Merge branch 'branch-1.7' into debian

10 files changed, 217 insertions, 45 deletions

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index fb41d7a9..e56fbb2e 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -170,6 +170,9 @@ void
 ao_put_string(__code char *s);
 
 void
+ao_cmd_readline(void);
+
+char
 ao_cmd_lex(void);
 
 void
@@ -853,33 +856,6 @@ struct ao_fifo {
 #include <ao_aes.h>
 #endif
 
-/* ao_launch.c */
-
-struct ao_launch_command {
-	uint16_t	tick;
-	uint16_t	serial;
-	uint8_t		cmd;
-	uint8_t		channel;
-	uint16_t	unused;
-};
-
-#define AO_LAUNCH_QUERY		1
-
-struct ao_launch_query {
-	uint16_t	tick;
-	uint16_t	serial;
-	uint8_t		channel;
-	uint8_t		valid;
-	uint8_t		arm_status;
-	uint8_t		igniter_status;
-};
-
-#define AO_LAUNCH_ARM		2
-#define AO_LAUNCH_FIRE		3
-
-void
-ao_launch_init(void);
-
 /*
  * ao_log_single.c
  */
diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c
index 10716afd..881f3500 100644
--- a/src/kernel/ao_cmd.c
+++ b/src/kernel/ao_cmd.c
@@ -24,13 +24,15 @@ __pdata uint32_t ao_cmd_lex_u32;
 __pdata char	ao_cmd_lex_c;
 __pdata enum ao_cmd_status ao_cmd_status;
 
+#ifndef AO_CMD_LEN
 #if AO_PYRO_NUM
-#define CMD_LEN 128
+#define AO_CMD_LEN 128
 #else
-#define CMD_LEN	48
+#define AO_CMD_LEN	48
+#endif
 #endif
 
-static __xdata char	cmd_line[CMD_LEN];
+static __xdata char	cmd_line[AO_CMD_LEN];
 static __pdata uint8_t	cmd_len;
 static __pdata uint8_t	cmd_i;
 
@@ -48,8 +50,8 @@ backspace(void)
 	ao_put_string ("\010 \010");
 }
 
-static void
-readline(void)
+void
+ao_cmd_readline(void)
 {
 	char c;
 	if (ao_echo())
@@ -88,7 +90,7 @@ readline(void)
 			break;
 		}
 
-		if (cmd_len >= CMD_LEN - 2)
+		if (cmd_len >= AO_CMD_LEN - 2)
 			continue;
 		cmd_line[cmd_len++] = c;
 		if (ao_echo())
@@ -99,12 +101,13 @@ readline(void)
 	cmd_i = 0;
 }
 
-void
+char
 ao_cmd_lex(void)
 {
 	ao_cmd_lex_c = '\n';
 	if (cmd_i < cmd_len)
 		ao_cmd_lex_c = cmd_line[cmd_i++];
+	return ao_cmd_lex_c;
 }
 
 static void
@@ -307,7 +310,7 @@ version(void)
 #endif
 #endif
 #if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND)
-	       , (uint32_t) AO_BOOT_APPLICATION_BOUND - (uint32_t) AO_BOOT_APPLICATION_BASE
+	       , (unsigned) ((uint32_t) AO_BOOT_APPLICATION_BOUND - (uint32_t) AO_BOOT_APPLICATION_BASE)
 #endif
 		);
 	printf("software-version %s\n", ao_version);
@@ -376,7 +379,7 @@ ao_cmd(void)
 	void (*__xdata func)(void);
 
 	for (;;) {
-		readline();
+		ao_cmd_readline();
 		ao_cmd_lex();
 		ao_cmd_white();
 		c = ao_cmd_lex_c;
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 13eb05bf..a2f2c6ca 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -47,10 +47,12 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TELEMEGA_OLD	5	/* 32 byte typed telemega records */
 #define AO_LOG_FORMAT_EASYMINI		6	/* 16-byte MS5607 baro only, 3.0V supply */
 #define AO_LOG_FORMAT_TELEMETRUM	7	/* 16-byte typed telemetrum records */
-#define AO_LOG_FORMAT_TELEMINI		8	/* 16-byte MS5607 baro only, 3.3V supply */
+#define AO_LOG_FORMAT_TELEMINI2		8	/* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
 #define AO_LOG_FORMAT_TELEGPS		9	/* 32 byte telegps records */
 #define AO_LOG_FORMAT_TELEMEGA		10	/* 32 byte typed telemega records with 32 bit gyro cal */
 #define AO_LOG_FORMAT_DETHERM		11	/* 16-byte MS5607 baro only, no ADC */
+#define AO_LOG_FORMAT_TELEMINI3		12	/* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
+#define AO_LOG_FORMAT_TELEFIRETWO	13	/* 32-byte test stand data */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -299,6 +301,32 @@ struct ao_log_mega {
 						 ((l)->u.gps.altitude_high = (a) >> 16), \
 						 (l)->u.gps.altitude_low = (a))
 
+struct ao_log_firetwo {
+	char			type;			/* 0 */
+	uint8_t			csum;			/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+			uint16_t	idle_pressure;	/* 6 */
+			uint16_t	idle_thrust;	/* 8 */
+		} flight;	/* 16 */
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;		/* 4 */
+			uint16_t	reason;		/* 6 */
+		} state;	/* 8 */
+		/* AO_LOG_SENSOR */
+		struct {
+			uint16_t	pressure;	/* 4 */
+			uint16_t	thrust;		/* 6 */
+			uint16_t	thermistor[4];	/* 8 */
+		} sensor;	/* 24 */
+		uint8_t		align[28];		/* 4 */
+	} u;	/* 32 */
+};
+
 struct ao_log_metrum {
 	char			type;			/* 0 */
 	uint8_t			csum;			/* 1 */
diff --git a/src/kernel/ao_log_firetwo.c b/src/kernel/ao_log_firetwo.c
new file mode 100644
index 00000000..4b42abe4
--- /dev/null
+++ b/src/kernel/ao_log_firetwo.c
@@ -0,0 +1,149 @@
+/*
+ * Copyright © 2017 Bdale Garbee <bdale@gag.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.
+ */
+
+#include "ao.h"
+#include <ao_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata struct ao_log_firetwo log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEFIRETWO;
+
+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_firetwo); i++)
+		sum += *b++;
+	return -sum;
+}
+
+uint8_t
+ao_log_firetwo(__xdata struct ao_log_firetwo *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_firetwo));
+			ao_log_current_pos += sizeof (struct ao_log_firetwo);
+		}
+	} 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;
+}
+
+#if HAS_ADC
+static __data uint8_t	ao_log_data_pos;
+
+/* a hack to make sure that ao_log_metrums fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_firetwo))] ;
+#endif
+
+void
+ao_log(void)
+{
+	uint16_t ao_idle_pressure = 0;		// write code to capture pre-test values someday
+	uint16_t ao_idle_thrust = 0;
+	uint16_t ao_flight_state = ao_flight_startup;
+
+	ao_storage_setup();
+
+	do {
+		ao_log_scan();
+	
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
+	
+		log.type = AO_LOG_FLIGHT;
+		log.tick = ao_time();
+		log.u.flight.idle_pressure = ao_idle_pressure;
+		log.u.flight.idle_thrust = ao_idle_thrust;
+		log.u.flight.flight = ao_flight_number;
+		ao_log_firetwo(&log);
+
+		/* Write the whole contents of the ring to the log
+	 	* when starting up.
+	 	*/
+		ao_log_data_pos = ao_data_ring_next(ao_data_head);
+		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;
+				log.type = AO_LOG_SENSOR;
+				log.u.sensor.pressure = ao_data_ring[ao_log_data_pos].adc.pressure;
+				log.u.sensor.thrust = ao_data_ring[ao_log_data_pos].adc.thrust;
+	//			for (i = 0; i < 4; i++) {
+	//				log.u.sensor.thermistor[i] = ao_data_ring[ao_log_data_pos].sensor.thermistor[i];
+	//			}
+				ao_log_firetwo(&log);
+				ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+			}
+			/* 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_firetwo(&log);
+	
+				if (ao_log_state == ao_flight_landed)
+					ao_log_stop();
+			}
+	
+			ao_log_flush();
+
+			if (!ao_log_running) break;
+
+			/* Wait for a while */
+			ao_delay(AO_MS_TO_TICKS(100));
+		}
+	} while (ao_log_running);
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+	if (!ao_storage_read(ao_log_pos(slot),
+			     &log,
+			     sizeof (struct ao_log_firetwo)))
+		return 0;
+
+	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+		return log.u.flight.flight;
+	return 0;
+}
diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 813e866a..a0881f9e 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -75,7 +75,8 @@ uint16_t	ao_pyro_fired;
 #endif
 
 #if PYRO_DBG
-#define DBG(...)	do { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+int pyro_dbg;
+#define DBG(...)	do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
 #else
 #define DBG(...)
 #endif
diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c
index 6592d616..af48b390 100644
--- a/src/kernel/ao_report.c
+++ b/src/kernel/ao_report.c
@@ -45,9 +45,16 @@ static const uint8_t flight_reports[] = {
 #define mid(time)	ao_beep_for(AO_BEEP_MID, time)
 #define high(time)	ao_beep_for(AO_BEEP_HIGH, time)
 #else
-#define low(time)	ao_led_for(AO_LED_GREEN, time)
-#define mid(time)	ao_led_for(AO_LED_RED, time)
-#define high(time)	ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
+#ifndef AO_LED_LOW
+#define AO_LED_LOW	AO_LED_GREEN
+#endif
+#ifndef AO_LED_MID
+#define AO_LED_MID	AO_LED_RED
+#endif
+
+#define low(time)	ao_led_for(AO_LED_LOW, time)
+#define mid(time)	ao_led_for(AO_LED_MID, time)
+#define high(time)	ao_led_for(AO_LED_MID|AO_LED_LOW, time)
 #endif
 #define pause(time)	ao_delay(time)
 
diff --git a/src/kernel/ao_stdio.c b/src/kernel/ao_stdio.c
index b79d465a..f0ee0a14 100644
--- a/src/kernel/ao_stdio.c
+++ b/src/kernel/ao_stdio.c
@@ -55,6 +55,9 @@
 #ifndef PACKET_HAS_SLAVE
 #define PACKET_HAS_SLAVE	0
 #endif
+#ifndef CONSOLE_STDIN
+#define CONSOLE_STDIN		0
+#endif
 
 #define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN +	\
 			  USE_SERIAL_1_STDIN +	\
@@ -67,7 +70,7 @@
 			  USE_SERIAL_8_STDIN +	\
 			  USE_SERIAL_9_STDIN)
 
-#define AO_NUM_STDIOS	(HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN)
+#define AO_NUM_STDIOS	(HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN + CONSOLE_STDIN)
 
 __xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS];
 
diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index e8a092aa..de23ea02 100644
--- a/src/kernel/ao_task.c
+++ b/src/kernel/ao_task.c
@@ -373,7 +373,11 @@ ao_yield(void) ao_arch_naked_define
 		if (!ao_list_is_empty(&run_queue))
 			break;
 		/* Wait for interrupts when there's nothing ready */
-		ao_arch_wait_interrupt();
+		if (ao_task_minimize_latency) {
+			ao_arch_release_interrupts();
+			ao_arch_block_interrupts();
+		} else
+			ao_arch_wait_interrupt();
 	}
 	ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
 #else
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 15085bf4..fa817824 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -270,7 +270,7 @@ ao_send_mini(void)
 	__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
 	telemetry.generic.tick = packet->tick;
-	telemetry.generic.type = AO_TELEMETRY_MINI;
+	telemetry.generic.type = AO_SEND_MINI;
 
 	telemetry.mini.state = ao_flight_state;
 
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index c0f5e3c5..45aaeb07 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -270,7 +270,8 @@ struct ao_telemetry_metrum_data {
 	/* 32 */
 };
 
-#define AO_TELEMETRY_MINI		0x10
+#define AO_TELEMETRY_MINI2		0x10	/* CC1111 based */
+#define AO_TELEMETRY_MINI3		0x11	/* STMF042 based */
 
 struct ao_telemetry_mini {
 	uint16_t	serial;		/*  0 */