Merge branch 'lpc'

9 files changed, 251 insertions, 6 deletions

diff --git a/src/core/ao.h b/src/core/ao.h
index 71bfb6a1..7f344736 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -43,6 +43,12 @@
 #define HAS_TASK	1
 #endif
 
+#ifndef AO_PORT_TYPE
+#define AO_PORT_TYPE uint8_t
+#endif
+
+typedef AO_PORT_TYPE ao_port_t;
+
 #if HAS_TASK
 #include <ao_task.h>
 #else
@@ -68,6 +74,7 @@
 #define AO_PANIC_SPI		13	/* SPI communication failure */
 #define AO_PANIC_CRASH		14	/* Processor crashed */
 #define AO_PANIC_BUFIO		15	/* Mis-using bufio API */
+#define AO_PANIC_EXTI		16	/* Mis-using exti API */
 #define AO_PANIC_SELF_TEST_CC1120	0x40 | 1	/* Self test failure */
 #define AO_PANIC_SELF_TEST_HMC5883	0x40 | 2	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000	0x40 | 3	/* Self test failure */
diff --git a/src/core/ao_adc.h b/src/core/ao_adc.h
index 0dd87080..373db1c4 100644
--- a/src/core/ao_adc.h
+++ b/src/core/ao_adc.h
@@ -28,10 +28,6 @@ ao_adc_poll(void);
 void
 ao_adc_sleep(void);
 
-/* Get a copy of the last complete sample set */
-void
-ao_data_get(__xdata struct ao_data *packet);
-
 /* Initialize the A/D converter */
 void
 ao_adc_init(void);
diff --git a/src/core/ao_data.c b/src/core/ao_data.c
new file mode 100644
index 00000000..38d2f7ff
--- /dev/null
+++ b/src/core/ao_data.c
@@ -0,0 +1,34 @@
+/*
+ * Copyright © 2012 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 <ao.h>
+#include <ao_data.h>
+
+volatile __xdata struct ao_data	ao_data_ring[AO_DATA_RING];
+volatile __data uint8_t		ao_data_head;
+volatile __data uint8_t		ao_data_present;
+
+void
+ao_data_get(__xdata struct ao_data *packet)
+{
+#if HAS_FLIGHT
+	uint8_t	i = ao_data_ring_prev(ao_sample_data);
+#else
+	uint8_t	i = ao_data_ring_prev(ao_data_head);
+#endif
+	memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
+}
diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 7e2f85d8..b0f086f8 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -82,6 +82,10 @@ struct ao_data {
 #define ao_data_ring_next(n)	(((n) + 1) & (AO_DATA_RING - 1))
 #define ao_data_ring_prev(n)	(((n) - 1) & (AO_DATA_RING - 1))
 
+/* Get a copy of the last complete sample set */
+void
+ao_data_get(__xdata struct ao_data *packet);
+
 extern volatile __xdata struct ao_data	ao_data_ring[AO_DATA_RING];
 extern volatile __data uint8_t		ao_data_head;
 extern volatile __data uint8_t		ao_data_present;
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 9d9d4c6e..782e2274 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -124,7 +124,7 @@ ao_flight(void)
 				ao_usb_disable();
 #endif
 
-#if !HAS_ACCEL
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
 				/* Disable packet mode in pad state on TeleMini */
 				ao_packet_slave_stop();
 #endif
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index a68a40dd..95b37649 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -44,6 +44,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TELEMETRY		3	/* 32 byte ao_telemetry records */
 #define AO_LOG_FORMAT_TELESCIENCE	4	/* 32 byte typed telescience records */
 #define AO_LOG_FORMAT_TELEMEGA		5	/* 32 byte typed telemega records */
+#define AO_LOG_FORMAT_MINI		6	/* 16-byte MS5607 baro only */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -261,6 +262,40 @@ struct ao_log_mega {
 	} u;
 };
 
+struct ao_log_mini {
+	char		type;				/* 0 */
+	uint8_t		csum;				/* 1 */
+	uint16_t	tick;				/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+			uint16_t	r6;
+			uint32_t	ground_pres;	/* 8 */
+		} flight;
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;		/* 4 */
+			uint16_t	reason;		/* 6 */
+		} state;
+		/* AO_LOG_SENSOR */
+		struct {
+			uint8_t		pres[3];	/* 4 */
+			uint8_t		temp[3];	/* 7 */
+			int16_t		sense_a;	/* 10 */
+			int16_t		sense_m;	/* 12 */
+			int16_t		v_batt;		/* 14 */
+		} sensor;				/* 16 */
+	} u;						/* 16 */
+};							/* 16 */
+
+static inline void
+ao_log_pack24(uint8_t *dst, uint32_t value) {
+	dst[0] = value;
+	dst[1] = value >> 8;
+	dst[2] = value >> 16;
+}
+
 /* Write a record to the eeprom log */
 uint8_t
 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
@@ -268,6 +303,9 @@ ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 uint8_t
 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 
+uint8_t
+ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
+
 void
 ao_log_flush(void);
 
diff --git a/src/core/ao_log_mini.c b/src/core/ao_log_mini.c
new file mode 100644
index 00000000..1273b0e3
--- /dev/null
+++ b/src/core/ao_log_mini.c
@@ -0,0 +1,163 @@
+/*
+ * Copyright © 2012 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 "ao.h"
+#include <ao_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata uint8_t	ao_log_mutex;
+static __xdata struct ao_log_mini log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_MINI;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+	uint8_t	sum = 0x5a;
+	uint8_t	i;
+
+	for (i = 0; i < sizeof (struct ao_log_mini); i++)
+		sum += *b++;
+	return -sum;
+}
+
+uint8_t
+ao_log_mini(__xdata struct ao_log_mini *log) __reentrant
+{
+	uint8_t wrote = 0;
+	/* set checksum */
+	log->csum = 0;
+	log->csum = ao_log_csum((__xdata uint8_t *) log);
+	ao_mutex_get(&ao_log_mutex); {
+		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+			ao_log_stop();
+		if (ao_log_running) {
+			wrote = 1;
+			ao_storage_write(ao_log_current_pos,
+					 log,
+					 sizeof (struct ao_log_mini));
+			ao_log_current_pos += sizeof (struct ao_log_mini);
+		}
+	} ao_mutex_put(&ao_log_mutex);
+	return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+	if (ao_log_csum((uint8_t *) &log) != 0)
+		return 0;
+	return 1;
+}
+
+static __data uint8_t	ao_log_data_pos;
+
+/* a hack to make sure that ao_log_minis fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mini))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT	1
+#define AO_SENSOR_INTERVAL_DESCENT	10
+#endif
+
+void
+ao_log(void)
+{
+	__pdata uint16_t	next_sensor, next_other;
+	uint8_t			i;
+
+	ao_storage_setup();
+
+	ao_log_scan();
+
+	while (!ao_log_running)
+		ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+	log.type = AO_LOG_FLIGHT;
+	log.tick = ao_sample_tick;
+	log.u.flight.flight = ao_flight_number;
+	log.u.flight.ground_pres = ao_ground_pres;
+	ao_log_mini(&log);
+#endif
+
+	/* Write the whole contents of the ring to the log
+	 * when starting up.
+	 */
+	ao_log_data_pos = ao_data_ring_next(ao_data_head);
+	next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
+	ao_log_state = ao_flight_startup;
+	for (;;) {
+		/* Write samples to EEPROM */
+		while (ao_log_data_pos != ao_data_head) {
+			log.tick = ao_data_ring[ao_log_data_pos].tick;
+			if ((int16_t) (log.tick - next_sensor) >= 0) {
+				log.type = AO_LOG_SENSOR;
+				ao_log_pack24(log.u.sensor.pres,
+					      ao_data_ring[ao_log_data_pos].ms5607_raw.pres);
+				ao_log_pack24(log.u.sensor.temp,
+					      ao_data_ring[ao_log_data_pos].ms5607_raw.temp);
+				log.u.sensor.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
+				log.u.sensor.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
+				log.u.sensor.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+				ao_log_mini(&log);
+				if (ao_log_state <= ao_flight_coast)
+					next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+				else
+					next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+			}
+			ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+		}
+#if HAS_FLIGHT
+		/* Write state change to EEPROM */
+		if (ao_flight_state != ao_log_state) {
+			ao_log_state = ao_flight_state;
+			log.type = AO_LOG_STATE;
+			log.tick = ao_time();
+			log.u.state.state = ao_log_state;
+			log.u.state.reason = 0;
+			ao_log_mini(&log);
+
+			if (ao_log_state == ao_flight_landed)
+				ao_log_stop();
+		}
+#endif
+
+		ao_log_flush();
+
+		/* Wait for a while */
+		ao_delay(AO_MS_TO_TICKS(100));
+
+		/* Stop logging when told to */
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
+	}
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+	if (!ao_storage_read(ao_log_pos(slot),
+			     &log,
+			     sizeof (struct ao_log_mini)))
+		return 0;
+
+	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+		return log.u.flight.flight;
+	return 0;
+}
diff --git a/src/core/ao_log_tiny.c b/src/core/ao_log_tiny.c
index 492658ea..67767dc9 100644
--- a/src/core/ao_log_tiny.c
+++ b/src/core/ao_log_tiny.c
@@ -105,7 +105,7 @@ ao_log(void)
 		 */
 		ao_sleep(DATA_TO_XDATA(&ao_sample_data));
 		while (ao_log_data != ao_sample_data) {
-			sum += ao_data_ring[ao_log_data].adc.pres;
+			sum += ao_data_pres(&ao_data_ring[ao_log_data]);
 			count++;
 			ao_log_data = ao_data_ring_next(ao_log_data);
 		}
diff --git a/src/core/ao_usb.h b/src/core/ao_usb.h
index 6bc77608..35e64e65 100644
--- a/src/core/ao_usb.h
+++ b/src/core/ao_usb.h
@@ -102,8 +102,11 @@ extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
 #define AO_USB_INT_EP		1
 #define AO_USB_INT_SIZE		8
 
+#ifndef AO_USB_OUT_EP
 #define AO_USB_OUT_EP		4
 #define AO_USB_IN_EP		5
+#endif
+
 /*
  * USB bulk packets can only come in 8, 16, 32 and 64
  * byte sizes, so we'll use 64 for everything