From 29edf6d901432a1afc65900ff599c963edac5a2b Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 27 May 2012 17:44:01 -0600 Subject: [PATCH] altos: Make telescience-v0.1 build with new ao_data struct Signed-off-by: Keith Packard --- src/avr/ao_adc_avr.c | 24 +++++++------- src/avr/ao_pins.h | 3 +- src/core/ao_log_telescience.c | 14 ++++---- src/core/ao_stdio.c | 16 +++++----- src/drivers/ao_science_slave.c | 2 +- src/test/Makefile | 4 +-- src/test/ao_flight_test.c | 58 ++++++++++++++++++---------------- 7 files changed, 61 insertions(+), 60 deletions(-) diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c index 4f6f0e60..928cd3e1 100644 --- a/src/avr/ao_adc_avr.c +++ b/src/avr/ao_adc_avr.c @@ -17,8 +17,8 @@ #include "ao.h" -volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; -volatile __data uint8_t ao_adc_head; +volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; +volatile __data uint8_t ao_data_head; #ifdef TELESCIENCE const uint8_t adc_channels[AO_LOG_TELESCIENCE_NUM_ADC] = { @@ -92,14 +92,14 @@ ISR(ADC_vect) /* Must read ADCL first or the value there will be lost */ value = ADCL; value |= (ADCH << 8); - ao_adc_ring[ao_adc_head].adc[ao_adc_channel] = value; + ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value; if (++ao_adc_channel < NUM_ADC) ao_adc_start(); else { ADCSRA = ADCSRA_INIT; - ao_adc_ring[ao_adc_head].tick = ao_time(); - ao_adc_head = ao_adc_ring_next(ao_adc_head); - ao_wakeup((void *) &ao_adc_head); + ao_data_ring[ao_data_head].tick = ao_time(); + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup((void *) &ao_data_head); ao_cpu_sleep_disable = 0; } } @@ -113,18 +113,18 @@ ao_adc_poll(void) } void -ao_adc_get(__xdata struct ao_adc *packet) +ao_data_get(__xdata struct ao_data *packet) { - uint8_t i = ao_adc_ring_prev(ao_adc_head); - memcpy(packet, (void *) &ao_adc_ring[i], sizeof (struct ao_adc)); + uint8_t i = ao_data_ring_prev(ao_data_head); + memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); } static void ao_adc_dump(void) __reentrant { - static __xdata struct ao_adc packet; + static __xdata struct ao_data packet; uint8_t i; - ao_adc_get(&packet); + ao_data_get(&packet); #ifdef TELEPYRO printf("ADMUX: %02x\n", ADMUX); printf("ADCSRA: %02x\n", ADCSRA); @@ -137,7 +137,7 @@ ao_adc_dump(void) __reentrant #endif printf("tick: %5u", packet.tick); for (i = 0; i < NUM_ADC; i++) - printf (" %2d: %5u", i, packet.adc[i]); + printf (" %2d: %5u", i, packet.adc.adc[i]); printf("\n"); diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h index f2b40fb4..850a08ec 100644 --- a/src/avr/ao_pins.h +++ b/src/avr/ao_pins.h @@ -91,10 +91,9 @@ #define AO_TELESCIENCE_NUM_ADC 12 struct ao_adc { - uint16_t tick; /* tick when the sample was read */ uint16_t adc[AO_TELESCIENCE_NUM_ADC]; /* samples */ }; -#define AO_ADC_RING 16 +#define AO_DATA_RING 16 #endif /* _AO_PINS_H_ */ diff --git a/src/core/ao_log_telescience.c b/src/core/ao_log_telescience.c index ae045281..002a10bd 100644 --- a/src/core/ao_log_telescience.c +++ b/src/core/ao_log_telescience.c @@ -20,7 +20,7 @@ #include "ao_log.h" #include "ao_companion.h" -static uint8_t ao_log_adc_pos; +static uint8_t ao_log_data_pos; __code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE; @@ -62,20 +62,20 @@ ao_log_single(void) /* Write the whole contents of the ring to the log * when starting up. */ - ao_log_adc_pos = ao_adc_ring_next(ao_adc_head); + ao_log_data_pos = ao_data_ring_next(ao_data_head); ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_DATA; while (ao_log_running) { /* Write samples to EEPROM */ - while (ao_log_adc_pos != ao_adc_head) { - ao_log_single_write_data.telescience.tick = ao_adc_ring[ao_log_adc_pos].tick; - memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc, + while (ao_log_data_pos != ao_data_head) { + ao_log_single_write_data.telescience.tick = ao_data_ring[ao_log_data_pos].tick; + memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_data_ring[ao_log_data_pos].adc.adc, AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); ao_log_telescience_csum(); ao_log_single_write(); - ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos); + ao_log_data_pos = ao_data_ring_next(ao_log_data_pos); } /* Wait for more ADC data to arrive */ - ao_sleep((void *) &ao_adc_head); + ao_sleep((void *) &ao_data_head); } memset(&ao_log_single_write_data.telescience.adc, '\0', sizeof (ao_log_single_write_data.telescience.adc)); } diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c index 9b4ea473..656b23c9 100644 --- a/src/core/ao_stdio.c +++ b/src/core/ao_stdio.c @@ -53,14 +53,14 @@ #endif #define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN + \ - USE_SERIAL_1_STDIN | \ - USE_SERIAL_2_STDIN | \ - USE_SERIAL_3_STDIN | \ - USE_SERIAL_4_STDIN | \ - USE_SERIAL_5_STDIN | \ - USE_SERIAL_6_STDIN | \ - USE_SERIAL_7_STDIN | \ - USE_SERIAL_8_STDIN | \ + USE_SERIAL_1_STDIN + \ + USE_SERIAL_2_STDIN + \ + USE_SERIAL_3_STDIN + \ + USE_SERIAL_4_STDIN + \ + USE_SERIAL_5_STDIN + \ + USE_SERIAL_6_STDIN + \ + USE_SERIAL_7_STDIN + \ + USE_SERIAL_8_STDIN + \ USE_SERIAL_9_STDIN) #define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN) diff --git a/src/drivers/ao_science_slave.c b/src/drivers/ao_science_slave.c index a86b5151..996e98d9 100644 --- a/src/drivers/ao_science_slave.c +++ b/src/drivers/ao_science_slave.c @@ -42,7 +42,7 @@ void ao_spi_slave(void) sizeof (ao_telescience_setup)); break; case AO_COMPANION_FETCH: - ao_spi_slave_send((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc, + ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc, AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); break; case AO_COMPANION_NOTIFY: diff --git a/src/test/Makefile b/src/test/Makefile index 3c2b8732..1e54f5e0 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -13,10 +13,10 @@ clean: install: -ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h +ao_flight_test: ao_flight_test.c ao_host.h ao_flight_mm.c ao_sample_mm.c ao_kalman.c altitude.h ao_kalman.h cc $(CFLAGS) -o $@ $< -ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h +ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight_mm.c ao_sample_mm.c ao_kalman.c altitude.h ao_kalman.h cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $< ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 4a8625cf..baf2ad1d 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -26,9 +26,10 @@ #define AO_HERTZ 100 -#define AO_ADC_RING 64 -#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) -#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) +#define HAS_ADC 1 +#define AO_DATA_RING 64 +#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) +#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) #define AO_M_TO_HEIGHT(m) ((int16_t) (m)) #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) @@ -38,7 +39,6 @@ * One set of samples read from the A/D converter */ struct ao_adc { - uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ int16_t pres; /* pressure sensor */ int16_t pres_real; /* unclipped */ @@ -54,6 +54,8 @@ struct ao_adc { #define __code #define __reentrant +#include + #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix(x) ((x) >> 16) @@ -90,8 +92,8 @@ extern enum ao_flight_state ao_flight_state; #define FALSE 0 #define TRUE 1 -struct ao_adc ao_adc_ring[AO_ADC_RING]; -uint8_t ao_adc_head; +volatile struct ao_data ao_data_ring[AO_DATA_RING]; +volatile uint8_t ao_data_head; int ao_summary = 0; #define ao_led_on(l) @@ -110,7 +112,7 @@ enum ao_igniter { ao_igniter_main = 1 }; -struct ao_adc ao_adc_static; +struct ao_data ao_data_static; int drogue_height; double drogue_time; @@ -124,7 +126,7 @@ static int32_t ao_k_height; void ao_ignite(enum ao_igniter igniter) { - double time = (double) (ao_adc_static.tick + tick_offset) / 100; + double time = (double) (ao_data_static.tick + tick_offset) / 100; if (igniter == ao_igniter_drogue) { drogue_time = time; @@ -221,8 +223,8 @@ int ao_sample_prev_tick; uint16_t prev_tick; #include "ao_kalman.c" -#include "ao_sample.c" -#include "ao_flight.c" +#include "ao_sample_mm.c" +#include "ao_flight_mm.c" #define to_double(f) ((f) / 65536.0) @@ -282,19 +284,19 @@ ao_insert(void) { double time; - ao_adc_ring[ao_adc_head] = ao_adc_static; - ao_adc_head = ao_adc_ring_next(ao_adc_head); + ao_data_ring[ao_data_head] = ao_data_static; + ao_data_head = ao_data_ring_next(ao_data_head); if (ao_flight_state != ao_flight_startup) { - double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height; - double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) / + double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height; + double accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) / (ao_config.accel_minus_g - ao_config.accel_plus_g); if (!tick_offset) - tick_offset = -ao_adc_static.tick; - if ((prev_tick - ao_adc_static.tick) > 0x400) + tick_offset = -ao_data_static.tick; + if ((prev_tick - ao_data_static.tick) > 0x400) tick_offset += 65536; - prev_tick = ao_adc_static.tick; - time = (double) (ao_adc_static.tick + tick_offset) / 100; + prev_tick = ao_data_static.tick; + time = (double) (ao_data_static.tick + tick_offset) / 100; if (ao_test_max_height < height) { ao_test_max_height = height; @@ -474,7 +476,7 @@ int16(uint8_t *bytes, int off) void ao_sleep(void *wchan) { - if (wchan == &ao_adc_head) { + if (wchan == &ao_data_head) { char type; uint16_t tick; uint16_t a, b; @@ -490,7 +492,7 @@ ao_sleep(void *wchan) for (;;) { if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) { - ao_adc_static.accel = ao_flight_ground_accel; + ao_data_static.adc.accel = ao_flight_ground_accel; ao_insert(); return; } @@ -501,7 +503,7 @@ ao_sleep(void *wchan) printf ("no more data, exiting simulation\n"); ao_test_exit(); } - ao_adc_static.tick += 10; + ao_data_static.tick += 10; ao_insert(); return; } @@ -639,19 +641,19 @@ ao_sleep(void *wchan) case 'S': break; case 'A': - ao_adc_static.tick = tick; - ao_adc_static.accel = a; - ao_adc_static.pres_real = b; + ao_data_static.tick = tick; + ao_data_static.adc.accel = a; + ao_data_static.adc.pres_real = b; if (b < AO_MIN_BARO_VALUE) b = AO_MIN_BARO_VALUE; - ao_adc_static.pres = b; + ao_data_static.adc.pres = b; ao_records_read++; ao_insert(); return; case 'T': - ao_adc_static.tick = tick; - ao_adc_static.temp = a; - ao_adc_static.v_batt = b; + ao_data_static.tick = tick; + ao_data_static.adc.temp = a; + ao_data_static.adc.v_batt = b; break; case 'D': case 'G': -- 2.30.2