altos: Rename 'core' to 'kernel'
authorKeith Packard <keithp@keithp.com>
Sat, 5 Apr 2014 06:34:48 +0000 (23:34 -0700)
committerKeith Packard <keithp@keithp.com>
Sat, 5 Apr 2014 07:22:29 +0000 (00:22 -0700)
core remains a bad name to use -- dirvish skips files (and
directories, it seems) with that name.

Signed-off-by: Keith Packard <keithp@keithp.com>
220 files changed:
configure.ac
src/avr-demo/Makefile
src/cc1111/Makefile.cc1111
src/core/altitude.h [deleted file]
src/core/ao.h [deleted file]
src/core/ao_adc.h [deleted file]
src/core/ao_aes.h [deleted file]
src/core/ao_balloon.c [deleted file]
src/core/ao_beep.h [deleted file]
src/core/ao_btm.h [deleted file]
src/core/ao_cmd.c [deleted file]
src/core/ao_companion.h [deleted file]
src/core/ao_config.c [deleted file]
src/core/ao_config.h [deleted file]
src/core/ao_convert.c [deleted file]
src/core/ao_convert_pa.c [deleted file]
src/core/ao_convert_pa_test.c [deleted file]
src/core/ao_convert_test.c [deleted file]
src/core/ao_convert_volt.c [deleted file]
src/core/ao_data.c [deleted file]
src/core/ao_data.h [deleted file]
src/core/ao_dbg.h [deleted file]
src/core/ao_debounce.c [deleted file]
src/core/ao_debounce.h [deleted file]
src/core/ao_ee_fake.c [deleted file]
src/core/ao_eeprom.h [deleted file]
src/core/ao_fec.h [deleted file]
src/core/ao_fec_rx.c [deleted file]
src/core/ao_fec_tx.c [deleted file]
src/core/ao_flight.c [deleted file]
src/core/ao_flight.h [deleted file]
src/core/ao_flight_nano.c [deleted file]
src/core/ao_freq.c [deleted file]
src/core/ao_gps_print.c [deleted file]
src/core/ao_gps_report.c [deleted file]
src/core/ao_gps_report_mega.c [deleted file]
src/core/ao_gps_report_metrum.c [deleted file]
src/core/ao_gps_show.c [deleted file]
src/core/ao_host.h [deleted file]
src/core/ao_ignite.c [deleted file]
src/core/ao_int64.c [deleted file]
src/core/ao_int64.h [deleted file]
src/core/ao_kalman.c [deleted file]
src/core/ao_lcd.h [deleted file]
src/core/ao_led.h [deleted file]
src/core/ao_list.h [deleted file]
src/core/ao_log.c [deleted file]
src/core/ao_log.h [deleted file]
src/core/ao_log_big.c [deleted file]
src/core/ao_log_mega.c [deleted file]
src/core/ao_log_metrum.c [deleted file]
src/core/ao_log_micro.c [deleted file]
src/core/ao_log_micro.h [deleted file]
src/core/ao_log_mini.c [deleted file]
src/core/ao_log_single.c [deleted file]
src/core/ao_log_telem.c [deleted file]
src/core/ao_log_telescience.c [deleted file]
src/core/ao_log_tiny.c [deleted file]
src/core/ao_microflight.c [deleted file]
src/core/ao_microkalman.c [deleted file]
src/core/ao_monitor.c [deleted file]
src/core/ao_mutex.c [deleted file]
src/core/ao_notask.c [deleted file]
src/core/ao_notask.h [deleted file]
src/core/ao_packet.h [deleted file]
src/core/ao_panic.c [deleted file]
src/core/ao_product.c [deleted file]
src/core/ao_pyro.c [deleted file]
src/core/ao_pyro.h [deleted file]
src/core/ao_quaternion.h [deleted file]
src/core/ao_radio_cmac.c [deleted file]
src/core/ao_radio_cmac.h [deleted file]
src/core/ao_radio_cmac_cmd.c [deleted file]
src/core/ao_radio_cmac_cmd.h [deleted file]
src/core/ao_report.c [deleted file]
src/core/ao_report_micro.c [deleted file]
src/core/ao_rssi.c [deleted file]
src/core/ao_sample.c [deleted file]
src/core/ao_sample.h [deleted file]
src/core/ao_sample_profile.c [deleted file]
src/core/ao_sample_profile.h [deleted file]
src/core/ao_send_packet.c [deleted file]
src/core/ao_send_packet.h [deleted file]
src/core/ao_serial.h [deleted file]
src/core/ao_sqrt.c [deleted file]
src/core/ao_state.c [deleted file]
src/core/ao_stdio.c [deleted file]
src/core/ao_storage.c [deleted file]
src/core/ao_storage.h [deleted file]
src/core/ao_task.c [deleted file]
src/core/ao_task.h [deleted file]
src/core/ao_telem.h [deleted file]
src/core/ao_telemetry.c [deleted file]
src/core/ao_telemetry.h [deleted file]
src/core/ao_usb.h [deleted file]
src/kernel/altitude.h [new file with mode: 0644]
src/kernel/ao.h [new file with mode: 0644]
src/kernel/ao_adc.h [new file with mode: 0644]
src/kernel/ao_aes.h [new file with mode: 0644]
src/kernel/ao_balloon.c [new file with mode: 0644]
src/kernel/ao_beep.h [new file with mode: 0644]
src/kernel/ao_btm.h [new file with mode: 0644]
src/kernel/ao_cmd.c [new file with mode: 0644]
src/kernel/ao_companion.h [new file with mode: 0644]
src/kernel/ao_config.c [new file with mode: 0644]
src/kernel/ao_config.h [new file with mode: 0644]
src/kernel/ao_convert.c [new file with mode: 0644]
src/kernel/ao_convert_pa.c [new file with mode: 0644]
src/kernel/ao_convert_pa_test.c [new file with mode: 0644]
src/kernel/ao_convert_test.c [new file with mode: 0644]
src/kernel/ao_convert_volt.c [new file with mode: 0644]
src/kernel/ao_data.c [new file with mode: 0644]
src/kernel/ao_data.h [new file with mode: 0644]
src/kernel/ao_dbg.h [new file with mode: 0644]
src/kernel/ao_debounce.c [new file with mode: 0644]
src/kernel/ao_debounce.h [new file with mode: 0644]
src/kernel/ao_ee_fake.c [new file with mode: 0644]
src/kernel/ao_eeprom.h [new file with mode: 0644]
src/kernel/ao_fec.h [new file with mode: 0644]
src/kernel/ao_fec_rx.c [new file with mode: 0644]
src/kernel/ao_fec_tx.c [new file with mode: 0644]
src/kernel/ao_flight.c [new file with mode: 0644]
src/kernel/ao_flight.h [new file with mode: 0644]
src/kernel/ao_flight_nano.c [new file with mode: 0644]
src/kernel/ao_freq.c [new file with mode: 0644]
src/kernel/ao_gps_print.c [new file with mode: 0644]
src/kernel/ao_gps_report.c [new file with mode: 0644]
src/kernel/ao_gps_report_mega.c [new file with mode: 0644]
src/kernel/ao_gps_report_metrum.c [new file with mode: 0644]
src/kernel/ao_gps_show.c [new file with mode: 0644]
src/kernel/ao_host.h [new file with mode: 0644]
src/kernel/ao_ignite.c [new file with mode: 0644]
src/kernel/ao_int64.c [new file with mode: 0644]
src/kernel/ao_int64.h [new file with mode: 0644]
src/kernel/ao_kalman.c [new file with mode: 0644]
src/kernel/ao_lcd.h [new file with mode: 0644]
src/kernel/ao_led.h [new file with mode: 0644]
src/kernel/ao_list.h [new file with mode: 0644]
src/kernel/ao_log.c [new file with mode: 0644]
src/kernel/ao_log.h [new file with mode: 0644]
src/kernel/ao_log_big.c [new file with mode: 0644]
src/kernel/ao_log_mega.c [new file with mode: 0644]
src/kernel/ao_log_metrum.c [new file with mode: 0644]
src/kernel/ao_log_micro.c [new file with mode: 0644]
src/kernel/ao_log_micro.h [new file with mode: 0644]
src/kernel/ao_log_mini.c [new file with mode: 0644]
src/kernel/ao_log_single.c [new file with mode: 0644]
src/kernel/ao_log_telem.c [new file with mode: 0644]
src/kernel/ao_log_telescience.c [new file with mode: 0644]
src/kernel/ao_log_tiny.c [new file with mode: 0644]
src/kernel/ao_microflight.c [new file with mode: 0644]
src/kernel/ao_microkalman.c [new file with mode: 0644]
src/kernel/ao_monitor.c [new file with mode: 0644]
src/kernel/ao_mutex.c [new file with mode: 0644]
src/kernel/ao_notask.c [new file with mode: 0644]
src/kernel/ao_notask.h [new file with mode: 0644]
src/kernel/ao_packet.h [new file with mode: 0644]
src/kernel/ao_panic.c [new file with mode: 0644]
src/kernel/ao_product.c [new file with mode: 0644]
src/kernel/ao_pyro.c [new file with mode: 0644]
src/kernel/ao_pyro.h [new file with mode: 0644]
src/kernel/ao_quaternion.h [new file with mode: 0644]
src/kernel/ao_radio_cmac.c [new file with mode: 0644]
src/kernel/ao_radio_cmac.h [new file with mode: 0644]
src/kernel/ao_radio_cmac_cmd.c [new file with mode: 0644]
src/kernel/ao_radio_cmac_cmd.h [new file with mode: 0644]
src/kernel/ao_report.c [new file with mode: 0644]
src/kernel/ao_report_micro.c [new file with mode: 0644]
src/kernel/ao_rssi.c [new file with mode: 0644]
src/kernel/ao_sample.c [new file with mode: 0644]
src/kernel/ao_sample.h [new file with mode: 0644]
src/kernel/ao_sample_profile.c [new file with mode: 0644]
src/kernel/ao_sample_profile.h [new file with mode: 0644]
src/kernel/ao_send_packet.c [new file with mode: 0644]
src/kernel/ao_send_packet.h [new file with mode: 0644]
src/kernel/ao_serial.h [new file with mode: 0644]
src/kernel/ao_sqrt.c [new file with mode: 0644]
src/kernel/ao_state.c [new file with mode: 0644]
src/kernel/ao_stdio.c [new file with mode: 0644]
src/kernel/ao_storage.c [new file with mode: 0644]
src/kernel/ao_storage.h [new file with mode: 0644]
src/kernel/ao_task.c [new file with mode: 0644]
src/kernel/ao_task.h [new file with mode: 0644]
src/kernel/ao_telem.h [new file with mode: 0644]
src/kernel/ao_telemetry.c [new file with mode: 0644]
src/kernel/ao_telemetry.h [new file with mode: 0644]
src/kernel/ao_usb.h [new file with mode: 0644]
src/lpc/Makefile-lpc.defs
src/micropeak/Makefile
src/nanopeak-v0.1/Makefile
src/product/Makefile.teledongle
src/product/Makefile.telelaunch
src/product/Makefile.telemetrum
src/product/Makefile.telemini
src/product/Makefile.telenano
src/spiradio-v0.1/.sdcdbrc
src/spiradio-v0.1/Makefile
src/stm-bringup/Makefile
src/stm/Makefile-flash.defs
src/stm/Makefile.defs
src/teleballoon-v1.1/Makefile
src/telebt-v1.0/.sdcdbrc
src/telebt-v1.0/Makefile
src/telefire-v0.1/.sdcdbrc
src/telefire-v0.1/Makefile
src/telefire-v0.2/.sdcdbrc
src/telefire-v0.2/Makefile
src/telemetrum-v1.0/.sdcdbrc
src/telemetrum-v1.1/.sdcdbrc
src/telemini-v1.0/.sdcdbrc
src/telemini-v2.0/.sdcdbrc
src/telemini-v2.0/Makefile
src/telepyro-v0.1/Makefile
src/telescience-pwm/Makefile
src/telescience-v0.1/Makefile
src/teleshield-v0.1/Makefile
src/teleterra-v0.2/.sdcdbrc
src/teleterra-v0.2/Makefile
src/test/Makefile
src/tidongle/Makefile

index b28b549bde45b5df90eaa94cba6cbd2caa55744b..27dbc6a4c3e5918f02a5ce5318f897e75f3111d6 100644 (file)
@@ -19,7 +19,7 @@ dnl Process this file with autoconf to create configure.
 
 AC_PREREQ(2.57)
 AC_INIT([altos], 1.3.2.1)
-AC_CONFIG_SRCDIR([src/core/ao.h])
+AC_CONFIG_SRCDIR([src/kernel/ao.h])
 AM_INIT_AUTOMAKE([foreign dist-bzip2])
 AM_MAINTAINER_MODE
 
index 6d9bfea2098f9102d4fff464f9f5760ec588a524..e21ad0471ea85465d89838c267830ab70fc6d0f8 100644 (file)
@@ -2,7 +2,7 @@
 # AltOS build
 #
 #
-vpath % ..:../core:../product:../drivers:../avr
+vpath % ..:../kernel:../product:../drivers:../avr
 vpath make-altitude ..
 vpath make-kalman ..
 vpath kalman.5c ../kalman
@@ -46,7 +46,7 @@ PRODUCT=AvrDemo-v0.0
 MCU=atmega32u4
 PRODUCT_DEF=-DAVR_DEMO
 IDPRODUCT=0x000a
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -Os -mcall-prologues
 
 NICKLE=nickle
index 78b653b3049abbbf5cd595802d67e5ced89755e1..0ea30e1dbd4d762e3a44812b6700ccb071bd6cbb 100644 (file)
@@ -3,7 +3,7 @@ CC=$(SDCC)
 
 CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
 
-CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../core -I../cc1111 -I../drivers -I../product
+CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../kernel -I../cc1111 -I../drivers -I../product
 
 CODESIZE ?= 0x8000
 
diff --git a/src/core/altitude.h b/src/core/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/core/ao.h b/src/core/ao.h
deleted file mode 100644 (file)
index 29ad260..0000000
+++ /dev/null
@@ -1,1041 +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 <ao_pins.h>
-#include <ao_arch.h>
-
-#define TRUE 1
-#define FALSE 0
-
-/* Convert a __data pointer into an __xdata pointer */
-#ifndef DATA_TO_XDATA
-#define DATA_TO_XDATA(a)       (a)
-#endif
-#ifndef PDATA_TO_XDATA
-#define PDATA_TO_XDATA(a)      (a)
-#endif
-#ifndef CODE_TO_XDATA
-#define CODE_TO_XDATA(a)       (a)
-#endif
-
-#ifndef HAS_TASK
-#define HAS_TASK       1
-#endif
-
-#ifndef AO_PORT_TYPE
-#define AO_PORT_TYPE uint8_t
-#endif
-
-typedef AO_PORT_TYPE ao_port_t;
-
-#if HAS_TASK
-#include <ao_task.h>
-#else
-#include <ao_notask.h>
-#endif
-
-/*
- * 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 */
-#define AO_PANIC_STACK         12      /* Stack overflow */
-#define AO_PANIC_SPI           13      /* SPI communication failure */
-#define AO_PANIC_CRASH         14      /* Processor crashed */
-#define AO_PANIC_BUFIO         15      /* Mis-using bufio API */
-#define AO_PANIC_EXTI          16      /* Mis-using exti API */
-#define AO_PANIC_FAST_TIMER    17      /* Mis-using fast timer API */
-#define AO_PANIC_SELF_TEST_CC1120      0x40 | 1        /* Self test failure */
-#define AO_PANIC_SELF_TEST_HMC5883     0x40 | 2        /* Self test failure */
-#define AO_PANIC_SELF_TEST_MPU6000     0x40 | 3        /* Self test failure */
-#define AO_PANIC_SELF_TEST_MS5607      0x40 | 4        /* Self test failure */
-
-/* Stop the operating system, beeping and blinking the reason */
-void
-ao_panic(uint8_t reason);
-
-/*
- * ao_timer.c
- */
-
-#ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE   uint16_t
-#define AO_TICK_SIGNED int16_t
-#endif
-
-extern volatile __data AO_TICK_TYPE ao_tick_count;
-
-/* Our timer runs at 100Hz */
-#ifndef AO_HERTZ
-#define AO_HERTZ               100
-#endif
-#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 */
-AO_TICK_TYPE
-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);
-
-/* Timer interrupt */
-void
-ao_timer_isr(void) ao_arch_interrupt(9);
-
-/* Initialize the timer */
-void
-ao_timer_init(void);
-
-/* Initialize the hardware clock. Must be called first */
-void
-ao_clock_init(void);
-
-/*
- * ao_mutex.c
- */
-
-#ifndef ao_mutex_get
-void
-ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
-
-void
-ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
-#endif
-
-/*
- * 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_put_string(__code char *s);
-
-void
-ao_cmd_lex(void);
-
-void
-ao_cmd_put8(uint8_t v);
-
-void
-ao_cmd_put16(uint16_t v);
-
-uint8_t
-ao_cmd_is_white(void);
-
-void
-ao_cmd_white(void);
-
-int8_t
-ao_cmd_hexchar(char c);
-
-void
-ao_cmd_hexbyte(void);
-
-void
-ao_cmd_hex(void);
-
-void
-ao_cmd_decimal(void) __reentrant;
-
-/* Read a single hex nibble off stdin. */
-uint8_t
-ao_getnibble(void);
-
-uint8_t
-ao_match_word(__code char *word);
-
-struct ao_cmds {
-       void            (*func)(void);
-       __code char     *help;
-};
-
-void
-ao_cmd_register(const __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
-
-/*
- * Various drivers
- */
-#if HAS_ADC
-#include <ao_adc.h>
-#endif
-
-#if HAS_BEEP
-#include <ao_beep.h>
-#endif
-
-#if LEDS_AVAILABLE
-#include <ao_led.h>
-#endif
-
-#if HAS_USB
-#include <ao_usb.h>
-#endif
-
-#if HAS_EEPROM
-#include <ao_storage.h>
-#endif
-
-#if HAS_LOG
-#include <ao_log.h>
-#endif
-
-#if HAS_FLIGHT
-#include <ao_flight.h>
-#include <ao_sample.h>
-#endif
-
-/*
- * ao_report.c
- */
-
-#define AO_RDF_INTERVAL_TICKS  AO_SEC_TO_TICKS(5)
-#define AO_RDF_LENGTH_MS       500
-#define AO_RDF_CONTINUITY_MS   32
-#define AO_RDF_CONTINUITY_PAUSE        96
-#define AO_RDF_CONTINUITY_TOTAL        ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
-
-/* This assumes that we're generating a 1kHz tone, which
- * modulates the carrier at 2kbps, or 250kBps
- */
-#define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
-
-#define AO_RADIO_RDF_LEN       AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
-#define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
-#define AO_RADIO_CONT_PAUSE_LEN        AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
-#define AO_RADIO_CONT_TOTAL_LEN        AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
-
-/* returns a value 0-3 to indicate igniter continuity */
-uint8_t
-ao_report_igniter(void);
-
-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_convert_pa.c
- *
- * Convert between pressure in Pa and altitude in meters
- */
-
-#include <ao_data.h>
-
-alt_t
-ao_pa_to_altitude(int32_t pa);
-
-int32_t
-ao_altitude_to_pa(alt_t alt);
-
-#if HAS_DBG
-#include <ao_dbg.h>
-#endif
-
-#if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
-#include <ao_serial.h>
-#endif
-
-/*
- * ao_convert_volt.c
- *
- * Convert ADC readings to decivolts
- */
-
-int16_t
-ao_battery_decivolt(int16_t adc);
-
-int16_t
-ao_ignite_decivolt(int16_t adc);
-
-/*
- * ao_spi_slave.c
- */
-
-uint8_t
-ao_spi_slave_recv(void *buf, uint16_t len);
-
-void
-ao_spi_slave_send(void *buf, uint16_t len);
-
-void
-ao_spi_slave_init(void);
-
-/* This must be defined by the product; it will get called when chip
- * select goes low, at which point it should use ao_spi_read and
- * ao_spi_write to deal with the request
- */
-
-void
-ao_spi_slave(void);
-
-#include <ao_telemetry.h>
-/*
- * 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)
-
-#define AO_GPS_NEW_DATA                1
-#define AO_GPS_NEW_TRACKING    2
-
-extern __xdata uint8_t ao_gps_new;
-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_show(void) __reentrant;
-
-void
-ao_gps_init(void);
-
-/*
- * ao_gps_report.c
- */
-
-void
-ao_gps_report(void);
-
-void
-ao_gps_report_init(void);
-
-/*
- * ao_gps_report_mega.c
- */
-
-void
-ao_gps_report_mega(void);
-
-void
-ao_gps_report_mega_init(void);
-
-/*
- * ao_telemetry_orig.c
- */
-
-#if LEGACY_MONITOR
-struct ao_adc_orig {
-       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 */
-};
-
-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_orig      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];
-};
-
-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;
-};
-
-#endif /* LEGACY_MONITOR */
-
-/* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
- * for reporting RSSI. So, now we use these values everywhere
- */
-#define AO_RSSI_FROM_RADIO(radio)      ((int16_t) ((int8_t) (radio) >> 1) - 74)
-#define AO_RADIO_FROM_RSSI(rssi)       (((int8_t) (rssi) + 74) << 1)
-
-/*
- * ao_radio_recv tacks on rssi and status bytes
- */
-
-struct ao_telemetry_raw_recv {
-       uint8_t                 packet[AO_MAX_TELEMETRY + 2];
-};
-
-/* Set delay between telemetry reports (0 to disable) */
-
-#ifdef AO_SEND_ALL_BARO
-#define AO_TELEMETRY_INTERVAL_PAD      AO_MS_TO_TICKS(100)
-#define AO_TELEMETRY_INTERVAL_FLIGHT   AO_MS_TO_TICKS(100)
-#define AO_TELEMETRY_INTERVAL_RECOVER  AO_MS_TO_TICKS(100)
-#else
-#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)
-#endif
-
-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 int8_t  ao_radio_rssi;
-
-#ifdef PKT_APPEND_STATUS_1_CRC_OK
-#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
-#else
-#include <ao_fec.h>
-#define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
-#endif
-
-#ifndef HAS_RADIO_RECV
-#define HAS_RADIO_RECV HAS_RADIO
-#endif
-#ifndef HAS_RADIO_XMIT
-#define HAS_RADIO_XMIT HAS_RADIO
-#endif
-
-void
-ao_radio_general_isr(void) ao_arch_interrupt(16);
-
-#if HAS_RADIO_XMIT
-void
-ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
-#endif
-
-#if HAS_RADIO_RECV
-uint8_t
-ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
-
-void
-ao_radio_recv_abort(void);
-#endif
-
-void
-ao_radio_test(uint8_t on);
-
-typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
-
-void
-ao_radio_send_aprs(ao_radio_fill_func fill);
-
-/*
- * ao_radio_pa
- */
-
-#if HAS_RADIO_AMP
-void
-ao_radio_pa_on(void);
-
-void
-ao_radio_pa_off(void);
-
-void
-ao_radio_pa_init(void);
-#else
-#define ao_radio_pa_on()
-#define ao_radio_pa_off()
-#define ao_radio_pa_init()
-#endif
-
-/*
- * Compute the packet length as follows:
- *
- * 2000 bps (for a 1kHz tone)
- * so, for 'ms' milliseconds, we need
- * 2 * ms bits, or ms / 4 bytes
- */
-
-void
-ao_radio_rdf(void);
-
-void
-ao_radio_continuity(uint8_t c);
-
-void
-ao_radio_rdf_abort(void);
-
-void
-ao_radio_init(void);
-
-/*
- * ao_monitor.c
- */
-
-#if HAS_MONITOR
-
-extern const char const * const ao_state_names[];
-
-#define AO_MONITOR_RING        8
-
-union ao_monitor {
-       struct ao_telemetry_raw_recv    raw;
-       struct ao_telemetry_all_recv    all;
-#if LEGACY_MONITOR
-       struct ao_telemetry_orig_recv   orig;
-       struct ao_telemetry_tiny_recv   tiny;
-#endif
-};
-
-extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
-
-#define ao_monitor_ring_next(n)        (((n) + 1) & (AO_MONITOR_RING - 1))
-
-extern __data uint8_t ao_monitoring;
-extern __data uint8_t ao_monitor_head;
-
-void
-ao_monitor(void);
-
-#define AO_MONITORING_OFF      0
-#define AO_MONITORING_ORIG     1
-
-void
-ao_monitor_set(uint8_t monitoring);
-
-void
-ao_monitor_disable(void);
-
-void
-ao_monitor_enable(void);
-
-void
-ao_monitor_init(void) __reentrant;
-
-#endif
-
-/*
- * ao_stdio.c
- */
-
-#define AO_READ_AGAIN  (-1)
-
-struct ao_stdio {
-       int     (*_pollchar)(void);     /* Called with interrupts blocked */
-       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(int (*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 */
-};
-
-struct ao_ignition {
-       uint8_t request;
-       uint8_t fired;
-       uint8_t firing;
-};
-
-extern __code char * __code ao_igniter_status_names[];
-
-extern __xdata struct ao_ignition ao_ignition[2];
-
-enum ao_igniter_status
-ao_igniter_status(enum ao_igniter igniter);
-
-extern __pdata uint8_t ao_igniter_present;
-
-void
-ao_ignite_set_pins(void);
-
-void
-ao_igniter_init(void);
-
-/*
- * ao_config.c
- */
-
-#if AO_PYRO_NUM
-#include <ao_pyro.h>
-#endif
-
-#if HAS_FORCE_FREQ
-/*
- * Set this to force the frequency to 434.550MHz
- */
-extern __xdata uint8_t ao_force_freq;
-#endif
-
-#define AO_CONFIG_MAJOR        1
-#define AO_CONFIG_MINOR        15
-
-#define AO_AES_LEN 16
-
-extern __xdata uint8_t ao_config_aes_seq;
-
-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         _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  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_GYRO
-       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
-};
-
-#define AO_IGNITE_MODE_DUAL            0
-#define AO_IGNITE_MODE_APOGEE          1
-#define AO_IGNITE_MODE_MAIN            2
-
-#define AO_RADIO_ENABLE_CORE           1
-#define AO_RADIO_DISABLE_TELEMETRY     2
-#define AO_RADIO_DISABLE_RDF           4
-
-#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_edit_start(void);
-
-void
-_ao_config_edit_finish(void);
-
-void
-ao_config_get(void);
-
-void
-ao_config_put(void);
-
-void
-ao_config_set_radio(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)
-
-#if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
-#include <ao_packet.h>
-#endif
-
-#if HAS_BTM
-#include <ao_btm.h>
-#endif
-
-#if HAS_COMPANION
-#include <ao_companion.h>
-#endif
-
-#if HAS_LCD
-#include <ao_lcd.h>
-#endif
-
-#if HAS_AES
-#include <ao_aes.h>
-#endif
-
-/* ao_launch.c */
-
-struct ao_launch_command {
-       uint16_t        tick;
-       uint16_t        serial;
-       uint8_t         cmd;
-       uint8_t         channel;
-       uint16_t        unused;
-};
-
-#define AO_LAUNCH_QUERY                1
-
-struct ao_launch_query {
-       uint16_t        tick;
-       uint16_t        serial;
-       uint8_t         channel;
-       uint8_t         valid;
-       uint8_t         arm_status;
-       uint8_t         igniter_status;
-};
-
-#define AO_LAUNCH_ARM          2
-#define AO_LAUNCH_FIRE         3
-
-void
-ao_launch_init(void);
-
-/*
- * ao_log_single.c
- */
-
-#define AO_LOG_TELESCIENCE_START       ((uint8_t) 's')
-#define AO_LOG_TELESCIENCE_DATA                ((uint8_t) 'd')
-
-#define AO_LOG_TELESCIENCE_NUM_ADC     12
-
-struct ao_log_telescience {
-       uint8_t         type;
-       uint8_t         csum;
-       uint16_t        tick;
-       uint16_t        tm_tick;
-       uint8_t         tm_state;
-       uint8_t         unused;
-       uint16_t        adc[AO_LOG_TELESCIENCE_NUM_ADC];
-};
-
-#define AO_LOG_SINGLE_SIZE             32
-
-union ao_log_single {
-       struct ao_log_telescience       telescience;
-       union ao_telemetry_all          telemetry;
-       uint8_t                         bytes[AO_LOG_SINGLE_SIZE];
-};
-
-extern __xdata union ao_log_single     ao_log_single_write_data;
-extern __xdata union ao_log_single     ao_log_single_read_data;
-
-void
-ao_log_single_extra_query(void);
-
-void
-ao_log_single_list(void);
-
-void
-ao_log_single_main(void);
-
-uint8_t
-ao_log_single_write(void);
-
-uint8_t
-ao_log_single_read(uint32_t pos);
-
-void
-ao_log_single_start(void);
-
-void
-ao_log_single_stop(void);
-
-void
-ao_log_single_restart(void);
-
-void
-ao_log_single_set(void);
-
-void
-ao_log_single_delete(void);
-
-void
-ao_log_single_init(void);
-
-void
-ao_log_single(void);
-
-/*
- * ao_pyro_slave.c
- */
-
-#define AO_TELEPYRO_NUM_ADC    9
-
-#ifndef ao_xmemcpy
-#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
-#define ao_xmemset(d,v,c) memset(d,v,c)
-#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
-#endif
-
-/*
- * ao_terraui.c
- */
-
-void
-ao_terraui_init(void);
-
-/*
- * ao_battery.c
- */
-
-#ifdef BATTERY_PIN
-void
-ao_battery_isr(void) ao_arch_interrupt(1);
-
-uint16_t
-ao_battery_get(void);
-
-void
-ao_battery_init(void);
-#endif /* BATTERY_PIN */
-
-/*
- * ao_sqrt.c
- */
-
-uint32_t
-ao_sqrt(uint32_t op);
-
-/*
- * ao_freq.c
- */
-
-int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
-
-/*
- * ao_ms5607.c
- */
-
-void ao_ms5607_init(void);
-
-#include <ao_arch_funcs.h>
-
-#endif /* _AO_H_ */
diff --git a/src/core/ao_adc.h b/src/core/ao_adc.h
deleted file mode 100644 (file)
index 373db1c..0000000
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * Copyright © 2012 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_ADC_H_
-#define _AO_ADC_H_
-
-#include <ao_data.h>
-
-/* 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);
-
-/* Initialize the A/D converter */
-void
-ao_adc_init(void);
-
-#endif /* _AO_ADC_H_ */
diff --git a/src/core/ao_aes.h b/src/core/ao_aes.h
deleted file mode 100644 (file)
index c47bc2d..0000000
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- * Copyright © 2012 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_AES_H_
-#define _AO_AES_H_
-
-/* ao_aes.c */
-
-extern __xdata uint8_t ao_aes_mutex;
-
-/* AES keys and blocks are 128 bits */
-
-enum ao_aes_mode {
-       ao_aes_mode_cbc_mac
-};
-
-#if HAS_AES
-#ifdef SDCC
-void
-ao_aes_isr(void) __interrupt 4;
-#endif
-#endif
-
-void
-ao_aes_set_mode(enum ao_aes_mode mode);
-
-void
-ao_aes_set_key(__xdata uint8_t *in);
-
-void
-ao_aes_zero_iv(void);
-
-void
-ao_aes_run(__xdata uint8_t *in,
-          __xdata uint8_t *out);
-
-void
-ao_aes_init(void);
-
-#endif /* _AO_AES_H_ */
diff --git a/src/core/ao_balloon.c b/src/core/ao_balloon.c
deleted file mode 100644 (file)
index 904a9c0..0000000
+++ /dev/null
@@ -1,136 +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
-
-#if HAS_SENSOR_ERRORS
-/* Any sensor can set this to mark the flight computer as 'broken' */
-__xdata uint8_t                        ao_sensor_errors;
-#endif
-
-__pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
-
-__pdata uint8_t                        ao_flight_force_idle;
-
-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 (!ao_flight_force_idle)
-                       {
-                               /* 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
-                                */
-                               if (!ao_usb_running)
-                                       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_BALLOON);
-
-                               /* 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 coast:
-                        *
-                        * barometer: > 20m vertical motion
-                        */
-                       if (ao_height > AO_M_TO_HEIGHT(20))
-                       {
-                               ao_flight_state = ao_flight_drogue;
-
-                               /* start logging data */
-                               ao_log_start();
-
-#if HAS_GPS
-                               /* Record current GPS position by waking up GPS log tasks */
-                               ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
-                               ao_wakeup(&ao_gps_new);
-#endif
-
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-                       break;
-               default:
-                       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/core/ao_beep.h b/src/core/ao_beep.h
deleted file mode 100644 (file)
index 55f6117..0000000
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright © 2012 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_BEEP_H_
-#define _AO_BEEP_H_
-
-/*
- * 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);
-
-#endif /* _AO_BEEP_H_ */
diff --git a/src/core/ao_btm.h b/src/core/ao_btm.h
deleted file mode 100644 (file)
index 484e5d7..0000000
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
- * Copyright © 2012 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_BTM_H_
-#define _AO_BTM_H_
-
-/* 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);
-
-#endif /* _AO_BTM_H_ */
diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
deleted file mode 100644 (file)
index 4ebaa60..0000000
+++ /dev/null
@@ -1,420 +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_task.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        48
-
-static __xdata char    cmd_line[CMD_LEN];
-static __pdata uint8_t cmd_len;
-static __pdata uint8_t cmd_i;
-
-void
-ao_put_string(__code char *s)
-{
-       char    c;
-       while ((c = *s++))
-               putchar(c);
-}
-
-static void
-backspace(void)
-{
-       ao_put_string ("\010 \010");
-}
-
-static void
-readline(void)
-{
-       char c;
-       if (ao_echo())
-               ao_put_string("> ");
-       cmd_len = 0;
-       for (;;) {
-               flush();
-               c = getchar();
-               /* backspace/delete */
-               if (c == '\010' || c == '\177') {
-                       if (cmd_len != 0) {
-                               if (ao_echo())
-                                       backspace();
-                               --cmd_len;
-                       }
-                       continue;
-               }
-
-               /* ^U */
-               if (c == '\025') {
-                       while (cmd_len != 0) {
-                               if (ao_echo())
-                                       backspace();
-                               --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)
-                       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));
-}
-
-uint8_t
-ao_getnibble(void)
-{
-       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;
-}
-
-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);
-}
-
-uint8_t
-ao_cmd_is_white(void)
-{
-       return ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t';
-}
-
-void
-ao_cmd_white(void)
-{
-       while (ao_cmd_is_white())
-               ao_cmd_lex();
-}
-
-int8_t
-ao_cmd_hexchar(char c)
-{
-       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);
-       return -1;
-}
-
-void
-ao_cmd_hexbyte(void)
-{
-       uint8_t i;
-       int8_t  n;
-
-       ao_cmd_lex_i = 0;
-       ao_cmd_white();
-       for (i = 0; i < 2; i++) {
-               n = ao_cmd_hexchar(ao_cmd_lex_c);
-               if (n < 0) {
-                       ao_cmd_status = ao_cmd_syntax_error;
-                       break;
-               }
-               ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
-               ao_cmd_lex();
-       }
-}
-
-void
-ao_cmd_hex(void)
-{
-       __pdata uint8_t r = ao_cmd_lex_error;
-       int8_t  n;
-
-       ao_cmd_lex_i = 0;
-       ao_cmd_white();
-       for(;;) {
-               n = ao_cmd_hexchar(ao_cmd_lex_c);
-               if (n < 0)
-                       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) __reentrant
-{
-       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
-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;
-       /* Delay waiting for the packet master to be turned off
-        * so that we don't end up back in idle mode because we
-        * received a packet after boot.
-        */
-       flush();
-       ao_delay(AO_SEC_TO_TICKS(1));
-       ao_arch_reboot();
-       ao_panic(AO_PANIC_REBOOT);
-}
-
-#ifndef HAS_VERSION
-#define HAS_VERSION 1
-#endif
-
-#if HAS_VERSION
-static void
-version(void)
-{
-       printf("manufacturer     %s\n"
-              "product          %s\n"
-              "serial-number    %u\n"
-#if HAS_FLIGHT
-              "current-flight   %u\n"
-#endif
-#if HAS_LOG
-              "log-format       %u\n"
-#endif
-              , ao_manufacturer
-              , ao_product
-              , ao_serial_number
-#if HAS_FLIGHT
-              , ao_flight_number
-#endif
-#if HAS_LOG
-              , ao_log_format
-#endif
-               );
-       printf("software-version %s\n", ao_version);
-}
-#endif
-
-#ifndef NUM_CMDS
-#define NUM_CMDS       11
-#endif
-
-static __code struct ao_cmds   *__xdata (ao_cmds[NUM_CMDS]);
-static __pdata uint8_t         ao_ncmds;
-
-static void
-help(void)
-{
-       __pdata uint8_t cmds;
-       __pdata uint8_t cmd;
-       __code struct ao_cmds * __pdata cs;
-       __code const char *h;
-       uint8_t e;
-
-       for (cmds = 0; cmds < ao_ncmds; cmds++) {
-               cs = ao_cmds[cmds];
-               for (cmd = 0; cs[cmd].func; cmd++) {
-                       h = cs[cmd].help;
-                       ao_put_string(h);
-                       e = strlen(h);
-                       h += e + 1;
-                       e = 45 - e;
-                       while (e--)
-                               putchar(' ');
-                       ao_put_string(h);
-                       putchar('\n');
-               }
-       }
-}
-
-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;
-       default:
-               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)
-{
-       __pdata 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();
-       }
-}
-
-#if HAS_BOOT_LOADER
-
-#include <ao_boot.h>
-
-static void
-ao_loader(void)
-{
-       flush();
-       ao_boot_loader();
-}
-#endif
-
-__xdata struct ao_task ao_cmd_task;
-
-__code struct ao_cmds  ao_base_cmds[] = {
-       { help,         "?\0Help" },
-#if HAS_TASK_INFO
-       { ao_task_info, "T\0Tasks" },
-#endif
-       { echo,         "E <0 off, 1 on>\0Echo" },
-       { ao_reboot,    "r eboot\0Reboot" },
-#if HAS_VERSION
-       { version,      "v\0Version" },
-#endif
-#if HAS_BOOT_LOADER
-       { ao_loader,    "X\0Switch to boot loader" },
-#endif
-       { 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/core/ao_companion.h b/src/core/ao_companion.h
deleted file mode 100644 (file)
index 035325a..0000000
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * Copyright © 2012 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_COMPANION_H_
-#define _AO_COMPANION_H_
-
-/* 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;
-       int16_t         accel;
-       int16_t         speed;
-       int16_t         height;
-       int16_t         motor_number;
-};
-
-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 uint8_t                         ao_companion_mutex;
-extern __xdata struct ao_companion_command     ao_companion_command;
-extern __xdata struct ao_companion_setup       ao_companion_setup;
-extern __xdata uint16_t                                ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-
-void
-ao_companion_init(void);
-
-#endif /* _AO_COMPANION_H_ */
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
deleted file mode 100644 (file)
index 4482f67..0000000
+++ /dev/null
@@ -1,805 +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_log.h"
-#include <ao_config.h>
-#if HAS_FLIGHT
-#include <ao_sample.h>
-#include <ao_data.h>
-#endif
-
-__xdata struct ao_config ao_config;
-__pdata uint8_t ao_config_loaded;
-__pdata uint8_t ao_config_dirty;
-__xdata uint8_t ao_config_mutex;
-
-#ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL
-#define AO_CONFIG_DEFAULT_APRS_INTERVAL        0
-#endif
-#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
-#ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX
-#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
-#endif
-#ifndef AO_CONFIG_DEFAULT_RADIO_POWER
-#define AO_CONFIG_DEFAULT_RADIO_POWER          0x60
-#endif
-#define AO_CONFIG_DEFAULT_RADIO_AMP            0
-
-#if HAS_EEPROM
-static void
-_ao_config_put(void)
-{
-       ao_config_setup();
-       ao_config_erase();
-       ao_config_write(0, &ao_config, sizeof (ao_config));
-#if HAS_FLIGHT
-       ao_log_write_erase(0);
-#endif
-       ao_config_flush();
-}
-
-void
-ao_config_put(void)
-{
-       ao_mutex_get(&ao_config_mutex);
-       _ao_config_put();
-       ao_mutex_put(&ao_config_mutex);
-}
-#endif
-
-#if HAS_RADIO
-void
-ao_config_set_radio(void)
-{
-       ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal);
-}
-#endif /* HAS_RADIO */
-
-static void
-_ao_config_get(void)
-{
-       uint8_t minor;
-
-       if (ao_config_loaded)
-               return;
-#if HAS_EEPROM
-       /* Yes, I know ao_storage_read calls ao_storage_setup,
-        * but ao_storage_setup *also* sets ao_storage_config, which we
-        * need before calling ao_storage_read here
-        */
-       ao_config_setup();
-       ao_config_read(0, &ao_config, sizeof (ao_config));
-#endif
-       if (ao_config.major != AO_CONFIG_MAJOR) {
-               ao_config.major = AO_CONFIG_MAJOR;
-               ao_config.minor = 0;
-
-               /* Version 0 stuff */
-               ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
-               ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
-               ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
-                      sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
-               ao_config._legacy_radio_channel = 0;
-       }
-       minor = ao_config.minor;
-       if (minor != AO_CONFIG_MINOR) {
-               /* Fixups for minor version 1 */
-               if (minor < 1)
-                       ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
-               /* Fixups for minor version 2 */
-               if (minor < 2) {
-                       ao_config.accel_plus_g = 0;
-                       ao_config.accel_minus_g = 0;
-               }
-               /* Fixups for minor version 3 */
-#if HAS_RADIO
-               if (minor < 3)
-                       ao_config.radio_cal = ao_radio_cal;
-#endif
-               /* Fixups for minor version 4 */
-#if HAS_FLIGHT
-               if (minor < 4)
-                       ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
-#endif
-               /* Fixupes for minor version 5 */
-               if (minor < 5)
-                       ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
-               if (minor < 6)
-                       ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
-               if (minor < 8)
-                       ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
-               if (minor < 9)
-                       ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
-               if (minor < 10)
-                       ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
-               if (minor < 11)
-                       ao_config.apogee_lockout = 0;
-#if AO_PYRO_NUM
-               if (minor < 12)
-                       memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
-#endif
-               if (minor < 13)
-                       ao_config.aprs_interval = AO_CONFIG_DEFAULT_APRS_INTERVAL;
-#if HAS_RADIO_POWER
-               if (minor < 14)
-                       ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER;
-               #endif
-#if HAS_RADIO_AMP
-               if (minor  < 14)
-                       ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
-#endif
-#if HAS_GYRO
-               if (minor < 15) {
-                       ao_config.accel_zero_along = 0;
-                       ao_config.accel_zero_across = 0;
-                       ao_config.accel_zero_through = 0;
-
-                       /* Reset the main accel offsets to force
-                        * re-calibration
-                        */
-                       ao_config.accel_plus_g = 0;
-                       ao_config.accel_minus_g = 0;
-               }
-#endif
-               ao_config.minor = AO_CONFIG_MINOR;
-               ao_config_dirty = 1;
-       }
-#if HAS_RADIO
-#if HAS_FORCE_FREQ
-       if (ao_force_freq) {
-               ao_config.frequency = 434550;
-               ao_config.radio_cal = ao_radio_cal;
-               ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
-                      sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
-       }
-#endif
-       ao_config_set_radio();
-#endif
-       ao_config_loaded = 1;
-}
-
-void
-_ao_config_edit_start(void)
-{
-       ao_mutex_get(&ao_config_mutex);
-       _ao_config_get();
-}
-
-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];
-
-       ao_xmemset(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();
-       ao_xmemcpy(&ao_config.callsign, &callsign,
-              AO_MAX_CALLSIGN + 1);
-       _ao_config_edit_finish();
-}
-
-#if HAS_RADIO
-
-void
-ao_config_frequency_show(void) __reentrant
-{
-       printf("Frequency: %ld\n",
-              ao_config.frequency);
-}
-
-void
-ao_config_frequency_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.frequency = ao_cmd_lex_u32;
-       ao_config_set_radio();
-       _ao_config_edit_finish();
-#if HAS_RADIO_RECV
-       ao_radio_recv_abort();
-#endif
-}
-#endif
-
-#if HAS_FLIGHT
-
-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);
-#if HAS_GYRO
-       printf ("IMU cal along %d across %d through %d\n",
-               ao_config.accel_zero_along,
-               ao_config.accel_zero_across,
-               ao_config.accel_zero_through);
-#endif
-}
-
-#define ACCEL_CALIBRATE_SAMPLES        1024
-#define ACCEL_CALIBRATE_SHIFT  10
-
-#if HAS_GYRO
-static int16_t accel_cal_along;
-static int16_t accel_cal_across;
-static int16_t accel_cal_through;
-#endif
-
-static int16_t
-ao_config_accel_calibrate_auto(char *orientation) __reentrant
-{
-       uint16_t        i;
-       int32_t         accel_total;
-       uint8_t         cal_data_ring;
-#if HAS_GYRO
-       int32_t         accel_along_total = 0;
-       int32_t         accel_across_total = 0;
-       int32_t         accel_through_total = 0;
-#endif
-
-       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_data_ring = ao_sample_data;
-       while (i) {
-               ao_sleep(DATA_TO_XDATA(&ao_sample_data));
-               while (i && cal_data_ring != ao_sample_data) {
-                       accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]);
-#if HAS_GYRO
-                       accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]);
-                       accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]);
-                       accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]);
-#endif
-                       cal_data_ring = ao_data_ring_next(cal_data_ring);
-                       i--;
-               }
-       }
-#if HAS_GYRO
-       accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT;
-       accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT;
-       accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT;
-#endif
-       return accel_total >> ACCEL_CALIBRATE_SHIFT;
-}
-
-void
-ao_config_accel_calibrate_set(void) __reentrant
-{
-       int16_t up, down;
-#if HAS_GYRO
-       int16_t accel_along_up = 0, accel_along_down = 0;
-       int16_t accel_across_up = 0, accel_across_down = 0;
-       int16_t accel_through_up = 0, accel_through_down = 0;
-#endif
-       
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       if (ao_cmd_lex_i == 0) {
-               up = ao_config_accel_calibrate_auto("up");
-#if HAS_GYRO
-               accel_along_up = accel_cal_along;
-               accel_across_up = accel_cal_across;
-               accel_through_up = accel_cal_through;
-#endif
-               down = ao_config_accel_calibrate_auto("down");
-#if HAS_GYRO
-               accel_along_down = accel_cal_along;
-               accel_across_down = accel_cal_across;
-               accel_through_down = accel_cal_through;
-#endif
-       } 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;
-#if HAS_GYRO
-       if (ao_cmd_lex_i == 0) {
-               ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
-               ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
-               ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
-       }
-#endif
-       _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();
-}
-
-void
-ao_config_apogee_lockout_show(void) __reentrant
-{
-       printf ("Apogee lockout: %d seconds\n",
-               ao_config.apogee_lockout);
-}
-
-void
-ao_config_apogee_lockout_set(void) __reentrant
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.apogee_lockout = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-
-#endif /* HAS_FLIGHT */
-
-#if HAS_RADIO
-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_cal = ao_cmd_lex_u32;
-       ao_config_set_radio();
-       _ao_config_edit_finish();
-}
-#endif
-
-#if HAS_LOG
-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        log_max = (uint16_t) (ao_storage_log_max >> 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 > log_max)
-               printf("Flight log max %d kB\n", log_max);
-       else {
-               _ao_config_edit_start();
-               ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
-               _ao_config_edit_finish();
-       }
-}
-#endif /* HAS_LOG */
-
-#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);
-}
-
-#ifndef AO_ACCEL_INVERT
-#define AO_ACCEL_INVERT        0x7fff
-#endif
-
-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) {
-               int16_t t;
-               t = ao_config.accel_plus_g;
-               ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g;
-               ao_config.accel_minus_g = AO_ACCEL_INVERT - t;
-       }
-       ao_config.pad_orientation = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-#endif
-
-#if HAS_RADIO
-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();
-}
-#endif /* HAS_RADIO */
-       
-#if HAS_AES
-
-__xdata uint8_t        ao_config_aes_seq = 1;
-
-void
-ao_config_key_show(void) __reentrant
-{
-       uint8_t i;
-       printf("AES key: ");
-       for (i = 0; i < AO_AES_LEN; i++)
-               printf ("%02x", ao_config.aes_key[i]);
-       printf("\n");
-}
-
-void
-ao_config_key_set(void) __reentrant
-{
-       uint8_t i;
-
-       _ao_config_edit_start();
-       for (i = 0; i < AO_AES_LEN; i++) {
-               ao_cmd_hexbyte();
-               if (ao_cmd_status != ao_cmd_success)
-                       break;
-               ao_config.aes_key[i] = ao_cmd_lex_i;
-       }
-       ++ao_config_aes_seq;
-       _ao_config_edit_finish();
-}
-#endif
-
-#if HAS_APRS
-
-void
-ao_config_aprs_show(void)
-{
-       printf ("APRS interval: %d\n", ao_config.aprs_interval);
-}
-
-void
-ao_config_aprs_set(void)
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.aprs_interval = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-
-#endif /* HAS_APRS */
-
-#if HAS_RADIO_AMP
-
-void
-ao_config_radio_amp_show(void)
-{
-       printf ("Radio amp setting: %d\n", ao_config.radio_amp);
-}
-
-void
-ao_config_radio_amp_set(void)
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.radio_amp = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-
-#endif
-
-#if HAS_RADIO_POWER
-
-void
-ao_config_radio_power_show(void)
-{
-       printf ("Radio power setting: %d\n", ao_config.radio_power);
-}
-
-void
-ao_config_radio_power_set(void)
-{
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-       _ao_config_edit_start();
-       ao_config.radio_power = ao_cmd_lex_i;
-       _ao_config_edit_finish();
-}
-
-#endif
-
-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;
-
-#if HAS_EEPROM
-static void
-ao_config_save(void) __reentrant;
-#endif
-
-__code struct ao_config_var ao_config_vars[] = {
-#if HAS_FLIGHT
-       { "m <meters>\0Main deploy (m)",
-         ao_config_main_deploy_set,    ao_config_main_deploy_show, },
-       { "d <delay>\0Apogee delay (s)",
-         ao_config_apogee_delay_set,   ao_config_apogee_delay_show },
-       { "L <seconds>\0Apogee detect lockout (s)",
-         ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, },
-#endif /* HAS_FLIGHT */
-#if HAS_RADIO
-       { "F <freq>\0Frequency (kHz)",
-         ao_config_frequency_set, ao_config_frequency_show },
-       { "c <call>\0Callsign (8 char max)",
-         ao_config_callsign_set,       ao_config_callsign_show },
-       { "e <0 disable, 1 enable>\0Enable telemetry and RDF",
-         ao_config_radio_enable_set, ao_config_radio_enable_show },
-       { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
-         ao_config_radio_cal_set,      ao_config_radio_cal_show },
-#if HAS_RADIO_POWER
-       { "p <setting>\0Radio power setting (0-255)",
-         ao_config_radio_power_set,    ao_config_radio_power_show },
-#endif
-#if HAS_RADIO_AMP
-       { "d <setting>\0Radio amplifier setting (0-3)",
-         ao_config_radio_amp_set,      ao_config_radio_amp_show },
-#endif
-#endif /* HAS_RADIO */
-#if HAS_ACCEL
-       { "a <+g> <-g>\0Accel calib (0 for auto)",
-         ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
-       { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
-         ao_config_pad_orientation_set,ao_config_pad_orientation_show },
-#endif /* HAS_ACCEL */
-#if HAS_LOG
-       { "l <size>\0Flight log size (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_AES
-       { "k <32 hex digits>\0Set AES encryption key",
-         ao_config_key_set, ao_config_key_show },
-#endif
-#if AO_PYRO_NUM
-       { "P <n,?>\0Configure pyro channels",
-         ao_pyro_set, ao_pyro_show },
-#endif
-#if HAS_APRS
-       { "A <secs>\0APRS packet interval (0 disable)",
-         ao_config_aprs_set, ao_config_aprs_show },
-#endif
-       { "s\0Show",
-         ao_config_show,               0 },
-#if HAS_EEPROM
-       { "w\0Write to eeprom",
-         ao_config_save,               0 },
-#endif
-       { "?\0Help",
-         ao_config_help,               0 },
-       { 0, 0, 0 }
-};
-
-void
-ao_config_set(void)
-{
-       char    c;
-       uint8_t cmd;
-
-       ao_cmd_white();
-       c = ao_cmd_lex_c;
-       ao_cmd_lex();
-       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;
-       ao_config_get();
-       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_MS5607
-       ao_ms5607_info();
-#endif
-}
-
-#if HAS_EEPROM
-static void
-ao_config_save(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 (? for help, s to show)" },
-       { 0, NULL },
-};
-
-void
-ao_config_init(void)
-{
-       ao_cmd_register(&ao_config_cmds[0]);
-}
diff --git a/src/core/ao_config.h b/src/core/ao_config.h
deleted file mode 100644 (file)
index e101af8..0000000
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * Copyright © 2013 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_CONFIG_H_
-#define _AO_CONFIG_H_
-
-#ifndef USE_STORAGE_CONFIG
-#define USE_STORAGE_CONFIG 1
-#endif
-
-#ifndef USE_EEPROM_CONFIG
-#define USE_EEPROM_CONFIG 0
-#endif
-
-#if USE_STORAGE_CONFIG
-
-#include <ao_storage.h>
-
-#define ao_config_setup()              ao_storage_setup()
-#define ao_config_erase()              ao_storage_erase(ao_storage_config)
-#define ao_config_write(pos,bytes, len)        ao_storage_write(ao_storage_config+(pos), bytes, len)
-#define ao_config_read(pos,bytes, len) ao_storage_read(ao_storage_config+(pos), bytes, len)
-#define ao_config_flush()              ao_storage_flush()
-
-#endif
-
-#if USE_EEPROM_CONFIG
-
-#include <ao_eeprom.h>
-
-#define ao_config_setup()
-#define ao_config_erase()
-#define ao_config_write(pos,bytes, len)        ao_eeprom_write(pos, bytes, len)
-#define ao_config_read(pos,bytes, len) ao_eeprom_read(pos, bytes, len)
-#define ao_config_flush()
-
-#endif
-
-#endif /* _AO_CONFIG_H_ */
diff --git a/src/core/ao_convert.c b/src/core/ao_convert.c
deleted file mode 100644 (file)
index aa9b5f4..0000000
+++ /dev/null
@@ -1,89 +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;
-}
-
-#if AO_NEED_ALTITUDE_TO_PRES
-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;
-}
-#endif
-
-#if 0
-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;
-}
-#endif
diff --git a/src/core/ao_convert_pa.c b/src/core/ao_convert_pa.c
deleted file mode 100644 (file)
index fe6e0ef..0000000
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- * Copyright © 2012 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
-
-#ifndef AO_CONST_ATTRIB
-#define AO_CONST_ATTRIB
-#endif
-
-static const alt_t altitude_table[] AO_CONST_ATTRIB = {
-#include "altitude-pa.h"
-};
-
-#ifndef FETCH_ALT
-#define FETCH_ALT(o)   altitude_table[o]
-#endif
-
-#define ALT_SCALE      (1 << ALT_SHIFT)
-#define ALT_MASK       (ALT_SCALE - 1)
-
-alt_t
-ao_pa_to_altitude(int32_t pa)
-{
-       int16_t o;
-       int16_t part;
-       int32_t low, high;
-
-       if (pa < 0)
-               pa = 0;
-       if (pa > 120000L)
-               pa = 120000L;
-       o = pa >> ALT_SHIFT;
-       part = pa & ALT_MASK;
-
-       low = (int32_t) FETCH_ALT(o) * (ALT_SCALE - part);
-       high = (int32_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
-       return (low + high) >> ALT_SHIFT;
-}
-
-#ifdef AO_CONVERT_TEST
-int32_t
-ao_altitude_to_pa(int32_t alt)
-{
-       int32_t         span, sub_span;
-       uint16_t        l, h, m;
-       int32_t         pa;
-
-       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;
-       pa = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span;
-       if (pa > 120000)
-               pa = 120000;
-       if (pa < 0)
-               pa = 0;
-       return pa;
-}
-#endif
diff --git a/src/core/ao_convert_pa_test.c b/src/core/ao_convert_pa_test.c
deleted file mode 100644 (file)
index 7d5b192..0000000
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- * Copyright © 2012 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
-typedef int32_t alt_t;
-#include "ao_host.h"
-#include "ao_convert_pa.c"
-
-#define STEP_P 1
-#define STEP_A 1
-
-static inline int i_abs(int i) { return i < 0 ? -i : i; }
-
-int
-main (int argc, char **argv)
-{
-       int     i;
-       int32_t p_to_a, p_to_a_to_p;
-       int32_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 < 120000 + STEP_P; i += STEP_P) {
-               if (i > 120000)
-                       i = 120000;
-               p_to_a = ao_pa_to_altitude(i);
-               p_to_a_to_p = ao_altitude_to_pa(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 ("pa %d alt %d pa %d\n",
-//                     i, p_to_a, p_to_a_to_p);
-       }
-       for (i = -1450; i < 40000 + STEP_A; i += STEP_A) {
-               a_to_p = ao_altitude_to_pa(i);
-               a_to_p_to_a = ao_pa_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 pa %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/core/ao_convert_test.c b/src/core/ao_convert_test.c
deleted file mode 100644 (file)
index 87e7684..0000000
+++ /dev/null
@@ -1,76 +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
-#define AO_NEED_ALTITUDE_TO_PRES 1
-#include "ao_host.h"
-#include "ao_convert.c"
-
-#define STEP   1
-
-static inline int i_abs(int i) { return i < 0 ? -i : i; }
-
-int main (int argc, char **argv)
-{
-       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/core/ao_convert_volt.c b/src/core/ao_convert_volt.c
deleted file mode 100644 (file)
index 8556d42..0000000
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright © 2014 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 scale(v,p,m)   ((int32_t) (v) * (AO_ADC_REFERENCE_DV * ((p) + (m))) / (AO_ADC_MAX * (m)))
-
-int16_t
-ao_battery_decivolt(int16_t adc)
-{
-       return scale(adc, AO_BATTERY_DIV_PLUS, AO_BATTERY_DIV_MINUS);
-}
-
-int16_t
-ao_ignite_decivolt(int16_t adc)
-{
-       return scale(adc, AO_IGNITE_DIV_PLUS, AO_IGNITE_DIV_MINUS);
-}
-
diff --git a/src/core/ao_data.c b/src/core/ao_data.c
deleted file mode 100644 (file)
index 6a3d02a..0000000
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
- * Copyright © 2012 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_data.h>
-
-volatile __xdata struct ao_data        ao_data_ring[AO_DATA_RING];
-volatile __data uint8_t                ao_data_head;
-volatile __data uint8_t                ao_data_present;
-
-#ifndef ao_data_count
-void
-ao_data_get(__xdata struct ao_data *packet)
-{
-#if HAS_FLIGHT
-       uint8_t i = ao_data_ring_prev(ao_sample_data);
-#else
-       uint8_t i = ao_data_ring_prev(ao_data_head);
-#endif
-       memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
-}
-#endif
diff --git a/src/core/ao_data.h b/src/core/ao_data.h
deleted file mode 100644 (file)
index c4b062f..0000000
+++ /dev/null
@@ -1,338 +0,0 @@
-/*
- * Copyright © 2012 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_DATA_H_
-#define _AO_DATA_H_
-
-#define GRAVITY 9.80665
-
-#if HAS_ADC
-#define AO_DATA_ADC    (1 << 0)
-#else
-#define AO_DATA_ADC    0
-#endif
-
-#if HAS_MS5607
-#include <ao_ms5607.h>
-#define AO_DATA_MS5607 (1 << 1)
-#else
-#define AO_DATA_MS5607 0
-#endif
-
-#if HAS_MPU6000
-#include <ao_mpu6000.h>
-#define AO_DATA_MPU6000        (1 << 2)
-#else
-#define AO_DATA_MPU6000        0
-#endif
-
-#if HAS_HMC5883
-#include <ao_hmc5883.h>
-#define AO_DATA_HMC5883        (1 << 3)
-#else
-#define AO_DATA_HMC5883        0
-#endif
-
-#if HAS_MMA655X
-#include <ao_mma655x.h>
-#define AO_DATA_MMA655X (1 << 4)
-#else
-#define AO_DATA_MMA655X 0
-#endif
-
-#ifdef AO_DATA_RING
-
-#define AO_DATA_ALL    (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
-
-struct ao_data {
-       uint16_t                        tick;
-#if HAS_ADC
-       struct ao_adc                   adc;
-#endif
-#if HAS_MS5607
-       struct ao_ms5607_sample         ms5607_raw;
-       struct ao_ms5607_value          ms5607_cooked;
-#endif
-#if HAS_MPU6000
-       struct ao_mpu6000_sample        mpu6000;
-#if !HAS_MMA655X
-       int16_t                         z_accel;
-#endif
-#endif
-#if HAS_HMC5883
-       struct ao_hmc5883_sample        hmc5883;
-#endif
-#if HAS_MMA655X
-       uint16_t                        mma655x;
-#endif
-};
-
-#define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))
-#define ao_data_ring_prev(n)   (((n) - 1) & (AO_DATA_RING - 1))
-
-/* Get a copy of the last complete sample set */
-void
-ao_data_get(__xdata struct ao_data *packet);
-
-extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
-extern volatile __data uint8_t         ao_data_head;
-extern volatile __data uint8_t         ao_data_present;
-extern volatile __data uint8_t         ao_data_count;
-
-/*
- * Mark a section of data as ready, check for data complete
- */
-#define AO_DATA_PRESENT(bit)   (ao_data_present |= (bit))
-
-/*
- * Wait until it is time to write a sensor sample; this is
- * signaled by the timer tick
- */
-#define AO_DATA_WAIT() do {                            \
-               ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count));      \
-       } while (0)
-
-#endif /* AO_DATA_RING */
-
-#if !HAS_BARO && HAS_MS5607
-
-/* Either an MS5607 or an MS5611 hooked to a SPI port
- */
-
-#define HAS_BARO       1
-
-typedef int32_t        pres_t;
-
-#ifndef AO_ALT_TYPE
-#define AO_ALT_TYPE    int32_t
-#endif
-
-typedef AO_ALT_TYPE    alt_t;
-
-#define ao_data_pres_cook(packet)      ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
-
-#define ao_data_pres(packet)   ((packet)->ms5607_cooked.pres)
-#define ao_data_temp(packet)   ((packet)->ms5607_cooked.temp)
-
-#define pres_to_altitude(p)    ao_pa_to_altitude(p)
-
-#endif
-
-#if !HAS_BARO && HAS_ADC
-
-#define HAS_BARO       1
-
-typedef int16_t pres_t;
-typedef int16_t alt_t;
-
-#define ao_data_pres(packet)   ((packet)->adc.pres)
-#define ao_data_temp(packet)   ((packet)->adc.temp)
-#define pres_to_altitude(p)    ao_pres_to_altitude(p)
-#define ao_data_pres_cook(p)
-
-#endif
-
-#if !HAS_BARO
-typedef int16_t alt_t;
-#endif
-
-/*
- * Need a few macros to pull data from the sensors:
- *
- * ao_data_accel_sample        - pull raw sensor and convert to normalized values
- * ao_data_accel       - pull normalized value (lives in the same memory)
- * ao_data_set_accel   - store normalized value back in the sensor location
- * ao_data_accel_invert        - flip rocket ends for positive acceleration
- */
-
-#if HAS_ACCEL
-
-/* This section is for an analog accelerometer hooked to one of the ADC pins. As
- * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
- * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
- */
-
-typedef int16_t accel_t;
-#define ao_data_accel(packet)                  ((packet)->adc.accel)
-#define ao_data_set_accel(packet, a)           ((packet)->adc.accel = (a))
-#define ao_data_accel_invert(a)                        (0x7fff -(a))
-
-/*
- * Ok, the math here is a bit tricky.
- *
- * ao_sample_accel:  ADC output for acceleration
- * ao_accel_ref:  ADC output for the 5V reference.
- * ao_cook_accel: Corrected acceleration value
- * Vcc:           3.3V supply to the CC1111
- * Vac:           5V supply to the accelerometer
- * accel:         input voltage to accelerometer ADC pin
- * ref:           input voltage to 5V reference ADC pin
- *
- *
- * Measured acceleration is ratiometric to Vcc:
- *
- *     ao_sample_accel   accel
- *     ------------ = -----
- *        32767        Vcc
- *
- * Measured 5v reference is also ratiometric to Vcc:
- *
- *     ao_accel_ref    ref
- *     ------------ = -----
- *        32767        Vcc
- *
- *
- *     ao_accel_ref = 32767 * (ref / Vcc)
- *
- * Acceleration is measured ratiometric to the 5V supply,
- * so what we want is:
- *
- *     ao_cook_accel    accel
- *      ------------- =  -----
- *          32767         ref
- *
- *
- *                     accel    Vcc
- *                    = ----- *  ---
- *                       Vcc     ref
- *
- *                      ao_sample_accel       32767
- *                    = ------------ *  ------------
- *                         32767        ao_accel_ref
- *
- * Multiply through by 32767:
- *
- *                      ao_sample_accel * 32767
- *     ao_cook_accel = --------------------
- *                          ao_accel_ref
- *
- * Now, the tricky part. Getting this to compile efficiently
- * and keeping all of the values in-range.
- *
- * First off, we need to use a shift of 16 instead of * 32767 as SDCC
- * does the obvious optimizations for byte-granularity shifts:
- *
- *     ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
- *
- * Next, lets check our input ranges:
- *
- *     0 <= ao_sample_accel <= 0x7fff          (singled ended ADC conversion)
- *     0x7000 <= ao_accel_ref <= 0x7fff        (the 5V ref value is close to 0x7fff)
- *
- * Plugging in our input ranges, we get an output range of 0 - 0x12490,
- * which is 17 bits. That won't work. If we take the accel ref and shift
- * by a bit, we'll change its range:
- *
- *     0xe000 <= ao_accel_ref<<1 <= 0xfffe
- *
- *     ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
- *
- * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
- * is, however, one bit too large for our signed computations. So, we
- * take the result and shift that by a bit:
- *
- *     ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
- *
- * This finally creates an output range of 0 - 0x4924. As the ADC only
- * provides 11 bits of data, we haven't actually lost any precision,
- * just dropped a bit of noise off the low end.
- */
-
-#if HAS_ACCEL_REF
-
-#define ao_data_accel_cook(packet) \
-       ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
-
-#else
-
-#define ao_data_accel_cook(packet) ((packet)->adc.accel)
-
-#endif /* HAS_ACCEL_REF */
-
-#endif /* HAS_ACCEL */
-
-#if !HAS_ACCEL && HAS_MMA655X
-
-#define HAS_ACCEL      1
-
-typedef int16_t accel_t;
-
-/* MMA655X is hooked up so that positive values represent negative acceleration */
-
-#define AO_ACCEL_INVERT                4095
-
-#define ao_data_accel(packet)                  ((packet)->mma655x)
-#if AO_MMA655X_INVERT
-#define ao_data_accel_cook(packet)             (AO_ACCEL_INVERT - (packet)->mma655x)
-#else
-#define ao_data_accel_cook(packet)             ((packet)->mma655x)
-#endif
-#define ao_data_set_accel(packet, accel)       ((packet)->mma655x = (accel))
-#define ao_data_accel_invert(accel)            (AO_ACCEL_INVERT - (accel))
-
-#endif
-
-#if !HAS_ACCEL && HAS_MPU6000
-
-#define HAS_ACCEL      1
-
-#define AO_ACCEL_INVERT                0
-
-typedef int16_t accel_t;
-
-/* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet)                  ((packet)->z_accel)
-#define ao_data_accel_cook(packet)             (-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel)       ((packet)->z_accel = (accel))
-#define ao_data_accel_invert(a)                        (-(a))
-
-#endif
-
-#if !HAS_GYRO && HAS_MPU6000
-
-#define HAS_GYRO       1
-
-typedef int16_t        gyro_t;         /* in raw sample units */
-typedef int16_t angle_t;       /* in degrees */
-
-/* Y axis is aligned with the direction of motion (along) */
-/* X axis is aligned in the other board axis (across) */
-/* Z axis is aligned perpendicular to the board (through) */
-
-#define ao_data_along(packet)  ((packet)->mpu6000.accel_y)
-#define ao_data_across(packet) ((packet)->mpu6000.accel_x)
-#define ao_data_through(packet)        ((packet)->mpu6000.accel_z)
-
-#define ao_data_roll(packet)   ((packet)->mpu6000.gyro_y)
-#define ao_data_pitch(packet)  ((packet)->mpu6000.gyro_x)
-#define ao_data_yaw(packet)    ((packet)->mpu6000.gyro_z)
-
-#endif
-
-#if !HAS_MAG && HAS_HMC5883
-
-#define HAS_MAG                1
-
-typedef int16_t ao_mag_t;              /* in raw sample units */
-
-#define ao_data_mag_along(packet)      ((packet)->hmc5883.x)
-#define ao_data_mag_across(packet)     ((packet)->hmc5883.y)
-#define ao_data_mag_through(packet)    ((packet)->hmc5883.z)
-
-#endif
-
-#endif /* _AO_DATA_H_ */
diff --git a/src/core/ao_dbg.h b/src/core/ao_dbg.h
deleted file mode 100644 (file)
index 181e6ec..0000000
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- * Copyright © 2012 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_DBG_H_
-#define _AO_DBG_H_
-
-/*
- * 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);
-
-#endif /* _AO_DBG_H_ */
diff --git a/src/core/ao_debounce.c b/src/core/ao_debounce.c
deleted file mode 100644 (file)
index b9d6772..0000000
+++ /dev/null
@@ -1,163 +0,0 @@
-/*
- * Copyright © 2013 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_debounce.h>
-#include <ao_fast_timer.h>
-
-static uint8_t                 ao_debounce_initialized;
-static uint8_t                 ao_debounce_running;
-static struct ao_debounce      *ao_debounce;
-
-static uint8_t values[64];
-static uint8_t n;
-
-#define d_step(n)      (((n) + 1) & 63)
-
-static void
-_ao_debounce_set(struct ao_debounce *debounce, uint8_t value)
-{
-       if (value != debounce->value) {
-               values[n] = value;
-               n = (n + 1) & 63;
-               debounce->value = value;
-               debounce->_set(debounce, value);
-       }
-       _ao_debounce_stop(debounce);
-}
-
-void
-ao_debounce_dump(void)
-{
-       uint8_t s;
-
-       for (s = 0; s < n; s++) {
-               printf ("%d: %d\n",
-                       s, values[s]);
-       }
-       n = 0;
-}
-
-/*
- * Get the current value, set the result when we've
- * reached the debounce count limit
- */
-static void
-_ao_debounce_check(struct ao_debounce *debounce)
-{
-       uint8_t next = debounce->_get(debounce);
-
-       if (next == debounce->current) {
-               if (debounce->count < debounce->hold) {
-                       if (++debounce->count == debounce->hold)
-                               _ao_debounce_set(debounce, debounce->current);
-               }
-       } else {
-               debounce->count = 0;
-               debounce->current = next;
-       }
-}
-
-static void
-_ao_debounce_isr(void)
-{
-       struct ao_debounce *debounce, *next;
-
-       for (debounce = ao_debounce; debounce; debounce = next) {
-               next = debounce->next;
-               _ao_debounce_check(debounce);
-       }
-}
-
-static void
-ao_debounce_on(void)
-{
-       ao_fast_timer_on(_ao_debounce_isr);
-}
-
-static void
-ao_debounce_off(void)
-{
-       ao_fast_timer_off(_ao_debounce_isr);
-}
-
-/*
- * Start monitoring one pin
- */
-void
-_ao_debounce_start(struct ao_debounce *debounce)
-{
-       uint32_t        m;
-
-       m = ao_arch_irqsave();
-       if (!debounce->running) {
-               debounce->running = 1;
-
-               /* Reset the counter */
-               debounce->count = 0;
-
-               /* Link into list */
-               debounce->next = ao_debounce;
-               ao_debounce = debounce;
-
-               /* Make sure the timer is running */
-               if (!ao_debounce_running++)
-                       ao_debounce_on();
-
-               /* And go check the current value */
-               _ao_debounce_check(debounce);
-       }
-       ao_arch_irqrestore(m);
-}
-
-/*
- * Stop monitoring one pin
- */
-void
-_ao_debounce_stop(struct ao_debounce *debounce)
-{
-       struct ao_debounce **prev;
-       uint32_t m;
-
-       m = ao_arch_irqsave();
-       if (debounce->running) {
-               debounce->running = 0;
-
-               /* Unlink */
-               for (prev = &ao_debounce; (*prev); prev = &((*prev)->next)) {
-                       if (*prev == debounce) {
-                               *prev = debounce->next;
-                               break;
-                       }
-               }
-               debounce->next = NULL;
-
-               /* Turn off the timer if possible */
-               if (!--ao_debounce_running)
-                       ao_debounce_off();
-       }
-       ao_arch_irqrestore(m);
-}
-
-void
-ao_debounce_init(void)
-{
-       if (ao_debounce_initialized)
-               return;
-       ao_debounce_initialized = 1;
-       ao_fast_timer_init();
-}
diff --git a/src/core/ao_debounce.h b/src/core/ao_debounce.h
deleted file mode 100644 (file)
index 19c620f..0000000
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright © 2013 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_DEBOUNCE_H_
-#define _AO_DEBOUNCE_H_
-
-struct ao_debounce {
-       struct ao_debounce      *next;
-
-       /* time that pin value must be stable before accepting */
-       uint8_t                 hold;
-
-       /* last value reported to app; don't report it twice */
-       uint8_t                 value;
-
-       /* current value received from pins */
-       uint8_t                 current;
-
-       /* current count of intervals pin value has been stable */
-       uint8_t                 count;
-
-       /* This pin is running */
-       uint8_t                 running;
-
-       /* Get the current pin value */
-       uint8_t                 (*_get)(struct ao_debounce *debounce);
-
-       /* The stable value has changed */
-       void                    (*_set)(struct ao_debounce *debounce, uint8_t value);
-};
-
-static inline void
-ao_debounce_config(struct ao_debounce *debounce,
-                  uint8_t (*_get)(struct ao_debounce *debounce),
-                  void (*_set)(struct ao_debounce *debounce, uint8_t value),
-                  uint8_t hold)
-{
-       debounce->next = 0;
-       debounce->hold = hold;
-       debounce->value = 0xff;
-       debounce->current = 0xff;
-       debounce->count = 0;
-       debounce->running = 0;
-       debounce->_get = _get;
-       debounce->_set = _set;
-}
-
-void
-_ao_debounce_start(struct ao_debounce *debounce);
-
-void
-_ao_debounce_stop(struct ao_debounce *debounce);
-
-void
-ao_debounce_init(void);
-
-void
-ao_debounce_dump(void);
-
-#endif /* _AO_DEBOUNCE_H_ */
diff --git a/src/core/ao_ee_fake.c b/src/core/ao_ee_fake.c
deleted file mode 100644 (file)
index 7fcfcab..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
-{
-       ao_xmemset(buf, '\0', len);
-       return 1;
-}
diff --git a/src/core/ao_eeprom.h b/src/core/ao_eeprom.h
deleted file mode 100644 (file)
index 915522b..0000000
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * Copyright © 2013 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_EEPROM_H_
-#define _AO_EEPROM_H_
-
-extern const ao_pos_t  ao_eeprom_total;
-
-/*
- * Write to eeprom
- */
-
-uint8_t
-ao_eeprom_write(ao_pos_t pos32, __xdata void *v, uint16_t len);
-
-/*
- * Read from eeprom
- */
-uint8_t
-ao_eeprom_read(ao_pos_t pos, __xdata void *v, uint16_t len);
-
-/*
- * Initialize eeprom
- */
-
-void
-ao_eeprom_init(void);
-
-#endif /* _AO_EEPROM_H_ */
diff --git a/src/core/ao_fec.h b/src/core/ao_fec.h
deleted file mode 100644 (file)
index 618756c..0000000
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
- * Copyright © 2012 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_FEC_H_
-#define _AO_FEC_H_
-
-#include <stdint.h>
-
-#define AO_FEC_CRC_INIT                        0xffff
-#define AO_FEC_TRELLIS_TERMINATOR      0x0b
-#define AO_FEC_PREPARE_EXTRA           4
-
-extern const uint8_t ao_fec_whiten_table[];
-
-#if AO_FEC_DEBUG
-void
-ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name);
-#endif
-
-static inline uint16_t
-ao_fec_crc_byte(uint8_t byte, uint16_t crc)
-{
-       uint8_t bit;
-
-       for (bit = 0; bit < 8; bit++) {
-               if (((crc & 0x8000) >> 8) ^ (byte & 0x80))
-                       crc = (crc << 1) ^ 0x8005;
-               else
-                       crc = (crc << 1);
-               byte <<= 1;
-       }
-       return crc;
-}
-
-uint16_t
-ao_fec_crc(const uint8_t *bytes, uint8_t len);
-
-/*
- * 'len' is the length of the original data; 'bytes'
- * must  be four bytes longer than that, and the first
- * two after 'len' must be the received crc
- */
-uint8_t
-ao_fec_check_crc(const uint8_t *bytes, uint8_t len);
-
-/*
- * Compute CRC, whiten, convolve and interleave data. 'out' must be (len + 4) * 2 bytes long
- */
-uint8_t
-ao_fec_encode(const uint8_t *in, uint8_t len, uint8_t *out);
-
-/*
- * Decode data. 'in' is one byte per bit, soft decision
- * 'out' must be len/8 bytes long
- */
-
-#define AO_FEC_DECODE_BLOCK    (32)    /* callback must return multiples of this many bits */
-
-#define AO_FEC_DECODE_CRC_OK   0x80    /* stored in out[out_len-1] */
-
-uint8_t
-ao_fec_decode(const uint8_t *in, uint16_t in_len, uint8_t *out, uint8_t out_len, uint16_t (*callback)(void));
-
-/*
- * Interleave data packed in bytes. 'out' must be 'len' bytes long.
- */
-uint16_t
-ao_fec_interleave_bytes(uint8_t *in, uint16_t len, uint8_t *out);
-
-#endif /* _AO_FEC_H_ */
diff --git a/src/core/ao_fec_rx.c b/src/core/ao_fec_rx.c
deleted file mode 100644 (file)
index c4f5559..0000000
+++ /dev/null
@@ -1,318 +0,0 @@
-/*
- * Copyright © 2012 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_fec.h>
-#include <stdio.h>
-
-#ifdef TELEMEGA
-#include <ao.h>
-#endif
-
-#if AO_PROFILE
-#include <ao_profile.h>
-
-uint32_t       ao_fec_decode_start, ao_fec_decode_end;
-#endif
-
-/* 
- * byte order repeats through 3 2 1 0
- *     
- * bit-pair order repeats through
- *
- *  1/0 3/2 5/4 7/6
- *
- * So, the over all order is:
- *
- *     3,1/0   2,1/0   1,1/0   0,1/0
- *     3,3/2   2,3/2   1,3/2   0,3/2
- *     3,5/4   2,5/4   1,5/4   0,5/4
- *     3,7/6   2,7/6   1,7/6   0,7/6
- *
- * The raw bit order is thus
- *
- *     1e/1f   16/17   0e/0f   06/07
- *     1c/1d   14/15   0c/0d   04/05
- *     1a/1b   12/13   0a/0b   02/03
- *     18/19   10/11   08/09   00/01
- */
-
-static const uint8_t ao_interleave_order[] = {
-       0x1e, 0x16, 0x0e, 0x06,
-       0x1c, 0x14, 0x0c, 0x04,
-       0x1a, 0x12, 0x0a, 0x02,
-       0x18, 0x10, 0x08, 0x00
-};
-
-static inline uint16_t ao_interleave_index(uint16_t i) {
-       return (i & ~0x1e) | ao_interleave_order[(i & 0x1e) >> 1];
-}
-
-#define NUM_STATE      8
-#define NUM_HIST       24
-
-typedef uint32_t       bits_t;
-
-#define V_0            0xff
-#define V_1            0x00
-
-/*
- * These are just the 'zero' states; the 'one' states mirror them
- */
-static const uint8_t ao_fec_decode_table[NUM_STATE*2] = {
-       V_0, V_0,       /* 000 */
-       V_0, V_1,       /* 001 */
-       V_1, V_1,       /* 010 */
-       V_1, V_0,       /* 011 */
-       V_1, V_1,       /* 100 */
-       V_1, V_0,       /* 101 */
-       V_0, V_0,       /* 110 */
-       V_0, V_1        /* 111 */
-};
-
-static inline uint8_t
-ao_next_state(uint8_t state, uint8_t bit)
-{
-       return ((state << 1) | bit) & 0x7;
-}
-
-/*
- * 'in' is 8-bits per symbol soft decision data
- * 'len' is input byte length. 'out' must be
- * 'len'/16 bytes long
- */
-
-uint8_t
-ao_fec_decode(const uint8_t *in, uint16_t len, uint8_t *out, uint8_t out_len, uint16_t (*callback)(void))
-{
-       static uint32_t cost[2][NUM_STATE];             /* path cost */
-       static bits_t   bits[2][NUM_STATE];             /* save bits to quickly output them */
-
-       uint16_t        i;                              /* input byte index */
-       uint16_t        b;                              /* encoded symbol index (bytes/2) */
-       uint16_t        o;                              /* output bit index */
-       uint8_t         p;                              /* previous cost/bits index */
-       uint8_t         n;                              /* next cost/bits index */
-       uint8_t         state;                          /* state index */
-       const uint8_t   *whiten = ao_fec_whiten_table;
-       uint16_t        interleave;                     /* input byte array index */
-       uint8_t         s0, s1;
-       uint16_t        avail;
-       uint16_t        crc = AO_FEC_CRC_INIT;
-#if AO_PROFILE
-       uint32_t        start_tick;
-#endif
-
-       p = 0;
-       for (state = 0; state < NUM_STATE; state++) {
-               cost[0][state] = 0x7fffffff;
-               bits[0][state] = 0;
-       }
-       cost[0][0] = 0;
-
-       if (callback)
-               avail = 0;
-       else
-               avail = len;
-
-#if AO_PROFILE
-       if (!avail) {
-               avail = callback();
-               if (!avail)
-                       return 0;
-       }
-       start_tick = ao_profile_tick();
-#endif
-       o = 0;
-       for (i = 0; i < len; i += 2) {
-               b = i/2;
-               n = p ^ 1;
-
-               if (!avail) {
-                       avail = callback();
-                       if (!avail)
-                               return 0;
-               }
-
-               /* Fetch one pair of input bytes, de-interleaving
-                * the input.
-                */
-               interleave = ao_interleave_index(i);
-               s0 = in[interleave];
-               s1 = in[interleave+1];
-
-               avail -= 2;
-
-               /* Compute path costs and accumulate output bit path
-                * for each state and encoded bit value. Unrolling
-                * this loop is worth about > 30% performance boost.
-                * Decoding 76-byte remote access packets is reduced
-                * from 14.700ms to 9.3ms. Redoing the loop to
-                * directly compare the two pasts for each future state
-                * reduces this down to 5.7ms
-                */
-
-               /* Ok, of course this is tricky, it's optimized.
-                *
-                * First, it's important to realize that we have 8
-                * states representing the combinations of the three
-                * most recent bits from the encoder. Flipping any
-                * of these three bits flips both output bits.
-                *
-                * 'state<<1' represents the target state for a new
-                * bit value of 0. '(state<<1)+1' represents the
-                * target state for a new bit value of 1.
-                *
-                * 'state' is the previous state with an oldest bit
-                * value of 0. 'state + 4' is the previous state with
-                * an oldest bit value of 1. These two states will
-                * either lead to 'state<<1' or '(state<<1)+1', depending
-                * on whether the next encoded bit was a zero or a one.
-                *
-                * m0 and m1 are the cost of coming to 'state<<1' from
-                * one of the two possible previous states 'state' and
-                * 'state + 4'.
-                *
-                * Because we know the expected values of each
-                * received bit are flipped between these two previous
-                * states:
-                * 
-                *      bitcost(state+4) = 510 - bitcost(state)
-                *
-                * With those two total costs in hand, we then pick
-                * the lower as the cost of the 'state<<1', and compute
-                * the path of bits leading to that state.
-                *
-                * Then, do the same for '(state<<1) + 1'. This time,
-                * instead of computing the m0 and m1 values from
-                * scratch, because the only difference is that we're
-                * expecting a one bit instead of a zero bit, we just
-                * flip the bitcost values around to match the
-                * expected transmitted bits with some tricky
-                * arithmetic which is equivalent to:
-                *
-                *      m0 = cost[p][state] + (510 - bitcost);
-                *      m1 = cost[p][state+4] + bitcost
-                *
-                * Then, the lowest cost and bit trace of the new state
-                * is saved.
-                */
-
-#define DO_STATE(state) {                                              \
-                       uint32_t        bitcost;                        \
-                                                                       \
-                       uint32_t        m0;                             \
-                       uint32_t        m1;                             \
-                       uint32_t        bit;                            \
-                                                                       \
-                       bitcost = ((uint32_t) (s0 ^ ao_fec_decode_table[(state<<1)]) + \
-                                  (uint32_t) (s1 ^ ao_fec_decode_table[(state<<1)|1])); \
-                                                                       \
-                       m0 = cost[p][state] + bitcost;                  \
-                       m1 = cost[p][state+4] + (510 - bitcost);        \
-                       bit = m0 > m1;                                  \
-                       cost[n][state<<1] = bit ? m1 : m0;              \
-                       bits[n][state<<1] = (bits[p][state + (bit<<2)] << 1) | (state&1); \
-                                                                       \
-                       m0 -= (bitcost+bitcost-510);                    \
-                       m1 += (bitcost+bitcost-510);                    \
-                       bit = m0 > m1;                                  \
-                       cost[n][(state<<1)+1] = bit ? m1 : m0;          \
-                       bits[n][(state<<1)+1] = (bits[p][state + (bit<<2)] << 1) | (state&1); \
-               }
-
-               DO_STATE(0);
-               DO_STATE(1);
-               DO_STATE(2);
-               DO_STATE(3);
-
-#if 0
-               printf ("bit %3d symbol %2x %2x:", i/2, s0, s1);
-               for (state = 0; state < NUM_STATE; state++) {
-                       printf (" %8u(%08x)", cost[n][state], bits[n][state]);
-               }
-               printf ("\n");
-#endif
-               p = n;
-
-               /* A loop is needed to handle the last output byte. It
-                * won't have any bits of future data to perform full
-                * error correction, but we might as well give the
-                * best possible answer anyways.
-                */
-               while ((b - o) >= (8 + NUM_HIST) || (i + 2 >= len && b > o)) {
-
-                       /* Compute number of bits to the end of the
-                        * last full byte of data. This is generally
-                        * NUM_HIST, unless we've reached
-                        * the end of the input, in which case
-                        * it will be seven.
-                        */
-                       int8_t          dist = b - (o + 8);     /* distance to last ready-for-writing bit */
-                       uint32_t        min_cost;               /* lowest cost */
-                       uint8_t         min_state;              /* lowest cost state */
-                       uint8_t         byte;
-
-                       /* Find the best fit at the current point
-                        * of the decode.
-                        */
-                       min_cost = cost[p][0];
-                       min_state = 0;
-                       for (state = 1; state < NUM_STATE; state++) {
-                               if (cost[p][state] < min_cost) {
-                                       min_cost = cost[p][state];
-                                       min_state = state;
-                               }
-                       }
-
-                       /* The very last byte of data has the very last bit
-                        * of data left in the state value; just smash the
-                        * bits value in place and reset the 'dist' from
-                        * -1 to 0 so that the full byte is read out
-                        */
-                       if (dist < 0) {
-                               bits[p][min_state] = (bits[p][min_state] << 1) | (min_state & 1);
-                               dist = 0;
-                       }
-
-#if 0
-                       printf ("\tbit %3d min_cost %5d old bit %3d old_state %x bits %02x whiten %0x\n",
-                               i/2, min_cost, o + 8, min_state, (bits[p][min_state] >> dist) & 0xff, *whiten);
-#endif
-                       byte = (bits[p][min_state] >> dist) ^ *whiten++;
-                       *out++ = byte;
-                       if (out_len > 2)
-                               crc = ao_fec_crc_byte(byte, crc);
-
-                       if (!--out_len) {
-                               if ((out[-2] == (uint8_t) (crc >> 8)) &&
-                                   out[-1] == (uint8_t) crc)
-                                       out[-1] = AO_FEC_DECODE_CRC_OK;
-                               else
-                                       out[-1] = 0;
-                               out[-2] = 0;
-                               goto done;
-                       }
-                       o += 8;
-               }
-       }
-done:
-#if AO_PROFILE
-       ao_fec_decode_start = start_tick;
-       ao_fec_decode_end = ao_profile_tick();
-#endif
-       return 1;
-}
diff --git a/src/core/ao_fec_tx.c b/src/core/ao_fec_tx.c
deleted file mode 100644 (file)
index 4941d74..0000000
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
- * Copyright © 2012 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_fec.h>
-#include <stdio.h>
-
-#if AO_FEC_DEBUG
-void
-ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name)
-{
-       uint16_t        i;
-
-       printf ("%s (%d):", name, len);
-       for (i = 0; i < len; i++) {
-               if ((i & 7) == 0)
-                       printf ("\n\t%02x:", i);
-               printf(" %02x", bytes[i]);
-       }
-       printf ("\n");
-}
-#endif
-
-uint16_t
-ao_fec_crc(const uint8_t *bytes, uint8_t len)
-{
-       uint16_t        crc = AO_FEC_CRC_INIT;
-
-       while (len--)
-               crc = ao_fec_crc_byte(*bytes++, crc);
-       return crc;
-}
-
-/*
- * len is the length of the data; the crc will be
- * the fist two bytes after that
- */
-
-uint8_t
-ao_fec_check_crc(const uint8_t *bytes, uint8_t len)
-{
-       uint16_t        computed_crc = ao_fec_crc(bytes, len);
-       uint16_t        received_crc = (bytes[len] << 8) | (bytes[len+1]);
-
-       return computed_crc == received_crc;
-}
-
-/*
- * Compute CRC and trellis-terminator/interleave-pad bytes
- */
-static uint8_t
-ao_fec_prepare(const uint8_t *in, uint8_t len, uint8_t *extra)
-{
-       uint16_t        crc = ao_fec_crc (in, len);
-       uint8_t         i = 0;
-       uint8_t         num_fec;
-
-       /* Append CRC */
-       extra[i++] = crc >> 8;
-       extra[i++] = crc;
-
-       /* Append FEC -- 1 byte if odd, two bytes if even */
-       num_fec = 2 - (i & 1);
-       while (num_fec--)
-               extra[i++] = AO_FEC_TRELLIS_TERMINATOR;
-       return i;
-}
-
-const uint8_t ao_fec_whiten_table[] = {
-#include "ao_whiten.h"
-};
-
-static const uint8_t ao_fec_encode_table[16] = {
-/* next 0  1     state */
-       0, 3,   /* 000 */
-       1, 2,   /* 001 */
-       3, 0,   /* 010 */
-       2, 1,   /* 011 */
-       3, 0,   /* 100 */
-       2, 1,   /* 101 */
-       0, 3,   /* 110 */
-       1, 2    /* 111 */
-};
-
-uint8_t
-ao_fec_encode(const uint8_t *in, uint8_t len, uint8_t *out)
-{
-       uint8_t         extra[AO_FEC_PREPARE_EXTRA];
-       uint8_t         extra_len;
-       uint32_t        encode, interleave;
-       uint8_t         pair, byte, bit;
-       uint16_t        fec = 0;
-       const uint8_t   *whiten = ao_fec_whiten_table;
-
-       extra_len = ao_fec_prepare(in, len, extra);
-       for (pair = 0; pair < len + extra_len; pair += 2) {
-               encode = 0;
-               for (byte = 0; byte < 2; byte++) {
-                       if (pair + byte == len)
-                               in = extra;
-                       fec |= *in++ ^ *whiten++;
-                       for (bit = 0; bit < 8; bit++) {
-                               encode = encode << 2 | ao_fec_encode_table[fec >> 7];
-                               fec = (fec << 1) & 0x7ff;
-                       }
-               }
-
-               interleave = 0;
-               for (bit = 0; bit < 4 * 4; bit++) {
-                       uint8_t byte_shift = (bit & 0x3) << 3;
-                       uint8_t bit_shift = (bit & 0xc) >> 1;
-
-                       interleave = (interleave << 2) | ((encode >> (byte_shift + bit_shift)) & 0x3);
-               }
-               *out++ = interleave >> 24;
-               *out++ = interleave >> 16;
-               *out++ = interleave >> 8;
-               *out++ = interleave >> 0;
-       }
-       return (len + extra_len) * 2;
-}
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
deleted file mode 100644 (file)
index 2409934..0000000
+++ /dev/null
@@ -1,472 +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"
-#include <ao_log.h>
-#endif
-
-#if HAS_MPU6000
-#include <ao_quaternion.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
-
-#ifndef HAS_TELEMETRY
-#define HAS_TELEMETRY  HAS_RADIO
-#endif
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
-__pdata uint16_t               ao_boost_tick;          /* time of launch detect */
-__pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
-
-#if HAS_SENSOR_ERRORS
-/* Any sensor can set this to mark the flight computer as 'broken' */
-__xdata uint8_t                        ao_sensor_errors;
-#endif
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-static __data uint16_t         ao_interval_end;
-static __data int16_t          ao_interval_min_height;
-static __data int16_t          ao_interval_max_height;
-#if HAS_ACCEL
-static __data int16_t          ao_coast_avg_accel;
-#endif
-
-__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 ||
-                           ao_ground_height < -1000 ||
-                           ao_ground_height > 7000)
-                       {
-                               /* 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;
-
-#if HAS_RADIO && PACKET_HAS_SLAVE
-                               /* Turn on packet system in invalid mode on TeleMetrum */
-                               ao_packet_slave_start();
-#endif
-                       } 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 && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
-                               /* Disable the USB controller in flight mode
-                                * to save power
-                                */
-                               ao_usb_disable();
-#endif
-
-#if !HAS_ACCEL && PACKET_HAS_SLAVE
-                               /* Disable packet mode in pad state on TeleMini */
-                               ao_packet_slave_stop();
-#endif
-
-#if HAS_TELEMETRY
-                               /* Turn on telemetry system */
-                               ao_rdf_set(1);
-                               ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-#endif
-#if AO_LED_RED
-                               /* signal successful initialization by turning off the LED */
-                               ao_led_off(AO_LED_RED);
-#endif
-                       } else {
-                               /* Set idle mode */
-                               ao_flight_state = ao_flight_idle;
-#if HAS_SENSOR_ERRORS
-                               if (ao_sensor_errors)
-                                       ao_flight_state = ao_flight_invalid;
-#endif
-#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
-                               /* Turn on packet system in idle mode on TeleMetrum */
-                               ao_packet_slave_start();
-#endif
-
-#if AO_LED_RED
-                               /* signal successful initialization by turning off the LED */
-                               ao_led_off(AO_LED_RED);
-#endif
-                       }
-                       /* 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_boost_tick = ao_sample_tick;
-
-                               /* start logging data */
-                               ao_log_start();
-
-#if HAS_TELEMETRY
-                               /* Increase telemetry rate */
-                               ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
-
-                               /* disable RDF beacon */
-                               ao_rdf_set(0);
-#endif
-
-#if HAS_GPS
-                               /* Record current GPS position by waking up GPS log tasks */
-                               ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
-                               ao_wakeup(&ao_gps_new);
-#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_boost_tick) > BOOST_TICKS_MAX)
-                       {
-#if HAS_ACCEL
-                               ao_flight_state = ao_flight_fast;
-                               ao_coast_avg_accel = ao_accel;
-#else
-                               ao_flight_state = ao_flight_coast;
-#endif
-                               ++ao_motor_number;
-                               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));
-                       } else
-                               goto check_re_boost;
-                       break;
-#endif
-               case ao_flight_coast:
-
-                       /*
-                        * By customer request - allow the user
-                        * to lock out apogee detection for a specified
-                        * number of seconds.
-                        */
-                       if (ao_config.apogee_lockout) {
-                               if ((ao_sample_tick - ao_boost_tick) <
-                                   AO_SEC_TO_TICKS(ao_config.apogee_lockout))
-                                       break;
-                       }
-
-                       /* 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
-                               )
-                       {
-#if HAS_IGNITE
-                               /* ignite the drogue charge */
-                               ao_ignite(ao_igniter_drogue);
-#endif
-
-#if HAS_TELEMETRY
-                               /* slow down the telemetry system */
-                               ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
-
-                               /* Turn the RDF beacon back on */
-                               ao_rdf_set(1);
-#endif
-
-                               /* and enter drogue state */
-                               ao_flight_state = ao_flight_drogue;
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-#if HAS_ACCEL
-                       else {
-                       check_re_boost:
-                               ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
-                               if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
-                                       ao_boost_tick = ao_sample_tick;
-                                       ao_flight_state = ao_flight_boost;
-                                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                               }
-                       }
-#endif
-
-                       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)
-                       {
-#if HAS_IGNITE
-                               ao_ignite(ao_igniter_main);
-#endif
-
-                               /*
-                                * 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;
-#if HAS_FLIGHT_DEBUG
-               case ao_flight_test:
-#if HAS_GYRO
-                       printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
-                               ao_sample_orient,
-                               ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
-                               ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
-                               ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
-#endif
-                       flush();
-                       break;
-#endif /* HAS_FLIGHT_DEBUG */
-               default:
-                       break;
-               }
-       }
-}
-
-#if HAS_FLIGHT_DEBUG
-static inline int int_part(int16_t i)  { return i >> 4; }
-static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
-
-static void
-ao_flight_dump(void)
-{
-#if HAS_ACCEL
-       int16_t accel;
-
-       accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
-#endif
-
-       printf ("sample:\n");
-       printf ("  tick        %d\n", ao_sample_tick);
-       printf ("  raw pres    %d\n", ao_sample_pres);
-#if HAS_ACCEL
-       printf ("  raw accel   %d\n", ao_sample_accel);
-#endif
-       printf ("  ground pres %d\n", ao_ground_pres);
-       printf ("  ground alt  %d\n", ao_ground_height);
-#if HAS_ACCEL
-       printf ("  raw accel   %d\n", ao_sample_accel);
-       printf ("  groundaccel %d\n", ao_ground_accel);
-       printf ("  accel_2g    %d\n", ao_accel_2g);
-#endif
-
-       printf ("  alt         %d\n", ao_sample_alt);
-       printf ("  height      %d\n", ao_sample_height);
-#if HAS_ACCEL
-       printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
-#endif
-
-
-       printf ("kalman:\n");
-       printf ("  height      %d\n", ao_height);
-       printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
-       printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
-       printf ("  max_height  %d\n", ao_max_height);
-       printf ("  avg_height  %d\n", ao_avg_height);
-       printf ("  error_h     %d\n", ao_error_h);
-       printf ("  error_avg   %d\n", ao_error_h_sq_avg);
-}
-
-static void
-ao_gyro_test(void)
-{
-       ao_flight_state = ao_flight_test;
-       ao_getchar();
-       ao_flight_state = ao_flight_idle;
-}
-
-uint8_t ao_orient_test;
-
-static void
-ao_orient_test_select(void)
-{
-       ao_orient_test = !ao_orient_test;
-}
-
-__code struct ao_cmds ao_flight_cmds[] = {
-       { ao_flight_dump,       "F\0Dump flight status" },
-       { ao_gyro_test,         "G\0Test gyro code" },
-       { ao_orient_test_select,"O\0Test orientation code" },
-       { 0, NULL },
-};
-#endif
-
-static __xdata struct ao_task  flight_task;
-
-void
-ao_flight_init(void)
-{
-       ao_flight_state = ao_flight_startup;
-#if HAS_FLIGHT_DEBUG
-       ao_cmd_register(&ao_flight_cmds[0]);
-#endif
-       ao_add_task(&flight_task, ao_flight, "flight");
-}
diff --git a/src/core/ao_flight.h b/src/core/ao_flight.h
deleted file mode 100644 (file)
index 01d21c1..0000000
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- * Copyright © 2012 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_H_
-#define _AO_FLIGHT_H_
-
-
-/*
- * 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,
-       ao_flight_test = 10
-};
-
-extern __pdata enum ao_flight_state    ao_flight_state;
-extern __pdata uint16_t                        ao_boost_tick;
-extern __pdata uint16_t                        ao_motor_number;
-
-#if HAS_IMU || HAS_MMA655X
-#define HAS_SENSOR_ERRORS      1
-#endif
-
-#if HAS_SENSOR_ERRORS
-extern __xdata uint8_t                 ao_sensor_errors;
-#endif
-
-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);
-
-#endif /* _AO_FLIGHT_H_ */
diff --git a/src/core/ao_flight_nano.c b/src/core/ao_flight_nano.c
deleted file mode 100644 (file)
index 406d81a..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 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 alt_t                  ao_interval_min_height;
-__pdata alt_t                  ao_interval_max_height;
-
-__pdata uint8_t                        ao_flight_force_idle;
-
-/* 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(5)
-
-static void
-ao_flight_nano(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:
-                       if (ao_flight_force_idle) {
-                               /* Set idle mode */
-                               ao_flight_state = ao_flight_idle;
-                       } else {
-                               ao_flight_state = ao_flight_pad;
-                               /* 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);
-
-                       /* wakeup threads due to state change */
-                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       break;
-               case ao_flight_pad:
-                       if (ao_height> AO_M_TO_HEIGHT(20)) {
-                               ao_flight_state = ao_flight_drogue;
-                               ao_launch_tick = ao_sample_tick;
-
-                               /* start logging data */
-                               ao_log_start();
-
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-                       break;
-               case ao_flight_drogue:
-                       /* drogue/main to land:
-                        *
-                        * barometer: altitude stable
-                        */
-
-                       if (ao_height < ao_interval_min_height)
-                               ao_interval_min_height = ao_height;
-                       if (ao_height > ao_interval_max_height)
-                               ao_interval_max_height = ao_height;
-
-                       if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
-                               if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
-                               {
-                                       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_height;
-                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-                       }
-                       break;
-               }
-       }
-}
-
-static __xdata struct ao_task  flight_task;
-
-void
-ao_flight_nano_init(void)
-{
-       ao_flight_state = ao_flight_startup;
-       ao_add_task(&flight_task, ao_flight_nano, "flight");
-}
diff --git a/src/core/ao_freq.c b/src/core/ao_freq.c
deleted file mode 100644 (file)
index 12496f6..0000000
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * Copyright © 2012 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>
-
-/*
- * The provided 'calibration' value is
- * that needed to tune the radio to precisely 434550kHz.
- * Use that to 'walk' to the target frequency by following
- * a 'bresenham' line from 434550kHz to the target
- * frequency, and updating the radio setting along the way
- */
-
-int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant
-{
-       static __pdata int32_t  set;
-       static __pdata uint8_t  neg;
-       static __pdata int32_t  error;
-
-       set = 0;
-       neg = 0;
-       error = -434550 / 2;
-
-       if ((freq -= 434550) < 0) {
-               neg = 1;
-               freq = -freq;
-       }
-       for (;;) {
-               if (error > 0) {
-                       error -= 434550;
-                       set++;
-               } else {
-                       error += cal;
-                       if (--freq < 0)
-                               break;
-               }
-       }
-       if (neg)
-               set = -set;
-       return cal + set;
-}
diff --git a/src/core/ao_gps_print.c b/src/core/ao_gps_print.c
deleted file mode 100644 (file)
index 47c945d..0000000
+++ /dev/null
@@ -1,112 +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_GPS_TEST
-#include "ao.h"
-#endif
-#include "ao_telem.h"
-
-void
-ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant
-{
-       char    state;
-
-       if (gps_data->flags & AO_GPS_VALID)
-               state = AO_TELEM_GPS_STATE_LOCKED;
-       else if (gps_data->flags & AO_GPS_RUNNING)
-               state = AO_TELEM_GPS_STATE_UNLOCKED;
-       else
-               state = AO_TELEM_GPS_STATE_ERROR;
-       printf(AO_TELEM_GPS_STATE " %c "
-              AO_TELEM_GPS_NUM_SAT " %d ",
-              state,
-              (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
-       if (!(gps_data->flags & AO_GPS_VALID))
-               return;
-       printf(AO_TELEM_GPS_LATITUDE " %ld "
-              AO_TELEM_GPS_LONGITUDE " %ld "
-              AO_TELEM_GPS_ALTITUDE " %d ",
-              (long) gps_data->latitude,
-              (long) gps_data->longitude,
-              gps_data->altitude);
-
-       if (gps_data->flags & AO_GPS_DATE_VALID)
-               printf(AO_TELEM_GPS_YEAR " %d "
-                      AO_TELEM_GPS_MONTH " %d "
-                      AO_TELEM_GPS_DAY " %d ",
-                      gps_data->year,
-                      gps_data->month,
-                      gps_data->day);
-
-       printf(AO_TELEM_GPS_HOUR " %d "
-              AO_TELEM_GPS_MINUTE " %d "
-              AO_TELEM_GPS_SECOND " %d ",
-              gps_data->hour,
-              gps_data->minute,
-              gps_data->second);
-
-       printf(AO_TELEM_GPS_HDOP " %d ",
-              gps_data->hdop * 2);
-
-       if (gps_data->flags & AO_GPS_COURSE_VALID) {
-               printf(AO_TELEM_GPS_HERROR " %d "
-                      AO_TELEM_GPS_VERROR " %d "
-                      AO_TELEM_GPS_VERTICAL_SPEED " %d "
-                      AO_TELEM_GPS_HORIZONTAL_SPEED " %d "
-                      AO_TELEM_GPS_COURSE " %d ",
-                      gps_data->h_error,
-                      gps_data->v_error,
-                      gps_data->climb_rate,
-                      gps_data->ground_speed,
-                      (int) gps_data->course * 2);
-       }
-}
-
-void
-ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data) __reentrant
-{
-       uint8_t c, n, v;
-       __xdata struct ao_gps_sat_orig  *sat;
-
-       n = gps_tracking_data->channels;
-       if (n == 0)
-               return;
-
-       sat = gps_tracking_data->sats;
-       v = 0;
-       for (c = 0; c < n; c++) {
-               if (sat->svid)
-                       v++;
-               sat++;
-       }
-
-       printf (AO_TELEM_SAT_NUM " %d ",
-               v);
-
-       sat = gps_tracking_data->sats;
-       v = 0;
-       for (c = 0; c < n; c++) {
-               if (sat->svid) {
-                       printf (AO_TELEM_SAT_SVID "%d %d "
-                               AO_TELEM_SAT_C_N_0 "%d %d ",
-                               v, sat->svid,
-                               v, sat->c_n_1);
-                       v++;
-               }
-               sat++;
-       }
-}
diff --git a/src/core/ao_gps_report.c b/src/core/ao_gps_report.c
deleted file mode 100644 (file)
index 07201ac..0000000
+++ /dev/null
@@ -1,89 +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_gps_report(void)
-{
-       static __xdata struct ao_log_record             gps_log;
-       static __xdata struct ao_telemetry_location     gps_data;
-       static __xdata struct ao_telemetry_satellite    gps_tracking_data;
-       uint8_t date_reported = 0;
-       uint8_t new;
-
-       for (;;) {
-               while ((new = ao_gps_new) == 0)
-                       ao_sleep(&ao_gps_new);
-               ao_mutex_get(&ao_gps_mutex);
-               if (new & AO_GPS_NEW_DATA)
-                       ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
-               if (new & AO_GPS_NEW_TRACKING)
-                       ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
-               ao_gps_new = 0;
-               ao_mutex_put(&ao_gps_mutex);
-
-               if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
-                       gps_log.tick = ao_gps_tick;
-                       gps_log.type = AO_LOG_GPS_TIME;
-                       gps_log.u.gps_time.hour = gps_data.hour;
-                       gps_log.u.gps_time.minute = gps_data.minute;
-                       gps_log.u.gps_time.second = gps_data.second;
-                       gps_log.u.gps_time.flags = gps_data.flags;
-                       ao_log_data(&gps_log);
-                       gps_log.type = AO_LOG_GPS_LAT;
-                       gps_log.u.gps_latitude = gps_data.latitude;
-                       ao_log_data(&gps_log);
-                       gps_log.type = AO_LOG_GPS_LON;
-                       gps_log.u.gps_longitude = gps_data.longitude;
-                       ao_log_data(&gps_log);
-                       gps_log.type = AO_LOG_GPS_ALT;
-                       gps_log.u.gps_altitude.altitude = gps_data.altitude;
-                       gps_log.u.gps_altitude.unused = 0xffff;
-                       ao_log_data(&gps_log);
-                       if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
-                               gps_log.type = AO_LOG_GPS_DATE;
-                               gps_log.u.gps_date.year = gps_data.year;
-                               gps_log.u.gps_date.month = gps_data.month;
-                               gps_log.u.gps_date.day = gps_data.day;
-                               gps_log.u.gps_date.extra = 0;
-                               date_reported = ao_log_data(&gps_log);
-                       }
-               }
-               if (new & AO_GPS_NEW_TRACKING) {
-                       uint8_t c, n;
-
-                       if ((n = gps_tracking_data.channels) != 0) {
-                               gps_log.type = AO_LOG_GPS_SAT;
-                               for (c = 0; c < n; c++)
-                                       if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
-                                       {
-                                               gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
-                                               ao_log_data(&gps_log);
-                                       }
-                       }
-               }
-       }
-}
-
-__xdata struct ao_task ao_gps_report_task;
-
-void
-ao_gps_report_init(void)
-{
-       ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
-}
diff --git a/src/core/ao_gps_report_mega.c b/src/core/ao_gps_report_mega.c
deleted file mode 100644 (file)
index 5e3c71b..0000000
+++ /dev/null
@@ -1,90 +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_log.h"
-
-void
-ao_gps_report_mega(void)
-{
-       static __xdata struct ao_log_mega               gps_log;
-       static __xdata struct ao_telemetry_location     gps_data;
-       static __xdata struct ao_telemetry_satellite    gps_tracking_data;
-       uint8_t new;
-       uint8_t c, n, i;
-
-       for (;;) {
-               while (!(new = ao_gps_new))
-                       ao_sleep(&ao_gps_new);
-               ao_mutex_get(&ao_gps_mutex);
-               if (new & AO_GPS_NEW_DATA)
-                       ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
-               if (new & AO_GPS_NEW_TRACKING)
-                       ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
-               ao_gps_new = 0;
-               ao_mutex_put(&ao_gps_mutex);
-
-               if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
-                       gps_log.tick = ao_gps_tick;
-                       gps_log.type = AO_LOG_GPS_TIME;
-                       gps_log.u.gps.latitude = gps_data.latitude;
-                       gps_log.u.gps.longitude = gps_data.longitude;
-                       gps_log.u.gps.altitude = gps_data.altitude;
-
-                       gps_log.u.gps.hour = gps_data.hour;
-                       gps_log.u.gps.minute = gps_data.minute;
-                       gps_log.u.gps.second = gps_data.second;
-                       gps_log.u.gps.flags = gps_data.flags;
-                       gps_log.u.gps.year = gps_data.year;
-                       gps_log.u.gps.month = gps_data.month;
-                       gps_log.u.gps.day = gps_data.day;
-                       gps_log.u.gps.course = gps_data.course;
-                       gps_log.u.gps.ground_speed = gps_data.ground_speed;
-                       gps_log.u.gps.climb_rate = gps_data.climb_rate;
-                       gps_log.u.gps.pdop = gps_data.pdop;
-                       gps_log.u.gps.hdop = gps_data.hdop;
-                       gps_log.u.gps.vdop = gps_data.vdop;
-                       gps_log.u.gps.mode = gps_data.mode;
-                       ao_log_mega(&gps_log);
-               }
-               if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
-                       gps_log.tick = ao_gps_tick;
-                       gps_log.type = AO_LOG_GPS_SAT;
-                       i = 0;
-                       for (c = 0; c < n; c++)
-                               if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
-                               {
-                                       gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
-                                       i++;
-                                       if (i >= 12)
-                                               break;
-                               }
-                       gps_log.u.gps_sat.channels = i;
-                       ao_log_mega(&gps_log);
-               }
-       }
-}
-
-__xdata struct ao_task ao_gps_report_mega_task;
-
-void
-ao_gps_report_mega_init(void)
-{
-       ao_add_task(&ao_gps_report_mega_task,
-                   ao_gps_report_mega,
-                   "gps_report");
-}
diff --git a/src/core/ao_gps_report_metrum.c b/src/core/ao_gps_report_metrum.c
deleted file mode 100644 (file)
index 696a833..0000000
+++ /dev/null
@@ -1,96 +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_log.h"
-
-void
-ao_gps_report_metrum(void)
-{
-       static __xdata struct ao_log_metrum             gps_log;
-       static __xdata struct ao_telemetry_location     gps_data;
-       static __xdata struct ao_telemetry_satellite    gps_tracking_data;
-       uint8_t c, n, i;
-       uint8_t svid;
-       uint8_t new;
-
-       for (;;) {
-               while (!(new = ao_gps_new))
-                       ao_sleep(&ao_gps_new);
-               ao_mutex_get(&ao_gps_mutex);
-               if (new & AO_GPS_NEW_DATA)
-                       ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
-               if (new & AO_GPS_NEW_TRACKING)
-                       ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
-               ao_gps_new = 0;
-               ao_mutex_put(&ao_gps_mutex);
-
-               if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
-                       gps_log.tick = ao_gps_tick;
-                       gps_log.type = AO_LOG_GPS_POS;
-                       gps_log.u.gps.latitude = gps_data.latitude;
-                       gps_log.u.gps.longitude = gps_data.longitude;
-                       gps_log.u.gps.altitude = gps_data.altitude;
-                       ao_log_metrum(&gps_log);
-
-                       gps_log.type = AO_LOG_GPS_TIME;
-                       gps_log.u.gps_time.hour = gps_data.hour;
-                       gps_log.u.gps_time.minute = gps_data.minute;
-                       gps_log.u.gps_time.second = gps_data.second;
-                       gps_log.u.gps_time.flags = gps_data.flags;
-                       gps_log.u.gps_time.year = gps_data.year;
-                       gps_log.u.gps_time.month = gps_data.month;
-                       gps_log.u.gps_time.day = gps_data.day;
-                       ao_log_metrum(&gps_log);
-               }
-
-               if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels)) {
-                       gps_log.type = AO_LOG_GPS_SAT;
-                       gps_log.tick = ao_gps_tick;
-                       i = 0;
-                       for (c = 0; c < n; c++) {
-                               svid = gps_tracking_data.sats[c].svid;
-                               if (svid != 0) {
-                                       if (i == 4) {
-                                               gps_log.u.gps_sat.channels = i;
-                                               gps_log.u.gps_sat.more = 1;
-                                               ao_log_metrum(&gps_log);
-                                               i = 0;
-                                       }
-                                       gps_log.u.gps_sat.sats[i].svid = svid;
-                                       gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
-                                       i++;
-                               }
-                       }
-                       if (i) {
-                               gps_log.u.gps_sat.channels = i;
-                               gps_log.u.gps_sat.more = 0;
-                               ao_log_metrum(&gps_log);
-                       }
-               }
-       }
-}
-
-__xdata struct ao_task ao_gps_report_metrum_task;
-
-void
-ao_gps_report_metrum_init(void)
-{
-       ao_add_task(&ao_gps_report_metrum_task,
-                   ao_gps_report_metrum,
-                   "gps_report");
-}
diff --git a/src/core/ao_gps_show.c b/src/core/ao_gps_show.c
deleted file mode 100644 (file)
index 3a05e35..0000000
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- * Copyright © 2013 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_GPS_TEST
-#include <ao.h>
-#endif
-
-void
-ao_gps_show(void) __reentrant
-{
-       uint8_t i;
-       ao_mutex_get(&ao_gps_mutex);
-       printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
-       printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
-       printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude);
-       printf ("Alt: %d\n", ao_gps_data.altitude);
-       printf ("Flags: 0x%x\n", ao_gps_data.flags);
-       printf ("Sats: %d", ao_gps_tracking_data.channels);
-       for (i = 0; i < ao_gps_tracking_data.channels; i++)
-               printf (" %d %d",
-                       ao_gps_tracking_data.sats[i].svid,
-                       ao_gps_tracking_data.sats[i].c_n_1);
-       printf ("\ndone\n");
-       ao_mutex_put(&ao_gps_mutex);
-}
diff --git a/src/core/ao_host.h b/src/core/ao_host.h
deleted file mode 100644 (file)
index 6eb752c..0000000
+++ /dev/null
@@ -1,135 +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.
- */
-
-#define _GNU_SOURCE
-
-#include <stddef.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#define AO_ADC_RING    64
-#define ao_adc_ring_next(n)    (((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n)    (((n) - 1) & (AO_ADC_RING - 1))
-
-/*
- * One set of samples read from the A/D converter
- */
-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 */
-};
-
-#define __pdata
-#define __data
-#define __xdata
-#define __code
-#define __reentrant
-
-#define DATA_TO_XDATA(a)       (a)
-#define PDATA_TO_XDATA(a)      (a)
-#define CODE_TO_XDATA(a)       (a)
-
-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
-};
-
-struct ao_adc ao_adc_ring[AO_ADC_RING];
-uint8_t ao_adc_head;
-
-#define ao_led_on(l)
-#define ao_led_off(l)
-#define ao_timer_set_adc_interval(i)
-#define ao_wakeup(wchan) ao_dump_state(wchan)
-#define ao_cmd_register(c)
-#define ao_usb_disable()
-#define ao_telemetry_set_interval(x)
-#define ao_delay(x)
-
-enum ao_igniter {
-       ao_igniter_drogue = 0,
-       ao_igniter_main = 1
-};
-
-void
-ao_ignite(enum ao_igniter igniter)
-{
-       printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
-}
-
-struct ao_task {
-       int dummy;
-};
-
-#define ao_add_task(t,f,n)
-
-#define ao_log_start()
-#define ao_log_stop()
-
-#define AO_MS_TO_TICKS(ms)     ((ms) / 10)
-#define AO_SEC_TO_TICKS(s)     ((s) * 100)
-
-#define AO_FLIGHT_TEST
-
-struct ao_adc ao_adc_static;
-
-FILE *emulator_in;
-
-void
-ao_dump_state(void *wchan);
-
-void
-ao_sleep(void *wchan);
-
-const char const * const ao_state_names[] = {
-       "startup", "idle", "pad", "boost", "fast",
-       "coast", "drogue", "main", "landed", "invalid"
-};
-
-struct ao_cmds {
-       void            (*func)(void);
-       const char      *help;
-};
-
-
-struct ao_config {
-       uint16_t        main_deploy;
-       int16_t         accel_zero_g;
-};
-
-#define ao_config_get()
-
-struct ao_config ao_config = { 250, 16000 };
-
-#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
-#define ao_xmemset(d,v,c) memset(d,v,c)
-#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
deleted file mode 100644 (file)
index 823d003..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 <ao_data.h>
-#if AO_PYRO_NUM
-#include <ao_pyro.h>
-#endif
-
-#if HAS_IGNITE
-__xdata struct ao_ignition ao_ignition[2];
-
-void
-ao_ignite(enum ao_igniter igniter)
-{
-       ao_arch_block_interrupts();
-       ao_ignition[igniter].request = 1;
-       ao_wakeup(&ao_ignition);
-       ao_arch_release_interrupts();
-}
-
-#ifndef AO_SENSE_DROGUE
-#define AO_SENSE_DROGUE(p)     ((p)->adc.sense_d)
-#define AO_SENSE_MAIN(p)       ((p)->adc.sense_m)
-#endif
-
-enum ao_igniter_status
-ao_igniter_status(enum ao_igniter igniter)
-{
-       __xdata struct ao_data packet;
-       __pdata int16_t value;
-       __pdata uint8_t request, firing, fired;
-
-       ao_arch_critical(
-               ao_data_get(&packet);
-               request = ao_ignition[igniter].request;
-               fired = ao_ignition[igniter].fired;
-               firing = ao_ignition[igniter].firing;
-               );
-       if (firing || (request && !fired))
-               return ao_igniter_active;
-
-       value = (AO_IGNITER_CLOSED>>1);
-       switch (igniter) {
-       case ao_igniter_drogue:
-               value = AO_SENSE_DROGUE(&packet);
-               break;
-       case ao_igniter_main:
-               value = AO_SENSE_MAIN(&packet);
-               break;
-       }
-       if (value < AO_IGNITER_OPEN)
-               return ao_igniter_open;
-       else if (value > AO_IGNITER_CLOSED)
-               return ao_igniter_ready;
-       else
-               return ao_igniter_unknown;
-}
-
-#ifndef AO_IGNITER_SET_DROGUE
-#define AO_IGNITER_SET_DROGUE(v)       AO_IGNITER_DROGUE = (v)
-#define AO_IGNITER_SET_MAIN(v)         AO_IGNITER_MAIN = (v)
-#endif
-
-#ifndef AO_IGNITER_FIRE_TIME
-#define AO_IGNITER_FIRE_TIME           AO_MS_TO_TICKS(50)
-#endif
-
-#ifndef AO_IGNITER_CHARGE_TIME
-#define AO_IGNITER_CHARGE_TIME         AO_MS_TO_TICKS(2000)
-#endif
-
-void
-ao_igniter_fire(enum ao_igniter igniter)
-{
-       ao_ignition[igniter].firing = 1;
-       switch(ao_config.ignite_mode) {
-       case AO_IGNITE_MODE_DUAL:
-               switch (igniter) {
-               case ao_igniter_drogue:
-                       AO_IGNITER_SET_DROGUE(1);
-                       ao_delay(AO_IGNITER_FIRE_TIME);
-                       AO_IGNITER_SET_DROGUE(0);
-                       break;
-               case ao_igniter_main:
-                       AO_IGNITER_SET_MAIN(1);
-                       ao_delay(AO_IGNITER_FIRE_TIME);
-                       AO_IGNITER_SET_MAIN(0);
-                       break;
-               }
-               break;
-       case AO_IGNITE_MODE_APOGEE:
-               switch (igniter) {
-               case ao_igniter_drogue:
-                       AO_IGNITER_SET_DROGUE(1);
-                       ao_delay(AO_IGNITER_FIRE_TIME);
-                       AO_IGNITER_SET_DROGUE(0);
-                       ao_delay(AO_IGNITER_CHARGE_TIME);
-                       AO_IGNITER_SET_MAIN(1);
-                       ao_delay(AO_IGNITER_FIRE_TIME);
-                       AO_IGNITER_SET_MAIN(0);
-                       break;
-               default:
-                       break;
-               }
-               break;
-       case AO_IGNITE_MODE_MAIN:
-               switch (igniter) {
-               case ao_igniter_main:
-                       AO_IGNITER_SET_DROGUE(1);
-                       ao_delay(AO_IGNITER_FIRE_TIME);
-                       AO_IGNITER_SET_DROGUE(0);
-                       ao_delay(AO_IGNITER_CHARGE_TIME);
-                       AO_IGNITER_SET_MAIN(1);
-                       ao_delay(AO_IGNITER_FIRE_TIME);
-                       AO_IGNITER_SET_MAIN(0);
-                       break;
-               default:
-                       break;
-               }
-               break;
-       }
-       ao_ignition[igniter].firing = 0;
-}
-
-void
-ao_igniter(void)
-{
-       __xdata enum ao_igniter igniter;
-
-       ao_config_get();
-       for (;;) {
-               ao_sleep(&ao_ignition);
-               for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
-                       if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
-                               if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
-                                       ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
-
-                               ao_igniter_fire(igniter);
-                               ao_delay(AO_IGNITER_CHARGE_TIME);
-                               ao_ignition[igniter].fired = 1;
-                       }
-               }
-       }
-}
-
-#endif
-
-void
-ao_ignite_manual(void)
-{
-       ao_cmd_white();
-       if (!ao_match_word("DoIt"))
-               return;
-       ao_cmd_white();
-#if HAS_IGNITE
-       if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
-               ao_igniter_fire(ao_igniter_main);
-               return;
-       }
-       if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
-               ao_igniter_fire(ao_igniter_drogue);
-               return;
-       }
-#endif
-#if AO_PYRO_NUM
-       if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
-               ao_pyro_manual(ao_cmd_lex_c - '0');
-               return;
-       }
-#endif
-       ao_cmd_status = ao_cmd_syntax_error;
-}
-
-__code char * __code ao_igniter_status_names[] = {
-       "unknown", "ready", "active", "open"
-};
-
-#if HAS_IGNITE
-void
-ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
-{
-       enum ao_igniter_status status = ao_igniter_status(igniter);
-       printf("Igniter: %6s Status: %s\n",
-              name,
-              ao_igniter_status_names[status]);
-}
-#endif
-
-void
-ao_ignite_test(void)
-{
-#if HAS_IGNITE
-       ao_ignite_print_status(ao_igniter_drogue, "drogue");
-       ao_ignite_print_status(ao_igniter_main, "main");
-#endif
-#if AO_PYRO_NUM
-       ao_pyro_print_status();
-#endif
-}
-
-__code struct ao_cmds ao_ignite_cmds[] = {
-       { ao_ignite_manual,     "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
-       { ao_ignite_test,       "t\0Test igniter" },
-       { 0,    NULL },
-};
-
-#if HAS_IGNITE
-__xdata struct ao_task ao_igniter_task;
-
-void
-ao_ignite_set_pins(void)
-{
-       ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
-       ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
-}
-#endif
-
-void
-ao_igniter_init(void)
-{
-#if HAS_IGNITE
-       ao_ignite_set_pins();
-       ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
-#endif
-       ao_cmd_register(&ao_ignite_cmds[0]);
-}
diff --git a/src/core/ao_int64.c b/src/core/ao_int64.c
deleted file mode 100644 (file)
index aa23dbe..0000000
+++ /dev/null
@@ -1,158 +0,0 @@
-/*
- * Copyright © 2013 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_int64.h>
-
-__pdata ao_int64_t *__data ao_64r, *__data ao_64a, *__data ao_64b;
-
-void ao_plus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR {
-       __LOCAL uint32_t        t;
-
-       r->high = a->high + b->high;
-       t = a->low + b->low;
-       if (t < a->low)
-               r->high++;
-       r->low = t;
-}
-
-void ao_minus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR {
-       __LOCAL uint32_t        t;
-
-       r->high = a->high - b->high;
-       t = a->low - b->low;
-       if (t > a->low)
-               r->high--;
-       r->low = t;
-}
-
-void ao_rshift64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, uint8_t d) __FATTR {
-       if (d < 32) {
-               r->low = a->low >> d;
-               if (d)
-                       r->low |= a->high << (32 - d);
-               r->high = (int32_t) a->high >> d;
-       } else {
-               d &= 0x1f;
-               r->low = (int32_t) a->high >> d;
-               r->high = 0;
-       }
-}
-
-void ao_lshift64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, uint8_t d) __FATTR {
-       if (d < 32) {
-               r->high = a->high << d;
-               if (d)
-                       r->high |= a->low >> (32 - d);
-               r->low = a->low << d;
-       } else {
-               d &= 0x1f;
-               r->high = a->low << d;
-               r->low = 0;
-       }
-}
-
-static void ao_umul64_32_32(__ARG ao_int64_t *r, uint32_t a, uint32_t b) __reentrant {
-       __LOCAL uint32_t        s;
-       __LOCAL ao_int64_t      t;
-       r->low = (uint32_t) (uint16_t) a * (uint16_t) b;
-       r->high = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) (b >> 16);
-
-       s = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) b;
-
-       t.high = s >> 16;
-       t.low = s << 16;
-       ao_plus64(r, r, &t);
-
-       s = (uint32_t) (uint16_t) a * (uint16_t) (b >> 16);
-
-       t.high = s >> 16;
-       t.low = s << 16;
-       ao_plus64(r, r, &t);
-}
-
-void ao_neg64(__pdata ao_int64_t *r, __pdata ao_int64_t *a) __FATTR {
-       r->high = ~a->high;
-       if (!(r->low = ~a->low + 1))
-               r->high++;
-}
-
-void ao_mul64_32_32(__ARG ao_int64_t *r, int32_t a, int32_t b) __FATTR {
-       uint8_t         negative = 0;
-
-       if (a < 0) {
-               a = -a;
-               ++negative;
-       }
-       if (b < 0) {
-               b = -b;
-               --negative;
-       }
-       ao_umul64_32_32(r, a, b);
-       if (negative)
-               ao_neg64(r, r);
-}
-
-static void ao_umul64(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG ao_int64_t *b) __reentrant {
-       __LOCAL ao_int64_t      r2, r3;
-
-       ao_umul64_32_32(&r2, a->high, b->low);
-       ao_umul64_32_32(&r3, a->low, b->high);
-       ao_umul64_32_32(r, a->low, b->low);
-
-       r->high += r2.low + r3.low;
-}
-
-static __ARG ao_int64_t        ap, bp;
-
-void ao_mul64(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG ao_int64_t *b) __FATTR {
-       uint8_t negative = 0;
-
-       if (ao_int64_negativep(a)) {
-               ao_neg64(&ap, a);
-               a = &ap;
-               ++negative;
-       }
-       if (ao_int64_negativep(b)) {
-               ao_neg64(&bp, b);
-               b = &bp;
-               --negative;
-       }
-       ao_umul64(r, a, b);
-       if (negative)
-               ao_neg64(r, r);
-}
-
-static void ao_umul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, uint16_t b) __reentrant {
-       __LOCAL uint32_t h;
-
-       h = a->high * b;
-       ao_umul64_32_32(r, a->low, b);
-       r->high += h;
-}
-
-void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR {
-       uint8_t         negative = 0;
-
-       if ((int32_t) a->high < 0) {
-               ao_neg64(&ap, a);
-               a = &ap;
-               negative++;
-       } else
-               ao_umul64_64_16(r, a, b);
-       if (negative)
-               ao_neg64(r, r);
-}
diff --git a/src/core/ao_int64.h b/src/core/ao_int64.h
deleted file mode 100644 (file)
index b16db58..0000000
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
- * Copyright © 2013 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_INT64_H_
-#define _AO_INT64_H_
-
-#include <stdint.h>
-
-typedef struct {
-       uint32_t        high;
-       uint32_t        low;
-} ao_int64_t;
-
-#define __FATTR
-#define __ARG __pdata
-#define __LOCAL static __pdata
-
-void ao_plus64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, __pdata ao_int64_t *ao_64b) __FATTR;
-void ao_minus64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, __pdata ao_int64_t *ao_64b) __FATTR;
-void ao_neg64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a) __FATTR;
-void ao_rshift64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, uint8_t d) __FATTR;
-void ao_lshift64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, uint8_t d) __FATTR;
-void ao_mul64_32_32(__ARG ao_int64_t *r, __ARG int32_t a, __ARG int32_t b) __FATTR;
-void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR;
-void ao_mul64(__ARG ao_int64_t * __ARG r, __ARG ao_int64_t * __ARG a, __ARG ao_int64_t *__ARG b) __FATTR;
-
-#define ao_int64_init32(r, a) (((r)->high = 0), (r)->low = (a))
-#define ao_int64_init64(r, a, b) (((r)->high = (a)), (r)->low = (b))
-
-#define ao_cast64(a) (((int64_t) (a)->high << 32) | (a)->low)
-
-#define ao_int64_negativep(a)  (((int32_t) (a)->high) < 0)
-
-#endif /* _AO_INT64_H_ */
diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
deleted file mode 100644 (file)
index 9aea1f1..0000000
+++ /dev/null
@@ -1,295 +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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#include "ao_flight.h"
-#endif
-
-#include "ao_sample.h"
-#include "ao_kalman.h"
-
-
-static __pdata int32_t         ao_k_height;
-static __pdata int32_t         ao_k_speed;
-static __pdata int32_t         ao_k_accel;
-
-#define AO_K_STEP_100          to_fix16(0.01)
-#define AO_K_STEP_2_2_100      to_fix16(0.00005)
-
-#define AO_K_STEP_10           to_fix16(0.1)
-#define AO_K_STEP_2_2_10       to_fix16(0.005)
-
-#define AO_K_STEP_1            to_fix16(1)
-#define AO_K_STEP_2_2_1                to_fix16(0.5)
-
-__pdata int16_t                        ao_height;
-__pdata int16_t                        ao_speed;
-__pdata int16_t                        ao_accel;
-__xdata int16_t                        ao_max_height;
-static __pdata int32_t         ao_avg_height_scaled;
-__xdata int16_t                        ao_avg_height;
-
-__pdata int16_t                        ao_error_h;
-__pdata int16_t                        ao_error_h_sq_avg;
-
-#if HAS_ACCEL
-__pdata int16_t                        ao_error_a;
-#endif
-
-static void
-ao_kalman_predict(void)
-{
-#ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50) {
-               ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 +
-                               (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
-               ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1;
-
-               return;
-       }
-       if (ao_sample_tick - ao_sample_prev_tick > 5) {
-               ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
-                               (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
-               ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
-
-               return;
-       }
-       if (ao_flight_debug) {
-               printf ("predict speed %g + (%g * %g) = %g\n",
-                       ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
-                       (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
-       }
-#endif
-       ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
-                       (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
-       ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
-}
-
-static void
-ao_kalman_err_height(void)
-{
-       int16_t e;
-       int16_t height_distrust;
-#if HAS_ACCEL
-       int16_t speed_distrust;
-#endif
-
-       ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16);
-
-       e = ao_error_h;
-       if (e < 0)
-               e = -e;
-       if (e > 127)
-               e = 127;
-#if HAS_ACCEL
-       ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2;
-       ao_error_h_sq_avg += (e * e) >> 2;
-#else
-       ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
-       ao_error_h_sq_avg += (e * e) >> 4;
-#endif
-
-       if (ao_flight_state >= ao_flight_drogue)
-               return;
-       height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
-#if HAS_ACCEL
-       /* speed is stored * 16, but we need to ramp between 200 and 328, so
-        * we want to multiply by 2. The result is a shift by 3.
-        */
-       speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
-       if (speed_distrust <= 0)
-               speed_distrust = 0;
-       else if (speed_distrust > height_distrust)
-               height_distrust = speed_distrust;
-#endif
-       if (height_distrust > 0) {
-#ifdef AO_FLIGHT_TEST
-               int     old_ao_error_h = ao_error_h;
-#endif
-               if (height_distrust > 0x100)
-                       height_distrust = 0x100;
-               ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8);
-#ifdef AO_FLIGHT_TEST
-               if (ao_flight_debug) {
-                       printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
-                              (double) (ao_sample_alt - AO_MAX_BARO_HEIGHT),
-                              (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
-                              height_distrust / 256.0,
-                              old_ao_error_h, ao_error_h);
-               }
-#endif
-       }
-}
-
-static void
-ao_kalman_correct_baro(void)
-{
-       ao_kalman_err_height();
-#ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50) {
-               ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h;
-               ao_k_speed  += (int32_t) AO_BARO_K1_1 * ao_error_h;
-               ao_k_accel  += (int32_t) AO_BARO_K2_1 * ao_error_h;
-               return;
-       }
-       if (ao_sample_tick - ao_sample_prev_tick > 5) {
-               ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
-               ao_k_speed  += (int32_t) AO_BARO_K1_10 * ao_error_h;
-               ao_k_accel  += (int32_t) AO_BARO_K2_10 * ao_error_h;
-               return;
-       }
-#endif
-       ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
-       ao_k_speed  += (int32_t) AO_BARO_K1_100 * ao_error_h;
-       ao_k_accel  += (int32_t) AO_BARO_K2_100 * ao_error_h;
-}
-
-#if HAS_ACCEL
-
-static void
-ao_kalman_err_accel(void)
-{
-       int32_t accel;
-
-       accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
-
-       /* Can't use ao_accel here as it is the pre-prediction value still */
-       ao_error_a = (accel - ao_k_accel) >> 16;
-}
-
-#ifndef FORCE_ACCEL
-static void
-ao_kalman_correct_both(void)
-{
-       ao_kalman_err_height();
-       ao_kalman_err_accel();
-
-#ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50) {
-               if (ao_flight_debug) {
-                       printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
-                               ao_k_speed / (65536.0 * 16.0),
-                               (double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
-                               (double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
-                               (ao_k_speed +
-                                (int32_t) AO_BOTH_K10_1 * ao_error_h +
-                                (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
-               }
-               ao_k_height +=
-                       (int32_t) AO_BOTH_K00_1 * ao_error_h +
-                       (int32_t) AO_BOTH_K01_1 * ao_error_a;
-               ao_k_speed +=
-                       (int32_t) AO_BOTH_K10_1 * ao_error_h +
-                       (int32_t) AO_BOTH_K11_1 * ao_error_a;
-               ao_k_accel +=
-                       (int32_t) AO_BOTH_K20_1 * ao_error_h +
-                       (int32_t) AO_BOTH_K21_1 * ao_error_a;
-               return;
-       }
-       if (ao_sample_tick - ao_sample_prev_tick > 5) {
-               if (ao_flight_debug) {
-                       printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
-                               ao_k_speed / (65536.0 * 16.0),
-                               (double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
-                               (double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
-                               (ao_k_speed +
-                                (int32_t) AO_BOTH_K10_10 * ao_error_h +
-                                (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
-               }
-               ao_k_height +=
-                       (int32_t) AO_BOTH_K00_10 * ao_error_h +
-                       (int32_t) AO_BOTH_K01_10 * ao_error_a;
-               ao_k_speed +=
-                       (int32_t) AO_BOTH_K10_10 * ao_error_h +
-                       (int32_t) AO_BOTH_K11_10 * ao_error_a;
-               ao_k_accel +=
-                       (int32_t) AO_BOTH_K20_10 * ao_error_h +
-                       (int32_t) AO_BOTH_K21_10 * ao_error_a;
-               return;
-       }
-       if (ao_flight_debug) {
-               printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
-                       ao_k_speed / (65536.0 * 16.0),
-                       (double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
-                       (double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
-                       (ao_k_speed +
-                        (int32_t) AO_BOTH_K10_100 * ao_error_h +
-                        (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
-       }
-#endif
-       ao_k_height +=
-               (int32_t) AO_BOTH_K00_100 * ao_error_h +
-               (int32_t) AO_BOTH_K01_100 * ao_error_a;
-       ao_k_speed +=
-               (int32_t) AO_BOTH_K10_100 * ao_error_h +
-               (int32_t) AO_BOTH_K11_100 * ao_error_a;
-       ao_k_accel +=
-               (int32_t) AO_BOTH_K20_100 * ao_error_h +
-               (int32_t) AO_BOTH_K21_100 * ao_error_a;
-}
-
-#else
-
-static void
-ao_kalman_correct_accel(void)
-{
-       ao_kalman_err_accel();
-
-       if (ao_sample_tick - ao_sample_prev_tick > 5) {
-               ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
-               ao_k_speed  += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
-               ao_k_accel  += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
-               return;
-       }
-       ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
-       ao_k_speed  += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
-       ao_k_accel  += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
-}
-
-#endif /* else FORCE_ACCEL */
-#endif /* HAS_ACCEL */
-
-void
-ao_kalman(void)
-{
-       ao_kalman_predict();
-#if HAS_ACCEL
-       if (ao_flight_state <= ao_flight_coast) {
-#ifdef FORCE_ACCEL
-               ao_kalman_correct_accel();
-#else
-               ao_kalman_correct_both();
-#endif
-       } else
-#endif
-               ao_kalman_correct_baro();
-       ao_height = from_fix(ao_k_height);
-       ao_speed = from_fix(ao_k_speed);
-       ao_accel = from_fix(ao_k_accel);
-       if (ao_height > ao_max_height)
-               ao_max_height = ao_height;
-       ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
-#ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50)
-               ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
-       else if (ao_sample_tick - ao_sample_prev_tick > 5)
-               ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
-       else 
-#endif
-               ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
-}
diff --git a/src/core/ao_lcd.h b/src/core/ao_lcd.h
deleted file mode 100644 (file)
index f7e1391..0000000
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
- * Copyright © 2012 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_LCD_H_
-#define _AO_LCD_H_
-
-/* ao_lcd.c */
-  
-void
-ao_lcd_putchar(uint8_t d);
-
-void
-ao_lcd_putstring(char *string);
-
-void
-ao_lcd_contrast_set(uint8_t contrast);
-
-void
-ao_lcd_clear(void);
-
-void
-ao_lcd_cursor_on(void);
-
-void
-ao_lcd_cursor_off(void);
-
-#define AO_LCD_ADDR(row,col)   ((row << 6) | (col))
-
-void
-ao_lcd_goto(uint8_t addr);
-
-void
-ao_lcd_start(void);
-
-void
-ao_lcd_init(void);
-
-/* ao_lcd_port.c */
-
-void
-ao_lcd_port_put_nibble(uint8_t rs, uint8_t d);
-
-void
-ao_lcd_port_init(void);
-
-#endif /* _AO_LCD_H_ */
diff --git a/src/core/ao_led.h b/src/core/ao_led.h
deleted file mode 100644 (file)
index d9a0914..0000000
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
- * Copyright © 2012 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_LED_H_
-#define _AO_LED_H_
-
-/*
- * ao_led.c
- */
-
-#define AO_LED_NONE    0
-
-#ifndef AO_LED_TYPE
-#define AO_LED_TYPE uint8_t
-#endif
-
-/* Turn on the specified LEDs */
-void
-ao_led_on(AO_LED_TYPE colors);
-
-/* Turn off the specified LEDs */
-void
-ao_led_off(AO_LED_TYPE colors);
-
-/* Set all of the LEDs to the specified state */
-void
-ao_led_set(AO_LED_TYPE colors);
-
-/* Set all LEDs in 'mask' to the specified state */
-void
-ao_led_set_mask(uint8_t colors, uint8_t mask);
-
-/* Toggle the specified LEDs */
-void
-ao_led_toggle(AO_LED_TYPE colors);
-
-/* Turn on the specified LEDs for the indicated interval */
-void
-ao_led_for(AO_LED_TYPE colors, uint16_t ticks) __reentrant;
-
-/* Initialize the LEDs */
-void
-ao_led_init(AO_LED_TYPE enable);
-
-#endif /* _AO_LED_H_ */
diff --git a/src/core/ao_list.h b/src/core/ao_list.h
deleted file mode 100644 (file)
index 8a6fa4d..0000000
+++ /dev/null
@@ -1,213 +0,0 @@
-/*
- * Copyright © 2012 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_LIST_H_
-#define _AO_LIST_H_
-
-#include <stddef.h>
-
-struct ao_list {
-       struct ao_list  *next, *prev;
-};
-
-static inline void
-ao_list_init(struct ao_list *list)
-{
-       list->next = list->prev = list;
-}
-
-static inline void
-__ao_list_add(struct ao_list *list, struct ao_list *prev, struct ao_list *next)
-{
-       next->prev = list;
-       list->next = next;
-       list->prev = prev;
-       prev->next = list;
-}
-
-/**
- * Insert a new element after the given list head. The new element does not
- * need to be initialised as empty list.
- * The list changes from:
- *      head → some element → ...
- * to
- *      head → new element → older element → ...
- *
- * Example:
- * struct foo *newfoo = malloc(...);
- * ao_list_add(&newfoo->entry, &bar->list_of_foos);
- *
- * @param entry The new element to prepend to the list.
- * @param head The existing list.
- */
-static inline void
-ao_list_insert(struct ao_list *entry, struct ao_list *head)
-{
-    __ao_list_add(entry, head, head->next);
-}
-
-/**
- * Append a new element to the end of the list given with this list head.
- *
- * The list changes from:
- *      head → some element → ... → lastelement
- * to
- *      head → some element → ... → lastelement → new element
- *
- * Example:
- * struct foo *newfoo = malloc(...);
- * ao_list_append(&newfoo->entry, &bar->list_of_foos);
- *
- * @param entry The new element to prepend to the list.
- * @param head The existing list.
- */
-static inline void
-ao_list_append(struct ao_list *entry, struct ao_list *head)
-{
-    __ao_list_add(entry, head->prev, head);
-}
-
-static inline void
-__ao_list_del(struct ao_list *prev, struct ao_list *next)
-{
-    next->prev = prev;
-    prev->next = next;
-}
-
-/**
- * Remove the element from the list it is in. Using this function will reset
- * the pointers to/from this element so it is removed from the list. It does
- * NOT free the element itself or manipulate it otherwise.
- *
- * Using ao_list_del on a pure list head (like in the example at the top of
- * this file) will NOT remove the first element from
- * the list but rather reset the list as empty list.
- *
- * Example:
- * ao_list_del(&foo->entry);
- *
- * @param entry The element to remove.
- */
-static inline void
-ao_list_del(struct ao_list *entry)
-{
-    __ao_list_del(entry->prev, entry->next);
-    ao_list_init(entry);
-}
-
-/**
- * Check if the list is empty.
- *
- * Example:
- * ao_list_is_empty(&bar->list_of_foos);
- *
- * @return True if the list contains one or more elements or False otherwise.
- */
-static inline uint8_t
-ao_list_is_empty(struct ao_list *head)
-{
-    return head->next == head;
-}
-
-/**
- * Returns a pointer to the container of this list element.
- *
- * Example:
- * struct foo* f;
- * f = container_of(&foo->entry, struct foo, entry);
- * assert(f == foo);
- *
- * @param ptr Pointer to the struct ao_list.
- * @param type Data type of the list element.
- * @param member Member name of the struct ao_list field in the list element.
- * @return A pointer to the data struct containing the list head.
- */
-#define ao_container_of(ptr, type, member) \
-       ((type *)((char *)(ptr) - offsetof(type, member)))
-
-/**
- * Alias of ao_container_of
- */
-#define ao_list_entry(ptr, type, member) \
-    ao_container_of(ptr, type, member)
-
-/**
- * Retrieve the first list entry for the given list pointer.
- *
- * Example:
- * struct foo *first;
- * first = ao_list_first_entry(&bar->list_of_foos, struct foo, list_of_foos);
- *
- * @param ptr The list head
- * @param type Data type of the list element to retrieve
- * @param member Member name of the struct ao_list field in the list element.
- * @return A pointer to the first list element.
- */
-#define ao_list_first_entry(ptr, type, member) \
-    ao_list_entry((ptr)->next, type, member)
-
-/**
- * Retrieve the last list entry for the given listpointer.
- *
- * Example:
- * struct foo *first;
- * first = ao_list_last_entry(&bar->list_of_foos, struct foo, list_of_foos);
- *
- * @param ptr The list head
- * @param type Data type of the list element to retrieve
- * @param member Member name of the struct ao_list field in the list element.
- * @return A pointer to the last list element.
- */
-#define ao_list_last_entry(ptr, type, member) \
-    ao_list_entry((ptr)->prev, type, member)
-
-/**
- * Loop through the list given by head and set pos to struct in the list.
- *
- * Example:
- * struct foo *iterator;
- * ao_list_for_each_entry(iterator, &bar->list_of_foos, entry) {
- *      [modify iterator]
- * }
- *
- * This macro is not safe for node deletion. Use ao_list_for_each_entry_safe
- * instead.
- *
- * @param pos Iterator variable of the type of the list elements.
- * @param head List head
- * @param member Member name of the struct ao_list in the list elements.
- *
- */
-#define ao_list_for_each_entry(pos, head, type, member)                        \
-    for (pos = ao_container_of((head)->next, type, member);            \
-        &pos->member != (head);                                        \
-        pos = ao_container_of(pos->member.next, type, member))
-
-/**
- * Loop through the list, keeping a backup pointer to the element. This
- * macro allows for the deletion of a list element while looping through the
- * list.
- *
- * See ao_list_for_each_entry for more details.
- */
-#define ao_list_for_each_entry_safe(pos, tmp, head, type, member)              \
-       for ((pos = ao_container_of((head)->next, type, member)),               \
-            (tmp = ao_container_of(pos->member.next, type, member));           \
-            &pos->member != (head);                                            \
-            (pos = tmp), (tmp = ao_container_of(pos->member.next, type, member)))
-
-#endif /* _AO_LIST_H_ */
diff --git a/src/core/ao_log.c b/src/core/ao_log.c
deleted file mode 100644 (file)
index 20febef..0000000
+++ /dev/null
@@ -1,291 +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_log.h>
-#include <ao_config.h>
-
-__pdata uint32_t ao_log_current_pos;
-__pdata uint32_t ao_log_end_pos;
-__pdata uint32_t ao_log_start_pos;
-__xdata uint8_t        ao_log_running;
-__pdata enum ao_flight_state ao_log_state;
-__xdata uint16_t ao_flight_number;
-
-void
-ao_log_flush(void)
-{
-       ao_storage_flush();
-}
-
-/*
- * When erasing a flight log, make sure the config block
- * has an up-to-date version of the current flight number
- */
-
-struct ao_log_erase {
-       uint8_t unused;
-       uint16_t flight;
-};
-
-static __xdata struct ao_log_erase erase;
-
-#define LOG_MAX_ERASE  16
-
-static uint32_t
-ao_log_erase_pos(uint8_t i)
-{
-       return i * sizeof (struct ao_log_erase) + AO_CONFIG_MAX_SIZE;
-}
-
-void
-ao_log_write_erase(uint8_t pos)
-{
-       erase.unused = 0x00;
-       erase.flight = ao_flight_number;
-       ao_config_write(ao_log_erase_pos(pos),  &erase, sizeof (erase));
-       ao_config_flush();
-}
-
-static void
-ao_log_read_erase(uint8_t pos)
-{
-       ao_config_read(ao_log_erase_pos(pos), &erase, sizeof (erase));
-}
-
-
-static void
-ao_log_erase_mark(void)
-{
-       uint8_t                         i;
-
-       for (i = 0; i < LOG_MAX_ERASE; i++) {
-               ao_log_read_erase(i);
-               if (erase.unused == 0 && erase.flight == ao_flight_number)
-                       return;
-               if (erase.unused == 0xff) {
-                       ao_log_write_erase(i);
-                       return;
-               }
-       }
-       ao_config_put();
-}
-
-static uint8_t
-ao_log_slots()
-{
-       return (uint8_t) (ao_storage_log_max / ao_config.flight_log_max);
-}
-
-uint32_t
-ao_log_pos(uint8_t slot)
-{
-       return ((slot) * ao_config.flight_log_max);
-}
-
-static uint16_t
-ao_log_max_flight(void)
-{
-       uint8_t         log_slot;
-       uint8_t         log_slots;
-       uint16_t        log_flight;
-       uint16_t        max_flight = 0;
-
-       /* Scan the log space looking for the biggest flight number */
-       log_slots = ao_log_slots();
-       for (log_slot = 0; log_slot < log_slots; log_slot++) {
-               log_flight = ao_log_flight(log_slot);
-               if (!log_flight)
-                       continue;
-               if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
-                       max_flight = log_flight;
-       }
-       return max_flight;
-}
-
-void
-ao_log_scan(void) __reentrant
-{
-       uint8_t         log_slot;
-       uint8_t         log_slots;
-       uint8_t         log_want;
-
-       ao_config_get();
-
-       ao_flight_number = ao_log_max_flight();
-       if (ao_flight_number)
-               if (++ao_flight_number == 0)
-                       ao_flight_number = 1;
-
-       /* Now look through the log of flight numbers from erase operations and
-        * see if the last one is bigger than what we found above
-        */
-       for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) {
-               ao_log_read_erase(log_slot);
-               if (erase.unused == 0) {
-                       if (ao_flight_number == 0 ||
-                           (int16_t) (erase.flight - ao_flight_number) > 0)
-                               ao_flight_number = erase.flight;
-                       break;
-               }
-       }
-       if (ao_flight_number == 0)
-               ao_flight_number = 1;
-
-       /* With a flight number in hand, find a place to write a new log,
-        * use the target flight number to index the available log slots so
-        * that we write logs to each spot about the same number of times.
-        */
-
-       /* Find a log slot for the next flight, if available */
-       ao_log_current_pos = ao_log_end_pos = 0;
-       log_slots = ao_log_slots();
-       log_want = (ao_flight_number - 1) % log_slots;
-       log_slot = log_want;
-       do {
-               if (ao_log_flight(log_slot) == 0) {
-                       ao_log_current_pos = ao_log_pos(log_slot);
-                       ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
-                       break;
-               }
-               if (++log_slot >= log_slots)
-                       log_slot = 0;
-       } while (log_slot != log_want);
-
-       ao_wakeup(&ao_flight_number);
-}
-
-void
-ao_log_start(void)
-{
-       /* start logging */
-       ao_log_running = 1;
-       ao_wakeup(&ao_log_running);
-}
-
-void
-ao_log_stop(void)
-{
-       ao_log_running = 0;
-       ao_log_flush();
-}
-
-uint8_t
-ao_log_present(void)
-{
-       return ao_log_max_flight() != 0;
-}
-
-uint8_t
-ao_log_full(void)
-{
-       return ao_log_current_pos == ao_log_end_pos;
-}
-
-#if HAS_ADC
-static __xdata struct ao_task ao_log_task;
-#endif
-
-void
-ao_log_list(void) __reentrant
-{
-       uint8_t slot;
-       uint8_t slots;
-       uint16_t flight;
-
-       slots = ao_log_slots();
-       for (slot = 0; slot < slots; slot++)
-       {
-               flight = ao_log_flight(slot);
-               if (flight)
-                       printf ("flight %d start %x end %x\n",
-                               flight,
-                               (uint16_t) (ao_log_pos(slot) >> 8),
-                               (uint16_t) (ao_log_pos(slot+1) >> 8));
-       }
-       printf ("done\n");
-}
-
-void
-ao_log_delete(void) __reentrant
-{
-       uint8_t slot;
-       uint8_t slots;
-
-       ao_cmd_decimal();
-       if (ao_cmd_status != ao_cmd_success)
-               return;
-
-       slots = ao_log_slots();
-       /* Look for the flight log matching the requested flight */
-       if (ao_cmd_lex_i) {
-               for (slot = 0; slot < slots; slot++) {
-                       if (ao_log_flight(slot) == ao_cmd_lex_i) {
-                               ao_log_erase_mark();
-                               ao_log_current_pos = ao_log_pos(slot);
-                               ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
-                               while (ao_log_current_pos < ao_log_end_pos) {
-                                       uint8_t i;
-                                       static __xdata uint8_t b;
-
-                                       /*
-                                        * Check to see if we've reached the end of
-                                        * the used memory to avoid re-erasing the same
-                                        * memory over and over again
-                                        */
-                                       for (i = 0; i < 16; i++) {
-                                               if (ao_storage_read(ao_log_current_pos + i, &b, 1))
-                                                       if (b != 0xff)
-                                                               break;
-                                       }
-                                       if (i == 16)
-                                               break;
-                                       ao_storage_erase(ao_log_current_pos);
-                                       ao_log_current_pos += ao_storage_block;
-                               }
-                               puts("Erased");
-                               return;
-                       }
-               }
-       }
-       printf("No such flight: %d\n", ao_cmd_lex_i);
-}
-
-__code struct ao_cmds ao_log_cmds[] = {
-       { ao_log_list,  "l\0List logs" },
-       { ao_log_delete,        "d <flight-number>\0Delete flight" },
-       { 0,    NULL },
-};
-
-void
-ao_log_init(void)
-{
-       ao_log_running = 0;
-
-       /* For now, just log the flight starting at the begining of eeprom */
-       ao_log_state = ao_flight_invalid;
-
-       ao_cmd_register(&ao_log_cmds[0]);
-
-#ifndef HAS_ADC
-#error Define HAS_ADC for ao_log.c
-#endif
-#if HAS_ADC
-       /* Create a task to log events to eeprom */
-       ao_add_task(&ao_log_task, ao_log, "log");
-#endif
-}
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
deleted file mode 100644 (file)
index 09f3118..0000000
+++ /dev/null
@@ -1,386 +0,0 @@
-/*
- * Copyright © 2012 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_LOG_H_
-#define _AO_LOG_H_
-
-#include <ao_flight.h>
-
-/*
- * 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 ao_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_TELEMEGA         5       /* 32 byte typed telemega records */
-#define AO_LOG_FORMAT_EASYMINI         6       /* 16-byte MS5607 baro only, 3.0V supply */
-#define AO_LOG_FORMAT_TELEMETRUM       7       /* 16-byte typed telemetrum records */
-#define AO_LOG_FORMAT_TELEMINI         8       /* 16-byte MS5607 baro only, 3.3V supply */
-#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_GPS_POS         'P'
-
-#define AO_LOG_POS_NONE                (~0UL)
-
-struct ao_log_record {
-       char                    type;                           /* 0 */
-       uint8_t                 csum;                           /* 1 */
-       uint16_t                tick;                           /* 2 */
-       union {
-               struct {
-                       int16_t         ground_accel;           /* 4 */
-                       uint16_t        flight;                 /* 6 */
-               } flight;
-               struct {
-                       int16_t         accel;                  /* 4 */
-                       int16_t         pres;                   /* 6 */
-               } 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;
-};
-
-struct ao_log_mega {
-       char                    type;                   /* 0 */
-       uint8_t                 csum;                   /* 1 */
-       uint16_t                tick;                   /* 2 */
-       union {                                         /* 4 */
-               /* AO_LOG_FLIGHT */
-               struct {
-                       uint16_t        flight;                 /* 4 */
-                       int16_t         ground_accel;           /* 6 */
-                       uint32_t        ground_pres;            /* 8 */
-                       int16_t         ground_accel_along;     /* 16 */
-                       int16_t         ground_accel_across;    /* 12 */
-                       int16_t         ground_accel_through;   /* 14 */
-                       int16_t         ground_roll;            /* 18 */
-                       int16_t         ground_pitch;           /* 20 */
-                       int16_t         ground_yaw;             /* 22 */
-               } flight;                                       /* 24 */
-               /* AO_LOG_STATE */
-               struct {
-                       uint16_t        state;
-                       uint16_t        reason;
-               } state;
-               /* AO_LOG_SENSOR */
-               struct {
-                       uint32_t        pres;           /* 4 */
-                       uint32_t        temp;           /* 8 */
-                       int16_t         accel_x;        /* 12 */
-                       int16_t         accel_y;        /* 14 */
-                       int16_t         accel_z;        /* 16 */
-                       int16_t         gyro_x;         /* 18 */
-                       int16_t         gyro_y;         /* 20 */
-                       int16_t         gyro_z;         /* 22 */
-                       int16_t         mag_x;          /* 24 */
-                       int16_t         mag_y;          /* 26 */
-                       int16_t         mag_z;          /* 28 */
-                       int16_t         accel;          /* 30 */
-               } sensor;       /* 32 */
-               /* AO_LOG_TEMP_VOLT */
-               struct {
-                       int16_t         v_batt;         /* 4 */
-                       int16_t         v_pbatt;        /* 6 */
-                       int16_t         n_sense;        /* 8 */
-                       int16_t         sense[10];      /* 10 */
-                       uint16_t        pyro;           /* 30 */
-               } volt;                                 /* 32 */
-               /* AO_LOG_GPS_TIME */
-               struct {
-                       int32_t         latitude;       /* 4 */
-                       int32_t         longitude;      /* 8 */
-                       int16_t         altitude;       /* 12 */
-                       uint8_t         hour;           /* 14 */
-                       uint8_t         minute;         /* 15 */
-                       uint8_t         second;         /* 16 */
-                       uint8_t         flags;          /* 17 */
-                       uint8_t         year;           /* 18 */
-                       uint8_t         month;          /* 19 */
-                       uint8_t         day;            /* 20 */
-                       uint8_t         course;         /* 21 */
-                       uint16_t        ground_speed;   /* 22 */
-                       int16_t         climb_rate;     /* 24 */
-                       uint8_t         pdop;           /* 26 */
-                       uint8_t         hdop;           /* 27 */
-                       uint8_t         vdop;           /* 28 */
-                       uint8_t         mode;           /* 29 */
-               } gps;  /* 30 */
-               /* AO_LOG_GPS_SAT */
-               struct {
-                       uint16_t        channels;       /* 4 */
-                       struct {
-                               uint8_t svid;
-                               uint8_t c_n;
-                       } sats[12];                     /* 6 */
-               } gps_sat;                              /* 30 */
-       } u;
-};
-
-struct ao_log_metrum {
-       char                    type;                   /* 0 */
-       uint8_t                 csum;                   /* 1 */
-       uint16_t                tick;                   /* 2 */
-       union {                                         /* 4 */
-               /* AO_LOG_FLIGHT */
-               struct {
-                       uint16_t        flight;         /* 4 */
-                       int16_t         ground_accel;   /* 6 */
-                       uint32_t        ground_pres;    /* 8 */
-                       uint32_t        ground_temp;    /* 12 */
-               } flight;       /* 16 */
-               /* AO_LOG_STATE */
-               struct {
-                       uint16_t        state;          /* 4 */
-                       uint16_t        reason;         /* 6 */
-               } state;        /* 8 */
-               /* AO_LOG_SENSOR */
-               struct {
-                       uint32_t        pres;           /* 4 */
-                       uint32_t        temp;           /* 8 */
-                       int16_t         accel;          /* 12 */
-               } sensor;       /* 14 */
-               /* AO_LOG_TEMP_VOLT */
-               struct {
-                       int16_t         v_batt;         /* 4 */
-                       int16_t         sense_a;        /* 6 */
-                       int16_t         sense_m;        /* 8 */
-               } volt;         /* 10 */
-               /* AO_LOG_GPS_POS */
-               struct {
-                       int32_t         latitude;       /* 4 */
-                       int32_t         longitude;      /* 8 */
-                       int16_t         altitude;       /* 12 */
-               } gps;          /* 14 */
-               /* AO_LOG_GPS_TIME */
-               struct {
-                       uint8_t         hour;           /* 4 */
-                       uint8_t         minute;         /* 5 */
-                       uint8_t         second;         /* 6 */
-                       uint8_t         flags;          /* 7 */
-                       uint8_t         year;           /* 8 */
-                       uint8_t         month;          /* 9 */
-                       uint8_t         day;            /* 10 */
-                       uint8_t         pad;            /* 11 */
-               } gps_time;     /* 12 */
-               /* AO_LOG_GPS_SAT (up to three packets) */
-               struct {
-                       uint8_t channels;               /* 4 */
-                       uint8_t more;                   /* 5 */
-                       struct {
-                               uint8_t svid;
-                               uint8_t c_n;
-                       } sats[4];                      /* 6 */
-               } gps_sat;                              /* 14 */
-               uint8_t         raw[12];                /* 4 */
-       } u;    /* 16 */
-};
-
-struct ao_log_mini {
-       char            type;                           /* 0 */
-       uint8_t         csum;                           /* 1 */
-       uint16_t        tick;                           /* 2 */
-       union {                                         /* 4 */
-               /* AO_LOG_FLIGHT */
-               struct {
-                       uint16_t        flight;         /* 4 */
-                       uint16_t        r6;
-                       uint32_t        ground_pres;    /* 8 */
-               } flight;
-               /* AO_LOG_STATE */
-               struct {
-                       uint16_t        state;          /* 4 */
-                       uint16_t        reason;         /* 6 */
-               } state;
-               /* AO_LOG_SENSOR */
-               struct {
-                       uint8_t         pres[3];        /* 4 */
-                       uint8_t         temp[3];        /* 7 */
-                       int16_t         sense_a;        /* 10 */
-                       int16_t         sense_m;        /* 12 */
-                       int16_t         v_batt;         /* 14 */
-               } sensor;                               /* 16 */
-       } u;                                            /* 16 */
-};                                                     /* 16 */
-
-#define ao_log_pack24(dst,value) do {          \
-               (dst)[0] = (value);             \
-               (dst)[1] = (value) >> 8;        \
-               (dst)[2] = (value) >> 16;       \
-       } while (0)
-
-/* Write a record to the eeprom log */
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant;
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
-
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
-
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
-
-void
-ao_log_flush(void);
-
-void
-ao_gps_report_metrum_init(void);
-
-#endif /* _AO_LOG_H_ */
diff --git a/src/core/ao_log_big.c b/src/core/ao_log_big.c
deleted file mode 100644 (file)
index db01f46..0000000
+++ /dev/null
@@ -1,162 +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"
-
-static __xdata uint8_t ao_log_mutex;
-static __xdata struct ao_log_record log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
-       uint8_t sum = 0x5a;
-       uint8_t i;
-
-       for (i = 0; i < sizeof (struct ao_log_record); i++)
-               sum += *b++;
-       return -sum;
-}
-
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant
-{
-       uint8_t wrote = 0;
-       /* set checksum */
-       log->csum = 0;
-       log->csum = ao_log_csum((__xdata uint8_t *) log);
-       ao_mutex_get(&ao_log_mutex); {
-               if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-                       ao_log_stop();
-               if (ao_log_running) {
-                       wrote = 1;
-                       ao_storage_write(ao_log_current_pos,
-                                        log,
-                                        sizeof (struct ao_log_record));
-                       ao_log_current_pos += sizeof (struct ao_log_record);
-               }
-       } ao_mutex_put(&ao_log_mutex);
-       return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
-       if (ao_log_csum((uint8_t *) &log) != 0)
-               return 0;
-       return 1;
-}
-
-static __data uint8_t  ao_log_data_pos;
-
-/* a hack to make sure that ao_log_records fill the eeprom block in even units */
-typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
-
-#ifndef AO_SENSOR_INTERVAL_ASCENT
-#define AO_SENSOR_INTERVAL_ASCENT      1
-#define AO_SENSOR_INTERVAL_DESCENT     10
-#define AO_OTHER_INTERVAL              32
-#endif
-
-void
-ao_log(void)
-{
-       __pdata uint16_t        next_sensor, next_other;
-
-       ao_storage_setup();
-
-       ao_log_scan();
-
-       while (!ao_log_running)
-               ao_sleep(&ao_log_running);
-
-       log.type = AO_LOG_FLIGHT;
-       log.tick = ao_sample_tick;
-#if HAS_ACCEL
-       log.u.flight.ground_accel = ao_ground_accel;
-#endif
-       log.u.flight.flight = ao_flight_number;
-       ao_log_data(&log);
-
-       /* Write the whole contents of the ring to the log
-        * when starting up.
-        */
-       ao_log_data_pos = ao_data_ring_next(ao_sample_data);
-       next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
-       ao_log_state = ao_flight_startup;
-       for (;;) {
-               /* Write samples to EEPROM */
-               while (ao_log_data_pos != ao_sample_data) {
-                       log.tick = ao_data_ring[ao_log_data_pos].tick;
-                       if ((int16_t) (log.tick - next_sensor) >= 0) {
-                               log.type = AO_LOG_SENSOR;
-                               log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
-                               log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres;
-                               ao_log_data(&log);
-                               if (ao_log_state <= ao_flight_coast)
-                                       next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
-                               else
-                                       next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
-                       }
-                       if ((int16_t) (log.tick - next_other) >= 0) {
-                               log.type = AO_LOG_TEMP_VOLT;
-                               log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp;
-                               log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
-                               ao_log_data(&log);
-                               log.type = AO_LOG_DEPLOY;
-                               log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d;
-                               log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m;
-                               ao_log_data(&log);
-                               next_other = log.tick + AO_OTHER_INTERVAL;
-                       }
-                       ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
-               }
-               /* Write state change to EEPROM */
-               if (ao_flight_state != ao_log_state) {
-                       ao_log_state = ao_flight_state;
-                       log.type = AO_LOG_STATE;
-                       log.tick = ao_sample_tick;
-                       log.u.state.state = ao_log_state;
-                       log.u.state.reason = 0;
-                       ao_log_data(&log);
-
-                       if (ao_log_state == ao_flight_landed)
-                               ao_log_stop();
-               }
-
-               /* Wait for a while */
-               ao_delay(AO_MS_TO_TICKS(100));
-
-               /* Stop logging when told to */
-               while (!ao_log_running)
-                       ao_sleep(&ao_log_running);
-       }
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
-       if (!ao_storage_read(ao_log_pos(slot),
-                            &log,
-                            sizeof (struct ao_log_record)))
-               return 0;
-
-       if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-               return log.u.flight.flight;
-       return 0;
-}
diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c
deleted file mode 100644 (file)
index 768947d..0000000
+++ /dev/null
@@ -1,199 +0,0 @@
-/*
- * Copyright © 2012 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_log.h>
-#include <ao_data.h>
-#include <ao_flight.h>
-
-static __xdata uint8_t ao_log_mutex;
-static __xdata struct ao_log_mega log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
-       uint8_t sum = 0x5a;
-       uint8_t i;
-
-       for (i = 0; i < sizeof (struct ao_log_mega); i++)
-               sum += *b++;
-       return -sum;
-}
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
-{
-       uint8_t wrote = 0;
-       /* set checksum */
-       log->csum = 0;
-       log->csum = ao_log_csum((__xdata uint8_t *) log);
-       ao_mutex_get(&ao_log_mutex); {
-               if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-                       ao_log_stop();
-               if (ao_log_running) {
-                       wrote = 1;
-                       ao_storage_write(ao_log_current_pos,
-                                        log,
-                                        sizeof (struct ao_log_mega));
-                       ao_log_current_pos += sizeof (struct ao_log_mega);
-               }
-       } ao_mutex_put(&ao_log_mutex);
-       return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
-       if (ao_log_csum((uint8_t *) &log) != 0)
-               return 0;
-       return 1;
-}
-
-#if HAS_ADC
-static __data uint8_t  ao_log_data_pos;
-
-/* a hack to make sure that ao_log_megas fill the eeprom block in even units */
-typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
-
-#ifndef AO_SENSOR_INTERVAL_ASCENT
-#define AO_SENSOR_INTERVAL_ASCENT      1
-#define AO_SENSOR_INTERVAL_DESCENT     10
-#define AO_OTHER_INTERVAL              32
-#endif
-
-void
-ao_log(void)
-{
-       __pdata uint16_t        next_sensor, next_other;
-       uint8_t                 i;
-
-       ao_storage_setup();
-
-       ao_log_scan();
-
-       while (!ao_log_running)
-               ao_sleep(&ao_log_running);
-
-#if HAS_FLIGHT
-       log.type = AO_LOG_FLIGHT;
-       log.tick = ao_sample_tick;
-#if HAS_ACCEL
-       log.u.flight.ground_accel = ao_ground_accel;
-#endif
-#if HAS_GYRO
-       log.u.flight.ground_accel_along = ao_ground_accel_along;
-       log.u.flight.ground_accel_across = ao_ground_accel_across;
-       log.u.flight.ground_accel_through = ao_ground_accel_through;
-       log.u.flight.ground_pitch = ao_ground_pitch;
-       log.u.flight.ground_yaw = ao_ground_yaw;
-       log.u.flight.ground_roll = ao_ground_roll;
-#endif
-       log.u.flight.ground_pres = ao_ground_pres;
-       log.u.flight.flight = ao_flight_number;
-       ao_log_mega(&log);
-#endif
-
-       /* Write the whole contents of the ring to the log
-        * when starting up.
-        */
-       ao_log_data_pos = ao_data_ring_next(ao_data_head);
-       next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
-       ao_log_state = ao_flight_startup;
-       for (;;) {
-               /* Write samples to EEPROM */
-               while (ao_log_data_pos != ao_data_head) {
-                       log.tick = ao_data_ring[ao_log_data_pos].tick;
-                       if ((int16_t) (log.tick - next_sensor) >= 0) {
-                               log.type = AO_LOG_SENSOR;
-#if HAS_MS5607
-                               log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
-                               log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
-#endif
-#if HAS_MPU6000
-                               log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
-                               log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
-                               log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
-                               log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
-                               log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
-                               log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
-#endif
-#if HAS_HMC5883
-                               log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
-                               log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
-                               log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
-#endif
-                               log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
-                               ao_log_mega(&log);
-                               if (ao_log_state <= ao_flight_coast)
-                                       next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
-                               else
-                                       next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
-                       }
-                       if ((int16_t) (log.tick - next_other) >= 0) {
-                               log.type = AO_LOG_TEMP_VOLT;
-                               log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
-                               log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt;
-                               log.u.volt.n_sense = AO_ADC_NUM_SENSE;
-                               for (i = 0; i < AO_ADC_NUM_SENSE; i++)
-                                       log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
-                               log.u.volt.pyro = ao_pyro_fired;
-                               ao_log_mega(&log);
-                               next_other = log.tick + AO_OTHER_INTERVAL;
-                       }
-                       ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
-               }
-#if HAS_FLIGHT
-               /*&nb