Merge branch 'micropeak-1.1'
authorKeith Packard <keithp@keithp.com>
Thu, 13 Dec 2012 06:36:59 +0000 (22:36 -0800)
committerKeith Packard <keithp@keithp.com>
Thu, 13 Dec 2012 06:36:59 +0000 (22:36 -0800)
55 files changed:
altoslib/AltosConfigData.java
altoslib/AltosConfigValues.java [new file with mode: 0644]
altoslib/AltosMs5607.java
altoslib/AltosMs5607Query.java
altoslib/Makefile.am
altosui/AltosConfig.java
altosui/AltosConfigUI.java
ao-tools/Makefile.am
ao-tools/ao-sky-flash/Makefile.am [new file with mode: 0644]
ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin [new file with mode: 0644]
ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin [new file with mode: 0644]
ao-tools/ao-sky-flash/ao-sky-flash.1 [new file with mode: 0644]
ao-tools/ao-sky-flash/sky_bin.c [new file with mode: 0644]
ao-tools/ao-sky-flash/sky_debug.c [new file with mode: 0644]
ao-tools/ao-sky-flash/sky_flash.c [new file with mode: 0644]
ao-tools/ao-sky-flash/sky_flash.h [new file with mode: 0644]
ao-tools/ao-sky-flash/sky_serial.c [new file with mode: 0644]
ao-tools/ao-sky-flash/sky_srec.c [new file with mode: 0644]
ao-tools/ao-sky-flash/srec_115200.bin [new file with mode: 0644]
ao-tools/ao-sky-flash/srec_9600.bin [new file with mode: 0644]
ao-tools/lib/cc.h
configure.ac
debian/rules
src/avr/ao_usb_avr.c
src/cc1111/ao_adc.c
src/cc1111/ao_dbg.c
src/cc1111/ao_serial.c
src/cc1111/ao_usb.c
src/core/ao.h
src/core/ao_cmd.c
src/core/ao_config.c
src/core/ao_log_telem.c
src/core/ao_packet.h
src/core/ao_send_packet.c
src/core/ao_serial.h
src/core/ao_stdio.c
src/core/ao_task.c
src/core/ao_task.h
src/core/ao_usb.h
src/drivers/ao_btm.c
src/drivers/ao_companion.c
src/drivers/ao_gps_skytraq.c
src/drivers/ao_packet.c
src/drivers/ao_packet_master.c
src/megametrum-v0.1/ao_pins.h
src/stm/ao_arch.h
src/stm/ao_arch_funcs.h
src/stm/ao_serial_stm.c
src/stm/ao_usb_stm.c
src/teleballoon-v1.1/ao_pins.h
src/teleballoon-v1.1/ao_teleballoon.c
src/test/Makefile
src/test/ao_flight_test.c
src/test/ao_gps_test.c
src/test/ao_gps_test_skytraq.c

index 45a88783ad3a4a5e33fa023188804a66da6d077f..515ff480e705a41452040e86bd4514fa97f9f6e2 100644 (file)
@@ -26,31 +26,53 @@ public class AltosConfigData implements Iterable<String> {
        /* Version information */
        public String   manufacturer;
        public String   product;
-       public String   version;
-       public int      log_format;
        public int      serial;
+       public int      flight;
+       public int      log_format;
+       public String   version;
 
        /* Strings returned */
        public LinkedList<String>       lines;
 
        /* Config information */
-       public int      config_major;
-       public int      config_minor;
+       /* HAS_FLIGHT*/
        public int      main_deploy;
        public int      apogee_delay;
-       public int      radio_channel;
-       public int      radio_setting;
+       public int      apogee_lockout;
+
+       /* HAS_RADIO */
        public int      radio_frequency;
        public String   callsign;
-       public int      accel_cal_plus, accel_cal_minus;
+       public int      radio_enable;
        public int      radio_calibration;
+       /* Old HAS_RADIO values */
+       public int      radio_channel;
+       public int      radio_setting;
+
+       /* HAS_ACCEL */
+       public int      accel_cal_plus, accel_cal_minus;
+       public int      pad_orientation;
+
+       /* HAS_LOG */
        public int      flight_log_max;
+
+       /* HAS_IGNITE */
        public int      ignite_mode;
-       public int      stored_flight;
+
+       /* HAS_AES */
+       public String   aes_key;
+
+       /* AO_PYRO_NUM */
+       public AltosPyro[]      pyros;
+       public int              npyro;
+       public int              pyro;
+
+       /* Storage info replies */
        public int      storage_size;
        public int      storage_erase_unit;
 
-       public AltosPyro[]      pyros;
+       /* Log listing replies */
+       public int      stored_flight;
 
        public static String get_string(String line, String label) throws  ParseException {
                if (line.startsWith(label)) {
@@ -85,6 +107,9 @@ public class AltosConfigData implements Iterable<String> {
                        if (stored_flight == 0)
                                return 1;
                        return 0;
+               case AltosLib.AO_LOG_FORMAT_TELEMETRY:
+               case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
+                       return 1;
                default:
                        if (flight_log_max <= 0)
                                return 1;
@@ -111,7 +136,7 @@ public class AltosConfigData implements Iterable<String> {
 
                return r;
        }
-       
+
        public int compare_version(String other) {
                int[]   me = parse_version(version);
                int[]   them = parse_version(other);
@@ -130,71 +155,328 @@ public class AltosConfigData implements Iterable<String> {
                return 0;
        }
 
-       public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
-               link.printf("c s\nf\nl\nv\n");
+       public void reset() {
                lines = new LinkedList<String>();
-               radio_setting = 0;
-               radio_frequency = 0;
-               stored_flight = 0;
-               serial = -1;
+
+               manufacturer = "unknown";
+               product = "unknown";
+               serial = 0;
+               flight = 0;
+               log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
+               version = "unknown";
+
+               main_deploy = -1;
+               apogee_delay = -1;
+               apogee_lockout = -1;
+
+               radio_frequency = -1;
+               callsign = null;
+               radio_enable = -1;
+               radio_calibration = -1;
+               radio_channel = -1;
+               radio_setting = -1;
+
+               accel_cal_plus = -1;
+               accel_cal_minus = -1;
+               pad_orientation = -1;
+
+               flight_log_max = -1;
+               ignite_mode = -1;
+
+               aes_key = "";
+
+               pyro = 0;
+               npyro = 0;
                pyros = null;
 
-               int npyro = 0;
-               int pyro = 0;
+               storage_size = -1;
+               storage_erase_unit = -1;
+               stored_flight = -1;
+       }
+
+       public void parse_line(String line) {
+               lines.add(line);
+               /* Version replies */
+               try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
+               try { product = get_string(line, "product"); } catch (Exception e) {}
+               try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
+               try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
+               try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
+               try { version = get_string(line, "software-version"); } catch (Exception e) {}
+
+               /* Version also contains MS5607 info, which we ignore here */
+
+               /* Config show replies */
+
+               /* HAS_FLIGHT */
+               try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
+               try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
+               try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
+
+               /* HAS_RADIO */
+               try {
+                       radio_frequency = get_int(line, "Frequency:");
+                       if (radio_frequency < 0)
+                               radio_frequency = 434550;
+               } catch (Exception e) {}
+               try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
+               try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
+               try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
+
+               /* Old HAS_RADIO values */
+               try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
+               try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
+
+               /* HAS_ACCEL */
+               try {
+                       if (line.startsWith("Accel cal")) {
+                               String[] bits = line.split("\\s+");
+                               if (bits.length >= 6) {
+                                       accel_cal_plus = Integer.parseInt(bits[3]);
+                                       accel_cal_minus = Integer.parseInt(bits[5]);
+                               }
+                       }
+               } catch (Exception e) {}
+               try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
+
+               /* HAS_LOG */
+               try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
+
+               /* HAS_IGNITE */
+               try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
+
+               /* HAS_AES */
+               try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
+
+               /* AO_PYRO_NUM */
+               try {
+                       npyro = get_int(line, "Pyro-count:");
+                       pyros = new AltosPyro[npyro];
+                       pyro = 0;
+               } catch (Exception e) {}
+               if (npyro > 0) {
+                       try {
+                               AltosPyro p = new AltosPyro(pyro, line);
+                               if (pyro < npyro)
+                                       pyros[pyro++] = p;
+                       } catch (Exception e) {}
+               }
+
+               /* Storage info replies */
+               try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
+               try { storage_erase_unit = get_int(line, "Storage erase unit"); } catch (Exception e) {}
+
+               /* Log listing replies */
+               try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
+       }
+
+       public AltosConfigData() {
+               reset();
+       }
+
+       private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
                for (;;) {
                        String line = link.get_reply();
                        if (line == null)
                                throw new TimeoutException();
                        if (line.contains("Syntax error"))
                                continue;
-                       lines.add(line);
-                       if (pyro < npyro - 1) {
-                               if (pyros == null)
-                                       pyros = new AltosPyro[npyro];
-                               try {
-                                       pyros[pyro] = new AltosPyro(pyro, line);
-                               } catch (ParseException e) {
-                               }
-                               ++pyro;
-                               continue;
-                       }
-                       try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
-                       try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
-                       try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
-                       try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
-                       try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
-                       try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
-                       try {
-                               radio_frequency = get_int(line, "Frequency:");
-                               if (radio_frequency < 0)
-                                       radio_frequency = 434550;
-                       } catch (Exception e) {}
-                       try {
-                               if (line.startsWith("Accel cal")) {
-                                       String[] bits = line.split("\\s+");
-                                       if (bits.length >= 6) {
-                                               accel_cal_plus = Integer.parseInt(bits[3]);
-                                               accel_cal_minus = Integer.parseInt(bits[5]);
-                                       }
-                               }
-                       } catch (Exception e) {}
-                       try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
-                       try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
-                       try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
-                       try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
-                       try { version = get_string(line,"software-version"); } catch (Exception e) {}
-                       try { product = get_string(line,"product"); } catch (Exception e) {}
-                       try { manufacturer = get_string(line,"manufacturer"); } catch (Exception e) {}
-
-                       try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
-                       try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
-                       try { storage_erase_unit = get_int(line, "Storage erase unit"); } catch (Exception e) {}
-                       try { npyro = get_int(line, "Pyro-count:"); pyro = 0; } catch (Exception e) {}
+                       this.parse_line(line);
 
                        /* signals the end of the version info */
-                       if (line.startsWith("software-version"))
+                       if (line.startsWith(finished))
                                break;
                }
        }
 
+       public boolean has_frequency() {
+               return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
+       }
+
+       public void set_frequency(double freq) {
+               int     frequency = radio_frequency;
+               int     setting = radio_setting;
+
+               if (frequency > 0) {
+                       radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
+                       radio_channel = -1;
+               } else if (setting > 0) {
+                       radio_setting =AltosConvert.radio_frequency_to_setting(freq,
+                                                                                   radio_calibration);
+                       radio_channel = -1;
+               } else {
+                       radio_channel = AltosConvert.radio_frequency_to_channel(freq);
+               }
+       }
+
+       public double frequency() {
+               int     channel = radio_channel;
+               int     setting = radio_setting;
+               if (channel < 0)
+                       channel = 0;
+               if (setting < 0)
+                       setting = 0;
+
+               return AltosConvert.radio_to_frequency(radio_frequency,
+                                                      setting,
+                                                      radio_calibration,
+                                                      channel);
+       }
+
+       public int log_limit() {
+               if (storage_size > 0 && storage_erase_unit > 0) {
+                       int     log_limit = storage_size - storage_erase_unit;
+                       if (log_limit > 0)
+                               return log_limit / 1024;
+               }
+               return 1024;
+       }
+
+       public void get_values(AltosConfigValues source) {
+
+               /* HAS_FLIGHT */
+               if (main_deploy >= 0)
+                       main_deploy = source.main_deploy();
+               if (apogee_delay >= 0)
+                       apogee_delay = source.apogee_delay();
+               if (apogee_lockout >= 0)
+                       apogee_lockout = source.apogee_lockout();
+
+               /* HAS_RADIO */
+               if (has_frequency())
+                       set_frequency(source.radio_frequency());
+               if (radio_enable >= 0)
+                       radio_enable = source.radio_enable();
+               if (callsign != null)
+                       callsign = source.callsign();
+               if (radio_calibration >= 0)
+                       radio_calibration = source.radio_calibration();
+
+               /* HAS_ACCEL */
+               if (pad_orientation >= 0)
+                       pad_orientation = source.pad_orientation();
+
+               /* HAS_LOG */
+               if (flight_log_max >= 0)
+                       flight_log_max = source.flight_log_max();
+
+               /* HAS_IGNITE */
+               if (ignite_mode >= 0)
+                       ignite_mode = source.ignite_mode();
+
+               /* AO_PYRO_NUM */
+               if (npyro > 0)
+                       pyros = source.pyros();
+       }
+
+       public void set_values(AltosConfigValues dest) {
+               dest.set_serial(serial);
+               dest.set_product(product);
+               dest.set_version(version);
+               dest.set_main_deploy(main_deploy);
+               dest.set_apogee_delay(apogee_delay);
+               dest.set_apogee_lockout(apogee_lockout);
+               dest.set_radio_calibration(radio_calibration);
+               dest.set_radio_frequency(frequency());
+               boolean max_enabled = true;
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TINY:
+                       max_enabled = false;
+                       break;
+               default:
+                       if (stored_flight >= 0)
+                               max_enabled = false;
+                       break;
+               }
+               dest.set_flight_log_max_enabled(max_enabled);
+               dest.set_radio_enable(radio_enable);
+               dest.set_flight_log_max_limit(log_limit());
+               dest.set_flight_log_max(flight_log_max);
+               dest.set_ignite_mode(ignite_mode);
+               dest.set_pad_orientation(pad_orientation);
+               dest.set_callsign(callsign);
+               if (npyro > 0)
+                       dest.set_pyros(pyros);
+               else
+                       dest.set_pyros(null);
+       }
+
+       public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
+
+               /* HAS_FLIGHT */
+               if (main_deploy >= 0)
+                       link.printf("c m %d\n", main_deploy);
+               if (apogee_delay >= 0)
+                       link.printf("c d %d\n", apogee_delay);
+               if (apogee_lockout >= 0)
+                       link.printf("c L %d\n", apogee_lockout);
+
+               /* Don't mess with radio calibration when remote */
+               if (radio_calibration > 0 && !remote)
+                       link.printf("c f %d\n", radio_calibration);
+
+               /* HAS_RADIO */
+               if (has_frequency()) {
+                       boolean has_frequency = radio_frequency >= 0;
+                       boolean has_setting = radio_setting > 0;
+                       double frequency = frequency();
+                       link.set_radio_frequency(frequency,
+                                                       has_frequency,
+                                                       has_setting,
+                                                       radio_calibration);
+                       /* When remote, reset the dongle frequency at the same time */
+                       if (remote) {
+                               link.stop_remote();
+                               link.set_radio_frequency(frequency);
+                               link.start_remote();
+                       }
+               }
+
+               if (callsign != null)
+                       link.printf("c c %s\n", callsign);
+               if (radio_enable >= 0)
+                       link.printf("c e %d\n", radio_enable);
+
+               /* HAS_ACCEL */
+               /* UI doesn't support accel cal */
+               if (pad_orientation >= 0)
+                       link.printf("c o %d\n", pad_orientation);
+
+               /* HAS_LOG */
+               if (flight_log_max != 0)
+                       link.printf("c l %d\n", flight_log_max);
+
+               /* HAS_IGNITE */
+               if (ignite_mode >= 0)
+                       link.printf("c i %d\n", ignite_mode);
+
+               /* HAS_AES */
+               /* UI doesn't support AES key config */
+
+               /* AO_PYRO_NUM */
+               if (pyros.length > 0) {
+                       for (int p = 0; p < pyros.length; p++) {
+                               link.printf("c P %s\n",
+                                                  pyros[p].toString());
+                       }
+               }
+
+               link.printf("c w\n");
+               link.flush_output();
+       }
+
+       public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
+               reset();
+               link.printf("c s\nf\nv\n");
+               read_link(link, "software-version");
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMETRY:
+               case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
+                       break;
+               default:
+                       link.printf("l\n");
+                       read_link(link, "done");
+               }
+       }
+
 }
\ No newline at end of file
diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java
new file mode 100644 (file)
index 0000000..69239f2
--- /dev/null
@@ -0,0 +1,75 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public interface AltosConfigValues {
+       /* set and get all of the dialog values */
+       public abstract void set_product(String product);
+
+       public abstract void set_version(String version);
+
+       public abstract void set_serial(int serial);
+
+       public abstract void set_main_deploy(int new_main_deploy);
+
+       public abstract int main_deploy();
+
+       public abstract void set_apogee_delay(int new_apogee_delay);
+
+       public abstract int apogee_delay();
+
+       public abstract void set_apogee_lockout(int new_apogee_lockout);
+
+       public abstract int apogee_lockout();
+
+       public abstract void set_radio_frequency(double new_radio_frequency);
+
+       public abstract double radio_frequency();
+
+       public abstract void set_radio_calibration(int new_radio_calibration);
+
+       public abstract int radio_calibration();
+
+       public abstract void set_radio_enable(int new_radio_enable);
+
+       public abstract int radio_enable();
+
+       public abstract void set_callsign(String new_callsign);
+
+       public abstract String callsign();
+
+       public abstract void set_flight_log_max(int new_flight_log_max);
+
+       public abstract void set_flight_log_max_enabled(boolean enable);
+
+       public abstract int flight_log_max();
+
+       public abstract void set_flight_log_max_limit(int flight_log_max_limit);
+
+       public abstract void set_ignite_mode(int new_ignite_mode);
+
+       public abstract int ignite_mode();
+
+       public abstract void set_pad_orientation(int new_pad_orientation);
+
+       public abstract int pad_orientation();
+
+       public abstract void set_pyros(AltosPyro[] new_pyros);
+
+       public abstract AltosPyro[] pyros();
+}
index 148a9f9252be841c8d4e7eb3479bd14d963586d7..318fea4d290ac1e88165f9722350cbf131e799bb 100644 (file)
@@ -82,6 +82,43 @@ public class AltosMs5607 {
                return pa;
        }
 
+       public boolean parse_line(String line) {
+               String[] items = line.split("\\s+");
+               if (line.startsWith("Pressure:")) {
+                       if (items.length >= 2)
+                               raw_pres = Integer.parseInt(items[1]);
+               } else if (line.startsWith("Temperature:")) {
+                       if (items.length >= 2)
+                               raw_temp = Integer.parseInt(items[1]);
+               } else if (line.startsWith("ms5607 reserved:")) {
+                       if (items.length >= 3)
+                               reserved = Integer.parseInt(items[2]);
+               } else if (line.startsWith("ms5607 sens:")) {
+                       if (items.length >= 3)
+                               sens = Integer.parseInt(items[2]);
+               } else if (line.startsWith("ms5607 off:")) {
+                       if (items.length >= 3)
+                               off = Integer.parseInt(items[2]);
+               } else if (line.startsWith("ms5607 tcs:")) {
+                       if (items.length >= 3)
+                               tcs = Integer.parseInt(items[2]);
+               } else if (line.startsWith("ms5607 tco:")) {
+                       if (items.length >= 3)
+                               tco = Integer.parseInt(items[2]);
+               } else if (line.startsWith("ms5607 tref:")) {
+                       if (items.length >= 3)
+                               tref = Integer.parseInt(items[2]);
+               } else if (line.startsWith("ms5607 tempsens:")) {
+                       if (items.length >= 3)
+                               tempsens = Integer.parseInt(items[2]);
+               } else if (line.startsWith("ms5607 crc:")) {
+                       if (items.length >= 3)
+                               crc = Integer.parseInt(items[2]);
+               } else if (line.startsWith("Altitude"))
+                       return false;
+               return true;
+       }
+
        public AltosMs5607() {
                raw_pres = AltosRecord.MISSING;
                raw_temp = AltosRecord.MISSING;
index 3c74679517fbf89c3f457225e6a50bdb471b0466..1aaec334bb5c05c1d3bd507dcac8d76e7802ae1c 100644 (file)
@@ -27,38 +27,7 @@ class AltosMs5607Query extends AltosMs5607 {
                        if (line == null) {
                                throw new TimeoutException();
                        }
-                       String[] items = line.split("\\s+");
-                       if (line.startsWith("Pressure:")) {
-                               if (items.length >= 2)
-                                       raw_pres = Integer.parseInt(items[1]);
-                       } else if (line.startsWith("Temperature:")) {
-                               if (items.length >= 2)
-                                       raw_temp = Integer.parseInt(items[1]);
-                       } else if (line.startsWith("ms5607 reserved:")) {
-                               if (items.length >= 3)
-                                       reserved = Integer.parseInt(items[2]);
-                       } else if (line.startsWith("ms5607 sens:")) {
-                               if (items.length >= 3)
-                                       sens = Integer.parseInt(items[2]);
-                       } else if (line.startsWith("ms5607 off:")) {
-                               if (items.length >= 3)
-                                       off = Integer.parseInt(items[2]);
-                       } else if (line.startsWith("ms5607 tcs:")) {
-                               if (items.length >= 3)
-                                       tcs = Integer.parseInt(items[2]);
-                       } else if (line.startsWith("ms5607 tco:")) {
-                               if (items.length >= 3)
-                                       tco = Integer.parseInt(items[2]);
-                       } else if (line.startsWith("ms5607 tref:")) {
-                               if (items.length >= 3)
-                                       tref = Integer.parseInt(items[2]);
-                       } else if (line.startsWith("ms5607 tempsens:")) {
-                               if (items.length >= 3)
-                                       tempsens = Integer.parseInt(items[2]);
-                       } else if (line.startsWith("ms5607 crc:")) {
-                               if (items.length >= 3)
-                                       crc = Integer.parseInt(items[2]);
-                       } else if (line.startsWith("Altitude"))
+                       if (!parse_line(line))
                                break;
                }
                convert();
index 2579a65030a625a89784ab6876fbd97908e02886..0086bc6555fc617414ddc63b51756012e1efc555 100644 (file)
@@ -12,6 +12,7 @@ AltosLibdir = $(datadir)/java
 AltosLib_JAVA = \
        $(SRC)/AltosLib.java \
        $(SRC)/AltosConfigData.java \
+       $(SRC)/AltosConfigValues.java \
        $(SRC)/AltosConvert.java \
        $(SRC)/AltosCRCException.java \
        $(SRC)/AltosEepromChunk.java \
index 4b0edec0fbf5492aa48501c5e9ab2540f121d65c..e1ffebb4b95f1129144e1a86c70dadf2915ae78d 100644 (file)
@@ -58,64 +58,12 @@ public class AltosConfig implements ActionListener {
        AltosDevice     device;
        AltosSerial     serial_line;
        boolean         remote;
-       AltosConfigData remote_config_data;
-       double          remote_frequency;
-       int_ref         serial;
-       int_ref         log_format;
-       int_ref         main_deploy;
-       int_ref         apogee_delay;
-       int_ref         apogee_lockout;
-       int_ref         radio_channel;
-       int_ref         radio_calibration;
-       int_ref         flight_log_max;
-       int_ref         ignite_mode;
-       int_ref         pad_orientation;
-       int_ref         radio_setting;
-       int_ref         radio_frequency;
-       int_ref         storage_size;
-       int_ref         storage_erase_unit;
-       int_ref         stored_flight;
-       int_ref         radio_enable;
-       string_ref      version;
-       string_ref      product;
-       string_ref      callsign;
-       int_ref         npyro;
-       AltosPyro[]     pyros;
+
+       AltosConfigData data;
        AltosConfigUI   config_ui;
        boolean         serial_started;
        boolean         made_visible;
 
-       boolean get_int(String line, String label, int_ref x) {
-               if (line.startsWith(label)) {
-                       try {
-                               String tail = line.substring(label.length()).trim();
-                               String[] tokens = tail.split("\\s+");
-                               if (tokens.length > 0) {
-                                       int     i = Integer.parseInt(tokens[0]);
-                                       x.set(i);
-                                       return true;
-                               }
-                       } catch (NumberFormatException ne) {
-                       }
-               }
-               return false;
-       }
-
-       boolean get_string(String line, String label, string_ref s) {
-               if (line.startsWith(label)) {
-                       String  quoted = line.substring(label.length()).trim();
-
-                       if (quoted.startsWith("\""))
-                               quoted = quoted.substring(1);
-                       if (quoted.endsWith("\""))
-                               quoted = quoted.substring(0,quoted.length()-1);
-                       s.set(quoted);
-                       return true;
-               } else {
-                       return false;
-               }
-       }
-
        void start_serial() throws InterruptedException, TimeoutException {
                serial_started = true;
                if (remote)
@@ -130,43 +78,8 @@ public class AltosConfig implements ActionListener {
                        serial_line.stop_remote();
        }
 
-       int log_limit() {
-               if (storage_size.get() > 0 && storage_erase_unit.get() > 0) {
-                       int     log_limit = storage_size.get() - storage_erase_unit.get();
-                       if (log_limit > 0)
-                               return log_limit / 1024;
-               }
-               return 1024;
-       }
-
        void update_ui() {
-               config_ui.set_serial(serial.get());
-               config_ui.set_product(product.get());
-               config_ui.set_version(version.get());
-               config_ui.set_main_deploy(main_deploy.get());
-               config_ui.set_apogee_delay(apogee_delay.get());
-               config_ui.set_apogee_lockout(apogee_lockout.get());
-               config_ui.set_radio_calibration(radio_calibration.get());
-               config_ui.set_radio_frequency(frequency());
-               boolean max_enabled = true;
-               switch (log_format.get()) {
-               case Altos.AO_LOG_FORMAT_TINY:
-                       max_enabled = false;
-                       break;
-               default:
-                       if (stored_flight.get() >= 0)
-                               max_enabled = false;
-                       break;
-               }
-               config_ui.set_flight_log_max_enabled(max_enabled);
-               config_ui.set_radio_enable(radio_enable.get());
-               config_ui.set_flight_log_max_limit(log_limit());
-               config_ui.set_flight_log_max(flight_log_max.get());
-               config_ui.set_ignite_mode(ignite_mode.get());
-               config_ui.set_pad_orientation(pad_orientation.get());
-               config_ui.set_callsign(callsign.get());
-               config_ui.set_pyros(pyros);
-               config_ui.set_has_pyro(npyro.get() > 0);
+               data.set_values(config_ui);
                config_ui.set_clean();
                if (!made_visible) {
                        made_visible = true;
@@ -176,52 +89,6 @@ public class AltosConfig implements ActionListener {
 
        int     pyro;
 
-       void process_line(String line) {
-               if (line == null) {
-                       abort();
-                       return;
-               }
-               if (line.equals("all finished")) {
-                       if (serial_line != null)
-                               update_ui();
-                       return;
-               }
-               if (pyro < npyro.get()) {
-                       if (pyros == null)
-                               pyros = new AltosPyro[npyro.get()];
-
-                       try {
-                               pyros[pyro] = new AltosPyro(pyro, line);
-                       } catch (ParseException e) {
-                               System.out.printf ("pyro parse failed %s\n", line);
-                       }
-                       ++pyro;
-                       return;
-               }
-               get_int(line, "serial-number", serial);
-               get_int(line, "log-format", log_format);
-               get_int(line, "Main deploy:", main_deploy);
-               get_int(line, "Apogee delay:", apogee_delay);
-               get_int(line, "Apogee lockout:", apogee_lockout);
-               get_int(line, "Radio channel:", radio_channel);
-               get_int(line, "Radio cal:", radio_calibration);
-               get_int(line, "Max flight log:", flight_log_max);
-               get_int(line, "Ignite mode:", ignite_mode);
-               get_int(line, "Pad orientation:", pad_orientation);
-               get_int(line, "Radio setting:", radio_setting);
-               if (get_int(line, "Frequency:", radio_frequency))
-                       if (radio_frequency.get() < 0)
-                               radio_frequency.set(434550);
-               get_int(line, "Radio enable:", radio_enable);
-               get_int(line, "Storage size:", storage_size);
-               get_int(line, "Storage erase unit:", storage_erase_unit);
-               get_int(line, "flight", stored_flight);
-               get_string(line, "Callsign:", callsign);
-               get_string(line,"software-version", version);
-               get_string(line,"product", product);
-               get_int(line, "Pyro-count:", npyro);
-       }
-
        final static int        serial_mode_read = 0;
        final static int        serial_mode_save = 1;
        final static int        serial_mode_reboot = 2;
@@ -230,63 +97,33 @@ public class AltosConfig implements ActionListener {
                AltosConfig     config;
                int             serial_mode;
 
-               void process_line(String line) {
-                       config.process_line(line);
-               }
-               void callback(String in_line) {
-                       final String line = in_line;
+               void callback(String in_cmd) {
+                       final String cmd = in_cmd;
                        Runnable r = new Runnable() {
                                        public void run() {
-                                               process_line(line);
+                                               if (cmd.equals("abort")) {
+                                                       abort();
+                                               } else if (cmd.equals("all finished")) {
+                                                       if (serial_line != null)
+                                                               update_ui();
+                                               }
                                        }
                                };
                        SwingUtilities.invokeLater(r);
                }
 
-               void reset_data() {
-                       serial.set(0);
-                       log_format.set(Altos.AO_LOG_FORMAT_UNKNOWN);
-                       main_deploy.set(250);
-                       apogee_delay.set(0);
-                       apogee_lockout.set(0);
-                       radio_channel.set(0);
-                       radio_setting.set(0);
-                       radio_frequency.set(0);
-                       radio_calibration.set(1186611);
-                       radio_enable.set(-1);
-                       flight_log_max.set(0);
-                       ignite_mode.set(-1);
-                       pad_orientation.set(-1);
-                       storage_size.set(-1);
-                       storage_erase_unit.set(-1);
-                       stored_flight.set(-1);
-                       callsign.set("N0CALL");
-                       version.set("unknown");
-                       product.set("unknown");
-                       pyro = 0;
-                       npyro.set(0);
-               }
-
                void get_data() {
+                       data = null;
                        try {
-                               config.start_serial();
-                               reset_data();
-
-                               config.serial_line.printf("c s\nf\nl\nv\n");
-                               for (;;) {
-                                       try {
-                                               String line = config.serial_line.get_reply(5000);
-                                               if (line == null)
-                                                       stop_serial();
-                                               callback(line);
-                                               if (line.startsWith("software-version"))
-                                                       break;
-                                       } catch (Exception e) {
-                                               break;
-                                       }
-                               }
+                               start_serial();
+                               data = new AltosConfigData(config.serial_line);
                        } catch (InterruptedException ie) {
                        } catch (TimeoutException te) {
+                               try {
+                                       stop_serial();
+                                       callback("abort");
+                               } catch (InterruptedException ie) {
+                               }
                        } finally {
                                try {
                                        stop_serial();
@@ -298,41 +135,11 @@ public class AltosConfig implements ActionListener {
 
                void save_data() {
                        try {
-                               double frequency = frequency();
-                               boolean has_frequency = radio_frequency.get() > 0;
-                               boolean has_setting = radio_setting.get() > 0;
                                start_serial();
-                               serial_line.printf("c m %d\n", main_deploy.get());
-                               serial_line.printf("c d %d\n", apogee_delay.get());
-                               serial_line.printf("c L %d\n", apogee_lockout.get());
-                               if (!remote)
-                                       serial_line.printf("c f %d\n", radio_calibration.get());
-                               serial_line.set_radio_frequency(frequency,
-                                                               has_frequency,
-                                                               has_setting,
-                                                               radio_calibration.get());
-                               if (remote) {
-                                       serial_line.stop_remote();
-                                       serial_line.set_radio_frequency(frequency);
-                                       AltosUIPreferences.set_frequency(device.getSerial(), frequency);
-                                       serial_line.start_remote();
-                               }
-                               serial_line.printf("c c %s\n", callsign.get());
-                               if (flight_log_max.get() != 0)
-                                       serial_line.printf("c l %d\n", flight_log_max.get());
-                               if (radio_enable.get() >= 0)
-                                       serial_line.printf("c e %d\n", radio_enable.get());
-                               if (ignite_mode.get() >= 0)
-                                       serial_line.printf("c i %d\n", ignite_mode.get());
-                               if (pad_orientation.get() >= 0)
-                                       serial_line.printf("c o %d\n", pad_orientation.get());
-                               if (pyros.length > 0) {
-                                       for (int p = 0; p < pyros.length; p++) {
-                                               serial_line.printf("c P %s\n",
-                                                                  pyros[p].toString());
-                                       }
-                               }
-                               serial_line.printf("c w\n");
+                               data.save(serial_line, remote);
+                               if (remote)
+                                       AltosUIPreferences.set_frequency(device.getSerial(),
+                                                                        data.frequency());
                        } catch (InterruptedException ie) {
                        } catch (TimeoutException te) {
                        } finally {
@@ -413,57 +220,29 @@ public class AltosConfig implements ActionListener {
        }
 
        double frequency() {
-               return AltosConvert.radio_to_frequency(radio_frequency.get(),
-                                                      radio_setting.get(),
-                                                      radio_calibration.get(),
-                                                      radio_channel.get());
-       }
-
-       void set_frequency(double freq) {
-               int     frequency = radio_frequency.get();
-               int     setting = radio_setting.get();
-
-               if (frequency > 0) {
-                       radio_frequency.set((int) Math.floor (freq * 1000 + 0.5));
-                       radio_channel.set(0);
-               } else if (setting > 0) {
-                       radio_setting.set(AltosConvert.radio_frequency_to_setting(freq,
-                                                                                 radio_calibration.get()));
-                       radio_channel.set(0);
-               } else {
-                       radio_channel.set(AltosConvert.radio_frequency_to_channel(freq));
-               }
+               return AltosConvert.radio_to_frequency(data.radio_frequency,
+                                                      data.radio_setting,
+                                                      data.radio_calibration,
+                                                      data.radio_channel);
        }
 
        void save_data() {
 
                /* bounds check stuff */
-               if (config_ui.flight_log_max() > log_limit()) {
+               if (config_ui.flight_log_max() > data.log_limit()) {
                        JOptionPane.showMessageDialog(owner,
                                                      String.format("Requested flight log, %dk, is larger than the available space, %dk.\n",
                                                                    config_ui.flight_log_max(),
-                                                                   log_limit()),
+                                                                   data.log_limit()),
                                                      "Maximum Flight Log Too Large",
                                                      JOptionPane.ERROR_MESSAGE);
                        return;
                }
 
-               main_deploy.set(config_ui.main_deploy());
-               apogee_delay.set(config_ui.apogee_delay());
-               apogee_lockout.set(config_ui.apogee_lockout());
-               radio_calibration.set(config_ui.radio_calibration());
-               set_frequency(config_ui.radio_frequency());
-               flight_log_max.set(config_ui.flight_log_max());
-               if (radio_enable.get() >= 0)
-                       radio_enable.set(config_ui.radio_enable());
-               if (ignite_mode.get() >= 0)
-                       ignite_mode.set(config_ui.ignite_mode());
-               if (pad_orientation.get() >= 0)
-                       pad_orientation.set(config_ui.pad_orientation());
-               callsign.set(config_ui.callsign());
-               if (npyro.get() > 0) {
-                       pyros = config_ui.pyros();
-               }
+               /* Pull data out of the UI and stuff back into our local data record */
+
+               data.get_values(config_ui);
+
                run_serial_thread(serial_mode_save);
        }
 
@@ -491,27 +270,6 @@ public class AltosConfig implements ActionListener {
        public AltosConfig(JFrame given_owner) {
                owner = given_owner;
 
-               serial = new int_ref(0);
-               log_format = new int_ref(Altos.AO_LOG_FORMAT_UNKNOWN);
-               main_deploy = new int_ref(250);
-               apogee_delay = new int_ref(0);
-               apogee_lockout = new int_ref(0);
-               radio_channel = new int_ref(0);
-               radio_setting = new int_ref(0);
-               radio_frequency = new int_ref(0);
-               radio_calibration = new int_ref(1186611);
-               radio_enable = new int_ref(-1);
-               flight_log_max = new int_ref(0);
-               ignite_mode = new int_ref(-1);
-               pad_orientation = new int_ref(-1);
-               storage_size = new int_ref(-1);
-               storage_erase_unit = new int_ref(-1);
-               stored_flight = new int_ref(-1);
-               callsign = new string_ref("N0CALL");
-               version = new string_ref("unknown");
-               product = new string_ref("unknown");
-               npyro = new int_ref(0);
-
                device = AltosDeviceDialog.show(owner, Altos.product_any);
                if (device != null) {
                        try {
index feac053be9ad0fc1ec358de8926c1ae5d1425231..2c3435c18a47494834663d00c1626c9041399dc8 100644 (file)
@@ -25,7 +25,7 @@ import org.altusmetrum.AltosLib.*;
 
 public class AltosConfigUI
        extends AltosDialog
-       implements ActionListener, ItemListener, DocumentListener
+       implements ActionListener, ItemListener, DocumentListener, AltosConfigValues
 {
 
        Container       pane;
@@ -684,6 +684,7 @@ public class AltosConfigUI
 
        public void set_apogee_delay(int new_apogee_delay) {
                apogee_delay_value.setSelectedItem(Integer.toString(new_apogee_delay));
+               apogee_delay_value.setEnabled(new_apogee_delay >= 0);
        }
 
        public int apogee_delay() {
@@ -692,6 +693,7 @@ public class AltosConfigUI
 
        public void set_apogee_lockout(int new_apogee_lockout) {
                apogee_lockout_value.setSelectedItem(Integer.toString(new_apogee_lockout));
+               apogee_lockout_value.setEnabled(new_apogee_lockout >= 0);
        }
 
        public int apogee_lockout() {
@@ -829,13 +831,10 @@ public class AltosConfigUI
                        return -1;
        }
 
-       public void set_has_pyro(boolean has_pyro) {
-               pyro.setEnabled(has_pyro);
-       }
-
        public void set_pyros(AltosPyro[] new_pyros) {
                pyros = new_pyros;
-               if (pyro_ui != null)
+               pyro.setEnabled(pyros != null);
+               if (pyros != null && pyro_ui != null)
                        pyro_ui.set_pyros(pyros);
        }
 
index 257fdaece07f7d4a060c1125cdd305700a8faaba..871b8205705757aa1b86f1045474316435bfc993 100644 (file)
@@ -1 +1 @@
-SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem
+SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem ao-sky-flash
diff --git a/ao-tools/ao-sky-flash/Makefile.am b/ao-tools/ao-sky-flash/Makefile.am
new file mode 100644 (file)
index 0000000..f6c5089
--- /dev/null
@@ -0,0 +1,18 @@
+bin_PROGRAMS=ao-sky-flash
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+AO_SKY_FLASH_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_sky_flash_DEPENDENCIES = $(AO_SKY_FLASH_LIBS)
+
+ao_sky_flash_LDADD=$(AO_SKY_FLASH_LIBS) $(LIBUSB_LIBS)
+
+ao_sky_flash_SOURCES = \
+       sky_bin.c \
+       sky_debug.c \
+       sky_flash.c \
+       sky_flash.h \
+       sky_serial.c \
+       sky_srec.c
+
+man_MANS = ao-sky-flash.1
diff --git a/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin b/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin
new file mode 100644 (file)
index 0000000..c698add
Binary files /dev/null and b/ao-tools/ao-sky-flash/STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin differ
diff --git a/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin b/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin
new file mode 100644 (file)
index 0000000..9e25689
Binary files /dev/null and b/ao-tools/ao-sky-flash/STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin differ
diff --git a/ao-tools/ao-sky-flash/ao-sky-flash.1 b/ao-tools/ao-sky-flash/ao-sky-flash.1
new file mode 100644 (file)
index 0000000..d61c9c9
--- /dev/null
@@ -0,0 +1,85 @@
+.\"
+.\" Copyright © 2009 Keith Packard <keithp@keithp.com>
+.\"
+.\" This program is free software; you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation; 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.
+.\"
+.\"
+.TH AO-SKY-FLASH 1 "ao-sky-flash" ""
+.SH NAME
+ao-sky-flash \- flash GPS firmware program to a SkyTraq GPS chip
+.SH SYNOPSIS
+.B "ao-sky-flash"
+[\-T \fItty-device\fP]
+[\--tty \fItty-device\fP]
+[\-D \fIaltos-device\fP]
+[\--device \fIaltos-device\fP]
+[\--loader \fIboot-loader\fP]
+[\--firmware \fIgps-firmware\fP]
+[\--query]
+[\--quiet]
+[\--raw]
+.SH DESCRIPTION
+.I ao-sky-flash
+loads the specified GPS firmware file into the target GPS chip flash
+memory using the specified boot loader.
+.SH OPTIONS
+.TP
+\-T tty-device | --tty tty-device
+This selects which tty device the debugger uses to communicate with
+the target device.
+.TP
+\-D AltOS-device | --device AltOS-device
+Search for a connected device. This requires an argument of one of the
+following forms:
+.IP
+TeleMetrum:2
+.br
+TeleMetrum
+.br
+2
+.IP
+Leaving out the product name will cause the tool to select a suitable
+product, leaving out the serial number will cause the tool to match
+one of the available devices.
+.TP
+\--loader boot-loader
+This specifies the desired boot loader to use for reflashing the
+device. You should use srec_115200.bin unless you have a good reason
+not to. This should be in S record format.
+.TP
+\--firmware gps-firmware
+This specifies the new GPS firmware image to load onto the target GPS
+chip. No checking is done on this device at all; flash garbage and the
+GPS chip will probably fail to boot.
+.TP
+\--query
+Instead of loading new firmware, query the current version of firmware
+running on the target device.
+.TP
+\--quiet
+Normally, ao-spy-flash is quite chatty. This shuts it up, except for
+error messages.
+.TP
+\--raw
+The expected target for reflashing is an Altus Metrum product with the
+GPS chip connected to the CPU on that board and not directly to the
+USB serial port. This option says that the target GPS chip is directly
+connected, which changes how things are initialized a bit.
+.SH USAGE
+.I ao-sky-flash
+loads the specified bootloader into device RAM and then uses that to
+load new firmware to flash.
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-sky-flash/sky_bin.c b/ao-tools/ao-sky-flash/sky_bin.c
new file mode 100644 (file)
index 0000000..04cfec3
--- /dev/null
@@ -0,0 +1,73 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "sky_flash.h"
+#include <stdio.h>
+#include <string.h>
+
+#define FLASHBYTES     8192
+
+int
+skytraq_send_bin(int fd, const char *filename)
+{
+       FILE            *file;
+       char            buf[FLASHBYTES];
+       int             count;
+       unsigned char   cksum;
+       int             c;
+       long            size;
+       long            pos;
+       char            message[1024];
+       int             ret;
+       
+       file = fopen(filename, "r");
+       if (!file) {
+               perror(filename);
+               return -1;
+       }
+
+       /* Compute checksum, figure out how long the file */
+       cksum = 0;
+       while ((c = getc(file)) != EOF)
+               cksum += (unsigned char) c;
+       size = ftell(file);
+       rewind(file);
+
+       sprintf(message, "BINSIZE = %d Checksum = %d Loopnumber = %d ", size, cksum, 1);
+
+       ret = skytraq_cmd_wait(fd, message, strlen(message) + 1, "OK", 20000);
+       if (ret < 0)
+               printf ("waitstatus failed %d\n", ret);
+
+       pos = 0;
+       for (;;) {
+               count = fread(buf, 1, sizeof (buf), file);
+               if (count < 0) {
+                       perror("fread");
+                       fclose(file);
+                       return -1;
+               }
+               if (count == 0)
+                       break;
+               skytraq_dbg_printf (0, "%7d of %7d ", pos + count, size);
+               pos += count;
+               ret = skytraq_cmd_wait(fd, buf, count, "OK", 20000);
+               if (ret < 0)
+                       return ret;
+       }
+       return skytraq_waitstatus(fd, "END", 30000);
+}
diff --git a/ao-tools/ao-sky-flash/sky_debug.c b/ao-tools/ao-sky-flash/sky_debug.c
new file mode 100644 (file)
index 0000000..32571f0
--- /dev/null
@@ -0,0 +1,111 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <sys/time.h>
+#include "sky_flash.h"
+
+static int     dbg_input;
+static int     dbg_newline = 1;
+
+int
+skytraq_millis(void)
+{
+       struct timeval  tv;
+       gettimeofday(&tv, NULL);
+       return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static void
+skytraq_dbg_time(void)
+{
+       int     delta = skytraq_millis() - skytraq_open_time;
+
+       if (!skytraq_verbose)
+               return;
+       printf ("%4d.%03d ", delta / 1000, delta % 1000);
+}
+
+void
+skytraq_dbg_newline(void)
+{
+       if (!skytraq_verbose)
+               return;
+       if (!dbg_newline) {
+               putchar('\n');
+               dbg_newline = 1;
+       }
+}
+
+static void
+skytraq_dbg_set(int input)
+{
+       if (!skytraq_verbose)
+               return;
+       if (input != dbg_input) {
+               skytraq_dbg_newline();
+               if (input)
+                       putchar('\t');
+               dbg_input = input;
+       }
+}
+
+void
+skytraq_dbg_char(int input, char c)
+{
+       if (!skytraq_verbose)
+               return;
+       skytraq_dbg_set(input);
+       if (dbg_newline)
+               skytraq_dbg_time();
+       if (c < ' '  || c > '~')
+               printf ("\\%02x", (unsigned char) c);
+       else
+               putchar(c);
+       dbg_newline = 0;
+       if (c == '\n')
+               dbg_input = 2;
+       fflush(stdout);
+}
+
+void
+skytraq_dbg_buf(int input, const char *buf, int len)
+{
+       if (!skytraq_verbose)
+               return;
+       while (len--)
+               skytraq_dbg_char(input, *buf++);
+}
+
+void
+skytraq_dbg_printf(int input, const char *fmt, ...)
+{
+       va_list ap;
+
+       if (!skytraq_verbose)
+               return;
+       skytraq_dbg_set(input);
+       if (dbg_newline)
+               skytraq_dbg_time();
+       va_start (ap, fmt);
+       vprintf(fmt, ap);
+       va_end(ap);
+       dbg_newline = 0;
+}
diff --git a/ao-tools/ao-sky-flash/sky_flash.c b/ao-tools/ao-sky-flash/sky_flash.c
new file mode 100644 (file)
index 0000000..55cb2cb
--- /dev/null
@@ -0,0 +1,259 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "sky_flash.h"
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <getopt.h>
+#include "cc.h"
+
+static const struct option options[] = {
+       { .name = "tty", .has_arg = 1, .val = 'T' },
+       { .name = "device", .has_arg = 1, .val = 'D' },
+       { .name = "loader", .has_arg = 1, .val = 'l' },
+       { .name = "firmware", .has_arg = 1, .val = 'f' },
+       { .name = "query", .has_arg = 0, .val = 'q' },
+       { .name = "raw", .has_arg = 0, .val = 'r' },
+       { .name = "quiet", .has_arg = 0, .val = 'Q' },
+       { 0, 0, 0, 0},
+};
+
+static uint8_t query_version[] = {
+       0xa0, 0xa1, 0x00, 0x02, 0x02, 0x01, 0x03, 0x0d, 0x0a
+};
+
+static void
+usage(char *program)
+{
+       fprintf(stderr,
+               "usage: %s [--tty <tty-name>]\n"
+               "          [--device <device-name>]\n"
+               "          [--loader <srec bootloader file>]\n"
+               "          [--firmware <binary firmware file>]\n"
+               "          [--query]\n"
+               "          [--quiet]\n"
+               "          [--raw]\n", program);
+       exit(1);
+}
+
+int
+skytraq_expect(int fd, uint8_t want, int timeout) {
+       int     c;
+
+       c = skytraq_waitchar(fd, timeout);
+       if (c < 0)
+               return -1;
+       if (c == want)
+               return 1;
+       return 0;
+}
+
+int
+skytraq_wait_reply(int fd, uint8_t reply, uint8_t *buf, uint8_t reply_len) {
+
+       for(;;) {
+               uint8_t a, b;
+               uint8_t cksum_computed, cksum_read;
+               int     len;
+               switch (skytraq_expect(fd, 0xa0, 10000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               case 1:
+                       break;
+               }
+               switch (skytraq_expect(fd, 0xa1, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               a = skytraq_waitchar(fd, 1000);
+               b = skytraq_waitchar(fd, 1000);
+               switch (skytraq_expect(fd, reply, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               len = (a << 16) | b;
+               if (len != reply_len)
+                       continue;
+               *buf++ = reply;
+               len--;
+               cksum_computed = reply;
+               while (len--) {
+                       a = skytraq_waitchar(fd, 1000);
+                       if (a < 0)
+                               return a;
+                       cksum_computed ^= a;
+                       *buf++ = a;
+               }
+               switch (skytraq_expect(fd, cksum_computed, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               switch (skytraq_expect(fd, 0x0d, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               switch (skytraq_expect(fd, 0x0a, 1000)) {
+               case -1:
+                       return -1;
+               case 0:
+                       continue;
+               }
+               break;
+       }
+       return 0;
+}
+
+int
+main(int argc, char **argv)
+{
+       int     fd;
+       char    buf[512];
+       int     ret;
+       FILE    *input;
+       long    size;
+       unsigned char   cksum;
+       int     c;
+       char    message[1024];
+       char    *tty = NULL;
+       char    *device = NULL;
+       char    *loader = "srec_115200.bin";
+       char    *file = NULL;
+       int     query = 0;
+       int     raw = 0;
+
+       while ((c = getopt_long(argc, argv, "T:D:l:f:qQr", options, NULL)) != -1) {
+               switch (c) {
+               case 'T':
+                       tty = optarg;
+                       break;
+               case 'D':
+                       device = optarg;
+                       break;
+               case 'l':
+                       loader = optarg;
+                       break;
+               case 'f':
+                       file = optarg;
+                       break;
+               case 'q':
+                       query = 1;
+                       break;
+               case 'Q':
+                       skytraq_verbose = 0;
+                       break;
+               case 'r':
+                       raw = 1;
+                       break;
+               default:
+                       usage(argv[0]);
+                       break;
+               }
+       }
+
+       if (!tty)
+               tty = cc_usbdevs_find_by_arg(device, "TeleMetrum");
+       if (!tty)
+               tty = getenv("ALTOS_TTY");
+       if (!tty)
+               tty="/dev/ttyACM0";
+       fd = skytraq_open(tty);
+       if (fd < 0)
+               exit(1);
+
+       if (raw) {
+               /* Set the baud rate to 115200 */
+               skytraq_setcomm(fd, 115200);
+               sleep(1);
+               skytraq_setspeed(fd, 115200);
+       } else {
+               /* Connect TM to the device */
+               skytraq_write(fd, "U\n", 2);
+       }
+
+       /* Wait for the device to stabilize after baud rate changes */
+       for (c = 0; c < 6; c++) {
+               skytraq_flush(fd);
+               sleep(1);
+       }
+
+       if (query) {
+               uint8_t query_reply[14];
+
+               uint8_t         software_type;
+               uint32_t        kernel_version;
+               uint32_t        odm_version;
+               uint32_t        revision;
+
+               skytraq_write(fd, query_version, 9);
+               if (skytraq_wait_reply(fd, 0x80, query_reply, sizeof (query_reply)) != 0) {
+                       fprintf(stderr, "query reply failed\n");
+                       exit(1);
+               }
+
+#define i8(o)  query_reply[(o)-1]
+#define i32(o) ((i8(o) << 24) | (i8(o+1) << 16) | (i8(o+2) << 8) | (i8(o+3)))
+               software_type = i8(2);
+               kernel_version = i32(3);
+               odm_version = i32(7);
+               revision = i32(11);
+               skytraq_dbg_printf(0, "\n");
+               printf ("Software Type %d. Kernel Version %d.%d.%d. ODM Version %d.%d.%d. Revision %d.%d.%d.\n",
+                       software_type,
+                       kernel_version >> 16 & 0xff,
+                       kernel_version >> 8 & 0xff,
+                       kernel_version >> 0 & 0xff,
+                       odm_version >> 16 & 0xff,
+                       odm_version >> 8 & 0xff,
+                       odm_version >> 0 & 0xff,
+                       revision >> 16 & 0xff,
+                       revision >> 8 & 0xff,
+                       revision >> 0 & 0xff);
+               exit(0);
+       }
+
+       if (!file)
+               usage(argv[0]);
+
+       ret = skytraq_send_srec(fd, "srec_115200.bin");
+       skytraq_dbg_printf (0, "srec ret %d\n", ret);
+       if (ret < 0)
+               exit(1);
+
+       sleep(2);
+
+//     ret = skytraq_send_bin(fd, "STI_01.04.42-01.10.23_4x_9600_Bin_20100901.bin");
+       ret = skytraq_send_bin(fd, "STI_01.06.10-01.07.23_balloon_CRC_7082_9600_20120913.bin");
+
+       printf ("bin ret %d\n", ret);
+       if (ret < 0)
+               exit(1);
+
+       return 0;
+}
diff --git a/ao-tools/ao-sky-flash/sky_flash.h b/ao-tools/ao-sky-flash/sky_flash.h
new file mode 100644 (file)
index 0000000..77f4c74
--- /dev/null
@@ -0,0 +1,67 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/* sky_serial.c */
+
+extern int     skytraq_open_time;
+extern int     skytraq_verbose;
+
+int
+skytraq_open(const char *path);
+
+int
+skytraq_setspeed(int fd, int baud);
+
+int
+skytraq_setcomm(int fd, int baudrate);
+
+int
+skytraq_write(int fd, const char *data, int len);
+
+int
+skytraq_waitchar(int fd, int timeout);
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout);
+
+void
+skytraq_flush(int fd);
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout);
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len);
+
+/* sky_debug.c */
+
+void
+skytraq_dbg_printf(int input, const char *fmt, ...);
+
+void
+skytraq_dbg_buf(int input, const char *buf, int len);
+
+void
+skytraq_dbg_char(int input, char c);
+
+/* sky_srec.c */
+int
+skytraq_send_srec(int fd, const char *file);
+
+/* sky_bin.c */
+int
+skytraq_send_bin(int fd, const char *filename);
diff --git a/ao-tools/ao-sky-flash/sky_serial.c b/ao-tools/ao-sky-flash/sky_serial.c
new file mode 100644 (file)
index 0000000..7230bf8
--- /dev/null
@@ -0,0 +1,257 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define _BSD_SOURCE
+#include <termios.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <poll.h>
+#include "sky_flash.h"
+#include <stdio.h>
+#include <sys/time.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+
+int    skytraq_verbose = 1;
+
+int
+skytraq_setspeed(int fd, int baud)
+{
+       int     b;
+       int     ret;
+       struct termios  term;
+
+       switch (baud) {
+       case 9600:
+               b = B9600;
+               break;
+       case 38400:
+               b = B38400;
+               break;
+       case 115200:
+               b = B115200;
+               break;
+       default:
+               fprintf (stderr, "Invalid baudrate %d\n", baud);
+               return -1;
+       }
+       ret = tcgetattr(fd, &term);
+       cfmakeraw(&term);
+#ifdef USE_POLL
+       term.c_cc[VMIN] = 1;
+       term.c_cc[VTIME] = 0;
+#else
+       term.c_cc[VMIN] = 0;
+       term.c_cc[VTIME] = 1;
+#endif
+
+       cfsetspeed(&term, b);
+
+       ret = tcsetattr(fd, TCSAFLUSH, &term);
+       return ret;
+}
+
+int    skytraq_open_time;
+
+int
+skytraq_open(const char *path)
+{
+       int             fd;
+       int             ret;
+
+       fd = open(path, O_RDWR | O_NOCTTY);
+       if (fd < 0) {
+               perror (path);
+               return -1;
+       }
+
+       ret = skytraq_setspeed(fd, 9600);
+       if (ret < 0) {
+               close (fd);
+               return -1;
+       }
+       skytraq_open_time = skytraq_millis();
+       return fd;
+}
+
+
+#define BAUD           57600
+#define BPS            (BAUD/10 * 9/10)
+#define US_PER_CHAR    (1000000 / BPS)
+
+int
+skytraq_write(int fd, const char *data, int len)
+{
+       const char *d = data;
+       int             r;
+       int             us;
+
+       skytraq_dbg_printf (0, "%4d: ", len);
+       if (len < 70)
+               skytraq_dbg_buf(0, data, len);
+       while (len) {
+               int     this_time = len;
+               if (this_time > 128)
+                       this_time = 128;
+               skytraq_dbg_printf(0, ".");
+               fflush(stdout);
+               r = write(fd, data, this_time);
+               if (r <= 0)
+                       return r;
+               us = r * US_PER_CHAR;
+               usleep(r * US_PER_CHAR);
+               data += r;
+               len -= r;
+       }
+       skytraq_dbg_newline();
+       return 1;
+}
+
+int
+skytraq_setcomm(int fd, int baudrate)
+{
+       uint8_t msg[11];
+       int     i;
+       uint8_t cksum;
+
+       int target_baudrate;
+       switch(baudrate)
+       {
+       case 4800:
+               target_baudrate=0;
+               break;
+       case 9600:
+               target_baudrate=1;
+               break;
+       case 19200:
+               target_baudrate=2;
+               break;
+       case 38400:
+               target_baudrate=3;
+               break;
+       case 57600:
+               target_baudrate=4;
+               break;
+       case 115200:
+               target_baudrate=5;
+               break;
+       case 230400:
+               target_baudrate=6;
+               break;
+       }
+       msg[0] = 0xa0;  /* header */
+       msg[1] = 0xa1;
+       msg[2] = 0x00;  /* length */
+       msg[3] = 0x04;
+       msg[4] = 0x05;  /* configure serial port */
+       msg[5] = 0x00;  /* COM 1 */
+       msg[6] = target_baudrate;
+       msg[7] = 0x00;  /* update to SRAM only */
+
+       cksum = 0;
+       for (i = 4; i < 8; i++)
+               cksum ^= msg[i];
+       msg[8] = cksum;
+       msg[9] = 0x0d;
+       msg[10] = 0x0a;
+       return skytraq_write(fd, msg, 11);
+}
+
+int
+skytraq_waitchar(int fd, int timeout)
+{
+       struct pollfd   fds[1];
+       int             ret;
+       unsigned char   c;
+
+       for (;;) {
+               fds[0].fd = fd;
+               fds[0].events = POLLIN;
+               ret = poll(fds, 1, timeout);
+               if (ret >= 1) {
+                       if (fds[0].revents & POLLIN) {
+                               ret = read(fd, &c, 1);
+                               if (ret == 1) {
+                                       skytraq_dbg_char(1, c);
+                                       return c;
+                               }
+                       }
+               } else if (ret == 0)
+                       return -2;
+               else {
+                       perror("poll");
+                       return -1;
+               }
+       }
+}
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout)
+{
+       const char      *s;
+       int             c;
+
+       for (;;) {
+               c = skytraq_waitchar(fd, timeout);
+               if (c < 0) {
+                       skytraq_dbg_newline();
+                       return c;
+               }
+               if ((char) c == *status) {
+                       s = status + 1;
+                       for (;;) {
+                               c = skytraq_waitchar(fd, timeout);
+                               if (c < 0) {
+                                       skytraq_dbg_newline();
+                                       return c;
+                               }
+                               if ((char) c != *s)
+                                       break;
+                               if (!*s) {
+                                       skytraq_dbg_newline();
+                                       return 0;
+                               }
+                               s++;
+                       }
+               }
+       }
+}
+
+void
+skytraq_flush(int fd)
+{
+       while (skytraq_waitchar(fd, 1) >= 0)
+               ;
+}
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout)
+{
+       skytraq_flush(fd);
+       skytraq_write(fd, message, len);
+       return skytraq_waitstatus(fd, status, timeout);
+}
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len)
+{
+       skytraq_flush(fd);
+       return skytraq_write(fd, message, len);
+}
diff --git a/ao-tools/ao-sky-flash/sky_srec.c b/ao-tools/ao-sky-flash/sky_srec.c
new file mode 100644 (file)
index 0000000..6d00f58
--- /dev/null
@@ -0,0 +1,60 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "sky_flash.h"
+#include <stdio.h>
+#include <string.h>
+
+static const char loader_start[] = "$LOADER DOWNLOAD";
+
+int
+skytraq_send_srec(int fd, const char *filename)
+{
+       FILE    *file;
+       int     ret;
+       char    line[1024];
+
+       file = fopen(filename, "r");
+       if (!file) {
+               perror(filename);
+               return -1;
+       }
+
+       ret = skytraq_cmd_wait(fd, loader_start, strlen(loader_start) + 1, "OK", 1000);
+       if (ret)
+               return ret;
+
+       for (;;) {
+               char    *s;
+               int     len;
+
+               s = fgets(line, sizeof(line), file);
+               if (!s)
+                       break;
+               len = strlen(s);
+               if (len < 3)            /* Terminated with \r\n */
+                       break;
+               s[len-2] = '\n';        /* Smash \r */
+               s[len-1] = '\0';        /* Smash \n */
+               skytraq_cmd_nowait(fd, s, len);
+       }
+       fclose(file);
+
+       ret = skytraq_waitstatus(fd, "END", 10000);
+       skytraq_dbg_newline();
+       return ret;
+}
diff --git a/ao-tools/ao-sky-flash/srec_115200.bin b/ao-tools/ao-sky-flash/srec_115200.bin
new file mode 100644 (file)
index 0000000..8ea8e7c
--- /dev/null
@@ -0,0 +1,346 @@
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index 6257ee44ec458d7ddd0261c957d9064c6f6059fa..625540bbe07e5cb5923a73075c82de48bc1f2cbe 100644 (file)
@@ -269,6 +269,122 @@ struct cc_telem {
 int
 cc_telem_parse(const char *input_line, struct cc_telem *telem);
 
+struct ao_log_mega {
+       char                    type;                   /* 0 */
+       uint8_t                 is_config;              /* 1 */
+       uint16_t                tick;                   /* 2 */
+       union {                                         /* 4 */
+               /* AO_LOG_FLIGHT */
+               struct {
+                       uint16_t        flight;         /* 4 */
+                       int16_t         ground_accel;   /* 6 */
+                       uint32_t        ground_pres;    /* 8 */
+               } flight;                               /* 12 */
+               /* AO_LOG_STATE */
+               struct {
+                       uint16_t        state;
+                       uint16_t        reason;
+               } state;
+               /* AO_LOG_SENSOR */
+               struct {
+                       uint32_t        pres;           /* 4 */
+                       uint32_t        temp;           /* 8 */
+                       int16_t         accel_x;        /* 12 */
+                       int16_t         accel_y;        /* 14 */
+                       int16_t         accel_z;        /* 16 */
+                       int16_t         gyro_x;         /* 18 */
+                       int16_t         gyro_y;         /* 20 */
+                       int16_t         gyro_z;         /* 22 */
+                       int16_t         mag_x;          /* 24 */
+                       int16_t         mag_y;          /* 26 */
+                       int16_t         mag_z;          /* 28 */
+                       int16_t         accel;          /* 30 */
+               } sensor;       /* 32 */
+               /* AO_LOG_TEMP_VOLT */
+               struct {
+                       int16_t         v_batt;         /* 4 */
+                       int16_t         v_pbatt;        /* 6 */
+                       int16_t         n_sense;        /* 8 */
+                       int16_t         sense[10];      /* 10 */
+               } volt;                                 /* 30 */
+               /* AO_LOG_GPS_TIME */
+               struct {
+                       int32_t         latitude;       /* 4 */
+                       int32_t         longitude;      /* 8 */
+                       int16_t         altitude;       /* 12 */
+                       uint8_t         hour;           /* 14 */
+                       uint8_t         minute;         /* 15 */
+                       uint8_t         second;         /* 16 */
+                       uint8_t         flags;          /* 17 */
+                       uint8_t         year;           /* 18 */
+                       uint8_t         month;          /* 19 */
+                       uint8_t         day;            /* 20 */
+                       uint8_t         pad;            /* 21 */
+               } gps;  /* 22 */
+               /* AO_LOG_GPS_SAT */
+               struct {
+                       uint16_t        channels;       /* 4 */
+                       struct {
+                               uint8_t svid;
+                               uint8_t c_n;
+                       } sats[12];                     /* 6 */
+               } gps_sat;                              /* 30 */
+
+               struct {
+                       uint32_t                kind;
+                       int32_t                 data[6];
+               } config_int;
+
+               struct {
+                       uint32_t                kind;
+                       char                    string[24];
+               } config_str;
+
+               /* Raw bytes */
+               uint8_t bytes[28];
+       } u;
+};
+
+#define AO_CONFIG_CONFIG               1
+#define AO_CONFIG_MAIN                 2
+#define AO_CONFIG_APOGEE               3
+#define AO_CONFIG_LOCKOUT              4
+#define AO_CONFIG_FREQUENCY            5
+#define AO_CONFIG_RADIO_ENABLE         6
+#define AO_CONFIG_ACCEL_CAL            7
+#define AO_CONFIG_RADIO_CAL            8
+#define AO_CONFIG_MAX_LOG              9
+#define AO_CONFIG_IGNITE_MODE          10
+#define AO_CONFIG_PAD_ORIENTATION      11
+#define AO_CONFIG_SERIAL_NUMBER                12
+#define AO_CONFIG_LOG_FORMAT           13
+#define AO_CONFIG_MS5607_RESERVED      14
+#define AO_CONFIG_MS5607_SENS          15
+#define AO_CONFIG_MS5607_OFF           16
+#define AO_CONFIG_MS5607_TCS           17
+#define AO_CONFIG_MS5607_TCO           18
+#define AO_CONFIG_MS5607_TREF          19
+#define AO_CONFIG_MS5607_TEMPSENS      20
+#define AO_CONFIG_MS5607_CRC           21
+
+
+#define AO_LOG_FLIGHT          'F'
+#define AO_LOG_SENSOR          'A'
+#define AO_LOG_TEMP_VOLT       'T'
+#define AO_LOG_DEPLOY          'D'
+#define AO_LOG_STATE           'S'
+#define AO_LOG_GPS_TIME                'G'
+#define AO_LOG_GPS_LAT         'N'
+#define AO_LOG_GPS_LON         'W'
+#define AO_LOG_GPS_ALT         'H'
+#define AO_LOG_GPS_SAT         'V'
+#define AO_LOG_GPS_DATE                'Y'
+
+#define AO_LOG_CONFIG          'c'
+
+int
+cc_mega_parse(const char *input_line, struct ao_log_mega *l);
+
 #ifndef TRUE
 #define TRUE 1
 #define FALSE 0
index bee9480d798c35e21c6aa7f3f217d2d60bad324b..0fcd97e27bac6349850b06cc8b8d7e7a509eef1e 100644 (file)
@@ -163,6 +163,7 @@ ao-tools/ao-load/Makefile
 ao-tools/ao-telem/Makefile
 ao-tools/ao-stmload/Makefile
 ao-tools/ao-send-telem/Makefile
+ao-tools/ao-sky-flash/Makefile
 ao-utils/Makefile
 src/Version
 ])
index 9f24321b6d1398f2b0e38bdfb213588795ec3cec..122a0fed2349bfcc7cbe9895e8fe9b095c730888 100755 (executable)
@@ -27,7 +27,7 @@ build-indep: build-stamp
 
 build-stamp: configure-stamp  
        dh_testdir
-       $(MAKE) VERSION=$(PKG_VERSION)
+       $(MAKE)
        (cd doc ; $(MAKE))
        touch $@
 
index 9ba407af6f6a3e0f1027f4e5c5e5fa2378bfee6b..2ef546c98dc2d4d1f462bb2c042c9c9885a8df85 100644 (file)
@@ -480,10 +480,10 @@ ao_usb_putchar(char c) __critical __reentrant
        ao_usb_in_flushed = 0;
 }
 
-static char
+static int
 _ao_usb_pollchar(void)
 {
-       char c;
+       uint8_t c;
        uint8_t intx;
 
        if (!ao_usb_running)
@@ -517,10 +517,10 @@ _ao_usb_pollchar(void)
        return c;
 }
 
-char
+int
 ao_usb_pollchar(void)
 {
-       char    c;
+       int     c;
        cli();
        c = _ao_usb_pollchar();
        sei();
@@ -530,7 +530,7 @@ ao_usb_pollchar(void)
 char
 ao_usb_getchar(void) __critical
 {
-       char    c;
+       int     c;
 
        cli();
        while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
index f80004104130c324c19cd4e68884edc4b5a208a4..bfdc418a6ca2ae204c4f80aaa14726c67c0cf65c 100644 (file)
@@ -56,7 +56,7 @@ ao_adc_isr(void) __interrupt 1
        uint8_t __xdata *a;
 
        sequence = (ADCCON2 & ADCCON2_SCH_MASK) >> ADCCON2_SCH_SHIFT;
-#if TELEMETRUM_V_0_1 || TELEMETRUM_V_0_2 || TELEMETRUM_V_1_0 || TELEMETRUM_V_1_1 || TELEMETRUM_V_1_2 || TELELAUNCH_V_0_1
+#if TELEMETRUM_V_0_1 || TELEMETRUM_V_0_2 || TELEMETRUM_V_1_0 || TELEMETRUM_V_1_1 || TELEMETRUM_V_1_2 || TELELAUNCH_V_0_1 || TELEBALLOON_V_1_1
        /* TeleMetrum readings */
 #if HAS_ACCEL_REF
        if (sequence == 2) {
index 847b5aaf857da6b602aeb28ee13e862e614daf35..4e534697021d71eab0266c0e977ac5c207ea4cf1 100644 (file)
@@ -193,54 +193,39 @@ ao_dbg_long_delay(void)
 #define AO_RESET_LOW_DELAY     AO_MS_TO_TICKS(100)
 #define AO_RESET_HIGH_DELAY    AO_MS_TO_TICKS(100)
 
-void
-ao_dbg_debug_mode(void)
+static void
+ao_dbg_send_bits_delay(uint8_t msk, uint8_t val)
 {
-       ao_dbg_set_pins();
        ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|    0    );
-       ao_delay(AO_RESET_LOW_DELAY);
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N,     0    |DBG_DATA|DBG_RESET_N);
-       ao_delay(AO_RESET_HIGH_DELAY);
+       ao_dbg_send_bits(msk, val);
 }
 
 void
-ao_dbg_reset(void)
+ao_dbg_do_reset(uint8_t clock_up)
 {
        ao_dbg_set_pins();
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
+       ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
+       ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, clock_up |DBG_DATA|    0    );
        ao_delay(AO_RESET_LOW_DELAY);
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
-       ao_dbg_long_delay();
-       ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
+       ao_dbg_send_bits      (DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
+       ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, clock_up |DBG_DATA|    0    );
+       ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|    0    );
+       ao_dbg_send_bits_delay(DBG_CLOCK|DBG_DATA|DBG_RESET_N, clock_up |DBG_DATA|DBG_RESET_N);
        ao_delay(AO_RESET_HIGH_DELAY);
 }
 
 static void
 debug_enable(void)
 {
-       ao_dbg_debug_mode();
+       /* toggle clock line while holding reset low */
+       ao_dbg_do_reset(0);
 }
 
 static void
 debug_reset(void)
 {
-       ao_dbg_reset();
+       /* hold clock high while holding reset low */
+       ao_dbg_do_reset(DBG_CLOCK);
 }
 
 static void
@@ -281,22 +266,6 @@ debug_get(void)
        putchar('\n');
 }
 
-static uint8_t
-getnibble(void)
-{
-       __pdata char    c;
-
-       c = getchar();
-       if ('0' <= c && c <= '9')
-               return c - '0';
-       if ('a' <= c && c <= 'f')
-               return c - ('a' - 10);
-       if ('A' <= c && c <= 'F')
-               return c - ('A' - 10);
-       ao_cmd_status = ao_cmd_lex_error;
-       return 0;
-}
-
 static void
 debug_input(void)
 {
@@ -338,8 +307,8 @@ debug_output(void)
                return;
        ao_dbg_start_transfer(addr);
        while (count--) {
-               b = getnibble() << 4;
-               b |= getnibble();
+               b = ao_getnibble() << 4;
+               b |= ao_getnibble();
                if (ao_cmd_status != ao_cmd_success)
                        return;
                ao_dbg_write_byte(b);
index 4838380228214dcf7fe0e475bf493a89237bcc21..8913a9b075333d1532064d5357aebd90051d7369 100644 (file)
@@ -34,8 +34,14 @@ const __code struct ao_serial_speed ao_serial_speeds[] = {
                /* .baud = */ 59,
                /* .gcr =  */ (11 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
        },
+       /* [AO_SERIAL_SPEED_115200] = */ {
+               /* .baud = */ 59,
+               /* .gcr =  */ (12 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
+       },
 };
 
+#define AO_SERIAL_SPEED_MAX    AO_SERIAL_SPEED_115200
+
 #if HAS_SERIAL_0
 
 volatile __xdata struct ao_fifo        ao_serial0_rx_fifo;
@@ -85,10 +91,10 @@ ao_serial0_getchar(void) __critical
 }
 
 #if USE_SERIAL_0_STDIN
-char
+int
 ao_serial0_pollchar(void) __critical
 {
-       char    c;
+       uint8_t c;
        if (ao_fifo_empty(ao_serial0_rx_fifo))
                return AO_READ_AGAIN;
        ao_fifo_remove(ao_serial0_rx_fifo,c);
@@ -116,7 +122,7 @@ void
 ao_serial0_set_speed(uint8_t speed)
 {
        ao_serial0_drain();
-       if (speed > AO_SERIAL_SPEED_57600)
+       if (speed > AO_SERIAL_SPEED_MAX)
                return;
        U0UCR |= UxUCR_FLUSH;
        U0BAUD = ao_serial_speeds[speed].baud;
@@ -173,10 +179,10 @@ ao_serial1_getchar(void) __critical
 }
 
 #if USE_SERIAL_1_STDIN
-char
+int
 ao_serial1_pollchar(void) __critical
 {
-       char    c;
+       uint8_t c;
        if (ao_fifo_empty(ao_serial1_rx_fifo))
                return AO_READ_AGAIN;
        ao_fifo_remove(ao_serial1_rx_fifo,c);
@@ -204,7 +210,7 @@ void
 ao_serial1_set_speed(uint8_t speed)
 {
        ao_serial1_drain();
-       if (speed > AO_SERIAL_SPEED_57600)
+       if (speed > AO_SERIAL_SPEED_MAX)
                return;
        U1UCR |= UxUCR_FLUSH;
        U1BAUD = ao_serial_speeds[speed].baud;
index ce26e8088a4cfee539b78bb82ea54538dab1af9d..f66e807cf7bf13e2d9c774a56645cde6fca4923a 100644 (file)
@@ -382,19 +382,19 @@ ao_usb_putchar(char c) __critical __reentrant
                ao_usb_in_send();
 }
 
-char
+int
 ao_usb_pollchar(void) __critical
 {
-       char c;
+       uint8_t c;
        if (ao_usb_out_bytes == 0) {
                USBINDEX = AO_USB_OUT_EP;
                if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0)
-                       return AO_READ_AGAIN;
+                       return -1;
                ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
                if (ao_usb_out_bytes == 0) {
                        USBINDEX = AO_USB_OUT_EP;
                        USBCSOL &= ~USBCSOL_OUTPKT_RDY;
-                       return AO_READ_AGAIN;
+                       return -1;
                }
        }
        --ao_usb_out_bytes;
@@ -409,7 +409,7 @@ ao_usb_pollchar(void) __critical
 char
 ao_usb_getchar(void) __critical
 {
-       char    c;
+       int     c;
 
        while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
                ao_sleep(&ao_stdin_ready);
index 81d92e72b2d512483b4640a08cf9c1651a2abab3..54018b371a058d60ba888b8020c45bbbda41d70f 100644 (file)
@@ -170,6 +170,10 @@ ao_cmd_hex(void);
 void
 ao_cmd_decimal(void);
 
+/* Read a single hex nibble off stdin. */
+uint8_t
+ao_getnibble(void);
+
 uint8_t
 ao_match_word(__code char *word);
 
@@ -595,10 +599,10 @@ ao_monitor_init(void) __reentrant;
  * ao_stdio.c
  */
 
-#define AO_READ_AGAIN  ((char) -1)
+#define AO_READ_AGAIN  (-1)
 
 struct ao_stdio {
-       char    (*pollchar)(void);
+       int     (*pollchar)(void);
        void    (*putchar)(char c) __reentrant;
        void    (*flush)(void);
        uint8_t echo;
@@ -617,7 +621,7 @@ uint8_t
 ao_echo(void);
 
 int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
             void (*putchar)(char) __reentrant,
             void (*flush)(void)) __reentrant;
 
index 1814cecf5021848e4fe88b8fc3841dd10e6a491f..3d086a57e106d8f0110e0da6ad8a309fe985552d 100644 (file)
@@ -110,6 +110,22 @@ putnibble(uint8_t v)
                putchar(v + ('a' - 10));
 }
 
+uint8_t
+ao_getnibble(void)
+{
+       char    c;
+
+       c = getchar();
+       if ('0' <= c && c <= '9')
+               return c - '0';
+       if ('a' <= c && c <= 'f')
+               return c - ('a' - 10);
+       if ('A' <= c && c <= 'F')
+               return c - ('A' - 10);
+       ao_cmd_status = ao_cmd_lex_error;
+       return 0;
+}
+
 void
 ao_cmd_put16(uint16_t v)
 {
@@ -249,12 +265,25 @@ ao_reboot(void)
 static void
 version(void)
 {
-       printf("manufacturer     %s\n", ao_manufacturer);
-       printf("product          %s\n", ao_product);
-       printf("serial-number    %u\n", ao_serial_number);
+       printf("manufacturer     %s\n"
+              "product          %s\n"
+              "serial-number    %u\n"
+#if HAS_FLIGHT
+              "current-flight   %u\n"
+#endif
+#if HAS_LOG
+              "log-format       %u\n"
+#endif
+              , ao_manufacturer
+              , ao_product
+              , ao_serial_number
+#if HAS_FLIGHT
+              , ao_flight_number
+#endif
 #if HAS_LOG
-       printf("log-format       %u\n", ao_log_format);
+              , ao_log_format
 #endif
+               );
 #if HAS_MS5607
        ao_ms5607_info();
 #endif
index e85ddcb4d74d9a53dbb0b2ed9630d4be0f667cfe..797fe7ec6aedfec9db3eae4fbda5b13b9ad2c936 100644 (file)
@@ -529,15 +529,15 @@ __code struct ao_config_var ao_config_vars[] = {
          ao_config_callsign_set,       ao_config_callsign_show },
        { "e <0 disable, 1 enable>\0Enable telemetry and RDF",
          ao_config_radio_enable_set, ao_config_radio_enable_show },
+       { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
+         ao_config_radio_cal_set,      ao_config_radio_cal_show },
 #endif /* HAS_RADIO */
 #if HAS_ACCEL
        { "a <+g> <-g>\0Accel calib (0 for auto)",
          ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
+       { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
+         ao_config_pad_orientation_set,ao_config_pad_orientation_show },
 #endif /* HAS_ACCEL */
-#if HAS_RADIO
-       { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
-         ao_config_radio_cal_set,      ao_config_radio_cal_show },
-#endif /* HAS_RADIO */
 #if HAS_LOG
        { "l <size>\0Flight log size (kB)",
          ao_config_log_set,            ao_config_log_show },
@@ -546,10 +546,6 @@ __code struct ao_config_var ao_config_vars[] = {
        { "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
          ao_config_ignite_mode_set,    ao_config_ignite_mode_show },
 #endif
-#if HAS_ACCEL
-       { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
-         ao_config_pad_orientation_set,ao_config_pad_orientation_show },
-#endif
 #if HAS_AES
        { "k <32 hex digits>\0Set AES encryption key",
          ao_config_key_set, ao_config_key_show },
index 18ab85dd4fd5b9ab1aee3409784b8db165b43eb9..23ebf7ddc62dc8e2efaf4e39531a3c2817c8ff19 100644 (file)
@@ -102,9 +102,9 @@ ao_log_single(void)
                while (ao_log_running) {
                        /* Write samples to EEPROM */
                        while (ao_log_monitor_pos != ao_monitor_head) {
-                               memcpy(&ao_log_single_write_data.telemetry,
-                                      &ao_monitor_ring[ao_log_monitor_pos],
-                                      AO_LOG_SINGLE_SIZE);
+                               ao_xmemcpy(&ao_log_single_write_data.telemetry,
+                                          &ao_monitor_ring[ao_log_monitor_pos],
+                                          AO_LOG_SINGLE_SIZE);
                                ao_log_single_write();
                                ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos);
                                ao_log_telem_track();
index 0eafd3b2d5294122847eb7891b85226e2f8b17ef..08b184d60fc340596208c2660b842fc07cff7a69 100644 (file)
@@ -62,7 +62,7 @@ ao_packet_flush(void);
 void
 ao_packet_putchar(char c) __reentrant;
 
-char
+int
 ao_packet_pollchar(void);
 
 #if PACKET_HAS_MASTER
index 1a8e74de9e586adbd87805c141e8a1df4d5da87d..66315d227e8e05ac8a620e6727e11d44586f00ca 100644 (file)
 
 static __xdata uint8_t ao_send[AO_MAX_SEND];
 
-static uint8_t
-getnibble(void)
-{
-       char    c;
-
-       c = getchar();
-       if ('0' <= c && c <= '9')
-               return c - '0';
-       if ('a' <= c && c <= 'f')
-               return c - ('a' - 10);
-       if ('A' <= c && c <= 'F')
-               return c - ('A' - 10);
-       ao_cmd_status = ao_cmd_lex_error;
-       return 0;
-}
-
 static void
 ao_send_packet(void)
 {
@@ -53,8 +37,8 @@ ao_send_packet(void)
                return;
        }
        for (i = 0; i < count; i++) {
-               b = getnibble() << 4;
-               b |= getnibble();
+               b = ao_getnibble() << 4;
+               b |= ao_getnibble();
                if (ao_cmd_status != ao_cmd_success)
                        return;
                ao_send[i] = b;
index 53aa8a89e2c7d7903270257f2118c1700b6a28a3..a799bf2c9bc4afd6322d507d7b27626d866a29e9 100644 (file)
@@ -22,6 +22,7 @@
 #define AO_SERIAL_SPEED_9600   1
 #define AO_SERIAL_SPEED_19200  2
 #define AO_SERIAL_SPEED_57600  3
+#define AO_SERIAL_SPEED_115200 4
 
 #if HAS_SERIAL_0
 extern volatile __xdata struct ao_fifo ao_serial0_rx_fifo;
@@ -30,6 +31,9 @@ extern volatile __xdata struct ao_fifo        ao_serial0_tx_fifo;
 char
 ao_serial0_getchar(void);
 
+int
+ao_serial0_pollchar(void);
+
 void
 ao_serial0_putchar(char c);
 
@@ -47,7 +51,7 @@ extern volatile __xdata struct ao_fifo        ao_serial1_tx_fifo;
 char
 ao_serial1_getchar(void);
 
-char
+int
 ao_serial1_pollchar(void);
 
 void
@@ -67,7 +71,7 @@ extern volatile __xdata struct ao_fifo        ao_serial2_tx_fifo;
 char
 ao_serial2_getchar(void);
 
-char
+int
 ao_serial2_pollchar(void);
 
 void
@@ -80,6 +84,26 @@ void
 ao_serial2_set_speed(uint8_t speed);
 #endif
 
+#if HAS_SERIAL_3
+extern volatile __xdata struct ao_fifo ao_serial3_rx_fifo;
+extern volatile __xdata struct ao_fifo ao_serial3_tx_fifo;
+
+char
+ao_serial3_getchar(void);
+
+int
+ao_serial3_pollchar(void);
+
+void
+ao_serial3_putchar(char c);
+
+void
+ao_serial3_drain(void);
+
+void
+ao_serial3_set_speed(uint8_t speed);
+#endif
+
 void
 ao_serial_init(void);
 
index 8cf66a239ac1db03d8d1d72c5c2bd7d44ab26a0c..1748dfe8d940ecc550ff41911db01b0259291ec9 100644 (file)
@@ -98,7 +98,7 @@ __xdata uint8_t ao_stdin_ready;
 char
 getchar(void) __reentrant
 {
-       char c;
+       int c;
        ao_arch_critical(
                int8_t stdio = ao_cur_stdio;
 
@@ -123,7 +123,7 @@ ao_echo(void)
 }
 
 int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
             void (*putchar)(char),
             void (*flush)(void)) __reentrant
 {
index 0411fbdd425921c42f26b68d5116f932bfc18d96..9cb074b5220a2c6279353d1b4ab5371be2dd5385 100644 (file)
@@ -305,6 +305,8 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
                );
 }
 
+__data uint8_t ao_task_minimize_latency;
+
 /* Task switching function. This must not use any stack variables */
 void
 ao_yield(void) ao_arch_naked_define
@@ -331,7 +333,12 @@ ao_yield(void) ao_arch_naked_define
        }
 
        ao_arch_isr_stack();
-       ao_arch_block_interrupts();
+#if !HAS_TASK_QUEUE
+       if (ao_task_minimize_latency)
+               ao_arch_release_interrupts();
+       else
+#endif
+               ao_arch_block_interrupts();
 
 #if AO_CHECK_STACK
        in_yield = 1;
@@ -374,7 +381,7 @@ ao_yield(void) ao_arch_naked_define
                                break;
 
                        /* Wait for interrupts when there's nothing ready */
-                       if (ao_cur_task_index == ao_last_task_index)
+                       if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
                                ao_arch_wait_interrupt();
                }
        }
index 049f69a7c2fb121d2dbdffd2564d7bb8f989fe4e..50bfb220f081571572bbaab82395c1d0e29b1813 100644 (file)
@@ -47,6 +47,7 @@ struct ao_task {
 extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
 extern __data uint8_t ao_num_tasks;
 extern __xdata struct ao_task *__data ao_cur_task;
+extern __data uint8_t ao_task_minimize_latency;        /* Reduce IRQ latency */
 
 /*
  ao_task.c
index e051db9323d5639e91e1931ba5607c6b238ab806..4476ee6be99f4ffd76db8f6d651ff2171616d989 100644 (file)
@@ -33,7 +33,7 @@ ao_usb_getchar(void);
 /* Poll for a charcter on the USB input queue.
  * returns AO_READ_AGAIN if none are available
  */
-char
+int
 ao_usb_pollchar(void);
 
 /* Flush the USB output queue */
index f381604796dd3d390aae7469fce3df611782e49a..c862200a8fe01232f199777abe434d2ab4160b49 100644 (file)
@@ -120,7 +120,7 @@ uint8_t
 ao_btm_get_line(void)
 {
        uint8_t ao_btm_reply_len = 0;
-       char c;
+       int c;
 
        for (;;) {
 
index c749adea9de2f2da295bf2aa64f28c9642ed1103..0ebe8429124966790244e0a2fa5083782a0525a6 100644 (file)
@@ -118,10 +118,13 @@ ao_companion_status(void) __reentrant
        printf("Companion running: %d\n", ao_companion_running);
        if (!ao_companion_running)
                return;
-       printf("device: %d\n", ao_companion_setup.board_id);
-       printf("update period: %d\n", ao_companion_setup.update_period);
-       printf("channels: %d\n", ao_companion_setup.channels);
-       printf("data:");
+       printf("device: %d\n"
+              "update period: %d\n"
+              "channels: %d\n"
+              "data:",
+              ao_companion_setup.board_id,
+              ao_companion_setup.update_period,
+              ao_companion_setup.channels);
        for(i = 0; i < ao_companion_setup.channels; i++)
                printf(" %5u", ao_companion_data[i]);
        printf("\n");
index d80da97ca6ea44a2cd2828380afa55eda19f0a0b..d2f67e6b6947b1f9cd4c8e1c87fc13a018eb23b7 100644 (file)
@@ -21,6 +21,7 @@
 
 #ifndef ao_gps_getchar
 #define ao_gps_getchar ao_serial1_getchar
+#define ao_gps_fifo    ao_serial1_rx_fifo
 #endif
 
 #ifndef ao_gps_putchar
@@ -453,6 +454,8 @@ ao_gps_nmea_parse(void)
        }
 }
 
+static uint8_t ao_gps_updating;
+
 void
 ao_gps(void) __reentrant
 {
@@ -468,6 +471,13 @@ ao_gps(void) __reentrant
                if (ao_gps_getchar() == '$') {
                        ao_gps_nmea_parse();
                }
+#ifndef AO_GPS_TEST
+               while (ao_gps_updating) {
+                       ao_usb_putchar(ao_gps_getchar());
+                       if (ao_fifo_empty(ao_gps_fifo))
+                               flush();
+               }
+#endif
        }
 }
 
@@ -492,8 +502,38 @@ gps_dump(void) __reentrant
        ao_mutex_put(&ao_gps_mutex);
 }
 
+static __code uint8_t ao_gps_115200[] = {
+       SKYTRAQ_MSG_3(5,0,5,0)  /* Set to 115200 baud */
+};
+
+static void
+ao_gps_set_speed_delay(uint8_t speed) {
+       ao_delay(AO_MS_TO_TICKS(500));
+       ao_gps_set_speed(speed);
+       ao_delay(AO_MS_TO_TICKS(500));
+}
+
+static void
+gps_update(void) __reentrant
+{
+       ao_gps_updating = 1;
+       ao_task_minimize_latency = 1;
+#if HAS_ADC
+       ao_timer_set_adc_interval(0);
+#endif
+       ao_skytraq_sendstruct(ao_gps_115200);
+       ao_gps_set_speed_delay(AO_SERIAL_SPEED_4800);
+       ao_skytraq_sendstruct(ao_gps_115200);
+       ao_gps_set_speed_delay(AO_SERIAL_SPEED_115200);
+
+       /* It's a binary protocol; abandon attempts to escape */
+       for (;;)
+               ao_gps_putchar(ao_usb_getchar());
+}
+
 __code struct ao_cmds ao_gps_cmds[] = {
        { gps_dump,     "g\0Display GPS" },
+       { gps_update,   "U\0Update GPS firmware" },
        { 0, NULL },
 };
 
index 3c1e7a18eb643168be3520e558f0ee6781ce963f..913199232a75b46d2db390ac9e665686626529e0 100644 (file)
@@ -21,8 +21,8 @@ __xdata struct ao_packet_recv ao_rx_packet;
 __xdata struct ao_packet ao_tx_packet;
 __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
 
-static __xdata char tx_data[AO_PACKET_MAX];
-static __xdata char rx_data[AO_PACKET_MAX];
+static __xdata uint8_t tx_data[AO_PACKET_MAX];
+static __xdata uint8_t rx_data[AO_PACKET_MAX];
 static __pdata uint8_t rx_seq;
 
 __xdata struct ao_task ao_packet_task;
@@ -169,7 +169,7 @@ ao_packet_putchar(char c) __reentrant
                tx_data[ao_packet_tx_used++] = c;
 }
 
-char
+int
 ao_packet_pollchar(void)
 {
        /* No need to block interrupts, all variables here
index 481232dff2b821b229c29dc4ff6f8baad63f41db..023c788ba86c4be6c0d8d0efcc548f5e8df973e3 100644 (file)
@@ -20,7 +20,7 @@
 static char
 ao_packet_getchar(void)
 {
-       char c;
+       int c;
        while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
                if (!ao_packet_enable)
                        break;
@@ -35,7 +35,7 @@ ao_packet_getchar(void)
 static void
 ao_packet_echo(void) __reentrant
 {
-       char    c;
+       int     c;
        while (ao_packet_enable) {
                c = ao_packet_getchar();
                if (c != AO_READ_AGAIN)
index 5ae80ac518a61cb61230011a98baee55383082b3..f07dc26ed975fc11b0d5324720bf14cf471d1f29 100644 (file)
@@ -62,6 +62,7 @@
 #define ao_gps_getchar         ao_serial3_getchar
 #define ao_gps_putchar         ao_serial3_putchar
 #define ao_gps_set_speed       ao_serial3_set_speed
+#define ao_gps_fifo            (ao_stm_usart3.rx_fifo)
 
 #define HAS_EEPROM             1
 #define USE_INTERNAL_FLASH     0
index e270199ec701aebcc7860b7a5601aa4e8f29ff8e..007f7e2ed3ac85e675244dc547f20dac82cc78e9 100644 (file)
@@ -123,42 +123,6 @@ void ao_lcd_font_init(void);
 
 void ao_lcd_font_string(char *s);
 
-char
-ao_serial1_getchar(void);
-
-void
-ao_serial1_putchar(char c);
-
-char
-ao_serial1_pollchar(void);
-
-void
-ao_serial1_set_speed(uint8_t speed);
-
-char
-ao_serial2_getchar(void);
-
-void
-ao_serial2_putchar(char c);
-
-char
-ao_serial2_pollchar(void);
-
-void
-ao_serial2_set_speed(uint8_t speed);
-
-char
-ao_serial3_getchar(void);
-
-void
-ao_serial3_putchar(char c);
-
-char
-ao_serial3_pollchar(void);
-
-void
-ao_serial3_set_speed(uint8_t speed);
-
 extern const uint32_t  ao_radio_cal;
 
 void
index d6ab1465c73cd1b9a5f0c46080ba1ef780afd1aa..87bbe73e3b926a6b964d181f6dc5a60926cb4305 100644 (file)
@@ -210,6 +210,26 @@ ao_i2c_recv(void *block, uint16_t len, uint8_t i2c_index, uint8_t stop);
 void
 ao_i2c_init(void);
 
+/* ao_serial_stm.c */
+struct ao_stm_usart {
+       struct ao_fifo          rx_fifo;
+       struct ao_fifo          tx_fifo;
+       struct stm_usart        *reg;
+       uint8_t                 tx_started;
+};
+
+#if HAS_SERIAL_1
+extern struct ao_stm_usart     ao_stm_usart1;
+#endif
+
+#if HAS_SERIAL_2
+extern struct ao_stm_usart     ao_stm_usart2;
+#endif
+
+#if HAS_SERIAL_3
+extern struct ao_stm_usart     ao_stm_usart3;
+#endif
+
 #define ARM_PUSH32(stack, val) (*(--(stack)) = (val))
 
 static inline uint32_t
index 00409f4a85957e16e53825f4e8420e85a168c535..ce33f97e97416eaaf2a9eddfb54ba9f19943cb9e 100644 (file)
 
 #include <ao.h>
 
-struct ao_stm_usart {
-       struct ao_fifo          rx_fifo;
-       struct ao_fifo          tx_fifo;
-       struct stm_usart        *reg;
-       uint8_t                 tx_started;
-};
-
 void
 ao_debug_out(char c)
 {
@@ -78,16 +71,19 @@ ao_usart_getchar(struct ao_stm_usart *usart)
        return c;
 }
 
-char
+int
 ao_usart_pollchar(struct ao_stm_usart *usart)
 {
-       char    c;
+       int     c;
        
        ao_arch_block_interrupts();
        if (ao_fifo_empty(usart->rx_fifo))
                c = AO_READ_AGAIN;
-       else
-               ao_fifo_remove(usart->rx_fifo,c);
+       else {
+               uint8_t u;
+               ao_fifo_remove(usart->rx_fifo,u);
+               c = u;
+       }
        ao_arch_release_interrupts();
        return c;
 }
@@ -127,12 +123,15 @@ static const struct {
        [AO_SERIAL_SPEED_57600] = {
                AO_PCLK1 / 57600
        },
+       [AO_SERIAL_SPEED_115200] = {
+               AO_PCLK1 / 115200
+       },
 };
 
 void
 ao_usart_set_speed(struct ao_stm_usart *usart, uint8_t speed)
 {
-       if (speed > AO_SERIAL_SPEED_57600)
+       if (speed > AO_SERIAL_SPEED_115200)
                return;
        usart->reg->brr = ao_usart_speeds[speed].brr;
 }
@@ -201,7 +200,7 @@ ao_serial1_putchar(char c)
        ao_usart_putchar(&ao_stm_usart1, c);
 }
 
-char
+int
 ao_serial1_pollchar(void)
 {
        return ao_usart_pollchar(&ao_stm_usart1);
@@ -232,7 +231,7 @@ ao_serial2_putchar(char c)
        ao_usart_putchar(&ao_stm_usart2, c);
 }
 
-char
+int
 ao_serial2_pollchar(void)
 {
        return ao_usart_pollchar(&ao_stm_usart2);
@@ -263,7 +262,7 @@ ao_serial3_putchar(char c)
        ao_usart_putchar(&ao_stm_usart3, c);
 }
 
-char
+int
 ao_serial3_pollchar(void)
 {
        return ao_usart_pollchar(&ao_stm_usart3);
index d93a0c174c16a7a851669241fa98fbd68083d2d9..9379e5cd62efd19a8cdf994669fa171be0a9f11b 100644 (file)
@@ -873,10 +873,10 @@ _ao_usb_out_recv(void)
        ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID);
 }
 
-static char
+static int
 _ao_usb_pollchar(void)
 {
-       char c;
+       uint8_t c;
 
        if (!ao_usb_running)
                return AO_READ_AGAIN;
@@ -896,10 +896,10 @@ _ao_usb_pollchar(void)
        return c;
 }
 
-char
+int
 ao_usb_pollchar(void)
 {
-       char    c;
+       int     c;
        ao_arch_block_interrupts();
        c = _ao_usb_pollchar();
        ao_arch_release_interrupts();
@@ -909,7 +909,7 @@ ao_usb_pollchar(void)
 char
 ao_usb_getchar(void)
 {
-       char    c;
+       int     c;
 
        ao_arch_block_interrupts();
        while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN)
index 3305719a577acf5192a77cf8f4b4c8dd2ad9a0c8..7ba48c96e0bd1d3648d1b6c24e2a68ebfc333ff2 100644 (file)
@@ -43,9 +43,9 @@
        #define PACKET_HAS_SLAVE        1
 
        #define HAS_COMPANION           1
-       #define COMPANION_CS_ON_P1      1
-       #define COMPANION_CS_MASK       0x4     /* CS1 is P1_2 */
-       #define COMPANION_CS            P1_2
+       #define AO_COMPANION_CS_PORT    P1
+       #define AO_COMPANION_CS_PIN     2
+       #define AO_COMPANION_CS         P1_2
 
        #define AO_LED_RED              1
        #define LEDS_AVAILABLE          (AO_LED_RED)
@@ -53,7 +53,7 @@
        #define HAS_ACCEL_REF           1
        #define SPI_CS_ON_P1            1
        #define SPI_CS_ON_P0            0
-       #define M25_CS_MASK             0x02    /* CS0 is P1_1 */
+       #define AO_M25_SPI_CS_MASK      0x02    /* CS0 is P1_1 */
        #define M25_MAX_CHIPS           1
        #define HAS_ACCEL               1
        #define HAS_IGNITE              0
        #define SPI_CS_DIR      P0DIR
 #endif
 
+#define AO_M25_SPI_CS_PORT     SPI_CS_PORT
+
 #ifndef IGNITE_ON_P2
 #error Please define IGNITE_ON_P2
 #endif
 #define AO_IGNITER_FIRE_TIME   AO_MS_TO_TICKS(50)
 #define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000)
 
+struct ao_adc {
+       int16_t         accel;          /* accelerometer */
+       int16_t         pres;           /* pressure sensor */
+       int16_t         temp;           /* temperature sensor */
+       int16_t         v_batt;         /* battery voltage */
+       int16_t         sense_d;        /* drogue continuity sense */
+       int16_t         sense_m;        /* main continuity sense */
+#if HAS_ACCEL_REF
+       uint16_t        accel_ref;      /* acceleration reference */
+#endif
+};
+
 #endif /* _AO_PINS_H_ */
index 3f12a59cda41de833d70d87ce46cc85122d2d448..c8bf7760f89741198753c5bd857b9323b698a9e0 100644 (file)
@@ -26,6 +26,8 @@ ao_ignite_set_pins(void)
        AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 }
 
+__pdata uint16_t ao_motor_number;
+
 void
 main(void)
 {
index 44cee904ab642ee24d386fe37464966e6660a25f..0dcdc949318e54b0b50a3879815339efbb69e4cc 100644 (file)
@@ -29,7 +29,7 @@ ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kal
        cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c
 
 ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS)
-       cc -DMEGAMETRUM=1 $(CFLAGS) -o $@ $<
+       cc -DMEGAMETRUM=1 $(CFLAGS) -o $@ $< -lm
 
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
        cc $(CFLAGS) -o $@ $<
index 7180f02d2cd4b5dba6ea2df607049e7a71fd404d..acdf4d926a3ead68460fd6b284d2e656a30ebf8f 100644 (file)
@@ -547,6 +547,202 @@ int32(uint8_t *bytes, int off)
 
 static int log_format;
 
+#if MEGAMETRUM
+
+static double
+ao_vec_norm(double x, double y, double z)
+{
+       return x*x + y*y + z*z;
+}
+
+static void
+ao_vec_normalize(double *x, double *y, double *z)
+{
+       double  scale = 1/sqrt(ao_vec_norm(*x, *y, *z));
+
+       *x *= scale;
+       *y *= scale;
+       *z *= scale;
+}
+
+struct ao_quat {
+       double  q0, q1, q2, q3;
+};
+
+static void
+ao_quat_mul(struct ao_quat *r, struct ao_quat *a, struct ao_quat *b)
+{
+       r->q0 = a->q0 * b->q0 - a->q1 * b->q1 - a->q2 * b->q2 - a->q3 * b->q3;
+       r->q1 = a->q0 * b->q1 + a->q1 * b->q0 + a->q2 * b->q3 - a->q3 * b->q2;
+       r->q2 = a->q0 * b->q2 - a->q1 * b->q3 + a->q2 * b->q0 + a->q3 * b->q1;
+       r->q3 = a->q0 * b->q3 + a->q1 * b->q2 - a->q2 * b->q1 + a->q3 * b->q0;
+}
+
+#if 0
+static void
+ao_quat_scale(struct ao_quat *r, struct ao_quat *a, double s)
+{
+       r->q0 = a->q0 * s;
+       r->q1 = a->q1 * s;
+       r->q2 = a->q2 * s;
+       r->q3 = a->q3 * s;
+}
+#endif
+
+static void
+ao_quat_conj(struct ao_quat *r, struct ao_quat *a)
+{
+       r->q0 =  a->q0;
+       r->q1 = -a->q1;
+       r->q2 = -a->q2;
+       r->q3 = -a->q3;
+}
+
+static void
+ao_quat_rot(struct ao_quat *r, struct ao_quat *a, struct ao_quat *q)
+{
+       struct ao_quat  t;
+       struct ao_quat  c;
+       ao_quat_mul(&t, q, a);
+       ao_quat_conj(&c, q);
+       ao_quat_mul(r, &t, &c);
+}
+
+static void
+ao_quat_from_angle(struct ao_quat *r,
+                  double x_rad,
+                  double y_rad,
+                  double z_rad)
+{
+       double angle = sqrt (x_rad * x_rad + y_rad * y_rad + z_rad * z_rad);
+       double s = sin(angle/2);
+       double c = cos(angle/2);
+
+       r->q0 = c;
+       r->q1 = x_rad * s / angle;
+       r->q2 = y_rad * s / angle;
+       r->q3 = z_rad * s / angle;
+}
+
+static void
+ao_quat_from_vector(struct ao_quat *r, double x, double y, double z)
+{
+       ao_vec_normalize(&x, &y, &z);
+       double  x_rad = atan2(z, y);
+       double  y_rad = atan2(x, z);
+       double  z_rad = atan2(y, x);
+
+       ao_quat_from_angle(r, x_rad, y_rad, z_rad);
+}
+
+static double
+ao_quat_norm(struct ao_quat *a)
+{
+       return (a->q0 * a->q0 +
+               a->q1 * a->q1 +
+               a->q2 * a->q2 +
+               a->q3 * a->q3);
+}
+
+static void
+ao_quat_normalize(struct ao_quat *a)
+{
+       double  norm = ao_quat_norm(a);
+
+       if (norm) {
+               double m = 1/sqrt(norm);
+
+               a->q0 *= m;
+               a->q1 *= m;
+               a->q2 *= m;
+               a->q3 *= m;
+       }
+}
+
+static struct ao_quat  ao_up, ao_current;
+static struct ao_quat  ao_orient;
+static int             ao_orient_tick;
+
+void
+set_orientation(double x, double y, double z, int tick)
+{
+       struct ao_quat  t;
+
+       printf ("set_orientation %g %g %g\n", x, y, z);
+       ao_quat_from_vector(&ao_orient, x, y, z);
+       ao_up.q1 = ao_up.q2 = 0;
+       ao_up.q0 = ao_up.q3 = sqrt(2)/2;
+       ao_orient_tick = tick;
+
+       ao_orient.q0 = 1;
+       ao_orient.q1 = 0;
+       ao_orient.q2 = 0;
+       ao_orient.q3 = 0;
+
+       printf ("orient (%g) %g %g %g up (%g) %g %g %g\n",
+               ao_orient.q0,
+               ao_orient.q1,
+               ao_orient.q2,
+               ao_orient.q3,
+               ao_up.q0,
+               ao_up.q1,
+               ao_up.q2,
+               ao_up.q3);
+
+       ao_quat_rot(&t, &ao_up, &ao_orient);
+       printf ("pad orient (%g) %g %g %g\n",
+               t.q0,
+               t.q1,
+               t.q2,
+               t.q3);
+
+}
+
+void
+update_orientation (double rate_x, double rate_y, double rate_z, int tick)
+{
+       struct ao_quat  q_dot;
+       double          lambda;
+       double          dt = (tick - ao_orient_tick) / 100.0;
+
+       ao_orient_tick = tick;
+//     lambda = 1 - ao_quat_norm(&ao_orient);
+       lambda = 0;
+
+       q_dot.q0 = -0.5 * (ao_orient.q1 * rate_x + ao_orient.q2 * rate_y + ao_orient.q3 * rate_z) + lambda * ao_orient.q0;
+       q_dot.q1 =  0.5 * (ao_orient.q0 * rate_x + ao_orient.q2 * rate_z - ao_orient.q3 * rate_y) + lambda * ao_orient.q1;
+       q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
+       q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
+
+       printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
+       printf ("q_dot (%g) %g %g %g\n",
+               q_dot.q0,
+               q_dot.q1,
+               q_dot.q2,
+               q_dot.q3);
+
+       ao_orient.q0 += q_dot.q0 * dt;
+       ao_orient.q1 += q_dot.q1 * dt;
+       ao_orient.q2 += q_dot.q2 * dt;
+       ao_orient.q3 += q_dot.q3 * dt;
+
+       ao_quat_normalize(&ao_orient);
+
+       ao_quat_rot(&ao_current, &ao_up, &ao_orient);
+
+       printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
+               ao_orient.q0,
+               ao_orient.q1,
+               ao_orient.q2,
+               ao_orient.q3,
+               ao_current.q0,
+               ao_current.q1,
+               ao_current.q2,
+               ao_current.q3);
+}
+#endif
+
 void
 ao_sleep(void *wchan)
 {
@@ -635,6 +831,21 @@ ao_sleep(void *wchan)
                                                f(gyro_x);
                                                f(gyro_y);
                                                f(gyro_z);
+
+                                               double          accel_x = ao_mpu6000_accel(ao_ground_mpu6000.accel_x);
+                                               double          accel_y = ao_mpu6000_accel(ao_ground_mpu6000.accel_y);
+                                               double          accel_z = ao_mpu6000_accel(ao_ground_mpu6000.accel_z);
+
+                                               /* X and Y are in the ground plane, arbitraryily picked as MPU X and Z axes
+                                                * Z is normal to the ground, the MPU y axis
+                                                */
+                                               set_orientation(accel_x, accel_z, accel_y, tick);
+                                       } else {
+                                               double          rate_x = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x);
+                                               double          rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
+                                               double          rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
+
+                                               update_orientation(rate_x, rate_z, rate_y, tick);
                                        }
                                        ao_records_read++;
                                        ao_insert();
@@ -779,6 +990,8 @@ ao_sleep(void *wchan)
                                continue;
 
 #if MEGAMETRUM
+                       (void) a;
+                       (void) b;
 #else
                        switch (type) {
                        case 'F':
index d75a12ecbfad77bf5a4f75d65a02a4200fd217f0..3844a3265452f623d5065f48e31b6061cdabe002 100644 (file)
@@ -88,6 +88,7 @@ ao_mutex_put(uint8_t *mutex)
 static int
 ao_gps_fd;
 
+#if 0
 static void
 ao_dbg_char(char c)
 {
@@ -103,6 +104,7 @@ ao_dbg_char(char c)
        }
        write(1, line, strlen(line));
 }
+#endif
 
 #define QUEUE_LEN      4096
 
@@ -391,6 +393,7 @@ ao_serial1_putchar(char c)
 
 #define AO_SERIAL_SPEED_4800   0
 #define AO_SERIAL_SPEED_57600  1
+#define AO_SERIAL_SPEED_115200 2
 
 static void
 ao_serial1_set_speed(uint8_t speed)
@@ -407,6 +410,9 @@ ao_serial1_set_speed(uint8_t speed)
        case AO_SERIAL_SPEED_57600:
                cfsetspeed(&termios, B57600);
                break;
+       case AO_SERIAL_SPEED_115200:
+               cfsetspeed(&termios, B115200);
+               break;
        }
        tcsetattr(fd, TCSAFLUSH, &termios);
        tcflush(fd, TCIFLUSH);
@@ -420,7 +426,6 @@ ao_serial1_set_speed(uint8_t speed)
 void
 ao_dump_state(void *wchan)
 {
-       double  lat, lon;
        int     i;
        if (wchan == &ao_gps_data)
                ao_gps_print(&ao_gps_data);
@@ -510,4 +515,5 @@ main (int argc, char **argv)
        }
        ao_gps_setup();
        ao_gps();
+       return 0;
 }
index 846daa9443825b02fc322b9ca1d6f9fe5b806d36..81008b39ebc282e6aa4682779691d6e2580528b2 100644 (file)
@@ -397,6 +397,7 @@ ao_serial1_putchar(char c)
 #define AO_SERIAL_SPEED_4800   0
 #define AO_SERIAL_SPEED_9600   1
 #define AO_SERIAL_SPEED_57600  2
+#define AO_SERIAL_SPEED_115200 3
 
 static void
 ao_serial1_set_speed(uint8_t speed)
@@ -411,11 +412,14 @@ ao_serial1_set_speed(uint8_t speed)
                cfsetspeed(&termios, B4800);
                break;
        case AO_SERIAL_SPEED_9600:
-               cfsetspeed(&termios, B38400);
+               cfsetspeed(&termios, B9600);
                break;
        case AO_SERIAL_SPEED_57600:
                cfsetspeed(&termios, B57600);
                break;
+       case AO_SERIAL_SPEED_115200:
+               cfsetspeed(&termios, B115200);
+               break;
        }
        tcsetattr(fd, TCSAFLUSH, &termios);
        tcflush(fd, TCIFLUSH);
@@ -423,6 +427,10 @@ ao_serial1_set_speed(uint8_t speed)
 
 #define ao_time() 0
 
+uint8_t        ao_task_minimize_latency;
+
+#define ao_usb_getchar()       0
+
 #include "ao_gps_print.c"
 #include "ao_gps_skytraq.c"