From ce8153472069ed56b24ac36f297ac569d1f767d4 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 27 May 2012 17:24:09 -0600 Subject: [PATCH] altos: Make telemetrum-v1.1 compile with new ao_data structure Signed-off-by: Keith Packard --- src/cc1111/ao_adc.c | 36 +++++++++++++++------------------ src/cc1111/ao_arch.h | 3 +-- src/cc1111/ao_ignite.c | 9 +++++---- src/core/ao_adc.h | 28 +++---------------------- src/core/ao_data.h | 2 +- src/core/ao_log_big.c | 24 +++++++++++----------- src/core/ao_telemetry.c | 28 ++++++++++++------------- src/product/Makefile.telemetrum | 4 ++-- src/stm/ao_adc_stm.c | 8 ++++++++ 9 files changed, 62 insertions(+), 80 deletions(-) diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c index 1688eceb..1e3d8cab 100644 --- a/src/cc1111/ao_adc.c +++ b/src/cc1111/ao_adc.c @@ -16,13 +16,9 @@ */ #include "ao.h" -#include "ao_pins.h" -volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; -#if HAS_ACCEL_REF -volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING]; -#endif -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; void ao_adc_poll(void) @@ -39,14 +35,14 @@ ao_adc_poll(void) } void -ao_adc_get(__xdata struct ao_adc *packet) +ao_data_get(__xdata struct ao_data *packet) { #if HAS_FLIGHT - uint8_t i = ao_adc_ring_prev(ao_sample_adc); + uint8_t i = ao_data_ring_prev(ao_sample_data); #else - uint8_t i = ao_adc_ring_prev(ao_adc_head); + uint8_t i = ao_data_ring_prev(ao_data_head); #endif - ao_xmemcpy(packet, &ao_adc_ring[i], sizeof (struct ao_adc)); + ao_xmemcpy(packet, (void __xdata *) &ao_data_ring[i], sizeof (struct ao_data)); } void @@ -60,14 +56,14 @@ ao_adc_isr(void) __interrupt 1 /* TeleMetrum readings */ #if HAS_ACCEL_REF if (sequence == 2) { - a = (uint8_t __xdata *) (&ao_accel_ref[ao_adc_head]); + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].accel_ref); sequence = 0; } else #endif { if (sequence == ADCCON3_ECH_TEMP) sequence = 2; - a = (uint8_t __xdata *) (&ao_adc_ring[ao_adc_head].accel + sequence); + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.accel + sequence); sequence++; } #define GOT_ADC @@ -87,7 +83,7 @@ ao_adc_isr(void) __interrupt 1 #if IGNITE_ON_P0 /* TeleMini readings */ - a = (uint8_t __xdata *) (&ao_adc_ring[ao_adc_head].pres); + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].pres); #ifdef TELEMINI_V_1_0 switch (sequence) { case 0: @@ -149,20 +145,20 @@ ao_adc_isr(void) __interrupt 1 else { /* record this conversion series */ - ao_adc_ring[ao_adc_head].tick = ao_time(); - ao_adc_head = ao_adc_ring_next(ao_adc_head); - ao_wakeup(DATA_TO_XDATA(&ao_adc_head)); + ao_data_ring[ao_data_head].tick = ao_time(); + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup(DATA_TO_XDATA(&ao_data_head)); } } static void ao_adc_dump(void) __reentrant { - static __xdata struct ao_adc packet; - ao_adc_get(&packet); + static __xdata struct ao_data packet; + ao_data_get(&packet); printf("tick: %5u accel: %5d pres: %5d temp: %5d batt: %5d drogue: %5d main: %5d\n", - packet.tick, packet.accel, packet.pres, packet.temp, - packet.v_batt, packet.sense_d, packet.sense_m); + packet.tick, packet.adc.accel, packet.adc.pres, packet.adc.temp, + packet.adc.v_batt, packet.adc.sense_d, packet.adc.sense_m); } __code struct ao_cmds ao_adc_cmds[] = { diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h index 9d0643b4..704ae4f9 100644 --- a/src/cc1111/ao_arch.h +++ b/src/cc1111/ao_arch.h @@ -199,7 +199,6 @@ extern __code __at (0x00a6) uint32_t ao_radio_cal; #define ao_arch_critical(b) __critical { b } struct ao_adc { - uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ int16_t pres; /* pressure sensor */ int16_t temp; /* temperature sensor */ @@ -208,7 +207,7 @@ struct ao_adc { int16_t sense_m; /* main continuity sense */ }; -#define AO_ADC_RING 32 +#define AO_DATA_RING 32 /* ao_button.c */ #ifdef HAS_BUTTON diff --git a/src/cc1111/ao_ignite.c b/src/cc1111/ao_ignite.c index dd529088..cf07dfe8 100644 --- a/src/cc1111/ao_ignite.c +++ b/src/cc1111/ao_ignite.c @@ -16,6 +16,7 @@ */ #include "ao.h" +#include __xdata struct ao_ignition ao_ignition[2]; @@ -29,12 +30,12 @@ ao_ignite(enum ao_igniter igniter) __critical enum ao_igniter_status ao_igniter_status(enum ao_igniter igniter) { - __xdata struct ao_adc adc; + __xdata struct ao_data packet; __pdata int16_t value; __pdata uint8_t request, firing, fired; __critical { - ao_adc_get(&adc); + ao_data_get(&packet); request = ao_ignition[igniter].request; fired = ao_ignition[igniter].fired; firing = ao_ignition[igniter].firing; @@ -45,10 +46,10 @@ ao_igniter_status(enum ao_igniter igniter) value = (AO_IGNITER_CLOSED>>1); switch (igniter) { case ao_igniter_drogue: - value = adc.sense_d; + value = packet.adc.sense_d; break; case ao_igniter_main: - value = adc.sense_m; + value = packet.adc.sense_m; break; } if (value < AO_IGNITER_OPEN) diff --git a/src/core/ao_adc.h b/src/core/ao_adc.h index 8ec740c4..0dd87080 100644 --- a/src/core/ao_adc.h +++ b/src/core/ao_adc.h @@ -18,29 +18,7 @@ #ifndef _AO_ADC_H_ #define _AO_ADC_H_ -/* - * One set of samples read from the A/D converter or telemetry - */ - -#if AO_ADC_RING -/* - * ao_adc.c - */ - -#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) -#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) - - -/* - * A/D data is stored in a ring, with the next sample to be written - * at ao_adc_head - */ -extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; -extern volatile __data uint8_t ao_adc_head; -#if HAS_ACCEL_REF -extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING]; -#endif -#endif +#include /* Trigger a conversion sequence (called from the timer interrupt) */ void @@ -50,9 +28,9 @@ ao_adc_poll(void); void ao_adc_sleep(void); -/* Get a copy of the last complete A/D sample set */ +/* Get a copy of the last complete sample set */ void -ao_adc_get(__xdata struct ao_adc *packet); +ao_data_get(__xdata struct ao_data *packet); /* Initialize the A/D converter */ void diff --git a/src/core/ao_data.h b/src/core/ao_data.h index d28730a8..bd7e2d54 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -96,7 +96,7 @@ typedef int16_t accel_t; typedef int16_t accel_t; #define ao_data_accel(packet) ((packet)->adc.accel) -#define ao_data_set_accel(packet, accel) ((packet)->adc.accel = (accel)) +#define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a)) #define ao_data_accel_invert(a) (0x7fff -(a)) /* diff --git a/src/core/ao_log_big.c b/src/core/ao_log_big.c index 43b3aa0c..50eca069 100644 --- a/src/core/ao_log_big.c +++ b/src/core/ao_log_big.c @@ -60,7 +60,7 @@ ao_log_dump_check_data(void) return 1; } -static __data uint8_t ao_log_adc_pos; +static __data uint8_t ao_log_data_pos; /* a hack to make sure that ao_log_records fill the eeprom block in even units */ typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ; @@ -94,17 +94,17 @@ ao_log(void) /* Write the whole contents of the ring to the log * when starting up. */ - ao_log_adc_pos = ao_adc_ring_next(ao_sample_adc); - next_other = next_sensor = ao_adc_ring[ao_log_adc_pos].tick; + ao_log_data_pos = ao_data_ring_next(ao_sample_data); + next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick; ao_log_state = ao_flight_startup; for (;;) { /* Write samples to EEPROM */ - while (ao_log_adc_pos != ao_sample_adc) { - log.tick = ao_adc_ring[ao_log_adc_pos].tick; + while (ao_log_data_pos != ao_sample_data) { + log.tick = ao_data_ring[ao_log_data_pos].tick; if ((int16_t) (log.tick - next_sensor) >= 0) { log.type = AO_LOG_SENSOR; - log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel; - log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres; + log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel; + log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres; ao_log_data(&log); if (ao_log_state <= ao_flight_coast) next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT; @@ -113,16 +113,16 @@ ao_log(void) } if ((int16_t) (log.tick - next_other) >= 0) { log.type = AO_LOG_TEMP_VOLT; - log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp; - log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt; + log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp; + log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt; ao_log_data(&log); log.type = AO_LOG_DEPLOY; - log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d; - log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m; + log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d; + log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m; ao_log_data(&log); next_other = log.tick + AO_OTHER_INTERVAL; } - ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos); + ao_log_data_pos = ao_data_ring_next(ao_log_data_pos); } /* Write state change to EEPROM */ if (ao_flight_state != ao_log_state) { diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c index 46d72609..800adfcb 100644 --- a/src/core/ao_telemetry.c +++ b/src/core/ao_telemetry.c @@ -53,23 +53,23 @@ static __xdata union ao_telemetry_all telemetry; static void ao_send_sensor(void) { - uint8_t sample = ao_adc_ring_prev(ao_sample_adc); + uint8_t sample = ao_data_ring_prev(ao_sample_data); - telemetry.generic.tick = ao_adc_ring[sample].tick; + telemetry.generic.tick = ao_data_ring[sample].tick; telemetry.generic.type = AO_TELEMETRY_SENSOR; telemetry.sensor.state = ao_flight_state; #if HAS_ACCEL - telemetry.sensor.accel = ao_adc_ring[sample].accel; + telemetry.sensor.accel = ao_data_ring[sample].adc.accel; #else telemetry.sensor.accel = 0; #endif - telemetry.sensor.pres = ao_adc_ring[sample].pres; - telemetry.sensor.temp = ao_adc_ring[sample].temp; - telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt; + telemetry.sensor.pres = ao_data_ring[sample].adc.pres; + telemetry.sensor.temp = ao_data_ring[sample].adc.temp; + telemetry.sensor.v_batt = ao_data_ring[sample].adc.v_batt; #if HAS_IGNITE - telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d; - telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m; + telemetry.sensor.sense_d = ao_data_ring[sample].adc.sense_d; + telemetry.sensor.sense_m = ao_data_ring[sample].adc.sense_m; #else telemetry.sensor.sense_d = 0; telemetry.sensor.sense_m = 0; @@ -99,19 +99,19 @@ static uint8_t ao_baro_sample; static void ao_send_baro(void) { - uint8_t sample = ao_sample_adc; - uint8_t samples = (sample - ao_baro_sample) & (AO_ADC_RING - 1); + uint8_t sample = ao_sample_data; + uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1); if (samples > 12) { - ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_ADC_RING - 1); + ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1); samples = 12; } - telemetry.generic.tick = ao_adc_ring[sample].tick; + telemetry.generic.tick = ao_data_ring[sample].tick; telemetry.generic.type = AO_TELEMETRY_BARO; telemetry.baro.samples = samples; for (sample = 0; sample < samples; sample++) { - telemetry.baro.baro[sample] = ao_adc_ring[ao_baro_sample].pres; - ao_baro_sample = ao_adc_ring_next(ao_baro_sample); + telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres; + ao_baro_sample = ao_data_ring_next(ao_baro_sample); } ao_radio_send(&telemetry, sizeof (telemetry)); } diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum index e4f55f88..b1111053 100644 --- a/src/product/Makefile.telemetrum +++ b/src/product/Makefile.telemetrum @@ -34,8 +34,8 @@ CORE_SRC = \ ao_stdio.c \ ao_storage.c \ ao_task.c \ - ao_flight.c \ - ao_sample.c \ + ao_flight_mm.c \ + ao_sample_mm.c \ ao_kalman.c \ ao_log.c \ ao_log_big.c \ diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c index 02187205..ea9e25e4 100644 --- a/src/stm/ao_adc_stm.c +++ b/src/stm/ao_adc_stm.c @@ -104,14 +104,22 @@ ao_adc_poll(void) void ao_adc_get(__xdata struct ao_adc *packet) { +#if HAS_FLIGHT + uint8_t i = ao_data_ring_prev(ao_sample_data); +#else uint8_t i = ao_data_ring_prev(ao_data_head); +#endif memcpy(packet, (void *) &ao_data_ring[i].adc, sizeof (struct ao_adc)); } void ao_data_get(__xdata struct ao_data *packet) { +#if HAS_FLIGHT + uint8_t i = ao_data_ring_prev(ao_sample_data); +#else uint8_t i = ao_data_ring_prev(ao_data_head); +#endif memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); } -- 2.30.2