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

5 files changed, 352 insertions, 1 deletions

diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am
index 6a170cbd..66d2560e 100644
--- a/ao-tools/Makefile.am
+++ b/ao-tools/Makefile.am
@@ -2,7 +2,8 @@ SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list \
 	ao-load ao-telem ao-send-telem ao-sky-flash \
 	ao-dumpflash ao-edit-telem ao-dump-up ao-elftohex \
 	ao-flash ao-usbload ao-test-igniter ao-test-baro \
-	ao-test-flash ao-cal-accel ao-test-gps ao-usbtrng
+	ao-test-flash ao-cal-accel ao-test-gps ao-usbtrng \
+	ao-cal-freq
 if LIBSTLINK
 SUBDIRS += ao-stmload
 endif
diff --git a/ao-tools/ao-cal-freq/.gitignore b/ao-tools/ao-cal-freq/.gitignore
new file mode 100644
index 00000000..4fe14865
--- /dev/null
+++ b/ao-tools/ao-cal-freq/.gitignore
@@ -0,0 +1 @@
+ao-cal-freq
diff --git a/ao-tools/ao-cal-freq/Makefile.am b/ao-tools/ao-cal-freq/Makefile.am
new file mode 100644
index 00000000..e11c2b0a
--- /dev/null
+++ b/ao-tools/ao-cal-freq/Makefile.am
@@ -0,0 +1,11 @@
+bin_PROGRAMS=ao-cal-freq
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+
+ao_cal_freq_DEPENDENCIES = $(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_cal_freq_LDADD=$(top_builddir)/ao-tools/lib/libao-tools.a $(LIBUSB_LIBS) -lm
+
+ao_cal_freq_SOURCES=ao-cal-freq.c
+
+man_MANS = ao-cal-freq.1
diff --git a/ao-tools/ao-cal-freq/ao-cal-freq.1 b/ao-tools/ao-cal-freq/ao-cal-freq.1
new file mode 100644
index 00000000..bfc3101c
--- /dev/null
+++ b/ao-tools/ao-cal-freq/ao-cal-freq.1
@@ -0,0 +1,58 @@
+.\"
+.\" 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; either version 2 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" 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.
+.\"
+.\"
+.TH AO-LOAD 1 "ao-cal-freq" ""
+.SH NAME
+ao-cal-freq \- Calibrate AltOS flight computer frequency
+.SH SYNOPSIS
+.B "ao-cal-freq"
+[\-T \fItty-device\fP]
+[\--tty \fItty-device\fP]
+[\-D \fIaltos-device\fP]
+[\--device \fIaltos-device\fP]
+.SH DESCRIPTION
+.I ao-cal-freq
+drives the frequency calibration process and saves the result.
+.SH OPTIONS
+.TP
+\-T tty-device | --tty tty-device
+This selects which tty device the debugger uses to communicate with
+the target device. The special name 'BITBANG' directs ao-dbg to use
+the cp2103 connection, otherwise this should be a usb serial port
+connected to a suitable cc1111 debug node.
+.TP
+\-D AltOS-device | --device AltOS-device
+Search for a connected device. This requires an argument of one of the
+following forms:
+.IP
+TeleMega:2
+.br
+TeleMega
+.br
+2
+.IP
+Leaving out the product name will cause the tool to select a suitable
+product, leaving out the serial number will cause the tool to match
+one of the available devices.
+.SH USAGE
+.I ao-cal-freq
+opens the target device, interactively calibrates the frequency, then
+shows the resulting calibration values and saves them to configuration
+memory.
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-cal-freq/ao-cal-freq.c b/ao-tools/ao-cal-freq/ao-cal-freq.c
new file mode 100644
index 00000000..464faf0f
--- /dev/null
+++ b/ao-tools/ao-cal-freq/ao-cal-freq.c
@@ -0,0 +1,280 @@
+/*
+ * 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 <math.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	line[1024];
+	double	measured_freq;
+	char	**cur_freq_words;
+	char	**cur_cal_words;
+	char	*line_end;
+	int	cur_freq;
+	int	cur_cal;
+	int	new_cal;
+
+	cc_usb_printf(usb, "E 0\n");
+
+	for(;;) {
+		cc_usb_printf(usb, "C 1\n");
+		cc_usb_sync(usb);
+
+		printf("Generating RF carrier. Please enter measured frequency [enter for done]: ");
+		fflush(stdout);
+		fgets(line, sizeof (line) - 1, stdin);
+		cc_usb_printf(usb, "C 0\n");
+		cc_usb_sync(usb);
+
+		measured_freq = strtod(line, &line_end);
+		if (line_end == line)
+			break;
+
+		b = flash(usb);
+
+		cur_cal_words = find_flash(b, "Radio cal:");
+		cur_freq_words = find_flash(b, "Frequency:");
+
+		if (!cur_cal_words || !cur_freq_words) {
+			printf("no response\n");
+			return 0;
+		}
+
+		cur_cal = atoi(cur_cal_words[2]);
+		cur_freq = atoi(cur_freq_words[1]);
+
+		printf ("Current radio calibration %d\n", cur_cal);
+		printf ("Current radio frequency: %d\n", cur_freq);
+
+
+		new_cal = floor ((((double) cur_freq / 1000.0) / measured_freq) * cur_cal + 0.5);
+
+		printf ("Programming flash with cal value %d\n", new_cal);
+
+		cc_usb_printf (usb, "c f %d\nc w\n", new_cal);
+		cc_usb_sync(usb);
+	}
+	return 1;
+}
+
+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);
+}