altos: Make TeleMini v2.0 fit

Mash lots of storage locations and code around to shrink stuff down to size

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/core/ao.h b/src/core/ao.h
index caa0ec195e59f6fea2774eaefed84c3ef3517931..e7320327b712fd8ce50f62ae0830ada9af55276d 100644 (file)
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -182,7 +182,7 @@ void
 ao_cmd_hex(void);
 
 void
 ao_cmd_hex(void);
 
 void

-ao_cmd_decimal(void);
+ao_cmd_decimal(void) __reentrant;

 
 /* Read a single hex nibble off stdin. */
 uint8_t
 
 /* Read a single hex nibble off stdin. */
 uint8_t

diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 5113548bad81c70d7c41e382afd64838e04caca1..4ebaa6079368ec80164a8176d8d010914552cc9d 100644 (file)
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -206,9 +206,9 @@ ao_cmd_hex(void)
 }
 
 void
 }
 
 void

-ao_cmd_decimal(void)
+ao_cmd_decimal(void) __reentrant

 {
 {

-       __pdata uint8_t r = ao_cmd_lex_error;
+       uint8_t r = ao_cmd_lex_error;

 
        ao_cmd_lex_u32 = 0;
        ao_cmd_white();
 
        ao_cmd_lex_u32 = 0;
        ao_cmd_white();

diff --git a/src/core/ao_int64.c b/src/core/ao_int64.c
index 07cdb35731be63d927b963870fa56864efb1b0ac..aa23dbe0f9cc27d37ff7a821cb20ec8f5c64105f 100644 (file)
--- a/src/core/ao_int64.c
+++ b/src/core/ao_int64.c
@@ -17,8 +17,10 @@
 
 #include <ao_int64.h>
 
 
 #include <ao_int64.h>
 

-void ao_plus64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b) {
-       uint32_t        t;
+__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;
 
        r->high = a->high + b->high;
        t = a->low + b->low;


@@ -27,9 +29,8 @@ void ao_plus64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b) {
        r->low = t;
 }
 
        r->low = t;
 }
 

-void ao_minus64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b) {
-       uint32_t        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;
 
        r->high = a->high - b->high;
        t = a->low - b->low;


@@ -38,7 +39,7 @@ void ao_minus64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b) {
        r->low = t;
 }
 
        r->low = t;
 }
 

-void ao_rshift64(ao_int64_t *r, ao_int64_t *a, uint8_t d) {
+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)
        if (d < 32) {
                r->low = a->low >> d;
                if (d)


@@ -51,7 +52,7 @@ void ao_rshift64(ao_int64_t *r, ao_int64_t *a, uint8_t d) {
        }
 }
 
        }
 }
 

-void ao_lshift64(ao_int64_t *r, ao_int64_t *a, uint8_t d) {
+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)
        if (d < 32) {
                r->high = a->high << d;
                if (d)


@@ -64,53 +65,49 @@ void ao_lshift64(ao_int64_t *r, ao_int64_t *a, uint8_t d) {
        }
 }
 
        }
 }
 

-static void ao_umul64_32_32(ao_int64_t *r, uint32_t a, uint32_t b)
-{
-       uint32_t        r1;
-       uint32_t        r2, r3, r4;
-       ao_int64_t      s,t,u,v;
-       r1 = (uint32_t) (uint16_t) a * (uint16_t) b;
-       r2 = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) b;
-       r3 = (uint32_t) (uint16_t) a * (uint16_t) (b >> 16);
-       r4 = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) (b >> 16);
-
-       s.low = r1;
-       s.high = r4;
-
-       t.high = r2 >> 16;
-       t.low = r2 << 16;
-       ao_plus64(&u, &s, &t);
-
-       v.high = r3 >> 16;
-       v.low = r3 << 16;
-       ao_plus64(r, &u, &v);
+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(ao_int64_t *r, ao_int64_t *a) {
+void ao_neg64(__pdata ao_int64_t *r, __pdata ao_int64_t *a) __FATTR {

        r->high = ~a->high;
        r->high = ~a->high;

-       r->low = ~a->low;
-       if (!++r->low)
+       if (!(r->low = ~a->low + 1))

                r->high++;
 }
 
                r->high++;
 }
 

-void ao_mul64_32_32(ao_int64_t *r, int32_t a, int32_t b) {
+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;
        uint8_t         negative = 0;
 
        if (a < 0) {
                a = -a;

-               negative = ~0;
+               ++negative;

        }
        if (b < 0) {
                b = -b;
        }
        if (b < 0) {
                b = -b;

-               negative = ~negative;
+               --negative;

        }
        ao_umul64_32_32(r, a, b);
        if (negative)
                ao_neg64(r, r);
 }
 
        }
        ao_umul64_32_32(r, a, b);
        if (negative)
                ao_neg64(r, r);
 }
 

-static void ao_umul64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b) {
-       ao_int64_t      r2, r3;
+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(&r2, a->high, b->low);
        ao_umul64_32_32(&r3, a->low, b->high);


@@ -119,38 +116,41 @@ static void ao_umul64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b) {
        r->high += r2.low + r3.low;
 }
 
        r->high += r2.low + r3.low;
 }
 

-void ao_mul64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b) {
+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;
        uint8_t negative = 0;

-       ao_int64_t      ap, bp;

 
        if (ao_int64_negativep(a)) {
                ao_neg64(&ap, a);
                a = &ap;
 
        if (ao_int64_negativep(a)) {
                ao_neg64(&ap, a);
                a = &ap;

-               negative = ~0;
+               ++negative;

        }
        if (ao_int64_negativep(b)) {
                ao_neg64(&bp, b);
                b = &bp;
        }
        if (ao_int64_negativep(b)) {
                ao_neg64(&bp, b);
                b = &bp;

-               negative = ~negative;
+               --negative;

        }
        ao_umul64(r, a, b);
        if (negative)
                ao_neg64(r, r);
 }
 
        }
        ao_umul64(r, a, b);
        if (negative)
                ao_neg64(r, r);
 }
 

-void ao_umul64_64_16(ao_int64_t *r, ao_int64_t *a, uint16_t b) {
-       uint32_t h = a->high * b;
+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;
 }
 
        ao_umul64_32_32(r, a->low, b);
        r->high += h;
 }
 

-void ao_mul64_64_16(ao_int64_t *r, ao_int64_t *a, uint16_t b) {
-       ao_int64_t      ap;
+void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR {

        uint8_t         negative = 0;
        uint8_t         negative = 0;

+

        if ((int32_t) a->high < 0) {
                ao_neg64(&ap, a);
                a = &ap;
        if ((int32_t) a->high < 0) {
                ao_neg64(&ap, a);
                a = &ap;

-               negative = ~0;
+               negative++;

        } else
                ao_umul64_64_16(r, a, b);
        if (negative)
        } else
                ao_umul64_64_16(r, a, b);
        if (negative)

diff --git a/src/core/ao_int64.h b/src/core/ao_int64.h
index cf12f0d84d46788848835e9021952f1d292ebc9a..b16db58c3eb92e3557d3b38b66dad47898b78f20 100644 (file)
--- a/src/core/ao_int64.h
+++ b/src/core/ao_int64.h
@@ -25,16 +25,18 @@ typedef struct {
        uint32_t        low;
 } ao_int64_t;
 
        uint32_t        low;
 } ao_int64_t;
 

-void ao_plus64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b);
-void ao_minus64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b);
-void ao_neg64(ao_int64_t *r, ao_int64_t *a);
-void ao_lshift64_16(ao_int64_t *r, uint16_t a, uint8_t d);
-void ao_rshift64(ao_int64_t *r, ao_int64_t *a, uint8_t d);
-void ao_lshift64(ao_int64_t *r, ao_int64_t *a, uint8_t d);
-void ao_mul64_64_64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b);
-void ao_mul64_32_32(ao_int64_t *r, int32_t a, int32_t b);
-void ao_mul64_64_16(ao_int64_t *r, ao_int64_t *a, uint16_t b);
-void ao_mul64(ao_int64_t *r, ao_int64_t *a, ao_int64_t *b);
+#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_int64_init32(r, a) (((r)->high = 0), (r)->low = (a))
 #define ao_int64_init64(r, a, b) (((r)->high = (a)), (r)->low = (b))

diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index 59ffd8b27267f24c7165fb835d24815ba4af7907..762b2c0a45749f2b1cba48d685601bcead0f0cff 100644 (file)
--- a/src/core/ao_kalman.c
+++ b/src/core/ao_kalman.c
@@ -40,9 +40,9 @@ static __pdata int32_t                ao_k_accel;
 __pdata int16_t                        ao_height;
 __pdata int16_t                        ao_speed;
 __pdata int16_t                        ao_accel;
 __pdata int16_t                        ao_height;
 __pdata int16_t                        ao_speed;
 __pdata int16_t                        ao_accel;

-__pdata int16_t                        ao_max_height;
+__xdata int16_t                        ao_max_height;

 static __pdata int32_t         ao_avg_height_scaled;
 static __pdata int32_t         ao_avg_height_scaled;

-__pdata int16_t                        ao_avg_height;
+__xdata int16_t                        ao_avg_height;

 
 __pdata int16_t                        ao_error_h;
 __pdata int16_t                        ao_error_h_sq_avg;
 
 __pdata int16_t                        ao_error_h;
 __pdata int16_t                        ao_error_h_sq_avg;

diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c
index 23ebf7ddc62dc8e2efaf4e39531a3c2817c8ff19..095aca371d0227b0851a143b8e567ef4a6e6a261 100644 (file)
--- a/src/core/ao_log_telem.c
+++ b/src/core/ao_log_telem.c
@@ -23,7 +23,7 @@ __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRY;
 
 static __data uint8_t                  ao_log_monitor_pos;
 __pdata enum ao_flight_state           ao_flight_state;
 
 static __data uint8_t                  ao_log_monitor_pos;
 __pdata enum ao_flight_state           ao_flight_state;

-__pdata int16_t                                ao_max_height;  /* max of ao_height */
+__xdata int16_t                                ao_max_height;  /* max of ao_height */

 __pdata int16_t                                sense_d, sense_m;
 __pdata uint8_t                                ao_igniter_present;
 
 __pdata int16_t                                sense_d, sense_m;
 __pdata uint8_t                                ao_igniter_present;
 

diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h
index a2dac9792a8bc2c13a5de441daa3fd50adb731b6..5bd29536a81dd4c17304d82cbd8cf0541a15704c 100644 (file)
--- a/src/core/ao_sample.h
+++ b/src/core/ao_sample.h
@@ -136,8 +136,8 @@ uint8_t ao_sample(void);
 extern __pdata int16_t                 ao_height;      /* meters */
 extern __pdata int16_t                 ao_speed;       /* m/s * 16 */
 extern __pdata int16_t                 ao_accel;       /* m/s² * 16 */
 extern __pdata int16_t                 ao_height;      /* meters */
 extern __pdata int16_t                 ao_speed;       /* m/s * 16 */
 extern __pdata int16_t                 ao_accel;       /* m/s² * 16 */

-extern __pdata int16_t                 ao_max_height;  /* max of ao_height */
-extern __pdata int16_t                 ao_avg_height;  /* running average of height */
+extern __xdata int16_t                 ao_max_height;  /* max of ao_height */
+extern __xdata int16_t                 ao_avg_height;  /* running average of height */

 
 extern __pdata int16_t                 ao_error_h;
 extern __pdata int16_t                 ao_error_h_sq_avg;
 
 extern __pdata int16_t                 ao_error_h;
 extern __pdata int16_t                 ao_error_h_sq_avg;

diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 1a4b5b6ba94ca5c604e6a6cc139844514243f26e..e3a311ed1c187f2eb8defda23998375d3661ead6 100644 (file)
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -45,7 +45,10 @@ struct ao_task {
 #endif
 };
 
 #endif
 };
 

+#ifndef AO_NUM_TASKS

 #define AO_NUM_TASKS           16      /* maximum number of tasks */
 #define AO_NUM_TASKS           16      /* maximum number of tasks */

+#endif
+

 #define AO_NO_TASK             0       /* no task id */
 
 extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
 #define AO_NO_TASK             0       /* no task id */
 
 extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];

diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 5259b2650c4c4ed4746025c0e5380b744dff42a9..4b4403a731efa2711d6e69c0ae3a666c34f3666a 100644 (file)
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -173,7 +173,7 @@ ao_ms5607_get_sample(uint8_t cmd) {
 #define AO_CONVERT_D2  token_evaluator(AO_MS5607_CONVERT_D2_, AO_MS5607_TEMP_OVERSAMPLE)
 
 void
 #define AO_CONVERT_D2  token_evaluator(AO_MS5607_CONVERT_D2_, AO_MS5607_TEMP_OVERSAMPLE)
 
 void

-ao_ms5607_sample(struct ao_ms5607_sample *sample)
+ao_ms5607_sample(__xdata struct ao_ms5607_sample *sample)

 {
        sample->pres = ao_ms5607_get_sample(AO_CONVERT_D1);
        sample->temp = ao_ms5607_get_sample(AO_CONVERT_D2);
 {
        sample->pres = ao_ms5607_get_sample(AO_CONVERT_D1);
        sample->temp = ao_ms5607_get_sample(AO_CONVERT_D2);


@@ -220,7 +220,7 @@ ao_ms5607_info(void)
 static void
 ao_ms5607_dump(void)
 {
 static void
 ao_ms5607_dump(void)
 {

-       struct ao_ms5607_value value;
+       __xdata struct ao_ms5607_value value;

 
        ao_ms5607_convert(&ao_ms5607_current, &value);
        printf ("Pressure:    %8u %8d\n", ao_ms5607_current.pres, value.pres);
 
        ao_ms5607_convert(&ao_ms5607_current, &value);
        printf ("Pressure:    %8u %8d\n", ao_ms5607_current.pres, value.pres);

diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h
index 3fd43fd44b1df1943d41f56e69e87ef3f3c913de..206efd64f8c2e8ccf7934ef0441c3bff70f16b78 100644 (file)
--- a/src/drivers/ao_ms5607.h
+++ b/src/drivers/ao_ms5607.h
@@ -68,12 +68,13 @@ void
 ao_ms5607_info(void);
 
 void
 ao_ms5607_info(void);
 
 void

-ao_ms5607_sample(struct ao_ms5607_sample *sample);
+ao_ms5607_sample(__xdata struct ao_ms5607_sample *sample);

 
 void
 
 void

-ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value);
+ao_ms5607_convert(__xdata struct ao_ms5607_sample *sample,
+                 __xdata struct ao_ms5607_value *value);

 
 void
 
 void

-ao_ms5607_get_prom(struct ao_ms5607_prom *prom);
+ao_ms5607_get_prom(__data struct ao_ms5607_prom *prom);

 
 #endif /* _AO_MS5607_H_ */
 
 #endif /* _AO_MS5607_H_ */

diff --git a/src/drivers/ao_ms5607_convert_8051.c b/src/drivers/ao_ms5607_convert_8051.c
index f47972c98d2adc950b5bceec39f4411d1e650524..f3a48c464b784830462bd29b840abaa57a826f11 100644 (file)
--- a/src/drivers/ao_ms5607_convert_8051.c
+++ b/src/drivers/ao_ms5607_convert_8051.c
@@ -16,45 +16,121 @@
  */
 
 #include <ao_ms5607.h>
  */
 
 #include <ao_ms5607.h>

+#include <ao_int64.h>
+
+#if HAS_MS5611
+#define SHIFT_OFF      16
+#define SHIFT_TCO      7
+#define SHIFT_SENS     15
+#define SHFIT_TCS      8
+#else
+#define SHIFT_OFF      17
+#define SHIFT_TCO      6
+#define SHIFT_SENS     16
+#define SHIFT_TCS      7
+#endif

 
 void
 
 void

-ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value)
+ao_ms5607_convert(__xdata struct ao_ms5607_sample *sample,
+                 __xdata struct ao_ms5607_value *value)

 {
 {

-#if 0
-       int32_t dT;
-       int32_t TEMP;
-       int64_t OFF;
-       int64_t SENS;
+       __LOCAL int32_t dT;
+       __LOCAL int32_t TEMP;
+       __LOCAL ao_int64_t OFF;
+       __LOCAL ao_int64_t SENS;
+       __LOCAL ao_int64_t a;

 
        dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
        
 
        dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
        

-       TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23);
+       /* TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23); */
+       ao_mul64_32_32(&a, dT, ms5607_prom.tempsens);
+       ao_rshift64(&a, &a, 23);
+       TEMP = 2000 + a.low;
+       /* */

 
 

-#if HAS_MS5611
-       OFF = ((int64_t) ms5607_prom.off << 16) + (((int64_t) ms5607_prom.tco * dT) >> 7);
-       SENS = ((int64_t) ms5607_prom.sens << 15) + (((int64_t) ms5607_prom.tcs * dT) >> 8);
+       /* OFF = ((int64_t) ms5607_prom.off << SHIFT_OFF) + (((int64_t) ms5607_prom.tco * dT) >> SHIFT_TCO);*/
+#if SHIFT_OFF > 16
+       OFF.high = ms5607_prom.off >> (32 - SHIFT_OFF);

 #else
 #else

-       OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6);
-       SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7);
+       OFF.high = 0;

 #endif
 #endif

+       OFF.low = (uint32_t) ms5607_prom.off << SHIFT_OFF;
+       ao_mul64_32_32(&a, ms5607_prom.tco, dT);
+       ao_rshift64(&a, &a, SHIFT_TCO);
+       ao_plus64(&OFF, &OFF, &a);
+       /**/
+
+       /* SENS = ((int64_t) ms5607_prom.sens << SHIFT_SENS) + (((int64_t) ms5607_prom.tcs * dT) >> SHIFT_TCS); */
+       SENS.high = 0;
+       SENS.low = (uint32_t) ms5607_prom.sens << SHIFT_SENS;
+       ao_mul64_32_32(&a, ms5607_prom.tcs, dT);
+       ao_rshift64(&a, &a, SHIFT_TCS);
+       ao_plus64(&SENS, &SENS, &a);
+       /**/

 
        if (TEMP < 2000) {
 
        if (TEMP < 2000) {

-               int32_t T2 = ((int64_t) dT * (int64_t) dT) >> 31;
-               int32_t TEMPM = TEMP - 2000;
-               int64_t OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4;
-               int64_t SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM;
-               if (TEMP < 1500) {
-                       int32_t TEMPP = TEMP + 1500;
-                       int64_t TEMPP2 = TEMPP * TEMPP;
-                       OFF2 = OFF2 + 15 * TEMPP2;
-                       SENS2 = SENS2 + 8 * TEMPP2;
+               __LOCAL int32_t T2;
+               __LOCAL int32_t TEMPM;
+               __LOCAL ao_int64_t OFF2;
+               __LOCAL ao_int64_t SENS2;
+
+               /* T2 = ((int64_t) dT * (int64_t) dT) >> 31; */
+               ao_mul64_32_32(&a, dT, dT);
+               T2 = (a.low >> 31) | (a.high << 1);
+               /**/
+
+               TEMPM = TEMP - 2000;
+
+               /* OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4; */
+               ao_mul64_32_32(&OFF2, TEMPM, TEMPM);
+               ao_mul64_64_16(&OFF2, &OFF2, 61);
+               ao_rshift64(&OFF2, &OFF2, 4);
+               /**/
+               
+               /* SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM; */
+               ao_mul64_32_32(&SENS2, TEMPM, TEMPM);
+               ao_lshift64(&SENS2, &SENS2, 1);
+               /**/
+
+               if (TEMP < -1500) {
+                       int32_t TEMPP;
+                       int32_t TEMPP2;
+
+                       TEMPP = TEMP + 1500;
+                       TEMPP2 = TEMPP * TEMPP;
+
+                       /* OFF2 = OFF2 + 15 * TEMPP2; */
+                       ao_mul64_32_32(&a, 15, TEMPP2);
+                       ao_plus64(&OFF2, &OFF2, &a);
+                       /**/
+
+                       /* SENS2 = SENS2 + 8 * TEMPP2; */
+                       a.high = 0;
+                       a.low = TEMPP2;
+                       ao_lshift64(&a, &a, 3);
+                       ao_plus64(&SENS2, &SENS2, &a);
+                       /**/

                }
                TEMP -= T2;
                }
                TEMP -= T2;

-               OFF -= OFF2;
-               SENS -= SENS2;
+
+               /* OFF -= OFF2; */
+               ao_minus64(&OFF, &OFF, &OFF2);
+               /**/
+
+               /* SENS -= SENS2; */
+               ao_minus64(&SENS, &SENS, &SENS2);
+               /**/

        }
 
        }
 

-       value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15;
+       /* value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15; */
+       a.high = 0;
+       a.low = sample->pres;
+       ao_mul64(&a, &a, &SENS);
+       ao_rshift64(&a, &a, 21);
+       ao_minus64(&a, &a, &OFF);
+       ao_rshift64(&a, &a, 15);
+       value->pres = a.low;
+       /**/
+       

        value->temp = TEMP;
        value->temp = TEMP;

-#endif

 }
 }

diff --git a/src/telemini-v2.0/Makefile b/src/telemini-v2.0/Makefile
index afd529f04c7932ab3d8938271bf896190007531a..984406a965fe85e7815eefc5f4964bf7cd608dee 100644 (file)
--- a/src/telemini-v2.0/Makefile
+++ b/src/telemini-v2.0/Makefile
@@ -19,7 +19,11 @@ INC = \
        ao_arch.h \
        ao_arch_funcs.h \
        cc1111.h \
        ao_arch.h \
        ao_arch_funcs.h \
        cc1111.h \

-       ao_product.h
+       ao_ms5607.h \
+       ao_ms5607_convert_8051.c \
+       ao_product.h \
+       ao_int64.h \
+       ao_sample.h

 
 CORE_SRC = \
        ao_cmd.c \
 
 CORE_SRC = \
        ao_cmd.c \


@@ -37,7 +41,8 @@ CORE_SRC = \
        ao_storage.c \
        ao_task.c \
        ao_telemetry.c \
        ao_storage.c \
        ao_task.c \
        ao_telemetry.c \

-       ao_freq.c
+       ao_freq.c \
+       ao_int64.c

 
 CC1111_SRC = \
        ao_adc.c \
 
 CC1111_SRC = \
        ao_adc.c \

diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h
index 386c8dc35ebdac1fabeaeff03f572a01c057093c..fad029e20a75c640b8ec4ca8e3f69ce59d538258 100644 (file)
--- a/src/telemini-v2.0/ao_pins.h
+++ b/src/telemini-v2.0/ao_pins.h
@@ -115,6 +115,8 @@ struct ao_adc {
 #define AO_SENSE_DROGUE(p)     ((p)->adc.sense_a)
 #define AO_SENSE_MAIN(p)       ((p)->adc.sense_m)
 
 #define AO_SENSE_DROGUE(p)     ((p)->adc.sense_a)
 #define AO_SENSE_MAIN(p)       ((p)->adc.sense_m)
 

+#define AO_NUM_TASKS   10
+

 #define AO_ADC_DUMP(p) \
        printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \
               (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt)
 #define AO_ADC_DUMP(p) \
        printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \
               (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt)

diff --git a/src/test/Makefile b/src/test/Makefile
index 9c304318a1f3fa7cbecf54b9f82db79502dbf570..5eee6bbb439da64ae50686663fe8e6343f7e1494 100644 (file)
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -2,7 +2,8 @@ vpath % ..:../core:../drivers:../util:../micropeak:../aes
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
        ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
        ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \

-       ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test
+       ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \
+       ao_ms5607_convert_test

 
 INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h
 
 
 INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h
 


@@ -76,3 +77,6 @@ ao_aes_test: ao_aes_test.c ao_aes.c ao_aes_tables.c
 
 ao_int64_test: ao_int64_test.c ao_int64.c ao_int64.h
        cc $(CFLAGS) -o $@ ao_int64_test.c
 
 ao_int64_test: ao_int64_test.c ao_int64.c ao_int64.h
        cc $(CFLAGS) -o $@ ao_int64_test.c

+
+ao_ms5607_convert_test: ao_ms5607_convert_test.c ao_ms5607_convert_8051.c ao_int64.c ao_int64.h
+       cc $(CFLAGS) -o $@ ao_ms5607_convert_test.c

diff --git a/src/test/ao_int64_test.c b/src/test/ao_int64_test.c
index c26a63b0c1f8d968ba197c1403beaffbcdc4ec4d..8557a1c79648b2538622d4c79562fb7a4b416bfa 100644 (file)
--- a/src/test/ao_int64_test.c
+++ b/src/test/ao_int64_test.c
@@ -15,6 +15,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 

+#define __data
+#define __pdata
+#define __xdata
+#define __reentrant
+

 #include <ao_int64.h>
 #include <ao_int64.c>
 #include <stdio.h>
 #include <ao_int64.h>
 #include <ao_int64.c>
 #include <stdio.h>

diff --git a/src/test/ao_ms5607_convert_test.c b/src/test/ao_ms5607_convert_test.c
new file mode 100644 (file)
index 0000000..ad59320
--- /dev/null
+++ b/src/test/ao_ms5607_convert_test.c
@@ -0,0 +1,96 @@
+/*
+ * 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.
+ */
+
+#define __xdata
+#define __data
+#define __pdata
+#define __reentrant
+
+#include <stdint.h>
+#include <ao_ms5607.h>
+
+struct ao_ms5607_prom ms5607_prom = {
+       0x002c,
+       0xa6e0,
+       0x988e,
+       0x6814,
+       0x5eff,
+       0x8468,
+       0x6c86,
+       0xa271,
+};
+
+int32_t D1_mm = 6179630;
+int32_t D2_mm = 8933155;
+
+#include <ao_ms5607_convert.c>
+#define ao_ms5607_convert ao_ms5607_convert_8051
+#include <ao_ms5607_convert_8051.c>
+#include <ao_int64.c>
+#include <stdio.h>
+#include <stdlib.h>
+
+struct ao_ms5607_sample ao_sample = {
+       6179630,
+       8933155
+};
+
+int errors;
+
+void test(int trial, struct ao_ms5607_sample *sample)
+{
+       struct ao_ms5607_value  value, value_8051;
+
+       ao_ms5607_convert(sample, &value);
+       ao_ms5607_convert_8051(sample, &value_8051);
+       if (value.temp != value_8051.temp || value.pres != value_8051.pres) {
+               ++errors;
+               printf ("trial %d: %d, %d -> %d, %d (should be %d, %d)\n",
+                       trial,
+                       sample->pres, sample->temp,
+                       value_8051.pres, value_8051.temp,
+                       value.pres, value.temp);
+       }
+}
+
+#define TESTS  10000000
+
+#include <stdlib.h>
+
+static int32_t rand24(void) { return random() & 0xffffff; }
+
+int
+main(int argc, char **argv)
+{
+       struct ao_ms5607_sample sample;
+       int     i, start;
+
+       if (argv[1])
+               start = atoi(argv[1]);
+       else
+               start = 0;
+
+       srandom(10000);
+       test(-1, &ao_sample);
+       for (i = 0; i < TESTS; i++) {
+               sample.pres = rand24();
+               sample.temp = rand24();
+               if (i >= start)
+                       test(i, &sample);
+       }
+       return errors;
+}