Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

10 files changed, 362 insertions, 31 deletions

diff --git a/ao-tools/ao-dumplog/ao-dumplog.c b/ao-tools/ao-dumplog/ao-dumplog.c
index b930f0e5..158a445b 100644
--- a/ao-tools/ao-dumplog/ao-dumplog.c
+++ b/ao-tools/ao-dumplog/ao-dumplog.c
@@ -37,6 +37,30 @@ static void usage(char *program)
 	exit(1);
 }
 
+static uint8_t
+log_checksum(int d[8])
+{
+	uint8_t	sum = 0x5a;
+	int	i;
+
+	for (i = 0; i < 8; i++)
+		sum += (uint8_t) d[i];
+	return -sum;
+}
+
+static const char *state_names[] = {
+	"startup",
+	"idle",
+	"pad",
+	"boost",
+	"fast",
+	"coast",
+	"drogue",
+	"main",
+	"landed",
+	"invalid"
+};
+
 int
 main (int argc, char **argv)
 {
@@ -50,6 +74,12 @@ main (int argc, char **argv)
 	int		serial_number;
 	char		cmd;
 	int		tick, a, b;
+	int		block;
+	int		addr;
+	int		received_addr;
+	int		data[8];
+	int		done;
+	int		column;
 
 	while ((c = getopt_long(argc, argv, "T:D:", options, NULL)) != -1) {
 		switch (c) {
@@ -74,12 +104,10 @@ main (int argc, char **argv)
 	if (!cc)
 		exit(1);
 	/* send a 'version' command followed by a 'log' command */
-	cc_usb_printf(cc, "v\nl\n");
+	cc_usb_printf(cc, "v\n");
 	out = NULL;
 	for (;;) {
 		cc_usb_getline(cc, line, sizeof (line));
-		if (!strcmp (line, "end"))
-			break;
 		if (sscanf(line, "serial-number %u", &serial_number) == 1) {
 			filename = cc_make_filename(serial_number, "eeprom");
 			out = fopen (filename, "w");
@@ -87,16 +115,65 @@ main (int argc, char **argv)
 				perror(filename);
 			}
 			fprintf (out, "%s\n", line);
-		} else if (sscanf(line, "%c %x %x %x", &cmd, &tick, &a, &b) == 4) {
-			if (out) {
-				fprintf(out, "%s\n", line);
-				if (cmd == 'S' && a == 8) {
-					fclose(out);
-					out = NULL;
+		}
+		if (!strncmp(line, "software-version", 16))
+			break;
+	}
+	if (!out) {
+		fprintf(stderr, "no serial number found\n");
+		cc_usb_close(cc);
+		exit(1);
+	}
+	printf ("Serial number: %d\n", serial_number);
+	printf ("File name:     %s\n", filename);
+	done = 0;
+	column = 0;
+	for (block = 0; !done && block < 511; block++) {
+		cc_usb_printf(cc, "e %x\n", block);
+		if (column == 64) {
+			putchar('\n');
+			column = 0;
+		}
+		putchar('.'); fflush(stdout); column++;
+		for (addr = 0; addr < 0x100;) {
+			cc_usb_getline(cc, line, sizeof (line));
+			if (sscanf(line, "00%x %x %x %x %x %x %x %x %x",
+					  &received_addr,
+					  &data[0], &data[1], &data[2], &data[3],
+					  &data[4], &data[5], &data[6], &data[7]) == 9)
+			{
+				if (received_addr != addr)
+					fprintf(stderr, "data out of sync at 0x%x\n",
+						block * 256 + received_addr);
+
+				if (log_checksum(data) != 0)
+					fprintf (stderr, "invalid checksum at 0x%x\n",
+						 block * 256 + received_addr);
+
+				cmd = data[0];
+				tick = data[2] + (data[3] << 8);
+				a = data[4] + (data[5] << 8);
+				b = data[6] + (data[7] << 8);
+				if (cmd == 'S' && a <= 8) {
+					if (column) putchar('\n');
+					printf("%s\n", state_names[a]);
+					column = 0;
+				}
+				if (out) {
+					fprintf(out, "%c %4x %4x %4x\n",
+						cmd, tick, a, b);
+					if (cmd == 'S' && a == 8) {
+						fclose(out);
+						out = NULL;
+						done = 1;
+					}
 				}
+				addr += 8;
 			}
 		}
 	}
+	if (column)
+		putchar('\n');
 	if (out)
 		fclose (out);
 	cc_usb_close(cc);
diff --git a/ao-tools/ao-postflight/ao-postflight.c b/ao-tools/ao-postflight/ao-postflight.c
index 6418521e..cc9f64b4 100644
--- a/ao-tools/ao-postflight/ao-postflight.c
+++ b/ao-tools/ao-postflight/ao-postflight.c
@@ -313,14 +313,30 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FI
 		}
 	}
 	if (gps_file) {
+		int	j = 0;
 		fprintf(gps_file, "%9s %12s %12s %12s\n",
 			"time", "lat", "lon", "alt");
 		for (i = 0; i < f->gps.num; i++) {
-			fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f\n",
+			int	nsat = 0;
+			int	k;
+			while (j < f->gps.numsats - 1) {
+				if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
+				    f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
+					break;
+				j++;
+			}
+			fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f",
 				(f->gps.data[i].time - boost_start) / 100.0,
 				f->gps.data[i].lat,
 				f->gps.data[i].lon,
 				f->gps.data[i].alt);
+			nsat = 0;
+			for (k = 0; k < f->gps.sats[j].nsat; k++) {
+				fprintf (gps_file, " %12.7f", (double) f->gps.sats[j].sat[k].c_n);
+				if (f->gps.sats[j].sat[k].state == 0xbf)
+					nsat++;
+			}
+			fprintf(gps_file, " %d\n", nsat);
 		}
 	}
 	if (cooked && plot_name) {
diff --git a/ao-tools/ao-view/Makefile.am b/ao-tools/ao-view/Makefile.am
index 7b274a40..7a288417 100644
--- a/ao-tools/ao-view/Makefile.am
+++ b/ao-tools/ao-view/Makefile.am
@@ -25,6 +25,7 @@ ao_view_SOURCES = \
 	aoview_replay.c \
 	aoview_label.c \
 	aoview_flite.c \
+	aoview_channel.c \
 	aoview.h
 
 BUILT_SOURCES = aoview_glade.h
diff --git a/ao-tools/ao-view/aoview.glade b/ao-tools/ao-view/aoview.glade
index 9a746110..c302ad0d 100644
--- a/ao-tools/ao-view/aoview.glade
+++ b/ao-tools/ao-view/aoview.glade
@@ -258,6 +258,107 @@
               </widget>
             </child>
             <child>
+              <widget class="GtkMenuItem" id="channel_menu_item">
+                <property name="visible">True</property>
+                <property name="label" translatable="yes">_Channel</property>
+                <property name="use_underline">True</property>
+                <child>
+                  <widget class="GtkMenu" id="menu7">
+                    <property name="visible">True</property>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_0">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 0 (434.550MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_1">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 1 (434.650MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_2">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 2 (434.750MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_3">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 3 (434.850MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_4">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 4 (434.950MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_5">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 5 (435.050MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_6">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 6 (435.150MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_7">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 7 (435.250MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_8">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 8 (435.350MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="channel_9">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Channel 9 (435.450MHz)</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">channel_0</property>
+                      </widget>
+                    </child>
+                  </widget>
+                </child>
+              </widget>
+            </child>
+            <child>
               <widget class="GtkMenuItem" id="menuitem4">
                 <property name="visible">True</property>
                 <property name="label" translatable="yes">_Help</property>
diff --git a/ao-tools/ao-view/aoview.h b/ao-tools/ao-view/aoview.h
index 6a4753ac..c582159c 100644
--- a/ao-tools/ao-view/aoview.h
+++ b/ao-tools/ao-view/aoview.h
@@ -169,6 +169,9 @@ gboolean
 aoview_monitor_parse(const char *line);
 
 void
+aoview_monitor_set_channel(int channel);
+
+void
 aoview_monitor_reset(void);
 
 struct aoview_serial *
@@ -320,4 +323,12 @@ aoview_flite_stop(void);
 
 extern char *aoview_tty;
 
+/* aoview_channel.c */
+
+int
+aoview_channel_current(void);
+
+void
+aoview_channel_init(GladeXML *xml);
+
 #endif /* _AOVIEW_H_ */
diff --git a/ao-tools/ao-view/aoview_channel.c b/ao-tools/ao-view/aoview_channel.c
new file mode 100644
index 00000000..959173ca
--- /dev/null
+++ b/ao-tools/ao-view/aoview_channel.c
@@ -0,0 +1,90 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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 "aoview.h"
+
+
+#define NUM_CHANNEL	10
+
+static GtkRadioMenuItem *channel_item[NUM_CHANNEL];
+
+int
+aoview_channel_current(void)
+{
+	int	c;
+
+	for (c = 0; c < NUM_CHANNEL; c++)
+		if(gtk_check_menu_item_get_active(GTK_CHECK_MENU_ITEM(channel_item[c])))
+			return c;
+	return -1;
+}
+
+static void
+aoview_channel_notify(int channel)
+{
+	if (0 <= channel && channel < NUM_CHANNEL)
+		gtk_check_menu_item_set_active(GTK_CHECK_MENU_ITEM(channel_item[channel]), TRUE);
+}
+
+#define ALTOS_CHANNEL_PATH	"/apps/aoview/channel"
+
+static void
+aoview_channel_change(GtkWidget *widget, gpointer data)
+{
+	gboolean	enabled = gtk_check_menu_item_get_active(GTK_CHECK_MENU_ITEM(widget));
+	int		c = (int) data;
+	GConfClient	*gconf_client;
+	GError		*error;
+
+	if (enabled) {
+		aoview_monitor_set_channel(c);
+		gconf_client = gconf_client_get_default();
+		gconf_client_set_int(gconf_client, ALTOS_CHANNEL_PATH, c, &error);
+	}
+}
+
+void
+aoview_channel_init(GladeXML *xml)
+{
+	int	c;
+	GConfClient	*gconf_client;
+
+	for (c = 0; c < NUM_CHANNEL; c++) {
+		char	name[32];
+
+		sprintf(name, "channel_%d", c);
+		channel_item[c] = GTK_RADIO_MENU_ITEM(glade_xml_get_widget(xml, name));
+		assert(channel_item[c]);
+		g_signal_connect(G_OBJECT(channel_item[c]), "toggled",
+				 G_CALLBACK(aoview_channel_change),
+				 (gpointer) c);
+	}
+	gconf_client = gconf_client_get_default();
+	c = 0;
+	if (gconf_client)
+	{
+		GError	*error;
+
+		error = NULL;
+		c = gconf_client_get_int(gconf_client,
+					 ALTOS_CHANNEL_PATH,
+					 &error);
+		if (error)
+			c = 0;
+	}
+	aoview_channel_notify(c);
+}
diff --git a/ao-tools/ao-view/aoview_flite.c b/ao-tools/ao-view/aoview_flite.c
index e1b75898..bc702b0f 100644
--- a/ao-tools/ao-view/aoview_flite.c
+++ b/ao-tools/ao-view/aoview_flite.c
@@ -42,12 +42,10 @@ aoview_flite_task(gpointer data)
 
 	err = snd_pcm_open(&alsa_handle, "default",
 			   SND_PCM_STREAM_PLAYBACK, 0);
-	if (err >= 0)
-	{
-		if (err < 0) {
-			snd_pcm_close(alsa_handle);
-			alsa_handle = 0;
-		}
+	if (err < 0) {
+		fprintf(stderr, "alsa open failed %s\n",
+			strerror(-err));
+		alsa_handle = NULL;
 	}
 	rate = 0;
 	channels = 0;
diff --git a/ao-tools/ao-view/aoview_main.c b/ao-tools/ao-view/aoview_main.c
index 64c1c027..714bee9a 100644
--- a/ao-tools/ao-view/aoview_main.c
+++ b/ao-tools/ao-view/aoview_main.c
@@ -86,6 +86,8 @@ int main(int argc, char **argv)
 
 	aoview_voice_init(xml);
 
+	aoview_channel_init(xml);
+
 	aoview_dev_dialog_init(xml);
 
 	aoview_state_init(xml);
diff --git a/ao-tools/ao-view/aoview_monitor.c b/ao-tools/ao-view/aoview_monitor.c
index 8564014b..48e20320 100644
--- a/ao-tools/ao-view/aoview_monitor.c
+++ b/ao-tools/ao-view/aoview_monitor.c
@@ -82,6 +82,7 @@ aoview_monitor_parse(const char *input_line)
 	char line_buf[8192], *line;
 	struct aodata	data;
 	int	tracking_pos;
+	int channel;
 
 	/* avoid smashing our input parameter */
 	strncpy (line_buf, input_line, sizeof (line_buf)-1);
@@ -214,15 +215,26 @@ aoview_monitor_callback(gpointer user_data,
 	}
 }
 
+void
+aoview_monitor_set_channel(int channel)
+{
+	if (monitor_serial)
+		aoview_serial_printf(monitor_serial, "c r %d\n", channel);
+}
+
 gboolean
 aoview_monitor_connect(char *tty)
 {
+	int	channel;
 	aoview_monitor_disconnect();
 	monitor_serial = aoview_serial_open(tty);
 	if (!monitor_serial)
 		return FALSE;
 	aoview_table_clear();
 	aoview_state_reset();
+	channel = aoview_channel_current();
+	if (channel >= 0)
+		aoview_monitor_set_channel(channel);
 	aoview_serial_set_callback(monitor_serial,
 				   aoview_monitor_callback);
 	return TRUE;
diff --git a/src/ao_usb.c b/src/ao_usb.c
index 99f0715b..22665725 100644
--- a/src/ao_usb.c
+++ b/src/ao_usb.c
@@ -21,6 +21,7 @@
 struct ao_task __xdata ao_usb_task;
 
 static __xdata uint16_t	ao_usb_in_bytes;
+static __xdata uint16_t ao_usb_in_bytes_last;
 static __xdata uint16_t	ao_usb_out_bytes;
 static __xdata uint8_t	ao_usb_iif;
 static __xdata uint8_t	ao_usb_running;
@@ -321,13 +322,40 @@ ao_usb_ep0(void)
 	}
 }
 
+/* Wait for a free IN buffer */
+static void
+ao_usb_in_wait(void)
+{
+	for (;;) {
+		USBINDEX = AO_USB_IN_EP;
+		if ((USBCSIL & USBCSIL_INPKT_RDY) == 0)
+			break;
+		ao_sleep(&ao_usb_in_bytes);
+	}
+}
+
+/* Send the current IN packet */
+static void
+ao_usb_in_send(void)
+{
+	USBINDEX = AO_USB_IN_EP;
+	USBCSIL |= USBCSIL_INPKT_RDY;
+	ao_usb_in_bytes_last = ao_usb_in_bytes;
+	ao_usb_in_bytes = 0;
+}
+
 void
 ao_usb_flush(void) __critical
 {
-	if (ao_usb_in_bytes) {
-		USBINDEX = AO_USB_IN_EP;
-		USBCSIL |= USBCSIL_INPKT_RDY;
-		ao_usb_in_bytes = 0;
+	if (!ao_usb_running)
+		return;
+
+	/* If there are pending bytes, or if the last packet was full,
+	 * send another IN packet
+	 */
+	if (ao_usb_in_bytes || (ao_usb_in_bytes_last == AO_USB_IN_SIZE)) {
+		ao_usb_in_wait();
+		ao_usb_in_send();
 	}
 }
 
@@ -336,18 +364,13 @@ ao_usb_putchar(char c) __critical
 {
 	if (!ao_usb_running)
 		return;
-	for (;;) {
-		USBINDEX = AO_USB_IN_EP;
-		if ((USBCSIL & USBCSIL_INPKT_RDY) == 0)
-			break;
-		ao_sleep(&ao_usb_in_bytes);
-	}
+
+	ao_usb_in_wait();
+
+	/* Queue a byte, sending the packet when full */
 	USBFIFO[AO_USB_IN_EP << 1] = c;
-	if (++ao_usb_in_bytes == AO_USB_IN_SIZE) {
-		USBINDEX = AO_USB_IN_EP;
-		USBCSIL |= USBCSIL_INPKT_RDY;
-		ao_usb_in_bytes = 0;
-	}
+	if (++ao_usb_in_bytes == AO_USB_IN_SIZE)
+		ao_usb_in_send();
 }
 
 char