Add support for the "kite" micropeak variant
authorKeith Packard <keithp@keithp.com>
Sun, 6 Jul 2014 19:35:13 +0000 (12:35 -0700)
committerKeith Packard <keithp@keithp.com>
Sun, 6 Jul 2014 19:36:27 +0000 (12:36 -0700)
This uses a 100m 'launch detect' altitude and logs data every 19.2s
instead of every .192s.

Signed-off-by: Keith Packard <keithp@keithp.com>
micropeak/MicroData.java
micropeak/MicroPeak.java
src/Makefile
src/kernel/ao_log_micro.c
src/kernel/ao_microflight.c
src/microkite/.gitignore [new file with mode: 0644]
src/microkite/Makefile [new file with mode: 0644]
src/microkite/ao_pins.h [new file with mode: 0644]
src/microkite/microkite-load.tmpl [new file with mode: 0644]
src/product/ao_micropeak.h

index 6c9447a..c38ada9 100644 (file)
@@ -97,9 +97,15 @@ public class MicroData implements AltosUIDataSet {
        private double          time_step;
        private double          ground_altitude;
        private ArrayList<Integer>      bytes;
+       public int              log_id;
        String                  name;
        MicroStats              stats;
-       
+
+       public static final int LOG_ID_MICROPEAK = 0;
+       public static final int LOG_ID_MICROKITE = 1;
+
+       public static final double CLOCK = 0.096;
+
        public class FileEndedException extends Exception {
        }
 
@@ -172,7 +178,7 @@ public class MicroData implements AltosUIDataSet {
                        if (get_nonwhite(f) == 'M' && get_nonwhite(f) == 'P')
                                return true;
                }
-       } 
+       }
 
        private int get_32(InputStream f)  throws IOException, FileEndedException, NonHexcharException {
                int     v = 0;
@@ -345,6 +351,9 @@ public class MicroData implements AltosUIDataSet {
                        ground_pressure = get_32(f);
                        min_pressure = get_32(f);
                        int nsamples = get_16(f);
+
+                       log_id = nsamples >> 12;
+                       nsamples &= 0xfff;
                        pressures = new int[nsamples + 1];
 
                        ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
@@ -367,7 +376,7 @@ public class MicroData implements AltosUIDataSet {
                                        else
                                                cur = down;
                                }
-                               
+
                                pressures[i+1] = cur;
                        }
 
@@ -376,7 +385,14 @@ public class MicroData implements AltosUIDataSet {
 
                        crc_valid = crc == current_crc;
 
-                       time_step = 0.192;
+                       switch (log_id) {
+                       case LOG_ID_MICROPEAK:
+                               time_step = 2 * CLOCK;
+                               break;
+                       case LOG_ID_MICROKITE:
+                               time_step = 200 * CLOCK;
+                               break;
+                       }
                        stats = new MicroStats(this);
                } catch (FileEndedException fe) {
                        throw new IOException("File Ended Unexpectedly");
@@ -389,5 +405,5 @@ public class MicroData implements AltosUIDataSet {
                pressures = new int[1];
                pressures[0] = 101000;
        }
-       
+
 }
index 8bdf4b7..1744e80 100644 (file)
@@ -107,7 +107,7 @@ public class MicroPeak extends MicroFrame implements ActionListener, ItemListene
 
        private void DownloadData() {
                AltosDevice     device = MicroDeviceDialog.show(this);
-               
+
                if (device != null)
                        new MicroDownload(this, device);
        }
@@ -128,7 +128,7 @@ public class MicroPeak extends MicroFrame implements ActionListener, ItemListene
                if (save.runDialog())
                        SetName(data.name);
        }
-       
+
        private void Export() {
                if (data == null) {
                        no_data();
index 4e8b3c2..df7a31e 100644 (file)
@@ -39,7 +39,7 @@ ARMM0DIRS=\
        easymini-v1.0 easymini-v1.0/flash-loader
 
 AVRDIRS=\
-       telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1
+       telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1 microkite
 
 SUBDIRS=
 
index d665efb..aef78de 100644 (file)
 
 static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
 
+#define AO_LOG_ID_SHIFT        12
+#define AO_LOG_ID_MASK ((1 << AO_LOG_ID_SHIFT) - 1)
+
 void
 ao_log_micro_save(void)
 {
        uint16_t        n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
+
+#if AO_LOG_ID
+       n_samples |= AO_LOG_ID << AO_LOG_ID_SHIFT;
+#endif
        ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
        ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
        ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
@@ -99,8 +106,12 @@ ao_log_micro_dump(void)
        uint16_t        crc = 0xffff;
 
        ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+
        if (n_samples == 0xffff)
                n_samples = 0;
+#if AO_LOG_ID
+       n_samples &= AO_LOG_ID_MASK;
+#endif
        nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
        ao_async_start();
        ao_async_byte('M');
index f680e40..df624e7 100644 (file)
@@ -43,10 +43,12 @@ void
 ao_microflight(void)
 {
        int16_t         sample_count;
+       int16_t         log_count;
        uint16_t        time;
        uint32_t        pa_interval_min, pa_interval_max;
        int32_t         pa_diff;
-       uint8_t         h, i;
+       uint8_t         h;
+       uint8_t         i;
        uint8_t         accel_lock = 0;
        uint32_t        pa_sum = 0;
 
@@ -93,7 +95,10 @@ ao_microflight(void)
        }
 
        /* Log the remaining samples so we get a complete history since leaving the ground */
-       for (; i != h; i = SKIP_PA_HIST(i,2)) {
+#if LOG_INTERVAL < NUM_PA_HIST
+       for (; i != h; i = SKIP_PA_HIST(i,2))
+#endif
+       {
                pa = pa_hist[i];
                ao_log_micro_data();
        }
@@ -101,6 +106,7 @@ ao_microflight(void)
        /* Now sit around until the pressure is stable again and record the max */
 
        sample_count = 0;
+       log_count = 0;
        pa_min = ao_pa;
        pa_interval_min = ao_pa;
        pa_interval_max = ao_pa;
@@ -112,8 +118,11 @@ ao_microflight(void)
                ao_microsample();
                if ((sample_count & 3) == 0)
                        ao_led_off(AO_LED_REPORT);
-               if (sample_count & 1)
+               if (log_count == LOG_INTERVAL - 1) {
                        ao_log_micro_data();
+                       log_count = 0;
+               } else
+                       log_count++;
 
                /* If accelerating upwards, don't look for min pressure */
                if (ao_pa_accel < ACCEL_LOCK_PA)
diff --git a/src/microkite/.gitignore b/src/microkite/.gitignore
new file mode 100644 (file)
index 0000000..7a5d0a1
--- /dev/null
@@ -0,0 +1,2 @@
+ao_product.h
+microkite-*
diff --git a/src/microkite/Makefile b/src/microkite/Makefile
new file mode 100644 (file)
index 0000000..b752375
--- /dev/null
@@ -0,0 +1,134 @@
+#
+# Tiny AltOS build
+#
+#
+vpath % ../attiny:../drivers:../kernel:../product:..
+vpath ao-make-product.5c ../util
+vpath make-altitude-pa ../util
+
+include ../avr/Makefile.defs
+
+PROGNAME=microkite-v0.1
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SCRIPT=microkite-load
+
+PUBLISH_DIR=$(HOME)/altusmetrumllc/Binaries
+PUBLISH_HEX=$(PUBLISH_DIR)/$(HEX)
+PUBLISH_SCRIPT=$(PUBLISH_DIR)/$(SCRIPT)
+
+MCU=attiny85
+DUDECPUTYPE=t85
+#PROGRAMMER=stk500v2 -P usb
+LOADSLOW=-i 32 -B 32
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+
+#LDFLAGS=-L$(LDSCRIPTS) -Tavr25.x
+
+ALTOS_SRC = \
+       ao_micropeak.c \
+       ao_spi_attiny.c \
+       ao_led.c \
+       ao_clock.c \
+       ao_ms5607.c \
+       ao_exti.c \
+       ao_convert_pa.c \
+       ao_report_micro.c \
+       ao_notask.c \
+       ao_eeprom_tiny.c \
+       ao_panic.c \
+       ao_log_micro.c \
+       ao_async.c \
+       ao_microflight.c \
+       ao_microkalman.c
+
+INC=\
+       ao.h \
+       ao_pins.h \
+       ao_arch.h \
+       ao_arch_funcs.h \
+       ao_exti.h \
+       ao_ms5607.h \
+       ao_log_micro.h \
+       ao_micropeak.h \
+       altitude-pa.h
+
+IDPRODUCT=0
+PRODUCT=MicroKite-v0.1
+PRODUCT_DEF=-DMICROPEAK
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../kernel -I.. -I../drivers -I../product
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
+
+NICKLE=nickle
+
+SRC=$(ALTOS_SRC)
+OBJ=$(SRC:.c=.o)
+
+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) $(HEX) microkite-load
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+       $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+       $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(HEX): $(PROG)
+       avr-size $(PROG)
+       $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(HEX)
+       $(LOADCMD) $(LOADARG)$(HEX)
+
+load-slow: $(HEX)
+       $(LOADCMD) $(LOADSLOW) $(LOADARG)$(HEX)
+
+ao_product.h: ao-make-product.5c ../Version
+       $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.o: ao_product.c ao_product.h
+
+%.o : %.c $(INC)
+       $(call quiet,CC) -c $(CFLAGS) $<
+
+distclean:     clean
+
+clean:
+       rm -f *.o $(PROG) $(HEX) $(SCRIPT)
+       rm -f ao_product.h
+
+publish: $(PUBLISH_HEX) $(PUBLISH_SCRIPT)
+
+$(PUBLISH_HEX): $(HEX)
+       cp -a $(HEX) $@
+
+$(PUBLISH_SCRIPT): $(SCRIPT)
+       cp -a $(SCRIPT) $@
+
+load-product:
+       ./$(SCRIPT) fast
+
+load-product-slow:
+       ./$(SCRIPT) slow
+
+../altitude-pa.h: make-altitude-pa
+       nickle $< > $@
+
+$(SCRIPT): $(SCRIPT).tmpl Makefile ../Version
+       sed -e 's/%HEX%/$(HEX)/' -e 's/%LOADCMD%/$(LOADCMD)/' -e 's/%LOADARG%/$(LOADARG)/' -e 's/%LOADSLOW%/$(LOADSLOW)/' $(SCRIPT).tmpl > $@ || (rm $@ && exit 1)
+       chmod +x $@
+
+install:
+
+uninstall:
+
+$(OBJ): ao_product.h $(INC)
diff --git a/src/microkite/ao_pins.h b/src/microkite/ao_pins.h
new file mode 100644 (file)
index 0000000..3c56dfb
--- /dev/null
@@ -0,0 +1,70 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+#include <avr/pgmspace.h>
+
+#define AO_LED_ORANGE          (1<<4)
+#define AO_LED_SERIAL          4
+#define AO_LED_PANIC           AO_LED_ORANGE
+#define AO_LED_REPORT          AO_LED_ORANGE
+#define LEDS_AVAILABLE         (AO_LED_ORANGE)
+#define USE_SERIAL_1_STDIN     0
+#define HAS_USB                        0
+#define PACKET_HAS_SLAVE       0
+#define HAS_SERIAL_1           0
+#define HAS_TASK               0
+#define HAS_MS5607             1
+#define HAS_MS5611             0
+#define HAS_EEPROM             0
+#define HAS_BEEP               0
+#define AVR_CLOCK              250000UL
+
+/* SPI */
+#define SPI_PORT               PORTB
+#define SPI_PIN                        PINB
+#define SPI_DIR                        DDRB
+#define AO_MS5607_CS_PORT      PORTB
+#define AO_MS5607_CS_PIN       3
+
+/* MS5607 */
+#define AO_MS5607_SPI_INDEX    0
+#define AO_MS5607_MISO_PORT    PORTB
+#define AO_MS5607_MISO_PIN     0
+#define AO_MS5607_BARO_OVERSAMPLE      4096
+#define AO_MS5607_TEMP_OVERSAMPLE      1024
+
+/* I2C */
+#define I2C_PORT               PORTB
+#define I2C_PIN                        PINB
+#define I2C_DIR                        DDRB
+#define I2C_PIN_SCL            PINB2
+#define I2C_PIN_SDA            PINB0
+
+#define AO_CONST_ATTRIB                PROGMEM
+typedef int32_t alt_t;
+#define FETCH_ALT(o)           ((alt_t) pgm_read_dword(&altitude_table[o]))
+
+#define AO_ALT_VALUE(x)                ((x) * (alt_t) 10)
+
+#define BOOST_DETECT           1200    /* 100m (ish) */
+#define LOG_INTERVAL            200    /* 19.2 seconds */
+
+#define AO_LOG_ID              AO_LOG_ID_MICROKITE
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/microkite/microkite-load.tmpl b/src/microkite/microkite-load.tmpl
new file mode 100644 (file)
index 0000000..08236a1
--- /dev/null
@@ -0,0 +1,20 @@
+#!/bin/sh
+dir=`dirname $0`
+
+HEX="$dir"/"%HEX%"
+LOADCMD="%LOADCMD%"
+LOADARG="%LOADARG%"
+LOADSLOW="%LOADSLOW%"
+LOADFAST=""
+
+case "$1" in
+fast)
+       LOADSPEED="$LOADFAST"
+       ;;
+*)
+       LOADSPEED="$LOADSLOW"
+       ;;
+esac
+
+echo ${LOADCMD} ${LOADSPEED} ${LOADARG}${HEX}
+${LOADCMD} ${LOADSPEED} ${LOADARG}${HEX}
index 0ec407d..396b9a2 100644 (file)
 #define BOOST_DETECT           360     /* 30m at sea level, 36m at 2000m */
 #endif
 
+#ifndef LOG_INTERVAL
+#define LOG_INTERVAL            2      /* 192 ms */
+#endif
+
+#define AO_LOG_ID_MICROPEAK    0
+#define AO_LOG_ID_MICROKITE    1
+
+#ifndef AO_LOG_ID
+#define AO_LOG_ID              AO_LOG_ID_MICROPEAK
+#endif
+
 /* Wait after power on before doing anything to give the user time to assemble the rocket */
 #define BOOST_DELAY            AO_SEC_TO_TICKS(60)