--- /dev/null
+= Release Notes for Version 1.9.9
+include::release-head.adoc[]
+:doctype: article
+
+ Version 1.9.9
+
+ This release contains a critical bug fix for a problem
+ introduced in version 1.9.8 for TeleMega and EasyMega
+ boards. This problem occurs when using the stored
+ configuration from 1.9.7 or earlier.
+
+ If you are running 1.9.8 or are upgrading from 1.9.8 on any
+ version of TeleMega or EasyMega, you must reconfigure all pyro
+ channels, recalibrate accelerometers, reset the APRS interval,
+ adjust the beep tone and reset the pyro time.
+
+ == AltOS
+
+ * Fix EasyMega and TeleMega upgrade process from 1.9.7 or
+ earlier. 1.9.8 introduced larger delay values, which
+ required modifying the configuration in-place, and the 1.9.8
+ version had a flaw which broke the pyro channel config and
+ all of the config values beyond that in memory, including
+ APRS interval, IMU accel calibation, beep tone and pyro
+ time.
+
+ * Fix TeleMega v5.0 mag sensor driver. This driver was quite
+ broken due to developing it in the presence of the magnetic
+ beeper on the board. Because of that beeper, the values this
+ sensor records are not accurate. Fortunately, they are not
+ used for controlling the flight.
+
+ == AltosUI
+
+ * Parse TeleMega v5.0 log files. A missing check in the code
+ meant that the TeleMega v5.0 log files would cause an error
+ when attempting to load them. Logs saved with AltosUI
+ 1.9.8 were not affected, only the presentation of the data
+ was broken.
#if HAS_MMC5983
+#define DEBUG_MMC5983 0
+
struct ao_mmc5983_sample ao_mmc5983_current;
+static struct ao_mmc5983_sample ao_mmc5983_offset;
static uint8_t ao_mmc5983_configured;
}
static void
-ao_mmc5983_sample(struct ao_mmc5983_sample *sample)
+ao_mmc5983_raw(struct ao_mmc5983_raw *raw)
{
- struct ao_mmc5983_raw raw;
-
ao_i2c_bit_start(MMC5983_I2C_ADDR);
- raw.addr = MMC5983_X_OUT_0;
- ao_i2c_bit_send(&raw.addr, 1);
+ raw->addr = MMC5983_X_OUT_0;
+ ao_i2c_bit_send(&(raw->addr), 1);
ao_i2c_bit_restart(MMC5983_I2C_ADDR | 1);
- ao_i2c_bit_recv(&raw.x0, 7);
+ ao_i2c_bit_recv(&(raw->x0), sizeof(*raw) - 1);
ao_i2c_bit_stop();
-
- sample->x = raw.x0 << 10 | raw.x1 << 2 | ((raw.xyz2 >> 6) & 3);
- sample->y = raw.y0 << 10 | raw.y1 << 2 | ((raw.xyz2 >> 4) & 3);
- sample->z = raw.z0 << 10 | raw.z1 << 2 | ((raw.xyz2 >> 2) & 3);
}
#else
}
static void
-ao_mmc5983_sample(struct ao_mmc5983_sample *sample)
+ao_mmc5983_raw(struct ao_mmc5983_raw *raw)
{
- struct ao_mmc5983_raw raw;
+ raw->addr = MMC5983_X_OUT_0 | MMC5983_READ;
+ ao_mmc5983_duplex((uint8_t *) raw, sizeof (*raw));
+}
+#endif
- raw.addr = MMC5983_X_OUT_0 | MMC5983_READ;
- ao_mmc5983_duplex((uint8_t *) &raw, sizeof (raw));
+/* Saturating subtraction. Keep the result within range
+ * of an int16_t
+ */
+static int16_t
+sat_sub(int16_t a, int16_t b)
+{
+ int32_t v = (int32_t) a - (int32_t) b;
+ if (v < -32768)
+ v = -32768;
+ if (v > 32767)
+ v = 32767;
+ return v;
+}
- sample->x = raw.x0 << 10 | raw.x1 << 2 | ((raw.xyz2 >> 6) & 3);
- sample->y = raw.y0 << 10 | raw.y1 << 2 | ((raw.xyz2 >> 4) & 3);
- sample->z = raw.z0 << 10 | raw.z1 << 2 | ((raw.xyz2 >> 2) & 3);
+/* Wait for a synchronous sample to finish */
+static void
+ao_mmc5983_wait(void)
+{
+ for (;;) {
+ uint8_t status = ao_mmc5983_reg_read(MMC5983_STATUS);
+ if ((status & (1 << MMC5983_STATUS_MEAS_M_DONE)) != 0)
+ break;
+ ao_delay(0);
+ }
}
-#endif
-static uint8_t product_id;
+static void
+ao_mmc5983_set(void)
+{
+ ao_mmc5983_reg_write(MMC5983_CONTROL_0,
+ (1 << MMC5983_CONTROL_0_SET));
+}
-static uint8_t
-ao_mmc5983_setup(void)
+static void
+ao_mmc5983_reset(void)
{
+ ao_mmc5983_reg_write(MMC5983_CONTROL_0,
+ (1 << MMC5983_CONTROL_0_RESET));
+}
- if (ao_mmc5983_configured)
- return 1;
+static struct ao_mmc5983_raw raw;
- /* Delay for power up time (10ms) */
- ao_delay(AO_MS_TO_TICKS(10));
+/* Read the sensor values and convert to a sample struct */
+static void
+ao_mmc5983_sample(struct ao_mmc5983_sample *s)
+{
+ ao_mmc5983_raw(&raw);
+
+ /* Bias by 32768 to convert from uint16_t to int16_t */
+ s->x = (int32_t) (((uint16_t) raw.x0 << 8) | raw.x1) - 32768;
+ s->y = (int32_t) (((uint16_t) raw.y0 << 8) | raw.y1) - 32768;
+ s->z = (int32_t) (((uint16_t) raw.z0 << 8) | raw.z1) - 32768;;
+}
+
+/* Synchronously sample the sensors */
+static void
+ao_mmc5983_sync_sample(struct ao_mmc5983_sample *v)
+{
+ ao_mmc5983_reg_write(MMC5983_CONTROL_0,
+ (1 << MMC5983_CONTROL_0_TM_M));
+ ao_mmc5983_wait();
+ ao_mmc5983_sample(v);
+}
+
+static struct ao_mmc5983_sample set, reset;
+
+/* Calibrate the device by finding the zero point */
+static void
+ao_mmc5983_cal(void)
+{
+ /* Compute offset */
+
+ ao_delay(AO_MS_TO_TICKS(100));
+
+ /* Measure in 'SET' mode */
+ ao_mmc5983_set();
+ ao_delay(AO_MS_TO_TICKS(100));
+ ao_mmc5983_sync_sample(&set);
+
+ ao_delay(AO_MS_TO_TICKS(100));
+
+ /* Measure in 'RESET' mode */
+ ao_mmc5983_reset();
+ ao_delay(AO_MS_TO_TICKS(100));
+ ao_mmc5983_sync_sample(&reset);
+
+ /* The zero point is the average of SET and RESET values */
+ ao_mmc5983_offset.x = ((int32_t) set.x + (int32_t) reset.x) / 2;
+ ao_mmc5983_offset.y = ((int32_t) set.y + (int32_t) reset.y) / 2;
+ ao_mmc5983_offset.z = ((int32_t) set.z + (int32_t) reset.z) / 2;
+}
+
+/* Configure the device to automatically sample at 200Hz */
+static void
+ao_mmc5983_run(void)
+{
+ /* Set bandwidth to 200Hz */
+ ao_mmc5983_reg_write(MMC5983_CONTROL_1,
+ MMC5983_CONTROL_1_BW_200 << MMC5983_CONTROL_1_BW);
+
+ /* Measure at 200Hz so we get recent samples by just reading
+ * the registers
+ */
+ ao_mmc5983_reg_write(MMC5983_CONTROL_2,
+ (1 << MMC5983_CONTROL_2_CMM_EN) |
+ (MMC5983_CONTROL_2_CM_FREQ_200HZ << MMC5983_CONTROL_2_CM_FREQ) |
+ (0 << MMC5983_CONTROL_2_EN_PRD_SET) |
+ (MMC5983_CONTROL_2_PRD_SET_1000));
+ ao_mmc5983_configured = 1;
+}
+
+/* Reboot the device by setting the SW_RST bit and waiting 10ms */
+static void
+ao_mmc5983_reboot(void)
+{
+ ao_mmc5983_configured = 0;
ao_mmc5983_reg_write(MMC5983_CONTROL_1,
1 << MMC5983_CONTROL_1_SW_RST);
/* Delay for power up time (10ms) */
ao_delay(AO_MS_TO_TICKS(10));
+}
+
+/* Configure the device for operation */
+static uint8_t
+ao_mmc5983_setup(void)
+{
+ uint8_t product_id;
+
+ /* Reboot the device */
+ ao_mmc5983_reboot();
/* Check product ID */
product_id = ao_mmc5983_reg_read(MMC5983_PRODUCT_ID);
AO_SENSOR_ERROR(AO_DATA_MMC5983);
}
- /* Set bandwidth to 200Hz */
- ao_mmc5983_reg_write(MMC5983_CONTROL_1,
- MMC5983_CONTROL_1_BW_200 << MMC5983_CONTROL_1_BW);
+ /* Calibrate */
+ ao_mmc5983_cal();
- /* Measure at 200Hz so we get recent samples by just reading
- * the registers
- */
- ao_mmc5983_reg_write(MMC5983_CONTROL_2,
- (1 << MMC5983_CONTROL_2_CMM_EN) |
- (MMC5983_CONTROL_2_CM_FREQ_200HZ << MMC5983_CONTROL_2_CM_FREQ));
+ /* Start automatic sampling */
+ ao_mmc5983_run();
- ao_mmc5983_configured = 1;
return 1;
}
struct ao_mmc5983_sample sample;
ao_mmc5983_setup();
for (;;) {
- ao_mmc5983_sample(&sample);
+ if (ao_mmc5983_configured)
+ ao_mmc5983_sample(&sample);
+ sample.x = sat_sub(sample.x, ao_mmc5983_offset.x);
+ sample.y = sat_sub(sample.y, ao_mmc5983_offset.y);
+ sample.z = sat_sub(sample.z, ao_mmc5983_offset.z);
ao_arch_block_interrupts();
ao_mmc5983_current = sample;
AO_DATA_PRESENT(AO_DATA_MMC5983);
static void
ao_mmc5983_show(void)
{
+#if DEBUG_MMC5983
+ printf ("x0 %02x x1 %02x y0 %02x y1 %02x z0 %02x z1 %02x\n",
+ raw.x0, raw.x1, raw.y0, raw.y1, raw.z0, raw.z1);
+
+ printf ("set.x %d set.y %d set.z %d\n",
+ set.x, set.y, set.z);
+
+ printf ("reset.x %d reset.y %d reset.z %d\n",
+ reset.x, reset.y, reset.z);
+
+ printf ("offset.x %d offset.y %d offset.z %d\n",
+ ao_mmc5983_offset.x,
+ ao_mmc5983_offset.y,
+ ao_mmc5983_offset.z);
+#endif
printf ("MMC5983: %d %d %d\n",
ao_mmc5983_along(&ao_mmc5983_current),
ao_mmc5983_across(&ao_mmc5983_current),
ao_mmc5983_through(&ao_mmc5983_current));
}
+#if DEBUG_MMC5983
+static void
+ao_mmc5983_recal(void)
+{
+ printf("recal\n"); fflush(stdout);
+ ao_mmc5983_reboot();
+ printf("reboot\n"); fflush(stdout);
+ ao_mmc5983_cal();
+ printf("cal\n"); fflush(stdout);
+ ao_mmc5983_show();
+ printf("show\n"); fflush(stdout);
+ ao_mmc5983_run();
+ printf("run\n"); fflush(stdout);
+}
+#endif
+
static const struct ao_cmds ao_mmc5983_cmds[] = {
{ ao_mmc5983_show, "M\0Show MMC5983 status" },
+#if DEBUG_MMC5983
+ { ao_mmc5983_recal, "m\0Recalibrate MMC5983" },
+#endif
{ 0, NULL }
};
#endif
};
+struct ao_config_1_24 {
+ uint8_t major;
+ uint8_t minor;
+ uint16_t main_deploy;
+ int16_t accel_plus_g; /* changed for minor version 2 */
+ uint8_t _legacy_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 */
+ uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
+ uint32_t frequency; /* minor version 10 */
+ uint16_t apogee_lockout; /* minor version 11 */
+#if AO_PYRO_NUM
+ struct ao_pyro_1_24 pyro[AO_PYRO_NUM]; /* minor version 12 */
+#endif
+ uint16_t aprs_interval; /* minor version 13 */
+#if HAS_RADIO_POWER
+ uint8_t radio_power; /* minor version 14 */
+#endif
+#if HAS_RADIO_AMP
+ uint8_t radio_amp; /* minor version 14 */
+#endif
+#if HAS_IMU
+ int16_t accel_zero_along; /* minor version 15 */
+ int16_t accel_zero_across; /* minor version 15 */
+ int16_t accel_zero_through; /* minor version 15 */
+#endif
+#if HAS_BEEP
+ uint8_t mid_beep; /* minor version 16 */
+#endif
+#if HAS_TRACKER
+ uint16_t tracker_motion; /* minor version 17 */
+ uint8_t tracker_interval; /* minor version 17 */
+#endif
+#if AO_PYRO_NUM
+ uint16_t pyro_time; /* minor version 18 */
+#endif
+#if HAS_APRS
+ uint8_t aprs_ssid; /* minor version 19 */
+#endif
+#if HAS_RADIO_RATE
+ uint8_t radio_rate; /* minor version 20 */
+#endif
+#if HAS_RADIO_FORWARD
+ uint32_t send_frequency; /* minor version 21 */
+#endif
+#if HAS_APRS
+ uint8_t aprs_format; /* minor version 22 */
+#endif
+#if HAS_FIXED_PAD_BOX
+ uint8_t pad_box; /* minor version 22 */
+ uint8_t pad_idle; /* minor version 23 */
+#endif
+#if HAS_APRS
+ uint8_t aprs_offset; /* minor version 24 */
+#endif
+};
+
#define AO_APRS_FORMAT_COMPRESSED 0
#define AO_APRS_FORMAT_UNCOMPRESSED 1
#define AO_CONFIG_DEFAULT_APRS_FORMAT AO_APRS_FORMAT_COMPRESSED
/* First, move all of the config bits that follow the pyro data */
- char *pyro_base = (void *) &ao_config.pyro;
- char *after_pyro_new = pyro_base + AO_PYRO_NUM * sizeof (struct ao_pyro);
- char *after_pyro_1_24 = pyro_base + AO_PYRO_NUM * sizeof (struct ao_pyro_1_24);
- char *config_end = (void *) (&ao_config + 1);
- size_t to_move = config_end - after_pyro_new;
+ struct ao_config_1_24 *ao_config_1_24 = (void *) &ao_config;
+ struct ao_pyro *pyro_1_25 = &ao_config.pyro[0];
+ struct ao_pyro_1_24 *pyro_1_24 = &(ao_config_1_24->pyro)[0];
- memmove(after_pyro_new, after_pyro_1_24, to_move);
- /* Now, adjust all of the pyro entries */
+ char *pyro_base_1_25 = (void *) pyro_1_25;
+ char *pyro_base_1_24 = (void *) pyro_1_24;
+ char *after_pyro_1_25 = pyro_base_1_25 + AO_PYRO_NUM * sizeof (struct ao_pyro);
+ char *after_pyro_1_24 = pyro_base_1_24 + AO_PYRO_NUM * sizeof (struct ao_pyro_1_24);
+
+ char *config_end_1_25 = (void *) (&ao_config + 1);
+ size_t to_move = config_end_1_25 - after_pyro_1_25;
- struct ao_pyro *pyro_new = ao_config.pyro;
- struct ao_pyro_1_24 *pyro_old = (void *) ao_config.pyro;
+ memmove(after_pyro_1_25, after_pyro_1_24, to_move);
+
+ /* Now, adjust all of the pyro entries */
int p = AO_PYRO_NUM;
struct ao_pyro tmp;
memset(&tmp, '\0', sizeof(tmp));
- tmp.flags = pyro_old[p].flags;
+ tmp.flags = pyro_1_24[p].flags;
for (v = 0; v < NUM_PYRO_VALUES; v++)
{
- value = ao_pyro_get_1_24(&pyro_old[v], ao_pyro_values[v].flag);
+ value = ao_pyro_get_1_24(&pyro_1_24[p], ao_pyro_values[v].flag);
ao_pyro_put(&tmp, ao_pyro_values[v].offset,
ao_pyro_size(ao_pyro_values[v].flag), value);
}
- memcpy(&pyro_new[p], &tmp, sizeof(tmp));
+ memcpy(&pyro_1_25[p], &tmp, sizeof(tmp));
}
}
}
projects / fw / altos / commitdiff