Merge branch 'branch-1.2' into debian

9 files changed, 286 insertions, 40 deletions

diff --git a/ao-tools/lib/cc-telemetry.c b/ao-tools/lib/cc-telemetry.c
index 99da2680..88da7f03 100644
--- a/ao-tools/lib/cc-telemetry.c
+++ b/ao-tools/lib/cc-telemetry.c
@@ -60,3 +60,33 @@ cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry)
 	memcpy(telemetry, hex+1, 34);
 	return TRUE;
 }
+
+uint8_t
+cc_telemetry_cksum(const union ao_telemetry_all *telemetry)
+{
+	const uint8_t	*x = (const uint8_t *) telemetry;
+	int i;
+	uint8_t	sum = 0x5a;
+	for (i = 0; i < 34; i++)
+		sum += x[i];
+	return sum;
+}
+
+void
+cc_telemetry_unparse(const union ao_telemetry_all *telemetry, char output_line[CC_TELEMETRY_BUFSIZE])
+{
+	uint8_t hex[36];
+	int i;
+	int p;
+
+	hex[0] = 34;
+	memcpy(hex+1, telemetry, 34);
+	hex[35] = cc_telemetry_cksum(telemetry);
+	strcpy(output_line, "TELEM ");
+	p = strlen(output_line);
+	for (i = 0; i < 36; i++) {
+		sprintf(output_line + p, "%02x", hex[i]);
+		p += 2;
+	}
+}
+		
diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
index e849cd3b..9a5be49f 100644
--- a/ao-tools/lib/cc-telemetry.h
+++ b/ao-tools/lib/cc-telemetry.h
@@ -237,7 +237,19 @@ union ao_telemetry_all {
 	struct ao_telemetry_baro		baro;
 };
 
+#define CC_TELEMETRY_HEADER	"TELEM"
+
+/* "TELEM " 1 byte length 32 data bytes 1 rssi 1 status 1 checksum 1 null */
+
+#define CC_TELEMETRY_BUFSIZE	(6 + (1 + 32 + 3) * 2 + 1)
+
 int
 cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry);
 
+uint8_t
+cc_telemetry_cksum(const union ao_telemetry_all *telemetry);
+
+void
+cc_telemetry_unparse(const union ao_telemetry_all *telemetry, char output_line[CC_TELEMETRY_BUFSIZE]);
+
 #endif
diff --git a/ao-tools/lib/cc-usb.c b/ao-tools/lib/cc-usb.c
index 1580c6d9..d7ac138c 100644
--- a/ao-tools/lib/cc-usb.c
+++ b/ao-tools/lib/cc-usb.c
@@ -123,9 +123,10 @@ cc_handle_hex_read(struct cc_usb *cc)
 static void
 cc_usb_dbg(int indent, uint8_t *bytes, int len)
 {
-	int	eol = 1;
+	static int	eol = 1;
 	int	i;
 	uint8_t	c;
+	ccdbg_debug(CC_DEBUG_BITBANG, "<<<%d bytes>>>", len);
 	while (len--) {
 		c = *bytes++;
 		if (eol) {
@@ -135,12 +136,17 @@ cc_usb_dbg(int indent, uint8_t *bytes, int len)
 		}
 		switch (c) {
 		case '\r':
-			ccdbg_debug(CC_DEBUG_BITBANG, "^M");
+			ccdbg_debug(CC_DEBUG_BITBANG, "\\r");
 			break;
 		case '\n':
 			eol = 1;
+			ccdbg_debug(CC_DEBUG_BITBANG, "\\n\n");
+			break;
 		default:
-			ccdbg_debug(CC_DEBUG_BITBANG, "%c", c);
+			if (c < ' ' || c > '~')
+				ccdbg_debug(CC_DEBUG_BITBANG, "\\%02x", c);
+			else
+				ccdbg_debug(CC_DEBUG_BITBANG, "%c", c);
 		}
 	}
 }
@@ -254,10 +260,10 @@ cc_usb_printf(struct cc_usb *cc, char *format, ...)
 }
 
 int
-cc_usb_getchar(struct cc_usb *cc)
+cc_usb_getchar_timeout(struct cc_usb *cc, int timeout)
 {
 	while (cc->in_pos == cc->in_count) {
-		if (_cc_usb_sync(cc, 5000) < 0) {
+		if (_cc_usb_sync(cc, timeout) < 0) {
 			fprintf(stderr, "USB link timeout\n");
 			exit(1);
 		}
@@ -265,6 +271,12 @@ cc_usb_getchar(struct cc_usb *cc)
 	return cc->in_buf[cc->in_pos++];
 }
 
+int
+cc_usb_getchar(struct cc_usb *cc)
+{
+	return cc_usb_getchar_timeout(cc, 5000);
+}
+
 void
 cc_usb_getline(struct cc_usb *cc, char *line, int max)
 {
@@ -375,11 +387,12 @@ cc_usb_reset(struct cc_usb *cc)
 }
 
 void
-cc_usb_open_remote(struct cc_usb *cc, int channel)
+cc_usb_open_remote(struct cc_usb *cc, int freq, char *call)
 {
 	if (!cc->remote) {
-		printf ("channel %d\n", channel);
-		cc_usb_printf(cc, "\nc r %d\np\nE 0\n", channel);
+		fprintf (stderr, "freq %dkHz\n", freq);
+		fprintf (stderr, "call %s\n", call);
+		cc_usb_printf(cc, "\nc F %d\nc c %s\np\nE 0\n", freq, call);
 		do {
 			cc->in_count = cc->in_pos = 0;
 			_cc_usb_sync(cc, 100);
@@ -419,6 +432,8 @@ cc_usb_open(char *tty)
 	tcgetattr(cc->fd, &termios);
 	save_termios = termios;
 	cfmakeraw(&termios);
+	cfsetospeed(&termios, B9600);
+	cfsetispeed(&termios, B9600);
 	tcsetattr(cc->fd, TCSAFLUSH, &termios);
 	cc_usb_printf(cc, "\nE 0\nm 0\n");
 	do {
diff --git a/ao-tools/lib/cc-usb.h b/ao-tools/lib/cc-usb.h
index d3539281..f1193456 100644
--- a/ao-tools/lib/cc-usb.h
+++ b/ao-tools/lib/cc-usb.h
@@ -54,6 +54,9 @@ void
 cc_queue_read(struct cc_usb *cc, uint8_t *buf, int len);
 
 int
+cc_usb_getchar_timeout(struct cc_usb *cc, int timeout);
+
+int
 cc_usb_getchar(struct cc_usb *cc);
 
 void
@@ -63,7 +66,7 @@ void
 cc_usb_printf(struct cc_usb *cc, char *format, ...);
 
 void
-cc_usb_open_remote(struct cc_usb *cc, int channel);
+cc_usb_open_remote(struct cc_usb *cc, int freq, char *call);
 
 void
 cc_usb_close_remote(struct cc_usb *cc);
diff --git a/ao-tools/lib/cc-usbdev.c b/ao-tools/lib/cc-usbdev.c
index a19e231c..95bfa244 100644
--- a/ao-tools/lib/cc-usbdev.c
+++ b/ao-tools/lib/cc-usbdev.c
@@ -132,13 +132,25 @@ usb_tty(char *sys)
 			/* Check for tty/ttyACMx style names
 			 */
 			tty_dir = cc_fullname(endpoint_full, "tty");
-			free(endpoint_full);
 			ntty = scandir(tty_dir, &namelist,
 				       dir_filter_tty,
 				       alphasort);
 			free (tty_dir);
 			if (ntty > 0) {
 				tty = cc_fullname("/dev", namelist[0]->d_name);
+				free(endpoint_full);
+				free(namelist);
+				return tty;
+			}
+
+			/* Check for ttyACMx style names
+			 */
+			ntty = scandir(endpoint_full, &namelist,
+				       dir_filter_tty,
+				       alphasort);
+			free(endpoint_full);
+			if (ntty > 0) {
+				tty = cc_fullname("/dev", namelist[0]->d_name);
 				free(namelist);
 				return tty;
 			}
@@ -197,6 +209,15 @@ dir_filter_dev(const struct dirent *d)
 	return 1;
 }
 
+static int
+is_am(int idVendor, int idProduct) {
+	if (idVendor == 0xfffe)
+		return 1;
+	if (idVendor == 0x0403 && idProduct == 0x6015)
+		return 1;
+	return 0;
+}
+
 struct cc_usbdevs *
 cc_usbdevs_scan(void)
 {
@@ -220,7 +241,7 @@ cc_usbdevs_scan(void)
 		dir = cc_fullname(USB_DEVICES, ents[e]->d_name);
 		dev = usb_scan_device(dir);
 		free(dir);
-		if (dev->idVendor == 0xfffe && dev->tty) {
+		if (is_am(dev->idVendor, dev->idProduct) && dev->tty) {
 			if (devs->dev)
 				devs->dev = realloc(devs->dev,
 						    (devs->ndev + 1) * sizeof (struct usbdev *));
diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h
index 6257ee44..625540bb 100644
--- a/ao-tools/lib/cc.h
+++ b/ao-tools/lib/cc.h
@@ -269,6 +269,122 @@ struct cc_telem {
 int
 cc_telem_parse(const char *input_line, struct cc_telem *telem);
 
+struct ao_log_mega {
+	char			type;			/* 0 */
+	uint8_t			is_config;		/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+			int16_t		ground_accel;	/* 6 */
+			uint32_t	ground_pres;	/* 8 */
+		} flight;				/* 12 */
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;
+			uint16_t	reason;
+		} state;
+		/* AO_LOG_SENSOR */
+		struct {
+			uint32_t	pres;		/* 4 */
+			uint32_t	temp;		/* 8 */
+			int16_t		accel_x;	/* 12 */
+			int16_t		accel_y;	/* 14 */
+			int16_t		accel_z;	/* 16 */
+			int16_t		gyro_x;		/* 18 */
+			int16_t		gyro_y;		/* 20 */
+			int16_t		gyro_z;		/* 22 */
+			int16_t		mag_x;		/* 24 */
+			int16_t		mag_y;		/* 26 */
+			int16_t		mag_z;		/* 28 */
+			int16_t		accel;		/* 30 */
+		} sensor;	/* 32 */
+		/* AO_LOG_TEMP_VOLT */
+		struct {
+			int16_t		v_batt;		/* 4 */
+			int16_t		v_pbatt;	/* 6 */
+			int16_t		n_sense;	/* 8 */
+			int16_t		sense[10];	/* 10 */
+		} volt;					/* 30 */
+		/* AO_LOG_GPS_TIME */
+		struct {
+			int32_t		latitude;	/* 4 */
+			int32_t		longitude;	/* 8 */
+			int16_t		altitude;	/* 12 */
+			uint8_t		hour;		/* 14 */
+			uint8_t		minute;		/* 15 */
+			uint8_t		second;		/* 16 */
+			uint8_t		flags;		/* 17 */
+			uint8_t		year;		/* 18 */
+			uint8_t		month;		/* 19 */
+			uint8_t		day;		/* 20 */
+			uint8_t		pad;		/* 21 */
+		} gps;	/* 22 */
+		/* AO_LOG_GPS_SAT */
+		struct {
+			uint16_t	channels;	/* 4 */
+			struct {
+				uint8_t	svid;
+				uint8_t c_n;
+			} sats[12];			/* 6 */
+		} gps_sat;				/* 30 */
+
+		struct {
+			uint32_t		kind;
+			int32_t			data[6];
+		} config_int;
+
+		struct {
+			uint32_t		kind;
+			char			string[24];
+		} config_str;
+
+		/* Raw bytes */
+		uint8_t	bytes[28];
+	} u;
+};
+
+#define AO_CONFIG_CONFIG		1
+#define AO_CONFIG_MAIN			2
+#define AO_CONFIG_APOGEE		3
+#define AO_CONFIG_LOCKOUT		4
+#define AO_CONFIG_FREQUENCY		5
+#define AO_CONFIG_RADIO_ENABLE		6
+#define AO_CONFIG_ACCEL_CAL		7
+#define AO_CONFIG_RADIO_CAL		8
+#define AO_CONFIG_MAX_LOG		9
+#define AO_CONFIG_IGNITE_MODE		10
+#define AO_CONFIG_PAD_ORIENTATION	11
+#define AO_CONFIG_SERIAL_NUMBER		12
+#define AO_CONFIG_LOG_FORMAT		13
+#define AO_CONFIG_MS5607_RESERVED	14
+#define AO_CONFIG_MS5607_SENS		15
+#define AO_CONFIG_MS5607_OFF		16
+#define AO_CONFIG_MS5607_TCS		17
+#define AO_CONFIG_MS5607_TCO		18
+#define AO_CONFIG_MS5607_TREF		19
+#define AO_CONFIG_MS5607_TEMPSENS	20
+#define AO_CONFIG_MS5607_CRC		21
+
+
+#define AO_LOG_FLIGHT		'F'
+#define AO_LOG_SENSOR		'A'
+#define AO_LOG_TEMP_VOLT	'T'
+#define AO_LOG_DEPLOY		'D'
+#define AO_LOG_STATE		'S'
+#define AO_LOG_GPS_TIME		'G'
+#define AO_LOG_GPS_LAT		'N'
+#define AO_LOG_GPS_LON		'W'
+#define AO_LOG_GPS_ALT		'H'
+#define AO_LOG_GPS_SAT		'V'
+#define AO_LOG_GPS_DATE		'Y'
+
+#define AO_LOG_CONFIG		'c'
+
+int
+cc_mega_parse(const char *input_line, struct ao_log_mega *l);
+
 #ifndef TRUE
 #define TRUE 1
 #define FALSE 0
diff --git a/ao-tools/lib/ccdbg-flash.c b/ao-tools/lib/ccdbg-flash.c
index 3e672985..1b46870b 100644
--- a/ao-tools/lib/ccdbg-flash.c
+++ b/ao-tools/lib/ccdbg-flash.c
@@ -240,7 +240,6 @@ ccdbg_flash_lock(struct ccdbg *dbg, uint8_t lock)
 uint8_t
 ccdbg_flash_hex_image(struct ccdbg *dbg, struct hex_image *image)
 {
-	uint16_t offset;
 	uint16_t flash_prog;
 	uint16_t flash_len;
 	uint8_t	fwt;
@@ -249,7 +248,6 @@ ccdbg_flash_hex_image(struct ccdbg *dbg, struct hex_image *image)
 	uint16_t flash_words;
 	uint8_t flash_words_high, flash_words_low;
 	uint16_t ram_addr;
-	uint16_t pc;
 	uint8_t status;
 	uint16_t remain, this_time, start;
 	uint8_t verify[0x400];
@@ -284,8 +282,6 @@ ccdbg_flash_hex_image(struct ccdbg *dbg, struct hex_image *image)
 		if (this_time > 0x400)
 			this_time = 0x400;
 
-		offset = ram_addr - (image->address + start);
-
 		ccdbg_debug(CC_DEBUG_FLASH, "Upload %d bytes at 0x%04x\n", this_time, ram_addr);
 		ccdbg_write_memory(dbg, ram_addr, image->data + start, this_time);
 #if 0
@@ -319,7 +315,6 @@ ccdbg_flash_hex_image(struct ccdbg *dbg, struct hex_image *image)
 		ccdbg_write_uint8(dbg, flash_prog + FLASH_WORDS_LOW, flash_words_low);
 
 		ccdbg_set_pc(dbg, flash_prog);
-		pc = ccdbg_get_pc(dbg);
 		ccdbg_debug(CC_DEBUG_FLASH, "Flashing %d bytes at 0x%04x\n",
 			    this_time, flash_addr);
 		status = ccdbg_resume(dbg);
diff --git a/ao-tools/lib/ccdbg-hex.c b/ao-tools/lib/ccdbg-hex.c
index dfea9156..184b4e3b 100644
--- a/ao-tools/lib/ccdbg-hex.c
+++ b/ao-tools/lib/ccdbg-hex.c
@@ -233,15 +233,6 @@ ccdbg_hex_file_free(struct hex_file *hex)
 	free(hex);
 }
 
-static int
-ccdbg_hex_record_compar(const void *av, const void *bv)
-{
-	const struct hex_record *a = *(struct hex_record **) av;
-	const struct hex_record *b = *(struct hex_record **) bv;
-
-	return (int) a->address - (int) b->address;
-}
-
 struct hex_file *
 ccdbg_hex_file_read(FILE *file, char *name)
 {
@@ -272,11 +263,6 @@ ccdbg_hex_file_read(FILE *file, char *name)
 		if (record->type == HEX_RECORD_EOF)
 			done = 1;
 	}
-	/*
-	 * Sort them into increasing addresses, except for EOF
-	 */
-	qsort(hex->records, hex->nrecord - 1, sizeof (struct hex_record *),
-	      ccdbg_hex_record_compar);
 	return hex;
 
 bail:
@@ -288,16 +274,45 @@ struct hex_image *
 ccdbg_hex_image_create(struct hex_file *hex)
 {
 	struct hex_image *image;
-	struct hex_record *first, *last, *record;
+	struct hex_record *record;
 	int i;
+	uint32_t addr;
 	uint32_t base, bound;
 	uint32_t offset;
+	uint32_t extended_addr;
+
 	int length;
 
-	first = hex->records[0];
-	last = hex->records[hex->nrecord - 2];	/* skip EOF */
-	base = (uint32_t) first->address;
-	bound = (uint32_t) last->address + (uint32_t) last->length;
+	base = 0xffffffff;
+	bound = 0x0;
+	extended_addr = 0;
+	for (i = 0; i < hex->nrecord; i++) {
+		uint32_t r_bound;
+		record = hex->records[i];
+		switch (record->type) {
+		case 0:
+			addr = extended_addr + record->address;
+			r_bound = addr + record->length;
+			if (addr < base)
+				base = addr;
+			if (r_bound > bound)
+				bound = r_bound;
+			break;
+		case 1:
+			break;
+		case 2:
+			if (record->length != 2)
+				return NULL;
+			extended_addr = ((record->data[0] << 8) | record->data[1]) << 4;
+			break;
+		case 4:
+			if (record->length != 2)
+				return NULL;
+			extended_addr = ((record->data[0] << 8) | record->data[1]) << 16;
+			break;
+		}
+
+	}
 	length = bound - base;
 	image = calloc(sizeof(struct hex_image) + length, 1);
 	if (!image)
@@ -305,10 +320,24 @@ ccdbg_hex_image_create(struct hex_file *hex)
 	image->address = base;
 	image->length = length;
 	memset(image->data, 0xff, length);
-	for (i = 0; i < hex->nrecord - 1; i++) {
+	extended_addr = 0;
+	for (i = 0; i < hex->nrecord; i++) {
 		record = hex->records[i];
-		offset = record->address - base;
-		memcpy(image->data + offset, record->data, record->length);
+		switch (record->type) {
+		case 0:
+			addr = extended_addr + record->address;
+			offset = addr - base;
+			memcpy(image->data + offset, record->data, record->length);
+			break;
+		case 1:
+			break;
+		case 2:
+			extended_addr = ((record->data[0] << 8) | record->data[1]) << 4;
+			break;
+		case 4:
+			extended_addr = ((record->data[0] << 8) | record->data[1]) << 16;
+			break;
+		}
 	}
 	return image;
 }
@@ -328,3 +357,25 @@ ccdbg_hex_image_equal(struct hex_image *a, struct hex_image *b)
 		return 0;
 	return 1;
 }
+
+struct hex_image *
+ccdbg_hex_load(char *filename)
+{
+	FILE *file;
+	struct hex_file	*hex_file;
+	struct hex_image *hex_image;
+
+	file = fopen (filename, "r");
+	if (!file)
+		return 0;
+	
+	hex_file = ccdbg_hex_file_read(file, filename);
+	fclose(file);
+	if (!hex_file)
+		return 0;
+	hex_image = ccdbg_hex_image_create(hex_file);
+	if (!hex_image)
+		return 0;
+	ccdbg_hex_file_free(hex_file);
+	return hex_image;
+}
diff --git a/ao-tools/lib/ccdbg.h b/ao-tools/lib/ccdbg.h
index ca596143..a27ff5d1 100644
--- a/ao-tools/lib/ccdbg.h
+++ b/ao-tools/lib/ccdbg.h
@@ -122,8 +122,8 @@ struct hex_file {
 };
 
 struct hex_image {
-	uint16_t	address;
-	uint16_t	length;
+	uint32_t	address;
+	uint32_t	length;
 	uint8_t		data[0];
 };
 
@@ -253,6 +253,9 @@ ccdbg_hex_image_create(struct hex_file *hex);
 void
 ccdbg_hex_image_free(struct hex_image *image);
 
+struct hex_image *
+ccdbg_hex_load(char *filename);
+
 int
 ccdbg_hex_image_equal(struct hex_image *a, struct hex_image *b);