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

3 files changed, 74 insertions, 53 deletions

diff --git a/src/telemega-v0.1/Makefile b/src/telemega-v0.1/Makefile
index a72d08f2..0145f49c 100644
--- a/src/telemega-v0.1/Makefile
+++ b/src/telemega-v0.1/Makefile
@@ -25,6 +25,8 @@ INC = \
 	ao_task.h \
 	ao_whiten.h \
 	ao_sample_profile.h \
+	ao_quaternion.h \
+	math.h \
 	ao_mpu.h \
 	stm32l.h \
 	Makefile
@@ -44,6 +46,20 @@ INC = \
 #STACK_GUARD=ao_mpu_stm.c
 #STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
 
+MATH_SRC=\
+	ef_acos.c \
+	ef_sqrt.c \
+	ef_rem_pio2.c \
+	kf_cos.c \
+	kf_sin.c \
+	kf_rem_pio2.c \
+	sf_copysign.c \
+	sf_cos.c \
+	sf_sin.c \
+	sf_fabs.c \
+	sf_floor.c \
+	sf_scalbn.c
+
 ALTOS_SRC = \
 	ao_boot_chain.c \
 	ao_interrupt.c \
@@ -59,6 +75,7 @@ ALTOS_SRC = \
 	ao_mutex.c \
 	ao_serial_stm.c \
 	ao_gps_skytraq.c \
+	ao_gps_show.c \
 	ao_gps_report_mega.c \
 	ao_ignite.c \
 	ao_freq.c \
@@ -73,6 +90,7 @@ ALTOS_SRC = \
 	ao_hmc5883.c \
 	ao_adc_stm.c \
 	ao_beep_stm.c \
+	ao_eeprom_stm.c \
 	ao_storage.c \
 	ao_m25.c \
 	ao_usb_stm.c \
@@ -92,6 +110,7 @@ ALTOS_SRC = \
 	ao_companion.c \
 	ao_pyro.c \
 	ao_aprs.c \
+	$(MATH_SRC) \
 	$(PROFILE) \
 	$(SAMPLE_PROFILE) \
 	$(STACK_GUARD)
@@ -104,14 +123,15 @@ CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STA
 
 PROGNAME=telemega-v0.1
 PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
 
 SRC=$(ALTOS_SRC) ao_telemega.c
 OBJ=$(SRC:.c=.o)
 
-all: $(PROG)
+all: $(PROG) $(HEX)
 
 $(PROG): Makefile $(OBJ) altos.ld
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
 
 ../altitude-pa.h: make-altitude-pa
 	nickle $< > $@
@@ -124,7 +144,7 @@ ao_product.h: ao-make-product.5c ../Version
 distclean:	clean
 
 clean:
-	rm -f *.o $(PROGNAME)-*.elf
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
 	rm -f ao_product.h
 
 install:
diff --git a/src/telemega-v0.1/ao_pins.h b/src/telemega-v0.1/ao_pins.h
index 4c645871..daeb9f17 100644
--- a/src/telemega-v0.1/ao_pins.h
+++ b/src/telemega-v0.1/ao_pins.h
@@ -64,8 +64,11 @@
 #define ao_gps_set_speed	ao_serial3_set_speed
 #define ao_gps_fifo		(ao_stm_usart3.rx_fifo)
 
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	(1024 * 1024)
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
+#define USE_EEPROM_CONFIG	1
+#define USE_STORAGE_CONFIG	0
 #define HAS_USB			1
 #define HAS_BEEP		1
 #define HAS_RADIO		1
@@ -111,6 +114,7 @@
 #define HAS_GPS			1
 #define HAS_FLIGHT		1
 #define HAS_ADC			1
+#define HAS_ADC_TEMP		1
 #define HAS_LOG			1
 
 /*
@@ -120,28 +124,35 @@
 #define HAS_IGNITE		1
 #define HAS_IGNITE_REPORT	1
 
-#define AO_SENSE_DROGUE(p)	((p)->adc.sense[0])
-#define AO_SENSE_MAIN(p)	((p)->adc.sense[1])
+#define AO_SENSE_PYRO(p,n)	((p)->adc.sense[n])
+#define AO_SENSE_DROGUE(p)	((p)->adc.sense[4])
+#define AO_SENSE_MAIN(p)	((p)->adc.sense[5])
 #define AO_IGNITER_CLOSED	400
 #define AO_IGNITER_OPEN		60
 
-#define AO_IGNITER_DROGUE_PORT	(&stm_gpiod)
-#define AO_IGNITER_DROGUE_PIN	6
+/* Pyro A */
+#define AO_PYRO_PORT_0	(&stm_gpiod)
+#define AO_PYRO_PIN_0	6
 
-#define AO_IGNITER_MAIN_PORT	(&stm_gpiod)
-#define AO_IGNITER_MAIN_PIN	7
+/* Pyro B */
+#define AO_PYRO_PORT_1	(&stm_gpiod)
+#define AO_PYRO_PIN_1	7
 
-#define AO_PYRO_PORT_0	(&stm_gpiob)
-#define AO_PYRO_PIN_0	5
+/* Pyro C */
+#define AO_PYRO_PORT_2	(&stm_gpiob)
+#define AO_PYRO_PIN_2	5
 
-#define AO_PYRO_PORT_1	(&stm_gpioe)
-#define AO_PYRO_PIN_1	4
+/* Pyro D */
+#define AO_PYRO_PORT_3	(&stm_gpioe)
+#define AO_PYRO_PIN_3	4
 
-#define AO_PYRO_PORT_2	(&stm_gpioe)
-#define AO_PYRO_PIN_2	6
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT	(&stm_gpioe)
+#define AO_IGNITER_DROGUE_PIN	6
 
-#define AO_PYRO_PORT_3	(&stm_gpioe)
-#define AO_PYRO_PIN_3	5
+/* Main */
+#define AO_IGNITER_MAIN_PORT	(&stm_gpioe)
+#define AO_IGNITER_MAIN_PIN	5
 
 /* Number of general purpose pyro channels available */
 #define AO_PYRO_NUM	4
@@ -159,11 +170,16 @@ struct ao_adc {
 	int16_t			sense[AO_ADC_NUM_SENSE];
 	int16_t			v_batt;
 	int16_t			v_pbatt;
-	int16_t			accel_ref;
-	int16_t			accel;
 	int16_t			temp;
 };
 
+#define AO_ADC_DUMP(p) \
+	printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+	       (p)->tick, \
+	       (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
+	       (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
+	       (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
+
 #define AO_ADC_SENSE_A		0
 #define AO_ADC_SENSE_A_PORT	(&stm_gpioa)
 #define AO_ADC_SENSE_A_PIN	0
@@ -180,13 +196,13 @@ struct ao_adc {
 #define AO_ADC_SENSE_D_PORT	(&stm_gpioa)
 #define AO_ADC_SENSE_D_PIN	3
 
-#define AO_ADC_SENSE_E		4
-#define AO_ADC_SENSE_E_PORT	(&stm_gpioa)
-#define AO_ADC_SENSE_E_PIN	4
+#define AO_ADC_SENSE_DROGUE	4
+#define AO_ADC_SENSE_DROGUE_PORT	(&stm_gpioa)
+#define AO_ADC_SENSE_DROGUE_PIN	4
 
-#define AO_ADC_SENSE_F		22
-#define AO_ADC_SENSE_F_PORT	(&stm_gpioe)
-#define AO_ADC_SENSE_F_PIN	7
+#define AO_ADC_SENSE_MAIN	22
+#define AO_ADC_SENSE_MAIN_PORT	(&stm_gpioe)
+#define AO_ADC_SENSE_MAIN_PIN	7
 
 #define AO_ADC_V_BATT		8
 #define AO_ADC_V_BATT_PORT	(&stm_gpiob)
@@ -196,22 +212,13 @@ struct ao_adc {
 #define AO_ADC_V_PBATT_PORT	(&stm_gpiob)
 #define AO_ADC_V_PBATT_PIN	1
 
-#define AO_ADC_ACCEL_REF	10
-#define AO_ADC_ACCEL_REF_PORT	(&stm_gpioc)
-#define AO_ADC_ACCEL_REF_PIN	0
-
-#define AO_ADC_ACCEL		11
-#define AO_ADC_ACCEL_PORT	(&stm_gpioc)
-#define AO_ADC_ACCEL_PIN	1
-
 #define AO_ADC_TEMP		16
 
 #define AO_ADC_RCC_AHBENR	((1 << STM_RCC_AHBENR_GPIOAEN) | \
 				 (1 << STM_RCC_AHBENR_GPIOEEN) | \
-				 (1 << STM_RCC_AHBENR_GPIOBEN) | \
-				 (1 << STM_RCC_AHBENR_GPIOCEN))
+				 (1 << STM_RCC_AHBENR_GPIOBEN))
 
-#define AO_NUM_ADC_PIN		(AO_ADC_NUM_SENSE + 4)
+#define AO_NUM_ADC_PIN		(AO_ADC_NUM_SENSE + 2)
 
 #define AO_ADC_PIN0_PORT	AO_ADC_SENSE_A_PORT
 #define AO_ADC_PIN0_PIN		AO_ADC_SENSE_A_PIN
@@ -221,32 +228,26 @@ struct ao_adc {
 #define AO_ADC_PIN2_PIN		AO_ADC_SENSE_C_PIN
 #define AO_ADC_PIN3_PORT	AO_ADC_SENSE_D_PORT
 #define AO_ADC_PIN3_PIN		AO_ADC_SENSE_D_PIN
-#define AO_ADC_PIN4_PORT	AO_ADC_SENSE_E_PORT
-#define AO_ADC_PIN4_PIN		AO_ADC_SENSE_E_PIN
-#define AO_ADC_PIN5_PORT	AO_ADC_SENSE_F_PORT
-#define AO_ADC_PIN5_PIN		AO_ADC_SENSE_F_PIN
+#define AO_ADC_PIN4_PORT	AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN4_PIN		AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN5_PORT	AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN5_PIN		AO_ADC_SENSE_MAIN_PIN
 #define AO_ADC_PIN6_PORT	AO_ADC_V_BATT_PORT
 #define AO_ADC_PIN6_PIN		AO_ADC_V_BATT_PIN
 #define AO_ADC_PIN7_PORT	AO_ADC_V_PBATT_PORT
 #define AO_ADC_PIN7_PIN		AO_ADC_V_PBATT_PIN
-#define AO_ADC_PIN8_PORT	AO_ADC_ACCEL_REF_PORT
-#define AO_ADC_PIN8_PIN		AO_ADC_ACCEL_REF_PIN
-#define AO_ADC_PIN9_PORT	AO_ADC_ACCEL_PORT
-#define AO_ADC_PIN9_PIN		AO_ADC_ACCEL_PIN
 
-#define AO_NUM_ADC	       	(AO_ADC_NUM_SENSE + 5)
+#define AO_NUM_ADC	       	(AO_ADC_NUM_SENSE + 3)
 
 #define AO_ADC_SQ1		AO_ADC_SENSE_A
 #define AO_ADC_SQ2		AO_ADC_SENSE_B
 #define AO_ADC_SQ3		AO_ADC_SENSE_C
 #define AO_ADC_SQ4		AO_ADC_SENSE_D
-#define AO_ADC_SQ5		AO_ADC_SENSE_E
-#define AO_ADC_SQ6		AO_ADC_SENSE_F
+#define AO_ADC_SQ5		AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ6		AO_ADC_SENSE_MAIN
 #define AO_ADC_SQ7		AO_ADC_V_BATT
 #define AO_ADC_SQ8		AO_ADC_V_PBATT
-#define AO_ADC_SQ9		AO_ADC_ACCEL_REF
-#define AO_ADC_SQ10		AO_ADC_ACCEL
-#define AO_ADC_SQ11		AO_ADC_TEMP
+#define AO_ADC_SQ9		AO_ADC_TEMP
 
 /*
  * Pressure sensor settings
@@ -296,7 +297,6 @@ struct ao_adc {
 #define AO_CC1120_MARC_GPIO	3
 #define AO_CC1120_MARC_GPIO_IOCFG	CC1120_IOCFG3
 
-
 #define HAS_BOOT_RADIO		0
 
 /*
@@ -316,8 +316,7 @@ struct ao_adc {
 #define AO_MPU6000_INT_PORT	(&stm_gpioc)
 #define AO_MPU6000_INT_PIN	13
 #define AO_MPU6000_I2C_INDEX	STM_I2C_INDEX(1)
-
-#define HAS_HIGHG_ACCEL		0
+#define HAS_IMU			1
 
 /*
  * mma655x
diff --git a/src/telemega-v0.1/ao_telemega.c b/src/telemega-v0.1/ao_telemega.c
index fbdab64a..7b035269 100644
--- a/src/telemega-v0.1/ao_telemega.c
+++ b/src/telemega-v0.1/ao_telemega.c
@@ -24,6 +24,7 @@
 #include <ao_packet.h>
 #include <ao_companion.h>
 #include <ao_profile.h>
+#include <ao_eeprom.h>
 #if HAS_SAMPLE_PROFILE
 #include <ao_sample_profile.h>
 #endif
@@ -71,6 +72,7 @@ main(void)
 	ao_mma655x_init();
 #endif
 
+	ao_eeprom_init();
 	ao_storage_init();
 	
 	ao_flight_init();