } gps_date;
-               struct {
-                       uint16_t        d0;
-                       uint16_t        d1;
-               } anon;
-       } u;
-};
-
-/* Write a record to the eeprom log */
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant;
-
-/*
- * ao_flight.c
- */
-
-enum ao_flight_state {
-       ao_flight_startup = 0,
-       ao_flight_idle = 1,
-       ao_flight_pad = 2,
-       ao_flight_boost = 3,
-       ao_flight_fast = 4,
-       ao_flight_coast = 5,
-       ao_flight_drogue = 6,
-       ao_flight_main = 7,
-       ao_flight_landed = 8,
-       ao_flight_invalid = 9
-};
-
-extern __pdata enum ao_flight_state    ao_flight_state;
-
-extern __pdata uint16_t                        ao_launch_time;
-extern __pdata uint8_t                 ao_flight_force_idle;
-
-/* Flight thread */
-void
-ao_flight(void);
-
-/* Initialize flight thread */
-void
-ao_flight_init(void);
-
-/*
- * ao_flight_nano.c
- */
-
-void
-ao_flight_nano_init(void);
-
-/*
- * ao_sample.c
- */
-
-/*
- * Barometer calibration
- *
- * We directly sample the barometer. The specs say:
- *
- * Pressure range: 15-115 kPa
- * Voltage at 115kPa: 2.82
- * Output scale: 27mV/kPa
- *
- * If we want to detect launch with the barometer, we need
- * a large enough bump to not be fooled by noise. At typical
- * launch elevations (0-2000m), a 200Pa pressure change cooresponds
- * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
- * As all of our calculations are done in 16 bits, we'll actually see a change
- * of 16 times this though
- *
- * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
- */
-
-/* Accelerometer calibration
- *
- * We're sampling the accelerometer through a resistor divider which
- * consists of 5k and 10k resistors. This multiplies the values by 2/3.
- * That goes into the cc1111 A/D converter, which is running at 11 bits
- * of precision with the bits in the MSB of the 16 bit value. Only positive
- * values are used, so values should range from 0-32752 for 0-3.3V. The
- * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
- * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
- * for a final computation of:
- *
- * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
- *
- * Zero g was measured at 16000 (we would expect 16384).
- * Note that this value is only require to tell if the
- * rocket is standing upright. Once that is determined,
- * the value of the accelerometer is averaged for 100 samples
- * to find the resting accelerometer value, which is used
- * for all further flight computations
- */
-
-#define GRAVITY 9.80665
-
-/*
- * Above this height, the baro sensor doesn't work
- */
-#define AO_MAX_BARO_HEIGHT     12000
-
-/*
- * Above this speed, baro measurements are unreliable
- */
-#define AO_MAX_BARO_SPEED      200
-
-#define ACCEL_NOSE_UP  (ao_accel_2g >> 2)
-
-/*
- * Speed and acceleration are scaled by 16 to provide a bit more
- * resolution while still having reasonable range. Note that this
- * limits speed to 2047m/s (around mach 6) and acceleration to
- * 2047m/s² (over 200g)
- */
-
-#define AO_M_TO_HEIGHT(m)      ((int16_t) (m))
-#define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
-#define AO_MSS_TO_ACCEL(mss)   ((int16_t) ((mss) * 16))
-
-extern __pdata uint16_t        ao_sample_tick;         /* time of last data */
-extern __pdata int16_t ao_sample_pres;         /* most recent pressure sensor reading */
-extern __pdata int16_t ao_sample_alt;          /* MSL of ao_sample_pres */
-extern __pdata int16_t ao_sample_height;       /* AGL of ao_sample_pres */
-extern __data uint8_t  ao_sample_adc;          /* Ring position of last processed sample */
-
-#if HAS_ACCEL
-extern __pdata int16_t ao_sample_accel;        /* most recent accel sensor reading */
-#endif
-
-extern __pdata int16_t ao_ground_pres;         /* startup pressure */
-extern __pdata int16_t ao_ground_height;       /* MSL of ao_ground_pres */
-
-#if HAS_ACCEL
-extern __pdata int16_t ao_ground_accel;        /* startup acceleration */
-extern __pdata int16_t         ao_accel_2g;            /* factory accel calibration */
-extern __pdata int32_t ao_accel_scale;         /* sensor to m/s² conversion */
-#endif
-
-void ao_sample_init(void);
-
-/* returns FALSE in preflight mode, TRUE in flight mode */
-uint8_t ao_sample(void);
-
-/*
- * ao_kalman.c
- */
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix(x)    ((x) >> 16)
-
-extern __pdata int16_t                 ao_height;      /* meters */
-extern __pdata int16_t                 ao_speed;       /* m/s * 16 */
-extern __pdata int16_t                 ao_accel;       /* m/s² * 16 */
-extern __pdata int16_t                 ao_max_height;  /* max of ao_height */
-extern __pdata int16_t                 ao_avg_height;  /* running average of height */
-
-extern __pdata int16_t                 ao_error_h;
-extern __pdata int16_t                 ao_error_h_sq_avg;
-
-#if HAS_ACCEL
-extern __pdata int16_t                 ao_error_a;
-#endif
-
-void ao_kalman(void);
-
-/*
- * ao_report.c
- */
-
-void
-ao_report_init(void);
-
-/*
- * ao_convert.c
- *
- * Given raw data, convert to SI units
- */
-
-/* pressure from the sensor to altitude in meters */
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant;
-
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant;
-
-int16_t
-ao_temp_to_dC(int16_t temp) __reentrant;
-
-/*
- * ao_dbg.c
- *
- * debug another telemetrum board
- */
-
-/* Send a byte to the dbg target */
-void
-ao_dbg_send_byte(uint8_t byte);
-
-/* Receive a byte from the dbg target */
-uint8_t
-ao_dbg_recv_byte(void);
-
-/* Start a bulk transfer to/from dbg target memory */
-void
-ao_dbg_start_transfer(uint16_t addr);
-
-/* End a bulk transfer to/from dbg target memory */
-void
-ao_dbg_end_transfer(void);
-
-/* Write a byte to dbg target memory */
-void
-ao_dbg_write_byte(uint8_t byte);
-
-/* Read a byte from dbg target memory */
-uint8_t
-ao_dbg_read_byte(void);
-
-/* Enable dbg mode, switching use of the pins */
-void
-ao_dbg_debug_mode(void);
-
-/* Reset the dbg target */
-void
-ao_dbg_reset(void);
-
-void
-ao_dbg_init(void);
-
-/*
- * ao_serial.c
- */
-
-#ifndef HAS_SERIAL_1
-#error Please define HAS_SERIAL_1
-#endif
-
-#if HAS_SERIAL_1
-#ifndef USE_SERIAL_STDIN
-#error Please define USE_SERIAL_STDIN
-#endif
-
-void
-ao_serial_rx1_isr(void) __interrupt 3;
-
-void
-ao_serial_tx1_isr(void) __interrupt 14;
-
-char
-ao_serial_getchar(void) __critical;
-
-#if USE_SERIAL_STDIN
-char
-ao_serial_pollchar(void) __critical;
-
-void
-ao_serial_set_stdin(uint8_t stdin);
-#endif
-
-void
-ao_serial_putchar(char c) __critical;
-
-void
-ao_serial_drain(void) __critical;
-
-#define AO_SERIAL_SPEED_4800   0
-#define AO_SERIAL_SPEED_9600   1
-#define AO_SERIAL_SPEED_19200  2
-#define AO_SERIAL_SPEED_57600  3
-
-void
-ao_serial_set_speed(uint8_t speed);
-
-void
-ao_serial_init(void);
-#endif
-
-/*
- * ao_spi.c
- */
-
-extern __xdata uint8_t ao_spi_mutex;
-
-#define ao_spi_get_mask(reg,mask) do {\
-       ao_mutex_get(&ao_spi_mutex); \
-       (reg) &= ~(mask); \
-       } while (0)
-
-#define ao_spi_put_mask(reg,mask) do { \
-       (reg) |= (mask); \
-       ao_mutex_put(&ao_spi_mutex); \
-       } while (0)
-
-#define ao_spi_get_bit(bit) do {\
-       ao_mutex_get(&ao_spi_mutex); \
-       (bit) = 0; \
-       } while (0)
-
-#define ao_spi_put_bit(bit) do { \
-       (bit) = 1; \
-       ao_mutex_put(&ao_spi_mutex); \
-       } while (0)
-
-/*
- * The SPI mutex must be held to call either of these
- * functions -- this mutex covers the entire SPI operation,
- * from chip select low to chip select high
- */
-
-void
-ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
-
-void
-ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
-
-void
-ao_spi_init(void);
-
-/*
- * ao_telemetry.c
- */
-#define AO_MAX_CALLSIGN                        8
-#define AO_MAX_VERSION                 8
-#define AO_MAX_TELEMETRY               128
-
-struct ao_telemetry_generic {
-       uint16_t        serial;         /* 0 */
-       uint16_t        tick;           /* 2 */
-       uint8_t         type;           /* 4 */
-       uint8_t         payload[27];    /* 5 */
-       /* 32 */
-};
-
-#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
-#define AO_TELEMETRY_SENSOR_TELEMINI   0x02
-#define AO_TELEMETRY_SENSOR_TELENANO   0x03
-
-struct ao_telemetry_sensor {
-       uint16_t        serial;         /*  0 */
-       uint16_t        tick;           /*  2 */
-       uint8_t         type;           /*  4 */
-
-       uint8_t         state;          /*  5 flight state */
-       int16_t         accel;          /*  6 accelerometer (TM only) */
-       int16_t         pres;           /*  8 pressure sensor */
-       int16_t         temp;           /* 10 temperature sensor */
-       int16_t         v_batt;         /* 12 battery voltage */
-       int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
-       int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
-
-       int16_t         acceleration;   /* 18 m/s² * 16 */
-       int16_t         speed;          /* 20 m/s * 16 */
-       int16_t         height;         /* 22 m */
-
-       int16_t         ground_pres;    /* 24 average pres on pad */
-       int16_t         ground_accel;   /* 26 average accel on pad */
-       int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
-       int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
-       /* 32 */
-};
-
-#define AO_TELEMETRY_CONFIGURATION     0x04
-
-struct ao_telemetry_configuration {
-       uint16_t        serial;                         /*  0 */
-       uint16_t        tick;                           /*  2 */
-       uint8_t         type;                           /*  4 */
-
-       uint8_t         device;                         /*  5 device type */
-       uint16_t        flight;                         /*  6 flight number */
-       uint8_t         config_major;                   /*  8 Config major version */
-       uint8_t         config_minor;                   /*  9 Config minor version */
-       uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
-       uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
-       uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
-       char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
-       char            version[AO_MAX_VERSION];        /* 24 Software version */
-       /* 32 */
-};
-
-#define AO_TELEMETRY_LOCATION          0x05
-
-#define AO_GPS_MODE_NOT_VALID          'N'
-#define AO_GPS_MODE_AUTONOMOUS         'A'
-#define AO_GPS_MODE_DIFFERENTIAL       'D'
-#define AO_GPS_MODE_ESTIMATED          'E'
-#define AO_GPS_MODE_MANUAL             'M'
-#define AO_GPS_MODE_SIMULATED          'S'
-
-struct ao_telemetry_location {
-       uint16_t        serial;         /*  0 */
-       uint16_t        tick;           /*  2 */
-       uint8_t         type;           /*  4 */
-
-       uint8_t         flags;          /*  5 Number of sats and other flags */
-       int16_t         altitude;       /*  6 GPS reported altitude (m) */
-       int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
-       int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
-       uint8_t         year;           /* 16 (- 2000) */
-       uint8_t         month;          /* 17 (1-12) */
-       uint8_t         day;            /* 18 (1-31) */
-       uint8_t         hour;           /* 19 (0-23) */
-       uint8_t         minute;         /* 20 (0-59) */
-       uint8_t         second;         /* 21 (0-59) */
-       uint8_t         pdop;           /* 22 (m * 5) */
-       uint8_t         hdop;           /* 23 (m * 5) */
-       uint8_t         vdop;           /* 24 (m * 5) */
-       uint8_t         mode;           /* 25 */
-       uint16_t        ground_speed;   /* 26 cm/s */
-       int16_t         climb_rate;     /* 28 cm/s */
-       uint8_t         course;         /* 30 degrees / 2 */
-       uint8_t         unused[1];      /* 31 */
-       /* 32 */
-};
-
-#define AO_TELEMETRY_SATELLITE         0x06
-
-struct ao_telemetry_satellite_info {
-       uint8_t         svid;
-       uint8_t         c_n_1;
-};
-
-struct ao_telemetry_satellite {
-       uint16_t                                serial;         /*  0 */
-       uint16_t                                tick;           /*  2 */
-       uint8_t                                 type;           /*  4 */
-       uint8_t                                 channels;       /*  5 number of reported sats */
-
-       struct ao_telemetry_satellite_info      sats[12];       /* 6 */
-       uint8_t                                 unused[2];      /* 30 */
-       /* 32 */
-};
-
-#define AO_TELEMETRY_COMPANION         0x07
-
-#define AO_COMPANION_MAX_CHANNELS      12
-
-struct ao_telemetry_companion {
-       uint16_t                                serial;         /*  0 */
-       uint16_t                                tick;           /*  2 */
-       uint8_t                                 type;           /*  4 */
-       uint8_t                                 board_id;       /*  5 */
-
-       uint8_t                                 update_period;  /*  6 */
-       uint8_t                                 channels;       /*  7 */
-       uint16_t                                companion_data[AO_COMPANION_MAX_CHANNELS];      /*  8 */
-       /* 32 */
-};
-       
-union ao_telemetry_all {
-       struct ao_telemetry_generic             generic;
-       struct ao_telemetry_sensor              sensor;
-       struct ao_telemetry_configuration       configuration;
-       struct ao_telemetry_location            location;
-       struct ao_telemetry_satellite           satellite;
-       struct ao_telemetry_companion           companion;
-};
-
-/*
- * ao_gps.c
- */
-
-#define AO_GPS_NUM_SAT_MASK    (0xf << 0)
-#define AO_GPS_NUM_SAT_SHIFT   (0)
-
-#define AO_GPS_VALID           (1 << 4)
-#define AO_GPS_RUNNING         (1 << 5)
-#define AO_GPS_DATE_VALID      (1 << 6)
-#define AO_GPS_COURSE_VALID    (1 << 7)
-
-extern __pdata uint16_t ao_gps_tick;
-extern __xdata uint8_t ao_gps_mutex;
-extern __xdata struct ao_telemetry_location ao_gps_data;
-extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
-
-struct ao_gps_orig {
-       uint8_t                 year;
-       uint8_t                 month;
-       uint8_t                 day;
-       uint8_t                 hour;
-       uint8_t                 minute;
-       uint8_t                 second;
-       uint8_t                 flags;
-       int32_t                 latitude;       /* degrees * 10⁷ */
-       int32_t                 longitude;      /* degrees * 10⁷ */
-       int16_t                 altitude;       /* m */
-       uint16_t                ground_speed;   /* cm/s */
-       uint8_t                 course;         /* degrees / 2 */
-       uint8_t                 hdop;           /* * 5 */
-       int16_t                 climb_rate;     /* cm/s */
-       uint16_t                h_error;        /* m */
-       uint16_t                v_error;        /* m */
-};
-
-struct ao_gps_sat_orig {
-       uint8_t         svid;
-       uint8_t         c_n_1;
-};
-
-#define AO_MAX_GPS_TRACKING    12
-
-struct ao_gps_tracking_orig {
-       uint8_t                 channels;
-       struct ao_gps_sat_orig  sats[AO_MAX_GPS_TRACKING];
-};
-
-void
-ao_gps(void);
-
-void
-ao_gps_print(__xdata struct ao_gps_orig *gps_data);
-
-void
-ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
-
-void
-ao_gps_init(void);
-
-/*
- * ao_gps_report.c
- */
-
-void
-ao_gps_report(void);
-
-void
-ao_gps_report_init(void);
-
-/*
- * ao_telemetry_orig.c
- */
-
-struct ao_telemetry_orig {
-       uint16_t                serial;
-       uint16_t                flight;
-       uint8_t                 flight_state;
-       int16_t                 accel;
-       int16_t                 ground_accel;
-       union {
-               struct {
-                       int16_t                 speed;
-                       int16_t                 unused;
-               } k;
-               int32_t         flight_vel;
-       } u;
-       int16_t                 height;
-       int16_t                 ground_pres;
-       int16_t                 accel_plus_g;
-       int16_t                 accel_minus_g;
-       struct ao_adc           adc;
-       struct ao_gps_orig      gps;
-       char                    callsign[AO_MAX_CALLSIGN];
-       struct ao_gps_tracking_orig     gps_tracking;
-};
-
-struct ao_telemetry_tiny {
-       uint16_t                serial;
-       uint16_t                flight;
-       uint8_t                 flight_state;
-       int16_t                 height;         /* AGL in meters */
-       int16_t                 speed;          /* in m/s * 16 */
-       int16_t                 accel;          /* in m/s² * 16 */
-       int16_t                 ground_pres;    /* sensor units */
-       struct ao_adc           adc;            /* raw ADC readings */
-       char                    callsign[AO_MAX_CALLSIGN];
-};
-
-/*
- * ao_radio_recv tacks on rssi and status bytes
- */
-
-struct ao_telemetry_raw_recv {
-       uint8_t                 packet[AO_MAX_TELEMETRY + 2];
-};
-
-struct ao_telemetry_orig_recv {
-       struct ao_telemetry_orig        telemetry_orig;
-       int8_t                          rssi;
-       uint8_t                         status;
-};
-
-struct ao_telemetry_tiny_recv {
-       struct ao_telemetry_tiny        telemetry_tiny;
-       int8_t                          rssi;
-       uint8_t                         status;
-};
-
-/* Set delay between telemetry reports (0 to disable) */
-
-#define AO_TELEMETRY_INTERVAL_PAD      AO_MS_TO_TICKS(1000)
-#define AO_TELEMETRY_INTERVAL_FLIGHT   AO_MS_TO_TICKS(100)
-#define AO_TELEMETRY_INTERVAL_RECOVER  AO_MS_TO_TICKS(1000)
-
-void
-ao_telemetry_set_interval(uint16_t interval);
-
-void
-ao_rdf_set(uint8_t rdf);
-
-void
-ao_telemetry_init(void);
-
-void
-ao_telemetry_orig_init(void);
-
-void
-ao_telemetry_tiny_init(void);
-
-/*
- * ao_radio.c
- */
-
-extern __xdata uint8_t ao_radio_dma;
-extern __xdata uint8_t ao_radio_dma_done;
-extern __xdata uint8_t ao_radio_done;
-extern __xdata uint8_t ao_radio_mutex;
-
-void
-ao_radio_general_isr(void) __interrupt 16;
-
-void
-ao_radio_get(uint8_t len);
-
-#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
-
-void
-ao_radio_set_packet(void);
-
-void
-ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
-
-uint8_t
-ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
-
-void
-ao_radio_recv_abort(void);
-
-void
-ao_radio_rdf(int ms);
-
-void
-ao_radio_rdf_abort(void);
-
-void
-ao_radio_idle(void);
-
-void
-ao_radio_init(void);
-
-/*
- * ao_monitor.c
- */
-
-extern const char const * const ao_state_names[];
-
-void
-ao_monitor(void);
-
-#define AO_MONITORING_OFF      0
-#define AO_MONITORING_ORIG     1
-#define AO_MONITORING_TINY     2
-
-void
-ao_set_monitor(uint8_t monitoring);
-
-void
-ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
-
-/*
- * ao_stdio.c
- */
-
-#define AO_READ_AGAIN  ((char) -1)
-
-struct ao_stdio {
-       char    (*pollchar)(void);
-       void    (*putchar)(char c) __reentrant;
-       void    (*flush)(void);
-       uint8_t echo;
-};
-
-extern __xdata struct ao_stdio ao_stdios[];
-extern __pdata int8_t ao_cur_stdio;
-extern __pdata int8_t ao_num_stdios;
-
-void
-flush(void);
-
-extern __xdata uint8_t ao_stdin_ready;
-
-uint8_t
-ao_echo(void);
-
-int8_t
-ao_add_stdio(char (*pollchar)(void),
-            void (*putchar)(char) __reentrant,
-            void (*flush)(void)) __reentrant;
-
-/*
- * ao_ignite.c
- */
-
-enum ao_igniter {
-       ao_igniter_drogue = 0,
-       ao_igniter_main = 1
-};
-
-void
-ao_ignite(enum ao_igniter igniter);
-
-enum ao_igniter_status {
-       ao_igniter_unknown,     /* unknown status (ambiguous voltage) */
-       ao_igniter_ready,       /* continuity detected */
-       ao_igniter_active,      /* igniter firing */
-       ao_igniter_open,        /* open circuit detected */
-};
-
-enum ao_igniter_status
-ao_igniter_status(enum ao_igniter igniter);
-
-void
-ao_ignite_set_pins(void);
-
-void
-ao_igniter_init(void);
-
-/*
- * ao_config.c
- */
-
-#define AO_CONFIG_MAJOR        1
-#define AO_CONFIG_MINOR        8
-
-struct ao_config {
-       uint8_t         major;
-       uint8_t         minor;
-       uint16_t        main_deploy;
-       int16_t         accel_plus_g;           /* changed for minor version 2 */
-       uint8_t         radio_channel;
-       char            callsign[AO_MAX_CALLSIGN + 1];
-       uint8_t         apogee_delay;           /* minor version 1 */
-       int16_t         accel_minus_g;          /* minor version 2 */
-       uint32_t        radio_cal;              /* minor version 3 */
-       uint32_t        flight_log_max;         /* minor version 4 */
-       uint8_t         ignite_mode;            /* minor version 5 */
-       uint8_t         pad_orientation;        /* minor version 6 */
-       uint32_t        radio_setting;          /* minor version 7 */
-       uint8_t         radio_enable;           /* minor version 8 */
-};
-
-#define AO_IGNITE_MODE_DUAL            0
-#define AO_IGNITE_MODE_APOGEE          1
-#define AO_IGNITE_MODE_MAIN            2
-
-#define AO_PAD_ORIENTATION_ANTENNA_UP  0
-#define AO_PAD_ORIENTATION_ANTENNA_DOWN        1
-
-extern __xdata struct ao_config ao_config;
-
-#define AO_CONFIG_MAX_SIZE     128
-
-void
-ao_config_get(void);
-
-void
-ao_config_put(void);
-
-void
-ao_config_init(void);
-
-/*
- * ao_rssi.c
- */
-
-void
-ao_rssi_set(int rssi_value);
-
-void
-ao_rssi_init(uint8_t rssi_led);
-
-/*
- * ao_product.c
- *
- * values which need to be defined for
- * each instance of a product
- */
-
-extern const char ao_version[];
-extern const char ao_manufacturer[];
-extern const char ao_product[];
-
-/*
- * Fifos
- */
-
-#define AO_FIFO_SIZE   32
-
-struct ao_fifo {
-       uint8_t insert;
-       uint8_t remove;
-       char    fifo[AO_FIFO_SIZE];
-};
-
-#define ao_fifo_insert(f,c) do { \
-       (f).fifo[(f).insert] = (c); \
-       (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
-} while(0)
-
-#define ao_fifo_remove(f,c) do {\
-       c = (f).fifo[(f).remove]; \
-       (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
-} while(0)
-
-#define ao_fifo_full(f)                ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
-#define ao_fifo_empty(f)       ((f).insert == (f).remove)
-
-/*
- * ao_packet.c
- *
- * Packet-based command interface
- */
-
-#define AO_PACKET_MAX          64
-#define AO_PACKET_SYN          (uint8_t) 0xff
-
-struct ao_packet {
-       uint8_t         addr;
-       uint8_t         len;
-       uint8_t         seq;
-       uint8_t         ack;
-       uint8_t         d[AO_PACKET_MAX];
-       uint8_t         callsign[AO_MAX_CALLSIGN];
-};
-
-struct ao_packet_recv {
-       struct ao_packet        packet;
-       int8_t                  rssi;
-       uint8_t                 status;
-};
-
-extern __xdata struct ao_packet_recv ao_rx_packet;
-extern __xdata struct ao_packet ao_tx_packet;
-extern __xdata struct ao_task  ao_packet_task;
-extern __xdata uint8_t ao_packet_enable;
-extern __xdata uint8_t ao_packet_master_sleeping;
-extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
-
-void
-ao_packet_send(void);
-
-uint8_t
-ao_packet_recv(void);
-
-void
-ao_packet_flush(void);
-
-void
-ao_packet_putchar(char c) __reentrant;
-
-char
-ao_packet_pollchar(void) __critical;
-
-/* ao_packet_master.c */
-
-void
-ao_packet_master_init(void);
-
-/* ao_packet_slave.c */
-
-void
-ao_packet_slave_start(void);
-
-void
-ao_packet_slave_stop(void);
-
-void
-ao_packet_slave_init(uint8_t enable);
-
-/* ao_btm.c */
-
-/* If bt_link is on P2, this interrupt is shared by USB, so the USB
- * code calls this function. Otherwise, it's a regular ISR.
- */
-
-void
-ao_btm_isr(void)
-#if BT_LINK_ON_P1
-       __interrupt 15
-#endif
-       ;
-
-void
-ao_btm_init(void);
-
-/* ao_companion.c */
-
-#define AO_COMPANION_SETUP             1
-#define AO_COMPANION_FETCH             2
-#define AO_COMPANION_NOTIFY            3
-
-struct ao_companion_command {
-       uint8_t         command;
-       uint8_t         flight_state;
-       uint16_t        tick;
-       uint16_t        serial;
-       uint16_t        flight;
-};
-
-struct ao_companion_setup {
-       uint16_t        board_id;
-       uint16_t        board_id_inverse;
-       uint8_t         update_period;
-       uint8_t         channels;
-};
-
-extern __pdata uint8_t                         ao_companion_running;
-extern __xdata struct ao_companion_setup       ao_companion_setup;
-extern __xdata uint8_t                         ao_companion_mutex;
-extern __xdata uint16_t                                ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-
-void
-ao_companion_init(void);
-
-#endif /* _AO_H_ */
diff --git a/src/ao_adc.c b/src/ao_adc.c
deleted file mode 100644 (file)
index 786dfd1..0000000
+++ /dev/null
@@ -1,196 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-#include "ao_pins.h"
-
-volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
-#if HAS_ACCEL_REF
-volatile __xdata uint16_t      ao_accel_ref[AO_ADC_RING];
-#endif
-volatile __data uint8_t                ao_adc_head;
-
-void
-ao_adc_poll(void)
-{
-#if HAS_ACCEL_REF
-       ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 2;
-#else
-# ifdef TELENANO_V_0_1
-       ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 1;
-# else
-       ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 0;
-# endif
-#endif
-}
-
-void
-ao_adc_get(__xdata struct ao_adc *packet)
-{
-       uint8_t i = ao_adc_ring_prev(ao_sample_adc);
-       memcpy(packet, &ao_adc_ring[i], sizeof (struct ao_adc));
-}
-
-void
-ao_adc_isr(void) __interrupt 1
-{
-       uint8_t sequence;
-       uint8_t __xdata *a;
-
-       sequence = (ADCCON2 & ADCCON2_SCH_MASK) >> ADCCON2_SCH_SHIFT;
-#if IGNITE_ON_P2
-       /* TeleMetrum readings */
-#if HAS_ACCEL_REF
-       if (sequence == 2) {
-               a = (uint8_t __xdata *) (&ao_accel_ref[ao_adc_head]);
-               sequence = 0;
-       } else
-#endif
-       {
-               if (sequence == ADCCON3_ECH_TEMP)
-                       sequence = 2;
-               a = (uint8_t __xdata *) (&ao_adc_ring[ao_adc_head].accel + sequence);
-               sequence++;
-       }
-#define GOT_ADC
-       a[0] = ADCL;
-       a[1] = ADCH;
-       if (sequence < 6) {
-#if HAS_EXTERNAL_TEMP == 0
-               /* start next channel conversion */
-               /* v0.2 replaces external temp sensor with internal one */
-               if (sequence == 2)
-                       ADCCON3 = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP;
-               else
-#endif
-                       ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | sequence;
-       }
-#endif
-
-#if IGNITE_ON_P0
-       /* TeleMini readings */
-       a = (uint8_t __xdata *) (&ao_adc_ring[ao_adc_head].pres);
-#ifdef TELEMINI_V_1_0
-       switch (sequence) {
-       case 0:
-               /* pressure */
-               a += 0;
-               sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 1;
-               break;
-       case 1:
-               /* drogue sense */
-               a += 6;
-               sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 2;
-               break;
-       case 2:
-               /* main sense */
-               a += 8;
-               sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 3;
-               break;
-       case 3:
-               /* battery */
-               a += 4;
-               sequence = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP;
-               break;
-       case ADCCON3_ECH_TEMP:
-               a += 2;
-               sequence = 0;
-               break;
-       }
-#define GOT_ADC
-#endif
-#ifdef TELENANO_V_0_1
-       switch (sequence) {
-       case 1:
-               /* pressure */
-               a += 0;
-               sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 3;
-               break;
-       case 3:
-               /* battery */
-               a += 4;
-               sequence = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP;
-               break;
-       case ADCCON3_ECH_TEMP:
-               a += 2;
-               sequence = 0;
-               break;
-       }
-#define GOT_ADC
-#endif
-       a[0] = ADCL;
-       a[1] = ADCH;
-       if (sequence) {
-               /* Start next conversion */
-               ADCCON3 = sequence;
-       }
-#endif
-#ifndef GOT_ADC
-#error No known ADC configuration set
-#endif
-
-       else {
-               /* record this conversion series */
-               ao_adc_ring[ao_adc_head].tick = ao_time();
-               ao_adc_head = ao_adc_ring_next(ao_adc_head);
-               ao_wakeup(DATA_TO_XDATA(&ao_adc_head));
-       }
-}
-
-static void
-ao_adc_dump(void) __reentrant
-{
-       static __xdata struct ao_adc    packet;
-       ao_adc_get(&packet);
-       printf("tick: %5u accel: %5d pres: %5d temp: %5d batt: %5d drogue: %5d main: %5d\n",
-              packet.tick, packet.accel, packet.pres, packet.temp,
-              packet.v_batt, packet.sense_d, packet.sense_m);
-}
-
-__code struct ao_cmds ao_adc_cmds[] = {
-       { ao_adc_dump,  "a\0Current ADC" },
-       { 0, NULL },
-};
-
-void
-ao_adc_init(void)
-{
-#if IGNITE_ON_P2
-       /* TeleMetrum configuration */
-       ADCCFG = ((1 << 0) |    /* acceleration */
-                 (1 << 1) |    /* pressure */
-#if HAS_EXTERNAL_TEMP
-                 (1 << 2) |    /* v0.1 temperature */
-#endif
-                 (1 << 3) |    /* battery voltage */
-                 (1 << 4) |    /* drogue sense */
-                 (1 << 5));    /* main sense */
-#endif
-
-#if IGNITE_ON_P0
-       /* TeleMini configuration */
-       ADCCFG = ((1 << 0) |    /* pressure */
-                 (1 << 1) |    /* drogue sense */
-                 (1 << 2) |    /* main sense */
-                 (1 << 3));    /* battery voltage */
-#endif
-
-       /* enable interrupts */
-       ADCIF = 0;
-       IEN0 |= IEN0_ADCIE;
-       ao_cmd_register(&ao_adc_cmds[0]);
-}
diff --git a/src/ao_adc_fake.c b/src/ao_adc_fake.c
deleted file mode 100644 (file)
index 6ca88d4..0000000
+++ /dev/null
@@ -1,27 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
-volatile __data uint8_t                ao_adc_head;
-
-/* Stub for systems which have no ADC */
-void
-ao_adc_poll(void)
-{
-}
diff --git a/src/ao_aes.c b/src/ao_aes.c
new file mode 100644 (file)
index 0000000..d50fecf
--- /dev/null
@@ -0,0 +1,142 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+#if !HAS_AES
+#error Must define HAS_AES 1
+#endif
+
+__xdata uint8_t ao_aes_mutex;
+__xdata uint8_t        ao_aes_done;
+__xdata uint8_t        ao_aes_dma_in, ao_aes_dma_out;
+__xdata uint8_t ao_aes_dma_in_done, ao_aes_dma_out_done;
+__pdata enum ao_aes_mode ao_aes_current_mode;
+
+void
+ao_aes_isr(void) __interrupt 4
+{
+       S0CON = 0;
+       if (ENCCCS & ENCCCS_RDY) {
+               ao_aes_done = 1;
+               ao_wakeup(&ao_aes_done);
+       }
+}
+
+void
+ao_aes_set_mode(enum ao_aes_mode mode)
+{
+       ao_aes_current_mode = mode;
+}
+
+void
+ao_aes_set_key(__xdata uint8_t *in)
+{
+       ao_dma_set_transfer(ao_aes_dma_in,
+                           in,
+                           &ENCDIXADDR,
+                           AO_AES_LEN,
+                           DMA_CFG0_WORDSIZE_8 |
+                           DMA_CFG0_TMODE_SINGLE |
+                           DMA_CFG0_TRIGGER_ENC_DW,
+                           DMA_CFG1_SRCINC_1 |
+                           DMA_CFG1_DESTINC_0 |
+                           DMA_CFG1_PRIORITY_LOW);
+       ao_dma_start(ao_aes_dma_in);
+       ao_aes_done = 0;
+       ENCCCS = ENCCCS_MODE_CBC_MAC |
+               ENCCCS_CMD_LOAD_KEY;
+       ENCCCS |= ENCCCS_START;
+       __critical while (!ao_aes_done)
+               ao_sleep(&ao_aes_done);
+}
+
+void
+ao_aes_zero_iv(void)
+{
+       uint8_t b;
+
+       ENCCCS = ENCCCS_MODE_CBC_MAC | ENCCCS_CMD_LOAD_IV | ENCCCS_START;
+       for (b = 0; b < AO_AES_LEN; b++)
+               ENCDI = 0;
+}
+
+void
+ao_aes_run(__xdata uint8_t *in,
+          __xdata uint8_t *out)
+{
+       uint8_t b;
+       if (in) {
+               ao_dma_set_transfer(ao_aes_dma_in,
+                                   in,
+                                   &ENCDIXADDR,
+                                   AO_AES_LEN,
+                                   DMA_CFG0_WORDSIZE_8 |
+                                   DMA_CFG0_TMODE_SINGLE |
+                                   DMA_CFG0_TRIGGER_ENC_DW,
+                                   DMA_CFG1_SRCINC_1 |
+                                   DMA_CFG1_DESTINC_0 |
+                                   DMA_CFG1_PRIORITY_LOW);
+       }
+       if (out) {
+               ao_dma_set_transfer(ao_aes_dma_out,
+                                   &ENCDOXADDR,
+                                   out,
+                                   AO_AES_LEN,
+                                   DMA_CFG0_WORDSIZE_8 |
+                                   DMA_CFG0_TMODE_SINGLE |
+                                   DMA_CFG0_TRIGGER_ENC_UP,
+                                   DMA_CFG1_SRCINC_0 |
+                                   DMA_CFG1_DESTINC_1 |
+                                   DMA_CFG1_PRIORITY_LOW);
+       }
+       switch (ao_aes_current_mode) {
+       case ao_aes_mode_cbc_mac:
+               if (out)
+                       b = (ENCCCS_MODE_CBC |
+                            ENCCCS_CMD_ENCRYPT);
+               else
+                       b = (ENCCCS_MODE_CBC_MAC |
+                            ENCCCS_CMD_ENCRYPT);
+               break;
+       default:
+               return;
+       }
+       ao_aes_done = 0;
+       if (in)
+               ao_dma_start(ao_aes_dma_in);
+       if (out)
+               ao_dma_start(ao_aes_dma_out);
+       ENCCCS = b;
+       ENCCCS |= ENCCCS_START;
+       if (out) {
+               __critical while (!ao_aes_dma_out_done)
+                       ao_sleep(&ao_aes_dma_out_done);
+       } else {
+               __critical while (!ao_aes_done)
+                       ao_sleep(&ao_aes_done);
+       }
+}
+
+void
+ao_aes_init(void)
+{
+       ao_aes_dma_in = ao_dma_alloc(&ao_aes_dma_in_done);
+       ao_aes_dma_out = ao_dma_alloc(&ao_aes_dma_out_done);
+       S0CON = 0;
+       ENCIE = 1;
+}
diff --git a/src/ao_beep.c b/src/ao_beep.c
deleted file mode 100644 (file)
index 3642f4c..0000000
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-void
-ao_beep(uint8_t beep)
-{
-       if (beep == 0) {
-               P2_0 = 0;
-               P2SEL = (P2SEL & ~P2SEL_SELP2_0_MASK) | P2SEL_SELP2_0_GPIO;
-               T4CTL = 0;
-       } else {
-               P2SEL = (P2SEL & ~P2SEL_SELP2_0_MASK) | P2SEL_SELP2_0_PERIPHERAL;
-               T4CC0 = beep;
-               T4CTL = TxCTL_DIV_32 | TxCTL_MODE_MODULO | TxCTL_START;
-       }
-}
-
-void
-ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant
-{
-       ao_beep(beep);
-       ao_delay(ticks);
-       ao_beep(0);
-}
-
-void
-ao_beep_init(void)
-{
-       /* Our beeper is on P2_0, which is hooked to timer 4 using
-        * configuration alternative 2
-        */
-       P2_0 = 0;
-       P2SEL = (P2SEL & ~P2SEL_SELP2_0_MASK) | P2SEL_SELP2_0_GPIO;
-       PERCFG = (PERCFG & ~PERCFG_T4CFG_ALT_MASK) | PERCFG_T4CFG_ALT_2;
-       T4CCTL0 = TxCCTLy_CMP_TOGGLE|TxCCTLy_CMP_MODE_ENABLE;
-}
diff --git a/src/ao_btm.c b/src/ao_btm.c
deleted file mode 100644 (file)
index 44155ec..0000000
+++ /dev/null
@@ -1,302 +0,0 @@
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-int8_t                 ao_btm_stdio;
-__xdata uint8_t                ao_btm_connected;
-
-#define AO_BTM_MAX_REPLY       16
-__xdata char           ao_btm_reply[AO_BTM_MAX_REPLY];
-
-extern volatile __xdata struct ao_fifo ao_usart1_rx_fifo;
-
-/*
- * Read a line of data from the serial port, truncating
- * it after a few characters.
- */
-
-uint8_t
-ao_btm_get_line(void)
-{
-       uint8_t ao_btm_reply_len = 0;
-       char c;
-
-       for (;;) {
-
-               while ((c = ao_serial_pollchar()) != AO_READ_AGAIN) {
-                       if (ao_btm_reply_len < sizeof (ao_btm_reply))
-                               ao_btm_reply[ao_btm_reply_len++] = c;
-                       if (c == '\r' || c == '\n')
-                               goto done;
-               }
-               for (c = 0; c < 10; c++) {
-                       ao_delay(AO_MS_TO_TICKS(10));
-                       if (!ao_fifo_empty(ao_usart1_rx_fifo))
-                               break;
-               }
-               if (c == 10)
-                       goto done;
-       }
-done:
-       for (c = ao_btm_reply_len; c < sizeof (ao_btm_reply);)
-               ao_btm_reply[c++] = '\0';
-       return ao_btm_reply_len;
-}
-
-/*
- * Drain the serial port completely
- */
-void
-ao_btm_drain()
-{
-       while (ao_btm_get_line())
-               ;
-}
-
-/*
- * Set the stdio echo for the bluetooth link
- */
-void
-ao_btm_echo(uint8_t echo)
-{
-       ao_stdios[ao_btm_stdio].echo = echo;
-}
-
-/*
- * Delay between command charaters; the BT module
- * can't keep up with 57600 baud
- */
-
-void
-ao_btm_putchar(char c)
-{
-       ao_serial_putchar(c);
-       ao_delay(1);
-}
-
-/*
- * Wait for the bluetooth device to return
- * status from the previously executed command
- */
-uint8_t
-ao_btm_wait_reply(void)
-{
-       for (;;) {
-               ao_btm_get_line();
-               if (!strncmp(ao_btm_reply, "OK", 2))
-                       return 1;
-               if (!strncmp(ao_btm_reply, "ERROR", 5))
-                       return -1;
-               if (ao_btm_reply[0] == '\0')
-                       return 0;
-       }
-}
-
-void
-ao_btm_string(__code char *cmd)
-{
-       char    c;
-
-       while (c = *cmd++)
-               ao_btm_putchar(c);
-}
-
-uint8_t
-ao_btm_cmd(__code char *cmd)
-{
-       ao_btm_drain();
-       ao_btm_string(cmd);
-       return ao_btm_wait_reply();
-}
-
-uint8_t
-ao_btm_set_name(void)
-{
-       char    sn[8];
-       char    *s = sn + 8;
-       char    c;
-       int     n;
-       ao_btm_string("ATN=TeleBT-");
-       *--s = '\0';
-       *--s = '\r';
-       n = ao_serial_number;
-       do {
-               *--s = '0' + n % 10;
-       } while (n /= 10);
-       while ((c = *s++))
-               ao_btm_putchar(c);
-       return ao_btm_wait_reply();
-}
-
-uint8_t
-ao_btm_try_speed(uint8_t speed)
-{
-       ao_serial_set_speed(speed);
-       ao_btm_drain();
-       (void) ao_btm_cmd("\rATE0\rATQ0\r");
-       if (ao_btm_cmd("AT\r") == 1)
-               return 1;
-       return 0;
-}
-
-/*
- * A thread to initialize the bluetooth device and
- * hang around to blink the LED when connected
- */
-void
-ao_btm(void)
-{
-       /*
-        * Wait for the bluetooth device to boot
-        */
-       ao_delay(AO_SEC_TO_TICKS(3));
-
-#if HAS_BEEP
-       ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
-#endif
-
-       /*
-        * The first time we connect, the BTM-180 comes up at 19200 baud.
-        * After that, it will remember and come up at 57600 baud. So, see
-        * if it is already running at 57600 baud, and if that doesn't work
-        * then tell it to switch to 57600 from 19200 baud.
-        */
-       while (!ao_btm_try_speed(AO_SERIAL_SPEED_57600)) {
-               ao_delay(AO_SEC_TO_TICKS(1));
-               if (ao_btm_try_speed(AO_SERIAL_SPEED_19200))
-                       ao_btm_cmd("ATL4\r");
-               ao_delay(AO_SEC_TO_TICKS(1));
-       }
-
-       /* Disable echo */
-       ao_btm_cmd("ATE0\r");
-
-       /* Enable flow control */
-       ao_btm_cmd("ATC1\r");
-
-       /* Set the reported name to something we can find on the host */
-       ao_btm_set_name();
-
-       /* Turn off status reporting */
-       ao_btm_cmd("ATQ1\r");
-
-       ao_btm_stdio = ao_add_stdio(ao_serial_pollchar,
-                                   ao_serial_putchar,
-                                   NULL);
-       ao_btm_echo(0);
-
-       for (;;) {
-               while (!ao_btm_connected)
-                       ao_sleep(&ao_btm_connected);
-               while (ao_btm_connected) {
-                       ao_led_for(AO_LED_GREEN, AO_MS_TO_TICKS(20));
-                       ao_delay(AO_SEC_TO_TICKS(3));
-               }
-       }
-}
-
-__xdata struct ao_task ao_btm_task;
-
-#if BT_LINK_ON_P2
-#define BT_PICTL_ICON  PICTL_P2ICON
-#define BT_PIFG                P2IFG
-#define BT_PDIR                P2DIR
-#define BT_PINP                P2INP
-#define BT_IEN2_PIE    IEN2_P2IE
-#endif
-#if BT_LINK_ON_P1
-#define BT_PICTL_ICON  PICTL_P1ICON
-#define BT_PIFG                P1IFG
-#define BT_PDIR                P1DIR
-#define BT_PINP                P1INP
-#define BT_IEN2_PIE    IEN2_P1IE
-#endif
-
-void
-ao_btm_check_link() __critical
-{
-       /* Check the pin and configure the interrupt detector to wait for the
-        * pin to flip the other way
-        */
-       if (BT_LINK_PIN) {
-               ao_btm_connected = 0;
-               PICTL |= BT_PICTL_ICON;
-       } else {
-               ao_btm_connected = 1;
-               PICTL &= ~BT_PICTL_ICON;
-       }
-}
-
-void
-ao_btm_isr(void)
-#if BT_LINK_ON_P1
-       __interrupt 15
-#endif
-{
-#if BT_LINK_ON_P1
-       P1IF = 0;
-#endif
-       if (BT_PIFG & (1 << BT_LINK_PIN_INDEX)) {
-               ao_btm_check_link();
-               ao_wakeup(&ao_btm_connected);
-       }
-       BT_PIFG = 0;
-}
-
-void
-ao_btm_init (void)
-{
-       ao_serial_init();
-       ao_serial_set_speed(AO_SERIAL_SPEED_19200);
-
-#if BT_LINK_ON_P1
-       /*
-        * Configure ser reset line
-        */
-
-       P1_6 = 0;
-       P1DIR |= (1 << 6);
-#endif
-
-       /*
-        * Configure link status line
-        */
-
-       /* Set pin to input */
-       BT_PDIR &= ~(1 << BT_LINK_PIN_INDEX);
-
-       /* Set pin to tri-state */
-       BT_PINP |= (1 << BT_LINK_PIN_INDEX);
-
-       /* Enable interrupts */
-       IEN2 |= BT_IEN2_PIE;
-
-       /* Check current pin state */
-       ao_btm_check_link();
-
-#if BT_LINK_ON_P2
-       /* Eable the pin interrupt */
-       PICTL |= PICTL_P2IEN;
-#endif
-#if BT_LINK_ON_P1
-       /* Enable pin interrupt */
-       P1IEN |= (1 << BT_LINK_PIN_INDEX);
-#endif
-
-       ao_add_task(&ao_btm_task, ao_btm, "bt");
-}
diff --git a/src/ao_cmd.c b/src/ao_cmd.c
deleted file mode 100644 (file)
index 1442ebe..0000000
+++ /dev/null
@@ -1,320 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-__pdata uint16_t ao_cmd_lex_i;
-__pdata uint32_t ao_cmd_lex_u32;
-__pdata char   ao_cmd_lex_c;
-__pdata enum ao_cmd_status ao_cmd_status;
-
-#define CMD_LEN        32
-
-static __xdata char    cmd_line[CMD_LEN];
-static __pdata uint8_t cmd_len;
-static __pdata uint8_t cmd_i;
-
-static void
-put_string(__code char *s)
-{
-       char    c;
-       while (c = *s++)
-               putchar(c);
-}
-
-static void
-readline(void)
-{
-       __pdata char c;
-       if (ao_echo())
-               put_string("> ");
-       cmd_len = 0;
-       for (;;) {
-               flush();
-               c = getchar();
-               /* backspace/delete */
-               if (c == '\010' || c == '\177') {
-                       if (cmd_len != 0) {
-                               if (ao_echo())
-                                       put_string("\010 \010");
-                               --cmd_len;
-                       }
-                       continue;
-               }
-
-               /* ^U */
-               if (c == '\025') {
-                       while (cmd_len != 0) {
-                               if (ao_echo())
-                                       put_string("\010 \010");
-                               --cmd_len;
-                       }
-                       continue;
-               }
-
-               /* map CR to NL */
-               if (c == '\r')
-                       c = '\n';
-
-               if (c == '\n') {
-                       if (ao_echo())
-                               putchar('\n');
-                       break;
-               }
-
-               if (cmd_len >= CMD_LEN - 2) {
-                       if (ao_echo())
-                               putchar('\007');
-                       continue;
-               }
-               cmd_line[cmd_len++] = c;
-               if (ao_echo())
-                       putchar(c);
-       }
-       cmd_line[cmd_len++] = '\n';
-       cmd_line[cmd_len++] = '\0';
-       cmd_i = 0;
-}
-
-void
-ao_cmd_lex(void)
-{
-       ao_cmd_lex_c = '\n';
-       if (cmd_i < cmd_len)
-               ao_cmd_lex_c = cmd_line[cmd_i++];
-}
-
-static void
-putnibble(uint8_t v)
-{
-       if (v < 10)
-               putchar(v + '0');
-       else
-               putchar(v + ('a' - 10));
-}
-
-void
-ao_cmd_put16(uint16_t v)
-{
-       ao_cmd_put8(v >> 8);
-       ao_cmd_put8(v);
-}
-
-void
-ao_cmd_put8(uint8_t v)
-{
-       putnibble((v >> 4) & 0xf);
-       putnibble(v & 0xf);
-}
-
-void
-ao_cmd_white(void)
-{
-       while (ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t')
-               ao_cmd_lex();
-}
-
-void
-ao_cmd_hex(void)
-{
-       __pdata uint8_t r = ao_cmd_lex_error;
-       uint8_t n;
-
-       ao_cmd_lex_i = 0;
-       ao_cmd_white();
-       for(;;) {
-               if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
-                       n = (ao_cmd_lex_c - '0');
-               else if ('a' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'f')
-                       n = (ao_cmd_lex_c - 'a' + 10);
-               else if ('A' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'F')
-                       n = (ao_cmd_lex_c - 'A' + 10);
-               else
-                       break;
-               ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
-               r = ao_cmd_success;
-               ao_cmd_lex();
-       }
-       if (r != ao_cmd_success)
-               ao_cmd_status = r;
-}
-
-void
-ao_cmd_decimal(void)
-{
-       __pdata uint8_t r = ao_cmd_lex_error;
-
-       ao_cmd_lex_u32 = 0;
-       ao_cmd_white();
-       for(;;) {
-               if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
-                       ao_cmd_lex_u32 = (ao_cmd_lex_u32 * 10) + (ao_cmd_lex_c - '0');
-               else
-                       break;
-               r = ao_cmd_success;
-               ao_cmd_lex();
-       }
-       if (r != ao_cmd_success)
-               ao_cmd_status = r;
-       ao_cmd_lex_i = (uint16_t) ao_cmd_lex_u32;
-}
-
-uint8_t
-ao_match_word(__code char *word)
-{
-       while (*word) {
-               if (ao_cmd_lex_c != *word) {
-                       ao_cmd_status = ao_cmd_syntax_error;
-                       return 0;
-               }
-               word++;
-               ao_cmd_lex();
-       }
-       return 1;
-}
-
-static void
-eol(void)
-{
-       while (ao_cmd_lex_c != '\n')
-               ao_cmd_lex();
-}
-
-static void
-echo(void)
-{
-       ao_cmd_hex();
-       if (ao_cmd_status == ao_cmd_success)
-               ao_stdios[ao_cur_stdio].echo = ao_cmd_lex_i != 0;
-}
-
-static void
-ao_reboot(void)
-{
-       ao_cmd_white();
-       if (!ao_match_word("eboot"))
-               return;
-       WDCTL = WDCTL_EN | WDCTL_MODE_WATCHDOG | WDCTL_INT_64;
-       ao_delay(AO_SEC_TO_TICKS(2));
-       ao_panic(AO_PANIC_REBOOT);
-}
-
-static void
-version(void)
-{
-       printf("manufacturer     %s\n", ao_manufacturer);
-       printf("product          %s\n", ao_product);
-       printf("serial-number    %u\n", ao_serial_number);
-#if HAS_EEPROM
-       printf("log-format       %u\n", ao_log_format);
-#endif
-       printf("software-version %s\n", ao_version);
-}
-
-#define NUM_CMDS       11
-
-static __code struct ao_cmds   *__xdata (ao_cmds[NUM_CMDS]);
-static __pdata uint8_t         ao_ncmds;
-
-static void
-help(void)
-{
-       register uint8_t cmds;
-       register uint8_t cmd;
-       register __code struct ao_cmds * cs;
-
-       for (cmds = 0; cmds < ao_ncmds; cmds++) {
-               cs = ao_cmds[cmds];
-               for (cmd = 0; cs[cmd].func; cmd++)
-                       printf("%-45s %s\n",
-                               cs[cmd].help,
-                               cs[cmd].help+1+strlen(cs[cmd].help));
-       }
-}
-
-static void
-report(void)
-{
-       switch(ao_cmd_status) {
-       case ao_cmd_lex_error:
-       case ao_cmd_syntax_error:
-               puts("Syntax error");
-               ao_cmd_status = 0;
-               break;
-       }
-}
-
-void
-ao_cmd_register(__code struct ao_cmds *cmds)
-{
-       if (ao_ncmds >= NUM_CMDS)
-               ao_panic(AO_PANIC_CMD);
-       ao_cmds[ao_ncmds++] = cmds;
-}
-
-void
-ao_cmd(void)
-{
-       char    c;
-       uint8_t cmd, cmds;
-       __code struct ao_cmds * __xdata cs;
-       void (*__xdata func)(void);
-
-       for (;;) {
-               readline();
-               ao_cmd_lex();
-               ao_cmd_white();
-               c = ao_cmd_lex_c;
-               ao_cmd_lex();
-               if (c == '\r' || c == '\n')
-                       continue;
-               func = (void (*)(void)) NULL;
-               for (cmds = 0; cmds < ao_ncmds; cmds++) {
-                       cs = ao_cmds[cmds];
-                       for (cmd = 0; cs[cmd].func; cmd++)
-                               if (cs[cmd].help[0] == c) {
-                                       func = cs[cmd].func;
-                                       break;
-                               }
-                       if (func)
-                               break;
-               }
-               if (func)
-                       (*func)();
-               else
-                       ao_cmd_status = ao_cmd_syntax_error;
-               report();
-       }
-}
-
-__xdata struct ao_task ao_cmd_task;
-
-__code struct ao_cmds  ao_base_cmds[] = {
-       { help,         "?\0Help" },
-       { ao_task_info, "T\0Show tasks" },
-       { echo,         "E <0 off, 1 on>\0Set echo mode" },
-       { ao_reboot,    "r eboot\0Reboot" },
-       { version,      "v\0Version" },
-       { 0,    NULL },
-};
-
-void
-ao_cmd_init(void)
-{
-       ao_cmd_register(&ao_base_cmds[0]);
-       ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
-}
diff --git a/src/ao_companion.c b/src/ao_companion.c
deleted file mode 100644 (file)
index 4c8f426..0000000
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-#define ao_spi_slow() (U0GCR = (UxGCR_CPOL_NEGATIVE |          \
-                               UxGCR_CPHA_FIRST_EDGE |         \
-                               UxGCR_ORDER_MSB |               \
-                               (13 << UxGCR_BAUD_E_SHIFT)))
-
-#define ao_spi_fast() (U0GCR = (UxGCR_CPOL_NEGATIVE |          \
-                               UxGCR_CPHA_FIRST_EDGE |         \
-                               UxGCR_ORDER_MSB |               \
-                               (17 << UxGCR_BAUD_E_SHIFT)))
-
-#define COMPANION_SELECT()     do { ao_spi_get_bit(COMPANION_CS); ao_spi_slow(); } while (0)
-#define COMPANION_DESELECT()   do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS); } while (0)
-
-static __xdata struct ao_companion_command     ao_companion_command;
-__xdata struct ao_companion_setup              ao_companion_setup;
-
-__xdata uint16_t       ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-__pdata uint8_t                ao_companion_running;
-__xdata uint8_t                ao_companion_mutex;
-
-static void
-ao_companion_send_command(uint8_t command)
-{
-       ao_companion_command.command = command;
-       ao_companion_command.flight_state = ao_flight_state;
-       ao_companion_command.tick = ao_time();
-       ao_companion_command.serial = ao_serial_number;
-       ao_companion_command.flight = ao_flight_number;
-       ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
-}
-
-static uint8_t
-ao_companion_get_setup(void)
-{
-       COMPANION_SELECT();
-       ao_companion_send_command(AO_COMPANION_SETUP);
-       ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
-       COMPANION_DESELECT();
-       return (ao_companion_setup.board_id ==
-               ~ao_companion_setup.board_id_inverse);
-}
-
-static void
-ao_companion_get_data(void)
-{
-       COMPANION_SELECT();
-       ao_companion_send_command(AO_COMPANION_FETCH);
-       ao_mutex_get(&ao_companion_mutex);
-       ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
-       ao_mutex_put(&ao_companion_mutex);
-       COMPANION_DESELECT();
-}
-
-static void
-ao_companion_notify(void)
-{
-       COMPANION_SELECT();
-       ao_companion_send_command(AO_COMPANION_NOTIFY);
-       COMPANION_DESELECT();
-}
-
-void
-ao_companion(void)
-{
-       uint8_t i;
-       while (!ao_flight_number)
-               ao_sleep(&ao_flight_number);
-       for (i = 0; i < 10; i++) {
-               ao_delay(AO_SEC_TO_TICKS(1));
-               if ((ao_companion_running = ao_companion_get_setup()))
-                   break;
-       }
-       while (ao_companion_running) {
-               ao_alarm(ao_companion_setup.update_period);
-               if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
-                       ao_companion_get_data();
-               else
-                       ao_companion_notify();
-       }
-       ao_exit();
-}
-
-void
-ao_companion_status(void) __reentrant
-{
-       uint8_t i;
-       printf("Companion running: %d\n", ao_companion_running);
-       printf("device: %d\n", ao_companion_setup.board_id);
-       printf("update period: %d\n", ao_companion_setup.update_period);
-       printf("channels: %d\n", ao_companion_setup.channels);
-       printf("data:");
-       for(i = 0; i < ao_companion_setup.channels; i++)
-               printf(" %5u", ao_companion_data[i]);
-       printf("\n");
-}
-
-__code struct ao_cmds ao_companion_cmds[] = {
-       { ao_companion_status,  "L\0Companion link status" },
-       { 0, NULL },
-};
-
-static __xdata struct ao_task ao_companion_task;
-
-void
-ao_companion_init(void)
-{
-       COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
-       COMPANION_CS_DIR |= COMPANION_CS_MASK;  /* set CS pins as outputs */
-       COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
-
-       ao_cmd_register(&ao_companion_cmds[0]);
-       ao_add_task(&ao_companion_task, ao_companion, "companion");
-}
diff --git a/src/ao_config.c b/src/ao_config.c
deleted file mode 100644 (file)
index 0c10e60..0000000
+++ /dev/null
@@ -1,542 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-__xdata struct ao_config ao_config;
-__pdata uint8_t ao_config_loaded;
-__pdata uint8_t ao_config_dirty;
-__xdata uint8_t ao_config_mutex;
-
-#define AO_CONFIG_DEFAULT_MAIN_DEPLOY  250
-#define AO_CONFIG_DEFAULT_RADIO_CHANNEL        0
-#define AO_CONFIG_DEFAULT_CALLSIGN     "N0CALL"
-#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000
-#define AO_CONFIG_DEFAULT_APOGEE_DELAY 0
-#define AO_CONFIG_DEFAULT_IGNITE_MODE  AO_IGNITE_MODE_DUAL
-#define AO_CONFIG_DEFAULT_PAD_ORIENTATION      AO_PAD_ORIENTATION_ANTENNA_UP
-#if HAS_EEPROM
-#ifndef USE_INTERNAL_FLASH
-#error Please define USE_INTERNAL_FLASH
-#endif
-#endif
-#if USE_INTERNAL_FLASH
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX       ao_storage_config
-#else
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX       ((uint32_t) 192 * (uint32_t) 1024)
-#endif
-
-#if HAS_EEPROM
-static void
-_ao_config_put(void)
-{
-       ao_storage_setup();
-       ao_storage_erase(ao_storage_config);
-       ao_storage_write(ao_storage_config, &ao_config, sizeof (ao_config));
-       ao_log_write_erase(0);
-       ao_storage_flush();
-}
-
-void
-ao_config_put(void)
-{
-       ao_mutex_get(&ao_config_mutex);
-       _ao_config_put();
-       ao_mutex_put(&ao_config_mutex);
-}
-#endif
-
-static void
-_ao_config_get(void)
-{
-       if (ao_config_loaded)
-               return;
-#if HAS_EEPROM
-       ao_storage_setup();
-       ao_storage_read(ao_storage_config, &ao_config, sizeof (ao_config));
-#endif
-       if (ao_config.major != AO_CONFIG_MAJOR) {
-               ao_config.major = AO_CONFIG_MAJOR;
-               ao_config.minor = 0;
-               ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
-               ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
-               memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
-               memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
-                      sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
-       }
-       if (ao_config.minor < AO_CONFIG_MINOR) {
-               /* Fixups for minor version 1 */
-               if (ao_config.minor < 1)
-                       ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
-               /* Fixups for minor version 2 */
-               if (ao_config.minor < 2) {
-                       ao_config.accel_plus_g = 0;
-                       ao_config.accel_minus_g = 0;
-               }
-               /* Fixups for minor version 3 */
-               if (ao_config.minor < 3)
-                       ao_config.radio_cal = ao_radio_cal;
-               /* Fixups for minor version 4 */
-               if (ao_config.minor < 4)
-                       ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
-               /* Fixupes for minor version 5 */
-               if (ao_config.minor < 5)
-                       ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
-               if (ao_config.minor < 6)
-                       ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
-               if (ao_config.minor < 7)
-                       ao_config.radio_setting = ao_config.radio_cal;
-               if (ao_config.minor < 8)
-                       ao_config.radio_enable = TRUE;
-               ao_config.minor = AO_CONFIG_MINOR;
-               ao_config_dirty = 1;
-       }
-       ao_config_loaded = 1;
-}
-
-static void
-_ao_config_edit_start(void)
-{
-       ao_mutex_get(&ao_config_mutex);
-       _ao_config_get();
-}
-
-static void
-_ao_config_edit_finish(void)
-{
-       ao_config_dirty = 1;
-       ao_mutex_put(&ao_config_mutex);
-}
-
-void
-ao_config_get(void)
-{
-       _ao_config_edit_start();
-       ao_mutex_put(&ao_config_mutex);
-}
-
-void
-ao_config_callsign_show(void)
-{
-       printf ("Callsign: \"%s\"\n", ao_config.callsign);
-}
-
-void
-ao_config_callsign_set(void) __reentrant
-{
-       uint8_t c;
-       static __xdata char callsign[AO_MAX_CALLSIGN + 1];
-
-       memset(callsign, '\0', sizeof callsign);
-       ao_cmd_white();
-       c = 0;
-       while (ao_cmd_lex_c != '\n') {
-               if (c < AO_MAX_CALLSIGN)
-                       callsign[c++] = ao_cmd_lex_c;
-               else
-                       ao_cmd_status = ao_cmd_lex_error;
-               ao_cmd_lex();
-       }
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       memcpy(&ao_config.callsign, &callsign,
-              AO_MAX_CALLSIGN + 1);
-       _ao_config_edit_finish();
-}
-
-void
-ao_config_radio_channel_show(void) __reentrant
-{
-       printf("Radio channel: %d\n",
-              ao_config.radio_channel);
-}
-
-void
-ao_config_radio_channel_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.radio_channel = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-       ao_radio_recv_abort();
-}
-
-#if HAS_ADC
-
-void
-ao_config_main_deploy_show(void) __reentrant
-{
-       printf("Main deploy: %d meters\n",
-              ao_config.main_deploy);
-}
-
-void
-ao_config_main_deploy_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.main_deploy = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-
-#if HAS_ACCEL
-void
-ao_config_accel_calibrate_show(void) __reentrant
-{
-       printf("Accel cal +1g: %d -1g: %d\n",
-              ao_config.accel_plus_g, ao_config.accel_minus_g);
-}
-
-#define ACCEL_CALIBRATE_SAMPLES        1024
-#define ACCEL_CALIBRATE_SHIFT  10
-
-static int16_t
-ao_config_accel_calibrate_auto(char *orientation) __reentrant
-{
-       uint16_t        i;
-       int32_t         accel_total;
-       uint8_t         cal_adc_ring;
-
-       printf("Orient antenna %s and press a key...", orientation);
-       flush();
-       (void) getchar();
-       puts("\r\n"); flush();
-       puts("Calibrating..."); flush();
-       i = ACCEL_CALIBRATE_SAMPLES;
-       accel_total = 0;
-       cal_adc_ring = ao_sample_adc;
-       while (i) {
-               ao_sleep(DATA_TO_XDATA(&ao_sample_adc));
-               while (i && cal_adc_ring != ao_sample_adc) {
-                       accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel;
-                       cal_adc_ring = ao_adc_ring_next(cal_adc_ring);
-                       i--;
-               }
-       }
-       return accel_total >> ACCEL_CALIBRATE_SHIFT;
-}
-
-void
-ao_config_accel_calibrate_set(void) __reentrant
-{
-       int16_t up, down;
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       if (ao_cmd_lex_i == 0) {
-               up = ao_config_accel_calibrate_auto("up");
-               down = ao_config_accel_calibrate_auto("down");
-       } else {
-               up = ao_cmd_lex_i;
-               ao_cmd_decimal();
-               if (ao_cmd_status != ao_cmd_success)
-                       return;
-               down = ao_cmd_lex_i;
-       }
-       if (up >= down) {
-               printf("Invalid accel: up (%d) down (%d)\n",
-                      up, down);
-               return;
-       }
-       _ao_config_edit_start();
-       ao_config.accel_plus_g = up;
-       ao_config.accel_minus_g = down;
-       _ao_config_edit_finish();
-}
-#endif /* HAS_ACCEL */
-
-void
-ao_config_apogee_delay_show(void) __reentrant
-{
-       printf("Apogee delay: %d seconds\n",
-              ao_config.apogee_delay);
-}
-
-void
-ao_config_apogee_delay_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.apogee_delay = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-
-#endif /* HAS_ADC */
-
-void
-ao_config_radio_cal_show(void) __reentrant
-{
-       printf("Radio cal: %ld\n", ao_config.radio_cal);
-}
-
-void
-ao_config_radio_cal_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.radio_setting = ao_config.radio_cal = ao_cmd_lex_u32;
-       _ao_config_edit_finish();
-}
-
-#if HAS_EEPROM
-void
-ao_config_log_show(void) __reentrant
-{
-       printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10));
-}
-
-void
-ao_config_log_set(void) __reentrant
-{
-       uint16_t        block = (uint16_t) (ao_storage_block >> 10);
-       uint16_t        config = (uint16_t) (ao_storage_config >> 10);
-
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       if (ao_log_present())
-               printf("Storage must be empty before changing log size\n");
-       else if (block > 1024 && (ao_cmd_lex_i & (block - 1)))
-               printf("Flight log size must be multiple of %d kB\n", block);
-       else if (ao_cmd_lex_i > config)
-               printf("Flight log max %d kB\n", config);
-       else {
-               _ao_config_edit_start();
-               ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
-               _ao_config_edit_finish();
-       }
-}
-#endif /* HAS_EEPROM */
-
-#if HAS_IGNITE
-void
-ao_config_ignite_mode_show(void) __reentrant
-{
-       printf("Ignite mode: %d\n", ao_config.ignite_mode);
-}
-
-void
-ao_config_ignite_mode_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.ignite_mode = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-#endif
-
-#if HAS_ACCEL
-void
-ao_config_pad_orientation_show(void) __reentrant
-{
-       printf("Pad orientation: %d\n", ao_config.pad_orientation);
-}
-
-void
-ao_config_pad_orientation_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_cmd_lex_i &= 1;
-       if (ao_config.pad_orientation != ao_cmd_lex_i) {
-               uint16_t t;
-               t = ao_config.accel_plus_g;
-               ao_config.accel_plus_g = 0x7fff - ao_config.accel_minus_g;
-               ao_config.accel_minus_g = 0x7fff - t;
-       }
-       ao_config.pad_orientation = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-#endif
-
-void
-ao_config_radio_setting_show(void) __reentrant
-{
-       printf("Radio setting: %ld\n", ao_config.radio_setting);
-}
-
-void
-ao_config_radio_setting_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.radio_setting = ao_cmd_lex_u32;
-       ao_config.radio_channel = 0;
-       _ao_config_edit_finish();
-       ao_radio_recv_abort();
-}
-
-void
-ao_config_radio_enable_show(void) __reentrant
-{
-       printf("Radio enable: %d\n", ao_config.radio_enable);
-}
-
-void
-ao_config_radio_enable_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.radio_enable = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-       
-struct ao_config_var {
-       __code char     *str;
-       void            (*set)(void) __reentrant;
-       void            (*show)(void) __reentrant;
-};
-
-static void
-ao_config_help(void) __reentrant;
-
-static void
-ao_config_show(void) __reentrant;
-
-static void
-ao_config_write(void) __reentrant;
-
-__code struct ao_config_var ao_config_vars[] = {
-#if HAS_ADC
-       { "m <meters>\0Main deploy (in meters)",
-         ao_config_main_deploy_set,    ao_config_main_deploy_show, },
-       { "d <delay>\0Apogee delay (in seconds)",
-         ao_config_apogee_delay_set,   ao_config_apogee_delay_show },
-#endif /* HAS_ADC */
-       { "r <channel>\0Radio channel (freq = 434.550 + chan * .1)",
-         ao_config_radio_channel_set,  ao_config_radio_channel_show },
-       { "c <call>\0Callsign (8 char max)",
-         ao_config_callsign_set,       ao_config_callsign_show },
-       { "R <setting>\0Radio freq control (freq = 434.550 * setting/cal)",
-         ao_config_radio_setting_set,  ao_config_radio_setting_show },
-       { "e <0 disable, 1 enable>\0Enable telemetry and RDF",
-         ao_config_radio_enable_set, ao_config_radio_enable_show },
-#if HAS_ACCEL
-       { "a <+g> <-g>\0Accel calib (0 for auto)",
-         ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
-#endif /* HAS_ACCEL */
-       { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
-         ao_config_radio_cal_set,      ao_config_radio_cal_show },
-#if HAS_EEPROM
-       { "l <size>\0Flight log size in kB",
-         ao_config_log_set,            ao_config_log_show },
-#endif
-#if HAS_IGNITE
-       { "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
-         ao_config_ignite_mode_set,    ao_config_ignite_mode_show },
-#endif
-#if HAS_ACCEL
-       { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
-         ao_config_pad_orientation_set,ao_config_pad_orientation_show },
-#endif
-       { "s\0Show",
-         ao_config_show,               0 },
-#if HAS_EEPROM
-       { "w\0Write to eeprom",
-         ao_config_write,              0 },
-#endif
-       { "?\0Help",
-         ao_config_help,               0 },
-       { 0, 0, 0 }
-};
-
-void
-ao_config_set(void)
-{
-       char    c;
-       uint8_t cmd;
-       void (*__xdata func)(void) __reentrant;
-
-       ao_cmd_white();
-       c = ao_cmd_lex_c;
-       ao_cmd_lex();
-       func = 0;
-       for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
-               if (ao_config_vars[cmd].str[0] == c) {
-                       (*ao_config_vars[cmd].set)();
-                       return;
-               }
-       ao_cmd_status = ao_cmd_syntax_error;
-}
-
-static void
-ao_config_help(void) __reentrant
-{
-       uint8_t cmd;
-       for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
-               printf("%-20s %s\n",
-                      ao_config_vars[cmd].str,
-                      ao_config_vars[cmd].str+1+strlen(ao_config_vars[cmd].str));
-}
-
-static void
-ao_config_show(void) __reentrant
-{
-       uint8_t cmd;
-       printf("Config version: %d.%d\n",
-              ao_config.major, ao_config.minor);
-       for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
-               if (ao_config_vars[cmd].show)
-                       (*ao_config_vars[cmd].show)();
-}
-
-#if HAS_EEPROM
-static void
-ao_config_write(void) __reentrant
-{
-       uint8_t saved = 0;
-       ao_mutex_get(&ao_config_mutex);
-       if (ao_config_dirty) {
-               _ao_config_put();
-               ao_config_dirty = 0;
-               saved = 1;
-       }
-       ao_mutex_put(&ao_config_mutex);
-       if (saved)
-               puts("Saved");
-       else
-               puts("Nothing to save");
-}
-#endif
-
-__code struct ao_cmds ao_config_cmds[] = {
-       { ao_config_set,        "c <var> <value>\0Set config variable (? for help, s to show)" },
-       { 0, NULL },
-};
-
-void
-ao_config_init(void)
-{
-       ao_cmd_register(&ao_config_cmds[0]);
-}
diff --git a/src/ao_convert.c b/src/ao_convert.c
deleted file mode 100644 (file)
index 0969f10..0000000
+++ /dev/null
@@ -1,85 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#if !defined(AO_CONVERT_TEST) && !defined(AO_FLIGHT_TEST)
-#include "ao.h"
-#endif
-
-static const int16_t altitude_table[] = {
-#include "altitude.h"
-};
-
-#define ALT_FRAC_SCALE (1 << ALT_FRAC_BITS)
-#define ALT_FRAC_MASK  (ALT_FRAC_SCALE - 1)
-
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant
-{
-       uint8_t o;
-       int16_t part;
-
-       if (pres < 0)
-               pres = 0;
-       o = pres >> ALT_FRAC_BITS;
-       part = pres & ALT_FRAC_MASK;
-
-       return ((int32_t) altitude_table[o] * (ALT_FRAC_SCALE - part) +
-               (int32_t) altitude_table[o+1] * part + (ALT_FRAC_SCALE >> 1)) >> ALT_FRAC_BITS;
-}
-
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant
-{
-       int16_t span, sub_span;
-       uint8_t l, h, m;
-       int32_t pres;
-
-       l = 0;
-       h = NALT - 1;
-       while ((h - l) != 1) {
-               m = (l + h) >> 1;
-               if (altitude_table[m] < alt)
-                       h = m;
-               else
-                       l = m;
-       }
-       span = altitude_table[l] - altitude_table[h];
-       sub_span = altitude_table[l] - alt;
-       pres = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_FRAC_BITS) + (span >> 1)) / span;
-       if (pres > 32767)
-               pres = 32767;
-       if (pres < 0)
-               pres = 0;
-       return (int16_t) pres;
-}
-
-int16_t
-ao_temp_to_dC(int16_t temp) __reentrant
-{
-       int16_t ret;
-
-       /* Output voltage at 0°C = 0.755V
-        * Coefficient = 0.00247V/°C
-        * Reference voltage = 1.25V
-        *
-        * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
-        *      = (value - 19791.268) / 32768 * 1.25 / 0.00247
-        *      ≃ (value - 19791) * 1012 / 65536
-        */
-       ret = ((temp - 19791) * 1012L) >> 16;
-       return ret;
-}
diff --git a/src/ao_convert_test.c b/src/ao_convert_test.c
deleted file mode 100644 (file)
index e2c28b7..0000000
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include <stdint.h>
-#define AO_CONVERT_TEST
-#include "ao_host.h"
-#include "ao_convert.c"
-
-#define STEP   1
-
-static inline i_abs(int i) { return i < 0 ? -i : i; }
-
-main ()
-{
-       int     i;
-       int16_t p_to_a, p_to_a_to_p;
-       int16_t a_to_p, a_to_p_to_a;
-       int max_p_error = 0, max_p_error_p = -1;
-       int max_a_error = 0, max_a_error_a = -1;
-       int p_error;
-       int a_error;
-       int ret = 0;
-
-       for (i = 0; i < 32767 + STEP; i += STEP) {
-               if (i > 32767)
-                       i = 32767;
-               p_to_a = ao_pres_to_altitude(i);
-               p_to_a_to_p = ao_altitude_to_pres(p_to_a);
-               p_error = i_abs(p_to_a_to_p - i);
-               if (p_error > max_p_error) {
-                       max_p_error = p_error;
-                       max_p_error_p = i;
-               }
-//             printf ("pres %d alt %d pres %d\n",
-//                     i, p_to_a, p_to_a_to_p);
-       }
-       for (i = -1578; i < 15835 + STEP; i += STEP) {
-               if (i > 15835)
-                       i = 15835;
-               a_to_p = ao_altitude_to_pres(i);
-               a_to_p_to_a = ao_pres_to_altitude(a_to_p);
-               a_error = i_abs(a_to_p_to_a - i);
-               if (a_error > max_a_error) {
-                       max_a_error = a_error;
-                       max_a_error_a = i;
-               }
-//             printf ("alt %d pres %d alt %d\n",
-//                     i, a_to_p, a_to_p_to_a);
-       }
-       if (max_p_error > 2) {
-               printf ("max p error %d at %d\n", max_p_error,
-                       max_p_error_p);
-               ret++;
-       }
-       if (max_a_error > 1) {
-               printf ("max a error %d at %d\n", max_a_error,
-                       max_a_error_a);
-               ret++;
-       }
-       return ret;
-}
diff --git a/src/ao_dbg.c b/src/ao_dbg.c
deleted file mode 100644 (file)
index d4c9567..0000000
+++ /dev/null
@@ -1,364 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-#include "ao_pins.h"
-
-static void
-ao_dbg_send_bits(uint8_t msk, uint8_t val) __reentrant
-{
-       DBG_PORT = (DBG_PORT & ~msk) | (val & msk);
-       _asm
-               nop
-               nop
-       _endasm;
-}
-
-void
-ao_dbg_send_byte(uint8_t byte)
-{
-       __pdata uint8_t b, d;
-
-       DBG_PORT |= DBG_DATA;
-       DBG_PORT_DIR |= DBG_DATA;
-       for (b = 0; b < 8; b++) {
-               d = 0;
-               if (byte & 0x80)
-                       d = DBG_DATA;
-               byte <<= 1;
-               ao_dbg_send_bits(DBG_CLOCK|DBG_DATA, DBG_CLOCK|d);
-               ao_dbg_send_bits(DBG_CLOCK|DBG_DATA,     0    |d);
-       }
-       DBG_PORT_DIR &= ~DBG_DATA;
-}
-
-uint8_t
-ao_dbg_recv_byte(void)
-{
-       __pdata uint8_t byte, b;
-
-       byte = 0;
-       for (b = 0; b < 8; b++) {
-               byte = byte << 1;
-               ao_dbg_send_bits(DBG_CLOCK, DBG_CLOCK);
-               if (DBG_DATA_PIN)
-                       byte |= 1;
-               ao_dbg_send_bits(DBG_CLOCK, 0);
-       }
-       return byte;
-}
-
-/* 8051 instructions
- */
-#define NOP                    0x00
-#define MOV_direct_data                0x75
-#define LJMP                   0x02
-#define MOV_Rn_data(n)         (0x78 | (n))
-#define DJNZ_Rn_rel(n)         (0xd8 | (n))
-#define MOV_A_direct           0xe5
-#define MOV_direct1_direct2    0x85
-#define MOV_direct_A           0xf5
-#define MOV_DPTR_data16                0x90
-#define MOV_A_data             0x74
-#define MOVX_atDPTR_A          0xf0
-#define MOVX_A_atDPTR          0xe0
-#define INC_DPTR               0xa3
-#define TRAP                   0xa5
-#define SJMP                   0x80
-#define JB                     0x20
-
-#define DEBUG_INSTR(l)         (0x54 | (l))
-
-#define SFR_PSW                        0xD0
-#define SFR_DPL0               0x82
-#define SFR_DPH0               0x83
-#define SFR_DPL1               0x84
-#define SFR_DPH1               0x85
-
-__pdata uint8_t        save_acc;
-__pdata uint8_t save_psw;
-__pdata uint8_t save_dpl0;
-__pdata uint8_t save_dph0;
-__pdata uint8_t save_dpl1;
-__pdata uint8_t save_dph1;
-
-static uint8_t
-ao_dbg_inst1(uint8_t a) __reentrant
-{
-       ao_dbg_send_byte(DEBUG_INSTR(1));
-       ao_dbg_send_byte(a);
-       return ao_dbg_recv_byte();
-}
-
-static uint8_t
-ao_dbg_inst2(uint8_t a, uint8_t b) __reentrant
-{
-       ao_dbg_send_byte(DEBUG_INSTR(2));
-       ao_dbg_send_byte(a);
-       ao_dbg_send_byte(b);
-       return ao_dbg_recv_byte();
-}
-
-static uint8_t
-ao_dbg_inst3(uint8_t a, uint8_t b, uint8_t c) __reentrant
-{
-       ao_dbg_send_byte(DEBUG_INSTR(3));
-       ao_dbg_send_byte(a);
-       ao_dbg_send_byte(b);
-       ao_dbg_send_byte(c);
-       return ao_dbg_recv_byte();
-}
-
-void
-ao_dbg_start_transfer(uint16_t addr)
-{
-       save_acc  = ao_dbg_inst1(NOP);
-       save_psw  = ao_dbg_inst2(MOV_A_direct, SFR_PSW);
-       save_dpl0 = ao_dbg_inst2(MOV_A_direct, SFR_DPL0);
-       save_dph0 = ao_dbg_inst2(MOV_A_direct, SFR_DPH0);
-       save_dpl1 = ao_dbg_inst2(MOV_A_direct, SFR_DPL1);
-       save_dph1 = ao_dbg_inst2(MOV_A_direct, SFR_DPH1);
-       ao_dbg_inst3(MOV_DPTR_data16, addr >> 8, addr);
-}
-
-void
-ao_dbg_end_transfer(void)
-{
-       ao_dbg_inst3(MOV_direct_data, SFR_DPL0, save_dpl0);
-       ao_dbg_inst3(MOV_direct_data, SFR_DPH0, save_dph0);
-       ao_dbg_inst3(MOV_direct_data, SFR_DPL1, save_dpl1);
-       ao_dbg_inst3(MOV_direct_data, SFR_DPH1, save_dph1);
-       ao_dbg_inst3(MOV_direct_data, SFR_PSW, save_psw);
-       ao_dbg_inst2(MOV_A_data, save_acc);
-}
-
-void
-ao_dbg_write_byte(uint8_t byte)
-{
-       ao_dbg_inst2(MOV_A_data, byte);
-       ao_dbg_inst1(MOVX_atDPTR_A);
-       ao_dbg_inst1(INC_DPTR);
-}
-
-uint8_t
-ao_dbg_read_byte(void)
-{
-       ao_dbg_inst1(MOVX_A_atDPTR);
-       return ao_dbg_inst1(INC_DPTR);
-}
-
-static void
-ao_dbg_set_pins(void)
-{
-       /* Make the DBG pins GPIOs. On TeleMetrum, this will
-        * disable the SPI link, so don't expect SPI to work after
-        * using the debugger.
-        */
-       DBG_PORT_SEL &= ~(DBG_CLOCK|DBG_DATA|DBG_RESET_N);
-
-       /* make DBG_DATA tri-state */
-       DBG_PORT_INP |= DBG_DATA;
-
-       /* Raise RESET_N and CLOCK */
-       DBG_PORT |= DBG_RESET_N | DBG_CLOCK;
-
-       /* RESET_N and CLOCK are outputs now */
-       DBG_PORT_DIR |= DBG_RESET_N | DBG_CLOCK;
-       DBG_PORT_DIR &= ~DBG_DATA;
-}
-
-static void
-ao_dbg_long_delay(void)
-{
-       uint8_t n;
-
-       for (n = 0; n < 20; n++)
-               _asm nop _endasm;
-}
-
-#define AO_RESET_LOW_DELAY     AO_MS_TO_TICKS(100)
-#define AO_RESET_HIGH_DELAY    AO_MS_TO_TICKS(100)
-
-void
-ao_dbg_debug_mode(void)
-{
-       ao_dbg_set_pins();
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|    0    );
-       ao_delay(AO_RESET_LOW_DELAY);
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|DBG_RESET_N);
-       ao_delay(AO_RESET_HIGH_DELAY);
-}
-
-void
-ao_dbg_reset(void)
-{
-       ao_dbg_set_pins();
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_delay(AO_RESET_LOW_DELAY);
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
-       ao_delay(AO_RESET_HIGH_DELAY);
-}
-
-static void
-debug_enable(void)
-{
-       ao_dbg_debug_mode();
-}
-
-static void
-debug_reset(void)
-{
-       ao_dbg_reset();
-}
-
-static void
-debug_put(void)
-{
-       for (;;) {
-               ao_cmd_white ();
-               if (ao_cmd_lex_c == '\n')
-                       break;
-               ao_cmd_hex();
-               if (ao_cmd_status != ao_cmd_success)
-                       break;
-               ao_dbg_send_byte(ao_cmd_lex_i);
-       }
-}
-
-static void
-debug_get(void)
-{
-       __pdata uint16_t count;
-       __pdata uint16_t i;
-       __pdata uint8_t byte;
-       ao_cmd_hex();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       count = ao_cmd_lex_i;
-       if (count > 256) {
-               ao_cmd_status = ao_cmd_syntax_error;
-               return;
-       }
-       for (i = 0; i < count; i++) {
-               if (i && (i & 7) == 0)
-                       putchar('\n');
-               byte = ao_dbg_recv_byte();
-               ao_cmd_put8(byte);
-               putchar(' ');
-       }
-       putchar('\n');
-}
-
-static uint8_t
-getnibble(void)
-{
-       __pdata char    c;
-
-       c = getchar();
-       if ('0' <= c && c <= '9')
-               return c - '0';
-       if ('a' <= c && c <= 'f')
-               return c - ('a' - 10);
-       if ('A' <= c && c <= 'F')
-               return c - ('A' - 10);
-       ao_cmd_status = ao_cmd_lex_error;
-       return 0;
-}
-
-static void
-debug_input(void)
-{
-       __pdata uint16_t count;
-       __pdata uint16_t addr;
-       __pdata uint8_t b;
-       __pdata uint8_t i;
-
-       ao_cmd_hex();
-       count = ao_cmd_lex_i;
-       ao_cmd_hex();
-       addr = ao_cmd_lex_i;
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       ao_dbg_start_transfer(addr);
-       i = 0;
-       while (count--) {
-               if (!(i++ & 7))
-                       putchar('\n');
-               b = ao_dbg_read_byte();
-               ao_cmd_put8(b);
-       }
-       ao_dbg_end_transfer();
-       putchar('\n');
-}
-
-static void
-debug_output(void)
-{
-       __pdata uint16_t count;
-       __pdata uint16_t addr;
-       __pdata uint8_t b;
-
-       ao_cmd_hex();
-       count = ao_cmd_lex_i;
-       ao_cmd_hex();
-       addr = ao_cmd_lex_i;
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       ao_dbg_start_transfer(addr);
-       while (count--) {
-               b = getnibble() << 4;
-               b |= getnibble();
-               if (ao_cmd_status != ao_cmd_success)
-                       return;
-               ao_dbg_write_byte(b);
-       }
-       ao_dbg_end_transfer();
-}
-
-__code struct ao_cmds ao_dbg_cmds[7] = {
-       { debug_enable, "D\0Enable debug" },
-       { debug_get,    "G <count>\0Get data" },
-       { debug_input,  "I <count> <addr>\0Input <count> at <addr>" },
-       { debug_output, "O <count> <addr>\0Output <count> at <addr>" },
-       { debug_put,    "P <byte> ...\0Put data" },
-       { debug_reset,  "R\0Reset" },
-       { 0, NULL },
-};
-
-void
-ao_dbg_init(void)
-{
-       ao_cmd_register(&ao_dbg_cmds[0]);
-}
diff --git a/src/ao_dma.c b/src/ao_dma.c
deleted file mode 100644 (file)
index 6052964..0000000
+++ /dev/null
@@ -1,131 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-#define NUM_DMA        5
-
-/*
- * The config address for DMA0 is programmed
- * separately from that of DMA1-4, but for simplicity,
- * we make them all contiguous.
- */
-
-static __xdata struct cc_dma_channel ao_dma_config[NUM_DMA];
-static __xdata uint8_t * __xdata ao_dma_done[NUM_DMA];
-static __data uint8_t ao_next_dma;
-
-uint8_t
-ao_dma_alloc(__xdata uint8_t *done)
-{
-       uint8_t id;
-
-       if (ao_next_dma == NUM_DMA)
-               ao_panic(AO_PANIC_DMA);
-       id = ao_next_dma++;
-       ao_dma_done[id] = done;
-
-       /* When the first dma object is allocated, set up the DMA
-        * controller
-        */
-       if (id == 0) {
-               DMAIRQ = 0;
-               DMAIF = 0;
-               IEN1 |= IEN1_DMAIE;
-       }
-
-       return id;
-}
-
-void
-ao_dma_set_transfer(uint8_t id,
-                   void __xdata *srcaddr,
-                   void __xdata *dstaddr,
-                   uint16_t count,
-                   uint8_t cfg0,
-                   uint8_t cfg1)
-{
-       if (DMAARM & (1 << id))
-               ao_panic(AO_PANIC_DMA);
-       ao_dma_config[id].src_high = ((uint16_t) srcaddr) >> 8;
-       ao_dma_config[id].src_low = ((uint16_t) srcaddr);
-       ao_dma_config[id].dst_high = ((uint16_t) dstaddr) >> 8;
-       ao_dma_config[id].dst_low = ((uint16_t) dstaddr);
-       ao_dma_config[id].len_high = count >> 8;
-       ao_dma_config[id].len_low = count;
-       ao_dma_config[id].cfg0 = cfg0;
-       ao_dma_config[id].cfg1 = cfg1 | DMA_CFG1_IRQMASK;
-       if (id == 0) {
-               DMA0CFGH = ((uint16_t) (&ao_dma_config[0])) >> 8;
-               DMA0CFGL = ((uint16_t) (&ao_dma_config[0]));
-       } else {
-               DMA1CFGH = ((uint16_t) (&ao_dma_config[1])) >> 8;
-               DMA1CFGL = ((uint16_t) (&ao_dma_config[1]));
-       }
-}
-
-#define nop()  _asm nop _endasm;
-
-void
-ao_dma_start(uint8_t id)
-{
-       uint8_t mask = (1 << id);
-       DMAIRQ &= ~mask;
-       DMAARM = 0x80 | mask;
-       nop(); nop(); nop(); nop();
-       nop(); nop(); nop(); nop();
-       *(ao_dma_done[id]) = 0;
-       DMAARM = mask;
-       nop(); nop(); nop(); nop();
-       nop(); nop(); nop(); nop();
-       nop();
-}
-
-void
-ao_dma_trigger(uint8_t id)
-{
-       DMAREQ |= (1 << id);
-}
-
-void
-ao_dma_abort(uint8_t id)
-{
-       uint8_t mask = (1 << id);
-       DMAARM = 0x80 | mask;
-       DMAIRQ &= ~mask;
-}
-
-void
-ao_dma_isr(void) __interrupt 8
-{
-       uint8_t id, mask;
-
-       /* Find the first DMA channel which is done */
-       mask = 1;
-       for (id = 0; id < ao_next_dma; id++) {
-               if (DMAIRQ & mask) {
-                       /* Clear CPU interrupt flag */
-                       DMAIF = 0;
-                       /* Clear the completed ID */
-                       DMAIRQ = ~mask;
-                       *(ao_dma_done[id]) = 1;
-                       ao_wakeup(ao_dma_done[id]);
-                       break;
-               }
-               mask <<= 1;
-       }
-}
diff --git a/src/ao_ee.c b/src/ao_ee.c
deleted file mode 100644 (file)
index a2fe8dc..0000000
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-#include "25lc1024.h"
-
-#define EE_BLOCK_SIZE  ((uint16_t) (256))
-#define EE_BLOCK_SHIFT 8
-#define EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
-
-/* Total bytes of available storage */
-__pdata uint32_t       ao_storage_total;
-
-/* Block size - device is erased in these units. At least 256 bytes */
-__pdata uint32_t       ao_storage_block;
-
-/* Byte offset of config block. Will be ao_storage_block bytes long */
-__pdata uint32_t       ao_storage_config;
-
-/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
-__pdata uint16_t       ao_storage_unit;
-
-/*
- * Using SPI on USART 0, with P1_2 as the chip select
- */
-
-#define EE_CS          P1_2
-#define EE_CS_INDEX    2
-
-static __xdata uint8_t ao_ee_mutex;
-
-#define ao_ee_delay() do { \
-       _asm nop _endasm; \
-       _asm nop _endasm; \
-       _asm nop _endasm; \
-} while(0)
-
-#define ao_ee_cs_low() ao_spi_get_bit(EE_CS)
-
-#define ao_ee_cs_high()        ao_spi_put_bit(EE_CS)
-
-struct ao_ee_instruction {
-       uint8_t instruction;
-       uint8_t address[3];
-} __xdata ao_ee_instruction;
-
-static void
-ao_ee_write_enable(void)
-{
-       ao_ee_cs_low();
-       ao_ee_instruction.instruction = EE_WREN;
-       ao_spi_send(&ao_ee_instruction, 1);
-       ao_ee_cs_high();
-}
-
-static uint8_t
-ao_ee_rdsr(void)
-{
-       ao_ee_cs_low();
-       ao_ee_instruction.instruction = EE_RDSR;
-       ao_spi_send(&ao_ee_instruction, 1);
-       ao_spi_recv(&ao_ee_instruction, 1);
-       ao_ee_cs_high();
-       return ao_ee_instruction.instruction;
-}
-
-static void
-ao_ee_wrsr(uint8_t status)
-{
-       ao_ee_cs_low();
-       ao_ee_instruction.instruction = EE_WRSR;
-       ao_ee_instruction.address[0] = status;
-       ao_spi_send(&ao_ee_instruction, 2);
-       ao_ee_cs_high();
-}
-
-#define EE_BLOCK_NONE  0xffff
-
-static __xdata uint8_t ao_ee_data[EE_BLOCK_SIZE];
-static __pdata uint16_t ao_ee_block = EE_BLOCK_NONE;
-static __pdata uint8_t ao_ee_block_dirty;
-
-/* Write the current block to the EEPROM */
-static void
-ao_ee_write_block(void)
-{
-       uint8_t status;
-
-       status = ao_ee_rdsr();
-       if (status & (EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN)) {
-               status &= ~(EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN);
-               ao_ee_wrsr(status);
-       }
-       ao_ee_write_enable();
-       ao_ee_cs_low();
-       ao_ee_instruction.instruction = EE_WRITE;
-       ao_ee_instruction.address[0] = ao_ee_block >> 8;
-       ao_ee_instruction.address[1] = ao_ee_block;
-       ao_ee_instruction.address[2] = 0;
-       ao_spi_send(&ao_ee_instruction, 4);
-       ao_spi_send(ao_ee_data, EE_BLOCK_SIZE);
-       ao_ee_cs_high();
-       for (;;) {
-               uint8_t status = ao_ee_rdsr();
-               if ((status & EE_STATUS_WIP) == 0)
-                       break;
-       }
-}
-
-/* Read the current block from the EEPROM */
-static void
-ao_ee_read_block(void)
-{
-       ao_ee_cs_low();
-       ao_ee_instruction.instruction = EE_READ;
-       ao_ee_instruction.address[0] = ao_ee_block >> 8;
-       ao_ee_instruction.address[1] = ao_ee_block;
-       ao_ee_instruction.address[2] = 0;
-       ao_spi_send(&ao_ee_instruction, 4);
-       ao_spi_recv(ao_ee_data, EE_BLOCK_SIZE);
-       ao_ee_cs_high();
-}
-
-static void
-ao_ee_flush_internal(void)
-{
-       if (ao_ee_block_dirty) {
-               ao_ee_write_block();
-               ao_ee_block_dirty = 0;
-       }
-}
-
-static void
-ao_ee_fill(uint16_t block)
-{
-       if (block != ao_ee_block) {
-               ao_ee_flush_internal();
-               ao_ee_block = block;
-               ao_ee_read_block();
-       }
-}
-
-uint8_t
-ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant
-{
-       uint16_t block = (uint16_t) (pos >> EE_BLOCK_SHIFT);
-
-       /* Transfer the data */
-       ao_mutex_get(&ao_ee_mutex); {
-               if (len != EE_BLOCK_SIZE)
-                       ao_ee_fill(block);
-               else {
-                       ao_ee_flush_internal();
-                       ao_ee_block = block;
-               }
-               memcpy(ao_ee_data + (uint16_t) (pos & 0xff), buf, len);
-               ao_ee_block_dirty = 1;
-       } ao_mutex_put(&ao_ee_mutex);
-       return 1;
-}
-
-uint8_t
-ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant
-{
-       uint16_t block = (uint16_t) (pos >> EE_BLOCK_SHIFT);
-
-       /* Transfer the data */
-       ao_mutex_get(&ao_ee_mutex); {
-               ao_ee_fill(block);
-               memcpy(buf, ao_ee_data + (uint16_t) (pos & 0xff), len);
-       } ao_mutex_put(&ao_ee_mutex);
-       return 1;
-}
-
-void
-ao_storage_flush(void) __reentrant
-{
-       ao_mutex_get(&ao_ee_mutex); {
-               ao_ee_flush_internal();
-       } ao_mutex_put(&ao_ee_mutex);
-}
-
-uint8_t
-ao_storage_erase(uint32_t pos) __reentrant
-{
-       ao_mutex_get(&ao_ee_mutex); {
-               ao_ee_flush_internal();
-               ao_ee_block = (uint16_t) (pos >> EE_BLOCK_SHIFT);
-               memset(ao_ee_data, 0xff, EE_BLOCK_SIZE);
-               ao_ee_block_dirty = 1;
-       } ao_mutex_put(&ao_ee_mutex);
-       return 1;
-}
-
-static void
-ee_store(void) __reentrant
-{
-}
-
-void
-ao_storage_setup(void)
-{
-       if (ao_storage_total == 0) {
-               ao_storage_total = EE_DEVICE_SIZE;
-               ao_storage_block = EE_BLOCK_SIZE;
-               ao_storage_config = EE_DEVICE_SIZE - EE_BLOCK_SIZE;
-               ao_storage_unit = EE_BLOCK_SIZE;
-       }
-}
-
-void
-ao_storage_device_info(void) __reentrant
-{
-}
-
-/*
- * To initialize the chip, set up the CS line and
- * the SPI interface
- */
-void
-ao_storage_device_init(void)
-{
-       /* set up CS */
-       EE_CS = 1;
-       P1DIR |= (1 << EE_CS_INDEX);
-       P1SEL &= ~(1 << EE_CS_INDEX);
-}
diff --git a/src/ao_ee_fake.c b/src/ao_ee_fake.c
deleted file mode 100644 (file)
index b0c1d61..0000000
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-/*
- * For hardware without eeprom, the config code still
- * wants to call these functions
- */
-uint8_t
-ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant
-{
-       (void) buf;
-       (void) len;
-       return 1;
-}
-
-uint8_t
-ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant
-{
-       memset(buf, '\0', len);
-       return 1;
-}
diff --git a/src/ao_flash.c b/src/ao_flash.c
deleted file mode 100644 (file)
index bb40f6f..0000000
+++ /dev/null
@@ -1,318 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-#include "at45db161d.h"
-
-/* Total bytes of available storage */
-__pdata uint32_t       ao_storage_total;
-
-/* Block size - device is erased in these units. At least 256 bytes */
-__pdata uint32_t       ao_storage_block;
-
-/* Byte offset of config block. Will be ao_storage_block bytes long */
-__pdata uint32_t       ao_storage_config;
-
-/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
-__pdata uint16_t       ao_storage_unit;
-
-#define FLASH_CS               P1_1
-#define FLASH_CS_INDEX         1
-
-#define FLASH_BLOCK_SIZE_MAX   512
-
-__xdata uint8_t ao_flash_mutex;
-
-#define ao_flash_delay() do { \
-       _asm nop _endasm; \
-       _asm nop _endasm; \
-       _asm nop _endasm; \
-} while(0)
-
-#define ao_flash_cs_low()      ao_spi_get_bit(FLASH_CS)
-
-#define ao_flash_cs_high()     ao_spi_put_bit(FLASH_CS)
-
-struct ao_flash_instruction {
-       uint8_t instruction;
-       uint8_t address[3];
-} __xdata ao_flash_instruction;
-
-static void
-ao_flash_set_pagesize_512(void)
-{
-       ao_flash_cs_low();
-       ao_flash_instruction.instruction = FLASH_SET_CONFIG;
-       ao_flash_instruction.address[0] = FLASH_SET_512_BYTE_0;
-       ao_flash_instruction.address[1] = FLASH_SET_512_BYTE_1;
-       ao_flash_instruction.address[2] = FLASH_SET_512_BYTE_2;
-       ao_spi_send(&ao_flash_instruction, 4);
-       ao_flash_cs_high();
-}
-
-
-static uint8_t
-ao_flash_read_status(void)
-{
-       ao_flash_cs_low();
-       ao_flash_instruction.instruction = FLASH_READ_STATUS;
-       ao_spi_send(&ao_flash_instruction, 1);
-       ao_spi_recv(&ao_flash_instruction, 1);
-       ao_flash_cs_high();
-       return ao_flash_instruction.instruction;
-}
-
-#define FLASH_BLOCK_NONE       0xffff
-
-static __xdata uint8_t ao_flash_data[FLASH_BLOCK_SIZE_MAX];
-static __pdata uint16_t ao_flash_block = FLASH_BLOCK_NONE;
-static __pdata uint8_t ao_flash_block_dirty;
-static __pdata uint8_t  ao_flash_write_pending;
-static __pdata uint8_t ao_flash_setup_done;
-static __pdata uint8_t ao_flash_block_shift;
-static __pdata uint16_t        ao_flash_block_size;
-static __pdata uint16_t        ao_flash_block_mask;
-
-void
-ao_storage_setup(void) __reentrant
-{
-       uint8_t status;
-
-       if (ao_flash_setup_done)
-               return;
-
-       ao_mutex_get(&ao_flash_mutex);
-       if (ao_flash_setup_done) {
-               ao_mutex_put(&ao_flash_mutex);
-               return;
-       }
-
-       /* On first use, check to see if the flash chip has
-        * been programmed to use 512 byte pages. If not, do so.
-        * And then, because the flash part must be power cycled
-        * for that change to take effect, panic.
-        */
-       status = ao_flash_read_status();
-
-       if (!(status & FLASH_STATUS_PAGESIZE_512)) {
-               ao_flash_set_pagesize_512();
-               ao_panic(AO_PANIC_FLASH);
-       }
-
-       switch (status & 0x3c) {
-
-       /* AT45DB321D */
-       case 0x34:
-               ao_flash_block_shift = 9;
-               ao_storage_total = ((uint32_t) 4 * (uint32_t) 1024 * (uint32_t) 1024);
-               break;
-
-       /* AT45DB161D */
-       case 0x2c:
-               ao_flash_block_shift = 9;
-               ao_storage_total = ((uint32_t) 2 * (uint32_t) 1024 * (uint32_t) 1024);
-               break;
-
-       /* AT45DB081D */
-       case 0x24:
-               ao_flash_block_shift = 8;
-               ao_storage_total = ((uint32_t) 1024 * (uint32_t) 1024);
-               break;
-
-       /* AT45DB041D */
-       case 0x1c:
-               ao_flash_block_shift = 8;
-               ao_storage_total = ((uint32_t) 512 * (uint32_t) 1024);
-               break;
-
-       /* AT45DB021D */
-       case 0x14:
-               ao_flash_block_shift = 8;
-               ao_storage_total = ((uint32_t) 256 * (uint32_t) 1024);
-               break;
-
-       /* AT45DB011D */
-       case 0x0c:
-               ao_flash_block_shift = 8;
-               ao_storage_total = ((uint32_t) 128 * (uint32_t) 1024);
-               break;
-
-       default:
-               ao_panic(AO_PANIC_FLASH);
-       }
-       ao_flash_block_size = 1 << ao_flash_block_shift;
-       ao_flash_block_mask = ao_flash_block_size - 1;
-
-       ao_storage_block = ao_flash_block_size;
-       ao_storage_config = ao_storage_total - ao_storage_block;
-       ao_storage_unit = ao_flash_block_size;
-
-       ao_flash_setup_done = 1;
-       ao_mutex_put(&ao_flash_mutex);
-}
-
-static void
-ao_flash_wait_write(void)
-{
-       if (ao_flash_write_pending) {
-               for (;;) {
-                       uint8_t status = ao_flash_read_status();
-                       if ((status & FLASH_STATUS_RDY))
-                               break;
-               }
-               ao_flash_write_pending = 0;
-       }
-}
-
-/* Write the current block to the FLASHPROM */
-static void
-ao_flash_write_block(void)
-{
-       ao_flash_wait_write();
-       ao_flash_cs_low();
-       ao_flash_instruction.instruction = FLASH_WRITE;
-
-       /* 13/14 block bits + 9/8 byte bits (always 0) */
-       ao_flash_instruction.address[0] = ao_flash_block >> (16 - ao_flash_block_shift);
-       ao_flash_instruction.address[1] = ao_flash_block << (ao_flash_block_shift - 8);
-       ao_flash_instruction.address[2] = 0;
-       ao_spi_send(&ao_flash_instruction, 4);
-       ao_spi_send(ao_flash_data, ao_storage_block);
-       ao_flash_cs_high();
-       ao_flash_write_pending = 1;
-}
-
-/* Read the current block from the FLASHPROM */
-static void
-ao_flash_read_block(void)
-{
-       ao_flash_wait_write();
-       ao_flash_cs_low();
-       ao_flash_instruction.instruction = FLASH_READ;
-
-       /* 13/14 block bits + 9/8 byte bits (always 0) */
-       ao_flash_instruction.address[0] = ao_flash_block >> (16 - ao_flash_block_shift);
-       ao_flash_instruction.address[1] = ao_flash_block << (ao_flash_block_shift - 8);
-       ao_flash_instruction.address[2] = 0;
-       ao_spi_send(&ao_flash_instruction, 4);
-       ao_spi_recv(ao_flash_data, ao_flash_block_size);
-       ao_flash_cs_high();
-}
-
-static void
-ao_flash_flush_internal(void)
-{
-       if (ao_flash_block_dirty) {
-               ao_flash_write_block();
-               ao_flash_block_dirty = 0;
-       }
-}
-
-static void
-ao_flash_fill(uint16_t block)
-{
-       if (block != ao_flash_block) {
-               ao_flash_flush_internal();
-               ao_flash_block = block;
-               ao_flash_read_block();
-       }
-}
-
-uint8_t
-ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant
-{
-       uint16_t block = (uint16_t) (pos >> ao_flash_block_shift);
-
-       /* Transfer the data */
-       ao_mutex_get(&ao_flash_mutex); {
-               if (len != ao_flash_block_size)
-                       ao_flash_fill(block);
-               else {
-                       ao_flash_flush_internal();
-                       ao_flash_block = block;
-               }
-               memcpy(ao_flash_data + (uint16_t) (pos & ao_flash_block_mask),
-                      buf,
-                      len);
-               ao_flash_block_dirty = 1;
-       } ao_mutex_put(&ao_flash_mutex);
-       return 1;
-}
-
-uint8_t
-ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant
-{
-       uint16_t block = (uint16_t) (pos >> ao_flash_block_shift);
-
-       /* Transfer the data */
-       ao_mutex_get(&ao_flash_mutex); {
-               ao_flash_fill(block);
-               memcpy(buf,
-                      ao_flash_data + (uint16_t) (pos & ao_flash_block_mask),
-                      len);
-       } ao_mutex_put(&ao_flash_mutex);
-       return 1;
-}
-
-void
-ao_storage_flush(void) __reentrant
-{
-       ao_mutex_get(&ao_flash_mutex); {
-               ao_flash_flush_internal();
-       } ao_mutex_put(&ao_flash_mutex);
-}
-
-uint8_t
-ao_storage_erase(uint32_t pos) __reentrant
-{
-       ao_mutex_get(&ao_flash_mutex); {
-               ao_flash_flush_internal();
-               ao_flash_block = (uint16_t) (pos >> ao_flash_block_shift);
-               memset(ao_flash_data, 0xff, ao_flash_block_size);
-               ao_flash_block_dirty = 1;
-       } ao_mutex_put(&ao_flash_mutex);
-       return 1;
-}
-
-void
-ao_storage_device_info(void) __reentrant
-{
-       uint8_t status;
-
-       ao_storage_setup();
-       ao_mutex_get(&ao_flash_mutex); {
-               status = ao_flash_read_status();
-               printf ("Flash status: 0x%02x\n", status);
-               printf ("Flash block shift: %d\n", ao_flash_block_shift);
-               printf ("Flash block size: %d\n", ao_flash_block_size);
-               printf ("Flash block mask: %d\n", ao_flash_block_mask);
-               printf ("Flash device size: %ld\n", ao_storage_total);
-       } ao_mutex_put(&ao_flash_mutex);
-}
-
-/*
- * To initialize the chip, set up the CS line and
- * the SPI interface
- */
-void
-ao_storage_device_init(void)
-{
-       /* set up CS */
-       FLASH_CS = 1;
-       P1DIR |= (1 << FLASH_CS_INDEX);
-       P1SEL &= ~(1 << FLASH_CS_INDEX);
-}
diff --git a/src/ao_flight.c b/src/ao_flight.c
deleted file mode 100644 (file)
index 85c1825..0000000
+++ /dev/null
@@ -1,315 +0,0 @@
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#endif
-
-#ifndef HAS_ACCEL
-#error Please define HAS_ACCEL
-#endif
-
-#ifndef HAS_GPS
-#error Please define HAS_GPS
-#endif
-
-#ifndef HAS_USB
-#error Please define HAS_USB
-#endif
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
-__pdata uint16_t               ao_launch_tick;         /* time of launch detect */
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-__pdata uint16_t               ao_interval_end;
-__pdata int16_t                        ao_interval_min_height;
-__pdata int16_t                        ao_interval_max_height;
-__pdata uint8_t                        ao_flight_force_idle;
-
-/* We also have a clock, which can be used to sanity check things in
- * case of other failures
- */
-
-#define BOOST_TICKS_MAX        AO_SEC_TO_TICKS(15)
-
-/* Landing is detected by getting constant readings from both pressure and accelerometer
- * for a fairly long time (AO_INTERVAL_TICKS)
- */
-#define AO_INTERVAL_TICKS      AO_SEC_TO_TICKS(10)
-
-#define abs(a) ((a) < 0 ? -(a) : (a))
-
-void
-ao_flight(void)
-{
-       ao_sample_init();
-       ao_flight_state = ao_flight_startup;
-       for (;;) {
-
-               /*
-                * Process ADC samples, just looping
-                * until the sensors are calibrated.
-                */
-               if (!ao_sample())
-                       continue;
-
-               switch (ao_flight_state) {
-               case ao_flight_startup:
-
-                       /* Check to see what mode we should go to.
-                        *  - Invalid mode if accel cal appears to be out
-                        *  - pad mode if we're upright,
-                        *  - idle mode otherwise
-                        */
-#if HAS_ACCEL
-                       if (ao_config.accel_plus_g == 0 ||
-                           ao_config.accel_minus_g == 0 ||
-                           ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
-                           ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
-                       {
-                               /* Detected an accel value outside -1.5g to 1.5g
-                                * (or uncalibrated values), so we go into invalid mode
-                                */
-                               ao_flight_state = ao_flight_invalid;
-
-                       } else
-#endif
-                               if (!ao_flight_force_idle
-#if HAS_ACCEL
-                                   && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
-#endif
-                                       )
-                       {
-                               /* Set pad mode - we can fly! */
-                               ao_flight_state = ao_flight_pad;
-#if HAS_USB
-                               /* Disable the USB controller in flight mode
-                                * to save power
-                                */
-                               ao_usb_disable();
-#endif
-
-                               /* Disable packet mode in pad state */
-                               ao_packet_slave_stop();
-
-                               /* Turn on telemetry system */
-                               ao_rdf_set(1);
-                               ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-
-                               /* signal successful initialization by turning off the LED */
-                               ao_led_off(AO_LED_RED);
-                       } else {
-                               /* Set idle mode */
-                               ao_flight_state = ao_flight_idle;
-                               /* signal successful initialization by turning off the LED */
-                               ao_led_off(AO_LED_RED);
-                       }
-                       /* wakeup threads due to state change */
-                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-
-                       break;
-               case ao_flight_pad:
-
-                       /* pad to boost:
-                        *
-                        * barometer: > 20m vertical motion
-                        *             OR
-                        * accelerometer: > 2g AND velocity > 5m/s
-                        *
-                        * The accelerometer should always detect motion before
-                        * the barometer, but we use both to make sure this
-                        * transition is detected. If the device
-                        * doesn't have an accelerometer, then ignore the
-                        * speed and acceleration as they are quite noisy
-                        * on the pad.
-                        */
-                       if (ao_height > AO_M_TO_HEIGHT(20)
-#if HAS_ACCEL
-                           || (ao_accel > AO_MSS_TO_ACCEL(20) &&
-                               ao_speed > AO_MS_TO_SPEED(5))
-#endif
-                               )
-                       {
-                               ao_flight_state = ao_flight_boost;
-                               ao_launch_tick = ao_sample_tick;
-
-                               /* start logging data */
-                               ao_log_start();
-
-                               /* Increase telemetry rate */
-                               ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
-
-                               /* disable RDF beacon */
-                               ao_rdf_set(0);
-
-#if HAS_GPS
-                               /* Record current GPS position by waking up GPS log tasks */
-                               ao_wakeup(&ao_gps_data);
-                               ao_wakeup(&ao_gps_tracking_data);
-#endif
-
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-                       break;
-               case ao_flight_boost:
-
-                       /* boost to fast:
-                        *
-                        * accelerometer: start to fall at > 1/4 G
-                        *              OR
-                        * time: boost for more than 15 seconds
-                        *
-                        * Detects motor burn out by the switch from acceleration to
-                        * deceleration, or by waiting until the maximum burn duration
-                        * (15 seconds) has past.
-                        */
-                       if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
-                           (int16_t) (ao_sample_tick - ao_launch_tick) > BOOST_TICKS_MAX)
-                       {
-#if HAS_ACCEL
-                               ao_flight_state = ao_flight_fast;
-#else
-                               ao_flight_state = ao_flight_coast;
-#endif
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-                       break;
-#if HAS_ACCEL
-               case ao_flight_fast:
-                       /*
-                        * This is essentially the same as coast,
-                        * but the barometer is being ignored as
-                        * it may be unreliable.
-                        */
-                       if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
-                       {
-                               ao_flight_state = ao_flight_coast;
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-                       break;
-#endif
-               case ao_flight_coast:
-
-                       /* apogee detect: coast to drogue deploy:
-                        *
-                        * speed: < 0
-                        *
-                        * Also make sure the model altitude is tracking
-                        * the measured altitude reasonably closely; otherwise
-                        * we're probably transsonic.
-                        */
-                       if (ao_speed < 0
-#if !HAS_ACCEL
-                           && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
-#endif
-                               )
-                       {
-                               /* ignite the drogue charge */
-                               ao_ignite(ao_igniter_drogue);
-
-                               /* slow down the telemetry system */
-                               ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
-
-                               /* Turn the RDF beacon back on */
-                               ao_rdf_set(1);
-
-                               /* and enter drogue state */
-                               ao_flight_state = ao_flight_drogue;
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-
-                       break;
-               case ao_flight_drogue:
-
-                       /* drogue to main deploy:
-                        *
-                        * barometer: reach main deploy altitude
-                        *
-                        * Would like to use the accelerometer for this test, but
-                        * the orientation of the flight computer is unknown after
-                        * drogue deploy, so we ignore it. Could also detect
-                        * high descent rate using the pressure sensor to
-                        * recognize drogue deploy failure and eject the main
-                        * at that point. Perhaps also use the drogue sense lines
-                        * to notice continutity?
-                        */
-                       if (ao_height <= ao_config.main_deploy)
-                       {
-                               ao_ignite(ao_igniter_main);
-
-                               /*
-                                * Start recording min/max height
-                                * to figure out when the rocket has landed
-                                */
-
-                               /* initialize interval values */
-                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-
-                               ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
-                               ao_flight_state = ao_flight_main;
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-                       break;
-
-                       /* fall through... */
-               case ao_flight_main:
-
-                       /* main to land:
-                        *
-                        * barometer: altitude stable
-                        */
-
-                       if (ao_avg_height < ao_interval_min_height)
-                               ao_interval_min_height = ao_avg_height;
-                       if (ao_avg_height > ao_interval_max_height)
-                               ao_interval_max_height = ao_avg_height;
-
-                       if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
-                               if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
-                               {
-                                       ao_flight_state = ao_flight_landed;
-
-                                       /* turn off the ADC capture */
-                                       ao_timer_set_adc_interval(0);
-
-                                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                               }
-                               ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-                       }
-                       break;
-               case ao_flight_landed:
-                       break;
-               }
-       }
-}
-
-static __xdata struct ao_task  flight_task;
-
-void
-ao_flight_init(void)
-{
-       ao_flight_state = ao_flight_startup;
-       ao_add_task(&flight_task, ao_flight, "flight");
-}
diff --git a/src/ao_flight_nano.c b/src/ao_flight_nano.c
deleted file mode 100644 (file)
index 2e332b1..0000000
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state   ao_flight_state;        /* current&