From: Keith Packard Date: Fri, 7 Oct 2011 14:40:14 +0000 (-0600) Subject: Merge remote-tracking branch 'uniarch/master' into multiarch X-Git-Tag: 1.0.9.1~2 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=f6f54d70b768dca1715ddddea64a4df00d82b09e Merge remote-tracking branch 'uniarch/master' into multiarch Conflicts: src/core/ao_cmd.c Use ao_arch_reboot after waiting for a second --- f6f54d70b768dca1715ddddea64a4df00d82b09e diff --cc src/cc1111/ao_packet_slave.c index 9f14052a,00000000..d7cafa68 mode 100644,000000..100644 --- a/src/cc1111/ao_packet_slave.c +++ b/src/cc1111/ao_packet_slave.c @@@ -1,64 -1,0 +1,66 @@@ +/* + * 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; 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" + +void +ao_packet_slave(void) +{ + ao_tx_packet.addr = ao_serial_number; + ao_tx_packet.len = AO_PACKET_SYN; + while (ao_packet_enable) { + if (ao_packet_recv()) { + memcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN); +#if HAS_FLIGHT + ao_flight_force_idle = TRUE; +#endif + ao_packet_send(); + } + } + ao_exit(); +} + +void +ao_packet_slave_start(void) +{ - ao_packet_enable = 1; - ao_add_task(&ao_packet_task, ao_packet_slave, "slave"); ++ if (!ao_packet_enable) { ++ ao_packet_enable = 1; ++ ao_add_task(&ao_packet_task, ao_packet_slave, "slave"); ++ } +} + +void +ao_packet_slave_stop(void) +{ + if (ao_packet_enable) { + ao_packet_enable = 0; + while (ao_packet_task.wchan) { + ao_radio_recv_abort(); + ao_delay(AO_MS_TO_TICKS(10)); + } + } +} + +void +ao_packet_slave_init(uint8_t enable) +{ + ao_add_stdio(ao_packet_pollchar, + ao_packet_putchar, + NULL); + if (enable) + ao_packet_slave_start(); +} diff --cc src/core/ao_cmd.c index d0a46633,00000000..2b64b8ca mode 100644,000000..100644 --- a/src/core/ao_cmd.c +++ b/src/core/ao_cmd.c @@@ -1,339 -1,0 +1,345 @@@ +/* + * 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; 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" + +__pdata uint16_t ao_cmd_lex_i; +__pdata uint32_t ao_cmd_lex_u32; +__pdata char ao_cmd_lex_c; +__pdata enum ao_cmd_status ao_cmd_status; + +#define CMD_LEN 48 + +static __xdata char cmd_line[CMD_LEN]; +static __pdata uint8_t cmd_len; +static __pdata uint8_t cmd_i; + +static void +put_string(__code char *s) +{ + char c; + while ((c = *s++)) + putchar(c); +} + +static void +readline(void) +{ + __pdata char c; + if (ao_echo()) + put_string("> "); + cmd_len = 0; + for (;;) { + flush(); + c = getchar(); + /* backspace/delete */ + if (c == '\010' || c == '\177') { + if (cmd_len != 0) { + if (ao_echo()) + put_string("\010 \010"); + --cmd_len; + } + continue; + } + + /* ^U */ + if (c == '\025') { + while (cmd_len != 0) { + if (ao_echo()) + put_string("\010 \010"); + --cmd_len; + } + continue; + } + + /* map CR to NL */ + if (c == '\r') + c = '\n'; + + if (c == '\n') { + if (ao_echo()) + putchar('\n'); + break; + } + + if (cmd_len >= CMD_LEN - 2) { + if (ao_echo()) + putchar('\007'); + continue; + } + cmd_line[cmd_len++] = c; + if (ao_echo()) + putchar(c); + } + cmd_line[cmd_len++] = '\n'; + cmd_line[cmd_len++] = '\0'; + cmd_i = 0; +} + +void +ao_cmd_lex(void) +{ + ao_cmd_lex_c = '\n'; + if (cmd_i < cmd_len) + ao_cmd_lex_c = cmd_line[cmd_i++]; +} + +static void +putnibble(uint8_t v) +{ + if (v < 10) + putchar(v + '0'); + else + putchar(v + ('a' - 10)); +} + +void +ao_cmd_put16(uint16_t v) +{ + ao_cmd_put8(v >> 8); + ao_cmd_put8(v); +} + +void +ao_cmd_put8(uint8_t v) +{ + putnibble((v >> 4) & 0xf); + putnibble(v & 0xf); +} + +void +ao_cmd_white(void) +{ + while (ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t') + ao_cmd_lex(); +} + +int8_t +ao_cmd_hexchar(char c) +{ + 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); + return -1; +} + +void +ao_cmd_hexbyte(void) +{ + uint8_t i; + int8_t n; + + ao_cmd_lex_i = 0; + ao_cmd_white(); + for (i = 0; i < 2; i++) { + n = ao_cmd_hexchar(ao_cmd_lex_c); + if (n < 0) { + ao_cmd_status = ao_cmd_syntax_error; + break; + } + ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n; + ao_cmd_lex(); + } +} + +void +ao_cmd_hex(void) +{ + __pdata uint8_t r = ao_cmd_lex_error; + int8_t n; + + ao_cmd_lex_i = 0; + ao_cmd_white(); + for(;;) { + n = ao_cmd_hexchar(ao_cmd_lex_c); + if (n < 0) + break; + ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n; + r = ao_cmd_success; + ao_cmd_lex(); + } + if (r != ao_cmd_success) + ao_cmd_status = r; +} + +void +ao_cmd_decimal(void) +{ + __pdata uint8_t r = ao_cmd_lex_error; + + ao_cmd_lex_u32 = 0; + ao_cmd_white(); + for(;;) { + if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') + ao_cmd_lex_u32 = (ao_cmd_lex_u32 * 10) + (ao_cmd_lex_c - '0'); + else + break; + r = ao_cmd_success; + ao_cmd_lex(); + } + if (r != ao_cmd_success) + ao_cmd_status = r; + ao_cmd_lex_i = (uint16_t) ao_cmd_lex_u32; +} + +uint8_t +ao_match_word(__code char *word) +{ + while (*word) { + if (ao_cmd_lex_c != *word) { + ao_cmd_status = ao_cmd_syntax_error; + return 0; + } + word++; + ao_cmd_lex(); + } + return 1; +} + +static void +echo(void) +{ + ao_cmd_hex(); + if (ao_cmd_status == ao_cmd_success) + ao_stdios[ao_cur_stdio].echo = ao_cmd_lex_i != 0; +} + +static void +ao_reboot(void) +{ + ao_cmd_white(); + if (!ao_match_word("eboot")) + return; ++ /* Delay waiting for the packet master to be turned off ++ * so that we don't end up back in idle mode because we ++ * received a packet after boot. ++ */ ++ flush(); ++ ao_delay(AO_SEC_TO_TICKS(1)); + ao_arch_reboot(); + ao_panic(AO_PANIC_REBOOT); +} + +static void +version(void) +{ + printf("manufacturer %s\n", ao_manufacturer); + printf("product %s\n", ao_product); + printf("serial-number %u\n", ao_serial_number); +#if HAS_LOG + printf("log-format %u\n", ao_log_format); +#endif + printf("software-version %s\n", ao_version); +} + +#define NUM_CMDS 11 + +static __code struct ao_cmds *__xdata (ao_cmds[NUM_CMDS]); +static __pdata uint8_t ao_ncmds; + +static void +help(void) +{ + register uint8_t cmds; + register uint8_t cmd; + register __code struct ao_cmds * cs; + + for (cmds = 0; cmds < ao_ncmds; cmds++) { + cs = ao_cmds[cmds]; + for (cmd = 0; cs[cmd].func; cmd++) + printf("%-45s %s\n", + cs[cmd].help, + cs[cmd].help+1+strlen(cs[cmd].help)); + } +} + +static void +report(void) +{ + switch(ao_cmd_status) { + case ao_cmd_lex_error: + case ao_cmd_syntax_error: + puts("Syntax error"); + ao_cmd_status = 0; + default: + break; + } +} + +void +ao_cmd_register(__code struct ao_cmds *cmds) +{ + if (ao_ncmds >= NUM_CMDS) + ao_panic(AO_PANIC_CMD); + ao_cmds[ao_ncmds++] = cmds; +} + +void +ao_cmd(void) +{ + char c; + uint8_t cmd, cmds; + __code struct ao_cmds * __xdata cs; + void (*__xdata func)(void); + + for (;;) { + readline(); + ao_cmd_lex(); + ao_cmd_white(); + c = ao_cmd_lex_c; + ao_cmd_lex(); + if (c == '\r' || c == '\n') + continue; + func = (void (*)(void)) NULL; + for (cmds = 0; cmds < ao_ncmds; cmds++) { + cs = ao_cmds[cmds]; + for (cmd = 0; cs[cmd].func; cmd++) + if (cs[cmd].help[0] == c) { + func = cs[cmd].func; + break; + } + if (func) + break; + } + if (func) + (*func)(); + else + ao_cmd_status = ao_cmd_syntax_error; + report(); + } +} + +__xdata struct ao_task ao_cmd_task; + +__code struct ao_cmds ao_base_cmds[] = { + { help, "?\0Help" }, + { ao_task_info, "T\0Show tasks" }, + { echo, "E <0 off, 1 on>\0Set echo mode" }, + { ao_reboot, "r eboot\0Reboot" }, + { version, "v\0Version" }, + { 0, NULL }, +}; + +void +ao_cmd_init(void) +{ + ao_cmd_register(&ao_base_cmds[0]); + ao_add_task(&ao_cmd_task, ao_cmd, "cmd"); +} diff --cc src/core/ao_flight.c index a5cf7468,00000000..433efeae mode 100644,000000..100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@@ -1,326 -1,0 +1,335 @@@ +/* + * 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; 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_FLIGHT_TEST +#include "ao.h" +#endif + +#ifndef HAS_ACCEL +#error Please define HAS_ACCEL +#endif + +#ifndef HAS_GPS +#error Please define HAS_GPS +#endif + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +/* Main flight thread. */ + +__pdata enum ao_flight_state ao_flight_state; /* current flight state */ +__pdata uint16_t ao_boost_tick; /* time of launch detect */ + +/* + * track min/max data over a long interval to detect + * resting + */ +__pdata uint16_t ao_interval_end; +__pdata int16_t ao_interval_min_height; +__pdata int16_t ao_interval_max_height; +__pdata uint8_t ao_flight_force_idle; + +/* We also have a clock, which can be used to sanity check things in + * case of other failures + */ + +#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15) + +/* Landing is detected by getting constant readings from both pressure and accelerometer + * for a fairly long time (AO_INTERVAL_TICKS) + */ +#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10) + +#define abs(a) ((a) < 0 ? -(a) : (a)) + +void +ao_flight(void) +{ + ao_sample_init(); + ao_flight_state = ao_flight_startup; + for (;;) { + + /* + * Process ADC samples, just looping + * until the sensors are calibrated. + */ + if (!ao_sample()) + continue; + + switch (ao_flight_state) { + case ao_flight_startup: + + /* Check to see what mode we should go to. + * - Invalid mode if accel cal appears to be out + * - pad mode if we're upright, + * - idle mode otherwise + */ +#if HAS_ACCEL + if (ao_config.accel_plus_g == 0 || + ao_config.accel_minus_g == 0 || + ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || + ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP) + { + /* Detected an accel value outside -1.5g to 1.5g + * (or uncalibrated values), so we go into invalid mode + */ + ao_flight_state = ao_flight_invalid; + ++ /* Turn on packet system in invalid mode on TeleMetrum */ ++ ao_packet_slave_start(); + } else +#endif + if (!ao_flight_force_idle +#if HAS_ACCEL + && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP +#endif + ) + { + /* Set pad mode - we can fly! */ + ao_flight_state = ao_flight_pad; +#if HAS_USB + /* Disable the USB controller in flight mode + * to save power + */ + ao_usb_disable(); +#endif + - /* Disable packet mode in pad state */ ++#if !HAS_ACCEL ++ /* Disable packet mode in pad state on TeleMini */ + ao_packet_slave_stop(); ++#endif + + /* Turn on telemetry system */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } else { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + ++#if HAS_ACCEL ++ /* Turn on packet system in idle mode on TeleMetrum */ ++ ao_packet_slave_start(); ++#endif ++ + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + + break; + case ao_flight_pad: + + /* pad to boost: + * + * barometer: > 20m vertical motion + * OR + * accelerometer: > 2g AND velocity > 5m/s + * + * The accelerometer should always detect motion before + * the barometer, but we use both to make sure this + * transition is detected. If the device + * doesn't have an accelerometer, then ignore the + * speed and acceleration as they are quite noisy + * on the pad. + */ + if (ao_height > AO_M_TO_HEIGHT(20) +#if HAS_ACCEL + || (ao_accel > AO_MSS_TO_ACCEL(20) && + ao_speed > AO_MS_TO_SPEED(5)) +#endif + ) + { + ao_flight_state = ao_flight_boost; + ao_boost_tick = ao_sample_tick; + + /* start logging data */ + ao_log_start(); + + /* Increase telemetry rate */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); + + /* disable RDF beacon */ + ao_rdf_set(0); + +#if HAS_GPS + /* Record current GPS position by waking up GPS log tasks */ + ao_wakeup(&ao_gps_data); + ao_wakeup(&ao_gps_tracking_data); +#endif + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_boost: + + /* boost to fast: + * + * accelerometer: start to fall at > 1/4 G + * OR + * time: boost for more than 15 seconds + * + * Detects motor burn out by the switch from acceleration to + * deceleration, or by waiting until the maximum burn duration + * (15 seconds) has past. + */ + if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) || + (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) + { +#if HAS_ACCEL + ao_flight_state = ao_flight_fast; +#else + ao_flight_state = ao_flight_coast; +#endif + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; +#if HAS_ACCEL + case ao_flight_fast: + /* + * This is essentially the same as coast, + * but the barometer is being ignored as + * it may be unreliable. + */ + if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) + { + ao_flight_state = ao_flight_coast; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } else + goto check_re_boost; + break; +#endif + case ao_flight_coast: + + /* apogee detect: coast to drogue deploy: + * + * speed: < 0 + * + * Also make sure the model altitude is tracking + * the measured altitude reasonably closely; otherwise + * we're probably transsonic. + */ + if (ao_speed < 0 +#if !HAS_ACCEL + && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100) +#endif + ) + { + /* ignite the drogue charge */ + ao_ignite(ao_igniter_drogue); + + /* slow down the telemetry system */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); + + /* Turn the RDF beacon back on */ + ao_rdf_set(1); + + /* and enter drogue state */ + ao_flight_state = ao_flight_drogue; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } +#if HAS_ACCEL + else { + check_re_boost: + if (ao_accel > AO_MSS_TO_ACCEL(20)) { + ao_boost_tick = ao_sample_tick; + ao_flight_state = ao_flight_boost; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + } +#endif + + break; + case ao_flight_drogue: + + /* drogue to main deploy: + * + * barometer: reach main deploy altitude + * + * Would like to use the accelerometer for this test, but + * the orientation of the flight computer is unknown after + * drogue deploy, so we ignore it. Could also detect + * high descent rate using the pressure sensor to + * recognize drogue deploy failure and eject the main + * at that point. Perhaps also use the drogue sense lines + * to notice continutity? + */ + if (ao_height <= ao_config.main_deploy) + { + ao_ignite(ao_igniter_main); + + /* + * Start recording min/max height + * to figure out when the rocket has landed + */ + + /* initialize interval values */ + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + + ao_interval_min_height = ao_interval_max_height = ao_avg_height; + + ao_flight_state = ao_flight_main; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + + /* fall through... */ + case ao_flight_main: + + /* main to land: + * + * barometer: altitude stable + */ + + if (ao_avg_height < ao_interval_min_height) + ao_interval_min_height = ao_avg_height; + if (ao_avg_height > ao_interval_max_height) + ao_interval_max_height = ao_avg_height; + + if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { + if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4)) + { + ao_flight_state = ao_flight_landed; + + /* turn off the ADC capture */ + ao_timer_set_adc_interval(0); + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + ao_interval_min_height = ao_interval_max_height = ao_avg_height; + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + } + break; + case ao_flight_landed: + break; + } + } +} + +static __xdata struct ao_task flight_task; + +void +ao_flight_init(void) +{ + ao_flight_state = ao_flight_startup; + ao_add_task(&flight_task, ao_flight, "flight"); +} diff --cc src/product/ao_telemetrum.c index f560740a,00000000..ea77f5af mode 100644,000000..100644 --- a/src/product/ao_telemetrum.c +++ b/src/product/ao_telemetrum.c @@@ -1,70 -1,0 +1,70 @@@ +/* + * 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; 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" + +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); + + /* A hack -- look at the SPI clock pin, if it's sitting at + * ground, then we force the computer to idle mode instead of + * flight mode + */ + if (P1_3 == 0) { + ao_flight_force_idle = 1; + while (P1_3 == 0) + ; + } + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_storage_init(); + ao_flight_init(); + ao_log_init(); + ao_report_init(); + ao_usb_init(); + ao_serial_init(); + ao_gps_init(); + ao_gps_report_init(); + ao_telemetry_init(); + ao_radio_init(); - ao_packet_slave_init(TRUE); ++ ao_packet_slave_init(FALSE); + ao_igniter_init(); +#if HAS_DBG + ao_dbg_init(); +#endif +#if HAS_COMPANION + ao_companion_init(); +#endif + ao_config_init(); + ao_start_scheduler(); +}