Merge branch 'branch-1.3' into debian

Conflicts:
	ChangeLog
	altoslib/AltosRecordMM.java
	altosui/Makefile.am
	altosui/altos-windows.nsi.in
	configure.ac
	debian/changelog
	debian/control
	doc/Makefile
	doc/altusmetrum.xsl
	doc/release-notes-1.2.1.xsl
	doc/release-notes-1.2.xsl

10 files changed, 187 insertions, 22 deletions

diff --git a/src/product/Makefile.teledongle b/src/product/Makefile.teledongle
index 3101b777..da9bcba0 100644
--- a/src/product/Makefile.teledongle
+++ b/src/product/Makefile.teledongle
@@ -80,9 +80,9 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
 	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
diff --git a/src/product/Makefile.telelaunch b/src/product/Makefile.telelaunch
index 1e55989c..a5e2eb7f 100644
--- a/src/product/Makefile.telelaunch
+++ b/src/product/Makefile.telelaunch
@@ -82,9 +82,9 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
 	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM)  || rm $@
 
diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum
index 5e3eed7f..c740a483 100644
--- a/src/product/Makefile.telemetrum
+++ b/src/product/Makefile.telemetrum
@@ -94,10 +94,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/product/Makefile.telemini b/src/product/Makefile.telemini
index ef8906ba..0884079e 100644
--- a/src/product/Makefile.telemini
+++ b/src/product/Makefile.telemini
@@ -83,10 +83,10 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
 ao_product.h: ao-make-product.5c ../Version
diff --git a/src/product/Makefile.telenano b/src/product/Makefile.telenano
index 67410ae0..c31989ee 100644
--- a/src/product/Makefile.telenano
+++ b/src/product/Makefile.telenano
@@ -82,9 +82,9 @@ endif
 # Otherwise, print the full command line.
 quiet ?= $($1)
 
-all: ../$(PROG)
+all: $(PROG)
 
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
 	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
 	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
 
diff --git a/src/product/ao_flash_pins.h b/src/product/ao_flash_pins.h
index b774df6d..dd67d820 100644
--- a/src/product/ao_flash_pins.h
+++ b/src/product/ao_flash_pins.h
@@ -35,6 +35,7 @@
 #define HAS_VERSION		0
 
 #define AO_BOOT_CHAIN		1
-#define AO_BOOT_PIN		1
+
+#define IS_FLASH_LOADER		1
 
 #endif /* _AO_FLASH_PINS_H_ */
diff --git a/src/product/ao_flash_task.c b/src/product/ao_flash_task.c
index fdc4d0aa..4cfbf75f 100644
--- a/src/product/ao_flash_task.c
+++ b/src/product/ao_flash_task.c
@@ -73,7 +73,7 @@ static void
 ao_block_erase(void)
 {
 	uint32_t	addr = ao_get_hex32();
-	uint32_t	*p = (uint32_t *) addr;
+	void		*p = (void *) addr;
 
 	ao_flash_erase_page(p);
 }
@@ -82,11 +82,8 @@ static void
 ao_block_write(void)
 {
 	uint32_t	addr = ao_get_hex32();
-	uint32_t	*p = (uint32_t *) addr;
-	union {
-		uint8_t		data8[256];
-		uint32_t	data32[64];
-	} u;
+	void		*p = (void *) addr;
+	uint8_t		data[256];
 	uint16_t	i;
 
 	if (addr < (uint32_t) AO_BOOT_APPLICATION_BASE) {
@@ -94,8 +91,8 @@ ao_block_write(void)
 		return;
 	}
 	for (i = 0; i < 256; i++)
-		u.data8[i] = ao_usb_getchar();
-	ao_flash_page(p, u.data32);
+		data[i] = ao_usb_getchar();
+	ao_flash_page(p, (void *) data);
 }
 
 static void
diff --git a/src/product/ao_micropeak.c b/src/product/ao_micropeak.c
new file mode 100644
index 00000000..10f0d192
--- /dev/null
+++ b/src/product/ao_micropeak.c
@@ -0,0 +1,89 @@
+/*
+ * 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_micropeak.h>
+#include <ao_ms5607.h>
+#include <ao_log_micro.h>
+#include <ao_async.h>
+
+static struct ao_ms5607_sample	sample;
+static struct ao_ms5607_value	value;
+
+alt_t		ground_alt, max_alt;
+alt_t		ao_max_height;
+
+void
+ao_pa_get(void)
+{
+	ao_ms5607_sample(&sample);
+	ao_ms5607_convert(&sample, &value);
+	pa = value.pres;
+}
+
+static void
+ao_compute_height(void)
+{
+	ground_alt = ao_pa_to_altitude(pa_ground);
+	max_alt = ao_pa_to_altitude(pa_min);
+	ao_max_height = max_alt - ground_alt;
+}
+
+static void
+ao_pips(void)
+{
+	uint8_t	i;
+	for (i = 0; i < 10; i++) {
+		ao_led_toggle(AO_LED_REPORT);
+		ao_delay(AO_MS_TO_TICKS(80));
+	}
+	ao_delay(AO_MS_TO_TICKS(200));
+}
+
+int
+main(void)
+{
+	ao_led_init(LEDS_AVAILABLE);
+	ao_timer_init();
+
+	/* Init external hardware */
+	ao_spi_init();
+	ao_ms5607_init();
+	ao_ms5607_setup();
+
+	/* Give the person a second to get their finger out of the way */
+	ao_delay(AO_MS_TO_TICKS(1000));
+
+	ao_log_micro_restore();
+	ao_compute_height();
+	ao_report_altitude();
+	ao_pips();
+	ao_log_micro_dump();
+	
+	ao_delay(BOOST_DELAY);
+
+	ao_microflight();
+
+	ao_log_micro_save();
+	ao_compute_height();
+	ao_report_altitude();
+	for (;;) {
+		cli();
+		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+		sleep_mode();
+	}
+}
diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h
new file mode 100644
index 00000000..0cefca6f
--- /dev/null
+++ b/src/product/ao_micropeak.h
@@ -0,0 +1,78 @@
+/*
+ * 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.
+ */
+
+#ifndef _AO_MICROPEAK_H_
+#define _AO_MICROPEAK_H_
+
+#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
+
+/* 64 sample, or about six seconds worth */
+#define GROUND_AVG_SHIFT	6
+#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
+
+/* Pressure change (in Pa) to detect boost */
+#define BOOST_DETECT		360	/* 30m at sea level, 36m at 2000m */
+
+/* Wait after power on before doing anything to give the user time to assemble the rocket */
+#define BOOST_DELAY		AO_SEC_TO_TICKS(60)
+
+/* Pressure change (in Pa) to detect landing */
+#define LAND_DETECT		24	/* 2m at sea level, 2.4m at 2000m */
+
+/* Current sensor pressure value */
+extern uint32_t	pa;
+
+/* Average pressure value on ground */
+extern uint32_t	pa_ground;
+
+/* Minimum recorded filtered pressure value */
+extern uint32_t	pa_min;
+
+/* Pressure values converted to altitudes */
+extern alt_t	ground_alt, max_alt;
+
+/* max_alt - ground_alt */
+extern alt_t	ao_max_height;
+
+void
+ao_pa_get(void);
+
+void
+ao_microflight(void);
+
+#define ACCEL_LOCK_PA		-20
+#define ACCEL_LOCK_TIME		10
+
+extern uint32_t	ao_k_pa;		/* 24.8 fixed point */
+extern int32_t	ao_k_pa_speed;		/* 16.16 fixed point */
+extern int32_t	ao_k_pa_accel;		/* 16.16 fixed point */
+
+extern uint32_t	ao_pa;			/* integer portion */
+extern int16_t	ao_pa_speed;		/* integer portion */
+extern int16_t	ao_pa_accel;		/* integer portion */
+
+void
+ao_microkalman_init(void);
+
+void
+ao_microkalman_predict(void);
+
+void
+ao_microkalman_correct(void);
+	
+#endif
+
diff --git a/src/product/ao_terraui.c b/src/product/ao_terraui.c
index 1866eb0c..8fd97033 100644
--- a/src/product/ao_terraui.c
+++ b/src/product/ao_terraui.c
@@ -629,7 +629,7 @@ ao_terragps(void)
 
 	for (;;) {
 		while (ao_gps_tick == gps_tick)
-			ao_sleep(&ao_gps_data);
+			ao_sleep(&ao_gps_new);
 		gps_tick = ao_gps_tick;
 		ao_gps_progress = (ao_gps_progress + 1) & 3;
 	}