altos: Restructure altos build to prepare for multi-arch support

Split out sources into separate directories:

	core:		architecture and product independent bits
	cc1111:		cc1111-specific code
	drivers:	architecture independent drivers
	product:	product-specific sources and Makefile fragments
	util:		scripts for building stuff

This should have no effect on the built products, but testing is encouraged

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

7 files changed, 523 insertions, 0 deletions

diff --git a/src/util/ao-make-product.5c b/src/util/ao-make-product.5c
new file mode 100644
index 00000000..5f2eb8e8
--- /dev/null
+++ b/src/util/ao-make-product.5c
@@ -0,0 +1,103 @@
+#!/bin/sh
+
+autoimport ParseArgs;
+
+void
+write_ucs2(string a, string description)
+{
+	int len = String::length(a);
+
+	printf("/* %s */\n", description);
+	printf("#define AO_%s_LEN 0x%02x\n", description, len * 2 + 2);
+	printf("#define AO_%s_STRING \"%s\"\n", description, a);
+	printf("#define AO_%s_UCS2", description);
+	for (int i = 0; i < len; i++) {
+		int	c = a[i];
+		if (i > 0)
+			printf(",");
+		if (0x20 <= c && c < 128)
+			printf(" '%c', 0", c);
+		else
+			printf(" LE_WORD(0x%04x),", c);
+	}
+	printf("\n\n");
+}
+
+void
+write_string(string a, string description)
+{
+	printf ("/* %s */\n", description);
+	printf ("#define AO_%s_STRING \"%s\"\n", description, a);
+}
+
+void
+write_int(int a, string description)
+{
+	printf ("/* %s */\n", description);
+	printf ("#define AO_%s_NUMBER %d\n\n", description, a);
+}
+
+void
+write_hex(int a, string description)
+{
+	printf ("/* %s */\n", description);
+	printf ("#define AO_%s_NUMBER 0x%04x\n\n", description, a);
+}
+
+string manufacturer = "altusmetrum.org";
+string product = "TeleMetrum";
+string version = "0.0";
+int serial = 1;
+int user_argind = 0;
+int id_product = 0x000a;
+
+argdesc argd = {
+	.args = {
+		{
+			.var = { .arg_string = &manufacturer },
+			.abbr = 'm',
+			.name = "manufacturer",
+			.expr_name = "manf",
+			.desc = "Manufacturer name." },
+		{
+			.var = { .arg_string = &product },
+			.abbr = 'p',
+			.name = "product",
+			.expr_name = "prod",
+			.desc = "Product name." },
+		{
+			.var = { .arg_int = &id_product },
+			.abbr = 'i',
+			.name = "id_product",
+			.expr_name = "id_p",
+			.desc = "Product ID." },
+		{
+			.var = { .arg_int = &serial },
+			.abbr = 's',
+			.name = "serial",
+			.expr_name = "number",
+			.desc = "Serial number." },
+		{
+			.var = { .arg_string = &version },
+			.abbr = 'v',
+			.name = "version",
+			.expr_name = "string",
+			.desc = "Program version." },
+	},
+	.prog_name = "usb descriptors",
+};
+
+void
+main()
+{
+	string[dim(argv)-1] nargv = {[n] = argv[n+1]};
+	parseargs(&argd, &nargv);
+	write_ucs2(manufacturer, "iManufacturer");
+	write_ucs2(product, "iProduct");
+	write_ucs2(sprintf("%06d", serial), "iSerial");
+	write_int(serial, "iSerial");
+	write_hex(id_product, "idProduct");
+	write_string(version, "iVersion");
+}
+
+main();
diff --git a/src/util/check-stack b/src/util/check-stack
new file mode 100755
index 00000000..1e8044e0
--- /dev/null
+++ b/src/util/check-stack
@@ -0,0 +1,13 @@
+#!/bin/sh
+HEADER=$1
+MEM=$2
+
+HEADER_STACK=`awk '/#define AO_STACK_START/ {print strtonum($3)}' $HEADER`
+MEM_STACK=`awk '/Stack starts at/ {print strtonum ($4)}' $MEM`
+
+if [ "$HEADER_STACK" -lt "$MEM_STACK" ]; then
+        echo $MEM_STACK | awk '{ printf ("Set AO_STACK_START to at least 0x%x\n", $1); }'
+	exit 1
+else
+	exit 0
+fi
diff --git a/src/util/gps-cksum b/src/util/gps-cksum
new file mode 100755
index 00000000..a08153bf
--- /dev/null
+++ b/src/util/gps-cksum
@@ -0,0 +1,17 @@
+#!/usr/bin/env nickle
+
+int checksum(string a)
+{
+	int	c = 0;
+	for (int i = 0; i < String::length(a); i++)
+		c ^= a[i];
+	return c;
+}
+
+void main()
+{
+	for (int i = 1; i < dim(argv); i++)
+		printf ("$%s*%02x\n", argv[i], checksum(argv[i]));
+}
+
+main();
diff --git a/src/util/make-altitude b/src/util/make-altitude
new file mode 100644
index 00000000..716aa8a8
--- /dev/null
+++ b/src/util/make-altitude
@@ -0,0 +1,283 @@
+#!/usr/bin/nickle -f
+/*
+ * Pressure Sensor Model, version 1.1
+ *
+ * written by Holly Grimes
+ *
+ * Uses the International Standard Atmosphere as described in
+ *   "A Quick Derivation relating altitude to air pressure" (version 1.03)
+ *    from the Portland State Aerospace Society, except that the atmosphere
+ *    is divided into layers with each layer having a different lapse rate.
+ *
+ * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007
+ *    at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere
+ *
+ * Height measurements use the local tangent plane.  The postive z-direction is up.
+ *
+ * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2).
+ *   The lapse rate is given in Kelvin/meter, the gas constant for air is given
+ *   in Joules/(kilogram-Kelvin).
+ */
+
+const real GRAVITATIONAL_ACCELERATION = -9.80665;
+const real AIR_GAS_CONSTANT = 287.053;
+const int NUMBER_OF_LAYERS = 7;
+const real MAXIMUM_ALTITUDE = 84852;
+const real MINIMUM_PRESSURE = 0.3734;
+const real LAYER0_BASE_TEMPERATURE = 288.15;
+const real LAYER0_BASE_PRESSURE = 101325;
+
+/* lapse rate and base altitude for each layer in the atmosphere */
+const real[NUMBER_OF_LAYERS] lapse_rate = {
+	-0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
+};
+const int[NUMBER_OF_LAYERS] base_altitude = {
+	0, 11000, 20000, 32000, 47000, 51000, 71000
+};
+
+
+/* outputs atmospheric pressure associated with the given altitude. altitudes
+   are measured with respect to the mean sea level */
+real altitude_to_pressure(real altitude) {
+
+   real base_temperature = LAYER0_BASE_TEMPERATURE;
+   real base_pressure = LAYER0_BASE_PRESSURE;
+
+   real pressure;
+   real base; /* base for function to determine pressure */
+   real exponent; /* exponent for function to determine pressure */
+   int layer_number; /* identifies layer in the atmosphere */
+   int delta_z; /* difference between two altitudes */
+
+   if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */
+      return 0;
+
+   /* calculate the base temperature and pressure for the atmospheric layer
+      associated with the inputted altitude */
+   for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) {
+      delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+      if (lapse_rate[layer_number] == 0.0) {
+         exponent = GRAVITATIONAL_ACCELERATION * delta_z
+              / AIR_GAS_CONSTANT / base_temperature;
+         base_pressure *= exp(exponent);
+      }
+      else {
+         base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+         exponent = GRAVITATIONAL_ACCELERATION /
+              (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+         base_pressure *= pow(base, exponent);
+      }
+      base_temperature += delta_z * lapse_rate[layer_number];
+   }
+
+   /* calculate the pressure at the inputted altitude */
+   delta_z = altitude - base_altitude[layer_number];
+   if (lapse_rate[layer_number] == 0.0) {
+      exponent = GRAVITATIONAL_ACCELERATION * delta_z
+           / AIR_GAS_CONSTANT / base_temperature;
+      pressure = base_pressure * exp(exponent);
+   }
+   else {
+      base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+      exponent = GRAVITATIONAL_ACCELERATION /
+           (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+      pressure = base_pressure * pow(base, exponent);
+   }
+
+   return pressure;
+}
+
+
+/* outputs the altitude associated with the given pressure. the altitude
+   returned is measured with respect to the mean sea level */
+real pressure_to_altitude(real pressure) {
+
+   real next_base_temperature = LAYER0_BASE_TEMPERATURE;
+   real next_base_pressure = LAYER0_BASE_PRESSURE;
+
+   real altitude;
+   real base_pressure;
+   real base_temperature;
+   real base; /* base for function to determine base pressure of next layer */
+   real exponent; /* exponent for function to determine base pressure
+                             of next layer */
+   real coefficient;
+   int layer_number; /* identifies layer in the atmosphere */
+   int delta_z; /* difference between two altitudes */
+
+   if (pressure < 0)  /* illegal pressure */
+      return -1;
+   if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
+      return MAXIMUM_ALTITUDE;
+
+   /* calculate the base temperature and pressure for the atmospheric layer
+      associated with the inputted pressure. */
+   layer_number = -1;
+   do {
+      layer_number++;
+      base_pressure = next_base_pressure;
+      base_temperature = next_base_temperature;
+      delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+      if (lapse_rate[layer_number] == 0.0) {
+         exponent = GRAVITATIONAL_ACCELERATION * delta_z
+              / AIR_GAS_CONSTANT / base_temperature;
+         next_base_pressure *= exp(exponent);
+      }
+      else {
+         base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+         exponent = GRAVITATIONAL_ACCELERATION /
+              (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+         next_base_pressure *= pow(base, exponent);
+      }
+      next_base_temperature += delta_z * lapse_rate[layer_number];
+   }
+   while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
+
+   /* calculate the altitude associated with the inputted pressure */
+   if (lapse_rate[layer_number] == 0.0) {
+      coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION)
+                                                    * base_temperature;
+      altitude = base_altitude[layer_number]
+                    + coefficient * log(pressure / base_pressure);
+   }
+   else {
+      base = pressure / base_pressure;
+      exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number]
+                                       / GRAVITATIONAL_ACCELERATION;
+      coefficient = base_temperature / lapse_rate[layer_number];
+      altitude = base_altitude[layer_number]
+                      + coefficient * (pow(base, exponent) - 1);
+   }
+
+   return altitude;
+}
+
+real feet_to_meters(real feet)
+{
+    return feet * (12 * 2.54 / 100);
+}
+
+real meters_to_feet(real meters)
+{
+    return meters / (12 * 2.54 / 100);
+}
+
+/*
+ * Values for our MP3H6115A pressure sensor
+ *
+ * From the data sheet:
+ *
+ * Pressure range: 15-115 kPa
+ * Voltage at 115kPa: 2.82
+ * Output scale: 27mV/kPa
+ *
+ *
+ * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
+ * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
+ */
+
+real counts_per_kPa = 27 * 2047 / 3300;
+real counts_at_101_3kPa = 1674;
+
+real fraction_to_kPa(real fraction)
+{
+	return (fraction + 0.095) / 0.009;
+}
+
+
+real count_to_kPa(real count) = fraction_to_kPa(count / 2047);
+
+typedef struct {
+	real m, b;
+	int m_i, b_i;
+} line_t;
+
+line_t best_fit(real[] values, int first, int last) {
+       real sum_x = 0, sum_x2 = 0, sum_y = 0, sum_xy = 0;
+       int n = last - first + 1;
+       real m, b;
+       int m_i, b_i;
+
+       for (int i = first; i <= last; i++) {
+	       sum_x += i;
+	       sum_x2 += i**2;
+	       sum_y += values[i];
+	       sum_xy += values[i] * i;
+       }
+       m = (n*sum_xy - sum_y*sum_x) / (n*sum_x2 - sum_x**2);
+       b = sum_y/n - m*(sum_x/n);
+       return (line_t) { m = m, b = b };
+}
+
+real count_to_altitude(real count) {
+     return pressure_to_altitude(count_to_kPa(count) * 1000);
+}
+
+real fraction_to_altitude(real frac) = pressure_to_altitude(fraction_to_kPa(frac) * 1000);
+
+int num_samples = 1024;
+
+real[num_samples] alt = { [n] = fraction_to_altitude(n/(num_samples - 1)) };
+
+int num_part = 128;
+int seg_len = num_samples / num_part;
+
+line_t [dim(alt) / seg_len] fit = {
+	[n] = best_fit(alt, n * seg_len, n * seg_len + seg_len - 1)
+};
+
+int[num_samples/seg_len + 1]	alt_part;
+
+alt_part[0] = floor (fit[0].b + 0.5);
+alt_part[dim(fit)] = floor(fit[dim(fit)-1].m * dim(fit) * seg_len + fit[dim(fit)-1].b + 0.5);
+
+for (int i = 0; i < dim(fit) - 1; i++) {
+	real	here, there;
+	here = fit[i].m * (i+1) * seg_len + fit[i].b;
+	there = fit[i+1].m * (i+1) * seg_len + fit[i+1].b;
+	alt_part[i+1] = floor ((here + there) / 2 + 0.5);
+}
+
+real count_to_fit_altitude(int count) {
+	int	sub = count // seg_len;
+	int	off = count % seg_len;
+	line_t	l = fit[sub];
+	real r_v;
+	real i_v;
+
+	r_v = count * l.m + l.b;
+	i_v = (alt_part[sub] * (seg_len - off) + alt_part[sub+1] * off) / seg_len;
+	return i_v;
+}
+
+real max_error = 0;
+int max_error_count = 0;
+real total_error = 0;
+
+for (int count = 0; count < num_samples; count++) {
+	real	kPa = fraction_to_kPa(count / (num_samples - 1));
+	real	meters = pressure_to_altitude(kPa * 1000);
+
+	real	meters_approx = count_to_fit_altitude(count);
+	real	error = abs(meters - meters_approx);
+
+	total_error += error;
+	if (error > max_error) {
+		max_error = error;
+		max_error_count = count;
+	}
+#	printf ("	%7d,	/* %6.2g kPa %5d count approx %d */\n",
+#		floor (meters + 0.5), kPa, count, floor(count_to_fit_altitude(count) + 0.5));
+}
+
+printf ("/*max error %f at %7.3f%%. Average error %f*/\n", max_error, max_error_count / (num_samples - 1) * 100, total_error / num_samples);
+
+printf ("#define NALT %d\n", dim(alt_part));
+printf ("#define ALT_FRAC_BITS %d\n", floor (log2(32768/(dim(alt_part)-1)) + 0.1));
+
+for (int i = 0; i < dim(alt_part); i++) {
+	real fraction = i / (dim(alt_part) - 1);
+	real kPa = fraction_to_kPa(fraction);
+	printf ("%9d, /* %6.2f kPa %7.3f%% */\n",
+		alt_part[i], kPa, fraction * 100);
+}
diff --git a/src/util/make-kalman b/src/util/make-kalman
new file mode 100644
index 00000000..f78f30a9
--- /dev/null
+++ b/src/util/make-kalman
@@ -0,0 +1,19 @@
+#!/bin/sh
+
+cd $1 >&/dev/null
+
+SIGMA_BOTH="-M 2 -H 6 -A 2"
+SIGMA_BARO="-M 2 -H 6 -A 2"
+SIGMA_ACCEL="-M 2 -H 4 -A 4"
+
+nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH
+nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH
+nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH
+
+nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA_ACCEL
+nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA_ACCEL
+nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL
+
+nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO
+nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO
+nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO
diff --git a/src/util/sirf-cksum b/src/util/sirf-cksum
new file mode 100755
index 00000000..b905f318
--- /dev/null
+++ b/src/util/sirf-cksum
@@ -0,0 +1,44 @@
+#!/usr/bin/env nickle
+
+int checksum(int[] msg)
+{
+	int sum = 0;
+	for (int i = 0; i < dim(msg); i++) {
+		sum += msg[i];
+		sum &= 0x7fff;
+	}
+	return sum;
+}
+
+void main()
+{
+	string[...]	input;
+	int[...]	msg;
+
+	setdim(input, 0);
+	while (!File::end(stdin)) {
+		input[dim(input)] = gets();
+	}
+
+	setdim(msg, 0);
+	for (int i = 0; i < dim(input); i++) {
+		string[*] words = String::wordsplit(input[i], " ,\t");
+		for (int j = 0; j < dim(words); j++) {
+			if (words[j] == "/" + "*")
+				break;
+			if (String::length(words[j]) > 0 &&
+			    Ctype::isdigit(words[j][0])) {
+				msg[dim(msg)] = string_to_integer(words[j]);
+			}
+		 }
+	}
+	printf("\t0xa0, 0xa2, 0x%02x, 0x%02x,\t/* length: %d bytes */\n",
+	       dim(msg) >> 8, dim(msg) & 0xff, dim(msg));
+	for (int i = 0; i < dim(input); i++)
+		printf("%s\n", input[i]);
+	int csum = checksum(msg);
+	printf ("\t0x%02x, 0x%02x, 0xb0, 0xb3,\n",
+		csum >> 8, csum & 0xff);
+}
+
+main();
diff --git a/src/util/skytraq-cksum b/src/util/skytraq-cksum
new file mode 100644
index 00000000..ab0464a7
--- /dev/null
+++ b/src/util/skytraq-cksum
@@ -0,0 +1,44 @@
+#!/usr/bin/env nickle
+
+int checksum(int[] msg)
+{
+	int sum = 0;
+	for (int i = 0; i < dim(msg); i++) {
+		sum ^= msg[i];
+		sum &= 0xff;
+	}
+	return sum;
+}
+
+void main()
+{
+	string[...]	input;
+	int[...]	msg;
+
+	setdim(input, 0);
+	while (!File::end(stdin)) {
+		input[dim(input)] = gets();
+	}
+
+	setdim(msg, 0);
+	for (int i = 0; i < dim(input); i++) {
+		string[*] words = String::wordsplit(input[i], " ,\t");
+		for (int j = 0; j < dim(words); j++) {
+			if (words[j] == "/" + "*")
+				break;
+			if (String::length(words[j]) > 0 &&
+			    Ctype::isdigit(words[j][0])) {
+				msg[dim(msg)] = string_to_integer(words[j]);
+			}
+		 }
+	}
+	printf("\t0xa0, 0xa1, 0x%02x, 0x%02x,\t\t/* length: %d bytes */\n",
+	       dim(msg) >> 8, dim(msg) & 0xff, dim(msg));
+	for (int i = 0; i < dim(input); i++)
+		printf("%s\n", input[i]);
+	int csum = checksum(msg);
+	printf ("\t0x%02x, 0x0d, 0x0a,\n",
+		csum);
+}
+
+main();