Merge branch 'branch-1.2' into debian

10 files changed, 288 insertions, 104 deletions

diff --git a/ChangeLog b/ChangeLog
index d70084ca..c93d031b 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,9 +1,129 @@
+commit 5a329c7f588334df7443b47c8f478ebadf312f62
+Merge: 9b13822 03fe10e
+Author: Bdale Garbee <bdale@gag.com>
+Date:   Tue May 21 09:31:48 2013 -0600
+
+    Merge branch 'branch-1.2' of ssh://git.gag.com/scm/git/fw/altos into branch-1.2
+
+commit 9b138221283f0b8e8df5a799f75d73fd456028a0
+Author: Bdale Garbee <bdale@gag.com>
+Date:   Tue May 21 09:29:30 2013 -0600
+
+    update changelog for 1.2.1 release
+
 commit 6f51726b1c04940c5be3b6f320d6aa529afff9ca
 Author: Bdale Garbee <bdale@gag.com>
 Date:   Tue May 21 09:28:53 2013 -0600
 
     update configure.ac to reflect version 1.2.1
 
+commit 03fe10efd307da10e35c5f6a46f0c8b1a3888c57
+Author: Keith Packard <keithp@keithp.com>
+Date:   Mon May 20 21:41:01 2013 -0700
+
+    doc: Update description of graph window to note new tabs (config and map)
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit db9ea188aebe5299f46bbd4fca5317c1bc95f3f5
+Author: Keith Packard <keithp@keithp.com>
+Date:   Mon May 20 21:37:20 2013 -0700
+
+    Create release notes for 1.2.1
+    
+    Move most of the 1.2 content to the 1.2.1 block
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 51f2c4ce2692ee3e898b4e94232c45a608932c15
+Author: Keith Packard <keithp@keithp.com>
+Date:   Sun May 19 20:35:42 2013 -0700
+
+    altos/telemega: The last two igniters are apogee and main
+    
+    Not the first two. TeleMega v0.3 has these marked on the silk
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 8d40c37bae0c58037f267e54de40071cd19c931d
+Author: Keith Packard <keithp@keithp.com>
+Date:   Fri May 17 03:27:20 2013 -0700
+
+    libaltos: Build the linux library targets when doing a 'fat' build
+    
+    These are necessary for the fat release, so make sure they're built then.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit fbe7857e371fa8ffa726fda2b43d4eddd551eaa4
+Author: Keith Packard <keithp@keithp.com>
+Date:   Fri May 17 03:34:50 2013 -0700
+
+    libaltos: use PurgeComm in Windows altos_close to abort in-progress ops
+    
+    Instead of manually signalling the related events, use PurgeComm which
+    can then abort the operations itself. Also make sure all of the
+    relevant handles are set to INVALID before closing them to avoid race conditions.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 3b457ff8d43630c04e0cb22bb3a2765be5e188bd
+Author: Keith Packard <keithp@keithp.com>
+Date:   Fri May 17 03:21:08 2013 -0700
+
+    altos/cc1111: Hack on USB driver to make Windows happy
+    
+    The Windows modem driver is quite chatty at startup time, getting and
+    setting the comm parameters each time the device is opened. Sometimes,
+    when setting the parameters, the cc1111 would STALL EP0.
+    
+    Most of the time, Windows would happily pass this as an error back to
+    AltosUI which would then re-try the open (and succeed, most of the
+    time).
+    
+    Sometimes, Windows would stall for 30 seconds before passing the error
+    back. This made the whole UI freeze, and I suspect most people assumed
+    our app had died.
+    
+    A bit of analysis with the beagle USB sniffer and I discovered the
+    STALL settings, but there wasn't any correlation between the data on
+    the wire and when the STALL would be generated.
+    
+    So, I found a couple of other cc1111 USB stacks on the net and just
+    looked to see how our driver differed. There wasn't anything clearly
+    related, but there were a list of small differences:
+    
+     1) Other drivers didn't bother waiting for the hardware to
+        ack the USBADDR setting; doing it this way means we can set
+        the address *before* acking the setup packet. It'll get
+        set eventually, at which point the device will start responding to
+        packets again.
+    
+        Easy to fix, and saves a bit of code space too.
+    
+     2) The other drivers set the STALL bit for setup packets which aren't
+        understood. This shouldn't have any effect on 'good' systems as
+        those shouldn't ever be generating bogus setup packets anyways.
+    
+        The driver already handled the STALL state in the interrupt
+        handler, the only requirement was to figure out when to explicitly
+        set the STALL bit.
+    
+        That required moving the state updating code from the start of the
+        ep0 setup handling to the end, after the setup packet had been
+        examined and data queued in or out as appropriate.
+    
+     3) Our driver explicitly queued an IN packet for any setup request
+        that wasn't waiting for an OUT pack. This appears to tie in with
+        the USBADDR change above as before I made that change, this change
+        caused the driver to fail to respond to most setup packets.
+    
+        This was simple once the above change was made, just move the
+        generation of the IN packet inside the code that switched to the
+        IN state.
+    
+    Signed-off-by: Keith Packard <keithp@keithp.com>
+
 commit 7699a55aed3a9a7daeb4c6a5a9a280f43edf455f
 Author: Bdale Garbee <bdale@gag.com>
 Date:   Thu May 16 00:34:26 2013 -0600
diff --git a/altoslib/AltosRecordMM.java b/altoslib/AltosRecordMM.java
index bf64192c..d697111c 100644
--- a/altoslib/AltosRecordMM.java
+++ b/altoslib/AltosRecordMM.java
@@ -71,11 +71,11 @@ public class AltosRecordMM extends AltosRecord {
 	}
 
 	public double main_voltage() {
-		return pyro(sense[1]);
+		return pyro(sense[5]);
 	}
 
 	public double drogue_voltage() {
-		return pyro(sense[0]);
+		return pyro(sense[4]);
 	}
 
 	public double temperature() {
diff --git a/doc/Makefile b/doc/Makefile
index 7c4da29e..06346a2d 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -10,7 +10,8 @@ RELNOTES=\
 	release-notes-1.0.1.html \
 	release-notes-1.1.html \
 	release-notes-1.1.1.html \
-	release-notes-1.2.html
+	release-notes-1.2.html \
+	release-notes-1.2.1.html
 
 RELNOTES_XSL=$(RELNOTES:.html=.xsl)
 HTML=altusmetrum.html altos.html telemetry.html companion.html micropeak.html $(RELNOTES)
diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
index 294f30ac..dfd72ab4 100644
--- a/doc/altusmetrum.xsl
+++ b/doc/altusmetrum.xsl
@@ -36,12 +36,20 @@
     </legalnotice>
     <revhistory>
       <revision>
-	<revnumber>1.2</revnumber>
-	<date>14 April 2013</date>
+	<revnumber>1.2.1</revnumber>
+	<date>21 May 2013</date>
 	<revremark>
 	  Updated for software version 1.2. Version 1.2 adds support
 	  for TeleBT and AltosDroid. It also adds a few minor features
-	  and fixes a few minor bugs in AltosUI and the AltOS firmware.
+	  and fixes bugs in AltosUI and the AltOS firmware.
+	</revremark>
+      </revision>
+      <revision>
+	<revnumber>1.2</revnumber>
+	<date>18 April 2013</date>
+	<revremark>
+	  Updated for software version 1.2. Version 1.2 adds support
+	  for MicroPeak and the MicroPeak USB interface.
 	</revremark>
       </revision>
       <revision>
@@ -1105,14 +1113,15 @@ NAR #88757, TRA #12200
         flash memory.
       </para>
       <para>
-        Once a flight record is selected, a window with two tabs is
+        Once a flight record is selected, a window with four tabs is
         opened. The first tab contains a graph with acceleration
         (blue), velocity (green) and altitude (red) of the flight,
-        measured in metric units. The
-        apogee(yellow) and main(magenta) igniter voltages are also
-        displayed; high voltages indicate continuity, low voltages
-        indicate open circuits. The second tab contains some basic
-	flight statistics.
+        measured in metric units. The apogee(yellow) and main(magenta)
+        igniter voltages are also displayed; high voltages indicate
+        continuity, low voltages indicate open circuits. The second
+        tab lets you configure which data to show in the graph.  The
+        third contains some basic flight statistics while the fourth
+        has a map with the ground track of the flight displayed.
       </para>
       <para>
         The graph can be zoomed into a particular area by clicking and
@@ -2851,6 +2860,7 @@ NAR #88757, TRA #12200
   <appendix
       xmlns:xi="http://www.w3.org/2001/XInclude">
     <title>Release Notes</title>
+    <simplesect><title>Version 1.21</title><xi:include	href="release-notes-1.2.1.xsl"  xpointer="xpointer(/article/*)"/></simplesect>
     <simplesect><title>Version 1.2</title><xi:include	href="release-notes-1.2.xsl"  xpointer="xpointer(/article/*)"/></simplesect>
     <simplesect><title>Version 1.1.1</title><xi:include	href="release-notes-1.1.1.xsl"  xpointer="xpointer(/article/*)"/></simplesect>
     <simplesect><title>Version 1.1</title><xi:include	href="release-notes-1.1.xsl"  xpointer="xpointer(/article/*)"/></simplesect>
diff --git a/doc/release-notes-1.2.1.xsl b/doc/release-notes-1.2.1.xsl
new file mode 100644
index 00000000..5f9aef01
--- /dev/null
+++ b/doc/release-notes-1.2.1.xsl
@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
+"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
+
+<article>
+  <para>
+    Version 1.2.1 is a minor release. It adds support for TeleBT and
+    the AltosDroid application, provides several new features in
+    AltosUI and fixes some bugs in the AltOS firmware.
+  </para>
+  <para>
+    AltOS Firmware Changes
+    <itemizedlist>
+      <listitem>
+	Add support for TeleBT
+      </listitem>
+      <listitem>
+	In TeleMini recovery mode (when booted with the outer two
+	debug pins connected together), the radio parameters are also
+	set back to defaults (434.550MHz, N0CALL, factory radio cal).
+      </listitem>
+      <listitem>
+	Add support for reflashing the SkyTraq GPS chips. This
+	requires special host-side code which currently only exists
+	for Linux.
+      </listitem>
+      <listitem>
+	Correct Kalman filter model error covariance matrix. The
+	values used previously assumed continuous measurements instead
+	of discrete measurements.
+      </listitem>
+      <listitem>
+	Fix some bugs in the USB driver for TeleMetrum and TeleDongle
+	that affected Windows users.
+      </listitem>
+      <listitem>
+	Adjusted the automatic gain control parameters that affect
+	receive performance for TeleDongle. Field tests indicate that this
+	may improve receive performance somewhat.
+      </listitem>
+    </itemizedlist>
+  </para>
+  <para>
+    AltosUI Changes
+    <itemizedlist>
+      <listitem>
+	Handle missing GPS lock in 'Descent' tab. Previously, if the
+	GPS position of the pad was unknown, an exception would be
+	raised, breaking the Descent tab contents.
+      </listitem>
+      <listitem>
+	Improve the graph, adding tool-tips to show values near the
+	cursor and making the displayed set of values configurable,
+	adding all of the flight data as options while leaving the
+	default settings alone so that the graph starts by showing
+	height, speed and acceleration.
+      </listitem>
+      <listitem>
+	Make the initial position of the AltosUI top level window
+	configurable. Along with this change, the other windows will
+	pop up at 'sensible' places now, instead of on top of one
+	another.
+      </listitem>
+      <listitem>
+	Add callsign to Monitor idle window and connecting
+	dialogs. This makes it clear which callsign is being used so
+	that the operator will be aware that it must match the flight
+	computer value or no communication will work.
+      </listitem>
+      <listitem>
+	When downloading flight data, display the block number so that
+	the user has some sense of progress. Unfortunately, we don't
+	know how many blocks will need to be downloaded, but at least
+	it isn't just sitting there doing nothing for a long time.
+      </listitem>
+      <listitem>
+	Add GPS data and a map to the graph window. This lets you see
+	a complete summary of the flight without needing to 'replay'
+	the whole thing.
+      </listitem>
+    </itemizedlist>
+  </para>
+</article>
diff --git a/doc/release-notes-1.2.xsl b/doc/release-notes-1.2.xsl
index b254c7b5..64ba46a9 100644
--- a/doc/release-notes-1.2.xsl
+++ b/doc/release-notes-1.2.xsl
@@ -4,75 +4,24 @@
 
 <article>
   <para>
-    Version 1.2 is a minor release. It provides a few new features in AltosUI
-    and the AltOS firmware and fixes bugs.
+    Version 1.2 is a major release. It adds support for MicroPeak and
+    the MicroPeak USB adapter.
   </para>
   <para>
     AltOS Firmware Changes
     <itemizedlist>
       <listitem>
-	In TeleMini recovery mode (when booted with the outer two
-	debug pins connected together), the radio parameters are also
-	set back to defaults (434.550MHz, N0CALL, factory radio cal).
-      </listitem>
-      <listitem>
-	Add support for reflashing the SkyTraq GPS chips. This
-	requires special host-side code which currently only exists
-	for Linux.
-      </listitem>
-      <listitem>
 	Add MicroPeak support. This includes support for the ATtiny85
 	processor and adaptations to the core code to allow for
 	devices too small to run the multi-tasking scheduler.
       </listitem>
-      <listitem>
-	Correct Kalman filter model error covariance matrix. The
-	values used previously assumed continuous measurements instead
-	of discrete measurements.
-      </listitem>
     </itemizedlist>
   </para>
   <para>
-    AltosUI Changes
+    MicroPeak UI changes
     <itemizedlist>
       <listitem>
-	Handle missing GPS lock in 'Descent' tab. Previously, if the
-	GPS position of the pad was unknown, an exception would be
-	raised, breaking the Descent tab contents.
-      </listitem>
-      <listitem>
-	Add preliminary TeleMega support, including configuration,
-	data download and analysis.
-      </listitem>
-      <listitem>
-	Improve the graph, adding tool-tips to show values near the
-	cursor and making the displayed set of values configurable,
-	adding all of the flight data as options while leaving the
-	default settings alone so that the graph starts by showing
-	height, speed and acceleration.
-      </listitem>
-      <listitem>
-	Make the initial position of the AltosUI top level window
-	configurable. Along with this change, the other windows will
-	pop up at 'sensible' places now, instead of on top of one
-	another.
-      </listitem>
-      <listitem>
-	Add callsign to Monitor idle window and connecting
-	dialogs. This makes it clear which callsign is being used so
-	that the operator will be aware that it must match the flight
-	computer value or no communication will work.
-      </listitem>
-      <listitem>
-	When downloading flight data, display the block number so that
-	the user has some sense of progress. Unfortunately, we don't
-	know how many blocks will need to be downloaded, but at least
-	it isn't just sitting there doing nothing for a long time.
-      </listitem>
-      <listitem>
-	Add GPS data and a map to the graph window. This lets you see
-	a complete summary of the flight without needing to 'replay'
-	the whole thing.
+	Added this new application
       </listitem>
     </itemizedlist>
   </para>
diff --git a/libaltos/Makefile.am b/libaltos/Makefile.am
index b5ab1ddb..41549558 100644
--- a/libaltos/Makefile.am
+++ b/libaltos/Makefile.am
@@ -42,7 +42,7 @@ MINGCC64=x86_64-w64-mingw32-gcc
 MINGFLAGS=-Wall -DWINDOWS -DBUILD_DLL -I$(JVM_INCLUDE)
 MINGLIBS=-lsetupapi
 
-fat: altos.dll altos64.dll
+fat: all altos.dll altos64.dll
 
 altos.dll: $(libaltos_la_SOURCES)
 	$(MINGCC32) -o $@ $(MINGFLAGS) -shared $(libaltos_la_SOURCES) $(MINGLIBS)
diff --git a/libaltos/libaltos.c b/libaltos/libaltos.c
index fc949c70..4a6363ed 100644
--- a/libaltos/libaltos.c
+++ b/libaltos/libaltos.c
@@ -994,6 +994,11 @@ log_message(char *fmt, ...)
 	if (!log)
 		log = fopen("\\temp\\altos.txt", "w");
 	if (log) {
+		SYSTEMTIME time;
+		GetLocalTime(&time);
+		fprintf (log, "%4d-%02d-%02d %2d:%02d:%02d. ", 
+			 time.wYear, time.wMonth, time.wDay,
+			 time.wHour, time.wMinute, time.wSecond);
 		va_start(a, fmt);
 		vfprintf(log, fmt, a);
 		va_end(a);
@@ -1339,6 +1344,7 @@ altos_open(struct altos_device *device)
 		file->handle = open_serial(full_name);
 		if (file->handle != INVALID_HANDLE_VALUE)
 			break;
+		altos_set_last_windows_error();
 		Sleep(100);
 	}
 	
@@ -1373,13 +1379,19 @@ altos_open(struct altos_device *device)
 PUBLIC void
 altos_close(struct altos_file *file)
 {
-	if (file->handle != INVALID_HANDLE_VALUE) {
-		CloseHandle(file->handle);
+	HANDLE	handle = file->handle;
+	if (handle != INVALID_HANDLE_VALUE) {
+		HANDLE	ov_read = file->ov_read.hEvent;
+		HANDLE	ov_write = file->ov_write.hEvent;
+		file->handle = INVALID_HANDLE_VALUE;
+		file->ov_read.hEvent = INVALID_HANDLE_VALUE;
+		file->ov_write.hEvent = INVALID_HANDLE_VALUE;
+		PurgeComm(handle, PURGE_RXABORT|PURGE_RXCLEAR|PURGE_TXABORT|PURGE_TXCLEAR);
+		Sleep(100);
+		CloseHandle(handle);
 		file->handle = INVALID_HANDLE_VALUE;
-		SetEvent(file->ov_read.hEvent);
-		SetEvent(file->ov_write.hEvent);
-		CloseHandle(file->ov_read.hEvent);
-		CloseHandle(file->ov_write.hEvent);
+		CloseHandle(ov_read);
+		CloseHandle(ov_write);
 	}
 }
 
diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c
index 8bd2efdf..a655d1be 100644
--- a/src/cc1111/ao_usb.c
+++ b/src/cc1111/ao_usb.c
@@ -152,19 +152,17 @@ ao_usb_ep0_fill(void)
 		*ao_usb_ep0_out_data++ = USBFIFO[0];
 }
 
-void
+static void
 ao_usb_ep0_queue_byte(uint8_t a)
 {
 	ao_usb_ep0_in_buf[ao_usb_ep0_in_len++] = a;
 }
 
-void
+static void
 ao_usb_set_address(uint8_t address)
 {
 	ao_usb_running = 1;
-	USBADDR = address | 0x80;
-	while (USBADDR & 0x80)
-		;
+	USBADDR = address;
 }
 
 static void
@@ -191,24 +189,6 @@ ao_usb_ep0_setup(void)
 	if (ao_usb_ep0_out_len != 0)
 		return;
 
-	/* Figure out how to ACK the setup packet */
-	if (ao_usb_setup.dir_type_recip & AO_USB_DIR_IN) {
-		if (ao_usb_setup.length)
-			ao_usb_ep0_state = AO_USB_EP0_DATA_IN;
-		else
-			ao_usb_ep0_state = AO_USB_EP0_IDLE;
-	} else {
-		if (ao_usb_setup.length)
-			ao_usb_ep0_state = AO_USB_EP0_DATA_OUT;
-		else
-			ao_usb_ep0_state = AO_USB_EP0_IDLE;
-	}
-	USBINDEX = 0;
-	if (ao_usb_ep0_state == AO_USB_EP0_IDLE)
-		USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_DATA_END;
-	else
-		USBCS0 = USBCS0_CLR_OUTPKT_RDY;
-
 	ao_usb_ep0_in_data = ao_usb_ep0_in_buf;
 	ao_usb_ep0_in_len = 0;
 	switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_TYPE_MASK) {
@@ -274,10 +254,39 @@ ao_usb_ep0_setup(void)
 		}
 		break;
 	}
-	if (ao_usb_ep0_state != AO_USB_EP0_DATA_OUT) {
+
+	/* Figure out how to ACK the setup packet and the
+	 * next state
+	 */
+	USBINDEX = 0;
+	if (ao_usb_ep0_in_len) {
+
+		/* Sending data back to the host
+		 */
+		ao_usb_ep0_state = AO_USB_EP0_DATA_IN;
+		USBCS0 = USBCS0_CLR_OUTPKT_RDY;
 		if (ao_usb_setup.length < ao_usb_ep0_in_len)
 			ao_usb_ep0_in_len = ao_usb_setup.length;
 		ao_usb_ep0_flush();
+	} else if (ao_usb_ep0_out_len) {
+		
+		/* Receiving data from the host
+		 */
+		ao_usb_ep0_state = AO_USB_EP0_DATA_OUT;
+		USBCS0 = USBCS0_CLR_OUTPKT_RDY;
+	} else if (ao_usb_setup.length) {
+
+		/* Uh-oh, the host expected to send or receive data
+		 * and we don't know what to do.
+		 */
+		ao_usb_ep0_state = AO_USB_EP0_STALL;
+		USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_SEND_STALL;
+	} else {
+
+		/* Simple setup packet with no data
+		 */
+		ao_usb_ep0_state = AO_USB_EP0_IDLE;
+		USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_DATA_END;
 	}
 }
 
@@ -299,12 +308,12 @@ ao_usb_ep0(void)
 		USBINDEX = 0;
 		cs0 = USBCS0;
 		if (cs0 & USBCS0_SETUP_END) {
-			ao_usb_ep0_state = AO_USB_EP0_IDLE;
 			USBCS0 = USBCS0_CLR_SETUP_END;
+			ao_usb_ep0_state = AO_USB_EP0_IDLE;
 		}
 		if (cs0 & USBCS0_SENT_STALL) {
+			USBCS0 = 0;
 			ao_usb_ep0_state = AO_USB_EP0_IDLE;
-			USBCS0 &= ~USBCS0_SENT_STALL;
 		}
 		if (ao_usb_ep0_state == AO_USB_EP0_DATA_IN &&
 		    (cs0 & USBCS0_INPKT_RDY) == 0)
@@ -318,12 +327,11 @@ ao_usb_ep0(void)
 				break;
 			case AO_USB_EP0_DATA_OUT:
 				ao_usb_ep0_fill();
-				if (ao_usb_ep0_out_len == 0)
-					ao_usb_ep0_state = AO_USB_EP0_IDLE;
 				USBINDEX = 0;
-				if (ao_usb_ep0_state == AO_USB_EP0_IDLE)
+				if (ao_usb_ep0_out_len == 0) {
+					ao_usb_ep0_state = AO_USB_EP0_IDLE;
 					USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_DATA_END;
-				else
+				} else
 					USBCS0 = USBCS0_CLR_OUTPKT_RDY;
 				break;
 			}
diff --git a/src/core/ao_usb.h b/src/core/ao_usb.h
index 4476ee6b..6bc77608 100644
--- a/src/core/ao_usb.h
+++ b/src/core/ao_usb.h
@@ -114,6 +114,7 @@ extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
 #define AO_USB_EP0_IDLE		0
 #define AO_USB_EP0_DATA_IN	1
 #define AO_USB_EP0_DATA_OUT	2
+#define AO_USB_EP0_STALL	3
 
 #define LE_WORD(x)    ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8))