return odt.toEpochSecond();
}
+ public AltosLatLon lat_lon() {
+ return new AltosLatLon(lat, lon);
+ }
+
public AltosGPS(AltosTelemetryMap map) throws ParseException {
String state = map.get_string(AltosTelemetryLegacy.AO_TELEM_GPS_STATE,
AltosTelemetryLegacy.AO_TELEM_GPS_STATE_ERROR);
return false;
}
- public void show(AltosGPS gps, int state) {
-
+ public void show(AltosGPS gps, double time, int state, double gps_height) {
/*
* If insufficient gps data, nothing to update
*/
}
if (path != null) {
- AltosMapRectangle damage = path.add(gps.lat, gps.lon, state);
+ AltosMapRectangle damage = path.add(gps, time, state, gps_height);
if (damage != null)
repaint(damage, AltosMapPath.stroke_width);
}
public void show(AltosState state, AltosListenerState listener_state) {
- show(state.gps, state.state());
+ show(state.gps, state.time, state.state(), state.gps_height());
}
public void centre(AltosLatLon lat_lon) {
centre(lat_lon);
}
- public void add_mark(double lat, double lon, int state) {
+ public AltosMapMark add_mark(double lat, double lon, int state) {
+ AltosMapMark mark;
synchronized(marks) {
- AltosMapMark mark = map_interface.new_mark(lat, lon, state);
+ mark = map_interface.new_mark(lat, lon, state);
if (mark != null)
marks.add(mark);
}
repaint();
+ return mark;
+ }
+
+ public void del_mark(AltosMapMark mark) {
+ marks.remove(mark);
}
public void clear_marks() {
drag_stop(x, y);
}
+ public AltosMapPathPoint nearest(int x, int y) {
+ notice_user_input();
+ if (path == null)
+ return null;
+ AltosLatLon at = transform.screen_lat_lon(new AltosPointInt(x, y));
+ return path.nearest(at);
+ }
+
public AltosMap(AltosMapInterface map_interface, int scale) {
this.map_interface = map_interface;
this.scale = scale;
public abstract void paint(AltosMapTransform t);
- public AltosMapRectangle add(double lat, double lon, int state) {
- AltosMapPathPoint point = new AltosMapPathPoint(new AltosLatLon (lat, lon), state);
+ public AltosMapRectangle add(AltosGPS gps, double time, int state, double gps_height) {
+ AltosMapPathPoint point = new AltosMapPathPoint(gps, time, state, gps_height);
AltosMapRectangle rect = null;
if (!point.equals(last_point)) {
if (last_point != null)
- rect = new AltosMapRectangle(last_point.lat_lon, point.lat_lon);
+ rect = new AltosMapRectangle(last_point.gps.lat_lon(), point.gps.lat_lon());
points.add (point);
last_point = point;
}
return rect;
}
+ private double dist(AltosLatLon lat_lon, AltosMapPathPoint point) {
+ return (new AltosGreatCircle(lat_lon.lat,
+ lat_lon.lon,
+ point.gps.lat,
+ point.gps.lon)).distance;
+ }
+
+ public AltosMapPathPoint nearest(AltosLatLon lat_lon) {
+ AltosMapPathPoint nearest = null;
+ double nearest_dist = 0;
+ for (AltosMapPathPoint point : points) {
+ if (nearest == null) {
+ nearest = point;
+ nearest_dist = dist(lat_lon, point);
+ } else {
+ double d = dist(lat_lon, point);
+ if (d < nearest_dist) {
+ nearest = point;
+ nearest_dist = d;
+ }
+ }
+ }
+ return nearest;
+ }
+
public void clear () {
points = new LinkedList<AltosMapPathPoint>();
}
import java.util.concurrent.*;
public class AltosMapPathPoint {
- public AltosLatLon lat_lon;
+ public AltosGPS gps;
+ public double time;
public int state;
+ public double gps_height;
public int hashCode() {
- return lat_lon.hashCode() ^ state;
+ return Double.valueOf(gps.lat).hashCode() ^ Double.valueOf(gps.lon).hashCode() ^ state;
}
public boolean equals(Object o) {
AltosMapPathPoint other = (AltosMapPathPoint) o;
- return lat_lon.equals(other.lat_lon) && state == other.state;
+ return gps.lat == other.gps.lat && gps.lon == other.gps.lon && state == other.state;
}
- public AltosMapPathPoint(AltosLatLon lat_lon, int state) {
- this.lat_lon = lat_lon;
+ public AltosMapPathPoint(AltosGPS gps, double time, int state, double gps_height) {
+ this.gps = gps;
+ this.time = time;
this.state = state;
+ this.gps_height = gps_height;
}
}
return lat_lon(screen_point(screen));
}
- public AltosPointDouble point(AltosLatLon lat_lon) {
+ public AltosPointDouble point(double lat, double lon) {
double x, y;
double e;
- x = lat_lon.lon * scale_x;
+ x = lon * scale_x;
- e = Math.sin(Math.toRadians(lat_lon.lat));
+ e = Math.sin(Math.toRadians(lat));
e = Math.max(e,-(1-1.0E-15));
e = Math.min(e, 1-1.0E-15 );
return new AltosPointDouble(x, y);
}
+ public AltosPointDouble point(AltosLatLon lat_lon) {
+ return point(lat_lon.lat, lat_lon.lon);
+ }
+
public AltosPointDouble screen(AltosPointDouble point) {
return new AltosPointDouble(point.x - offset_x, point.y - offset_y);
}
return screen(point(lat_lon));
}
+ public AltosPointDouble screen(double lat, double lon) {
+ return screen(point(lat, lon));
+ }
+
private boolean has_location;
public boolean has_location() {
void fill_map(AltosFlightSeries flight_series) {
boolean any_gps = false;
AltosGPSTimeValue gtv_last = null;
+ double gps_pad_altitude = flight_series.cal_data().gps_pad_altitude;;
if (flight_series.gps_series != null) {
for (AltosGPSTimeValue gtv : flight_series.gps_series) {
gps.nsat >= 4) {
if (map == null)
map = new AltosUIMap();
- map.show(gps, (int) flight_series.value_before(AltosFlightSeries.state_name, gtv.time));
+ double gps_height = gps.alt - gps_pad_altitude;
+ int state = (int) flight_series.value_before(AltosFlightSeries.state_name, gtv.time);
+ map.show(gps, gtv.time, state, gps_height);
this.gps = gps;
gtv_last = gtv;
has_gps = true;
}
if (gtv_last != null) {
int state = (int) flight_series.value_after(AltosFlightSeries.state_name, gtv_last.time);
+ double gps_height = gps.alt - gps_pad_altitude;
if (state == AltosLib.ao_flight_landed)
- map.show(gtv_last.gps, state);
+ map.show(gtv_last.gps, gtv_last.time, state,gps_height);
}
}
Graphics2D g;
Font tile_font;
Font line_font;
+ AltosMapMark nearest_mark;
static Point2D.Double point2d(AltosPointDouble pt) {
return new Point2D.Double(pt.x, pt.y);
map.touch_continue(e.getPoint().x, e.getPoint().y, is_drag_event(e));
}
+ String pos(double p, String pos, String neg) {
+ if (p == AltosLib.MISSING)
+ return "";
+ String h = pos;
+ if (p < 0) {
+ h = neg;
+ p = -p;
+ }
+ int deg = (int) Math.floor(p);
+ double min = (p - Math.floor(p)) * 60.0;
+ return String.format("%s %4d° %9.6f'", h, deg, min);
+ }
+
+ String height(double h, String label) {
+ if (h == AltosLib.MISSING)
+ return "";
+ return String.format(" %s%s",
+ AltosConvert.height.show(6, h),
+ label);
+ }
+
+ String speed(double s, String label) {
+ if (s == AltosLib.MISSING)
+ return "";
+ return String.format(" %s%s",
+ AltosConvert.speed.show(6, s),
+ label);
+ }
+
public void mouseMoved(MouseEvent e) {
+ AltosMapPathPoint point = map.nearest(e.getPoint().x, e.getPoint().y);
+
+ if (nearest_mark == null)
+ nearest_mark = map.add_mark(point.gps.lat,
+ point.gps.lon,
+ point.state);
+ else {
+ nearest_mark.lat_lon.lat = point.gps.lat;
+ nearest_mark.lat_lon.lon = point.gps.lon;
+ nearest_mark.state = point.state;
+ }
+ if (point != null) {
+ nearest_label.setText(String.format("%9.2f sec %s%s%s%s",
+ point.time,
+ pos(point.gps.lat,
+ "N", "S"),
+ pos(point.gps.lon,
+ "E", "W"),
+ height(point.gps_height, ""),
+ speed(point.gps.ground_speed, "(h)"),
+ speed(point.gps.climb_rate, "(v)")));
+ } else {
+ nearest_label.setText("");
+ }
+ repaint();
}
/* MouseListener methods */
g.setStroke(new BasicStroke(stroke_width, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
for (AltosMapPathPoint point : points) {
- Point2D.Double cur = point2d(t.screen(point.lat_lon));
+ Point2D.Double cur = point2d(t.screen(point.gps.lat, point.gps.lon));
if (prev != null) {
Line2D.Double line = new Line2D.Double (prev, cur);
Rectangle bounds = line.getBounds();
public void set_font() {
tile_font = AltosUILib.value_font;
line_font = AltosUILib.status_font;
+ if (nearest_label != null)
+ nearest_label.setFont(AltosUILib.value_font);
}
public void font_size_changed(int font_size) {
JLabel zoom_label;
+ JLabel nearest_label;
+
public void set_maptype(int type) {
/*
map.set_maptype(type);
map.show(state, listener_state);
}
- public void show(AltosGPS gps, int state) {
- map.show(gps, state);
+ public void show(AltosGPS gps, double time, int state, double gps_height) {
+ map.show(gps, time, state, gps_height);
}
public String getName() {
c.weighty = 0;
add(zoom_out, c);
+
+ nearest_label = new JLabel("", JLabel.LEFT);
+ nearest_label.setFont(tile_font);
+
+ c = new GridBagConstraints();
+ c.anchor = GridBagConstraints.CENTER;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.gridx = 0;
+ c.gridy = 11;
+ c.weightx = 0;
+ c.weighty = 0;
+ c.gridwidth = 1;
+ c.gridheight = 1;
+ add(nearest_label, c);
/*
maptype_combo = new JComboBox<String>(map.maptype_labels);
ao_ee_flush_internal();
ao_ee_block = block;
}
- ao_xmemcpy(ao_ee_data + (uint16_t) (pos & 0xff), buf, len);
+ memcpy(ao_ee_data + (uint16_t) (pos & 0xff), buf, len);
ao_ee_block_dirty = 1;
} ao_mutex_put(&ao_ee_mutex);
return 1;
/* Transfer the data */
ao_mutex_get(&ao_ee_mutex); {
ao_ee_fill(block);
- ao_xmemcpy(buf, ao_ee_data + (uint16_t) (pos & 0xff), len);
+ memcpy(buf, ao_ee_data + (uint16_t) (pos & 0xff), len);
} ao_mutex_put(&ao_ee_mutex);
return 1;
}
ao_mutex_get(&ao_ee_mutex); {
ao_ee_flush_internal();
ao_ee_block = (uint16_t) (pos >> EE_BLOCK_SHIFT);
- ao_xmemset(ao_ee_data, 0xff, EE_BLOCK_SIZE);
+ memset(ao_ee_data, 0xff, EE_BLOCK_SIZE);
ao_ee_block_dirty = 1;
} ao_mutex_put(&ao_ee_mutex);
return 1;
int16_t apogee = ao_ignite_decivolt(AO_SENSE_DROGUE(&packet));
#endif
#ifdef AO_SENSE_MAIN
- int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
+ int16_t main_value = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
#endif
return sprintf((char *) buf,
apogee%10
#endif
#ifdef AO_SENSE_MAIN
- , main/10,
- main%10
+ , main_value/10,
+ main_value%10
#endif
, ao_serial_number
);
ao_flash_flush_internal();
ao_flash_block = block;
}
- ao_xmemcpy(ao_flash_data + (uint16_t) (pos & ao_flash_block_mask),
+ memcpy(ao_flash_data + (uint16_t) (pos & ao_flash_block_mask),
buf,
len);
ao_flash_block_dirty = 1;
/* Transfer the data */
ao_mutex_get(&ao_flash_mutex); {
ao_flash_fill(block);
- ao_xmemcpy(buf,
+ memcpy(buf,
ao_flash_data + (uint16_t) (pos & ao_flash_block_mask),
len);
} ao_mutex_put(&ao_flash_mutex);
ao_mutex_get(&ao_flash_mutex); {
ao_flash_flush_internal();
ao_flash_block = (uint16_t) (pos >> ao_flash_block_shift);
- ao_xmemset(ao_flash_data, 0xff, ao_flash_block_size);
+ memset(ao_flash_data, 0xff, ao_flash_block_size);
ao_flash_block_dirty = 1;
} ao_mutex_put(&ao_flash_mutex);
return 1;
--- /dev/null
+/*
+ * Copyright © 2019 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_bmx160.h>
+#include <ao_exti.h>
+
+static uint8_t ao_bmx160_configured;
+
+#define ao_bmx160_spi_get() ao_spi_get(AO_BMX160_SPI_BUS, AO_SPI_SPEED_8MHz)
+#define ao_bmx160_spi_put() ao_spi_put(AO_BMX160_SPI_BUS)
+
+#define ao_bmx160_spi_start() ao_spi_set_cs(AO_BMX160_SPI_CS_PORT, \
+ (1 << AO_BMX160_SPI_CS_PIN))
+
+#define ao_bmx160_spi_end() ao_spi_clr_cs(AO_BMX160_SPI_CS_PORT, \
+ (1 << AO_BMX160_SPI_CS_PIN))
+
+static void
+_ao_bmx160_reg_write(uint8_t addr, uint8_t value)
+{
+ uint8_t d[2] = { addr, value };
+ ao_bmx160_spi_start();
+ ao_spi_send(d, 2, AO_BMX160_SPI_BUS);
+ ao_bmx160_spi_end();
+}
+
+static void
+_ao_bmx160_read(uint8_t addr, void *data, uint8_t len)
+{
+ addr |= 0x80;
+ ao_bmx160_spi_start();
+ ao_spi_send(&addr, 1, AO_BMX160_SPI_BUS);
+ ao_spi_recv(data, len, AO_BMX160_SPI_BUS);
+ ao_bmx160_spi_end();
+}
+
+static uint8_t
+_ao_bmx160_reg_read(uint8_t addr)
+{
+ uint8_t value;
+ addr |= 0x80;
+ ao_bmx160_spi_start();
+ ao_spi_send(&addr, 1, AO_BMX160_SPI_BUS);
+ ao_spi_recv(&value, 1, AO_BMX160_SPI_BUS);
+ ao_bmx160_spi_end();
+ return value;
+}
+
+static void
+_ao_bmx160_cmd(uint8_t cmd)
+{
+ _ao_bmx160_reg_write(BMX160_CMD, cmd);
+ ao_delay(AO_MS_TO_TICKS(100));
+}
+
+static void
+_ao_bmx160_mag_setup(void)
+{
+ _ao_bmx160_reg_write(BMX160_MAG_IF_0, 0x80);
+}
+
+static void
+_ao_bmm150_wait_manual(void)
+{
+ while (_ao_bmx160_reg_read(BMX160_STATUS) & (1 << BMX160_STATUS_MAG_MAN_OP))
+ ;
+}
+
+static void
+_ao_bmm150_reg_write(uint8_t addr, uint8_t data)
+{
+ _ao_bmx160_reg_write(BMX160_MAG_IF_3, data);
+ _ao_bmx160_reg_write(BMX160_MAG_IF_2, addr);
+ _ao_bmm150_wait_manual();
+}
+
+#if BMX160_TEST
+static uint8_t
+_ao_bmm150_reg_read(uint8_t addr)
+{
+ _ao_bmx160_reg_write(BMX160_MAG_IF_1, addr);
+ _ao_bmm150_wait_manual();
+ return _ao_bmx160_reg_read(BMX160_DATA_0);
+}
+#endif
+
+static void
+_ao_bmx160_sample(struct ao_bmx160_sample *sample)
+{
+ _ao_bmx160_read(BMX160_MAG_X_0_7, sample, sizeof (*sample));
+#if __BYTE_ORDER != __LITTLE_ENDIAN
+ int i = sizeof (*sample) / 2;
+ uint16_t *d = (uint16_t *) sample;
+
+ /* byte swap */
+ while (i--) {
+ uint16_t t = *d;
+ *d++ = (t >> 8) | (t << 8);
+ }
+#endif
+}
+
+#define G 981 /* in cm/s² */
+
+#if 0
+static int16_t /* cm/s² */
+ao_bmx160_accel(int16_t v)
+{
+ return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
+}
+
+static int16_t /* deg*10/s */
+ao_bmx160_gyro(int16_t v)
+{
+ return (int16_t) ((v * (int32_t) 20000) / 32767);
+}
+
+static uint8_t
+ao_bmx160_accel_check(int16_t normal, int16_t test)
+{
+ int16_t diff = test - normal;
+
+ if (diff < BMX160_ST_ACCEL(16) / 4) {
+ return 1;
+ }
+ if (diff > BMX160_ST_ACCEL(16) * 4) {
+ return 1;
+ }
+ return 0;
+}
+
+static uint8_t
+ao_bmx160_gyro_check(int16_t normal, int16_t test)
+{
+ int16_t diff = test - normal;
+
+ if (diff < 0)
+ diff = -diff;
+ if (diff < BMX160_ST_GYRO(2000) / 4) {
+ return 1;
+ }
+ if (diff > BMX160_ST_GYRO(2000) * 4) {
+ return 1;
+ }
+ return 0;
+}
+#endif
+
+static void
+_ao_bmx160_wait_alive(void)
+{
+ uint8_t i;
+
+ /* Wait for the chip to wake up */
+ for (i = 0; i < 30; i++) {
+ ao_delay(AO_MS_TO_TICKS(100));
+ if (_ao_bmx160_reg_read(BMX160_CHIPID) == BMX160_CHIPID_BMX160)
+ break;
+ }
+ if (i == 30)
+ ao_panic(AO_PANIC_SELF_TEST_BMX160);
+}
+
+#define ST_TRIES 10
+#define MAG_TRIES 10
+
+static void
+_ao_bmx160_setup(void)
+{
+ if (ao_bmx160_configured)
+ return;
+
+ /* Make sure the chip is responding */
+ _ao_bmx160_wait_alive();
+
+ /* Reboot */
+ _ao_bmx160_cmd(BMX160_CMD_SOFTRESET);
+
+ /* Force SPI mode */
+ _ao_bmx160_reg_write(BMX160_NV_CONF, 1 << BMX160_NV_CONF_SPI_EN);
+
+ /* Configure accelerometer:
+ *
+ * undersampling disabled
+ * normal filter
+ * 200Hz sampling rate
+ * 16g range
+ *
+ * This yields a 3dB cutoff frequency of 80Hz
+ */
+ _ao_bmx160_reg_write(BMX160_ACC_CONF,
+ (0 << BMX160_ACC_CONF_ACC_US) |
+ (BMX160_ACC_CONF_ACC_BWP_NORMAL << BMX160_ACC_CONF_ACC_BWP) |
+ (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR));
+ _ao_bmx160_reg_write(BMX160_ACC_RANGE,
+ BMX160_ACC_RANGE_16G);
+
+ /* Configure gyro:
+ *
+ * 200Hz sampling rate
+ * Normal filter mode
+ * ±2000°/s
+ */
+ _ao_bmx160_reg_write(BMX160_GYR_CONF,
+ (BMX160_GYR_CONF_GYR_BWP_NORMAL << BMX160_GYR_CONF_GYR_BWP) |
+ (BMX160_GYR_CONF_GYR_ODR_200 << BMX160_GYR_CONF_GYR_ODR));
+ _ao_bmx160_reg_write(BMX160_GYR_RANGE,
+ BMX160_GYR_RANGE_2000);
+
+
+ /* Configure magnetometer:
+ *
+ * 30Hz sampling rate
+ * power on
+ * axes enabled
+ */
+ _ao_bmx160_cmd(BMX160_CMD_MAG_IF_SET_PMU_MODE(BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL));
+
+ /* Enter setup mode */
+ _ao_bmx160_mag_setup();
+
+ /* Place in suspend mode to reboot the chip */
+ _ao_bmm150_reg_write(BMM150_POWER_MODE,
+ (0 << BMM150_POWER_MODE_POWER_CONTROL));
+
+ /* Power on */
+ _ao_bmm150_reg_write(BMM150_POWER_MODE,
+ (1 << BMM150_POWER_MODE_POWER_CONTROL));
+
+ /* Set data rate and place in sleep mode */
+ _ao_bmm150_reg_write(BMM150_CONTROL,
+ (BMM150_CONTROL_DATA_RATE_30 << BMM150_CONTROL_DATA_RATE) |
+ (BMM150_CONTROL_OP_MODE_SLEEP << BMM150_CONTROL_OP_MODE));
+
+ /* enable all axes (should already be enabled) */
+ _ao_bmm150_reg_write(BMM150_INT_CONF,
+ (0 << BMM150_INT_CONF_X_DISABLE) |
+ (0 << BMM150_INT_CONF_Y_DISABLE) |
+ (0 << BMM150_INT_CONF_Z_DISABLE));
+
+ /* Set repetition values (?) */
+ _ao_bmm150_reg_write(BMM150_REPXY, BMM150_REPXY_VALUE(9));
+ _ao_bmm150_reg_write(BMM150_REPZ, BMM150_REPZ_VALUE(15));
+
+ /* To get data out of the magnetometer, set the control op mode to 'forced', then read
+ * from the data registers
+ */
+ _ao_bmx160_reg_write(BMX160_MAG_IF_3, (BMM150_CONTROL_OP_MODE_FORCED << BMM150_CONTROL_OP_MODE));
+ _ao_bmx160_reg_write(BMX160_MAG_IF_2, BMM150_CONTROL);
+ _ao_bmx160_reg_write(BMX160_MAG_IF_1, BMM150_DATA_X_0_4);
+
+ /* Set data rate to 200Hz */
+ _ao_bmx160_reg_write(BMX160_MAG_CONF,
+ (BMX160_MAG_CONF_MAG_ODR_200 << BMX160_MAG_CONF_MAG_ODR));
+
+ /* Put magnetometer interface back into 'normal mode'
+ */
+ _ao_bmx160_reg_write(BMX160_MAG_IF_0,
+ (0 << BMX160_MAG_IF_0_MAG_MANUAL_EN) |
+ (0 << BMX160_MAG_IF_0_MAG_OFFSET) |
+ (0 << BMX160_MAG_IF_0_MAG_RD_BURST));
+
+ /* Enable acc and gyr
+ */
+
+ _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
+ _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
+ ao_bmx160_configured = 1;
+}
+
+struct ao_bmx160_sample ao_bmx160_current;
+
+static void
+ao_bmx160(void)
+{
+ struct ao_bmx160_sample sample;
+
+ /* ao_bmx160_init already grabbed the SPI bus and mutex */
+ _ao_bmx160_setup();
+ ao_bmx160_spi_put();
+ for (;;)
+ {
+ ao_bmx160_spi_get();
+ _ao_bmx160_sample(&sample);
+ ao_bmx160_spi_put();
+ ao_arch_block_interrupts();
+ ao_bmx160_current = sample;
+ AO_DATA_PRESENT(AO_DATA_BMX160);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
+ }
+}
+
+static struct ao_task ao_bmx160_task;
+
+static void
+ao_bmx160_show(void)
+{
+ printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
+ ao_bmx160_current.acc_x,
+ ao_bmx160_current.acc_y,
+ ao_bmx160_current.acc_z,
+ ao_bmx160_current.gyr_x,
+ ao_bmx160_current.gyr_y,
+ ao_bmx160_current.gyr_z,
+ ao_bmx160_current.mag_x,
+ ao_bmx160_current.mag_y,
+ ao_bmx160_current.mag_z);
+}
+
+#if BMX160_TEST
+
+static void
+ao_bmx160_read(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ addr = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_bmx160_spi_get();
+ val = _ao_bmx160_reg_read(addr);
+ ao_bmx160_spi_put();
+ printf("Addr %02x val %02x\n", addr, val);
+}
+
+static void
+ao_bmx160_write(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ addr = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ val = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ printf("Addr %02x val %02x\n", addr, val);
+ ao_bmx160_spi_get();
+ _ao_bmx160_reg_write(addr, val);
+ ao_bmx160_spi_put();
+}
+
+static void
+ao_bmm150_read(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ addr = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_bmx160_spi_get();
+ val = _ao_bmm150_reg_read(addr);
+ ao_bmx160_spi_put();
+ printf("Addr %02x val %02x\n", addr, val);
+}
+
+static void
+ao_bmm150_write(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ addr = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ val = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ printf("Addr %02x val %02x\n", addr, val);
+ ao_bmx160_spi_get();
+ _ao_bmm150_reg_write(addr, val);
+ ao_bmx160_spi_put();
+}
+
+#endif /* BMX160_TEST */
+
+static const struct ao_cmds ao_bmx160_cmds[] = {
+ { ao_bmx160_show, "I\0Show BMX160 status" },
+#if BMX160_TEST
+ { ao_bmx160_read, "R <addr>\0Read BMX160 register" },
+ { ao_bmx160_write, "W <addr> <val>\0Write BMX160 register" },
+ { ao_bmm150_read, "M <addr>\0Read BMM150 register" },
+ { ao_bmm150_write, "N <addr> <val>\0Write BMM150 register" },
+#endif
+ { 0, NULL }
+};
+
+void
+ao_bmx160_init(void)
+{
+ ao_add_task(&ao_bmx160_task, ao_bmx160, "bmx160");
+
+ ao_spi_init_cs(AO_BMX160_SPI_CS_PORT, (1 << AO_BMX160_SPI_CS_PIN));
+
+ /* Pretend to be the bmx160 task. Grab the SPI bus right away and
+ * hold it for the task so that nothing else uses the SPI bus before
+ * we get the I2C mode disabled in the chip
+ */
+
+ ao_cur_task = &ao_bmx160_task;
+ ao_bmx160_spi_get();
+ ao_cur_task = NULL;
+ ao_cmd_register(&ao_bmx160_cmds[0]);
+}
--- /dev/null
+/*
+ * Copyright © 2019 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_BMX160_H_
+#define _AO_BMX160_H_
+
+#include <math.h>
+
+struct ao_bmx160_sample {
+ int16_t mag_x;
+ int16_t mag_y;
+ int16_t mag_z;
+ int16_t rhall;
+ int16_t gyr_x;
+ int16_t gyr_y;
+ int16_t gyr_z;
+ int16_t acc_x;
+ int16_t acc_y;
+ int16_t acc_z;
+};
+
+extern struct ao_bmx160_sample ao_bmx160_current;
+
+struct ao_bmx160_offset {
+ int8_t off_acc_x;
+ int8_t off_acc_y;
+ int8_t off_acc_z;
+ int8_t off_gyr_x;
+ int8_t off_gyr_y;
+ int8_t off_gyr_z;
+ uint8_t offset_6;
+};
+
+void
+ao_bmx160_init(void);
+
+#define BMX160_CHIPID 0x00
+#define BMX160_CHIPID_BMX160 0xd8
+#define BMX160_ERR_REG 0x02
+#define BMX160_PMU_STATUS 0x03
+#define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS 0
+#define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_SUSPEND 0
+#define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL 1
+#define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_LOW_POWER 2
+#define BMX160_PMU_STATUS_GYR_PMU_STATUS 2
+#define BMX160_PMU_STATUS_GYR_PMU_STATUS_SUSPEND 0
+#define BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL 1
+#define BMX160_PMU_STATUS_GYR_PMU_STATUS_FAST_START_UP 3
+#define BMX160_PMU_STATUS_ACC_PMU_STATUS 4
+#define BMX160_PMU_STATUS_ACC_PMU_STATUS_SUSPEND 0
+#define BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL 1
+#define BMX160_PMU_STATUS_ACC_PMU_STATUS_LOW_POWER 2
+#define BMX160_DATA_0 0x04
+#define BMX160_MAG_X_0_7 0x04
+#define BMX160_MAG_X_8_15 0x05
+#define BMX160_MAG_Y_0_7 0x06
+#define BMX160_MAG_Y_8_15 0x07
+#define BMX160_MAG_Z_0_7 0x08
+#define BMX160_MAG_Z_8_15 0x09
+#define BMX160_RHALL_0_7 0x0A
+#define BMX160_RHALL_8_15 0x0B
+#define BMX160_GYRO_X_0_7 0x0C
+#define BMX160_GYRO_X_8_15 0x0D
+#define BMX160_GYRO_Y_0_7 0x0E
+#define BMX160_GYRO_Y_8_15 0x0F
+#define BMX160_GYRO_Z_0_7 0x10
+#define BMX160_GYRO_Z_8_15 0x11
+#define BMX160_ACCEL_X_0_7 0x12
+#define BMX160_ACCEL_X_8_15 0x13
+#define BMX160_ACCEL_Y_0_7 0x14
+#define BMX160_ACCEL_Y_8_15 0x15
+#define BMX160_ACCEL_Z_0_7 0x16
+#define BMX160_ACCEL_Z_8_15 0x17
+#define BMX160_SENSORTIME_0_7 0x18
+#define BMX160_SENSORTIME_8_15 0x19
+#define BMX160_SENSORTIME_16_23 0x1A
+#define BMX160_STATUS 0x1B
+#define BMX160_STATUS_GYR_SELF_TEST_OK 1
+#define BMX160_STATUS_MAG_MAN_OP 2
+#define BMX160_STATUS_FOC_RDY 3
+#define BMX160_STATUS_NVM_RDY 4
+#define BMX160_STATUS_DRDY_MAG 5
+#define BMX160_STATUS_DRDY_GYR 6
+#define BMX160_STATUS_DRDY_ACC 7
+#define BMX160_INT_STATUS_0 0x1C-0x1F
+#define BMX160_INT_STATUS_1 0x1D
+#define BMX160_INT_STATUS_2 0x1E
+#define BMX160_INT_STATUS_3 0x1F
+#define BMX160_TEMPERATURE_0_7 0x20
+#define BMX160_TEMPERATURE_8_15 0x21
+#define BMX160_FIFO_LENGTH_0_7 0x22
+#define BMX160_FIFO_LENGTH_8_15 0x23
+#define BMX160_FIFO_DATA 0x24
+#define BMX160_ACC_CONF 0x40
+#define BMX160_ACC_CONF_ACC_ODR 0
+#define BMX160_ACC_CONF_ACC_ODR_25_32 0x1
+#define BMX160_ACC_CONF_ACC_ODR_25_16 0x2
+#define BMX160_ACC_CONF_ACC_ODR_25_8 0x3
+#define BMX160_ACC_CONF_ACC_ODR_25_4 0x4
+#define BMX160_ACC_CONF_ACC_ODR_25_2 0x5
+#define BMX160_ACC_CONF_ACC_ODR_25 0x6
+#define BMX160_ACC_CONF_ACC_ODR_50 0x7
+#define BMX160_ACC_CONF_ACC_ODR_100 0x8
+#define BMX160_ACC_CONF_ACC_ODR_200 0x9
+#define BMX160_ACC_CONF_ACC_ODR_400 0xa
+#define BMX160_ACC_CONF_ACC_ODR_800 0xb
+#define BMX160_ACC_CONF_ACC_ODR_1600 0xc
+#define BMX160_ACC_CONF_ACC_BWP 4
+#define BMX160_ACC_CONF_ACC_BWP_NORMAL 0x2
+#define BMX160_ACC_CONF_ACC_BWP_OSR2 0x1
+#define BMX160_ACC_CONF_ACC_BWP_OSR4 0x0
+#define BMX160_ACC_CONF_ACC_US 7
+#define BMX160_ACC_RANGE 0x41
+#define BMX160_ACC_RANGE_2G 0x3
+#define BMX160_ACC_RANGE_4G 0x5
+#define BMX160_ACC_RANGE_8G 0x8
+#define BMX160_ACC_RANGE_16G 0xc
+#define BMX160_ACC_RANGE_
+#define BMX160_ACC_RANGE_
+#define BMX160_GYR_CONF 0x42
+#define BMX160_GYR_CONF_GYR_ODR 0
+#define BMX160_GYR_CONF_GYR_ODR_25 0x6
+#define BMX160_GYR_CONF_GYR_ODR_50 0x7
+#define BMX160_GYR_CONF_GYR_ODR_100 0x8
+#define BMX160_GYR_CONF_GYR_ODR_200 0x9
+#define BMX160_GYR_CONF_GYR_ODR_400 0xa
+#define BMX160_GYR_CONF_GYR_ODR_800 0xb
+#define BMX160_GYR_CONF_GYR_ODR_1600 0xc
+#define BMX160_GYR_CONF_GYR_ODR_3200 0xd
+#define BMX160_GYR_CONF_GYR_BWP 4
+#define BMX160_GYR_CONF_GYR_BWP_NORMAL 0x2
+#define BMX160_GYR_CONF_GYR_BWP_OSR2 0x1
+#define BMX160_GYR_CONF_GYR_BWP_OSR4 0x0
+#define BMX160_GYR_RANGE 0x43
+#define BMX160_GYR_RANGE_2000 0x0
+#define BMX160_GYR_RANGE_1000 0x1
+#define BMX160_GYR_RANGE_500 0x2
+#define BMX160_GYR_RANGE_250 0x3
+#define BMX160_GYR_RANGE_125 0x4
+#define BMX160_MAG_CONF 0x44
+#define BMX160_MAG_CONF_MAG_ODR 0
+#define BMX160_MAG_CONF_MAG_ODR_25_32 0x1
+#define BMX160_MAG_CONF_MAG_ODR_25_16 0x2
+#define BMX160_MAG_CONF_MAG_ODR_25_8 0x3
+#define BMX160_MAG_CONF_MAG_ODR_25_4 0x4
+#define BMX160_MAG_CONF_MAG_ODR_25_2 0x5
+#define BMX160_MAG_CONF_MAG_ODR_25 0x6
+#define BMX160_MAG_CONF_MAG_ODR_50 0x7
+#define BMX160_MAG_CONF_MAG_ODR_100 0x8
+#define BMX160_MAG_CONF_MAG_ODR_200 0x9
+#define BMX160_MAG_CONF_MAG_ODR_400 0xa
+#define BMX160_MAG_CONF_MAG_ODR_800 0xb
+#define BMX160_FIFO_DOWNS 0x45
+#define BMX160_FIFO_CONFIG_0 0x46
+#define BMX160_FIFO_CONFIG_1 0x47
+#define BMX160_MAG_IF_0 0x4C
+#define BMX160_MAG_IF_0_MAG_RD_BURST 0
+#define BMX160_MAG_IF_0_MAG_OFFSET 2
+#define BMX160_MAG_IF_0_MAG_MANUAL_EN 7
+#define BMX160_MAG_IF_1 0x4D
+#define BMX160_MAG_IF_2 0x4E
+#define BMX160_MAG_IF_3 0x4F
+#define BMX160_INT_EN 0x50-0x52
+#define BMX160_INT_OUT_CTRL 0x53
+#define BMX160_INT_LATCH 0x54
+#define BMX160_INT_MAP 0x55-0x57
+#define BMX160_INT_DATA 0x58-0x59
+#define BMX160_INT_LOWHIGH 0x5A-0x5E
+#define BMX160_INT_MOTION 0x5F-0x62
+#define BMX160_INT_TAP 0x63-0x64
+#define BMX160_INT_ORIENT 0x65-0x66
+#define BMX160_INT_FLAT 0x67-0x68
+#define BMX160_FOC_CONF 0x69
+#define BMX160_CONF 0x6A
+#define BMX160_IF_CONF 0x6B
+#define BMX160_PMU_TRIGGER 0x6C
+#define BMX160_SELF_TEST 0x6D
+#define BMX160_NV_CONF 0x70
+#define BMX160_NV_CONF_SPI_EN 0
+#define BMX160_NV_CONF_I2C_WDT_SEL 1
+#define BMX160_NV_CONF_I2C_WDT_EN 2
+#define BMX160_OFFSET 0x71-0x77
+#define BMX160_STEP_CNT 0x78-0x79
+#define BMX160_STEP_CONF 0x7A-0x7B
+#define BMX160_CMD 0x7E
+#define BMX160_CMD_START_FOC 0x03
+#define BMX160_CMD_ACC_SET_PMU_MODE(n) (0x10 | (n))
+#define BMX160_CMD_GYR_SET_PMU_MODE(n) (0x14 | (n))
+#define BMX160_CMD_MAG_IF_SET_PMU_MODE(n) (0x18 | (n))
+#define BMX160_CMD_PROG_NVM 0xa0
+#define BMX160_CMD_FIFO_FLUSH 0xb0
+#define BMX160_CMD_INT_RESET 0xb1
+#define BMX160_CMD_SOFTRESET 0xb6
+#define BMX160_CMD_STEP_CNT_CLR 0xb2
+
+#define BMM150_CHIP_ID 0x40
+#define BMM150_DATA_X_0_4 0x42
+#define BMM150_DATA_X_5_12 0x43
+#define BMM150_DATA_Y_0_4 0x44
+#define BMM150_DATA_Y_5_12 0x45
+#define BMM150_DATA_Z_0_6 0x46
+#define BMM150_DATA_Z_7_14 0x47
+#define BMM150_RHALL_0_5 0x48
+#define BMM150_RHALL_6_13 0x49
+#define BMM150_INT_STATUS 0x4a
+#define BMM150_POWER_MODE 0x4b
+#define BMM150_POWER_MODE_SOFT_RESET_HI 7
+#define BMM150_POWER_MODE_SPI3EN 2
+#define BMM150_POWER_MODE_SOFT_RESET_LO 1
+#define BMM150_POWER_MODE_POWER_CONTROL 0
+#define BMM150_CONTROL 0x4c
+#define BMM150_CONTROL_ADV_ST_1 7
+#define BMM150_CONTROL_ADV_ST_0 6
+#define BMM150_CONTROL_DATA_RATE 3
+#define BMM150_CONTROL_DATA_RATE_10 0
+#define BMM150_CONTROL_DATA_RATE_2 1
+#define BMM150_CONTROL_DATA_RATE_6 2
+#define BMM150_CONTROL_DATA_RATE_8 3
+#define BMM150_CONTROL_DATA_RATE_15 4
+#define BMM150_CONTROL_DATA_RATE_20 5
+#define BMM150_CONTROL_DATA_RATE_25 6
+#define BMM150_CONTROL_DATA_RATE_30 7
+#define BMM150_CONTROL_OP_MODE 1
+#define BMM150_CONTROL_OP_MODE_NORMAL 0
+#define BMM150_CONTROL_OP_MODE_FORCED 1
+#define BMM150_CONTROL_OP_MODE_SLEEP 3
+#define BMM150_CONTROL_SELF_TEST 0
+#define BMM150_INT_EN 0x4d
+#define BMM150_INT_CONF 0x4e
+#define BMM150_INT_CONF_X_DISABLE 3
+#define BMM150_INT_CONF_Y_DISABLE 4
+#define BMM150_INT_CONF_Z_DISABLE 5
+#define BMM150_LOW_THRESHOLD 0x4f
+#define BMM150_HIGH_THRESHOLD 0x50
+#define BMM150_REPXY 0x51
+#define BMM150_REPXY_VALUE(n) (((n)-1) >> 1)
+#define BMM150_REPZ 0x52
+#define BMM150_REPZ_VALUE(n) ((n) -1)
+
+#define BMX160_GYRO_FULLSCALE ((float) 2000 * M_PI/180.0)
+
+static inline float
+ao_bmx160_gyro(float sensor) {
+ return sensor * ((float) (BMX160_GYRO_FULLSCALE / 32767.0));
+}
+
+#define BMX160_ACCEL_FULLSCALE 16
+
+static inline float
+ao_bmx160_accel(int16_t sensor) {
+ return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0));
+}
+
+#endif /* _BMX160_H_ */
ao_mutex_get(&ao_gps_mutex);
ao_gps_new |= AO_GPS_NEW_DATA;
ao_gps_tick = ao_gps_next_tick;
- ao_xmemcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
+ memcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
ao_mutex_put(&ao_gps_mutex);
ao_wakeup(&ao_gps_new);
}
else if (done) {
ao_mutex_get(&ao_gps_mutex);
ao_gps_new |= AO_GPS_NEW_TRACKING;
- ao_xmemcpy(&ao_gps_tracking_data, &ao_gps_tracking_next, sizeof(ao_gps_tracking_data));
+ memcpy(&ao_gps_tracking_data, &ao_gps_tracking_next, sizeof(ao_gps_tracking_data));
ao_mutex_put(&ao_gps_mutex);
ao_wakeup(&ao_gps_new);
}
#endif
/* If any tx data is pending then copy it into the tx packet */
if (ao_packet_tx_used && ao_tx_packet.len == 0) {
- ao_xmemcpy(&ao_tx_packet.d, tx_data, ao_packet_tx_used);
+ memcpy(&ao_tx_packet.d, tx_data, ao_packet_tx_used);
ao_tx_packet.len = ao_packet_tx_used;
ao_tx_packet.seq++;
ao_packet_tx_used = 0;
/* Accept packets with matching call signs, or any packet if
* our callsign hasn't been configured
*/
- if (ao_xmemcmp(ao_rx_packet.packet.callsign,
+ if (memcmp(ao_rx_packet.packet.callsign,
ao_config.callsign,
AO_MAX_CALLSIGN) != 0 &&
- ao_xmemcmp(ao_config.callsign, "N0CALL", 7) != 0)
+ memcmp(ao_config.callsign, "N0CALL", 7) != 0)
return 0;
/* SYN packets carry no data */
/* Copy data to the receive data buffer and set up the
* offsets
*/
- ao_xmemcpy(rx_data, ao_rx_packet.packet.d, ao_rx_packet.packet.len);
+ memcpy(rx_data, ao_rx_packet.packet.d, ao_rx_packet.packet.len);
ao_packet_rx_used = 0;
ao_packet_rx_len = ao_rx_packet.packet.len;
ao_packet_master_delay = AO_PACKET_MASTER_DELAY_SHORT;
while (ao_packet_enable) {
uint8_t r;
- ao_xmemcpy(ao_tx_packet.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+ memcpy(ao_tx_packet.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
ao_packet_send();
if (ao_tx_packet.len)
ao_packet_master_busy();
ao_packet_restart = 1;
while (ao_packet_enable) {
if (ao_packet_recv(0)) {
- ao_xmemcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
+ memcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
#if HAS_FLIGHT
ao_flight_force_idle = true;
#endif
AO_RADIO_SPI_REPLY_HEADER_LEN + size,
AO_RADIO_SPI_BUS);
ao_radio_master_stop();
- ao_xmemcpy(d, ao_radio_spi_reply.payload, size);
+ memcpy(d, ao_radio_spi_reply.payload, size);
PRINTD ("fetched %d\n", size);
}
ao_radio_send(const void *d, uint8_t size)
{
ao_radio_get(AO_RADIO_SPI_SEND, size);
- ao_xmemcpy(&ao_radio_spi_request.payload, d, size);
+ memcpy(&ao_radio_spi_request.payload, d, size);
ao_radio_master_send();
ao_radio_put();
}
*/
PRINTD ("set key\n");
ao_radio_get(AO_RADIO_SPI_CMAC_KEY, AO_AES_LEN);
- ao_xmemcpy(&ao_radio_spi_request.payload, &ao_config.aes_key, AO_AES_LEN);
+ memcpy(&ao_radio_spi_request.payload, &ao_config.aes_key, AO_AES_LEN);
ao_radio_master_send();
ao_radio_put();
PRINTD ("key set\n");
PRINTD ("sending packet\n");
ao_radio_get(AO_RADIO_SPI_CMAC_SEND, len);
- ao_xmemcpy(&ao_radio_spi_request.payload, packet, len);
+ memcpy(&ao_radio_spi_request.payload, packet, len);
ao_radio_master_send();
ao_radio_put();
PRINTD ("packet sent\n");
break;
case AO_RADIO_SPI_CMAC_KEY:
- ao_xmemcpy(&ao_config.aes_key, ao_radio_spi_request.payload, AO_AES_LEN);
+ memcpy(&ao_config.aes_key, ao_radio_spi_request.payload, AO_AES_LEN);
break;
case AO_RADIO_SPI_TEST_ON:
--- /dev/null
+ao_product.h
+easymega-*.elf
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_companion.h \
+ ao_data.h \
+ ao_sample.h \
+ ao_pins.h \
+ altitude-pa.h \
+ ao_kalman.h \
+ ao_product.h \
+ ao_ms5607.h \
+ ao_bmx160.h \
+ ao_adxl375.h \
+ ao_profile.h \
+ ao_task.h \
+ ao_whiten.h \
+ ao_sample_profile.h \
+ ao_quaternion.h \
+ ao_mpu.h \
+ stm32l.h \
+ Makefile
+
+#
+# Common AltOS sources
+#
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+# ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_config.c \
+ ao_task.c \
+ ao_led_stm.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_ignite.c \
+ ao_freq.c \
+ ao_dma_stm.c \
+ ao_spi_stm.c \
+ ao_data.c \
+ ao_ms5607.c \
+ ao_bmx160.c \
+ ao_adxl375.c \
+ ao_adc_stm.c \
+ ao_beep_stm.c \
+ ao_eeprom_stm.c \
+ ao_storage.c \
+ ao_m25.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ ao_report.c \
+ ao_i2c_stm.c \
+ ao_convert_pa.c \
+ ao_convert_volt.c \
+ ao_log.c \
+ ao_log_mega.c \
+ ao_sample.c \
+ ao_kalman.c \
+ ao_flight.c \
+ ao_companion.c \
+ ao_pyro.c \
+ $(PROFILE) \
+ $(SAMPLE_PROFILE) \
+ $(STACK_GUARD)
+
+PRODUCT=EasyMega-v3.0
+PRODUCT_DEF=-DEASYMEGA
+IDPRODUCT=0x0028
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF)
+
+PROGNAME=easymega-v3.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_easymega.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+$(OBJ): $(INC)
+
+distclean: clean
+
+clean:
+ rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+ rm -f ao_product.h
+
+install:
+
+uninstall:
--- /dev/null
+/*
+ * Copyright © 2014 Bdale Garbee <bdale@gag.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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_ms5607.h>
+#include <ao_bmx160.h>
+#include <ao_adxl375.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#include <ao_eeprom.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#include <ao_pyro.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+int
+main(void)
+{
+ ao_clock_init();
+
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+
+ ao_task_init();
+ ao_led_init();
+ ao_led_on(LEDS_AVAILABLE);
+ ao_timer_init();
+
+ ao_i2c_init();
+ ao_spi_init();
+ ao_dma_init();
+ ao_exti_init();
+
+ ao_adc_init();
+ ao_beep_init();
+ ao_cmd_init();
+
+ ao_ms5607_init();
+ ao_bmx160_init();
+ ao_adxl375_init();
+
+ ao_eeprom_init();
+ ao_storage_init();
+
+ ao_flight_init();
+ ao_log_init();
+ ao_report_init();
+
+ ao_usb_init();
+ ao_igniter_init();
+ ao_companion_init();
+ ao_pyro_init();
+
+ ao_config_init();
+#if AO_PROFILE
+ ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+ ao_sample_profile_init();
+#endif
+
+ ao_led_off(LEDS_AVAILABLE);
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright © 2014 Bdale Garbee <bdale@gag.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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE 1
+
+/* 16MHz High speed external crystal */
+#define AO_HSE 16000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 6
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_6)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1 0
+#define USE_SERIAL_1_STDIN 0
+#define SERIAL_1_PB6_PB7 0
+#define SERIAL_1_PA9_PA10 0
+
+#define HAS_SERIAL_2 0
+#define USE_SERIAL_2_STDIN 0
+#define SERIAL_2_PA2_PA3 0
+#define SERIAL_2_PD5_PD6 0
+
+#define HAS_SERIAL_3 0
+#define USE_SERIAL_3_STDIN 0
+#define SERIAL_3_PB10_PB11 0
+#define SERIAL_3_PC10_PC11 0
+#define SERIAL_3_PD8_PD9 0
+
+#define ao_gps_getchar ao_serial1_getchar
+#define ao_gps_putchar ao_serial1_putchar
+#define ao_gps_set_speed ao_serial1_set_speed
+#define ao_gps_fifo (ao_stm_usart1.rx_fifo)
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024)
+#define AO_CONFIG_MAX_SIZE 1024
+#define LOG_ERASE_MARK 0x55
+#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMEGA_2
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 0
+#define USE_EEPROM_CONFIG 1
+#define USE_STORAGE_CONFIG 0
+#define HAS_USB 1
+#define HAS_BEEP 1
+#define BEEPER_TIMER 2
+#define BEEPER_CHANNEL 3
+#define BEEPER_PORT (&stm_gpioa)
+#define BEEPER_PIN 2
+#define HAS_BATTERY_REPORT 1
+#define HAS_RADIO 0
+#define HAS_TELEMETRY 0
+#define HAS_APRS 0
+#define HAS_COMPANION 1
+
+#define HAS_SPI_1 1
+#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
+#define SPI_1_PB3_PB4_PB5 1 /* Accelerometer */
+#define SPI_1_PE13_PE14_PE15 0
+#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2 1
+#define SPI_2_PB13_PB14_PB15 1 /* Flash, IMU, Companion */
+#define SPI_2_PD1_PD3_PD4 0
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_I2C_1 1
+#define I2C_1_PB8_PB9 1
+
+#define HAS_I2C_2 0
+#define I2C_2_PB10_PB11 0
+
+#define PACKET_HAS_SLAVE 0
+#define PACKET_HAS_MASTER 0
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOAEN
+#define LED_PORT (&stm_gpioa)
+#define LED_PIN_RED 9
+#define LED_PIN_GREEN 10
+#define AO_LED_RED (1 << LED_PIN_RED)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS 0
+#define HAS_FLIGHT 1
+#define HAS_ADC 1
+#define HAS_ADC_TEMP 1
+#define HAS_LOG 1
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE 1
+#define HAS_IGNITE_REPORT 1
+
+#define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n])
+#define AO_SENSE_DROGUE(p) ((p)->adc.sense[4])
+#define AO_SENSE_MAIN(p) ((p)->adc.sense[5])
+#define AO_IGNITER_CLOSED 400
+#define AO_IGNITER_OPEN 60
+
+/* Pyro A */
+#define AO_PYRO_PORT_0 (&stm_gpioa)
+#define AO_PYRO_PIN_0 15
+
+/* Pyro B */
+#define AO_PYRO_PORT_1 (&stm_gpioc)
+#define AO_PYRO_PIN_1 10
+
+/* Pyro C */
+#define AO_PYRO_PORT_2 (&stm_gpiob)
+#define AO_PYRO_PIN_2 11
+
+/* Pyro D */
+#define AO_PYRO_PORT_3 (&stm_gpiob)
+#define AO_PYRO_PIN_3 10
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT (&stm_gpioa)
+#define AO_IGNITER_DROGUE_PIN 0
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT (&stm_gpioa)
+#define AO_IGNITER_MAIN_PIN 1
+
+/* Number of general purpose pyro channels available */
+#define AO_PYRO_NUM 4
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING 32
+#define AO_ADC_NUM_SENSE 6
+
+struct ao_adc {
+ int16_t sense[AO_ADC_NUM_SENSE];
+ int16_t v_batt;
+ int16_t v_pbatt;
+ int16_t temp;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+ (p)->tick, \
+ (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
+ (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
+ (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
+
+#define AO_ADC_SENSE_A 14
+#define AO_ADC_SENSE_A_PORT (&stm_gpioc)
+#define AO_ADC_SENSE_A_PIN 4
+
+#define AO_ADC_SENSE_B 15
+#define AO_ADC_SENSE_B_PORT (&stm_gpioc)
+#define AO_ADC_SENSE_B_PIN 5
+
+#define AO_ADC_SENSE_C 13
+#define AO_ADC_SENSE_C_PORT (&stm_gpioc)
+#define AO_ADC_SENSE_C_PIN 3
+
+#define AO_ADC_SENSE_D 12
+#define AO_ADC_SENSE_D_PORT (&stm_gpioc)
+#define AO_ADC_SENSE_D_PIN 2
+
+#define AO_ADC_SENSE_DROGUE 11
+#define AO_ADC_SENSE_DROGUE_PORT (&stm_gpioc)
+#define AO_ADC_SENSE_DROGUE_PIN 1
+
+#define AO_ADC_SENSE_MAIN 10
+#define AO_ADC_SENSE_MAIN_PORT (&stm_gpioc)
+#define AO_ADC_SENSE_MAIN_PIN 0
+
+#define AO_ADC_V_BATT 8
+#define AO_ADC_V_BATT_PORT (&stm_gpiob)
+#define AO_ADC_V_BATT_PIN 0
+
+#define AO_ADC_V_PBATT 9
+#define AO_ADC_V_PBATT_PORT (&stm_gpiob)
+#define AO_ADC_V_PBATT_PIN 1
+
+#define AO_ADC_TEMP 16
+
+#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \
+ (1 << STM_RCC_AHBENR_GPIOEEN) | \
+ (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2)
+
+#define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN
+#define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT
+#define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN
+#define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT
+#define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN
+#define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT
+#define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN
+#define AO_ADC_PIN4_PORT AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN4_PIN AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN5_PORT AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN5_PIN AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN
+#define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT
+#define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN
+
+#define AO_NUM_ADC (AO_ADC_NUM_SENSE + 3)
+
+#define AO_ADC_SQ1 AO_ADC_SENSE_A
+#define AO_ADC_SQ2 AO_ADC_SENSE_B
+#define AO_ADC_SQ3 AO_ADC_SENSE_C
+#define AO_ADC_SQ4 AO_ADC_SENSE_D
+#define AO_ADC_SQ5 AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ6 AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ7 AO_ADC_V_BATT
+#define AO_ADC_SQ8 AO_ADC_V_PBATT
+#define AO_ADC_SQ9 AO_ADC_TEMP
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS 56 /* 5.6k */
+#define AO_BATTERY_DIV_MINUS 100 /* 10k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS 100 /* 100k */
+#define AO_IGNITE_DIV_MINUS 27 /* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV 33
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define AO_MS5607_PRIVATE_PINS 1
+#define AO_MS5607_CS_PORT (&stm_gpioa)
+#define AO_MS5607_CS_PIN 3
+#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN)
+#define AO_MS5607_MISO_PORT (&stm_gpioa)
+#define AO_MS5607_MISO_PIN 6
+#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN)
+#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT (&stm_gpiob)
+#define AO_M25_SPI_CS_PIN 12
+#define AO_M25_SPI_CS_MASK (1 << AO_M25_SPI_CS_PIN)
+#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * bmx160
+ */
+
+#define HAS_BMX160 1
+#define AO_BMX160_INT_PORT (&stm_gpioc)
+#define AO_BMX160_INT_PIN 15
+#define AO_BMX160_SPI_BUS (AO_SPI_2_PB13_PB14_PB15 | AO_SPI_MODE_0)
+#define AO_BMX160_SPI_CS_PORT (&stm_gpioc)
+#define AO_BMX160_SPI_CS_PIN 13
+#define HAS_IMU 1
+
+#define ao_data_along(packet) ((packet)->bmx160.acc_x)
+#define ao_data_across(packet) (-(packet)->bmx160.acc_y)
+#define ao_data_through(packet) ((packet)->bmx160.acc_z)
+
+#define ao_data_roll(packet) ((packet)->bmx160.gyr_x)
+#define ao_data_pitch(packet) (-(packet)->bmx160.gyr_y)
+#define ao_data_yaw(packet) ((packet)->bmx160.gyr_z)
+
+#define ao_data_mag_along(packet) ((packet)->bmx160.mag_x)
+#define ao_data_mag_across(packet) (-(packet)->bmx160.mag_y)
+#define ao_data_mag_through(packet) ((packet)->bmx160.mag_z)
+
+/* ADXL375 */
+
+#define HAS_ADXL375 1
+#define AO_ADXL375_SPI_INDEX (AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3)
+#define AO_ADXL375_CS_PORT (&stm_gpioc)
+#define AO_ADXL375_CS_PIN 12
+#define AO_ADXL375_SPI_SPEED AO_SPI_SPEED_4MHz
+
+#define AO_ADXL375_INT1_PORT (&stm_gpiob)
+#define AO_ADXL375_INT1_PIN 8
+
+#define AO_ADXL375_INT2_PORT (&stm_gpiob)
+#define AO_ADXL375_INT2_PIN 9
+
+#define AO_ADXL375_AXIS x
+#define AO_ADXL375_INVERT 1
+
+#define NUM_CMDS 16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT (&stm_gpiob)
+#define AO_COMPANION_CS_PIN (6)
+#define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR 0
+#define LEGACY_MONITOR 0
+#define HAS_MONITOR_PUT 0
+#define AO_MONITOR_LED 0
+#define HAS_RSSI 0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE 0
+#endif
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=easymega-v3.0
+include $(TOPDIR)/stm/Makefile-flash.defs
--- /dev/null
+/*
+ * Copyright © 2018 Bdale Garbee <bdale@gag.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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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_PINS_H_
+#define _AO_PINS_H_
+
+/* External crystal at 16MHz */
+#define AO_HSE 16000000
+
+#include <ao_flash_stm_pins.h>
+
+/* Companion port cs_companion0 PB6 */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO stm_gpiob
+#define AO_BOOT_APPLICATION_PIN 6
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */
#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_MPU9250 0x40 | 3 /* Self test failure */
+#define AO_PANIC_SELF_TEST_BMX160 0x40 | 3 /* Self test failure */
#define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
#define AO_PANIC_SELF_TEST_ADS124S0X 0x40 | 5 /* Self test failure */
#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
*/
/* 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, AO_CONFIG_DEFAULT_CALLSIGN,
+ memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
+ memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
ao_config._legacy_radio_channel = 0;
}
if (minor < 8)
ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
if (minor < 9)
- ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
+ memset(&ao_config.aes_key, '\0', AO_AES_LEN);
if (minor < 10)
ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
if (minor < 11)
#if HAS_RADIO_RATE
ao_config.radio_rate = AO_CONFIG_DEFAULT_RADIO_RATE;
#endif
- ao_xmemcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
+ memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
}
#endif
uint8_t c;
static char callsign[AO_MAX_CALLSIGN + 1];
- ao_xmemset(callsign, '\0', sizeof callsign);
+ memset(callsign, '\0', sizeof callsign);
ao_cmd_white();
c = 0;
while (ao_cmd_lex_c != '\n') {
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_xmemcpy(&ao_config.callsign, &callsign,
+ memcpy(&ao_config.callsign, &callsign,
AO_MAX_CALLSIGN + 1);
_ao_config_edit_finish();
}
#define AO_DATA_MAX6691 0
#endif
+#if HAS_BMX160
+#include <ao_bmx160.h>
+#define AO_DATA_BMX160 (1 << 2)
+#else
+#define AO_DATA_BMX160 0
+#endif
+
#ifndef HAS_SENSOR_ERRORS
#if HAS_IMU || HAS_MMA655X || HAS_MS5607 || HAS_MS5611
#define HAS_SENSOR_ERRORS 1
#ifdef AO_DATA_RING
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375)
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160)
struct ao_data {
uint16_t tick;
#if HAS_ADS131A0X
struct ao_ads131a0x_sample ads131a0x;
#endif
+#if HAS_BMX160
+ struct ao_bmx160_sample bmx160;
+#endif
};
#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
#endif
+#if !HAS_GYRO && HAS_BMX160
+
+#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) */
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_bmx160_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_bmx160_accel(sensor);
+}
+
+#endif
+
#if !HAS_MAG && HAS_HMC5883
#define HAS_MAG 1
uint8_t
ao_ee_read_config(uint8_t *buf, uint16_t len)
{
- ao_xmemset(buf, '\0', len);
+ memset(buf, '\0', len);
return 1;
}
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));
+ memcpy(&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));
+ memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
ao_gps_new = 0;
ao_mutex_put(&ao_gps_mutex);
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));
+ memcpy(&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));
+ memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
ao_gps_new = 0;
ao_mutex_put(&ao_gps_mutex);
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));
+ memcpy(&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));
+ memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
ao_gps_new = 0;
ao_mutex_put(&ao_gps_mutex);
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)
+#define memcpy(d,s,c) memcpy(d,s,c)
+#define memset(d,v,c) memset(d,v,c)
+#define memcmp(d,s,c) memcmp(d,s,c)
while (ao_log_running) {
/* Write samples to EEPROM */
while (ao_log_monitor_pos != ao_monitor_head) {
- ao_xmemcpy(&ao_log_single_write_data.telemetry,
+ memcpy(&ao_log_single_write_data.telemetry,
&ao_monitor_ring[ao_log_monitor_pos],
AO_LOG_SINGLE_SIZE);
ao_log_single_write();
state = recv_orig.telemetry_orig.flight_state;
rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
- ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
+ memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
if (state > ao_flight_invalid)
state = ao_flight_invalid;
if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
if (len > AO_CMAC_MAX_LEN)
return AO_RADIO_CMAC_LEN_ERROR;
ao_mutex_get(&ao_radio_cmac_mutex);
- ao_xmemcpy(cmac_data, packet, len);
+ memcpy(cmac_data, packet, len);
#if AO_LED_TX
ao_led_on(AO_LED_TX);
#endif
ao_led_off(AO_LED_RX);
#endif
if (i == AO_RADIO_CMAC_OK)
- ao_xmemcpy(packet, cmac_data, len);
+ memcpy(packet, cmac_data, len);
ao_mutex_put(&ao_radio_cmac_mutex);
return i;
}
#endif
telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
- ao_xmemcpy (telemetry.configuration.callsign,
- ao_config.callsign,
- AO_MAX_CALLSIGN);
- ao_xmemcpy (telemetry.configuration.version,
- ao_version,
- AO_MAX_VERSION);
+ memcpy (telemetry.configuration.callsign,
+ ao_config.callsign,
+ AO_MAX_CALLSIGN);
+ memcpy (telemetry.configuration.version,
+ ao_version,
+ AO_MAX_VERSION);
ao_telemetry_config_cur = ao_telemetry_config_max;
ao_telemetry_send();
}
static int8_t ao_telemetry_loc_cur;
static int8_t ao_telemetry_sat_cur;
+static inline void *
+telemetry_bits(struct ao_telemetry_location *l)
+{
+ return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
+}
+
+static inline int
+telemetry_size(void)
+{
+ return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
+}
+
static void
ao_send_location(void)
{
{
telemetry.generic.type = AO_TELEMETRY_LOCATION;
ao_mutex_get(&ao_gps_mutex);
- ao_xmemcpy(&telemetry.location.flags,
- &ao_gps_data.flags,
- 27);
+ memcpy(telemetry_bits(&telemetry.location),
+ telemetry_bits(&ao_gps_data),
+ telemetry_size());
telemetry.location.tick = ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
ao_telemetry_loc_cur = ao_telemetry_gps_max;
telemetry.generic.type = AO_TELEMETRY_SATELLITE;
ao_mutex_get(&ao_gps_mutex);
telemetry.satellite.channels = ao_gps_tracking_data.channels;
- ao_xmemcpy(&telemetry.satellite.sats,
+ memcpy(&telemetry.satellite.sats,
&ao_gps_tracking_data.sats,
AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
ao_mutex_put(&ao_gps_mutex);
telemetry.companion.update_period = ao_companion_setup.update_period;
telemetry.companion.channels = ao_companion_setup.channels;
ao_mutex_get(&ao_companion_mutex);
- ao_xmemcpy(&telemetry.companion.companion_data,
+ memcpy(&telemetry.companion.companion_data,
ao_companion_data,
ao_companion_setup.channels * 2);
ao_mutex_put(&ao_companion_mutex);
case AO_TELEMETRY_SENSOR_TELEMETRUM:
case AO_TELEMETRY_SENSOR_TELEMINI:
case AO_TELEMETRY_SENSOR_TELENANO:
- ao_xmemcpy(&ao_tel_sensor, &ao_monitor_ring[monitor], sizeof (ao_tel_sensor));
+ memcpy(&ao_tel_sensor, &ao_monitor_ring[monitor], sizeof (ao_tel_sensor));
if (ao_tel_sensor.state < ao_flight_boost) {
ao_tel_max_speed = 0;
ao_tel_max_height = 0;
ao_telem_progress = (ao_telem_progress + 1) & 0x3;
break;
case AO_TELEMETRY_LOCATION:
- ao_xmemcpy(&ao_tel_location, &ao_monitor_ring[monitor], sizeof (ao_tel_location));
+ memcpy(&ao_tel_location, &ao_monitor_ring[monitor], sizeof (ao_tel_location));
break;
case AO_TELEMETRY_CONFIGURATION:
- ao_xmemcpy(&ao_tel_config, &ao_monitor_ring[monitor], sizeof (ao_tel_config));
+ memcpy(&ao_tel_config, &ao_monitor_ring[monitor], sizeof (ao_tel_config));
}
}
}
const char *help;
};
-#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)
-
#define AO_NEED_ALTITUDE_TO_PRES 1
#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
#include "ao_convert_pa.c"
struct ao_config ao_config;
-#define x (x)
-
-
extern int16_t ao_ground_accel, ao_flight_accel;
extern int16_t ao_accel_2g;
projects / fw / altos / commitdiff