Merge branch 'branch-1.3' into debian

7 files changed, 165 insertions, 49 deletions

diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index 56d98437..0a6c72ce 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -488,9 +488,29 @@ static void tncCompressInt(uint8_t *dest, int32_t value, int len) {
 	}
 }
 
-#if HAS_ADC
+static int ao_num_sats(void)
+{
+    int i;
+    int n = 0;
+
+    for (i = 0; i < ao_gps_tracking_data.channels; i++) {
+	if (ao_gps_tracking_data.sats[i].svid)
+	    n++;
+    }
+    return n;
+}
+
+static char ao_gps_locked(void)
+{
+    if (ao_gps_data.flags & AO_GPS_VALID)
+	return 'L';
+    else
+	return 'U';
+}
+
 static int tncComment(uint8_t *buf)
 {
+#if HAS_ADC
 	struct ao_data packet;
 	
 	ao_arch_critical(ao_data_get(&packet););
@@ -500,61 +520,70 @@ static int tncComment(uint8_t *buf)
 	int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
 
 	return sprintf((char *) buf,
-		       "B:%d.%d A:%d.%d M:%d.%d",
+		       "%c%d B%d.%d A%d.%d M%d.%d",
+		       ao_gps_locked(),
+		       ao_num_sats(),
 		       battery/10,
 		       battery % 10,
 		       apogee/10,
 		       apogee%10,
 		       main/10,
 		       main%10);
-}
+#else
+	return sprintf((char *) buf,
+		       "%c%d",
+		       ao_gps_locked(),
+		       ao_num_sats());
 #endif
+}
 
 /**
  *   Generate the plain text position packet.
  */
 static int tncPositionPacket(void)
 {
-    int32_t	latitude = ao_gps_data.latitude;
-    int32_t	longitude = ao_gps_data.longitude;
-    int32_t	altitude = ao_gps_data.altitude;
+    static int32_t	latitude;
+    static int32_t	longitude;
+    static int32_t	altitude;
+    int32_t		lat, lon, alt;
     uint8_t	*buf;
 
-    if (altitude < 0)
-	altitude = 0;
-    altitude = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
-    
+    if (ao_gps_data.flags & AO_GPS_VALID) {
+	latitude = ao_gps_data.latitude;
+	longitude = ao_gps_data.longitude;
+	altitude = ao_gps_data.altitude;
+	if (altitude < 0)
+	    altitude = 0;
+    }
+
     buf = tncBuffer;
     *buf++ = '!';
 
     /* Symbol table ID */
     *buf++ = '/';
 
-    latitude = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
-    longitude = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
+    lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
+    lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
 
 #define ALTITUDE_LOG_BASE	0.001998002662673f	/* log(1.002) */
 
-    altitude = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
+    alt = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
+    alt = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
 
-    tncCompressInt(buf, latitude, 4);
+    tncCompressInt(buf, lat, 4);
     buf += 4;
-    tncCompressInt(buf, longitude, 4);
+    tncCompressInt(buf, lon, 4);
     buf += 4;
 
     /* Symbol code */
     *buf++ = '\'';
 
-    tncCompressInt(buf, altitude, 2);
+    tncCompressInt(buf, alt, 2);
     buf += 2;
 
     *buf++ = 33 + ((1 << 5) | (2 << 3));
 
-#if HAS_ADC
     buf += tncComment(buf);
-#else
-    *buf = '\0';
-#endif
 
     return buf - tncBuffer;
 }
diff --git a/src/drivers/ao_bufio.c b/src/drivers/ao_bufio.c
index c0fe604a..70e30b67 100644
--- a/src/drivers/ao_bufio.c
+++ b/src/drivers/ao_bufio.c
@@ -45,7 +45,7 @@ static uint8_t		ao_bufio_mutex;
 #if 0
 #define DBG(...) printf(__VA_ARGS__)
 #else
-#define DBG(...)
+#define DBG(...) (void) 0
 #endif
 
 static inline void
diff --git a/src/drivers/ao_fat.c b/src/drivers/ao_fat.c
index 1a1b8eb0..cbcd42bc 100644
--- a/src/drivers/ao_fat.c
+++ b/src/drivers/ao_fat.c
@@ -187,7 +187,7 @@ _ao_fat_entry_replace(cluster_t  cluster, cluster_t new_value)
 	sector_t		sector;
 	cluster_offset_t	offset;
 	uint8_t			*buf;
-	cluster_t		ret;
+	cluster_t		ret = 0;
 	cluster_t		old_value;
 	uint8_t			fat;
 
@@ -747,7 +747,7 @@ _ao_fat_current_sector(struct ao_file *file)
 	DBG("current sector offset %d size %d\n",
 	    file->offset, file->dirent->size);
 
-	if (file->offset > file->dirent->size) {
+	if (file->offset > (offset_t) file->dirent->size) {
 		printf ("file offset %d larger than size %d\n",
 			file->offset, file->dirent->size);
 		return 0xffffffff;
@@ -761,7 +761,7 @@ _ao_fat_current_sector(struct ao_file *file)
 		DBG("\treset to start of file %08x\n", file->cluster);
 	}
 
-	if (file->cluster_offset + bytes_per_cluster <= file->offset) {
+	if ((offset_t) (file->cluster_offset + bytes_per_cluster) <= file->offset) {
 		cluster_t	cluster_distance;
 
 		cluster_offset = sector_offset / sectors_per_cluster;
@@ -804,7 +804,7 @@ _ao_fat_invalidate_cluster_offset(struct ao_fat_dirent *dirent)
 		if (!file->busy)
 			continue;
 		if (file->dirent == dirent) {
-			if (file->cluster_offset >= dirent->size) {
+			if (file->cluster_offset >= (offset_t) dirent->size) {
 				file->cluster_offset = 0;
 				file->cluster = dirent->cluster;
 			}
@@ -838,7 +838,7 @@ _ao_fat_set_size(struct ao_file *file, uint32_t size)
 
 	DBG ("\tfirst cluster %08x have %d need %d\n", first_cluster, have_clusters, need_clusters);
 	if (have_clusters != need_clusters) {
-		if (file->cluster && size > file->cluster_offset) {
+		if (file->cluster && (offset_t) size > file->cluster_offset) {
 			cluster_t	offset_clusters = (file->cluster_offset + bytes_per_cluster) / bytes_per_cluster;
 			cluster_t	extra_clusters = need_clusters - offset_clusters;
 			cluster_t	next_cluster;
@@ -888,6 +888,7 @@ _ao_fat_set_size(struct ao_file *file, uint32_t size)
 static void
 _ao_fat_root_init(uint8_t *dent, char name[11], uint8_t attr)
 {
+	(void) attr;
 	memset(dent, '\0', 0x20);
 	memmove(dent, name, 11);
 
@@ -1249,7 +1250,7 @@ ao_fat_read(int8_t fd, void *dst, int len)
 		goto done;
 	}
 
-	if (file->offset + len > file->dirent->size)
+	if (file->offset + len > (offset_t) file->dirent->size)
 		len = file->dirent->size - file->offset;
 
 	if (len < 0)
@@ -1296,7 +1297,7 @@ ao_fat_write(int8_t fd, void *src, int len)
 		goto done;
 	}
 
-	if (file->offset + len > file->dirent->size) {
+	if (file->offset + len > (offset_t) file->dirent->size) {
 		ret = _ao_fat_set_size(file, file->offset + len);
 		if (ret < 0)
 			goto done;
@@ -1424,6 +1425,8 @@ done:
 int8_t
 ao_fat_rename(char old[11], char new[11])
 {
+	(void) old;
+	(void) new;
 	return -AO_FAT_EIO;
 }
 
@@ -1499,7 +1502,7 @@ ao_fat_list_cmd(void)
 		putchar('.');
 		for (; i < 11; i++)
 			putchar(dirent.name[i]);
-		for (i = 0; i < NUM_FAT_ATTR; i++)
+		for (i = 0; i < (int) NUM_FAT_ATTR; i++)
 			putchar (dirent.attr & ao_fat_attr[i].bit ? ao_fat_attr[i].label : ' ');
 		printf (" @%08x %d\n", dirent.cluster, dirent.size);
 	}
@@ -1507,7 +1510,7 @@ ao_fat_list_cmd(void)
 		printf ("readdir failed: %d\n", status);
 }
 
-static uint8_t
+static void
 ao_fat_parse_name(char name[11])
 {
 	uint8_t	c;
@@ -1560,8 +1563,6 @@ ao_fat_write_cmd(void)
 {
 	static char	name[11];
 	int8_t		fd;
-	int		cnt, i;
-	static char	buf[64];
 	char		c;
 	int		status;
 
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 4fb90746..01169522 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -746,18 +746,20 @@ ao_gps(void) __reentrant
 				ao_gps_tracking_data.channels = 0;
 
 				struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
+				struct nav_svinfo_sat *src = &nav_svinfo_sat[0];
 
 				for (i = 0; i < nav_svinfo_nsat; i++) {
-					struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
-
 					if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
 					    src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
 					{
-						dst->svid = src->svid;
-						dst->c_n_1 = src->cno;
-						dst++;
-						ao_gps_tracking_data.channels++;
+						if (ao_gps_tracking_data.channels < AO_TELEMETRY_SATELLITE_MAX_SAT) {
+							dst->svid = src->svid;
+							dst->c_n_1 = src->cno;
+							dst++;
+							ao_gps_tracking_data.channels++;
+						}
 					}
+					src++;
 				}
 
 				ao_mutex_put(&ao_gps_mutex);
diff --git a/src/drivers/ao_sdcard.c b/src/drivers/ao_sdcard.c
index 7806bc19..47188ef3 100644
--- a/src/drivers/ao_sdcard.c
+++ b/src/drivers/ao_sdcard.c
@@ -56,13 +56,13 @@ static enum ao_sdtype sdtype;
 #if SDCARD_TRACE
 #define DBG(...) printf(__VA_ARGS__)
 #else
-#define DBG(...)
+#define DBG(...) (void) 0
 #endif
 
 #if SDCARD_WARN
 #define WARN(...) printf(__VA_ARGS__)
 #else
-#define WARN(...)
+#define WARN(...) (void) 0
 #endif
 
 #define later(x,y)	((int16_t) ((x) - (y)) >= 0)
@@ -100,7 +100,6 @@ ao_sdcard_send_cmd(uint8_t cmd, uint32_t arg)
 {
 	uint8_t	data[6];
 	uint8_t	reply;
-	int i;
 	uint16_t timeout;
 
 	DBG ("\tsend_cmd %d arg %08x\n", cmd, arg);
@@ -111,7 +110,7 @@ ao_sdcard_send_cmd(uint8_t cmd, uint32_t arg)
 			return SDCARD_STATUS_TIMEOUT;
 	}
 	
-	data[0] = cmd & 0x3f | 0x40;
+	data[0] = (cmd & 0x3f) | 0x40;
 	data[1] = arg >> 24;
 	data[2] = arg >> 16;
 	data[3] = arg >> 8;
@@ -402,7 +401,7 @@ static uint8_t
 _ao_sdcard_reset(void)
 {
 	int i;
-	uint8_t	ret;
+	uint8_t	ret = 0x3f;
 	uint8_t	response[10];
 
 	for (i = 0; i < SDCARD_IDLE_RETRY; i++) {
@@ -419,12 +418,12 @@ _ao_sdcard_reset(void)
 	 */
 	if (ao_sdcard_send_if_cond(0x1aa, response) == SDCARD_STATUS_IDLE_STATE) {
 		uint32_t	arg = 0;
-		uint8_t		sdver2 = 0;
+//		uint8_t		sdver2 = 0;
 
 		/* Check for SD version 2 */
 		if ((response[2] & 0xf) == 1 && response[3] == 0xaa) {
 			arg = 0x40000000;
-			sdver2 = 1;
+//			sdver2 = 1;
 		}
 
 		for (i = 0; i < SDCARD_IDLE_RETRY; i++) {
@@ -487,7 +486,7 @@ ao_sdcard_wait_block_start(void)
 uint8_t
 ao_sdcard_read_block(uint32_t block, uint8_t *data)
 {
-	uint8_t	ret;
+	uint8_t	ret = 0x3f;
 	uint8_t start_block;
 	uint8_t crc[2];
 	int tries;
@@ -518,6 +517,7 @@ ao_sdcard_read_block(uint32_t block, uint8_t *data)
 			WARN ("read block command failed %d status %02x\n", block, ret);
 			status = _ao_sdcard_send_status();
 			WARN ("\tstatus now %04x\n", status);
+			(void) status;
 			goto bail;
 		}
 
@@ -567,8 +567,6 @@ ao_sdcard_write_block(uint32_t block, uint8_t *data)
 	uint8_t	response[1];
 	uint8_t	start_block[8];
 	uint16_t status;
-	static uint8_t	check_data[512];
-	int	i;
 	int	tries;
 
 	ao_sdcard_lock();
@@ -612,7 +610,7 @@ ao_sdcard_write_block(uint32_t block, uint8_t *data)
 		if ((response[0] & SDCARD_DATA_RES_MASK) != SDCARD_DATA_RES_ACCEPTED) {
 			int i;
 			WARN("Data not accepted, response");
-			for (i = 0; i < sizeof (response); i++)
+			for (i = 0; i < (int) sizeof (response); i++)
 				WARN(" %02x", response[i]);
 			WARN("\n");
 			ret = 0x3f;
diff --git a/src/drivers/ao_watchdog.c b/src/drivers/ao_watchdog.c
new file mode 100644
index 00000000..096a5564
--- /dev/null
+++ b/src/drivers/ao_watchdog.c
@@ -0,0 +1,62 @@
+/*
+ * Copyright © 2013 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>
+
+static int	ao_watchdog_enabled = TRUE;
+
+static void
+ao_watchdog(void)
+{
+	for (;;) {
+		while (!ao_watchdog_enabled)
+			ao_sleep(&ao_watchdog_enabled);
+		while (ao_watchdog_enabled) {
+			ao_delay(AO_WATCHDOG_INTERVAL);
+			ao_gpio_set(AO_WATCHDOG_PORT, AO_WATCHDOG_BIT, AO_WATCHDOG_PIN, 1);
+			ao_delay(1);
+			ao_gpio_set(AO_WATCHDOG_PORT, AO_WATCHDOG_BIT, AO_WATCHDOG_PIN, 0);
+		}
+	}
+}
+
+static void
+ao_watchdog_set(void)
+{
+	ao_cmd_hex();
+	if (ao_cmd_status == ao_cmd_success) {
+		ao_watchdog_enabled = ao_cmd_lex_i != 0;
+		ao_wakeup(&ao_watchdog_enabled);
+	}
+}
+	
+
+static __code struct ao_cmds ao_watchdog_cmds[] = {
+	{ ao_watchdog_set,	"Q <0 off, 1 on>\0Enable or disable watchdog timer" },
+	{ 0,			NULL },
+};
+
+static struct ao_task watchdog_task;
+
+void
+ao_watchdog_init(void)
+{
+	ao_enable_output(AO_WATCHDOG_PORT, AO_WATCHDOG_BIT, AO_WATCHDOG, 0);
+	ao_cmd_register(&ao_watchdog_cmds[0]);
+	ao_add_task(&watchdog_task, ao_watchdog, "watchdog");
+}
+
diff --git a/src/drivers/ao_watchdog.h b/src/drivers/ao_watchdog.h
new file mode 100644
index 00000000..73e1559d
--- /dev/null
+++ b/src/drivers/ao_watchdog.h
@@ -0,0 +1,24 @@
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef _AO_WATCHDOG_H_
+#define _AO_WATCHDOG_H_
+
+void
+ao_watchdog_init(void);
+
+#endif /* _AO_WATCHDOG_H_ */