if (config_data.pad_orientation != AltosLib.MISSING)
link.printf("c o %d\n", config_data.pad_orientation);
if (plus != AltosLib.MISSING && minus != AltosLib.MISSING && plus != 0) {
+ if (plus < 0)
+ plus = 65536 + plus;
+ if (minus < 0)
+ minus = 65536 + minus;
if (config_data.accel_zero_along != AltosLib.MISSING)
link.printf("c a %d %d %d %d %d\n",
plus, minus,
case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
- case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
return 4095 - value;
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
return -value;
/* Return + accel calibration relative to a specific pad orientation */
public int accel_cal_plus(int pad_orientation) {
adjust_accel_cal();
+ if (!accel_cal_adjusted)
+ return AltosLib.MISSING;
+
switch (pad_orientation) {
case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
/* Return - accel calibration relative to a specific pad orientation */
public int accel_cal_minus(int pad_orientation) {
adjust_accel_cal();
+ if (!accel_cal_adjusted)
+ return AltosLib.MISSING;
+
switch (pad_orientation) {
case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
*/
private void adjust_accel_cal() {
if (!accel_cal_adjusted &&
+ product != null &&
pad_orientation != AltosLib.MISSING &&
accel_cal_plus != AltosLib.MISSING &&
accel_cal_minus != AltosLib.MISSING)
}
}
} catch (Exception e) {}
-
- /* Fix accel cal as soon as all of the necessary values appear */
- adjust_accel_cal();
}
public AltosConfigData() {
int plus = accel_cal_plus(pad_orientation);
int minus = accel_cal_minus(pad_orientation);
if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
+ if (plus < 0)
+ plus = 65536 + plus;
+ if (minus < 0)
+ minus = 65536 + minus;
if (accel_zero_along != AltosLib.MISSING &&
accel_zero_across != AltosLib.MISSING &&
accel_zero_through != AltosLib.MISSING)
read_link(link, "done");
break;
}
+ adjust_accel_cal();
}
}
echo -e '\e[34m'Testing $product $serial $dev'\e[39m'
echo ""
+ sleep 0.25
+
./test-igniters-nowait "$dev" drogue main
echo ""
echo -e '\e[31m'"$PRODUCT-$VERSION serial $serial failed"'\e[39m'
exit 1
fi
-
echo ""
echo -e '\e[32m'"$PRODUCT-v$VERSION" serial "$serial" is ready to ship'\e[39m'
if [ $result -ne 2 ]; then
exit $result
fi
- echo 'No device, sleeping...'
- sleep 1
+ sleep 0.25
done
#include <unistd.h>
#include <getopt.h>
#include <string.h>
+#include <stdbool.h>
#include <ctype.h>
#include "cc-usb.h"
#include "cc.h"
}
}
+static const uint8_t test_data[] = {
+ 0xfc, 0xfd, 0xfe, 0xff, 0xf8, 0xf9, 0xfa, 0xfb, 0x40, 0x00, 0x0a, 0x0b, 0x0c, 0x0d, 0x0e, 0x0f,
+ 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d, 0x1e, 0x1f,
+ 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x2b, 0x2c, 0x2d, 0x2e, 0x2f,
+ 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3a, 0x3b, 0x3c, 0x3d, 0x3e, 0x3f,
+ 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, 0x4b, 0x4c, 0x4d, 0x4e, 0x4f,
+ 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x5b, 0x5c, 0x5d, 0x5e, 0x5f,
+ 0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6a, 0x6b, 0x6c, 0x6d, 0x6e, 0x6f,
+ 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, 0x7b, 0x7c, 0x7d, 0x7e, 0x7f,
+ 0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89,
+ 0x17, 0x08,
+};
+
+static bool test_failed;
+static int test_pos;
+
+static void
+check_test(uint8_t b)
+{
+ if (test_pos >= sizeof (test_data) || test_data[test_pos++] != b)
+ test_failed = true;
+}
+
static uint8_t
get_hexc(struct cc_usb *cc)
{
int h = (a << 4) + b;
file_crc = log_crc(file_crc, h);
+ check_test(h);
return h;
}
current_crc = swap16(~file_crc & 0xffff);
crc = get_16(cc); /* crc */
putchar ('\n');
- if (crc == current_crc)
- printf("CRC valid\n");
+ if (crc == current_crc) {
+ if (!test_failed)
+ printf("\033[32mValid MicroTest Data\033[39m\n");
+ else
+ printf("CRC valid\n");
+ }
else
printf("CRC invalid\n");
cc_usb_close(cc);
dnl Process this file with autoconf to create configure.
AC_PREREQ(2.57)
-AC_INIT([altos], 1.9.6)
+AC_INIT([altos], 1.9.6.1)
ANDROID_VERSION=27
AC_CONFIG_SRCDIR([src/kernel/ao.h])
AM_INIT_AUTOMAKE([foreign dist-bzip2])
AM_MAINTAINER_MODE
-RELEASE_DATE=2020-10-21
+RELEASE_DATE=2020-10-29
AC_SUBST(RELEASE_DATE)
DOC_DATE=`LC_ALL=C date -d $RELEASE_DATE +'%d %b %Y'`
#endif
static void
-ao_igniter_fire(enum ao_igniter igniter)
+ao_igniter_fire(enum ao_igniter igniter, bool wait)
{
if (!ao_ignition[igniter].fired) {
ao_ignition[igniter].firing = 1;
break;
}
ao_ignition[igniter].firing = 0;
- ao_delay(AO_IGNITER_CHARGE_TIME);
+ if (wait)
+ ao_delay(AO_IGNITER_CHARGE_TIME);
}
}
switch(ao_config.ignite_mode) {
case AO_IGNITE_MODE_DUAL:
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed)
- ao_igniter_fire(ao_igniter_drogue);
+ ao_igniter_fire(ao_igniter_drogue, true);
if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed)
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_main, true);
break;
case AO_IGNITE_MODE_APOGEE:
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed) {
- ao_igniter_fire(ao_igniter_drogue);
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_drogue, true);
+ ao_igniter_fire(ao_igniter_main, true);
}
break;
case AO_IGNITE_MODE_MAIN:
if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed) {
- ao_igniter_fire(ao_igniter_drogue);
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_drogue, true);
+ ao_igniter_fire(ao_igniter_main, true);
}
break;
case AO_IGNITE_MODE_BOOSTER:
if (ao_flight_fast <= ao_flight_state && ao_flight_state < ao_flight_landed)
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_main, true);
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed)
- ao_igniter_fire(ao_igniter_drogue);
+ ao_igniter_fire(ao_igniter_drogue, true);
break;
}
}
#if HAS_IGNITE
if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
ao_ignition[ao_igniter_main].fired = 0;
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_main, false);
return;
}
if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
ao_ignition[ao_igniter_drogue].fired = 0;
- ao_igniter_fire(ao_igniter_drogue);
+ ao_igniter_fire(ao_igniter_drogue, false);
return;
}
#endif
--- /dev/null
+#
+# Tiny AltOS build
+#
+#
+TOPDIR=..
+include $(TOPDIR)/attiny/Makefile.defs
+
+PROGNAME=microtest-v1.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+ALTOS_SRC = \
+ ao_microtest.c \
+ ao_spi_attiny.c \
+ ao_led_tiny.c \
+ ao_clock.c \
+ ao_ms5607.c \
+ ao_exti.c \
+ ao_notask.c \
+ ao_eeprom_tiny.c \
+ ao_panic.c \
+ ao_log_micro.c \
+ ao_async.c \
+ ao_microflight.c \
+ ao_microkalman.c
+
+INC=\
+ ao.h \
+ ao_pins.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_exti.h \
+ ao_ms5607.h \
+ ao_log_micro.h \
+ ao_micropeak.h \
+ ao_product.h \
+ altitude-pa.h
+
+IDPRODUCT=0
+PRODUCT=MicroTest-v1.0
+PRODUCT_DEF=-DMICROPEAK
+CFLAGS = $(PRODUCT_DEF) $(ATTINY_CFLAGS)
+
+SRC=$(ALTOS_SRC)
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+ $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(HEX): $(PROG)
+ avr-size $(PROG)
+ $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+load: $(HEX)
+ $(LOADCMD) $(LOADARG)$(HEX)
+
+load-slow: $(HEX)
+ $(LOADCMD) $(LOADSLOW) $(LOADARG)$(HEX)
+
+distclean: clean
+
+clean:
+ rm -f *.o *.elf *.ihx *.map
+ rm -f ao_product.h
+
+load-product:
+ ./$(SCRIPT) fast
+
+load-product-slow:
+ ./$(SCRIPT) slow
+
+install:
+
+uninstall:
+
+$(OBJ): $(INC)
--- /dev/null
+/*
+ * 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; 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_micropeak.h>
+#include <ao_ms5607.h>
+#include <ao_async.h>
+#include <ao_log_micro.h>
+
+static struct ao_ms5607_value value;
+
+alt_t ground_alt, max_alt;
+alt_t ao_max_height;
+
+void
+ao_pa_get(void)
+{
+ ao_ms5607_sample(&ao_ms5607_current);
+ ao_ms5607_convert(&ao_ms5607_current, &value);
+ pa = value.pres;
+}
+static void
+ao_pips(void)
+{
+ uint8_t i;
+ for (i = 0; i < 10; i++) {
+ ao_led_toggle(AO_LED_REPORT);
+ ao_delay(AO_MS_TO_TICKS(80));
+ }
+ ao_delay(AO_MS_TO_TICKS(200));
+}
+
+#define POLY 0x8408
+
+static uint16_t
+ao_log_micro_crc(uint16_t crc, uint8_t byte)
+{
+ uint8_t i;
+
+ for (i = 0; i < 8; i++) {
+ if ((crc & 0x0001) ^ (byte & 0x0001))
+ crc = (crc >> 1) ^ POLY;
+ else
+ crc = crc >> 1;
+ byte >>= 1;
+ }
+ return crc;
+}
+
+struct header {
+ uint32_t pa_ground_offset;
+ uint32_t pa_min_offset;
+ N_SAMPLES_TYPE nsamples;
+};
+
+static const struct header head = {
+ .pa_ground_offset = 0xfffefdfc,
+ .pa_min_offset = 0xfbfaf9f8,
+ .nsamples = 64
+};
+
+static void
+ao_test_micro_dump(void)
+{
+ N_SAMPLES_TYPE n_samples;
+ uint16_t nbytes;
+ uint8_t byte;
+ uint16_t b;
+ uint16_t crc = 0xffff;
+
+ n_samples = head.nsamples;
+ nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
+
+ /*
+ * Rewrite n_samples so that it includes the log ID value with
+ * 32-bit n_samples split into two chunks
+ */
+ if (sizeof (n_samples) > 2) {
+ N_SAMPLES_TYPE n_samples_low;
+ N_SAMPLES_TYPE n_samples_high;
+ n_samples_low = n_samples & ((1 << AO_LOG_ID_SHIFT) - 1);
+ n_samples_high = (n_samples - n_samples_low) << AO_LOG_ID_WIDTH;
+ n_samples = n_samples_low | n_samples_high;
+ }
+#if AO_LOG_ID
+ n_samples |= AO_LOG_ID << AO_LOG_ID_SHIFT;
+#endif
+ ao_async_start();
+ ao_async_byte('M');
+ ao_async_byte('P');
+ for (b = 0; b < nbytes; b++) {
+ if ((b & 0xf) == 0)
+ ao_log_newline();
+ if (b < sizeof (head))
+ byte = ((uint8_t *) &head)[b];
+ else
+ byte = b;
+#if AO_LOG_ID
+ if (N_SAMPLES_OFFSET <= b && b < (N_SAMPLES_OFFSET + sizeof(n_samples))) {
+ byte = n_samples >> ((b - N_SAMPLES_OFFSET) << 3);
+ }
+#endif
+ ao_log_hex(byte);
+ crc = ao_log_micro_crc(crc, byte);
+ }
+ ao_log_newline();
+ crc = ~crc;
+ ao_log_hex(crc >> 8);
+ ao_log_hex(crc);
+ ao_log_newline();
+ ao_async_stop();
+}
+
+int
+main(void)
+{
+ ao_led_init();
+ ao_timer_init();
+
+ /* Init external hardware */
+ ao_spi_init();
+ ao_ms5607_init();
+ ao_ms5607_setup();
+
+ for (;;)
+ {
+ ao_delay(AO_MS_TO_TICKS(1000));
+
+ ao_pips();
+ ao_test_micro_dump();
+ }
+}
--- /dev/null
+/*
+ * 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; 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_
+#include <avr/pgmspace.h>
+
+#define AO_LED_ORANGE (1<<4)
+#define AO_LED_SERIAL 4
+#define AO_LED_PANIC AO_LED_ORANGE
+#define AO_LED_REPORT AO_LED_ORANGE
+#define LEDS_AVAILABLE (AO_LED_ORANGE)
+#define USE_SERIAL_1_STDIN 0
+#define HAS_USB 0
+#define PACKET_HAS_SLAVE 0
+#define HAS_SERIAL_1 0
+#define HAS_TASK 0
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define HAS_SENSOR_ERRORS 0
+#define HAS_EEPROM 0
+#define HAS_BEEP 0
+#define AVR_CLOCK 250000UL
+
+/* SPI */
+#define SPI_PORT PORTB
+#define SPI_PIN PINB
+#define SPI_DIR DDRB
+#define AO_MS5607_CS_PORT PORTB
+#define AO_MS5607_CS_PIN 3
+
+/* MS5607 */
+#define AO_MS5607_SPI_INDEX 0
+#define AO_MS5607_MISO_PORT PORTB
+#define AO_MS5607_MISO_PIN 0
+#define AO_MS5607_BARO_OVERSAMPLE 4096
+#define AO_MS5607_TEMP_OVERSAMPLE 1024
+
+/* I2C */
+#define I2C_PORT PORTB
+#define I2C_PIN PINB
+#define I2C_DIR DDRB
+#define I2C_PIN_SCL PINB2
+#define I2C_PIN_SDA PINB0
+
+#define AO_CONST_ATTRIB PROGMEM
+typedef int32_t alt_t;
+#define FETCH_ALT(o) ((alt_t) pgm_read_dword(&altitude_table[o]))
+
+#define AO_ALT_VALUE(x) ((x) * (alt_t) 10)
+
+#endif /* _AO_PINS_H_ */
projects / fw / altos / commitdiff