Merge branch 'branch-1.3' into debian

19 files changed, 121 insertions, 31 deletions

diff --git a/src/core/ao.h b/src/core/ao.h
index 0b634a79..29ad2603 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -307,6 +307,17 @@ ao_altitude_to_pa(alt_t alt);
 #include <ao_serial.h>
 #endif
 
+/*
+ * ao_convert_volt.c
+ *
+ * Convert ADC readings to decivolts
+ */
+
+int16_t
+ao_battery_decivolt(int16_t adc);
+
+int16_t
+ao_ignite_decivolt(int16_t adc);
 
 /*
  * ao_spi_slave.c
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index a30ec64a..4482f673 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -353,9 +353,9 @@ ao_config_accel_calibrate_set(void) __reentrant
 {
 	int16_t	up, down;
 #if HAS_GYRO
-	int16_t	accel_along_up, accel_along_down;
-	int16_t	accel_across_up, accel_across_down;
-	int16_t	accel_through_up, accel_through_down;
+	int16_t	accel_along_up = 0, accel_along_down = 0;
+	int16_t	accel_across_up = 0, accel_across_down = 0;
+	int16_t	accel_through_up = 0, accel_through_down = 0;
 #endif
 	
 	ao_cmd_decimal();
@@ -390,9 +390,11 @@ ao_config_accel_calibrate_set(void) __reentrant
 	ao_config.accel_plus_g = up;
 	ao_config.accel_minus_g = down;
 #if HAS_GYRO
-	ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
-	ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
-	ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
+	if (ao_cmd_lex_i == 0) {
+		ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
+		ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
+		ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
+	}
 #endif
 	_ao_config_edit_finish();
 }
@@ -512,6 +514,10 @@ ao_config_pad_orientation_show(void) __reentrant
 	printf("Pad orientation: %d\n", ao_config.pad_orientation);
 }
 
+#ifndef AO_ACCEL_INVERT
+#define AO_ACCEL_INVERT	0x7fff
+#endif
+
 void
 ao_config_pad_orientation_set(void) __reentrant
 {
@@ -521,10 +527,10 @@ ao_config_pad_orientation_set(void) __reentrant
 	_ao_config_edit_start();
 	ao_cmd_lex_i &= 1;
 	if (ao_config.pad_orientation != ao_cmd_lex_i) {
-		uint16_t t;
+		int16_t t;
 		t = ao_config.accel_plus_g;
-		ao_config.accel_plus_g = 0x7fff - ao_config.accel_minus_g;
-		ao_config.accel_minus_g = 0x7fff - t;
+		ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g;
+		ao_config.accel_minus_g = AO_ACCEL_INVERT - t;
 	}
 	ao_config.pad_orientation = ao_cmd_lex_i;
 	_ao_config_edit_finish();
@@ -656,8 +662,10 @@ ao_config_help(void) __reentrant;
 static void
 ao_config_show(void) __reentrant;
 
+#if HAS_EEPROM
 static void
 ao_config_save(void) __reentrant;
+#endif
 
 __code struct ao_config_var ao_config_vars[] = {
 #if HAS_FLIGHT
diff --git a/src/core/ao_convert_volt.c b/src/core/ao_convert_volt.c
new file mode 100644
index 00000000..8556d423
--- /dev/null
+++ b/src/core/ao_convert_volt.c
@@ -0,0 +1,33 @@
+/*
+ * 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 "ao.h"
+
+#define scale(v,p,m)	((int32_t) (v) * (AO_ADC_REFERENCE_DV * ((p) + (m))) / (AO_ADC_MAX * (m)))
+
+int16_t
+ao_battery_decivolt(int16_t adc)
+{
+	return scale(adc, AO_BATTERY_DIV_PLUS, AO_BATTERY_DIV_MINUS);
+}
+
+int16_t
+ao_ignite_decivolt(int16_t adc)
+{
+	return scale(adc, AO_IGNITE_DIV_PLUS, AO_IGNITE_DIV_MINUS);
+}
+
diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index e1d8a139..c4b062fd 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -273,14 +273,16 @@ typedef int16_t accel_t;
 
 /* MMA655X is hooked up so that positive values represent negative acceleration */
 
+#define AO_ACCEL_INVERT		4095
+
 #define ao_data_accel(packet)			((packet)->mma655x)
 #if AO_MMA655X_INVERT
-#define ao_data_accel_cook(packet)		(4095 - (packet)->mma655x)
+#define ao_data_accel_cook(packet)		(AO_ACCEL_INVERT - (packet)->mma655x)
 #else
 #define ao_data_accel_cook(packet)		((packet)->mma655x)
 #endif
 #define ao_data_set_accel(packet, accel)	((packet)->mma655x = (accel))
-#define ao_data_accel_invert(accel)		(4095 - (accel))
+#define ao_data_accel_invert(accel)		(AO_ACCEL_INVERT - (accel))
 
 #endif
 
@@ -288,6 +290,8 @@ typedef int16_t accel_t;
 
 #define HAS_ACCEL	1
 
+#define AO_ACCEL_INVERT		0
+
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
diff --git a/src/core/ao_fec.h b/src/core/ao_fec.h
index eedea8f4..618756c1 100644
--- a/src/core/ao_fec.h
+++ b/src/core/ao_fec.h
@@ -31,7 +31,7 @@ void
 ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name);
 #endif
 
-static uint16_t inline
+static inline uint16_t
 ao_fec_crc_byte(uint8_t byte, uint16_t crc)
 {
 	uint8_t	bit;
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 463ff4a2..702c3403 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -46,7 +46,7 @@ __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
 __pdata uint16_t		ao_boost_tick;		/* time of launch detect */
 __pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
 
-#if HAS_IMU
+#if HAS_SENSOR_ERRORS
 /* Any sensor can set this to mark the flight computer as 'broken' */
 __xdata uint8_t			ao_sensor_errors;
 #endif
@@ -104,9 +104,6 @@ ao_flight(void)
 			    ao_config.accel_minus_g == 0 ||
 			    ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
 			    ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
-#if HAS_IMU
-			    ao_sensor_errors ||
-#endif
 			    ao_ground_height < -1000 ||
 			    ao_ground_height > 7000)
 			{
@@ -152,7 +149,11 @@ ao_flight(void)
 #endif
 			} else {
 				/* Set idle mode */
- 				ao_flight_state = ao_flight_idle;
+				ao_flight_state = ao_flight_idle;
+#if HAS_SENSOR_ERRORS
+				if (ao_sensor_errors)
+					ao_flight_state = ao_flight_invalid;
+#endif
  
 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 				/* Turn on packet system in idle mode on TeleMetrum */
@@ -400,7 +401,7 @@ ao_flight_dump(void)
 #if HAS_ACCEL
 	int16_t	accel;
 
-	accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
+	accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 #endif
 
 	printf ("sample:\n");
@@ -442,9 +443,18 @@ ao_gyro_test(void)
 	ao_flight_state = ao_flight_idle;
 }
 
+uint8_t ao_orient_test;
+
+static void
+ao_orient_test_select(void)
+{
+	ao_orient_test = !ao_orient_test;
+}
+
 __code struct ao_cmds ao_flight_cmds[] = {
 	{ ao_flight_dump, 	"F\0Dump flight status" },
 	{ ao_gyro_test,		"G\0Test gyro code" },
+	{ ao_orient_test_select,"O\0Test orientation code" },
 	{ 0, NULL },
 };
 #endif
diff --git a/src/core/ao_flight.h b/src/core/ao_flight.h
index c7c02ccf..01d21c11 100644
--- a/src/core/ao_flight.h
+++ b/src/core/ao_flight.h
@@ -41,7 +41,11 @@ extern __pdata enum ao_flight_state	ao_flight_state;
 extern __pdata uint16_t			ao_boost_tick;
 extern __pdata uint16_t			ao_motor_number;
 
-#if HAS_IMU
+#if HAS_IMU || HAS_MMA655X
+#define HAS_SENSOR_ERRORS	1
+#endif
+
+#if HAS_SENSOR_ERRORS
 extern __xdata uint8_t			ao_sensor_errors;
 #endif
 
diff --git a/src/core/ao_gps_report_mega.c b/src/core/ao_gps_report_mega.c
index d13885dd..07a2bc5b 100644
--- a/src/core/ao_gps_report_mega.c
+++ b/src/core/ao_gps_report_mega.c
@@ -24,7 +24,6 @@ ao_gps_report_mega(void)
 	static __xdata struct ao_log_mega		gps_log;
 	static __xdata struct ao_telemetry_location	gps_data;
 	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
-	uint8_t	date_reported = 0;
 	uint8_t	new;
 	uint8_t	c, n, i;
 
diff --git a/src/core/ao_gps_report_metrum.c b/src/core/ao_gps_report_metrum.c
index fa038976..696a833b 100644
--- a/src/core/ao_gps_report_metrum.c
+++ b/src/core/ao_gps_report_metrum.c
@@ -24,9 +24,8 @@ ao_gps_report_metrum(void)
 	static __xdata struct ao_log_metrum		gps_log;
 	static __xdata struct ao_telemetry_location	gps_data;
 	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
-	uint8_t	c, n, i, p, valid, packets;
+	uint8_t	c, n, i;
 	uint8_t svid;
-	uint8_t	date_reported = 0;
 	uint8_t new;
 
 	for (;;) {
diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
index 9f2ec0a7..823d003c 100644
--- a/src/core/ao_ignite.c
+++ b/src/core/ao_ignite.c
@@ -114,6 +114,8 @@ ao_igniter_fire(enum ao_igniter igniter)
 			ao_delay(AO_IGNITER_FIRE_TIME);
 			AO_IGNITER_SET_MAIN(0);
 			break;
+		default:
+			break;
 		}
 		break;
 	case AO_IGNITE_MODE_MAIN:
@@ -127,6 +129,8 @@ ao_igniter_fire(enum ao_igniter igniter)
 			ao_delay(AO_IGNITER_FIRE_TIME);
 			AO_IGNITER_SET_MAIN(0);
 			break;
+		default:
+			break;
 		}
 		break;
 	}
diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index 7fd4f889..9aea1f14 100644
--- a/src/core/ao_kalman.c
+++ b/src/core/ao_kalman.c
@@ -166,7 +166,7 @@ ao_kalman_err_accel(void)
 {
 	int32_t	accel;
 
-	accel = (ao_ground_accel - ao_sample_accel) * ao_accel_scale;
+	accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
 	/* Can't use ao_accel here as it is the pre-prediction value still */
 	ao_error_a = (accel - ao_k_accel) >> 16;
diff --git a/src/core/ao_log.c b/src/core/ao_log.c
index 701c81ab..20febefe 100644
--- a/src/core/ao_log.c
+++ b/src/core/ao_log.c
@@ -196,7 +196,9 @@ ao_log_full(void)
 	return ao_log_current_pos == ao_log_end_pos;
 }
 
+#if HAS_ADC
 static __xdata struct ao_task ao_log_task;
+#endif
 
 void
 ao_log_list(void) __reentrant
diff --git a/src/core/ao_log_metrum.c b/src/core/ao_log_metrum.c
index 43441e7a..91624d98 100644
--- a/src/core/ao_log_metrum.c
+++ b/src/core/ao_log_metrum.c
@@ -81,7 +81,6 @@ void
 ao_log(void)
 {
 	__pdata uint16_t	next_sensor, next_other;
-	uint8_t			i;
 
 	ao_storage_setup();
 
diff --git a/src/core/ao_log_mini.c b/src/core/ao_log_mini.c
index 99a85982..29e3bd9f 100644
--- a/src/core/ao_log_mini.c
+++ b/src/core/ao_log_mini.c
@@ -78,7 +78,7 @@ typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mini))] ;
 void
 ao_log(void)
 {
-	__pdata uint16_t	next_sensor, next_other;
+	__pdata uint16_t	next_sensor;
 
 	ao_storage_setup();
 
@@ -99,7 +99,7 @@ ao_log(void)
 	 * 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;
+	next_sensor = ao_data_ring[ao_log_data_pos].tick;
 	ao_log_state = ao_flight_startup;
 	for (;;) {
 		/* Write samples to EEPROM */
diff --git a/src/core/ao_notask.c b/src/core/ao_notask.c
index a41712d2..6f967e6d 100644
--- a/src/core/ao_notask.c
+++ b/src/core/ao_notask.c
@@ -41,5 +41,6 @@ ao_sleep(__xdata void *wchan)
 void
 ao_wakeup(__xdata void *wchan)
 {
+	(void) wchan;
 	ao_wchan = 0;
 }
diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index a260aa99..e59f5bc4 100644
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -436,7 +436,7 @@ ao_pyro_set(void)
 	if (ao_cmd_status != ao_cmd_success)
 		return;
 	p = ao_cmd_lex_i;
-	if (p < 0 || AO_PYRO_NUM <= p) {
+	if (AO_PYRO_NUM <= p) {
 		printf ("invalid pyro channel %d\n", p);
 		return;
 	}
diff --git a/src/core/ao_radio_cmac.c b/src/core/ao_radio_cmac.c
index 3ca3c313..bff848f6 100644
--- a/src/core/ao_radio_cmac.c
+++ b/src/core/ao_radio_cmac.c
@@ -21,7 +21,6 @@
 static __xdata uint8_t ao_radio_cmac_mutex;
 __pdata int8_t ao_radio_cmac_rssi;
 static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN + AO_CMAC_KEY_LEN + 2 + AO_CMAC_KEY_LEN];
-static __pdata uint8_t ao_radio_cmac_len;
 
 static uint8_t
 round_len(uint8_t len)
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index adf8399d..34658951 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -92,6 +92,10 @@ __pdata int32_t	ao_sample_roll_sum;
 static struct ao_quaternion ao_rotation;
 #endif
 
+#if HAS_FLIGHT_DEBUG
+extern uint8_t ao_orient_test;
+#endif
+
 static void
 ao_sample_preflight_add(void)
 {
@@ -159,7 +163,11 @@ ao_sample_preflight_set(void)
 	 * that as the current rotation vector
 	 */
 	ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
+#if HAS_FLIGHT_DEBUG
+	if (ao_orient_test)
+		printf("\n\treset\n");
 #endif	
+#endif
 	nsamples = 0;
 }
 
@@ -210,6 +218,17 @@ ao_sample_rotate(void)
 	rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
 
 	ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+
+#if HAS_FLIGHT_DEBUG
+	if (ao_orient_test) {
+		printf ("rot %d %d %d orient %d     \r",
+			(int) (x * 1000),
+			(int) (y * 1000),
+			(int) (z * 1000),
+			ao_sample_orient);
+	}
+#endif
+
 }
 #endif
 
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index c118d007..5a00d825 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -24,9 +24,9 @@
 #endif
 
 static __pdata uint16_t ao_telemetry_interval;
-static __pdata uint8_t ao_rdf = 0;
 
 #if HAS_RDF
+static __pdata uint8_t ao_rdf = 0;
 static __pdata uint16_t ao_rdf_time;
 #endif
 
@@ -211,7 +211,6 @@ ao_send_metrum_data(void)
 {
 	if (--ao_telemetry_metrum_data_cur <= 0) {
 		__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-		uint8_t	i;
 
 		telemetry.generic.tick = packet->tick;
 		telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
@@ -473,7 +472,6 @@ ao_telemetry(void)
 			}
 			else
 				time = ao_time();
-		bottom:	;
 		}
 	}
 }