#define GOT_ADC
#endif
+#ifdef FETCH_ADC
+ FETCH_ADC()
+#define GOT_ADC
+#endif
+
#ifndef GOT_ADC
#error No known ADC configuration set
#endif
ao_usb_ep0_queue_byte(0);
break;
case AO_USB_REQ_SET_ADDRESS:
+#if USB_FORCE_FLIGHT_IDLE
+ /* Go to idle mode if USB is connected
+ */
+ ao_flight_force_idle = 1;
+#endif
ao_usb_set_address(ao_usb_setup.value);
break;
case AO_USB_REQ_GET_DESCRIPTOR:
volatile __data uint8_t ao_data_head;
volatile __data uint8_t ao_data_present;
+#ifndef ao_data_count
void
ao_data_get(__xdata struct ao_data *packet)
{
#endif
memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
}
+#endif
* signaled by the timer tick
*/
#define AO_DATA_WAIT() do { \
- ao_sleep((void *) &ao_data_count); \
+ ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count)); \
} while (0)
#endif /* AO_DATA_RING */
ao_log(void)
{
__pdata uint16_t next_sensor, next_other;
- uint8_t i;
ao_storage_setup();
}
#endif /* AO_SEND_MEGA */
+#ifdef AO_SEND_MINI
+
+static void
+ao_send_mini(void)
+{
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_MINI;
+
+ telemetry.mini.state = ao_flight_state;
+
+ telemetry.mini.v_batt = packet->adc.v_batt;
+ telemetry.mini.sense_a = packet->adc.sense_a;
+ telemetry.mini.sense_m = packet->adc.sense_m;
+
+ telemetry.mini.pres = ao_data_pres(packet);
+ telemetry.mini.temp = ao_data_temp(packet);
+
+ telemetry.mini.acceleration = ao_accel;
+ telemetry.mini.speed = ao_speed;
+ telemetry.mini.height = ao_height;
+
+ telemetry.mini.ground_pres = ao_ground_pres;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+#endif
+
#ifdef AO_SEND_ALL_BARO
static uint8_t ao_baro_sample;
ao_send_baro();
#endif
#if HAS_FLIGHT
-#ifdef AO_SEND_MEGA
+# ifdef AO_SEND_MEGA
ao_send_mega_sensor();
ao_send_mega_data();
-#else
+# else
+# ifdef AO_SEND_MINI
+ ao_send_mini();
+# else
ao_send_sensor();
-#endif
+# endif
+# endif
#endif
#if HAS_COMPANION
};
+#define AO_TELEMETRY_MINI 0x10
+
+struct ao_telemetry_mini {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+
+ int16_t v_batt; /* 6 battery voltage */
+ int16_t sense_a; /* 8 apogee continuity */
+ int16_t sense_m; /* 10 main continuity */
+
+ int32_t pres; /* 12 Pa * 10 */
+ int16_t temp; /* 16 °C * 100 */
+
+ int16_t acceleration; /* 18 m/s² * 16 */
+ int16_t speed; /* 20 m/s * 16 */
+ int16_t height; /* 22 m */
+
+ int32_t ground_pres; /* 24 average pres on pad */
+
+ int32_t pad28; /* 28 */
+ /* 32 */
+};
+
/* #define AO_SEND_ALL_BARO */
#define AO_TELEMETRY_BARO 0x80
struct ao_telemetry_companion companion;
struct ao_telemetry_mega_sensor mega_sensor;
struct ao_telemetry_mega_data mega_data;
+ struct ao_telemetry_mini mini;
struct ao_telemetry_baro baro;
};
#if HAS_MS5607 || HAS_MS5611
-static struct ao_ms5607_prom ms5607_prom;
+static __xdata struct ao_ms5607_prom ms5607_prom;
static uint8_t ms5607_configured;
static void
cmd = AO_MS5607_RESET;
ao_ms5607_start();
- ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
+ ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX);
ao_delay(AO_MS_TO_TICKS(10));
ao_ms5607_stop();
}
}
static void
-ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
+ao_ms5607_prom_read(__xdata struct ao_ms5607_prom *prom)
{
- uint8_t addr;
- uint8_t crc;
- uint16_t *r;
+ uint8_t addr;
+ uint8_t crc;
+ __xdata uint16_t *r;
- r = (uint16_t *) prom;
+ r = (__xdata uint16_t *) prom;
for (addr = 0; addr < 8; addr++) {
uint8_t cmd = AO_MS5607_PROM_READ(addr);
ao_ms5607_start();
- ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
+ ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX);
ao_spi_recv(r, 2, AO_MS5607_SPI_INDEX);
ao_ms5607_stop();
r++;
ao_ms5607_prom_read(&ms5607_prom);
}
-static volatile uint8_t ao_ms5607_done;
+static __xdata volatile uint8_t ao_ms5607_done;
static void
ao_ms5607_isr(void)
{
ao_exti_disable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
ao_ms5607_done = 1;
- ao_wakeup((void *) &ao_ms5607_done);
+ ao_wakeup((__xdata void *) &ao_ms5607_done);
}
static uint32_t
ao_ms5607_get_sample(uint8_t cmd) {
- uint8_t reply[3];
- uint8_t read;
+ __xdata uint8_t reply[3];
+ __xdata uint8_t read;
ao_ms5607_done = 0;
ao_ms5607_start();
- ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
+ ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX);
ao_exti_enable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
sample->temp = ao_ms5607_get_sample(AO_CONVERT_D2);
}
+#ifdef _CC1111_H_
+#include "ao_ms5607_convert_8051.c"
+#else
#include "ao_ms5607_convert.c"
+#endif
#if HAS_TASK
-struct ao_ms5607_sample ao_ms5607_current;
+__xdata struct ao_ms5607_sample ao_ms5607_current;
static void
ao_ms5607(void)
for (;;)
{
ao_ms5607_sample(&ao_ms5607_current);
- ao_arch_critical(
- AO_DATA_PRESENT(AO_DATA_MS5607);
- AO_DATA_WAIT();
- );
+ ao_arch_block_interrupts();
+ AO_DATA_PRESENT(AO_DATA_MS5607);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
}
}
int32_t temp; /* in °C * 100 */
};
-extern struct ao_ms5607_sample ao_ms5607_current;
+extern __xdata struct ao_ms5607_sample ao_ms5607_current;
void
ao_ms5607_setup(void);
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao_ms5607.h>
+
+void
+ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value)
+{
+#if 0
+ int32_t dT;
+ int32_t TEMP;
+ int64_t OFF;
+ int64_t SENS;
+
+ dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
+
+ TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23);
+
+#if HAS_MS5611
+ OFF = ((int64_t) ms5607_prom.off << 16) + (((int64_t) ms5607_prom.tco * dT) >> 7);
+ SENS = ((int64_t) ms5607_prom.sens << 15) + (((int64_t) ms5607_prom.tcs * dT) >> 8);
+#else
+ OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6);
+ SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7);
+#endif
+
+ if (TEMP < 2000) {
+ int32_t T2 = ((int64_t) dT * (int64_t) dT) >> 31;
+ int32_t TEMPM = TEMP - 2000;
+ int64_t OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4;
+ int64_t SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM;
+ if (TEMP < 1500) {
+ int32_t TEMPP = TEMP + 1500;
+ int64_t TEMPP2 = TEMPP * TEMPP;
+ OFF2 = OFF2 + 15 * TEMPP2;
+ SENS2 = SENS2 + 8 * TEMPP2;
+ }
+ TEMP -= T2;
+ OFF -= OFF2;
+ SENS -= SENS2;
+ }
+
+ value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15;
+ value->temp = TEMP;
+#endif
+}
--- /dev/null
+#
+# TeleMini build file
+#
+
+TELEMINI_VER=2.0
+TELEMINI_DEF=2_0
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+ ao.h \
+ ao_pins.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ cc1111.h \
+ ao_product.h
+
+CORE_SRC = \
+ ao_cmd.c \
+ ao_config.c \
+ ao_convert.c \
+ ao_flight.c \
+ ao_kalman.c \
+ ao_log.c \
+ ao_log_mini.c \
+ ao_mutex.c \
+ ao_panic.c \
+ ao_report.c \
+ ao_sample.c \
+ ao_stdio.c \
+ ao_storage.c \
+ ao_task.c \
+ ao_telemetry.c \
+ ao_freq.c
+
+CC1111_SRC = \
+ ao_adc.c \
+ ao_dma.c \
+ ao_ignite.c \
+ ao_led.c \
+ ao_packet.c \
+ ao_packet_slave.c \
+ ao_radio.c \
+ ao_romconfig.c \
+ ao_string.c \
+ ao_spi.c \
+ ao_usb.c \
+ ao_convert_pa.c \
+ ao_data.c \
+ ao_beep.c \
+ ao_timer.c \
+ _bp.c
+
+DRIVER_SRC = \
+ ao_ms5607.c \
+ ao_m25.c
+
+PRODUCT_SRC = \
+ ao_telemini.c
+
+SRC = \
+ $(CORE_SRC) \
+ $(CC1111_SRC) \
+ $(DRIVER_SRC) \
+ $(PRODUCT_SRC)
+
+PROGNAME = telemini-v$(TELEMINI_VER)
+PROG = $(PROGNAME)-$(VERSION).ihx
+PRODUCT=TeleMini-v$(TELEMINI_VER)
+PRODUCT_DEF=-DTELEMINI_V_$(TELEMINI_DEF)
+IDPRODUCT=0x000a
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf " $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+ $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean: clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
+
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_RADIO 1
+
+#define HAS_FLIGHT 1
+#define HAS_USB 1
+#define USB_FORCE_FLIGHT_IDLE 1
+#define HAS_BEEP 1
+#define HAS_GPS 0
+#define HAS_SERIAL_1 0
+#define HAS_EEPROM 1
+#define HAS_LOG 1
+#define USE_INTERNAL_FLASH 0
+#define HAS_DBG 0
+#define PACKET_HAS_SLAVE 1
+#define USE_FAST_ASCENT_LOG 1
+
+#define AO_LED_GREEN 1
+#define AO_LED_RED 2
+#define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
+#define HAS_EXTERNAL_TEMP 0
+#define HAS_ACCEL 0
+#define HAS_IGNITE 1
+#define HAS_IGNITE_REPORT 1
+#define HAS_MONITOR 0
+
+/*
+ * SPI
+ */
+
+#define SPI_CS_PORT P1
+#define SPI_CS_SEL P1SEL
+#define SPI_CS_DIR P1DIR
+
+/*
+ * Flash
+ */
+#define AO_M25_SPI_CS_PORT SPI_CS_PORT
+#define AO_M25_SPI_CS_MASK 0x04 /* cs_flash is P1_2 */
+#define M25_MAX_CHIPS 1
+
+/*
+ * MS5607
+ */
+
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define AO_MS5607_PRIVATE_PINS 0
+#define AO_MS5607_CS_PORT P1
+#define AO_MS5607_CS_PIN 3
+#define AO_MS5607_CS P1_3
+#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN)
+#define AO_MS5607_MISO_PORT P0
+#define AO_MS5607_MISO_PIN 2
+#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN)
+#define AO_MS5607_SPI_INDEX 0
+
+/*
+ * Igniters
+ */
+#define AO_IGNITER_PORT P2
+#define AO_IGNITER_DROGUE_PORT AO_IGNITER_PORT
+#define AO_IGNITER_DROGUE P2_3
+#define AO_IGNITER_MAIN P2_4
+#define AO_IGNITER_DIR P2DIR
+#define AO_IGNITER_DROGUE_BIT (1 << 3)
+#define AO_IGNITER_MAIN_BIT (1 << 4)
+#define AO_IGNITER_DROGUE_PIN 3
+#define AO_IGNITER_MAIN_PIN 4
+
+#define AO_IGNITER_DROGUE_PORT AO_IGNITER_PORT
+#define AO_IGNITER_MAIN_PORT AO_IGNITER_PORT
+
+/* test these values with real igniters */
+#define AO_IGNITER_OPEN 1000
+#define AO_IGNITER_CLOSED 7000
+#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50)
+#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000)
+
+#define AO_SEND_MINI
+
+/*
+ * ADC
+ */
+
+#define HAS_ADC 1
+#define AO_ADC_FIRST_PIN 0
+
+struct ao_adc {
+ int16_t sense_a; /* apogee continuity sense */
+ int16_t sense_m; /* main continuity sense */
+ int16_t v_batt; /* battery voltage */
+};
+
+#define ao_data_count ao_adc_count
+
+#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a)
+#define AO_SENSE_MAIN(p) ((p)->adc.sense_m)
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \
+ (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt)
+
+#define FETCH_ADC() \
+ a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc); \
+ switch (sequence) { \
+ case 4: \
+ a += 4; \
+ sequence = 0; \
+ break; \
+ case 1: \
+ a += 2; \
+ sequence = 4; \
+ break; \
+ case 0: \
+ sequence = 1; \
+ break; \
+ } \
+ if (sequence) \
+ ;
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include "ao_pins.h"
+
+__xdata uint8_t ao_force_freq;
+
+void
+main(void)
+{
+ /*
+ * Reduce the transient on the ignite pins at startup by
+ * pulling the pins low as soon as possible at power up
+ */
+ ao_ignite_set_pins();
+
+ ao_clock_init();
+
+ /* Turn on the red LED until the system is stable */
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_RED);
+
+ ao_task_init();
+
+ ao_timer_init();
+ ao_adc_init();
+ ao_cmd_init();
+ ao_storage_init();
+ ao_ms5607_init();
+ ao_flight_init();
+ ao_log_init();
+ ao_report_init();
+ ao_telemetry_init();
+ ao_radio_init();
+ ao_packet_slave_init(TRUE);
+ ao_igniter_init();
+ ao_config_init();
+ ao_start_scheduler();
+}
PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
- ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test
+ ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test
INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h
ao_aes_test: ao_aes_test.c ao_aes.c ao_aes_tables.c
cc $(CFLAGS) -o $@ ao_aes_test.c
+
+ao_int64_test: ao_int64_test.c ao_int64.c ao_int64.h
+ cc $(CFLAGS) -o $@ ao_int64_test.c
projects / fw / altos / commitdiff