Merge branch 'master' into mm-ms5611

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

7 files changed, 246 insertions, 65 deletions

diff --git a/src/drivers/ao_at24c.c b/src/drivers/ao_at24c.c
new file mode 100644
index 00000000..2a23be3a
--- /dev/null
+++ b/src/drivers/ao_at24c.c
@@ -0,0 +1,104 @@
+/*
+ * 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>
+
+#if HAS_EEPROM
+#define AO_AT24C_ADDR		0xa0
+#define AO_AT24C_ADDR_WRITE	(AO_AT24C_ADDR|0)
+#define AO_AT24C_ADDR_READ	(AO_AT24C_ADDR|1)
+#define AO_AT24C_PAGE_LEN	128
+
+/* Total bytes of available storage */
+__pdata ao_pos_t	ao_storage_total = 64l * 1024l;
+
+/* Storage unit size - device reads and writes must be within blocks of this size. */
+__pdata uint16_t	ao_storage_unit = 128;
+
+static void
+ao_at24c_set_address(uint8_t addr, ao_pos_t pos)
+{
+	uint8_t	a[2];
+
+	a[0] = pos >> 8;
+	a[1] = pos;
+	ao_i2c_start_bus(addr);
+	ao_i2c_send_bus(a, 2, 0);
+}
+
+/*
+ * Erase the specified sector
+ */
+uint8_t
+ao_storage_erase(ao_pos_t pos) __reentrant
+{
+	if (pos >= ao_storage_total || pos + AO_AT24C_PAGE_LEN > ao_storage_total)
+		return 0;
+
+	ao_mutex_get(&ao_at24c_mutex);
+	ao_at24c_set_address(AO_AT24C_ADDR_WRITE, pos);
+	ao_i2c_send_fixed_bus(0xff, AO_AT24C_PAGE_LEN, 1);
+	ao_mutex_put(&ao_at24c_mutex);
+	return 1;
+}
+
+/*
+ * Write to flash
+ */
+uint8_t
+ao_storage_device_write(ao_pos_t pos, __xdata void *d, uint16_t len) __reentrant
+{
+	if (pos >= ao_storage_total || pos + len > ao_storage_total)
+		return 0;
+
+	ao_mutex_get(&ao_m25_mutex);
+	ao_at24c_set_address(AO_AT24C_ADDR_WRITE, pos);
+	ao_i2c_send_bus(d, len, 1);
+	ao_mutex_put(&ao_m25_mutex);
+	return 1;
+}
+
+/*
+ * Read from flash
+ */
+uint8_t
+ao_storage_device_read(ao_pos_t pos, __xdata void *d, uint16_t len) __reentrant
+{
+	if (pos >= ao_storage_total || pos + len > ao_storage_total)
+		return 0;
+	ao_mutex_get(&ao_m25_mutex);
+	ao_at24c_set_address(AO_AT24C_ADDR_READ, pos);
+	ao_i2c_recv_bus(d, len, 1);
+	ao_mutex_put(&ao_m25_mutex);
+	return 1;
+}
+
+void
+ao_storage_flush(void) __reentrant
+{
+}
+
+void
+ao_storage_setup(void)
+{
+}
+
+void
+ao_storage_device_init(void)
+{
+}
+#endif
diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index ab36d6f2..6aada9a9 100644
--- a/src/drivers/ao_mpu6000.h
+++ b/src/drivers/ao_mpu6000.h
@@ -145,6 +145,9 @@
 /* Self test gyro is approximately 50°/s */
 #define MPU6000_ST_GYRO(full_scale)	((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale)))
 
+#define MPU6000_GYRO_FULLSCALE	2000
+#define MPU6000_ACCEL_FULLSCALE	16
+
 struct ao_mpu6000_sample {
 	int16_t		accel_x;
 	int16_t		accel_y;
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 736e115b..077a40e6 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -17,7 +17,7 @@
 
 #include <ao.h>
 #include <ao_exti.h>
-#include "ao_ms5607.h"
+#include <ao_ms5607.h>
 
 #if HAS_MS5607 || HAS_MS5611
 
@@ -27,12 +27,12 @@ static uint8_t	  		ms5607_configured;
 static void
 ao_ms5607_start(void) {
 	ao_spi_get(AO_MS5607_SPI_INDEX,AO_SPI_SPEED_FAST);
-	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 0);
+	ao_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, AO_MS5607_CS, 0);
 }
 
 static void
 ao_ms5607_stop(void) {
-	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
+	ao_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, AO_MS5607_CS, 1);
 	ao_spi_put(AO_MS5607_SPI_INDEX);
 }
 
@@ -53,7 +53,6 @@ ao_ms5607_crc(uint8_t *prom)
 	uint8_t		crc_byte = prom[15];
 	uint8_t 	cnt;
 	uint16_t	n_rem = 0;
-	uint16_t	crc_read;
 	uint8_t		n_bit;
 
 	prom[15] = 0;
@@ -89,9 +88,11 @@ ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
 	}
 	crc = ao_ms5607_crc((uint8_t *) prom);
 	if (crc != (((uint8_t *) prom)[15] & 0xf)) {
+#if HAS_TASK
 		printf ("MS5607 PROM CRC error (computed %x actual %x)\n",
 			crc, (((uint8_t *) prom)[15] & 0xf));
 		flush();
+#endif
 		ao_panic(AO_PANIC_SELF_TEST_MS5607);
 	}
 
@@ -105,7 +106,7 @@ ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
 #endif
 }
 
-static void
+void
 ao_ms5607_setup(void)
 {
 	if (ms5607_configured)
@@ -115,33 +116,34 @@ ao_ms5607_setup(void)
 	ao_ms5607_prom_read(&ms5607_prom);
 }
 
-static uint8_t	ao_ms5607_done;
+static volatile uint8_t	ao_ms5607_done;
 
 static void
 ao_ms5607_isr(void)
 {
 	ao_exti_disable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
 	ao_ms5607_done = 1;
-	ao_wakeup(&ao_ms5607_done);
+	ao_wakeup((void *) &ao_ms5607_done);
 }
 
 static uint32_t
 ao_ms5607_get_sample(uint8_t cmd) {
 	uint8_t	reply[3];
 	uint8_t read;
-	uint16_t now;
 
 	ao_ms5607_done = 0;
 
 	ao_ms5607_start();
 	ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
+
 	ao_exti_enable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
+
 #if AO_MS5607_PRIVATE_PINS
 	ao_spi_put(AO_MS5607_SPI_INDEX);
 #endif
 	cli();
 	while (!ao_ms5607_done)
-		ao_sleep(&ao_ms5607_done);
+		ao_sleep((void *) &ao_ms5607_done);
 	sei();
 #if AO_MS5607_PRIVATE_PINS
 	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
@@ -165,48 +167,9 @@ ao_ms5607_sample(struct ao_ms5607_sample *sample)
 	sample->temp = ao_ms5607_get_sample(AO_MS5607_CONVERT_D2_2048);
 }
 
-void
-ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value)
-{
-	uint8_t	addr;
-	int32_t	dT;
-	int32_t TEMP;
-	int64_t OFF;
-	int64_t SENS;
-	int32_t P;
-
-	dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
-	
-	TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23);
-
-#if HAS_MS5611
-	OFF = ((int64_t) ms5607_prom.off << 16) + (((int64_t) ms5607_prom.tco * dT) >> 7);
-	SENS = ((int64_t) ms5607_prom.sens << 15) + (((int64_t) ms5607_prom.tcs * dT) >> 8);
-#else
-	OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6);
-	SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7);
-#endif
-
-	if (TEMP < 2000) {
-		int32_t	T2 = ((int64_t) dT * (int64_t) dT) >> 31;
-		int32_t TEMPM = TEMP - 2000;
-		int64_t OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4;
-		int64_t SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM;
-		if (TEMP < 1500) {
-			int32_t TEMPP = TEMP + 1500;
-			int64_t TEMPP2 = TEMPP * TEMPP;
-			OFF2 = OFF2 + 15 * TEMPP2;
-			SENS2 = SENS2 + 8 * TEMPP2;
-		}
-		TEMP -= T2;
-		OFF -= OFF2;
-		SENS -= SENS2;
-	}
-
-	value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15;
-	value->temp = TEMP;
-}
+#include "ao_ms5607_convert.c"
 
+#if HAS_TASK
 struct ao_ms5607_sample	ao_ms5607_current;
 
 static void
@@ -253,15 +216,18 @@ __code struct ao_cmds ao_ms5607_cmds[] = {
 	{ ao_ms5607_dump,	"B\0Display MS5607 data" },
 	{ 0, NULL },
 };
+#endif /* HAS_TASK */
 
 void
 ao_ms5607_init(void)
 {
 	ms5607_configured = 0;
-	ao_cmd_register(&ao_ms5607_cmds[0]);
 	ao_spi_init_cs(AO_MS5607_CS_PORT, (1 << AO_MS5607_CS_PIN));
 
+#if HAS_TASK
+	ao_cmd_register(&ao_ms5607_cmds[0]);
 	ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
+#endif
 
 	/* Configure the MISO pin as an interrupt; when the
 	 * conversion is complete, the MS5607 will raise this
@@ -272,12 +238,14 @@ ao_ms5607_init(void)
 		      AO_EXTI_MODE_RISING,
 		      ao_ms5607_isr);
 
+#ifdef STM_MODER_ALTERNATE
 	/* Reset the pin from INPUT to ALTERNATE so that SPI works
 	 * This needs an abstraction at some point...
 	 */
 	stm_moder_set(AO_MS5607_MISO_PORT,
 		      AO_MS5607_MISO_PIN,
 		      STM_MODER_ALTERNATE);
+#endif
 }
 
 #endif
diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h
index 4c29f6a7..b2f98a59 100644
--- a/src/drivers/ao_ms5607.h
+++ b/src/drivers/ao_ms5607.h
@@ -59,6 +59,9 @@ struct ao_ms5607_value {
 extern struct ao_ms5607_sample	ao_ms5607_current;
 
 void
+ao_ms5607_setup(void);
+
+void
 ao_ms5607_init(void);
 
 void
diff --git a/src/drivers/ao_ms5607_convert.c b/src/drivers/ao_ms5607_convert.c
new file mode 100644
index 00000000..e61d19ed
--- /dev/null
+++ b/src/drivers/ao_ms5607_convert.c
@@ -0,0 +1,58 @@
+/*
+ * 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_ms5607.h>
+
+void
+ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value)
+{
+	int32_t	dT;
+	int32_t TEMP;
+	int64_t OFF;
+	int64_t SENS;
+
+	dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
+	
+	TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23);
+
+#if HAS_MS5611
+	OFF = ((int64_t) ms5607_prom.off << 16) + (((int64_t) ms5607_prom.tco * dT) >> 7);
+	SENS = ((int64_t) ms5607_prom.sens << 15) + (((int64_t) ms5607_prom.tcs * dT) >> 8);
+#else
+	OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6);
+	SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7);
+#endif
+
+	if (TEMP < 2000) {
+		int32_t	T2 = ((int64_t) dT * (int64_t) dT) >> 31;
+		int32_t TEMPM = TEMP - 2000;
+		int64_t OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4;
+		int64_t SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM;
+		if (TEMP < 1500) {
+			int32_t TEMPP = TEMP + 1500;
+			int64_t TEMPP2 = TEMPP * TEMPP;
+			OFF2 = OFF2 + 15 * TEMPP2;
+			SENS2 = SENS2 + 8 * TEMPP2;
+		}
+		TEMP -= T2;
+		OFF -= OFF2;
+		SENS -= SENS2;
+	}
+
+	value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15;
+	value->temp = TEMP;
+}
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index 55e6289d..6cec98ab 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -40,24 +40,62 @@ static __pdata uint8_t	ao_pad_debug;
 #endif
 
 static void
+ao_siren(uint8_t v)
+{
+#ifdef AO_SIREN
+	ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, v);
+#else
+	ao_beep(v ? AO_BEEP_MID : 0);
+#endif
+}
+
+static void
+ao_strobe(uint8_t v)
+{
+#ifdef AO_STROBE
+	ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v);
+#endif
+}
+
+static void
 ao_pad_run(void)
 {
+	uint8_t	pins;
+
 	for (;;) {
 		while (!ao_pad_ignite)
 			ao_sleep(&ao_pad_ignite);
 		/*
 		 * Actually set the pad bits
 		 */
-		AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite;
+		pins = 0;
+#if AO_PAD_NUM > 0
+		if (ao_pad_ignite & (1 << 0))
+			pins |= (1 << AO_PAD_PIN_0);
+#endif
+#if AO_PAD_NUM > 1
+		if (ao_pad_ignite & (1 << 1))
+			pins |= (1 << AO_PAD_PIN_1);
+#endif
+#if AO_PAD_NUM > 2
+		if (ao_pad_ignite & (1 << 2))
+			pins |= (1 << AO_PAD_PIN_2);
+#endif
+#if AO_PAD_NUM > 3
+		if (ao_pad_ignite & (1 << 3))
+			pins |= (1 << AO_PAD_PIN_3);
+#endif
+		AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | pins;
 		while (ao_pad_ignite) {
 			ao_pad_ignite = 0;
+
 			ao_delay(AO_PAD_FIRE_TIME);
 		}
 		AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
 	}
 }
 
-#define AO_PAD_ARM_BEEP_INTERVAL	200
+#define AO_PAD_ARM_SIREN_INTERVAL	200
 
 static void
 ao_pad_monitor(void)
@@ -139,22 +177,27 @@ ao_pad_monitor(void)
 			prev = cur;
 		}
 
+		if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
+			ao_pad_armed = 0;
+
 		if (ao_pad_armed) {
+			ao_strobe(1);
 			if (sample & 2)
-				ao_beep(AO_BEEP_HIGH);
+				ao_siren(1);
 			else
-				ao_beep(AO_BEEP_LOW);
+				ao_siren(0);
 			beeping = 1;
 		} else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 			if (arm_beep_time == 0) {
-				arm_beep_time = AO_PAD_ARM_BEEP_INTERVAL;
+				arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 				beeping = 1;
-				ao_beep(AO_BEEP_HIGH);
+				ao_siren(1);
 			}
 			--arm_beep_time;
 		} else if (beeping) {
 			beeping = 0;
-			ao_beep(0);
+			ao_siren(0);
+			ao_strobe(0);
 		}
 	}
 }
@@ -181,7 +224,6 @@ ao_pad(void)
 	int16_t	time_difference;
 	int8_t	ret;
 
-	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 	ao_pad_box = 0;
 	ao_led_set(0);
 	ao_led_on(AO_LED_POWER);
@@ -197,9 +239,6 @@ ao_pad(void)
 		PRINTD ("tick %d box %d cmd %d channels %02x\n",
 			command.tick, command.box, command.cmd, command.channels);
 
-		if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
-			ao_pad_armed = 0;
-
 		switch (command.cmd) {
 		case AO_LAUNCH_ARM:
 			if (command.box != ao_pad_box) {
@@ -207,7 +246,7 @@ ao_pad(void)
 				break;
 			}
 
-			if (command.channels & ~(AO_PAD_ALL_PINS))
+			if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 				break;
 
 			time_difference = command.tick - ao_time();
@@ -232,7 +271,7 @@ ao_pad(void)
 
 			query.tick = ao_time();
 			query.box = ao_pad_box;
-			query.channels = AO_PAD_ALL_PINS;
+			query.channels = AO_PAD_ALL_CHANNELS;
 			query.armed = ao_pad_armed;
 			PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 				query.tick, query.box, query.channels, query.armed,
@@ -349,6 +388,12 @@ ao_pad_init(void)
 #if AO_PAD_NUM > 3
 	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 #endif
+#ifdef AO_STROBE
+	ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
+#endif
+#ifdef AO_SIREN
+	ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
+#endif
 	ao_cmd_register(&ao_pad_cmds[0]);
 	ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 	ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
diff --git a/src/drivers/ao_radio_master.c b/src/drivers/ao_radio_master.c
index 73ac3c03..4a37ace0 100644
--- a/src/drivers/ao_radio_master.c
+++ b/src/drivers/ao_radio_master.c
@@ -53,7 +53,7 @@ ao_radio_master_start(void)
 {
 	ao_spi_get_bit(AO_RADIO_CS_PORT, AO_RADIO_CS_PIN, AO_RADIO_CS,
 		       AO_RADIO_SPI_BUS,
-		       AO_SPI_SPEED_200kHz);
+		       AO_SPI_SPEED_2MHz);
 }
 
 static void