From: Keith Packard Date: Tue, 25 Dec 2012 22:20:42 +0000 (-0800) Subject: Merge branch 'master' into micropeak-logging X-Git-Tag: 1.1.9.3~8^2~9^2~45 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=868ef0c9c4b208c02a87180b0eede329369bdc77;hp=669cde8a87d88ceae89e369c1d38b88c9f8198cf Merge branch 'master' into micropeak-logging --- diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java index 45a88783..99b8e39d 100644 --- a/altoslib/AltosConfigData.java +++ b/altoslib/AltosConfigData.java @@ -26,31 +26,56 @@ public class AltosConfigData implements Iterable { /* 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 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; + + /* HAS_APRS */ + public int aprs_interval; + + /* 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 +110,9 @@ public class AltosConfigData implements Iterable { 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 +139,7 @@ public class AltosConfigData implements Iterable { return r; } - + public int compare_version(String other) { int[] me = parse_version(version); int[] them = parse_version(other); @@ -130,71 +158,343 @@ public class AltosConfigData implements Iterable { return 0; } - public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException { - link.printf("c s\nf\nl\nv\n"); + public void reset() { lines = new LinkedList(); - 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; + aprs_interval = -1; + + 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) {} + } + + /* HAS_APRS */ + try { aprs_interval = get_int(line, "APRS interval:"); } 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; } } -} \ No newline at end of file + 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(); + + if (aprs_interval >= 0) + aprs_interval = source.aprs_interval(); + } + + 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); + dest.set_aprs_interval(aprs_interval); + } + + 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()); + } + } + + /* HAS_APRS */ + if (aprs_interval >= 0) + link.printf("c A %d\n", aprs_interval); + + 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"); + System.out.printf("Log format %d\n", log_format); + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_FULL: + case AltosLib.AO_LOG_FORMAT_TINY: + case AltosLib.AO_LOG_FORMAT_MEGAMETRUM: + link.printf("l\n"); + read_link(link, "done"); + default: + break; + } + } + +} diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java new file mode 100644 index 00000000..40d5217e --- /dev/null +++ b/altoslib/AltosConfigValues.java @@ -0,0 +1,79 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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(); + + public abstract int aprs_interval(); + + public abstract void set_aprs_interval(int new_aprs_interval); +} diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index 6d510563..1b722026 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -284,8 +284,8 @@ public abstract class AltosLink implements Runnable { frequency = in_frequency; config_data(); set_radio_frequency(frequency, - config_data.radio_frequency != 0, - config_data.radio_setting != 0, + config_data.radio_frequency > 0, + config_data.radio_setting > 0, config_data.radio_calibration); } @@ -339,10 +339,10 @@ public abstract class AltosLink implements Runnable { public String name; public void start_remote() throws TimeoutException, InterruptedException { - if (debug) - System.out.printf("start remote %7.3f\n", frequency); if (frequency == 0.0) frequency = AltosPreferences.frequency(serial); + if (debug) + System.out.printf("start remote %7.3f\n", frequency); set_radio_frequency(frequency); set_callsign(AltosPreferences.callsign()); printf("p\nE 0\n"); diff --git a/altoslib/AltosMs5607.java b/altoslib/AltosMs5607.java index 148a9f92..318fea4d 100644 --- a/altoslib/AltosMs5607.java +++ b/altoslib/AltosMs5607.java @@ -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; diff --git a/altoslib/AltosMs5607Query.java b/altoslib/AltosMs5607Query.java index 3c746795..1aaec334 100644 --- a/altoslib/AltosMs5607Query.java +++ b/altoslib/AltosMs5607Query.java @@ -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(); diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index f28dd1c6..218c598a 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -92,6 +92,9 @@ public class AltosState { public void init (AltosRecord cur, AltosState prev_state) { data = cur; + /* Discard previous state if it was for a different board */ + if (prev_state != null && prev_state.data.serial != data.serial) + prev_state = null; ground_altitude = data.ground_altitude(); altitude = data.altitude(); diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am index 2579a650..0086bc65 100644 --- a/altoslib/Makefile.am +++ b/altoslib/Makefile.am @@ -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 \ diff --git a/altosui/AltosConfig.java b/altosui/AltosConfig.java index 4b0edec0..e1ffebb4 100644 --- a/altosui/AltosConfig.java +++ b/altosui/AltosConfig.java @@ -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 { diff --git a/altosui/AltosConfigUI.java b/altosui/AltosConfigUI.java index feac053b..95780e2b 100644 --- a/altosui/AltosConfigUI.java +++ b/altosui/AltosConfigUI.java @@ -25,7 +25,7 @@ import org.altusmetrum.AltosLib.*; public class AltosConfigUI extends AltosDialog - implements ActionListener, ItemListener, DocumentListener + implements ActionListener, ItemListener, DocumentListener, AltosConfigValues { Container pane; @@ -39,6 +39,7 @@ public class AltosConfigUI JLabel radio_calibration_label; JLabel radio_frequency_label; JLabel radio_enable_label; + JLabel aprs_interval_label; JLabel flight_log_max_label; JLabel ignite_mode_label; JLabel pad_orientation_label; @@ -56,6 +57,7 @@ public class AltosConfigUI AltosFreqList radio_frequency_value; JTextField radio_calibration_value; JRadioButton radio_enable_value; + JComboBox aprs_interval_value; JComboBox flight_log_max_value; JComboBox ignite_mode_value; JComboBox pad_orientation_value; @@ -97,6 +99,13 @@ public class AltosConfigUI "Redundant Main", }; + static String[] aprs_interval_values = { + "Disabled", + "2", + "5", + "10" + }; + static String[] pad_orientation_values = { "Antenna Up", "Antenna Down", @@ -141,6 +150,13 @@ public class AltosConfigUI radio_enable_value.setToolTipText("Firmware version does not support disabling radio"); } + void set_aprs_interval_tool_tip() { + if (aprs_interval_value.isEnabled()) + aprs_interval_value.setToolTipText("Enable APRS and set the interval between APRS reports"); + else + aprs_interval_value.setToolTipText("Hardware doesn't support APRS"); + } + void set_flight_log_max_tool_tip() { if (flight_log_max_value.isEnabled()) flight_log_max_value.setToolTipText("Size reserved for each flight log (in kB)"); @@ -393,7 +409,7 @@ public class AltosConfigUI c.anchor = GridBagConstraints.LINE_START; c.insets = il; c.ipady = 5; - radio_enable_label = new JLabel("Telemetry/RDF Enable:"); + radio_enable_label = new JLabel("Telemetry/RDF/APRS Enable:"); pane.add(radio_enable_label, c); c = new GridBagConstraints(); @@ -410,6 +426,32 @@ public class AltosConfigUI set_radio_enable_tool_tip(); row++; + /* APRS interval */ + c = new GridBagConstraints(); + c.gridx = 0; c.gridy = row; + c.gridwidth = 4; + c.fill = GridBagConstraints.NONE; + c.anchor = GridBagConstraints.LINE_START; + c.insets = il; + c.ipady = 5; + aprs_interval_label = new JLabel("APRS Interval(s):"); + pane.add(aprs_interval_label, c); + + c = new GridBagConstraints(); + c.gridx = 4; c.gridy = row; + c.gridwidth = 4; + c.fill = GridBagConstraints.HORIZONTAL; + c.weightx = 1; + c.anchor = GridBagConstraints.LINE_START; + c.insets = ir; + c.ipady = 5; + aprs_interval_value = new JComboBox(aprs_interval_values); + aprs_interval_value.setEditable(true); + aprs_interval_value.addItemListener(this); + pane.add(aprs_interval_value, c); + set_aprs_interval_tool_tip(); + row++; + /* Callsign */ c = new GridBagConstraints(); c.gridx = 0; c.gridy = row; @@ -684,6 +726,7 @@ 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 +735,7 @@ 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 +873,10 @@ 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); } @@ -844,4 +885,24 @@ public class AltosConfigUI pyros = pyro_ui.get_pyros(); return pyros; } + + public void set_aprs_interval(int new_aprs_interval) { + String s; + + if (new_aprs_interval <= 0) + s = "Disabled"; + else + s = Integer.toString(new_aprs_interval); + aprs_interval_value.setSelectedItem(s); + aprs_interval_value.setEnabled(new_aprs_interval >= 0); + set_aprs_interval_tool_tip(); + } + + public int aprs_interval() { + String s = aprs_interval_value.getSelectedItem().toString(); + + if (s.equals("Disabled")) + return 0; + return Integer.parseInt(s); + } } diff --git a/altosui/AltosGraphTime.java b/altosui/AltosGraphTime.java index 75e536c5..62d516b2 100644 --- a/altosui/AltosGraphTime.java +++ b/altosui/AltosGraphTime.java @@ -68,11 +68,13 @@ class AltosGraphTime extends AltosGraph { abstract static class TimeSeries implements Element { protected XYSeries series; private String axisName; + private String axisUnits; private Color color; - public TimeSeries(String axisName, String label, Color color) { + public TimeSeries(String axisName, String axisUnits, String label, Color color) { this.series = new XYSeries(label); - this.axisName = axisName; + this.axisName = String.format("%s (%s)", axisName, axisUnits); + this.axisUnits = axisUnits; this.color = color; } @@ -85,8 +87,14 @@ class AltosGraphTime extends AltosGraph { XYSeriesCollection dataset = new XYSeriesCollection(); dataset.addSeries(this.series); - XYItemRenderer renderer = new StandardXYItemRenderer(); + XYItemRenderer renderer = new XYLineAndShapeRenderer(true, false); renderer.setSeriesPaint(0, color); + StandardXYToolTipGenerator tool_tip; + + tool_tip = new StandardXYToolTipGenerator(String.format("{1}s: {2}%s ({0})", axisUnits), + new java.text.DecimalFormat("0.00"), + new java.text.DecimalFormat("0.00")); + renderer.setBaseToolTipGenerator(tool_tip); int dataNum = g.getDataNum(this); int axisNum = g.getAxisNum(this); @@ -192,10 +200,8 @@ class AltosGraphTime extends AltosGraph { public JFreeChart createChart() { NumberAxis xAxis = new NumberAxis("Time (s)"); xAxis.setAutoRangeIncludesZero(false); - XYItemRenderer renderer = new XYLineAndShapeRenderer(true, false); XYPlot plot = new XYPlot(); plot.setDomainAxis(xAxis); - plot.setRenderer(renderer); plot.setOrientation(PlotOrientation.VERTICAL); if (serial != null && flight != null) { @@ -205,7 +211,6 @@ class AltosGraphTime extends AltosGraph { title = callsign + " - " + title; } - renderer.setBaseToolTipGenerator(new StandardXYToolTipGenerator()); JFreeChart chart = new JFreeChart(title, JFreeChart.DEFAULT_TITLE_FONT, plot, true); ChartUtilities.applyCurrentTheme(chart); diff --git a/altosui/AltosGraphUI.java b/altosui/AltosGraphUI.java index f59f70ba..b7c2e92e 100644 --- a/altosui/AltosGraphUI.java +++ b/altosui/AltosGraphUI.java @@ -29,7 +29,7 @@ public class AltosGraphUI extends AltosFrame static private class OverallGraphs { AltosGraphTime.Element height = - new AltosGraphTime.TimeSeries(String.format("Height (%s)", AltosConvert.height.show_units()), "Height (AGL)", red) { + new AltosGraphTime.TimeSeries("Height", AltosConvert.height.show_units(), "Height (AGL)", red) { public void gotTimeData(double time, AltosDataPoint d) { double height = d.height(); if (height != AltosRecord.MISSING) @@ -38,7 +38,7 @@ public class AltosGraphUI extends AltosFrame }; AltosGraphTime.Element speed = - new AltosGraphTime.TimeSeries(String.format("Speed (%s)", AltosConvert.speed.show_units()), "Vertical Speed", green) { + new AltosGraphTime.TimeSeries("Speed", AltosConvert.speed.show_units(), "Vertical Speed", green) { public void gotTimeData(double time, AltosDataPoint d) { double speed = d.speed(); if (speed != AltosRecord.MISSING) @@ -47,8 +47,8 @@ public class AltosGraphUI extends AltosFrame }; AltosGraphTime.Element acceleration = - new AltosGraphTime.TimeSeries(String.format("Acceleration (%s)", - AltosConvert.accel.show_units()), + new AltosGraphTime.TimeSeries("Acceleration", + AltosConvert.accel.show_units(), "Axial Acceleration", blue) { public void gotTimeData(double time, AltosDataPoint d) { @@ -59,8 +59,8 @@ public class AltosGraphUI extends AltosFrame }; AltosGraphTime.Element temperature = - new AltosGraphTime.TimeSeries("Temperature (\u00B0C)", - "Board temperature", red) + new AltosGraphTime.TimeSeries("Temperature", "\u00B0C", + "Board temperature", red) { public void gotTimeData(double time, AltosDataPoint d) { double temp = d.temperature(); @@ -70,7 +70,7 @@ public class AltosGraphUI extends AltosFrame }; AltosGraphTime.Element drogue_voltage = - new AltosGraphTime.TimeSeries("Voltage (V)", "Drogue Continuity", yellow) + new AltosGraphTime.TimeSeries("Voltage", "(V)", "Drogue Continuity", yellow) { public void gotTimeData(double time, AltosDataPoint d) { double v = d.drogue_voltage(); @@ -80,7 +80,7 @@ public class AltosGraphUI extends AltosFrame }; AltosGraphTime.Element main_voltage = - new AltosGraphTime.TimeSeries("Voltage (V)", "Main Continuity", magenta) + new AltosGraphTime.TimeSeries("Voltage", "(V)", "Main Continuity", magenta) { public void gotTimeData(double time, AltosDataPoint d) { double v = d.main_voltage(); diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am index 257fdaec..871b8205 100644 --- a/ao-tools/Makefile.am +++ b/ao-tools/Makefile.am @@ -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 index 00000000..f6c5089a --- /dev/null +++ b/ao-tools/ao-sky-flash/Makefile.am @@ -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 index 00000000..c698add2 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 index 00000000..9e256897 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 index 00000000..d61c9c9d --- /dev/null +++ b/ao-tools/ao-sky-flash/ao-sky-flash.1 @@ -0,0 +1,85 @@ +.\" +.\" Copyright © 2009 Keith Packard +.\" +.\" 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 index 00000000..04cfec35 --- /dev/null +++ b/ao-tools/ao-sky-flash/sky_bin.c @@ -0,0 +1,73 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 +#include + +#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 index 00000000..32571f0e --- /dev/null +++ b/ao-tools/ao-sky-flash/sky_debug.c @@ -0,0 +1,111 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 +#include +#include +#include +#include +#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 index 00000000..55cb2cb6 --- /dev/null +++ b/ao-tools/ao-sky-flash/sky_flash.c @@ -0,0 +1,259 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 +#include +#include +#include +#include +#include +#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 ]\n" + " [--device ]\n" + " [--loader ]\n" + " [--firmware ]\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 index 00000000..77f4c742 --- /dev/null +++ b/ao-tools/ao-sky-flash/sky_flash.h @@ -0,0 +1,67 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 index 00000000..7230bf8c --- /dev/null +++ b/ao-tools/ao-sky-flash/sky_serial.c @@ -0,0 +1,257 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 +#include +#include +#include +#include +#include +#include "sky_flash.h" +#include +#include +#include +#include +#include + +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 index 00000000..6d00f58c --- /dev/null +++ b/ao-tools/ao-sky-flash/sky_srec.c @@ -0,0 +1,60 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 +#include + +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 index 00000000..8ea8e7cd --- /dev/null +++ b/ao-tools/ao-sky-flash/srec_115200.bin @@ -0,0 +1,346 @@ +S0130000666C6173683131353230302E73726563DA +S31550000000033FFFF7821063209DE380011920000013 +S31550000010D2030000173FFFF79612E3E4AC07BFF890 +S31550000020D225800BD005800B133FFFC0900A0009E4 +S3155000003090122977D0230000E00320901B0800136C +S31550000040C0232090D20320149E136018D225800B13 +S31550000050D005800B1300180090120009900A3FF04B +S31550000060D0232014D20300001100003FD225800B6C +S31550000070D405800B901223FF940A800813043E0087 +S3155000008094128009D4230000D003C0009A13601C38 +S31550000090D025800BD205800B11004000902A4008D5 +S315500000A0D023C000D403400011000040D425800B5B +S315500000B0D205800BA00C204092124008A13C20068D +S315500000C011140005E02A2180D2234000B8102000E8 +S315500000D0400004C890102005130004004000017031 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100644 --- a/ao-tools/lib/cc.h +++ b/ao-tools/lib/cc.h @@ -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 diff --git a/configure.ac b/configure.ac index e3b1185f..55dd20ec 100644 --- a/configure.ac +++ b/configure.ac @@ -164,6 +164,7 @@ 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 ]) diff --git a/debian/rules b/debian/rules index 9f24321b..122a0fed 100755 --- a/debian/rules +++ b/debian/rules @@ -27,7 +27,7 @@ build-indep: build-stamp build-stamp: configure-stamp dh_testdir - $(MAKE) VERSION=$(PKG_VERSION) + $(MAKE) (cd doc ; $(MAKE)) touch $@ diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index b2677a02..e7ab353b 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -277,6 +277,19 @@ NAR #88757, TRA #12200 apogee and main ejection charges. All Altus Metrum products are designed for use with single-cell batteries with 3.7 volts nominal. + + The battery connectors are a standard 2-pin JST connector and + match batteries sold by Spark Fun. These batteries are + single-cell Lithium Polymer batteries that nominally provide 3.7 + volts. Other vendors sell similar batteries for RC aircraft + using mating connectors, however the polarity for those is + generally reversed from the batteries used by Altus Metrum + products. In particular, the Tenergy batteries supplied for use + in Featherweight flight computers are not compatible with Altus + Metrum flight computers or battery chargers. Check + polarity and voltage before connecting any battery not purchased + from Altus Metrum or Spark Fun. + By default, we use the unregulated output of the Li-Po battery directly to fire ejection charges. This works marvelously with standard @@ -481,7 +494,7 @@ NAR #88757, TRA #12200 You can monitor the operation of the radio link by watching the lights on the devices. The red LED will flash each time a packet - is tramsitted, while the green LED will light up on TeleDongle when + is transmitted, while the green LED will light up on TeleDongle when it is waiting to receive a packet from the altimeter. @@ -2199,7 +2212,7 @@ NAR #88757, TRA #12200 - RF interface for battery charging, configuration, and data recovery. + RF interface for configuration, and data recovery. diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c index 9ba407af..2ef546c9 100644 --- a/src/avr/ao_usb_avr.c +++ b/src/avr/ao_usb_avr.c @@ -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) diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c index f8000410..bfdc418a 100644 --- a/src/cc1111/ao_adc.c +++ b/src/cc1111/ao_adc.c @@ -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) { diff --git a/src/cc1111/ao_dbg.c b/src/cc1111/ao_dbg.c index 847b5aaf..4e534697 100644 --- a/src/cc1111/ao_dbg.c +++ b/src/cc1111/ao_dbg.c @@ -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); diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c index 48383802..8913a9b0 100644 --- a/src/cc1111/ao_serial.c +++ b/src/cc1111/ao_serial.c @@ -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; diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c index ce26e808..f66e807c 100644 --- a/src/cc1111/ao_usb.c +++ b/src/cc1111/ao_usb.c @@ -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); diff --git a/src/core/ao.h b/src/core/ao.h index 81d92e72..df5bbf48 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -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); @@ -525,6 +529,11 @@ ao_radio_recv_abort(void); void ao_radio_test(uint8_t on); +typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len); + +void +ao_radio_send_lots(ao_radio_fill_func fill); + /* * Compute the packet length as follows: * @@ -595,10 +604,10 @@ 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 +626,7 @@ 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; @@ -675,7 +684,7 @@ extern __xdata uint8_t ao_force_freq; #endif #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 12 +#define AO_CONFIG_MINOR 13 #define AO_AES_LEN 16 @@ -702,12 +711,17 @@ struct ao_config { #if AO_PYRO_NUM struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ #endif + uint16_t aprs_interval; /* minor version 13 */ }; #define AO_IGNITE_MODE_DUAL 0 #define AO_IGNITE_MODE_APOGEE 1 #define AO_IGNITE_MODE_MAIN 2 +#define AO_RADIO_ENABLE_CORE 1 +#define AO_RADIO_DISABLE_TELEMETRY 2 +#define AO_RADIO_DISABLE_RDF 4 + #define AO_PAD_ORIENTATION_ANTENNA_UP 0 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c index 1814cecf..3d086a57 100644 --- a/src/core/ao_cmd.c +++ b/src/core/ao_cmd.c @@ -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 diff --git a/src/core/ao_config.c b/src/core/ao_config.c index e85ddcb4..0aac16a6 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -128,7 +128,7 @@ _ao_config_get(void) if (minor < 6) ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION; if (minor < 8) - ao_config.radio_enable = TRUE; + ao_config.radio_enable = AO_RADIO_ENABLE_CORE; if (minor < 9) ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN); if (minor < 10) @@ -139,6 +139,8 @@ _ao_config_get(void) if (minor < 12) memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro)); #endif + if (minor < 13) + ao_config.aprs_interval = 0; ao_config.minor = AO_CONFIG_MINOR; ao_config_dirty = 1; } @@ -498,6 +500,27 @@ ao_config_key_set(void) __reentrant } #endif +#if HAS_APRS + +void +ao_config_aprs_show(void) +{ + printf ("APRS interval: %d\n", ao_config.aprs_interval); +} + +void +ao_config_aprs_set(void) +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.aprs_interval = ao_cmd_lex_i; + _ao_config_edit_finish(); +} + +#endif /* HAS_APRS */ + struct ao_config_var { __code char *str; void (*set)(void) __reentrant; @@ -529,15 +552,15 @@ __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 \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 \0Radio calib (cal = rf/(xtal/2^16))", - ao_config_radio_cal_set, ao_config_radio_cal_show }, -#endif /* HAS_RADIO */ #if HAS_LOG { "l \0Flight log size (kB)", ao_config_log_set, ao_config_log_show }, @@ -546,10 +569,6 @@ __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 }, @@ -557,6 +576,10 @@ __code struct ao_config_var ao_config_vars[] = { #if AO_PYRO_NUM { "P \0Configure pyro channels", ao_pyro_set, ao_pyro_show }, +#endif +#if HAS_APRS + { "A \0APRS packet interval (0 disable)", + ao_config_aprs_set, ao_config_aprs_show }, #endif { "s\0Show", ao_config_show, 0 }, diff --git a/src/core/ao_data.h b/src/core/ao_data.h index 6fdd19cb..7e2f85d8 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -288,4 +288,25 @@ typedef int16_t accel_t; #endif +#if !HAS_GYRO && HAS_MPU6000 + +#define HAS_GYRO 1 + +typedef int16_t gyro_t; +typedef int32_t angle_t; + +/* Y axis is aligned with the direction of motion (along) */ +/* X axis is aligned in the other board axis (across) */ +/* Z axis is aligned perpendicular to the board (through) */ + +#define ao_data_along(packet) ((packet)->mpu6000.accel_y) +#define ao_data_across(packet) ((packet)->mpu6000.accel_x) +#define ao_data_through(packet) ((packet)->mpu6000.accel_z) + +#define ao_data_roll(packet) ((packet)->mpu6000.gyro_y) +#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x) +#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z) + +#endif + #endif /* _AO_DATA_H_ */ diff --git a/src/core/ao_log.h b/src/core/ao_log.h index 4eaed420..036d6f2d 100644 --- a/src/core/ao_log.h +++ b/src/core/ao_log.h @@ -199,10 +199,16 @@ struct ao_log_mega { union { /* 4 */ /* AO_LOG_FLIGHT */ struct { - uint16_t flight; /* 4 */ - int16_t ground_accel; /* 6 */ - uint32_t ground_pres; /* 8 */ - } flight; /* 12 */ + uint16_t flight; /* 4 */ + int16_t ground_accel; /* 6 */ + uint32_t ground_pres; /* 8 */ + int16_t ground_accel_along; /* 16 */ + int16_t ground_accel_across; /* 12 */ + int16_t ground_accel_through; /* 14 */ + int16_t ground_roll; /* 18 */ + int16_t ground_pitch; /* 20 */ + int16_t ground_yaw; /* 22 */ + } flight; /* 24 */ /* AO_LOG_STATE */ struct { uint16_t state; diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c index ac1590db..e03687ad 100644 --- a/src/core/ao_log_mega.c +++ b/src/core/ao_log_mega.c @@ -94,6 +94,14 @@ ao_log(void) log.tick = ao_sample_tick; #if HAS_ACCEL log.u.flight.ground_accel = ao_ground_accel; +#endif +#if HAS_GYRO + log.u.flight.ground_accel_along = ao_ground_accel_along; + log.u.flight.ground_accel_across = ao_ground_accel_across; + log.u.flight.ground_accel_through = ao_ground_accel_through; + log.u.flight.ground_pitch = ao_ground_pitch; + log.u.flight.ground_yaw = ao_ground_yaw; + log.u.flight.ground_roll = ao_ground_roll; #endif log.u.flight.ground_pres = ao_ground_pres; log.u.flight.flight = ao_flight_number; diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c index 18ab85dd..23ebf7dd 100644 --- a/src/core/ao_log_telem.c +++ b/src/core/ao_log_telem.c @@ -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(); diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h index 0eafd3b2..08b184d6 100644 --- a/src/core/ao_packet.h +++ b/src/core/ao_packet.h @@ -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 diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c index 985c0940..dec44f9f 100644 --- a/src/core/ao_sample.c +++ b/src/core/ao_sample.c @@ -37,6 +37,16 @@ __pdata alt_t ao_sample_height; #if HAS_ACCEL __pdata accel_t ao_sample_accel; #endif +#if HAS_GYRO +__pdata accel_t ao_sample_accel_along; +__pdata accel_t ao_sample_accel_across; +__pdata accel_t ao_sample_accel_through; +__pdata gyro_t ao_sample_roll; +__pdata gyro_t ao_sample_pitch; +__pdata gyro_t ao_sample_yaw; +__pdata angle_t ao_sample_angle; +__pdata angle_t ao_sample_roll_angle; +#endif __data uint8_t ao_sample_data; @@ -53,6 +63,15 @@ __pdata accel_t ao_accel_2g; /* factory accel calibration */ __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ #endif +#if HAS_GYRO +__pdata accel_t ao_ground_accel_along; +__pdata accel_t ao_ground_accel_across; +__pdata accel_t ao_ground_accel_through; +__pdata gyro_t ao_ground_pitch; +__pdata gyro_t ao_ground_yaw; +__pdata gyro_t ao_ground_roll; +#endif + static __pdata uint8_t ao_preflight; /* in preflight mode */ static __pdata uint16_t nsamples; @@ -60,6 +79,14 @@ __pdata int32_t ao_sample_pres_sum; #if HAS_ACCEL __pdata int32_t ao_sample_accel_sum; #endif +#if HAS_GYRO +__pdata int32_t ao_sample_accel_along_sum; +__pdata int32_t ao_sample_accel_across_sum; +__pdata int32_t ao_sample_accel_through_sum; +__pdata int32_t ao_sample_pitch_sum; +__pdata int32_t ao_sample_yaw_sum; +__pdata int32_t ao_sample_roll_sum; +#endif static void ao_sample_preflight_add(void) @@ -68,6 +95,14 @@ ao_sample_preflight_add(void) ao_sample_accel_sum += ao_sample_accel; #endif ao_sample_pres_sum += ao_sample_pres; +#if HAS_GYRO + ao_sample_accel_along_sum += ao_sample_accel_along; + ao_sample_accel_across_sum += ao_sample_accel_across; + ao_sample_accel_through_sum += ao_sample_accel_through; + ao_sample_pitch_sum += ao_sample_pitch; + ao_sample_yaw_sum += ao_sample_yaw; + ao_sample_roll_sum += ao_sample_roll; +#endif ++nsamples; } @@ -80,8 +115,23 @@ ao_sample_preflight_set(void) #endif ao_ground_pres = ao_sample_pres_sum >> 9; ao_ground_height = pres_to_altitude(ao_ground_pres); - nsamples = 0; ao_sample_pres_sum = 0; +#if HAS_GYRO + ao_ground_accel_along = ao_sample_accel_along_sum >> 9; + ao_ground_accel_across = ao_sample_accel_across_sum >> 9; + ao_ground_accel_through = ao_sample_accel_through_sum >> 9; + ao_ground_pitch = ao_sample_pitch_sum >> 9; + ao_ground_yaw = ao_sample_yaw_sum >> 9; + ao_ground_roll = ao_sample_roll_sum >> 9; + ao_sample_accel_along_sum = 0; + ao_sample_accel_across_sum = 0; + ao_sample_accel_through_sum = 0; + ao_sample_pitch_sum = 0; + ao_sample_yaw_sum = 0; + ao_sample_roll_sum = 0; + ao_sample_angle = 0; +#endif + nsamples = 0; } static void @@ -122,6 +172,25 @@ ao_sample_preflight_update(void) ao_sample_preflight_set(); } +#if 0 +#if HAS_GYRO +static int32_t p_filt; +static int32_t y_filt; + +static gyro_t inline ao_gyro(void) { + gyro_t p = ao_sample_pitch - ao_ground_pitch; + gyro_t y = ao_sample_yaw - ao_ground_yaw; + + p_filt = p_filt - (p_filt >> 6) + p; + y_filt = y_filt - (y_filt >> 6) + y; + + p = p_filt >> 6; + y = y_filt >> 6; + return ao_sqrt(p*p + y*y); +} +#endif +#endif + uint8_t ao_sample(void) { @@ -147,6 +216,14 @@ ao_sample(void) ao_sample_accel = ao_data_accel_invert(ao_sample_accel); ao_data_set_accel(ao_data, ao_sample_accel); #endif +#if HAS_GYRO + ao_sample_accel_along = ao_data_along(ao_data); + ao_sample_accel_across = ao_data_across(ao_data); + ao_sample_accel_through = ao_data_through(ao_data); + ao_sample_pitch = ao_data_pitch(ao_data); + ao_sample_yaw = ao_data_yaw(ao_data); + ao_sample_roll = ao_data_roll(ao_data); +#endif if (ao_preflight) ao_sample_preflight(); @@ -154,6 +231,9 @@ ao_sample(void) if (ao_flight_state < ao_flight_boost) ao_sample_preflight_update(); ao_kalman(); +#if HAS_GYRO + /* do quaternion stuff here... */ +#endif } ao_sample_data = ao_data_ring_next(ao_sample_data); } @@ -170,6 +250,21 @@ ao_sample_init(void) #if HAS_ACCEL ao_sample_accel_sum = 0; ao_sample_accel = 0; +#endif +#if HAS_GYRO + ao_sample_accel_along_sum = 0; + ao_sample_accel_across_sum = 0; + ao_sample_accel_through_sum = 0; + ao_sample_accel_along = 0; + ao_sample_accel_across = 0; + ao_sample_accel_through = 0; + ao_sample_pitch_sum = 0; + ao_sample_yaw_sum = 0; + ao_sample_roll_sum = 0; + ao_sample_pitch = 0; + ao_sample_yaw = 0; + ao_sample_roll = 0; + ao_sample_angle = 0; #endif ao_sample_data = ao_data_head; ao_preflight = TRUE; diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h index 9336bdf9..a2dac979 100644 --- a/src/core/ao_sample.h +++ b/src/core/ao_sample.h @@ -111,6 +111,14 @@ extern __pdata accel_t ao_ground_accel; /* startup acceleration */ extern __pdata accel_t ao_accel_2g; /* factory accel calibration */ extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ #endif +#if HAS_GYRO +extern __pdata accel_t ao_ground_accel_along; +extern __pdata accel_t ao_ground_accel_across; +extern __pdata accel_t ao_ground_accel_through; +extern __pdata gyro_t ao_ground_pitch; +extern __pdata gyro_t ao_ground_yaw; +extern __pdata gyro_t ao_ground_roll; +#endif void ao_sample_init(void); diff --git a/src/core/ao_send_packet.c b/src/core/ao_send_packet.c index 1a8e74de..66315d22 100644 --- a/src/core/ao_send_packet.c +++ b/src/core/ao_send_packet.c @@ -21,22 +21,6 @@ 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; diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h index 53aa8a89..a799bf2c 100644 --- a/src/core/ao_serial.h +++ b/src/core/ao_serial.h @@ -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); diff --git a/src/core/ao_sqrt.c b/src/core/ao_sqrt.c index 09c2e319..3a550eaa 100644 --- a/src/core/ao_sqrt.c +++ b/src/core/ao_sqrt.c @@ -15,7 +15,9 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ +#ifndef AO_FLIGHT_TEST #include "ao.h" +#endif /* Adapted from int_sqrt.c in the linux kernel, which is licensed GPLv2 */ /** diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c index 8cf66a23..1748dfe8 100644 --- a/src/core/ao_stdio.c +++ b/src/core/ao_stdio.c @@ -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 { diff --git a/src/core/ao_task.c b/src/core/ao_task.c index 0411fbdd..9cb074b5 100644 --- a/src/core/ao_task.c +++ b/src/core/ao_task.c @@ -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(); } } diff --git a/src/core/ao_task.h b/src/core/ao_task.h index 049f69a7..50bfb220 100644 --- a/src/core/ao_task.h +++ b/src/core/ao_task.h @@ -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 diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c index 52ac9489..8d440e15 100644 --- a/src/core/ao_telemetry.c +++ b/src/core/ao_telemetry.c @@ -22,6 +22,12 @@ static __pdata uint16_t ao_telemetry_interval; static __pdata uint8_t ao_rdf = 0; static __pdata uint16_t ao_rdf_time; +#if HAS_APRS +static __pdata uint16_t ao_aprs_time; + +#include +#endif + #if defined(MEGAMETRUM) #define AO_SEND_MEGA 1 #endif @@ -288,30 +294,40 @@ ao_telemetry(void) while (ao_telemetry_interval == 0) ao_sleep(&telemetry); time = ao_rdf_time = ao_time(); +#if HAS_APRS + ao_aprs_time = time; +#endif while (ao_telemetry_interval) { - +#if HAS_APRS + if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY)) +#endif + { #ifdef AO_SEND_ALL_BARO - ao_send_baro(); + ao_send_baro(); #endif #ifdef AO_SEND_MEGA - ao_send_mega_sensor(); - ao_send_mega_data(); + ao_send_mega_sensor(); + ao_send_mega_data(); #else - ao_send_sensor(); + ao_send_sensor(); #endif #if HAS_COMPANION - if (ao_companion_running) - ao_send_companion(); + if (ao_companion_running) + ao_send_companion(); #endif - ao_send_configuration(); + ao_send_configuration(); #if HAS_GPS - ao_send_location(); - ao_send_satellite(); + ao_send_location(); + ao_send_satellite(); #endif + } #ifndef AO_SEND_ALL_BARO if (ao_rdf && +#if HAS_APRS + !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) && +#endif (int16_t) (ao_time() - ao_rdf_time) >= 0) { #if HAS_IGNITE_REPORT @@ -325,6 +341,14 @@ ao_telemetry(void) #endif ao_radio_rdf(); } +#if HAS_APRS + if (ao_config.aprs_interval != 0 && + (int16_t) (ao_time() - ao_aprs_time) >= 0) + { + ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval); + ao_aprs_send(); + } +#endif #endif time += ao_telemetry_interval; delay = time - ao_time(); @@ -389,8 +413,9 @@ ao_rdf_set(uint8_t rdf) ao_rdf = rdf; if (rdf == 0) ao_radio_rdf_abort(); - else + else { ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS; + } } __xdata struct ao_task ao_telemetry_task; diff --git a/src/core/ao_usb.h b/src/core/ao_usb.h index e051db93..4476ee6b 100644 --- a/src/core/ao_usb.h +++ b/src/core/ao_usb.h @@ -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 */ diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c new file mode 100644 index 00000000..03bcab05 --- /dev/null +++ b/src/drivers/ao_aprs.c @@ -0,0 +1,599 @@ +/** + * http://ad7zj.net/kd7lmo/aprsbeacon_code.html + * + * @mainpage Pico Beacon + * + * @section overview_sec Overview + * + * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band. The device utilizes a + * Microchip PIC 18F2525 embedded controller, Motorola M12+ GPS engine, and Analog Devices AD9954 DDS. The device is capable + * of generating a 1200bps A-FSK and 9600 bps FSK AX.25 compliant APRS (Automatic Position Reporting System) message. + + + * + * @section history_sec Revision History + * + * @subsection v305 V3.05 + * 23 Dec 2006, Change include; (1) change printf format width to conform to ANSI standard when new CCS 4.xx compiler released. + * + * + * @subsection v304 V3.04 + * 10 Jan 2006, Change include; (1) added amplitude control to engineering mode, + * (2) corrected number of bytes reported in log, + * (3) add engineering command to set high rate position reports (5 seconds), and + * (4) corrected size of LOG_COORD block when searching for end of log. + * + * @subsection v303 V3.03 + * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin, + * (2) additional comments and Doxygen tags, + * (3) integration and test code calculates DDS FTW, + * (4) swapped bus and reference analog input ports (hardware change), + * (5) added message that indicates we are reading flash log and reports length, + * (6) report bus voltage in 10mV steps, and + * (7) change log type enumerated values to XORed nibbles for error detection. + * + * + * @subsection v302 V3.02 + * 6 Apr 2005, Change include; (1) corrected tracked satellite count in NMEA-0183 $GPGGA message, + * (2) Doxygen documentation clean up and additions, and + * (3) added integration and test code to baseline. + * + * + * @subsection v301 V3.01 + * 13 Jan 2005, Renamed project and files to Pico Beacon. + * + * + * @subsection v300 V3.00 + * 15 Nov 2004, Change include; (1) Micro Beacon extreme hardware changes including integral transmitter, + * (2) PIC18F2525 processor, + * (3) AD9954 DDS support functions, + * (4) added comments and formatting for doxygen, + * (5) process GPS data with native Motorola protocol, + * (6) generate plain text $GPGGA and $GPRMC messages, + * (7) power down GPS 5 hours after lock, + * (8) added flight data recorder, and + * (9) added diagnostics terminal mode. + * + * + * @subsection v201 V2.01 + * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and + * (2) changed temperature resolution to 0.1 degrees F. + * + * + * @subsection v200 V2.00 + * 26 Oct 2002, Change include; (1) Micro Beacon II hardware changes including PIC18F252 processor, + * (2) serial EEPROM, + * (3) GPS power control, + * (4) additional ADC input, and + * (5) LM60 temperature sensor. + * + * + * @subsection v101 V1.01 + * 5 Dec 2001, Change include; (1) Changed startup message, and + * (2) applied SEPARATE pragma to several methods for memory usage. + * + * + * @subsection v100 V1.00 + * 25 Sep 2001, Initial release. Flew ANSR-3 and ANSR-4. + * + + + * + * + * @section copyright_sec Copyright + * + * Copyright (c) 2001-2009 Michael Gray, KD7LMO + + + * + * + * @section gpl_sec GNU General Public License + * + * 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 + * + + + * + * + * @section design Design Details + * + * Provides design details on a variety of the components that make up the Pico Beacon. + * + * @subpage power + */ + +/** + * @page power Power Consumption + * + * Measured DC power consumption. + * + * 3VDC prime power current + + * + * 7mA Held in reset + + * 18mA Processor running, all I/O off + + * 110mA GPS running + + * 120mA GPS running w/antenna + + * 250mA DDS running and GPS w/antenna + + * 420mA DDS running, GPS w/antenna, and PA chain on with no RF + + * 900mA Transmit + + * + */ + +#ifndef AO_APRS_TEST +#include +#endif + +#include + +// Public methods, constants, and data structures for each class. + +static void timeInit(void); + +static void tncInit(void); +static void tnc1200TimerTick(void); + +/** @} */ + +/** + * @defgroup sys System Library Functions + * + * Generic system functions similiar to the run-time C library. + * + * @{ + */ + +/** + * Calculate the CRC-16 CCITT of buffer that is length bytes long. + * The crc parameter allow the calculation on the CRC on multiple buffers. + * + * @param buffer Pointer to data buffer. + * @param length number of bytes in data buffer + * @param crc starting value + * + * @return CRC-16 of buffer[0 .. length] + */ +static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc) +{ + uint8_t i, bit, value; + + for (i = 0; i < length; ++i) + { + value = buffer[i]; + + for (bit = 0; bit < 8; ++bit) + { + crc ^= (value & 0x01); + crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 ); + value = value >> 1; + } // END for + } // END for + + return crc ^ 0xffff; +} + +/** @} */ + +/** + * @defgroup rtc Real Time Interrupt tick + * + * Manage the built-in real time interrupt. The interrupt clock PRI is 104uS (9600 bps). + * + * @{ + */ + +/// 16-bit NCO where the upper 8-bits are used to index into the frequency generation table. +static uint16_t timeNCO; + +/// Audio tone NCO update step (phase). +static uint16_t timeNCOFreq; + +/** + * Initialize the real-time clock. + */ +static void timeInit() +{ + timeNCO = 0x00; + timeNCOFreq = 0x2000; +} + +/** @} */ + +/** + * @defgroup tnc TNC (Terminal Node Controller) + * + * Functions that provide a subset of the TNC functions. + * + * @{ + */ + +/// The number of start flag bytes to send before the packet message. (360bits * 1200bps = 300mS) +#define TNC_TX_DELAY 45 + +/// The size of the TNC output buffer. +#define TNC_BUFFER_SIZE 40 + +/// States that define the current mode of the 1200 bps (A-FSK) state machine. +typedef enum +{ + /// Stand by state ready to accept new message. + TNC_TX_READY, + + /// 0x7E bit stream pattern used to define start of APRS message. + TNC_TX_SYNC, + + /// Transmit the AX.25 header that contains the source/destination call signs, APRS path, and flags. + TNC_TX_HEADER, + + /// Transmit the message data. + TNC_TX_DATA, + + /// Transmit the end flag sequence. + TNC_TX_END +} TNC_TX_1200BPS_STATE; + +/// AX.25 compliant packet header that contains destination, station call sign, and path. +/// 0x76 for SSID-11, 0x78 for SSID-12 +static uint8_t TNC_AX25_HEADER[] = { + 'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60, \ + 'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78, \ + 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65, \ + 0x03, 0xf0 }; + +#define TNC_CALLSIGN_OFF 7 +#define TNC_CALLSIGN_LEN 6 + +static void +tncSetCallsign(void) +{ +#ifndef AO_APRS_TEST + uint8_t i; + + for (i = 0; i < TNC_CALLSIGN_LEN; i++) { + if (!ao_config.callsign[i]) + break; + TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ao_config.callsign[i] << 1; + } + for (; i < TNC_CALLSIGN_LEN; i++) + TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1; +#endif +} + +/// The next bit to transmit. +static uint8_t tncTxBit; + +/// Current mode of the 1200 bps state machine. +static TNC_TX_1200BPS_STATE tncMode; + +/// Counter for each bit (0 - 7) that we are going to transmit. +static uint8_t tncBitCount; + +/// A shift register that holds the data byte as we bit shift it for transmit. +static uint8_t tncShift; + +/// Index into the APRS header and data array for each byte as we transmit it. +static uint8_t tncIndex; + +/// The number of bytes in the message portion of the AX.25 message. +static uint8_t tncLength; + +/// A copy of the last 5 bits we've transmitted to determine if we need to bit stuff on the next bit. +static uint8_t tncBitStuff; + +/// Buffer to hold the message portion of the AX.25 packet as we prepare it. +static uint8_t tncBuffer[TNC_BUFFER_SIZE]; + +/** + * Initialize the TNC internal variables. + */ +static void tncInit() +{ + tncTxBit = 0; + tncMode = TNC_TX_READY; +} + +/** + * Method that is called every 833uS to transmit the 1200bps A-FSK data stream. + * The provides the pre and postamble as well as the bit stuffed data stream. + */ +static void tnc1200TimerTick() +{ + // Set the A-FSK frequency. + if (tncTxBit == 0x00) + timeNCOFreq = 0x2000; + else + timeNCOFreq = 0x3aab; + + switch (tncMode) + { + case TNC_TX_READY: + // Generate a test signal alteranting between high and low tones. + tncTxBit = (tncTxBit == 0 ? 1 : 0); + break; + + case TNC_TX_SYNC: + // The variable tncShift contains the lastest data byte. + // NRZI enocde the data stream. + if ((tncShift & 0x01) == 0x00) { + if (tncTxBit == 0) + tncTxBit = 1; + else + tncTxBit = 0; + } + + // When the flag is done, determine if we need to send more or data. + if (++tncBitCount == 8) + { + tncBitCount = 0; + tncShift = 0x7e; + + // Once we transmit x mS of flags, send the data. + // txDelay bytes * 8 bits/byte * 833uS/bit = x mS + if (++tncIndex == TNC_TX_DELAY) + { + tncIndex = 0; + tncShift = TNC_AX25_HEADER[0]; + tncBitStuff = 0; + tncMode = TNC_TX_HEADER; + } // END if + } else + tncShift = tncShift >> 1; + break; + + case TNC_TX_HEADER: + // Determine if we have sent 5 ones in a row, if we have send a zero. + if (tncBitStuff == 0x1f) + { + if (tncTxBit == 0) + tncTxBit = 1; + else + tncTxBit = 0; + + tncBitStuff = 0x00; + return; + } // END if + + // The variable tncShift contains the lastest data byte. + // NRZI enocde the data stream. + if ((tncShift & 0x01) == 0x00) { + if (tncTxBit == 0) + tncTxBit = 1; + else + tncTxBit = 0; + } + + // Save the data stream so we can determine if bit stuffing is + // required on the next bit time. + tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f; + + // If all the bits were shifted, get the next byte. + if (++tncBitCount == 8) + { + tncBitCount = 0; + + // After the header is sent, then send the data. + if (++tncIndex == sizeof(TNC_AX25_HEADER)) + { + tncIndex = 0; + tncShift = tncBuffer[0]; + tncMode = TNC_TX_DATA; + } else + tncShift = TNC_AX25_HEADER[tncIndex]; + + } else + tncShift = tncShift >> 1; + + break; + + case TNC_TX_DATA: + // Determine if we have sent 5 ones in a row, if we have send a zero. + if (tncBitStuff == 0x1f) + { + if (tncTxBit == 0) + tncTxBit = 1; + else + tncTxBit = 0; + + tncBitStuff = 0x00; + return; + } // END if + + // The variable tncShift contains the lastest data byte. + // NRZI enocde the data stream. + if ((tncShift & 0x01) == 0x00) { + if (tncTxBit == 0) + tncTxBit = 1; + else + tncTxBit = 0; + } + + // Save the data stream so we can determine if bit stuffing is + // required on the next bit time. + tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f; + + // If all the bits were shifted, get the next byte. + if (++tncBitCount == 8) + { + tncBitCount = 0; + + // If everything was sent, transmit closing flags. + if (++tncIndex == tncLength) + { + tncIndex = 0; + tncShift = 0x7e; + tncMode = TNC_TX_END; + } else + tncShift = tncBuffer[tncIndex]; + + } else + tncShift = tncShift >> 1; + + break; + + case TNC_TX_END: + // The variable tncShift contains the lastest data byte. + // NRZI enocde the data stream. + if ((tncShift & 0x01) == 0x00) { + if (tncTxBit == 0) + tncTxBit = 1; + else + tncTxBit = 0; + } + + // If all the bits were shifted, get the next one. + if (++tncBitCount == 8) + { + tncBitCount = 0; + tncShift = 0x7e; + + // Transmit two closing flags. + if (++tncIndex == 2) + { + tncMode = TNC_TX_READY; + + return; + } // END if + } else + tncShift = tncShift >> 1; + + break; + } // END switch +} + +/** + * Generate the plain text position packet. + */ +static int tncPositionPacket(void) +{ + int32_t latitude = ao_gps_data.latitude; + int32_t longitude = ao_gps_data.longitude; + int32_t altitude = ao_gps_data.altitude; + + uint16_t lat_deg; + uint16_t lon_deg; + uint16_t lat_min; + uint16_t lat_frac; + uint16_t lon_min; + uint16_t lon_frac; + + char lat_sign = 'N', lon_sign = 'E'; + + if (latitude < 0) { + lat_sign = 'S'; + latitude = -latitude; + } + + if (longitude < 0) { + lon_sign = 'W'; + longitude = -longitude; + } + + /* Round latitude and longitude by 0.005 minutes */ + latitude = latitude + 833; + if (latitude > 900000000) + latitude = 900000000; + longitude = longitude + 833; + if (longitude > 1800000000) + longitude = 1800000000; + + lat_deg = latitude / 10000000; + latitude -= lat_deg * 10000000; + latitude *= 60; + lat_min = latitude / 10000000; + latitude -= lat_min * 10000000; + lat_frac = latitude / 100000; + + lon_deg = longitude / 10000000; + longitude -= lon_deg * 10000000; + longitude *= 60; + lon_min = longitude / 10000000; + longitude -= lon_min * 10000000; + lon_frac = longitude / 100000; + + if (altitude < 0) + altitude = 0; + + altitude = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048; + + return sprintf ((char *) tncBuffer, "=%02u%02u.%02u%c\\%03u%02u.%02u%cO /A=%06u\015", + lat_deg, lat_min, lat_frac, lat_sign, + lon_deg, lon_min, lon_frac, lon_sign, + altitude); +} + +static int16_t +tncFill(uint8_t *buf, int16_t len) +{ + int16_t l = 0; + uint8_t b; + uint8_t bit; + + while (tncMode != TNC_TX_READY && l < len) { + b = 0; + for (bit = 0; bit < 8; bit++) { + b = b << 1 | (timeNCO >> 15); + timeNCO += timeNCOFreq; + } + *buf++ = b; + l++; + tnc1200TimerTick(); + } + if (tncMode == TNC_TX_READY) + l = -l; + return l; +} + +/** + * Prepare an AX.25 data packet. Each time this method is called, it automatically + * rotates through 1 of 3 messages. + * + * @param dataMode enumerated type that specifies 1200bps A-FSK or 9600bps FSK + */ +void ao_aprs_send(void) +{ + uint16_t crc; + + timeInit(); + tncInit(); + tncSetCallsign(); + + tncLength = tncPositionPacket(); + + // Calculate the CRC for the header and message. + crc = sysCRC16(TNC_AX25_HEADER, sizeof(TNC_AX25_HEADER), 0xffff); + crc = sysCRC16(tncBuffer, tncLength, crc ^ 0xffff); + + // Save the CRC in the message. + tncBuffer[tncLength++] = crc & 0xff; + tncBuffer[tncLength++] = (crc >> 8) & 0xff; + + // Prepare the variables that are used in the real-time clock interrupt. + tncBitCount = 0; + tncShift = 0x7e; + tncTxBit = 0; + tncIndex = 0; + tncMode = TNC_TX_SYNC; + + ao_radio_send_lots(tncFill); +} + +/** @} */ diff --git a/src/drivers/ao_aprs.h b/src/drivers/ao_aprs.h new file mode 100644 index 00000000..a033fa0b --- /dev/null +++ b/src/drivers/ao_aprs.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_APRS_H_ +#define _AO_APRS_H_ + +void +ao_aprs_send(void); + +#endif /* _AO_APRS_H_ */ diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c index f3816047..c862200a 100644 --- a/src/drivers/ao_btm.c +++ b/src/drivers/ao_btm.c @@ -120,7 +120,7 @@ uint8_t ao_btm_get_line(void) { uint8_t ao_btm_reply_len = 0; - char c; + int c; for (;;) { diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c index f27958f9..3e894f76 100644 --- a/src/drivers/ao_cc1120.c +++ b/src/drivers/ao_cc1120.c @@ -24,10 +24,12 @@ #define AO_RADIO_MAX_RECV sizeof(struct ao_packet) #define AO_RADIO_MAX_SEND sizeof(struct ao_packet) -uint8_t ao_radio_wake; -uint8_t ao_radio_mutex; -uint8_t ao_radio_abort; -uint8_t ao_radio_in_recv; +static uint8_t ao_radio_mutex; + +static uint8_t ao_radio_wake; /* radio ready. Also used as sleep address */ +static uint8_t ao_radio_abort; /* radio operation should abort */ +static uint8_t ao_radio_mcu_wake; /* MARC status change */ +static uint8_t ao_radio_marc_status; /* Last read MARC status value */ #define CC1120_DEBUG AO_FEC_DEBUG #define CC1120_TRACE 0 @@ -218,13 +220,32 @@ ao_radio_recv_abort(void) #define ao_radio_rdf_value 0x55 static uint8_t -ao_radio_marc_status(void) +ao_radio_get_marc_status(void) { return ao_radio_reg_read(CC1120_MARC_STATUS1); } static void -ao_radio_tx_isr(void) +ao_radio_mcu_wakeup_isr(void) +{ + ao_radio_mcu_wake = 1; + ao_wakeup(&ao_radio_wake); +} + + +static void +ao_radio_check_marc_status(void) +{ + ao_radio_mcu_wake = 0; + ao_radio_marc_status = ao_radio_get_marc_status(); + + /* Anyt other than 'tx/rx finished' means an error occurred */ + if (ao_radio_marc_status & ~(CC1120_MARC_STATUS1_TX_FINISHED|CC1120_MARC_STATUS1_RX_FINISHED)) + ao_radio_abort = 1; +} + +static void +ao_radio_isr(void) { ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); ao_radio_wake = 1; @@ -234,8 +255,9 @@ ao_radio_tx_isr(void) static void ao_radio_start_tx(void) { - ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_tx_isr); + ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_isr); ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + ao_exti_enable(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN); ao_radio_strobe(CC1120_STX); } @@ -247,6 +269,8 @@ ao_radio_idle(void) if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_IDLE) break; } + /* Flush any pending TX bytes */ + ao_radio_strobe(CC1120_SFTX); } /* @@ -261,7 +285,7 @@ ao_radio_idle(void) #define PACKET_DEV_M 80 /* - * For our packet data, set the symbol rate to 38360 Baud + * For our packet data, set the symbol rate to 38400 Baud * * (2**20 + DATARATE_M) * 2 ** DATARATE_E * Rdata = -------------------------------------- * fosc @@ -294,18 +318,19 @@ static const uint16_t packet_setup[] = { (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) | (0 << CC1120_PKT_CFG0_UART_MODE_EN) | (0 << CC1120_PKT_CFG0_UART_SWAP_EN)), + AO_CC1120_MARC_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_MARC_MCU_WAKEUP, }; static const uint16_t packet_tx_setup[] = { CC1120_PKT_CFG2, ((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) | (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)), - CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG, + AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG, }; static const uint16_t packet_rx_setup[] = { CC1120_PKT_CFG2, ((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) | (CC1120_PKT_CFG2_PKT_FORMAT_SYNCHRONOUS_SERIAL << CC1120_PKT_CFG2_PKT_FORMAT)), - CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT, + AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT, }; /* @@ -323,12 +348,12 @@ static const uint16_t packet_rx_setup[] = { /* * For our RDF beacon, set the symbol rate to 2kBaud (for a 1kHz tone) * - * (2**20 - DATARATE_M) * 2 ** DATARATE_E + * (2**20 + DATARATE_M) * 2 ** DATARATE_E * Rdata = -------------------------------------- * fosc * 2 ** 39 * - * DATARATE_M = 511705 - * DATARATE_E = 6 + * DATARATE_M = 25166 + * DATARATE_E = 5 * * To make the tone last for 200ms, we need 2000 * .2 = 400 bits or 50 bytes */ @@ -358,7 +383,64 @@ static const uint16_t rdf_setup[] = { (0 << CC1120_PKT_CFG0_UART_SWAP_EN)), }; -static uint8_t ao_radio_mode; +/* + * APRS deviation is 5kHz + * + * fdev = fosc >> 24 * (256 + dev_m) << dev_e + * + * 32e6Hz / (2 ** 24) * (256 + 71) * (2 ** 3) = 4989 + */ + +#define APRS_DEV_E 3 +#define APRS_DEV_M 71 +#define APRS_PACKET_LEN 50 + +/* + * For our APRS beacon, set the symbol rate to 9.6kBaud (8x oversampling for 1200 baud data rate) + * + * (2**20 + DATARATE_M) * 2 ** DATARATE_E + * Rdata = -------------------------------------- * fosc + * 2 ** 39 + * + * DATARATE_M = 239914 + * DATARATE_E = 7 + * + * Rdata = 9599.998593330383301 + * + */ +#define APRS_DRATE_E 7 +#define APRS_DRATE_M 239914 + +static const uint16_t aprs_setup[] = { + CC1120_DEVIATION_M, APRS_DEV_M, + CC1120_MODCFG_DEV_E, ((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) | + (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) | + (APRS_DEV_E << CC1120_MODCFG_DEV_E_DEV_E)), + CC1120_DRATE2, ((APRS_DRATE_E << CC1120_DRATE2_DATARATE_E) | + (((APRS_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)), + CC1120_DRATE1, ((APRS_DRATE_M >> 8) & 0xff), + CC1120_DRATE0, ((APRS_DRATE_M >> 0) & 0xff), + CC1120_PKT_CFG2, ((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) | + (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)), + CC1120_PKT_CFG1, ((0 << CC1120_PKT_CFG1_WHITE_DATA) | + (CC1120_PKT_CFG1_ADDR_CHECK_CFG_NONE << CC1120_PKT_CFG1_ADDR_CHECK_CFG) | + (CC1120_PKT_CFG1_CRC_CFG_DISABLED << CC1120_PKT_CFG1_CRC_CFG) | + (0 << CC1120_PKT_CFG1_APPEND_STATUS)), +}; + +#define AO_PKT_CFG0_INFINITE ((0 << CC1120_PKT_CFG0_RESERVED7) | \ + (CC1120_PKT_CFG0_LENGTH_CONFIG_INFINITE << CC1120_PKT_CFG0_LENGTH_CONFIG) | \ + (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) | \ + (0 << CC1120_PKT_CFG0_UART_MODE_EN) | \ + (0 << CC1120_PKT_CFG0_UART_SWAP_EN)) + +#define AO_PKT_CFG0_FIXED ((0 << CC1120_PKT_CFG0_RESERVED7) | \ + (CC1120_PKT_CFG0_LENGTH_CONFIG_FIXED << CC1120_PKT_CFG0_LENGTH_CONFIG) | \ + (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) | \ + (0 << CC1120_PKT_CFG0_UART_MODE_EN) | \ + (0 << CC1120_PKT_CFG0_UART_SWAP_EN)) + +static uint16_t ao_radio_mode; #define AO_RADIO_MODE_BITS_PACKET 1 #define AO_RADIO_MODE_BITS_PACKET_TX 2 @@ -366,17 +448,23 @@ static uint8_t ao_radio_mode; #define AO_RADIO_MODE_BITS_TX_FINISH 8 #define AO_RADIO_MODE_BITS_PACKET_RX 16 #define AO_RADIO_MODE_BITS_RDF 32 +#define AO_RADIO_MODE_BITS_APRS 64 +#define AO_RADIO_MODE_BITS_INFINITE 128 +#define AO_RADIO_MODE_BITS_FIXED 256 #define AO_RADIO_MODE_NONE 0 #define AO_RADIO_MODE_PACKET_TX_BUF (AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_BUF) #define AO_RADIO_MODE_PACKET_TX_FINISH (AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_FINISH) #define AO_RADIO_MODE_PACKET_RX (AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_RX) #define AO_RADIO_MODE_RDF (AO_RADIO_MODE_BITS_RDF | AO_RADIO_MODE_BITS_TX_FINISH) +#define AO_RADIO_MODE_APRS_BUF (AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_INFINITE | AO_RADIO_MODE_BITS_TX_BUF) +#define AO_RADIO_MODE_APRS_LAST_BUF (AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_FIXED | AO_RADIO_MODE_BITS_TX_BUF) +#define AO_RADIO_MODE_APRS_FINISH (AO_RADIO_MODE_BITS_APRS | AO_RADIO_MODE_BITS_FIXED | AO_RADIO_MODE_BITS_TX_FINISH) static void -ao_radio_set_mode(uint8_t new_mode) +ao_radio_set_mode(uint16_t new_mode) { - uint8_t changes; + uint16_t changes; int i; if (new_mode == ao_radio_mode) @@ -392,10 +480,10 @@ ao_radio_set_mode(uint8_t new_mode) ao_radio_reg_write(packet_tx_setup[i], packet_tx_setup[i+1]); if (changes & AO_RADIO_MODE_BITS_TX_BUF) - ao_radio_reg_write(CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_TXFIFO_THR); + ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_TXFIFO_THR); if (changes & AO_RADIO_MODE_BITS_TX_FINISH) - ao_radio_reg_write(CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG); + ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG); if (changes & AO_RADIO_MODE_BITS_PACKET_RX) for (i = 0; i < sizeof (packet_rx_setup) / sizeof (packet_rx_setup[0]); i += 2) @@ -404,6 +492,17 @@ ao_radio_set_mode(uint8_t new_mode) if (changes & AO_RADIO_MODE_BITS_RDF) for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2) ao_radio_reg_write(rdf_setup[i], rdf_setup[i+1]); + + if (changes & AO_RADIO_MODE_BITS_APRS) + for (i = 0; i < sizeof (aprs_setup) / sizeof (aprs_setup[0]); i += 2) + ao_radio_reg_write(aprs_setup[i], aprs_setup[i+1]); + + if (changes & AO_RADIO_MODE_BITS_INFINITE) + ao_radio_reg_write(CC1120_PKT_CFG0, AO_PKT_CFG0_INFINITE); + + if (changes & AO_RADIO_MODE_BITS_FIXED) + ao_radio_reg_write(CC1120_PKT_CFG0, AO_PKT_CFG0_FIXED); + ao_radio_mode = new_mode; } @@ -430,11 +529,21 @@ ao_radio_setup(void) ao_radio_configured = 1; } +static void +ao_radio_set_len(uint8_t len) +{ + static uint8_t last_len; + + if (len != last_len) { + ao_radio_reg_write(CC1120_PKT_LEN, len); + last_len = len; + } +} + static void ao_radio_get(uint8_t len) { static uint32_t last_radio_setting; - static uint8_t last_len; ao_mutex_get(&ao_radio_mutex); if (!ao_radio_configured) @@ -445,10 +554,7 @@ ao_radio_get(uint8_t len) ao_radio_reg_write(CC1120_FREQ0, ao_config.radio_setting); last_radio_setting = ao_config.radio_setting; } - if (len != last_len) { - ao_radio_reg_write(CC1120_PKT_LEN, len); - last_len = len; - } + ao_radio_set_len(len); } #define ao_radio_put() ao_mutex_put(&ao_radio_mutex) @@ -470,9 +576,11 @@ ao_rdf_run(void) ao_radio_start_tx(); ao_arch_block_interrupts(); - while (!ao_radio_wake && !ao_radio_abort) + while (!ao_radio_wake && !ao_radio_abort && !ao_radio_mcu_wake) ao_sleep(&ao_radio_wake); ao_arch_release_interrupts(); + if (ao_radio_mcu_wake) + ao_radio_check_marc_status(); if (!ao_radio_wake) ao_radio_idle(); ao_radio_put(); @@ -562,6 +670,31 @@ ao_radio_test_cmd(void) } } +static void +ao_radio_wait_isr(void) +{ + ao_arch_block_interrupts(); + while (!ao_radio_wake && !ao_radio_mcu_wake && !ao_radio_abort) + ao_sleep(&ao_radio_wake); + ao_arch_release_interrupts(); + if (ao_radio_mcu_wake) + ao_radio_check_marc_status(); +} + +static uint8_t +ao_radio_wait_tx(uint8_t wait_fifo) +{ + uint8_t fifo_space = 0; + + do { + ao_radio_wait_isr(); + if (!wait_fifo) + return 0; + fifo_space = ao_radio_tx_fifo_space(); + } while (!fifo_space && !ao_radio_abort); + return fifo_space; +} + static uint8_t tx_data[(AO_RADIO_MAX_SEND + 4) * 2]; void @@ -583,6 +716,7 @@ ao_radio_send(const void *d, uint8_t size) while (encode_len) { this_len = encode_len; + ao_radio_wake = 0; if (this_len > fifo_space) { this_len = fifo_space; ao_radio_set_mode(AO_RADIO_MODE_PACKET_TX_BUF); @@ -601,16 +735,81 @@ ao_radio_send(const void *d, uint8_t size) ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); } - do { - ao_radio_wake = 0; - ao_arch_block_interrupts(); - while (!ao_radio_wake) - ao_sleep(&ao_radio_wake); - ao_arch_release_interrupts(); - if (!encode_len) + fifo_space = ao_radio_wait_tx(encode_len != 0); + if (ao_radio_abort) { + ao_radio_idle(); + break; + } + } + ao_radio_put(); +} + +#define AO_RADIO_LOTS 64 + +void +ao_radio_send_lots(ao_radio_fill_func fill) +{ + uint8_t buf[AO_RADIO_LOTS], *b; + int cnt; + int total = 0; + uint8_t done = 0; + uint8_t started = 0; + uint8_t fifo_space; + + ao_radio_get(0xff); + fifo_space = CC1120_FIFO_SIZE; + while (!done) { + cnt = (*fill)(buf, sizeof(buf)); + if (cnt < 0) { + done = 1; + cnt = -cnt; + } + total += cnt; + + /* At the last buffer, set the total length */ + if (done) + ao_radio_set_len(total & 0xff); + + b = buf; + while (cnt) { + uint8_t this_len = cnt; + + /* Wait for some space in the fifo */ + while (!ao_radio_abort && (fifo_space = ao_radio_tx_fifo_space()) == 0) { + ao_radio_wake = 0; + ao_radio_wait_isr(); + } + if (ao_radio_abort) break; - fifo_space = ao_radio_tx_fifo_space(); - } while (!fifo_space); + if (this_len > fifo_space) + this_len = fifo_space; + + cnt -= this_len; + + if (done) { + if (cnt) + ao_radio_set_mode(AO_RADIO_MODE_APRS_LAST_BUF); + else + ao_radio_set_mode(AO_RADIO_MODE_APRS_FINISH); + } else + ao_radio_set_mode(AO_RADIO_MODE_APRS_BUF); + + ao_radio_fifo_write(b, this_len); + b += this_len; + + if (!started) { + ao_radio_start_tx(); + started = 1; + } else + ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + } + if (ao_radio_abort) { + ao_radio_idle(); + break; + } + /* Wait for the transmitter to go idle */ + ao_radio_wake = 0; + ao_radio_wait_isr(); } ao_radio_put(); } @@ -660,14 +859,21 @@ ao_radio_rx_isr(void) static uint16_t ao_radio_rx_wait(void) { - ao_arch_block_interrupts(); - rx_waiting = 1; - while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK && - !ao_radio_abort) { - ao_sleep(&ao_radio_wake); - } - rx_waiting = 0; - ao_arch_release_interrupts(); + do { + if (ao_radio_mcu_wake) + ao_radio_check_marc_status(); + ao_arch_block_interrupts(); + rx_waiting = 1; + while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK && + !ao_radio_abort && + !ao_radio_mcu_wake) + { + if (ao_sleep(&ao_radio_wake)) + ao_radio_abort = 1; + } + rx_waiting = 0; + ao_arch_release_interrupts(); + } while (ao_radio_mcu_wake); if (ao_radio_abort) return 0; rx_data_consumed += AO_FEC_DECODE_BLOCK; @@ -703,30 +909,53 @@ ao_radio_recv(__xdata void *d, uint8_t size) rx_data_consumed = 0; rx_ignore = 2; + /* Must be set before changing the frequency; any abort + * after the frequency is set needs to terminate the read + * so that the registers can be reprogrammed + */ ao_radio_abort = 0; - ao_radio_in_recv = 1; + /* configure interrupt pin */ ao_radio_get(len); ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX); ao_radio_wake = 0; + ao_radio_mcu_wake = 0; stm_spi2.cr2 = 0; /* clear any RXNE */ (void) stm_spi2.dr; - ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr); + /* Have the radio signal when the preamble quality goes high */ + ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_PQT_REACHED); + ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, + AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_HIGH); + ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_isr); ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + ao_exti_enable(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN); ao_radio_strobe(CC1120_SRX); + /* Wait for the preamble to appear */ + ao_radio_wait_isr(); + if (ao_radio_abort) + goto abort; + + ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT); + ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, + AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH); + + ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr); + ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT); ret = ao_fec_decode(rx_data, rx_data_count, d, size + 2, ao_radio_rx_wait); ao_radio_burst_read_stop(); +abort: ao_radio_strobe(CC1120_SIDLE); /* Convert from 'real' rssi to cc1111-style values */ @@ -739,11 +968,6 @@ ao_radio_recv(__xdata void *d, uint8_t size) ((uint8_t *) d)[size] = (uint8_t) rssi; - ao_radio_in_recv = 0; - - if (ao_radio_abort) - ao_delay(1); - #if AO_PROFILE rx_last_done_tick = rx_done_tick; rx_done_tick = ao_profile_tick(); @@ -963,7 +1187,7 @@ static void ao_radio_show(void) { printf ("Status: %02x\n", status); printf ("CHIP_RDY: %d\n", (status >> CC1120_STATUS_CHIP_RDY) & 1); printf ("STATE: %s\n", cc1120_state_name[(status >> CC1120_STATUS_STATE) & CC1120_STATUS_STATE_MASK]); - printf ("MARC: %02x\n", ao_radio_marc_status()); + printf ("MARC: %02x\n", ao_radio_get_marc_status()); for (i = 0; i < AO_NUM_CC1120_REG; i++) printf ("\t%02x %-20.20s\n", ao_radio_reg_read(ao_cc1120_reg[i].addr), ao_cc1120_reg[i].name); @@ -1007,11 +1231,21 @@ ao_radio_test_recv() } } +#include + +static void +ao_radio_aprs() +{ + ao_packet_slave_stop(); + ao_aprs_send(); +} + #endif static const struct ao_cmds ao_radio_cmds[] = { { ao_radio_test_cmd, "C <1 start, 0 stop, none both>\0Radio carrier test" }, #if CC1120_DEBUG + { ao_radio_aprs, "G\0Send APRS packet" }, { ao_radio_show, "R\0Show CC1120 status" }, { ao_radio_beep, "b\0Emit an RDF beacon" }, { ao_radio_packet, "p\0Send a test packet" }, @@ -1043,7 +1277,13 @@ ao_radio_init(void) ao_enable_port(AO_CC1120_INT_PORT); ao_exti_setup(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH, - ao_radio_tx_isr); + ao_radio_isr); + + /* Enable the hacked up GPIO3 pin */ + ao_enable_port(AO_CC1120_MCU_WAKEUP_PORT); + ao_exti_setup(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN, + AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED, + ao_radio_mcu_wakeup_isr); ao_cmd_register(&ao_radio_cmds[0]); } diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c index c749adea..0ebe8429 100644 --- a/src/drivers/ao_companion.c +++ b/src/drivers/ao_companion.c @@ -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"); diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c index d80da97c..d2f67e6b 100644 --- a/src/drivers/ao_gps_skytraq.c +++ b/src/drivers/ao_gps_skytraq.c @@ -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 }, }; diff --git a/src/drivers/ao_m25.c b/src/drivers/ao_m25.c index 9603c1de..9f696ace 100644 --- a/src/drivers/ao_m25.c +++ b/src/drivers/ao_m25.c @@ -99,18 +99,7 @@ static __xdata uint8_t ao_m25_mutex; static __xdata uint8_t ao_m25_instruction[4]; -#if HAS_BOOT_RADIO -extern uint8_t ao_radio_in_recv; - -static void ao_boot_radio(void) { - if (ao_radio_in_recv) - ao_radio_recv_abort(); -} -#else -#define ao_boot_radio() -#endif - -#define M25_SELECT(cs) do { ao_boot_radio(); ao_spi_get_mask(AO_M25_SPI_CS_PORT,cs,AO_M25_SPI_BUS, AO_SPI_SPEED_FAST); } while (0) +#define M25_SELECT(cs) ao_spi_get_mask(AO_M25_SPI_CS_PORT,cs,AO_M25_SPI_BUS, AO_SPI_SPEED_FAST) #define M25_DESELECT(cs) ao_spi_put_mask(AO_M25_SPI_CS_PORT,cs,AO_M25_SPI_BUS) #define M25_BLOCK_SHIFT 16 diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c index 3c1e7a18..91319923 100644 --- a/src/drivers/ao_packet.c +++ b/src/drivers/ao_packet.c @@ -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 diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c index 481232df..023c788b 100644 --- a/src/drivers/ao_packet_master.c +++ b/src/drivers/ao_packet_master.c @@ -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) diff --git a/src/megadongle-v0.1/ao_pins.h b/src/megadongle-v0.1/ao_pins.h index cabe9ee2..d810cd4c 100644 --- a/src/megadongle-v0.1/ao_pins.h +++ b/src/megadongle-v0.1/ao_pins.h @@ -139,8 +139,14 @@ #define AO_CC1120_INT_PORT (&stm_gpioc) #define AO_CC1120_INT_PIN 14 +#define AO_CC1120_MCU_WAKEUP_PORT (&stm_gpioc) +#define AO_CC1120_MCU_WAKEUP_PIN (0) + #define AO_CC1120_INT_GPIO 2 -#define HAS_BOOT_RADIO 1 +#define AO_CC1120_INT_GPIO_IOCFG CC1120_IOCFG2 + +#define AO_CC1120_MARC_GPIO 3 +#define AO_CC1120_MARC_GPIO_IOCFG CC1120_IOCFG3 /* * Profiling Viterbi decoding diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile index 7d6c7388..a5fdcbb2 100644 --- a/src/megametrum-v0.1/Makefile +++ b/src/megametrum-v0.1/Makefile @@ -37,12 +37,12 @@ INC = \ #PROFILE=ao_profile.c #PROFILE_DEF=-DAO_PROFILE=1 -SAMPLE_PROFILE=ao_sample_profile.c \ - ao_sample_profile_timer.c -SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1 +#SAMPLE_PROFILE=ao_sample_profile.c \ +# ao_sample_profile_timer.c +#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1 -STACK_GUARD=ao_mpu_stm.c -STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 +#STACK_GUARD=ao_mpu_stm.c +#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 ALTOS_SRC = \ ao_interrupt.c \ @@ -90,6 +90,7 @@ ALTOS_SRC = \ ao_packet.c \ ao_companion.c \ ao_pyro.c \ + ao_aprs.c \ $(PROFILE) \ $(SAMPLE_PROFILE) \ $(STACK_GUARD) diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c index cb1eb417..fbdab64a 100644 --- a/src/megametrum-v0.1/ao_megametrum.c +++ b/src/megametrum-v0.1/ao_megametrum.c @@ -53,7 +53,9 @@ main(void) ao_exti_init(); ao_adc_init(); +#if HAS_BEEP ao_beep_init(); +#endif ao_cmd_init(); #if HAS_MS5607 diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h index 5ae80ac5..b1a70ea2 100644 --- a/src/megametrum-v0.1/ao_pins.h +++ b/src/megametrum-v0.1/ao_pins.h @@ -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 @@ -69,6 +70,7 @@ #define HAS_BEEP 1 #define HAS_RADIO 1 #define HAS_TELEMETRY 1 +#define HAS_APRS 1 #define HAS_SPI_1 1 #define SPI_1_PA5_PA6_PA7 1 /* Barometer */ @@ -280,11 +282,19 @@ struct ao_adc { #define AO_CC1120_SPI_CS_PIN 5 #define AO_CC1120_SPI_BUS AO_SPI_2_PB13_PB14_PB15 -#define AO_CC1120_INT_PORT (&stm_gpioc) -#define AO_CC1120_INT_PIN 14 +#define AO_CC1120_INT_PORT (&stm_gpioc) +#define AO_CC1120_INT_PIN 14 +#define AO_CC1120_MCU_WAKEUP_PORT (&stm_gpioc) +#define AO_CC1120_MCU_WAKEUP_PIN (0) #define AO_CC1120_INT_GPIO 2 -#define HAS_BOOT_RADIO 1 +#define AO_CC1120_INT_GPIO_IOCFG CC1120_IOCFG2 + +#define AO_CC1120_MARC_GPIO 3 +#define AO_CC1120_MARC_GPIO_IOCFG CC1120_IOCFG3 + + +#define HAS_BOOT_RADIO 0 /* * Mag sensor (hmc5883) diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h index e270199e..007f7e2e 100644 --- a/src/stm/ao_arch.h +++ b/src/stm/ao_arch.h @@ -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 diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index d6ab1465..87bbe73e 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -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 diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c index 00409f4a..ce33f97e 100644 --- a/src/stm/ao_serial_stm.c +++ b/src/stm/ao_serial_stm.c @@ -17,13 +17,6 @@ #include -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); diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c index d93a0c17..9379e5cd 100644 --- a/src/stm/ao_usb_stm.c +++ b/src/stm/ao_usb_stm.c @@ -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) diff --git a/src/teleballoon-v1.1/ao_pins.h b/src/teleballoon-v1.1/ao_pins.h index 3305719a..7ba48c96 100644 --- a/src/teleballoon-v1.1/ao_pins.h +++ b/src/teleballoon-v1.1/ao_pins.h @@ -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 @@ -114,6 +114,8 @@ #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 @@ -212,4 +214,16 @@ #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_ */ diff --git a/src/teleballoon-v1.1/ao_teleballoon.c b/src/teleballoon-v1.1/ao_teleballoon.c index 3f12a59c..c8bf7760 100644 --- a/src/teleballoon-v1.1/ao_teleballoon.c +++ b/src/teleballoon-v1.1/ao_teleballoon.c @@ -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) { diff --git a/src/test/Makefile b/src/test/Makefile index 44cee904..092bf360 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,7 +1,8 @@ vpath % ..:../core:../drivers:../util 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_convert_test ao_convert_pa_test ao_fec_test + ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test \ + ao_aprs_test INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h @@ -9,7 +10,7 @@ KALMAN=make-kalman CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g -Wall -all: $(PROGS) +all: $(PROGS) ao_aprs_data.wav clean: rm -f $(PROGS) run-out.baro run-out.full @@ -29,7 +30,7 @@ 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 $@ $< @@ -49,5 +50,14 @@ ao_kalman.h: $(KALMAN) ao_fec_test: ao_fec_test.c ao_fec_tx.c ao_fec_rx.c cc $(CFLAGS) -DAO_FEC_DEBUG=1 -o $@ ao_fec_test.c ../core/ao_fec_tx.c ../core/ao_fec_rx.c -lm +ao_aprs_test: ao_aprs_test.c ao_aprs.c + cc $(CFLAGS) -o $@ ao_aprs_test.c + +SOX_INPUT_ARGS=--type raw --encoding unsigned-integer -b 8 -c 1 -r 9600 +SOX_OUTPUT_ARGS=--type wav + +ao_aprs_data.wav: ao_aprs_test + ./ao_aprs_test | sox $(SOX_INPUT_ARGS) - $(SOX_OUTPUT_ARGS) $@ + check: ao_fec_test ao_flight_test ao_flight_test_baro run-tests ./ao_fec_test && ./run-tests \ No newline at end of file diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c new file mode 100644 index 00000000..3b31f2d3 --- /dev/null +++ b/src/test/ao_aprs_test.c @@ -0,0 +1,132 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 +#include +#include +#include +#include + +#include + +struct ao_telemetry_location ao_gps_data; + +#define AO_APRS_TEST + +typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len); + +#define DEBUG 0 +#if DEBUG +void +ao_aprs_bit(uint8_t bit) +{ + static int seq = 0; + printf ("%6d %d\n", seq++, bit ? 1 : 0); +} +#else +void +ao_aprs_bit(uint8_t bit) +{ + putchar (bit ? 0xc0 : 0x40); +} +#endif + +void +ao_radio_send_lots(ao_radio_fill_func fill); + +#include + +/* + * @section copyright_sec Copyright + * + * Copyright (c) 2001-2009 Michael Gray, KD7LMO + + + * + * + * @section gpl_sec GNU General Public License + * + * 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 + * + + */ + +static void +audio_gap(int secs) +{ +#if !DEBUG + int samples = secs * 9600; + + while (samples--) + ao_aprs_bit(0); +#endif +} + +// This is where we go after reset. +int main(int argc, char **argv) +{ + audio_gap(1); + + ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000; + ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000; + ao_gps_data.altitude = 84; + + /* Transmit one packet */ + ao_aprs_send(); + + tncBuffer[strlen((char *) tncBuffer) - 2] = '\0'; + fprintf(stderr, "packet: %s\n", tncBuffer); + + exit(0); +} + +void +ao_radio_send_lots(ao_radio_fill_func fill) +{ + int16_t len; + uint8_t done = 0; + uint8_t buf[16], *b, c; + uint8_t bit; + + while (!done) { + len = (*fill)(buf, sizeof (buf)); + if (len < 0) { + done = 1; + len = -len; + } + b = buf; + while (len--) { + c = *b++; + for (bit = 0; bit < 8; bit++) { + ao_aprs_bit(c & 0x80); + c <<= 1; + } + } + } +} diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 7180f02d..cdd1f236 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -236,10 +236,14 @@ extern int32_t ao_accel_scale; extern alt_t ao_ground_height; extern alt_t ao_sample_alt; +double ao_sample_qangle; + int ao_sample_prev_tick; uint16_t prev_tick; + #include "ao_kalman.c" +#include "ao_sqrt.c" #include "ao_sample.c" #include "ao_flight.c" @@ -309,7 +313,7 @@ ao_mpu6000_accel(int16_t sensor) } static double -ao_mpu6000_gyro(int16_t sensor) +ao_mpu6000_gyro(int32_t sensor) { return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE; } @@ -370,6 +374,7 @@ ao_insert(void) if (!ao_summary) { printf("%7.2f height %8.2f accel %8.3f " #if MEGAMETRUM + "roll %8.3f angle %8.3f qangle %8.3f " "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f " #endif "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", @@ -377,6 +382,9 @@ ao_insert(void) height, accel, #if MEGAMETRUM + ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0, + ao_mpu6000_gyro(ao_sample_angle) / 100.0, + ao_sample_qangle, ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), ao_mpu6000_accel(ao_data_static.mpu6000.accel_y), ao_mpu6000_accel(ao_data_static.mpu6000.accel_z), @@ -547,6 +555,207 @@ 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; + +#if 0 + 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); +#endif + + 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); + + ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2)); +#if 0 + 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 +} +#endif + void ao_sleep(void *wchan) { @@ -635,6 +844,21 @@ 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 * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick); } ao_records_read++; ao_insert(); @@ -779,6 +1003,8 @@ ao_sleep(void *wchan) continue; #if MEGAMETRUM + (void) a; + (void) b; #else switch (type) { case 'F': diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c index d75a12ec..3844a326 100644 --- a/src/test/ao_gps_test.c +++ b/src/test/ao_gps_test.c @@ -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; } diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c index 846daa94..81008b39 100644 --- a/src/test/ao_gps_test_skytraq.c +++ b/src/test/ao_gps_test_skytraq.c @@ -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"