Add ao-tools/ao-cal-accel

This C version may be more reliable than the nickle version

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 284 insertions, 0 deletions

diff --git a/ao-tools/ao-cal-accel/ao-cal-accel.c b/ao-tools/ao-cal-accel/ao-cal-accel.c
new file mode 100644
index 00000000..9a988648
--- /dev/null
+++ b/ao-tools/ao-cal-accel/ao-cal-accel.c
@@ -0,0 +1,284 @@
+/*
+ * Copyright © 2014 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 <err.h>
+#include <fcntl.h>
+#include <gelf.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <sysexits.h>
+#include <unistd.h>
+#include <getopt.h>
+#include <string.h>
+#include <stdbool.h>
+#include <termios.h>
+#include "ao-elf.h"
+#include "ccdbg.h"
+#include "cc-usb.h"
+#include "cc.h"
+#include "ao-verbose.h"
+
+static const struct option options[] = {
+	{ .name = "tty", .has_arg = 1, .val = 'T' },
+	{ .name = "device", .has_arg = 1, .val = 'D' },
+	{ .name = "raw", .has_arg = 0, .val = 'r' },
+	{ .name = "verbose", .has_arg = 1, .val = 'v' },
+	{ 0, 0, 0, 0},
+};
+
+static void usage(char *program)
+{
+	fprintf(stderr, "usage: %s [--verbose=<verbose>] [--device=<device>] [-tty=<tty>]\n", program);
+	exit(1);
+}
+
+void
+done(struct cc_usb *cc, int code)
+{
+	cc_usb_close(cc);
+	exit (code);
+}
+
+static int
+ends_with(char *whole, char *suffix)
+{
+	int whole_len = strlen(whole);
+	int suffix_len = strlen(suffix);
+
+	if (suffix_len > whole_len)
+		return 0;
+	return strcmp(whole + whole_len - suffix_len, suffix) == 0;
+}
+
+static int
+starts_with(char *whole, char *prefix)
+{
+	int whole_len = strlen(whole);
+	int prefix_len = strlen(prefix);
+
+	if (prefix_len > whole_len)
+		return 0;
+	return strncmp(whole, prefix, prefix_len) == 0;
+}
+
+static char **
+tok(char *line) {
+	char	**strs = malloc (sizeof (char *)), *str;
+	int	n = 0;
+
+	while ((str = strtok(line, " \t"))) {
+		line = NULL;
+		strs = realloc(strs, (n + 2) * sizeof (char *));
+		strs[n] = strdup(str);
+		n++;
+	}
+	strs[n] = '\0';
+	return strs;
+}
+
+static void
+free_strs(char **strs) {
+	char	*str;
+	int	i;
+
+	for (i = 0; (str = strs[i]) != NULL; i++)
+		free(str);
+	free(strs);
+}
+
+struct flash {
+	struct flash	*next;
+	char		line[512];
+	char		**strs;
+};
+
+static struct flash *
+flash(struct cc_usb *usb)
+{
+	struct flash	*head = NULL, **tail = &head;
+	cc_usb_printf(usb, "c s\nv\n");
+	for (;;) {
+		char	line[512];
+		struct flash	*b;
+
+		cc_usb_getline(usb, line, sizeof (line));
+		b = malloc (sizeof (struct flash));
+		strcpy(b->line, line);
+		b->strs = tok(line);
+		b->next = NULL;
+		*tail = b;
+		tail = &b->next;
+		if (strstr(line, "software-version"))
+			break;
+	}
+	return head;
+}
+
+static void
+free_flash(struct flash *b) {
+	struct flash *n;
+
+	while (b) {
+		n = b->next;
+		free_strs(b->strs);
+		free(b);
+		b = n;
+	}
+}
+
+char **
+find_flash(struct flash *b, char *word0) {
+	int i;
+	for (;b; b = b->next) {
+		if (strstr(b->line, word0))
+			return b->strs;
+	}
+	return NULL;
+}
+
+void
+await_key(void)
+{
+	struct termios	termios, termios_save;
+	char	buf[512];
+
+	tcgetattr(0, &termios);
+	termios_save = termios;
+	cfmakeraw(&termios);
+	tcsetattr(0, TCSAFLUSH, &termios);
+	read(0, buf, sizeof (buf));
+	tcsetattr(0, TCSAFLUSH, &termios_save);
+}
+
+int
+do_cal(struct cc_usb *usb) {
+	struct flash	*b;
+	char	**accel;
+	char	line[1024];
+	int	l;
+	int	running = 0;
+	int	worked = 1;
+
+	cc_usb_printf(usb, "E 1\nc a 0\n");
+
+	for (;;) {
+		int	c = cc_usb_getchar_timeout(usb, 20*1000);
+
+		if (c == '\n')
+			l = 0;
+		else if (l < sizeof (line) - 1)
+			line[l++] = c;
+		line[l] = '\0';
+		putchar(c); fflush(stdout);
+		if (strstr(line, "press a key...")) {
+			await_key();
+			cc_usb_printf(usb, " ");
+			l = 0;
+			running = 1;
+		}
+		else if (strstr(line, "Invalid"))
+			worked = 0;
+		if (running && strstr(line, ">")) {
+			printf("\n");
+			break;
+		}
+	}
+	cc_usb_printf(usb, "E 0\n");
+
+	if (!worked) {
+		printf("Calibration failed\n");
+		return 0;
+	}
+
+	b = flash(usb);
+
+	accel = find_flash(b, "Accel cal");
+	if (!accel) {
+		printf("no response\n");
+		return 0;
+	}
+
+	printf ("Accel cal +1g: %s -1g: %s\n",
+		accel[3], accel[5]);
+
+	printf ("Saving..."); fflush(stdout);
+	cc_usb_printf (usb, "c w\n");
+	cc_usb_sync(usb);
+	b = flash(usb);
+	printf ("done\n");
+
+	return worked;
+}
+
+int
+main (int argc, char **argv)
+{
+	char			*device = NULL;
+	char			*filename;
+	Elf			*e;
+	unsigned int		s;
+	int			i;
+	int			c;
+	int			tries;
+	struct cc_usb		*cc = NULL;
+	char			*tty = NULL;
+	int			success;
+	int			verbose = 0;
+	int			ret = 0;
+	int			expected_size;
+
+	while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) {
+		switch (c) {
+		case 'T':
+			tty = optarg;
+			break;
+		case 'D':
+			device = optarg;
+			break;
+		case 'v':
+			verbose++;
+			break;
+		default:
+			usage(argv[0]);
+			break;
+		}
+	}
+
+	ao_verbose = verbose;
+
+	if (verbose > 1)
+		ccdbg_add_debug(CC_DEBUG_BITBANG);
+
+	if (!tty)
+		tty = cc_usbdevs_find_by_arg(device, "AltosFlash");
+	if (!tty)
+		tty = cc_usbdevs_find_by_arg(device, "TeleMega");
+	if (!tty)
+		tty = getenv("ALTOS_TTY");
+	if (!tty)
+		tty="/dev/ttyACM0";
+
+	cc = cc_usb_open(tty);
+
+	if (!cc)
+		exit(1);
+
+	if (!do_cal(cc))
+		ret = 1;
+	done(cc, ret);
+}