From: Keith Packard Date: Wed, 22 May 2013 20:03:06 +0000 (-0700) Subject: Initial TeleMini bits X-Git-Tag: 1.2.9.4~118^2~21 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=d0b4e926ecececa7499a301b6135189be119512e Initial TeleMini bits Signed-off-by: Keith Packard --- diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c index 4a58023d..6cc08399 100644 --- a/src/cc1111/ao_adc.c +++ b/src/cc1111/ao_adc.c @@ -162,6 +162,11 @@ ao_adc_isr(void) __interrupt 1 #define GOT_ADC #endif +#ifdef FETCH_ADC + FETCH_ADC() +#define GOT_ADC +#endif + #ifndef GOT_ADC #error No known ADC configuration set #endif diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c index a655d1be..b0ab409d 100644 --- a/src/cc1111/ao_usb.c +++ b/src/cc1111/ao_usb.c @@ -201,6 +201,11 @@ ao_usb_ep0_setup(void) ao_usb_ep0_queue_byte(0); break; case AO_USB_REQ_SET_ADDRESS: +#if USB_FORCE_FLIGHT_IDLE + /* Go to idle mode if USB is connected + */ + ao_flight_force_idle = 1; +#endif ao_usb_set_address(ao_usb_setup.value); break; case AO_USB_REQ_GET_DESCRIPTOR: diff --git a/src/core/ao_data.c b/src/core/ao_data.c index 38d2f7ff..6a3d02a1 100644 --- a/src/core/ao_data.c +++ b/src/core/ao_data.c @@ -22,6 +22,7 @@ volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; volatile __data uint8_t ao_data_head; volatile __data uint8_t ao_data_present; +#ifndef ao_data_count void ao_data_get(__xdata struct ao_data *packet) { @@ -32,3 +33,4 @@ ao_data_get(__xdata struct ao_data *packet) #endif memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); } +#endif diff --git a/src/core/ao_data.h b/src/core/ao_data.h index b0f086f8..080a534f 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -101,7 +101,7 @@ extern volatile __data uint8_t ao_data_count; * signaled by the timer tick */ #define AO_DATA_WAIT() do { \ - ao_sleep((void *) &ao_data_count); \ + ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count)); \ } while (0) #endif /* AO_DATA_RING */ diff --git a/src/core/ao_log_mini.c b/src/core/ao_log_mini.c index 1273b0e3..46b285f3 100644 --- a/src/core/ao_log_mini.c +++ b/src/core/ao_log_mini.c @@ -79,7 +79,6 @@ void ao_log(void) { __pdata uint16_t next_sensor, next_other; - uint8_t i; ao_storage_setup(); diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c index 03a8a273..9c673030 100644 --- a/src/core/ao_telemetry.c +++ b/src/core/ao_telemetry.c @@ -171,6 +171,36 @@ ao_send_mega_data(void) } #endif /* AO_SEND_MEGA */ +#ifdef AO_SEND_MINI + +static void +ao_send_mini(void) +{ + __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)]; + + telemetry.generic.tick = packet->tick; + telemetry.generic.type = AO_TELEMETRY_MINI; + + telemetry.mini.state = ao_flight_state; + + telemetry.mini.v_batt = packet->adc.v_batt; + telemetry.mini.sense_a = packet->adc.sense_a; + telemetry.mini.sense_m = packet->adc.sense_m; + + telemetry.mini.pres = ao_data_pres(packet); + telemetry.mini.temp = ao_data_temp(packet); + + telemetry.mini.acceleration = ao_accel; + telemetry.mini.speed = ao_speed; + telemetry.mini.height = ao_height; + + telemetry.mini.ground_pres = ao_ground_pres; + + ao_radio_send(&telemetry, sizeof (telemetry)); +} + +#endif + #ifdef AO_SEND_ALL_BARO static uint8_t ao_baro_sample; @@ -323,12 +353,16 @@ ao_telemetry(void) ao_send_baro(); #endif #if HAS_FLIGHT -#ifdef AO_SEND_MEGA +# ifdef AO_SEND_MEGA ao_send_mega_sensor(); ao_send_mega_data(); -#else +# else +# ifdef AO_SEND_MINI + ao_send_mini(); +# else ao_send_sensor(); -#endif +# endif +# endif #endif #if HAS_COMPANION diff --git a/src/core/ao_telemetry.h b/src/core/ao_telemetry.h index f2d201de..77601529 100644 --- a/src/core/ao_telemetry.h +++ b/src/core/ao_telemetry.h @@ -207,6 +207,32 @@ struct ao_telemetry_mega_data { }; +#define AO_TELEMETRY_MINI 0x10 + +struct ao_telemetry_mini { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + + int16_t v_batt; /* 6 battery voltage */ + int16_t sense_a; /* 8 apogee continuity */ + int16_t sense_m; /* 10 main continuity */ + + int32_t pres; /* 12 Pa * 10 */ + int16_t temp; /* 16 °C * 100 */ + + int16_t acceleration; /* 18 m/s² * 16 */ + int16_t speed; /* 20 m/s * 16 */ + int16_t height; /* 22 m */ + + int32_t ground_pres; /* 24 average pres on pad */ + + int32_t pad28; /* 28 */ + /* 32 */ +}; + /* #define AO_SEND_ALL_BARO */ #define AO_TELEMETRY_BARO 0x80 @@ -240,6 +266,7 @@ union ao_telemetry_all { struct ao_telemetry_companion companion; struct ao_telemetry_mega_sensor mega_sensor; struct ao_telemetry_mega_data mega_data; + struct ao_telemetry_mini mini; struct ao_telemetry_baro baro; }; diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c index 8f1dcbe1..5259b265 100644 --- a/src/drivers/ao_ms5607.c +++ b/src/drivers/ao_ms5607.c @@ -21,7 +21,7 @@ #if HAS_MS5607 || HAS_MS5611 -static struct ao_ms5607_prom ms5607_prom; +static __xdata struct ao_ms5607_prom ms5607_prom; static uint8_t ms5607_configured; static void @@ -40,7 +40,7 @@ ao_ms5607_reset(void) { cmd = AO_MS5607_RESET; ao_ms5607_start(); - ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX); ao_delay(AO_MS_TO_TICKS(10)); ao_ms5607_stop(); } @@ -69,17 +69,17 @@ ao_ms5607_crc(uint8_t *prom) } static void -ao_ms5607_prom_read(struct ao_ms5607_prom *prom) +ao_ms5607_prom_read(__xdata struct ao_ms5607_prom *prom) { - uint8_t addr; - uint8_t crc; - uint16_t *r; + uint8_t addr; + uint8_t crc; + __xdata uint16_t *r; - r = (uint16_t *) prom; + r = (__xdata uint16_t *) prom; for (addr = 0; addr < 8; addr++) { uint8_t cmd = AO_MS5607_PROM_READ(addr); ao_ms5607_start(); - ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX); ao_spi_recv(r, 2, AO_MS5607_SPI_INDEX); ao_ms5607_stop(); r++; @@ -114,25 +114,25 @@ ao_ms5607_setup(void) ao_ms5607_prom_read(&ms5607_prom); } -static volatile uint8_t ao_ms5607_done; +static __xdata volatile uint8_t ao_ms5607_done; static void ao_ms5607_isr(void) { ao_exti_disable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN); ao_ms5607_done = 1; - ao_wakeup((void *) &ao_ms5607_done); + ao_wakeup((__xdata void *) &ao_ms5607_done); } static uint32_t ao_ms5607_get_sample(uint8_t cmd) { - uint8_t reply[3]; - uint8_t read; + __xdata uint8_t reply[3]; + __xdata uint8_t read; ao_ms5607_done = 0; ao_ms5607_start(); - ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX); ao_exti_enable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN); @@ -179,10 +179,14 @@ ao_ms5607_sample(struct ao_ms5607_sample *sample) sample->temp = ao_ms5607_get_sample(AO_CONVERT_D2); } +#ifdef _CC1111_H_ +#include "ao_ms5607_convert_8051.c" +#else #include "ao_ms5607_convert.c" +#endif #if HAS_TASK -struct ao_ms5607_sample ao_ms5607_current; +__xdata struct ao_ms5607_sample ao_ms5607_current; static void ao_ms5607(void) @@ -191,10 +195,10 @@ ao_ms5607(void) for (;;) { ao_ms5607_sample(&ao_ms5607_current); - ao_arch_critical( - AO_DATA_PRESENT(AO_DATA_MS5607); - AO_DATA_WAIT(); - ); + ao_arch_block_interrupts(); + AO_DATA_PRESENT(AO_DATA_MS5607); + AO_DATA_WAIT(); + ao_arch_release_interrupts(); } } diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h index b2f98a59..3fd43fd4 100644 --- a/src/drivers/ao_ms5607.h +++ b/src/drivers/ao_ms5607.h @@ -56,7 +56,7 @@ struct ao_ms5607_value { int32_t temp; /* in °C * 100 */ }; -extern struct ao_ms5607_sample ao_ms5607_current; +extern __xdata struct ao_ms5607_sample ao_ms5607_current; void ao_ms5607_setup(void); diff --git a/src/drivers/ao_ms5607_convert_8051.c b/src/drivers/ao_ms5607_convert_8051.c new file mode 100644 index 00000000..f47972c9 --- /dev/null +++ b/src/drivers/ao_ms5607_convert_8051.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 + +void +ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value) +{ +#if 0 + int32_t dT; + int32_t TEMP; + int64_t OFF; + int64_t SENS; + + dT = sample->temp - ((int32_t) ms5607_prom.tref << 8); + + TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23); + +#if HAS_MS5611 + OFF = ((int64_t) ms5607_prom.off << 16) + (((int64_t) ms5607_prom.tco * dT) >> 7); + SENS = ((int64_t) ms5607_prom.sens << 15) + (((int64_t) ms5607_prom.tcs * dT) >> 8); +#else + OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6); + SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7); +#endif + + if (TEMP < 2000) { + int32_t T2 = ((int64_t) dT * (int64_t) dT) >> 31; + int32_t TEMPM = TEMP - 2000; + int64_t OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4; + int64_t SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM; + if (TEMP < 1500) { + int32_t TEMPP = TEMP + 1500; + int64_t TEMPP2 = TEMPP * TEMPP; + OFF2 = OFF2 + 15 * TEMPP2; + SENS2 = SENS2 + 8 * TEMPP2; + } + TEMP -= T2; + OFF -= OFF2; + SENS -= SENS2; + } + + value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15; + value->temp = TEMP; +#endif +} diff --git a/src/telemini-v2.0/Makefile b/src/telemini-v2.0/Makefile new file mode 100644 index 00000000..afd529f0 --- /dev/null +++ b/src/telemini-v2.0/Makefile @@ -0,0 +1,108 @@ +# +# TeleMini build file +# + +TELEMINI_VER=2.0 +TELEMINI_DEF=2_0 + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../cc1111:../drivers:../product +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + cc1111.h \ + ao_product.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_convert.c \ + ao_flight.c \ + ao_kalman.c \ + ao_log.c \ + ao_log_mini.c \ + ao_mutex.c \ + ao_panic.c \ + ao_report.c \ + ao_sample.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_telemetry.c \ + ao_freq.c + +CC1111_SRC = \ + ao_adc.c \ + ao_dma.c \ + ao_ignite.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_slave.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_string.c \ + ao_spi.c \ + ao_usb.c \ + ao_convert_pa.c \ + ao_data.c \ + ao_beep.c \ + ao_timer.c \ + _bp.c + +DRIVER_SRC = \ + ao_ms5607.c \ + ao_m25.c + +PRODUCT_SRC = \ + ao_telemini.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telemini-v$(TELEMINI_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleMini-v$(TELEMINI_VER) +PRODUCT_DEF=-DTELEMINI_V_$(TELEMINI_DEF) +IDPRODUCT=0x000a + +include ../cc1111/Makefile.cc1111 + +NICKLE=nickle +CHECK_STACK=sh ../util/check-stack + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: ../$(PROG) + +../$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: clean-cc1111 + +install: + +uninstall: + diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h new file mode 100644 index 00000000..386c8dc3 --- /dev/null +++ b/src/telemini-v2.0/ao_pins.h @@ -0,0 +1,140 @@ +/* + * Copyright © 2010 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_PINS_H_ +#define _AO_PINS_H_ + +#define HAS_RADIO 1 + +#define HAS_FLIGHT 1 +#define HAS_USB 1 +#define USB_FORCE_FLIGHT_IDLE 1 +#define HAS_BEEP 1 +#define HAS_GPS 0 +#define HAS_SERIAL_1 0 +#define HAS_EEPROM 1 +#define HAS_LOG 1 +#define USE_INTERNAL_FLASH 0 +#define HAS_DBG 0 +#define PACKET_HAS_SLAVE 1 +#define USE_FAST_ASCENT_LOG 1 + +#define AO_LED_GREEN 1 +#define AO_LED_RED 2 +#define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) +#define HAS_EXTERNAL_TEMP 0 +#define HAS_ACCEL 0 +#define HAS_IGNITE 1 +#define HAS_IGNITE_REPORT 1 +#define HAS_MONITOR 0 + +/* + * SPI + */ + +#define SPI_CS_PORT P1 +#define SPI_CS_SEL P1SEL +#define SPI_CS_DIR P1DIR + +/* + * Flash + */ +#define AO_M25_SPI_CS_PORT SPI_CS_PORT +#define AO_M25_SPI_CS_MASK 0x04 /* cs_flash is P1_2 */ +#define M25_MAX_CHIPS 1 + +/* + * MS5607 + */ + +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define AO_MS5607_PRIVATE_PINS 0 +#define AO_MS5607_CS_PORT P1 +#define AO_MS5607_CS_PIN 3 +#define AO_MS5607_CS P1_3 +#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN) +#define AO_MS5607_MISO_PORT P0 +#define AO_MS5607_MISO_PIN 2 +#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN) +#define AO_MS5607_SPI_INDEX 0 + +/* + * Igniters + */ +#define AO_IGNITER_PORT P2 +#define AO_IGNITER_DROGUE_PORT AO_IGNITER_PORT +#define AO_IGNITER_DROGUE P2_3 +#define AO_IGNITER_MAIN P2_4 +#define AO_IGNITER_DIR P2DIR +#define AO_IGNITER_DROGUE_BIT (1 << 3) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#define AO_IGNITER_DROGUE_PIN 3 +#define AO_IGNITER_MAIN_PIN 4 + +#define AO_IGNITER_DROGUE_PORT AO_IGNITER_PORT +#define AO_IGNITER_MAIN_PORT AO_IGNITER_PORT + +/* test these values with real igniters */ +#define AO_IGNITER_OPEN 1000 +#define AO_IGNITER_CLOSED 7000 +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) + +#define AO_SEND_MINI + +/* + * ADC + */ + +#define HAS_ADC 1 +#define AO_ADC_FIRST_PIN 0 + +struct ao_adc { + int16_t sense_a; /* apogee continuity sense */ + int16_t sense_m; /* main continuity sense */ + int16_t v_batt; /* battery voltage */ +}; + +#define ao_data_count ao_adc_count + +#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a) +#define AO_SENSE_MAIN(p) ((p)->adc.sense_m) + +#define AO_ADC_DUMP(p) \ + printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \ + (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt) + +#define FETCH_ADC() \ + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc); \ + switch (sequence) { \ + case 4: \ + a += 4; \ + sequence = 0; \ + break; \ + case 1: \ + a += 2; \ + sequence = 4; \ + break; \ + case 0: \ + sequence = 1; \ + break; \ + } \ + if (sequence) \ + ; + +#endif /* _AO_PINS_H_ */ diff --git a/src/telemini-v2.0/ao_telemini.c b/src/telemini-v2.0/ao_telemini.c new file mode 100644 index 00000000..84df2b8c --- /dev/null +++ b/src/telemini-v2.0/ao_telemini.c @@ -0,0 +1,54 @@ +/* + * Copyright © 2011 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 "ao.h" +#include "ao_pins.h" + +__xdata uint8_t ao_force_freq; + +void +main(void) +{ + /* + * Reduce the transient on the ignite pins at startup by + * pulling the pins low as soon as possible at power up + */ + ao_ignite_set_pins(); + + ao_clock_init(); + + /* Turn on the red LED until the system is stable */ + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_RED); + + ao_task_init(); + + ao_timer_init(); + ao_adc_init(); + ao_cmd_init(); + ao_storage_init(); + ao_ms5607_init(); + ao_flight_init(); + ao_log_init(); + ao_report_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(TRUE); + ao_igniter_init(); + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/test/Makefile b/src/test/Makefile index 75b1f848..9c304318 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -2,7 +2,7 @@ vpath % ..:../core:../drivers:../util:../micropeak:../aes PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \ ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \ - ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test + ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h @@ -73,3 +73,6 @@ ao_fat_test: ao_fat_test.c ao_fat.c ao_bufio.c ao_aes_test: ao_aes_test.c ao_aes.c ao_aes_tables.c cc $(CFLAGS) -o $@ ao_aes_test.c + +ao_int64_test: ao_int64_test.c ao_int64.c ao_int64.h + cc $(CFLAGS) -o $@ ao_int64_test.c