diff options
| author | Bdale Garbee <bdale@gag.com> | 2014-09-09 23:28:39 -0600 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2014-09-09 23:28:39 -0600 |
| commit | 16405fd3eb6f82ef3a709e3ed30fc48faef7b547 (patch) | |
| tree | c111819b3ba0c9357af41c81b798326b9df7adad /src | |
| parent | 5a2f6ed6210844f7284fbf9f7ecba68c8a14fa52 (diff) | |
| parent | 28bd5057252e61bc5b1a35a00bc1f9fdfde097f7 (diff) | |
Merge branch 'branch-1.5' into debian
Conflicts:
ChangeLog
Releasing
altosui/Instdrv/NSIS/Includes/java.nsh
altosui/altos-windows.nsi.in
configure.ac
doc/Makefile
doc/altusmetrum.xsl
micropeak/micropeak-windows.nsi.in
telegps/telegps-windows.nsi.in
Diffstat (limited to 'src')
101 files changed, 2395 insertions, 678 deletions
diff --git a/src/Makefile b/src/Makefile index 4e8b3c20..20126de6 100644 --- a/src/Makefile +++ b/src/Makefile @@ -22,9 +22,11 @@ SDCCDIRS=\ telemini-v1.0 telemini-v2.0 \ telebt-v1.0 \ teleterra-v0.2 teleshield-v0.1 \ - telefire-v0.1 telefire-v0.2 + telefire-v0.1 telefire-v0.2 \ + telerepeat-v1.0 ARMM3DIRS=\ + easymega-v1.0 easymega-v1.0/flash-loader \ telemega-v0.1 telemega-v0.1/flash-loader \ telemega-v1.0 telemega-v1.0/flash-loader \ telemetrum-v2.0 telemetrum-v2.0/flash-loader \ @@ -39,7 +41,7 @@ ARMM0DIRS=\ easymini-v1.0 easymini-v1.0/flash-loader AVRDIRS=\ - telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1 + telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1 microkite SUBDIRS= @@ -98,7 +100,7 @@ uninstall: all-recursive: all-local -all-local: altitude.h altitude-pa.h ao_kalman.h ao_whiten.h $(PDCLIB) +all-local: altitude.h altitude-pa.h altitude-pa-small.h ao_kalman.h ao_whiten.h $(PDCLIB) altitude.h: make-altitude nickle $< > $@ @@ -106,7 +108,10 @@ altitude.h: make-altitude altitude-pa.h: make-altitude-pa nickle $< > $@ -ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c +altitude-pa-small.h: make-altitude-pa + nickle $< --sample 3 > $@ + +ao_kalman.h: make-kalman kalman.5c kalman_micro.5c kalman_filter.5c load_csv.5c matrix.5c bash $< kalman > $@ ao_whiten.h: make-whiten diff --git a/src/cc1111/ao_intflash.c b/src/cc1111/ao_intflash.c index 632e2a85..eb3535c6 100644 --- a/src/cc1111/ao_intflash.c +++ b/src/cc1111/ao_intflash.c @@ -129,6 +129,8 @@ ao_intflash_write_aligned(uint16_t pos, __xdata void *d, uint16_t len) __reentra nop _endasm; } + __critical while (!ao_intflash_dma_done) + ao_sleep(&ao_intflash_dma_done); } static void diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index 2b19f1f6..e12f813f 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -20,6 +20,8 @@ #define HAS_RADIO 1 #define DISABLE_LOG_SPACE 1 +#define AO_VALUE_32 0 +#define HAS_WIDE_GPS 0 #if defined(TELEMETRUM_V_1_0) /* Discontinued and was never built with CC1111 chips needing this */ @@ -56,6 +58,9 @@ #define HAS_ACCEL 1 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ + #define HAS_MUTEX_TRY 0 #endif #if defined(TELEMETRUM_V_1_1) @@ -96,6 +101,9 @@ #define HAS_ACCEL 1 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ + #define HAS_MUTEX_TRY 0 #endif #if defined(TELEMETRUM_V_1_2) @@ -136,6 +144,9 @@ #define HAS_ACCEL 1 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ + #define HAS_MUTEX_TRY 0 #endif #if defined(TELEDONGLE_V_0_2) @@ -164,6 +175,8 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 1 #define HAS_AES 0 + #define HAS_TELEMETRY 0 + #define AO_RADIO_REG_TEST 1 #endif #if defined(TELEMINI_V_1_0) @@ -193,6 +206,8 @@ #define HAS_ACCEL 0 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ #endif #if defined(TELENANO_V_0_1) @@ -220,6 +235,8 @@ #define HAS_ACCEL 0 #define HAS_IGNITE 0 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ #endif #if defined(TELEMETRUM_V_0_1) @@ -252,6 +269,8 @@ #define HAS_ACCEL 1 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 127 * (uint32_t) 1024) #endif @@ -283,6 +302,7 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 1 #define HAS_AES 0 + #define HAS_TELEMETRY 0 #endif #if defined(TIDONGLE) @@ -312,6 +332,7 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 1 #define HAS_AES 0 + #define HAS_TELEMETRY 0 #endif #if defined(TELEBT_V_0_0) @@ -350,6 +371,8 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 0 #define HAS_AES 0 + #define HAS_TELEMETRY 0 + #define AO_RADIO_REG_TEST 1 #endif #if defined(TELEBT_V_0_1) @@ -396,6 +419,8 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 0 #define HAS_AES 0 + #define HAS_TELEMETRY 0 + #define AO_RADIO_REG_TEST 1 #endif #if defined(TELELAUNCH_V_0_1) @@ -428,6 +453,7 @@ #define HAS_IGNITE 1 #define HAS_MONITOR 0 #define HAS_AES 1 + #define HAS_TELEMETRY 0 #endif #if DBG_ON_P1 diff --git a/src/cc1111/ao_radio.c b/src/cc1111/ao_radio.c index 190647ce..b9821a42 100644 --- a/src/cc1111/ao_radio.c +++ b/src/cc1111/ao_radio.c @@ -40,6 +40,42 @@ #define IF_FREQ_CONTROL 6 /* + * http://www.ntia.doc.gov/files/ntia/publications/84-168.pdf + * + * Necessary bandwidth for a FSK modulated signal: + * + * bw = 2.6d + 0.55b 1.5 < m < 5.5 + * bw = 2.1d + 1.9b 5.5 < m < 20 + * + * b is the modulation rate in bps + * d is the peak deviation (from the center) + * + * m = 2d / b + * + * 20.5 kHz deviation 38.4kbps signal: + * + * m = 41 / 38.4, which is < 5.5: + * + * bw = 2.6 * 20.5 + 0.55 * 38.4 = 74.42kHz + * + * M = 1, E = 3, bw = 75kHz + * + * 5.125 kHz deviation, 9.6kbps signal + * + * m = 10.25 / 9.6, which is < 5.5: + * + * bw = 2.6 * 5.125 + 0.55 * 9.6 = 18.6kHz + * + * M = 2, E = 3, bw = 53.6kHz + * + * 1.28125kHz deviation, 2.4kbps signal + * + * m = 2.565 / 2.4, which is < 5.5: + * + * bw = 2.6 * 20.5 + 1.9 * 2.4 = 47.61kHz + * + * M = 3, E = 3, bw = 53.6kHz + * * For channel bandwidth of 93.75 kHz, the CHANBW_E and CHANBW_M values are * * BW = 24e6 / (8 * (4 + M) * 2 ** E) @@ -47,7 +83,9 @@ * So, M = 0 and E = 3 */ -#define CHANBW_M 0 +#define CHANBW_M_384 1 +#define CHANBW_M_96 3 +#define CHANBW_M_24 3 #define CHANBW_E 3 /* @@ -55,22 +93,41 @@ * * R = (256 + M) * 2** E * 24e6 / 2**28 * - * So M is 163 and E is 10 + * So for 38360kBaud, M is 163 and E is 10 */ -#define DRATE_E 10 #define DRATE_M 163 +#define DRATE_E_384 10 + +/* For 9600 baud, M is 163 and E is 8 + */ + +#define DRATE_E_96 8 + +/* For 2400 baud, M is 163 and E is 6 + */ + +#define DRATE_E_24 6 + /* * For a channel deviation of 20.5kHz, the DEVIATION_E and DEVIATION_M values are: * * F = 24e6/2**17 * (8 + DEVIATION_M) * 2**DEVIATION_E * - * So M is 6 and E is 3 + * For 20.5kHz deviation, M is 6 and E is 3 + * For 5.125kHz deviation, M is 6 and E is 1 + * For 1.28125kHz deviation, M is 0 and E is 0 */ -#define DEVIATION_M 6 -#define DEVIATION_E 3 +#define DEVIATION_M_384 6 +#define DEVIATION_E_384 3 + +#define DEVIATION_M_96 6 +#define DEVIATION_E_96 1 + +#define DEVIATION_M_24 0 +#define DEVIATION_E_24 0 /* * For our RDF beacon, set the symbol rate to 2kBaud (for a 1kHz tone), @@ -122,13 +179,10 @@ static __code uint8_t radio_setup[] = { RF_FSCTRL1_OFF, (IF_FREQ_CONTROL << RF_FSCTRL1_FREQ_IF_SHIFT), RF_FSCTRL0_OFF, (0 << RF_FSCTRL0_FREQOFF_SHIFT), - RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) | - (CHANBW_M << RF_MDMCFG4_CHANBW_M_SHIFT) | - (DRATE_E << RF_MDMCFG4_DRATE_E_SHIFT)), RF_MDMCFG3_OFF, (DRATE_M << RF_MDMCFG3_DRATE_M_SHIFT), - RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_OFF | + RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_ON | RF_MDMCFG2_MOD_FORMAT_GFSK | - RF_MDMCFG2_SYNC_MODE_15_16_THRES), + RF_MDMCFG2_SYNC_MODE_15_16), RF_MDMCFG1_OFF, (RF_MDMCFG1_FEC_EN | RF_MDMCFG1_NUM_PREAMBLE_4 | (2 << RF_MDMCFG1_CHANSPC_E_SHIFT)), @@ -136,9 +190,6 @@ static __code uint8_t radio_setup[] = { RF_CHANNR_OFF, 0, - RF_DEVIATN_OFF, ((DEVIATION_E << RF_DEVIATN_DEVIATION_E_SHIFT) | - (DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)), - /* SmartRF says set LODIV_BUF_CURRENT_TX to 0 * And, we're not using power ramping, so use PA_POWER 0 */ @@ -155,8 +206,8 @@ static __code uint8_t radio_setup[] = { RF_FSCAL1_OFF, 0x00, RF_FSCAL0_OFF, 0x1F, - RF_TEST2_OFF, 0x88, - RF_TEST1_OFF, 0x31, + RF_TEST2_OFF, RF_TEST2_RX_LOW_DATA_RATE_MAGIC, + RF_TEST1_OFF, RF_TEST1_RX_LOW_DATA_RATE_MAGIC, RF_TEST0_OFF, 0x09, /* default sync values */ @@ -187,10 +238,16 @@ static __code uint8_t radio_setup[] = { RF_BSCFG_BS_POST_KI_PRE_KI| RF_BSCFG_BS_POST_KP_PRE_KP| RF_BSCFG_BS_LIMIT_0), - RF_AGCCTRL2_OFF, 0x03, - RF_AGCCTRL1_OFF, 0x40, - RF_AGCCTRL0_OFF, 0x91, - + RF_AGCCTRL2_OFF, (RF_AGCCTRL2_MAX_DVGA_GAIN_ALL| + RF_AGCCTRL2_MAX_LNA_GAIN_0| + RF_AGCCTRL2_MAGN_TARGET_33dB), + RF_AGCCTRL1_OFF, (RF_AGCCTRL1_AGC_LNA_PRIORITY_0 | + RF_AGCCTRL1_CARRIER_SENSE_REL_THR_DISABLE | + RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_0DB), + RF_AGCCTRL0_OFF, (RF_AGCCTRL0_HYST_LEVEL_NONE | + RF_AGCCTRL0_WAIT_TIME_8 | + RF_AGCCTRL0_AGC_FREEZE_NORMAL | + RF_AGCCTRL0_FILTER_LENGTH_8), RF_IOCFG2_OFF, 0x00, RF_IOCFG1_OFF, 0x00, RF_IOCFG0_OFF, 0x00, @@ -198,7 +255,7 @@ static __code uint8_t radio_setup[] = { static __code uint8_t rdf_setup[] = { RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) | - (CHANBW_M << RF_MDMCFG4_CHANBW_M_SHIFT) | + (CHANBW_M_384 << RF_MDMCFG4_CHANBW_M_SHIFT) | (RDF_DRATE_E << RF_MDMCFG4_DRATE_E_SHIFT)), RF_MDMCFG3_OFF, (RDF_DRATE_M << RF_MDMCFG3_DRATE_M_SHIFT), RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_OFF | @@ -212,26 +269,30 @@ static __code uint8_t rdf_setup[] = { (RDF_DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)), /* packet length is set in-line */ - RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)| + RF_PKTCTRL1_OFF, ((0 << PKTCTRL1_PQT_SHIFT)| PKTCTRL1_ADR_CHK_NONE), RF_PKTCTRL0_OFF, (RF_PKTCTRL0_PKT_FORMAT_NORMAL| RF_PKTCTRL0_LENGTH_CONFIG_FIXED), }; static __code uint8_t fixed_pkt_setup[] = { +#if !HAS_RADIO_RATE RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) | - (CHANBW_M << RF_MDMCFG4_CHANBW_M_SHIFT) | - (DRATE_E << RF_MDMCFG4_DRATE_E_SHIFT)), + (CHANBW_M_384 << RF_MDMCFG4_CHANBW_M_SHIFT) | + (DRATE_E_384 << RF_MDMCFG4_DRATE_E_SHIFT)), +#endif RF_MDMCFG3_OFF, (DRATE_M << RF_MDMCFG3_DRATE_M_SHIFT), - RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_OFF | + RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_ON | RF_MDMCFG2_MOD_FORMAT_GFSK | - RF_MDMCFG2_SYNC_MODE_15_16_THRES), + RF_MDMCFG2_SYNC_MODE_15_16), RF_MDMCFG1_OFF, (RF_MDMCFG1_FEC_EN | RF_MDMCFG1_NUM_PREAMBLE_4 | (2 << RF_MDMCFG1_CHANSPC_E_SHIFT)), - RF_DEVIATN_OFF, ((DEVIATION_E << RF_DEVIATN_DEVIATION_E_SHIFT) | - (DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)), +#if !HAS_RADIO_RATE + RF_DEVIATN_OFF, ((DEVIATION_E_384 << RF_DEVIATN_DEVIATION_E_SHIFT) | + (DEVIATION_M_384 << RF_DEVIATN_DEVIATION_M_SHIFT)), +#endif /* max packet length -- now set inline */ RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)| @@ -243,6 +304,38 @@ static __code uint8_t fixed_pkt_setup[] = { RF_PKTCTRL0_LENGTH_CONFIG_FIXED), }; +#if HAS_RADIO_RATE +static __code struct { + uint8_t mdmcfg4; + uint8_t deviatn; +} packet_rate_setup[] = { + /* 38400 */ + { + ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) | + (CHANBW_M_384 << RF_MDMCFG4_CHANBW_M_SHIFT) | + (DRATE_E_384 << RF_MDMCFG4_DRATE_E_SHIFT)), + ((DEVIATION_E_384 << RF_DEVIATN_DEVIATION_E_SHIFT) | + (DEVIATION_M_384 << RF_DEVIATN_DEVIATION_M_SHIFT)), + }, + /* 9600 */ + { + ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) | + (CHANBW_M_96 << RF_MDMCFG4_CHANBW_M_SHIFT) | + (DRATE_E_96 << RF_MDMCFG4_DRATE_E_SHIFT)), + ((DEVIATION_E_96 << RF_DEVIATN_DEVIATION_E_SHIFT) | + (DEVIATION_M_96 << RF_DEVIATN_DEVIATION_M_SHIFT)), + }, + /* 2400 */ + { + ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) | + (CHANBW_M_24 << RF_MDMCFG4_CHANBW_M_SHIFT) | + (DRATE_E_24 << RF_MDMCFG4_DRATE_E_SHIFT)), + ((DEVIATION_E_24 << RF_DEVIATN_DEVIATION_E_SHIFT) | + (DEVIATION_M_24 << RF_DEVIATN_DEVIATION_M_SHIFT)), + }, +}; +#endif + __xdata uint8_t ao_radio_dma; __xdata uint8_t ao_radio_dma_done; __xdata uint8_t ao_radio_done; @@ -308,6 +401,10 @@ ao_radio_get(uint8_t len) RF_FREQ1 = (uint8_t) (ao_config.radio_setting >> 8); RF_FREQ0 = (uint8_t) (ao_config.radio_setting); RF_PKTLEN = len; +#if HAS_RADIO_RATE + RF_MDMCFG4 = packet_rate_setup[ao_config.radio_rate].mdmcfg4; + RF_DEVIATN = packet_rate_setup[ao_config.radio_rate].deviatn; +#endif } @@ -551,8 +648,31 @@ ao_radio_test_cmd(void) ao_radio_test(0); } +#if AO_RADIO_REG_TEST +static void +ao_radio_set_reg(void) +{ + uint8_t offset; + ao_cmd_hex(); + offset = ao_cmd_lex_i; + if (ao_cmd_status != ao_cmd_success) + return; + ao_cmd_hex(); + printf("RF[%x] %x", offset, RF[offset]); + if (ao_cmd_status == ao_cmd_success) { + RF[offset] = ao_cmd_lex_i; + printf (" -> %x", RF[offset]); + } + ao_cmd_status = ao_cmd_success; + printf("\n"); +} +#endif + __code struct ao_cmds ao_radio_cmds[] = { { ao_radio_test_cmd, "C <1 start, 0 stop, none both>\0Radio carrier test" }, +#if AO_RADIO_REG_TEST + { ao_radio_set_reg, "V <offset> <value>\0Set radio register" }, +#endif { 0, NULL }, }; diff --git a/src/cc1111/cc1111.h b/src/cc1111/cc1111.h index 80d3fb70..ac1e71c9 100644 --- a/src/cc1111/cc1111.h +++ b/src/cc1111/cc1111.h @@ -1165,12 +1165,73 @@ __xdata __at (0xdf16) uint8_t RF_BSCFG; __xdata __at (0xdf17) uint8_t RF_AGCCTRL2; #define RF_AGCCTRL2_OFF 0x17 +#define RF_AGCCTRL2_MAX_DVGA_GAIN_ALL (0 << 6) +#define RF_AGCCTRL2_MAX_DVGA_GAIN_BUT_1 (1 << 6) +#define RF_AGCCTRL2_MAX_DVGA_GAIN_BUT_2 (2 << 6) +#define RF_AGCCTRL2_MAX_DVGA_GAIN_BUT_3 (3 << 6) +#define RF_AGCCTRL2_MAX_LNA_GAIN_0 (0 << 3) +#define RF_AGCCTRL2_MAX_LNA_GAIN_2_6 (1 << 3) +#define RF_AGCCTRL2_MAX_LNA_GAIN_6_1 (2 << 3) +#define RF_AGCCTRL2_MAX_LNA_GAIN_7_4 (3 << 3) +#define RF_AGCCTRL2_MAX_LNA_GAIN_9_2 (4 << 3) +#define RF_AGCCTRL2_MAX_LNA_GAIN_11_5 (5 << 3) +#define RF_AGCCTRL2_MAX_LNA_GAIN_14_6 (6 << 3) +#define RF_AGCCTRL2_MAX_LNA_GAIN_17_1 (7 << 3) +#define RF_AGCCTRL2_MAGN_TARGET_24dB (0 << 0) +#define RF_AGCCTRL2_MAGN_TARGET_27dB (1 << 0) +#define RF_AGCCTRL2_MAGN_TARGET_30dB (2 << 0) +#define RF_AGCCTRL2_MAGN_TARGET_33dB (3 << 0) +#define RF_AGCCTRL2_MAGN_TARGET_36dB (4 << 0) +#define RF_AGCCTRL2_MAGN_TARGET_38dB (5 << 0) +#define RF_AGCCTRL2_MAGN_TARGET_40dB (6 << 0) +#define RF_AGCCTRL2_MAGN_TARGET_42dB (7 << 0) + __xdata __at (0xdf18) uint8_t RF_AGCCTRL1; #define RF_AGCCTRL1_OFF 0x18 +#define RF_AGCCTRL1_AGC_LNA_PRIORITY_0 (0 << 6) +#define RF_AGCCTRL1_AGC_LNA_PRIORITY_1 (1 << 6) +#define RF_AGCCTRL1_CARRIER_SENSE_REL_THR_DISABLE (0 << 4) +#define RF_AGCCTRL1_CARRIER_SENSE_REL_THR_6DB (1 << 4) +#define RF_AGCCTRL1_CARRIER_SENSE_REL_THR_10DB (2 << 4) +#define RF_AGCCTRL1_CARRIER_SENSE_REL_THR_14DB (3 << 4) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_DISABLE (0x8 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_7DB_BELOW (0x9 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_6DB_BELOW (0xa << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_5DB_BELOW (0xb << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_4DB_BELOW (0xc << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_3DB_BELOW (0xd << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_2DB_BELOW (0xe << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_1DB_BELOW (0xf << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_0DB (0x0 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_1DB_ABOVE (0x1 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_2DB_ABOVE (0x2 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_3DB_ABOVE (0x3 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_4DB_ABOVE (0x4 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_5DB_ABOVE (0x5 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_6DB_ABOVE (0x6 << 0) +#define RF_AGCCTRL1_CARRIER_SENSE_ABS_THR_7DB_ABOVE (0x7 << 0) + __xdata __at (0xdf19) uint8_t RF_AGCCTRL0; #define RF_AGCCTRL0_OFF 0x19 +#define RF_AGCCTRL0_HYST_LEVEL_NONE (0 << 6) +#define RF_AGCCTRL0_HYST_LEVEL_LOW (1 << 6) +#define RF_AGCCTRL0_HYST_LEVEL_MEDIUM (2 << 6) +#define RF_AGCCTRL0_HYST_LEVEL_HIGH (3 << 6) +#define RF_AGCCTRL0_WAIT_TIME_8 (0 << 4) +#define RF_AGCCTRL0_WAIT_TIME_16 (1 << 4) +#define RF_AGCCTRL0_WAIT_TIME_24 (2 << 4) +#define RF_AGCCTRL0_WAIT_TIME_32 (3 << 4) +#define RF_AGCCTRL0_AGC_FREEZE_NORMAL (0 << 2) +#define RF_AGCCTRL0_AGC_FREEZE_SYNC (1 << 2) +#define RF_AGCCTRL0_AGC_FREEZE_MANUAL_ANALOG (2 << 2) +#define RF_AGCCTRL0_AGC_FREEZE_MANUAL_BOTH (3 << 2) +#define RF_AGCCTRL0_FILTER_LENGTH_8 (0 << 0) +#define RF_AGCCTRL0_FILTER_LENGTH_16 (1 << 0) +#define RF_AGCCTRL0_FILTER_LENGTH_32 (2 << 0) +#define RF_AGCCTRL0_FILTER_LENGTH_64 (3 << 0) + __xdata __at (0xdf1a) uint8_t RF_FREND1; #define RF_FREND1_OFF 0x1a diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c index 8a1b6a4d..19beb78f 100644 --- a/src/drivers/ao_aprs.c +++ b/src/drivers/ao_aprs.c @@ -1,11 +1,11 @@ -/** +/** * http://ad7zj.net/kd7lmo/aprsbeacon_code.html * * @mainpage Pico Beacon * * @section overview_sec Overview * - * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band. The device utilizes a + * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band. The device utilizes a * Microchip PIC 18F2525 embedded controller, Motorola M12+ GPS engine, and Analog Devices AD9954 DDS. The device is capable * of generating a 1200bps A-FSK and 9600 bps FSK AX.25 compliant APRS (Automatic Position Reporting System) message. @@ -24,7 +24,7 @@ * (4) corrected size of LOG_COORD block when searching for end of log. * * @subsection v303 V3.03 - * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin, + * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin, * (2) additional comments and Doxygen tags, * (3) integration and test code calculates DDS FTW, * (4) swapped bus and reference analog input ports (hardware change), @@ -38,7 +38,7 @@ * (2) Doxygen documentation clean up and additions, and * (3) added integration and test code to baseline. * - * + * * @subsection v301 V3.01 * 13 Jan 2005, Renamed project and files to Pico Beacon. * @@ -54,28 +54,28 @@ * (8) added flight data recorder, and * (9) added diagnostics terminal mode. * - * + * * @subsection v201 V2.01 - * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and + * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and * (2) changed temperature resolution to 0.1 degrees F. * - * + * * @subsection v200 V2.00 * 26 Oct 2002, Change include; (1) Micro Beacon II hardware changes including PIC18F252 processor, - * (2) serial EEPROM, - * (3) GPS power control, - * (4) additional ADC input, and - * (5) LM60 temperature sensor. + * (2) serial EEPROM, + * (3) GPS power control, + * (4) additional ADC input, and + * (5) LM60 temperature sensor. * * * @subsection v101 V1.01 - * 5 Dec 2001, Change include; (1) Changed startup message, and + * 5 Dec 2001, Change include; (1) Changed startup message, and * (2) applied SEPARATE pragma to several methods for memory usage. * * * @subsection v100 V1.00 * 25 Sep 2001, Initial release. Flew ANSR-3 and ANSR-4. - * + * * @@ -102,11 +102,11 @@ * 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 - * + * - * - * + * + * * @section design Design Details * * Provides design details on a variety of the components that make up the Pico Beacon. @@ -118,29 +118,33 @@ * @page power Power Consumption * * Measured DC power consumption. - * - * 3VDC prime power current + * + * 3VDC prime power current * - * 7mA Held in reset + * 7mA Held in reset - * 18mA Processor running, all I/O off + * 18mA Processor running, all I/O off - * 110mA GPS running + * 110mA GPS running - * 120mA GPS running w/antenna + * 120mA GPS running w/antenna - * 250mA DDS running and GPS w/antenna + * 250mA DDS running and GPS w/antenna - * 420mA DDS running, GPS w/antenna, and PA chain on with no RF + * 420mA DDS running, GPS w/antenna, and PA chain on with no RF - * 900mA Transmit + * 900mA Transmit * */ #ifndef AO_APRS_TEST #include <ao.h> + +#if !HAS_APRS +#error HAS_APRS not set +#endif #endif #include <ao_aprs.h> @@ -176,11 +180,11 @@ static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc) { uint8_t i, bit, value; - for (i = 0; i < length; ++i) + for (i = 0; i < length; ++i) { value = buffer[i]; - for (bit = 0; bit < 8; ++bit) + for (bit = 0; bit < 8; ++bit) { crc ^= (value & 0x01); crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 ); @@ -253,7 +257,7 @@ typedef enum /// AX.25 compliant packet header that contains destination, station call sign, and path. /// 0x76 for SSID-11, 0x78 for SSID-12 -static uint8_t TNC_AX25_HEADER[] = { +static uint8_t TNC_AX25_HEADER[] = { 'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60, 'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78, 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65, @@ -261,6 +265,7 @@ static uint8_t TNC_AX25_HEADER[] = { #define TNC_CALLSIGN_OFF 7 #define TNC_CALLSIGN_LEN 6 +#define TNC_SSID_OFF 13 static void tncSetCallsign(void) @@ -275,6 +280,9 @@ tncSetCallsign(void) } for (; i < TNC_CALLSIGN_LEN; i++) TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1; + + /* Fill in the SSID with the low digit of the serial number */ + TNC_AX25_HEADER[TNC_SSID_OFF] = 0x60 | ((ao_config.aprs_ssid & 0xf) << 1); #endif } @@ -302,7 +310,7 @@ static uint8_t tncBitStuff; /// Buffer to hold the message portion of the AX.25 packet as we prepare it. static uint8_t tncBuffer[TNC_BUFFER_SIZE]; -/** +/** * Initialize the TNC internal variables. */ static void tncInit() @@ -323,7 +331,7 @@ static void tnc1200TimerTick() else timeNCOFreq = 0x3aab; - switch (tncMode) + switch (tncMode) { case TNC_TX_READY: // Generate a test signal alteranting between high and low tones. @@ -339,16 +347,16 @@ static void tnc1200TimerTick() else tncTxBit = 0; } - + // When the flag is done, determine if we need to send more or data. - if (++tncBitCount == 8) + if (++tncBitCount == 8) { tncBitCount = 0; tncShift = 0x7e; // Once we transmit x mS of flags, send the data. // txDelay bytes * 8 bits/byte * 833uS/bit = x mS - if (++tncIndex == TNC_TX_DELAY) + if (++tncIndex == TNC_TX_DELAY) { tncIndex = 0; tncShift = TNC_AX25_HEADER[0]; @@ -361,7 +369,7 @@ static void tnc1200TimerTick() case TNC_TX_HEADER: // Determine if we have sent 5 ones in a row, if we have send a zero. - if (tncBitStuff == 0x1f) + if (tncBitStuff == 0x1f) { if (tncTxBit == 0) tncTxBit = 1; @@ -381,17 +389,17 @@ static void tnc1200TimerTick() tncTxBit = 0; } - // Save the data stream so we can determine if bit stuffing is + // Save the data stream so we can determine if bit stuffing is // required on the next bit time. tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f; // If all the bits were shifted, get the next byte. - if (++tncBitCount == 8) + if (++tncBitCount == 8) { tncBitCount = 0; // After the header is sent, then send the data. - if (++tncIndex == sizeof(TNC_AX25_HEADER)) + if (++tncIndex == sizeof(TNC_AX25_HEADER)) { tncIndex = 0; tncShift = tncBuffer[0]; @@ -406,7 +414,7 @@ static void tnc1200TimerTick() case TNC_TX_DATA: // Determine if we have sent 5 ones in a row, if we have send a zero. - if (tncBitStuff == 0x1f) + if (tncBitStuff == 0x1f) { if (tncTxBit == 0) tncTxBit = 1; @@ -426,17 +434,17 @@ static void tnc1200TimerTick() tncTxBit = 0; } - // Save the data stream so we can determine if bit stuffing is + // Save the data stream so we can determine if bit stuffing is // required on the next bit time. tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f; // If all the bits were shifted, get the next byte. - if (++tncBitCount == 8) + if (++tncBitCount == 8) { tncBitCount = 0; // If everything was sent, transmit closing flags. - if (++tncIndex == tncLength) + if (++tncIndex == tncLength) { tncIndex = 0; tncShift = 0x7e; @@ -451,7 +459,7 @@ static void tnc1200TimerTick() case TNC_TX_END: // The variable tncShift contains the lastest data byte. - // NRZI enocde the data stream. + // NRZI enocde the data stream. if ((tncShift & 0x01) == 0x00) { if (tncTxBit == 0) tncTxBit = 1; @@ -460,13 +468,13 @@ static void tnc1200TimerTick() } // If all the bits were shifted, get the next one. - if (++tncBitCount == 8) + if (++tncBitCount == 8) { tncBitCount = 0; tncShift = 0x7e; - + // Transmit two closing flags. - if (++tncIndex == 2) + if (++tncIndex == 2) { tncMode = TNC_TX_READY; @@ -530,6 +538,7 @@ static int tncComment(uint8_t *buf) #ifdef AO_SENSE_MAIN " M%d.%d" #endif + " %d" , ao_gps_locked(), ao_num_sats(), battery/10, @@ -542,6 +551,7 @@ static int tncComment(uint8_t *buf) , main/10, main%10 #endif + , ao_serial_number ); #else return sprintf((char *) buf, @@ -703,7 +713,7 @@ static int tncPositionPacket(void) if (ao_gps_data.flags & AO_GPS_VALID) { latitude = ao_gps_data.latitude; longitude = ao_gps_data.longitude; - altitude = ao_gps_data.altitude; + altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data); if (altitude < 0) altitude = 0; } @@ -759,7 +769,7 @@ tncFill(uint8_t *buf, int16_t len) return l; } -/** +/** * Prepare an AX.25 data packet. Each time this method is called, it automatically * rotates through 1 of 3 messages. * diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c index 31225939..3ea8b704 100644 --- a/src/drivers/ao_cc1120.c +++ b/src/drivers/ao_cc1120.c @@ -41,8 +41,10 @@ extern const uint32_t ao_radio_cal; #define FOSC 32000000 +#define ao_radio_try_select(task_id) ao_spi_try_get_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS,AO_SPI_SPEED_4MHz, task_id) #define ao_radio_select() ao_spi_get_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS,AO_SPI_SPEED_4MHz) #define ao_radio_deselect() ao_spi_put_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS) +#define ao_radio_spi_send_sync(d,l) ao_spi_send_sync((d), (l), AO_CC1120_SPI_BUS) #define ao_radio_spi_send(d,l) ao_spi_send((d), (l), AO_CC1120_SPI_BUS) #define ao_radio_spi_send_fixed(d,l) ao_spi_send_fixed((d), (l), AO_CC1120_SPI_BUS) #define ao_radio_spi_recv(d,l) ao_spi_recv((d), (l), AO_CC1120_SPI_BUS) @@ -107,7 +109,7 @@ ao_radio_reg_write(uint16_t addr, uint8_t value) } static void -ao_radio_burst_read_start (uint16_t addr) +_ao_radio_burst_read_start (uint16_t addr) { uint8_t data[2]; uint8_t d; @@ -124,8 +126,8 @@ ao_radio_burst_read_start (uint16_t addr) addr); d = 1; } - ao_radio_select(); - ao_radio_spi_send(data, d); + + ao_radio_spi_send_sync(data, d); } static void @@ -209,7 +211,7 @@ ao_radio_tx_fifo_space(void) return CC1120_FIFO_SIZE - ao_radio_reg_read(CC1120_NUM_TXBYTES); } -#if 0 +#if CC1120_DEBUG static uint8_t ao_radio_status(void) { @@ -245,7 +247,7 @@ ao_radio_check_marc_status(void) { ao_radio_mcu_wake = 0; ao_radio_marc_status = ao_radio_get_marc_status(); - + /* Anyt other than 'tx/rx finished' means an error occurred */ if (ao_radio_marc_status & ~(CC1120_MARC_STATUS1_TX_FINISHED|CC1120_MARC_STATUS1_RX_FINISHED)) ao_radio_abort = 1; @@ -275,48 +277,102 @@ static void ao_radio_idle(void) { for (;;) { - uint8_t state = ao_radio_strobe(CC1120_SIDLE); - if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_IDLE) + uint8_t state = (ao_radio_strobe(CC1120_SIDLE) >> CC1120_STATUS_STATE) & CC1120_STATUS_STATE_MASK; + if (state == CC1120_STATUS_STATE_IDLE) break; - if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_TX_FIFO_ERROR) + if (state == CC1120_STATUS_STATE_TX_FIFO_ERROR) ao_radio_strobe(CC1120_SFTX); + if (state == CC1120_STATUS_STATE_RX_FIFO_ERROR) + ao_radio_strobe(CC1120_SFRX); } /* Flush any pending TX bytes */ ao_radio_strobe(CC1120_SFTX); } /* - * Packet deviation is 20.5kHz + * Packet deviation * * fdev = fosc >> 24 * (256 + dev_m) << dev_e * + * Deviation for 38400 baud should be 20.5kHz: + * * 32e6Hz / (2 ** 24) * (256 + 80) * (2 ** 5) = 20508Hz + * + * Deviation for 9600 baud should be 5.125kHz: + * + * 32e6Hz / (2 ** 24) * (256 + 80) * (2 ** 3) = 5127Hz + * + * Deviation for 2400 baud should be 1.28125kHz, but cc1111 and + * cc115l can't do that, so we'll use 1.5kHz instead: + * + * 32e6Hz / (2 ** 24) * (256 + 137) * (2 ** 1) = 1499Hz */ -#define PACKET_DEV_E 5 -#define PACKET_DEV_M 80 +#define PACKET_DEV_M_384 80 +#define PACKET_DEV_E_384 5 + +#define PACKET_DEV_M_96 80 +#define PACKET_DEV_E_96 3 + +#define PACKET_DEV_M_24 137 +#define PACKET_DEV_E_24 1 /* - * For our packet data, set the symbol rate to 38400 Baud + * For our packet data * * (2**20 + DATARATE_M) * 2 ** DATARATE_E * Rdata = -------------------------------------- * fosc * 2 ** 39 * + * Given the bit period of the baseband, T, the bandwidth of the + * baseband signal is B = 1/(2T). The overall bandwidth of the + * modulated signal is then Channel bandwidth = 2Δf + 2B. + * + * 38400 -- 2 * 20500 + 38400 = 79.4 kHz + * 9600 -- 2 * 5.125 + 9600 = 19.9 kHz + * 2400 -- 2 * 1.5 + 2400 = 5.4 khz + * + * Symbol rate 38400 Baud: * * DATARATE_M = 239914 * DATARATE_E = 9 + * CHANBW = 79.4 (round to 100) + * + * Symbol rate 9600 Baud: + * + * DATARATE_M = 239914 + * DATARATE_E = 7 + * CHANBW = 19.9 (round to 20) + * + * Symbol rate 2400 Baud: + * + * DATARATE_M = 239914 + * DATARATE_E = 5 + * CHANBW = 5.0 (round to 8.0) */ -#define PACKET_DRATE_E 9 + #define PACKET_DRATE_M 239914 +#define PACKET_DRATE_E_384 9 + +/* 200 / 2 = 100 */ +#define PACKET_CHAN_BW_384 ((0 << CC1120_CHAN_BW_CHFILT_BYPASS) | \ + (CC1120_CHAN_BW_ADC_CIC_DECFACT_20 << CC1120_CHAN_BW_ADC_CIC_DECFACT) | \ + (2 << CC1120_CHAN_BW_BB_CIC_DECFACT)) + +#define PACKET_DRATE_E_96 7 +/* 200 / 10 = 20 */ +#define PACKET_CHAN_BW_96 ((0 << CC1120_CHAN_BW_CHFILT_BYPASS) | \ + (CC1120_CHAN_BW_ADC_CIC_DECFACT_20 << CC1120_CHAN_BW_ADC_CIC_DECFACT) | \ + (10 << CC1120_CHAN_BW_BB_CIC_DECFACT)) + +#define PACKET_DRATE_E_24 5 +/* 200 / 25 = 8 */ +#define PACKET_CHAN_BW_24 ((0 << CC1120_CHAN_BW_CHFILT_BYPASS) | \ + (CC1120_CHAN_BW_ADC_CIC_DECFACT_20 << CC1120_CHAN_BW_ADC_CIC_DECFACT) | \ + (25 << CC1120_CHAN_BW_BB_CIC_DECFACT)) + static const uint16_t packet_setup[] = { - CC1120_DEVIATION_M, PACKET_DEV_M, - CC1120_MODCFG_DEV_E, ((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) | - (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) | - (PACKET_DEV_E << CC1120_MODCFG_DEV_E_DEV_E)), - CC1120_DRATE2, ((PACKET_DRATE_E << CC1120_DRATE2_DATARATE_E) | - (((PACKET_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)), CC1120_DRATE1, ((PACKET_DRATE_M >> 8) & 0xff), CC1120_DRATE0, ((PACKET_DRATE_M >> 0) & 0xff), CC1120_PKT_CFG2, ((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) | @@ -335,6 +391,39 @@ static const uint16_t packet_setup[] = { AO_CC1120_MARC_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_MARC_MCU_WAKEUP, }; +static const uint16_t packet_setup_384[] = { + CC1120_DEVIATION_M, PACKET_DEV_M_384, + CC1120_MODCFG_DEV_E, ((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) | + (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) | + (PACKET_DEV_E_384 << CC1120_MODCFG_DEV_E_DEV_E)), + CC1120_DRATE2, ((PACKET_DRATE_E_384 << CC1120_DRATE2_DATARATE_E) | + (((PACKET_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)), + CC1120_CHAN_BW, PACKET_CHAN_BW_384, + CC1120_PA_CFG0, 0x7b, +}; + +static const uint16_t packet_setup_96[] = { + CC1120_DEVIATION_M, PACKET_DEV_M_96, + CC1120_MODCFG_DEV_E, ((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) | + (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) | + (PACKET_DEV_E_96 << CC1120_MODCFG_DEV_E_DEV_E)), + CC1120_DRATE2, ((PACKET_DRATE_E_96 << CC1120_DRATE2_DATARATE_E) | + (((PACKET_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)), + CC1120_CHAN_BW, PACKET_CHAN_BW_96, + CC1120_PA_CFG0, 0x7d, +}; + +static const uint16_t packet_setup_24[] = { + CC1120_DEVIATION_M, PACKET_DEV_M_24, + CC1120_MODCFG_DEV_E, ((CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL << CC1120_MODCFG_DEV_E_MODEM_MODE) | + (CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK << CC1120_MODCFG_DEV_E_MOD_FORMAT) | + (PACKET_DEV_E_24 << CC1120_MODCFG_DEV_E_DEV_E)), + CC1120_DRATE2, ((PACKET_DRATE_E_24 << CC1120_DRATE2_DATARATE_E) | + (((PACKET_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)), + CC1120_CHAN_BW, PACKET_CHAN_BW_24, + CC1120_PA_CFG0, 0x7e, +}; + static const uint16_t packet_tx_setup[] = { CC1120_PKT_CFG2, ((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) | (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)), @@ -397,6 +486,7 @@ static const uint16_t rdf_setup[] = { (0 << CC1120_PKT_CFG0_UART_SWAP_EN)), CC1120_PREAMBLE_CFG1, ((CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_NONE << CC1120_PREAMBLE_CFG1_NUM_PREAMBLE) | (CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_AA << CC1120_PREAMBLE_CFG1_PREAMBLE_WORD)), + CC1120_PA_CFG0, 0x7e, }; /* @@ -443,6 +533,7 @@ static const uint16_t aprs_setup[] = { (0 << CC1120_PKT_CFG1_APPEND_STATUS)), CC1120_PREAMBLE_CFG1, ((CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_NONE << CC1120_PREAMBLE_CFG1_NUM_PREAMBLE) | (CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_AA << CC1120_PREAMBLE_CFG1_PREAMBLE_WORD)), + CC1120_PA_CFG0, 0x7d, }; /* @@ -506,23 +597,48 @@ static uint16_t ao_radio_mode; #define AO_RADIO_MODE_TEST (AO_RADIO_MODE_BITS_TEST | AO_RADIO_MODE_BITS_INFINITE | AO_RADIO_MODE_BITS_TX_BUF) static void +_ao_radio_set_regs(const uint16_t *regs, int nreg) +{ + int i; + + for (i = 0; i < nreg; i++) { + ao_radio_reg_write(regs[0], regs[1]); + regs += 2; + } +} + +#define ao_radio_set_regs(setup) _ao_radio_set_regs(setup, (sizeof (setup) / sizeof(setup[0])) >> 1) + +static void ao_radio_set_mode(uint16_t new_mode) { uint16_t changes; - unsigned int i; if (new_mode == ao_radio_mode) return; changes = new_mode & (~ao_radio_mode); - if (changes & AO_RADIO_MODE_BITS_PACKET) - for (i = 0; i < sizeof (packet_setup) / sizeof (packet_setup[0]); i += 2) - ao_radio_reg_write(packet_setup[i], packet_setup[i+1]); + + if (changes & AO_RADIO_MODE_BITS_PACKET) { + ao_radio_set_regs(packet_setup); + + switch (ao_config.radio_rate) { + default: + case AO_RADIO_RATE_38400: + ao_radio_set_regs(packet_setup_384); + break; + case AO_RADIO_RATE_9600: + ao_radio_set_regs(packet_setup_96); + break; + case AO_RADIO_RATE_2400: + ao_radio_set_regs(packet_setup_24); + break; + } + } if (changes & AO_RADIO_MODE_BITS_PACKET_TX) - for (i = 0; i < sizeof (packet_tx_setup) / sizeof (packet_tx_setup[0]); i += 2) - ao_radio_reg_write(packet_tx_setup[i], packet_tx_setup[i+1]); - + ao_radio_set_regs(packet_tx_setup); + if (changes & AO_RADIO_MODE_BITS_TX_BUF) ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_TXFIFO_THR); @@ -530,20 +646,16 @@ ao_radio_set_mode(uint16_t new_mode) ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG); if (changes & AO_RADIO_MODE_BITS_PACKET_RX) - for (i = 0; i < sizeof (packet_rx_setup) / sizeof (packet_rx_setup[0]); i += 2) - ao_radio_reg_write(packet_rx_setup[i], packet_rx_setup[i+1]); - + ao_radio_set_regs(packet_rx_setup); + if (changes & AO_RADIO_MODE_BITS_RDF) - for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2) - ao_radio_reg_write(rdf_setup[i], rdf_setup[i+1]); + ao_radio_set_regs(rdf_setup); if (changes & AO_RADIO_MODE_BITS_APRS) - for (i = 0; i < sizeof (aprs_setup) / sizeof (aprs_setup[0]); i += 2) - ao_radio_reg_write(aprs_setup[i], aprs_setup[i+1]); + ao_radio_set_regs(aprs_setup); if (changes & AO_RADIO_MODE_BITS_TEST) - for (i = 0; i < sizeof (test_setup) / sizeof (test_setup[0]); i += 2) - ao_radio_reg_write(test_setup[i], test_setup[i+1]); + ao_radio_set_regs(test_setup); if (changes & AO_RADIO_MODE_BITS_INFINITE) ao_radio_reg_write(CC1120_PKT_CFG0, AO_PKT_CFG0_INFINITE); @@ -563,12 +675,9 @@ static uint8_t ao_radio_configured = 0; static void ao_radio_setup(void) { - unsigned int i; - ao_radio_strobe(CC1120_SRES); - for (i = 0; i < sizeof (radio_setup) / sizeof (radio_setup[0]); i += 2) - ao_radio_reg_write(radio_setup[i], radio_setup[i+1]); + ao_radio_set_regs(radio_setup); ao_radio_mode = 0; @@ -592,6 +701,7 @@ static void ao_radio_get(uint8_t len) { static uint32_t last_radio_setting; + static uint8_t last_radio_rate; ao_mutex_get(&ao_radio_mutex); @@ -603,6 +713,10 @@ ao_radio_get(uint8_t len) ao_radio_reg_write(CC1120_FREQ0, ao_config.radio_setting); last_radio_setting = ao_config.radio_setting; } + if (ao_config.radio_rate != last_radio_rate) { + ao_radio_mode &= ~AO_RADIO_MODE_BITS_PACKET; + last_radio_rate = ao_config.radio_rate; + } ao_radio_set_len(len); } @@ -696,7 +810,7 @@ ao_radio_test_cmd(void) ao_radio_set_mode(AO_RADIO_MODE_TEST); ao_radio_strobe(CC1120_STX); #if CC1120_TRACE - { int t; + { int t; for (t = 0; t < 10; t++) { printf ("status: %02x\n", ao_radio_status()); ao_delay(AO_MS_TO_TICKS(100)); @@ -793,7 +907,7 @@ ao_radio_send(const void *d, uint8_t size) } else { ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); } - + fifo_space = ao_radio_wait_tx(encode_len != 0); if (ao_radio_abort) { ao_radio_idle(); @@ -881,6 +995,11 @@ static uint16_t rx_data_consumed; static uint16_t rx_data_cur; static uint8_t rx_ignore; static uint8_t rx_waiting; +static uint8_t rx_starting; +static uint8_t rx_task_id; +static uint32_t rx_fast_start; +static uint32_t rx_slow_start; +static uint32_t rx_missed; #if AO_PROFILE static uint32_t rx_start_tick, rx_packet_tick, rx_done_tick, rx_last_done_tick; @@ -895,13 +1014,34 @@ ao_radio_rx_isr(void) { uint8_t d; + if (rx_task_id) { + if (ao_radio_try_select(rx_task_id)) { + ++rx_fast_start; + rx_task_id = 0; + _ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT); + } else { + if (rx_ignore) + --rx_ignore; + else { + ao_radio_abort = 1; + rx_missed++; + } + return; + } + } + if (rx_starting) { + rx_starting = 0; + ao_wakeup(&ao_radio_wake); + } d = AO_CC1120_SPI.dr; AO_CC1120_SPI.dr = 0; if (rx_ignore == 0) { - if (rx_data_cur >= rx_data_count) - ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); - else + if (rx_data_cur < rx_data_count) rx_data[rx_data_cur++] = d; + if (rx_data_cur >= rx_data_count) { + ao_spi_clr_cs(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN)); + ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + } if (rx_waiting && rx_data_cur - rx_data_consumed >= AO_FEC_DECODE_BLOCK) { #if AO_PROFILE if (!rx_packet_tick) @@ -920,24 +1060,20 @@ ao_radio_rx_isr(void) static uint16_t ao_radio_rx_wait(void) { - do { - if (ao_radio_mcu_wake) - ao_radio_check_marc_status(); - ao_alarm(AO_MS_TO_TICKS(100)); - ao_arch_block_interrupts(); - rx_waiting = 1; - while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK && - !ao_radio_abort && - !ao_radio_mcu_wake) - { - if (ao_sleep(&ao_radio_wake)) - ao_radio_abort = 1; - } - rx_waiting = 0; - ao_arch_release_interrupts(); - ao_clear_alarm(); - } while (ao_radio_mcu_wake); - if (ao_radio_abort) + ao_alarm(AO_MS_TO_TICKS(100)); + ao_arch_block_interrupts(); + rx_waiting = 1; + while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK && + !ao_radio_abort && + !ao_radio_mcu_wake) + { + if (ao_sleep(&ao_radio_wake)) + ao_radio_abort = 1; + } + rx_waiting = 0; + ao_arch_release_interrupts(); + ao_clear_alarm(); + if (ao_radio_abort || ao_radio_mcu_wake) return 0; rx_data_consumed += AO_FEC_DECODE_BLOCK; #if AO_PROFILE @@ -977,48 +1113,67 @@ ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) */ ao_radio_abort = 0; - /* configure interrupt pin */ ao_radio_get(len); - ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX); ao_radio_wake = 0; ao_radio_mcu_wake = 0; - AO_CC1120_SPI.cr2 = 0; - - /* clear any RXNE */ - (void) AO_CC1120_SPI.dr; + ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX); - /* Have the radio signal when the preamble quality goes high */ - ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_PQT_REACHED); + /* configure interrupt pin */ + ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT); ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, - AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_HIGH); - ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_isr); + AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH); + + ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr); ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); - ao_exti_enable(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN); + + rx_starting = 1; + rx_task_id = ao_cur_task->task_id; ao_radio_strobe(CC1120_SRX); - /* Wait for the preamble to appear */ - ao_radio_wait_isr(timeout); + if (timeout) + ao_alarm(timeout); + ao_arch_block_interrupts(); + while (rx_starting && !ao_radio_abort) { + if (ao_sleep(&ao_radio_wake)) + ao_radio_abort = 1; + } + uint8_t rx_task_id_save = rx_task_id; + rx_task_id = 0; + rx_starting = 0; + ao_arch_release_interrupts(); + if (timeout) + ao_clear_alarm(); + if (ao_radio_abort) { ret = 0; + rx_task_id = 0; goto abort; } - ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT); - ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, - AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH); - - ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr); - ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); - - ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT); + if (rx_task_id_save) { + ++rx_slow_start; + ao_radio_select(); + _ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT); + if (rx_ignore) { + uint8_t ignore = AO_CC1120_SPI.dr; + (void) ignore; + AO_CC1120_SPI.dr = 0; + --rx_ignore; + } + } ret = ao_fec_decode(rx_data, rx_data_count, d, size + 2, ao_radio_rx_wait); ao_radio_burst_read_stop(); + if (ao_radio_mcu_wake) + ao_radio_check_marc_status(); + if (ao_radio_abort) + ret = 0; + abort: /* Convert from 'real' rssi to cc1111-style values */ @@ -1033,7 +1188,7 @@ abort: radio_rssi = AO_RADIO_FROM_RSSI (rssi); } - ao_radio_strobe(CC1120_SIDLE); + ao_radio_idle(); ao_radio_put(); @@ -1072,7 +1227,7 @@ struct ao_cc1120_reg { char *name; }; -const static struct ao_cc1120_reg ao_cc1120_reg[] = { +static const struct ao_cc1120_reg ao_cc1120_reg[] = { { .addr = CC1120_IOCFG3, .name = "IOCFG3" }, { .addr = CC1120_IOCFG2, .name = "IOCFG2" }, { .addr = CC1120_IOCFG1, .name = "IOCFG1" }, @@ -1253,7 +1408,7 @@ const static struct ao_cc1120_reg ao_cc1120_reg[] = { static void ao_radio_show(void) { uint8_t status = ao_radio_status(); - int i; + unsigned int i; ao_radio_get(0xff); status = ao_radio_status(); @@ -1264,6 +1419,10 @@ static void ao_radio_show(void) { for (i = 0; i < AO_NUM_CC1120_REG; i++) printf ("\t%02x %-20.20s\n", ao_radio_reg_read(ao_cc1120_reg[i].addr), ao_cc1120_reg[i].name); + + printf("RX fast start: %u\n", rx_fast_start); + printf("RX slow start: %u\n", rx_slow_start); + printf("RX missed: %u\n", rx_missed); ao_radio_put(); } @@ -1287,12 +1446,12 @@ static void ao_radio_packet(void) { } void -ao_radio_test_recv() +ao_radio_test_recv(void) { uint8_t bytes[34]; uint8_t b; - if (ao_radio_recv(bytes, 34)) { + if (ao_radio_recv(bytes, 34, 0)) { if (bytes[33] & 0x80) printf ("CRC OK"); else @@ -1308,13 +1467,12 @@ ao_radio_test_recv() #include <ao_aprs.h> static void -ao_radio_aprs() +ao_radio_aprs(void) { ao_packet_slave_stop(); ao_aprs_send(); } #endif - #endif static const struct ao_cmds ao_radio_cmds[] = { diff --git a/src/drivers/ao_cc1120.h b/src/drivers/ao_cc1120.h index a1d78c01..943f3449 100644 --- a/src/drivers/ao_cc1120.h +++ b/src/drivers/ao_cc1120.h @@ -189,6 +189,12 @@ #define CC1120_FREQ_IF_CFG 0x0f #define CC1120_IQIC 0x10 #define CC1120_CHAN_BW 0x11 +#define CC1120_CHAN_BW_CHFILT_BYPASS 7 +#define CC1120_CHAN_BW_ADC_CIC_DECFACT 6 +#define CC1120_CHAN_BW_ADC_CIC_DECFACT_20 0 +#define CC1120_CHAN_BW_ADC_CIC_DECFACT_32 1 +#define CC1120_CHAN_BW_BB_CIC_DECFACT 0 + #define CC1120_MDMCFG1 0x12 #define CC1120_MDMCFG1_CARRIER_SENSE_GATE 7 #define CC1120_MDMCFG1_FIFO_EN 6 @@ -294,7 +300,7 @@ #define CC1120_SETTLING_CFG_FS_AUTOCAL_MASK 3 #define CC1120_SETTLING_CFG_LOCK_TIME 1 #define CC1120_SETTLING_CFG_LOCK_TIME_50_20 0 -#define CC1120_SETTLING_CFG_LOCK_TIME_70_30 1 +#define CC1120_SETTLING_CFG_LOCK_TIME_75_30 1 #define CC1120_SETTLING_CFG_LOCK_TIME_100_40 2 #define CC1120_SETTLING_CFG_LOCK_TIME_150_60 3 #define CC1120_SETTLING_CFG_LOCK_TIME_MASK 3 diff --git a/src/drivers/ao_cc1120_CC1120.h b/src/drivers/ao_cc1120_CC1120.h index 399abc4d..21a31a89 100644 --- a/src/drivers/ao_cc1120_CC1120.h +++ b/src/drivers/ao_cc1120_CC1120.h @@ -31,20 +31,23 @@ CC1120_SYNC0, 0x91, /* Sync Word Configuration [7:0] */
CC1120_SYNC_CFG1, /* Sync Word Detection Configuration */
- (CC1120_SYNC_CFG1_DEM_CFG_PQT_GATING_ENABLED << CC1120_SYNC_CFG1_DEM_CFG) |
- (0x07 << CC1120_SYNC_CFG1_SYNC_THR),
+ (CC1120_SYNC_CFG1_DEM_CFG_PQT_GATING_DISABLED << CC1120_SYNC_CFG1_DEM_CFG) |
+ (0xc << CC1120_SYNC_CFG1_SYNC_THR),
CC1120_SYNC_CFG0,
(CC1120_SYNC_CFG0_SYNC_MODE_16_BITS << CC1120_SYNC_CFG0_SYNC_MODE) |
- (CC1120_SYNC_CFG0_SYNC_NUM_ERROR_2 << CC1120_SYNC_CFG0_SYNC_NUM_ERROR),
- CC1120_DCFILT_CFG, 0x1c, /* Digital DC Removal Configuration */
+ (CC1120_SYNC_CFG0_SYNC_NUM_ERROR_DISABLED << CC1120_SYNC_CFG0_SYNC_NUM_ERROR),
+ CC1120_DCFILT_CFG, 0x15, /* Digital DC Removal Configuration */
CC1120_PREAMBLE_CFG1, /* Preamble Length Configuration */
(CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_4_BYTES << CC1120_PREAMBLE_CFG1_NUM_PREAMBLE) |
(CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_AA << CC1120_PREAMBLE_CFG1_PREAMBLE_WORD),
CC1120_PREAMBLE_CFG0,
- (1 << CC1120_PREAMBLE_CFG0_PQT_EN) |
- (0x6 << CC1120_PREAMBLE_CFG0_PQT),
- CC1120_FREQ_IF_CFG, 0x40, /* RX Mixer Frequency Configuration */
- CC1120_IQIC, 0x46, /* Digital Image Channel Compensation Configuration */
+ (0 << CC1120_PREAMBLE_CFG0_PQT_EN) |
+ (0xe << CC1120_PREAMBLE_CFG0_PQT),
+
+ /* Adjust PQT lower to accept fewer packets */
+
+ CC1120_FREQ_IF_CFG, 0x3a, /* RX Mixer Frequency Configuration */
+ CC1120_IQIC, 0x00, /* Digital Image Channel Compensation Configuration */
CC1120_CHAN_BW, 0x02, /* Channel Filter Configuration */
CC1120_MDMCFG1, /* General Modem Parameter Configuration */
@@ -53,12 +56,12 @@ (0 << CC1120_MDMCFG1_MANCHESTER_EN) |
(0 << CC1120_MDMCFG1_INVERT_DATA_EN) |
(0 << CC1120_MDMCFG1_COLLISION_DETECT_EN) |
- (CC1120_MDMCFG1_DVGA_GAIN_9 << CC1120_MDMCFG1_DVGA_GAIN) |
+ (CC1120_MDMCFG1_DVGA_GAIN_0 << CC1120_MDMCFG1_DVGA_GAIN) |
(0 << CC1120_MDMCFG1_SINGLE_ADC_EN),
- CC1120_MDMCFG0, 0x05, /* General Modem Parameter Configuration */
+ CC1120_MDMCFG0, 0x0d, /* General Modem Parameter Configuration */
/* AGC reference = 10 * log10(receive BW) - 4 = 10 * log10(100e3) - 4 = 46 */
- CC1120_AGC_REF, 46, /* AGC Reference Level Configuration */
+ CC1120_AGC_REF, 0x36, /* AGC Reference Level Configuration */
/* Carrier sense threshold - 25dB above the noise */
CC1120_AGC_CS_THR, 25, /* Carrier Sense Threshold Configuration */
@@ -93,7 +96,7 @@ CC1120_SETTLING_CFG, /* Frequency Synthesizer Calibration and Settling Configuration */
(CC1120_SETTLING_CFG_FS_AUTOCAL_IDLE_TO_ON << CC1120_SETTLING_CFG_FS_AUTOCAL) |
- (CC1120_SETTLING_CFG_LOCK_TIME_50_20 << CC1120_SETTLING_CFG_LOCK_TIME) |
+ (CC1120_SETTLING_CFG_LOCK_TIME_75_30 << CC1120_SETTLING_CFG_LOCK_TIME) |
(CC1120_SETTLING_CFG_FSREG_TIME_60 << CC1120_SETTLING_CFG_FSREG_TIME),
CC1120_FS_CFG, /* Frequency Synthesizer Configuration */
@@ -109,7 +112,7 @@ CC1120_PKT_CFG1, 0x45, /* Packet Configuration, Reg 1 */
CC1120_PKT_CFG0, 0x00, /* Packet Configuration, Reg 0 */
#endif
- CC1120_RFEND_CFG1, 0x0f, /* RFEND Configuration, Reg 1 */
+ CC1120_RFEND_CFG1, 0x0e, /* RFEND Configuration, Reg 1 */
CC1120_RFEND_CFG0, 0x00, /* RFEND Configuration, Reg 0 */
// CC1120_PA_CFG2, 0x3f, /* Power Amplifier Configuration, Reg 2 */
CC1120_PA_CFG2, 0x3f, /* Power Amplifier Configuration, Reg 2 */
@@ -117,8 +120,8 @@ CC1120_PA_CFG0, 0x7b, /* Power Amplifier Configuration, Reg 0 */
CC1120_PKT_LEN, 0xff, /* Packet Length Configuration */
CC1120_IF_MIX_CFG, 0x00, /* IF Mix Configuration */
- CC1120_FREQOFF_CFG, 0x22, /* Frequency Offset Correction Configuration */
- CC1120_TOC_CFG, 0x0b, /* Timing Offset Correction Configuration */
+ CC1120_FREQOFF_CFG, 0x20, /* Frequency Offset Correction Configuration */
+ CC1120_TOC_CFG, 0x0a, /* Timing Offset Correction Configuration */
CC1120_MARC_SPARE, 0x00, /* MARC Spare */
CC1120_ECG_CFG, 0x00, /* External Clock Frequency Configuration */
CC1120_SOFT_TX_DATA_CFG, 0x00, /* Soft TX Data Configuration */
@@ -167,7 +170,7 @@ CC1120_XOSC4, 0xa0, /* Crystal Oscillator Configuration, Reg 4 */
CC1120_XOSC3, 0x03, /* Crystal Oscillator Configuration, Reg 3 */
CC1120_XOSC2, 0x04, /* Crystal Oscillator Configuration, Reg 2 */
- CC1120_XOSC1, 0x01, /* Crystal Oscillator Configuration, Reg 1 */
+ CC1120_XOSC1, 0x03, /* Crystal Oscillator Configuration, Reg 1 */
CC1120_XOSC0, 0x00, /* Crystal Oscillator Configuration, Reg 0 */
CC1120_ANALOG_SPARE, 0x00, /* */
CC1120_PA_CFG3, 0x00, /* Power Amplifier Configuration, Reg 3 */
@@ -196,31 +199,10 @@ CC1120_AGC_GAIN2, 0xd1, /* AGC Gain, Reg 2 */
CC1120_AGC_GAIN1, 0x00, /* AGC Gain, Reg 1 */
CC1120_AGC_GAIN0, 0x3f, /* AGC Gain, Reg 0 */
- CC1120_SOFT_RX_DATA_OUT, 0x00, /* Soft Decision Symbol Data */
- CC1120_SOFT_TX_DATA_IN, 0x00, /* Soft TX Data Input Register */
- CC1120_ASK_SOFT_RX_DATA, 0x30, /* AGC ASK Soft Decision Output */
CC1120_RNDGEN, 0x7f, /* Random Number Value */
- CC1120_MAGN2, 0x00, /* Signal Magnitude after CORDIC [16] */
- CC1120_MAGN1, 0x00, /* Signal Magnitude after CORDIC [15:8] */
- CC1120_MAGN0, 0x00, /* Signal Magnitude after CORDIC [7:0] */
- CC1120_ANG1, 0x00, /* Signal Angular after CORDIC [9:8] */
- CC1120_ANG0, 0x00, /* Signal Angular after CORDIC [7:0] */
- CC1120_CHFILT_I2, 0x08, /* Channel Filter Data Real Part [18:16] */
- CC1120_CHFILT_I1, 0x00, /* Channel Filter Data Real Part [15:8] */
- CC1120_CHFILT_I0, 0x00, /* Channel Filter Data Real Part [7:0] */
- CC1120_CHFILT_Q2, 0x00, /* Channel Filter Data Imaginary Part [18:16] */
- CC1120_CHFILT_Q1, 0x00, /* Channel Filter Data Imaginary Part [15:8] */
- CC1120_CHFILT_Q0, 0x00, /* Channel Filter Data Imaginary Part [7:0] */
- CC1120_GPIO_STATUS, 0x00, /* GPIO Status */
CC1120_FSCAL_CTRL, 0x01, /* */
CC1120_PHASE_ADJUST, 0x00, /* */
- CC1120_PARTNUMBER, 0x00, /* Part Number */
- CC1120_PARTVERSION, 0x00, /* Part Revision */
CC1120_SERIAL_STATUS, 0x00, /* Serial Status */
- CC1120_RX_STATUS, 0x01, /* RX Status */
- CC1120_TX_STATUS, 0x00, /* TX Status */
- CC1120_MARC_STATUS1, 0x00, /* MARC Status, Reg 1 */
- CC1120_MARC_STATUS0, 0x00, /* MARC Status, Reg 0 */
CC1120_PA_IFAMP_TEST, 0x00, /* */
CC1120_FSRF_TEST, 0x00, /* */
CC1120_PRE_TEST, 0x00, /* */
diff --git a/src/drivers/ao_cc115l.c b/src/drivers/ao_cc115l.c index f250e714..cf61acfe 100644 --- a/src/drivers/ao_cc115l.c +++ b/src/drivers/ao_cc115l.c @@ -249,36 +249,81 @@ ao_radio_idle(void) } /* - * Packet deviation is 20.5kHz + * Packet deviation * * fdev = fosc >> 17 * (8 + dev_m) << dev_e * + * For 38400 baud, use 20.5kHz: + * * 26e6 / (2 ** 17) * (8 + 5) * (2 ** 3) = 20630Hz + * + * For 9600 baud, use 5.125kHz: + * + * 26e6 / (2 ** 17) * (8 + 5) * (2 ** 1) = 5157Hz + * + * For 2400 baud, use 1.5kHz: + * + * 26e6 / (2 ** 17) * (8 + 0) * (2 ** 0) = 1587Hz */ -#define PACKET_DEV_E 3 -#define PACKET_DEV_M 5 +#define PACKET_DEV_E_384 3 +#define PACKET_DEV_M_384 5 + +#define PACKET_DEV_E_96 1 +#define PACKET_DEV_M_96 5 + +#define PACKET_DEV_E_24 0 +#define PACKET_DEV_M_24 0 /* - * For our packet data, set the symbol rate to 38400 Baud + * For our packet data: * * (256 + DATARATE_M) * 2 ** DATARATE_E * Rdata = -------------------------------------- * fosc * 2 ** 28 * + * For 38400 baud: + * * (256 + 131) * (2 ** 10) / (2**28) * 26e6 = 38383 * * DATARATE_M = 131 - * DATARATE_E = 10 + * DATARATE_E_384 = 10 + * DATARATE_E_96 = 8 + * DATARATE_E_24 = 6 */ -#define PACKET_DRATE_E 10 -#define PACKET_DRATE_M 131 +#define PACKET_DRATE_M 131 + +#define PACKET_DRATE_E_384 10 +#define PACKET_DRATE_E_96 8 +#define PACKET_DRATE_E_24 6 + +static const struct { + uint8_t mdmcfg4; + uint8_t deviatn; +} packet_rate_setup[] = { + [AO_RADIO_RATE_38400] = { + .mdmcfg4 = ((0xf << 4) | + (PACKET_DRATE_E_384 << CC115L_MDMCFG4_DRATE_E)), + .deviatn = ((PACKET_DEV_E_384 << CC115L_DEVIATN_DEVIATION_E) | + (PACKET_DEV_M_384 << CC115L_DEVIATN_DEVIATION_M)), + }, + + [AO_RADIO_RATE_9600] = { + .mdmcfg4 = ((0xf << 4) | + (PACKET_DRATE_E_96 << CC115L_MDMCFG4_DRATE_E)), + .deviatn = ((PACKET_DEV_E_96 << CC115L_DEVIATN_DEVIATION_E) | + (PACKET_DEV_M_96 << CC115L_DEVIATN_DEVIATION_M)), + }, + + [AO_RADIO_RATE_2400] = { + .mdmcfg4 = ((0xf << 4) | + (PACKET_DRATE_E_24 << CC115L_MDMCFG4_DRATE_E)), + .deviatn = ((PACKET_DEV_E_24 << CC115L_DEVIATN_DEVIATION_E) | + (PACKET_DEV_M_24 << CC115L_DEVIATN_DEVIATION_M)), + }, +}; static const uint16_t packet_setup[] = { - CC115L_DEVIATN, ((PACKET_DEV_E << CC115L_DEVIATN_DEVIATION_E) | - (PACKET_DEV_M << CC115L_DEVIATN_DEVIATION_M)), - CC115L_MDMCFG4, ((0xf << 4) | - (PACKET_DRATE_E << CC115L_MDMCFG4_DRATE_E)), CC115L_MDMCFG3, (PACKET_DRATE_M), CC115L_MDMCFG2, (0x00 | (CC115L_MDMCFG2_MOD_FORMAT_GFSK << CC115L_MDMCFG2_MOD_FORMAT) | @@ -403,9 +448,13 @@ ao_radio_set_mode(uint16_t new_mode) return; changes = new_mode & (~ao_radio_mode); - if (changes & AO_RADIO_MODE_BITS_PACKET_TX) + if (changes & AO_RADIO_MODE_BITS_PACKET_TX) { + ao_radio_reg_write(CC115L_MDMCFG4, packet_rate_setup[ao_config.radio_rate].mdmcfg4); + ao_radio_reg_write(CC115L_DEVIATN, packet_rate_setup[ao_config.radio_rate].deviatn); + for (i = 0; i < sizeof (packet_setup) / sizeof (packet_setup[0]); i += 2) ao_radio_reg_write(packet_setup[i], packet_setup[i+1]); + } if (changes & AO_RADIO_MODE_BITS_RDF) for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2) @@ -494,6 +543,7 @@ static void ao_radio_get(void) { static uint32_t last_radio_setting; + static uint8_t last_radio_rate; ao_mutex_get(&ao_radio_mutex); if (!ao_radio_configured) @@ -504,6 +554,10 @@ ao_radio_get(void) ao_radio_reg_write(CC115L_FREQ0, ao_config.radio_setting); last_radio_setting = ao_config.radio_setting; } + if (ao_config.radio_rate != last_radio_rate) { + ao_radio_mode &= ~AO_RADIO_MODE_BITS_PACKET_TX; + last_radio_rate = ao_config.radio_rate; + } } static void diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c index 944a37f9..066df6ff 100644 --- a/src/drivers/ao_gps_skytraq.c +++ b/src/drivers/ao_gps_skytraq.c @@ -278,16 +278,17 @@ ao_nmea_gga(void) ao_gps_lexchar(); i = ao_gps_decimal(0xff); - if (i <= 50) { - i = (uint8_t) 5 * i; + if (i <= 25) { + i = (uint8_t) 10 * i; if (ao_gps_char == '.') - i = (i + ((uint8_t) ao_gps_decimal(1) >> 1)); + i = (i + ((uint8_t) ao_gps_decimal(1))); } else i = 255; ao_gps_next.hdop = i; ao_gps_skip_field(); - ao_gps_next.altitude = ao_gps_decimal(0xff); + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff)); + ao_gps_skip_field(); /* skip any fractional portion */ ao_nmea_finish(); diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c index 077698a9..74c29e0a 100644 --- a/src/drivers/ao_gps_ublox.c +++ b/src/drivers/ao_gps_ublox.c @@ -728,7 +728,7 @@ ao_gps(void) __reentrant if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC)) ao_gps_data.flags |= AO_GPS_DATE_VALID; - ao_gps_data.altitude = nav_posllh.alt_msl / 1000; + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000); ao_gps_data.latitude = nav_posllh.lat; ao_gps_data.longitude = nav_posllh.lon; @@ -740,11 +740,11 @@ ao_gps(void) __reentrant ao_gps_data.minute = nav_timeutc.min; ao_gps_data.second = nav_timeutc.sec; - ao_gps_data.pdop = nav_dop.pdop; - ao_gps_data.hdop = nav_dop.hdop; - ao_gps_data.vdop = nav_dop.vdop; - - /* mode is not set */ + /* we report dop scaled by 10, but ublox provides dop scaled by 100 + */ + ao_gps_data.pdop = nav_dop.pdop / 10; + ao_gps_data.hdop = nav_dop.hdop / 10; + ao_gps_data.vdop = nav_dop.vdop / 10; ao_gps_data.ground_speed = nav_velned.g_speed; ao_gps_data.climb_rate = -nav_velned.vel_d; diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c index 9e642836..32c00068 100644 --- a/src/drivers/ao_lco_func.c +++ b/src/drivers/ao_lco_func.c @@ -28,7 +28,21 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset) { int8_t r; uint16_t sent_time; + uint16_t timeout = AO_MS_TO_TICKS(10); +#if HAS_RADIO_RATE + switch (ao_config.radio_rate) { + case AO_RADIO_RATE_38400: + default: + break; + case AO_RADIO_RATE_9600: + timeout = AO_MS_TO_TICKS(20); + break; + case AO_RADIO_RATE_2400: + timeout = AO_MS_TO_TICKS(80); + break; + } +#endif ao_mutex_get(&ao_lco_mutex); command.tick = ao_time() - *tick_offset; command.box = box; @@ -36,7 +50,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset) command.channels = 0; ao_radio_cmac_send(&command, sizeof (command)); sent_time = ao_time(); - r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(10)); + r = ao_radio_cmac_recv(query, sizeof (*query), timeout); if (r == AO_RADIO_CMAC_OK) *tick_offset = sent_time - query->tick; ao_mutex_put(&ao_lco_mutex); diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c index d6c99cbd..23545049 100644 --- a/src/drivers/ao_packet_master.c +++ b/src/drivers/ao_packet_master.c @@ -57,6 +57,12 @@ static __xdata uint16_t ao_packet_master_time; #define AO_PACKET_MASTER_DELAY_LONG AO_MS_TO_TICKS(1000) #define AO_PACKET_MASTER_DELAY_TIMEOUT AO_MS_TO_TICKS(2000) +#if HAS_RADIO_RATE +#define AO_PACKET_MASTER_RECV_DELAY AO_MS_TO_TICKS(100) << (ao_config.radio_rate << 1) +#else +#define AO_PACKET_MASTER_RECV_DELAY AO_MS_TO_TICKS(100) +#endif + static void ao_packet_master_busy(void) { @@ -91,7 +97,7 @@ ao_packet_master(void) if (ao_tx_packet.len) ao_packet_master_busy(); ao_packet_master_check_busy(); - ao_alarm(ao_packet_master_delay); + ao_alarm(AO_PACKET_MASTER_RECV_DELAY); r = ao_packet_recv(); ao_clear_alarm(); if (r) { diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c index 144cbd70..dc2c83fe 100644 --- a/src/drivers/ao_pad.c +++ b/src/drivers/ao_pad.c @@ -362,14 +362,26 @@ ao_pad_test(void) void ao_pad_manual(void) { + uint8_t ignite; + int repeat; ao_cmd_white(); if (!ao_match_word("DoIt")) return; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - ao_pad_ignite = 1 << ao_cmd_lex_i; - ao_wakeup(&ao_pad_ignite); + ignite = 1 << ao_cmd_lex_i; + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) { + repeat = 1; + ao_cmd_status = ao_cmd_success; + } else + repeat = ao_cmd_lex_i; + while (repeat-- > 0) { + ao_pad_ignite = ignite; + ao_wakeup(&ao_pad_ignite); + ao_delay(AO_PAD_FIRE_TIME>>1); + } } static __xdata struct ao_task ao_pad_task; diff --git a/src/easymega-v0.1/.gitignore b/src/easymega-v1.0/.gitignore index 410943d5..410943d5 100644 --- a/src/easymega-v0.1/.gitignore +++ b/src/easymega-v1.0/.gitignore diff --git a/src/easymega-v0.1/Makefile b/src/easymega-v1.0/Makefile index 66619852..c3b360b4 100644 --- a/src/easymega-v0.1/Makefile +++ b/src/easymega-v1.0/Makefile @@ -107,13 +107,13 @@ ALTOS_SRC = \ $(SAMPLE_PROFILE) \ $(STACK_GUARD) -PRODUCT=EasyMega-v0.1 +PRODUCT=EasyMega-v1.0 PRODUCT_DEF=-DEASYMEGA -IDPRODUCT=0x0023 +IDPRODUCT=0x0028 CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g -PROGNAME=easymega-v0.1 +PROGNAME=easymega-v1.0 PROG=$(PROGNAME)-$(VERSION).elf HEX=$(PROGNAME)-$(VERSION).ihx diff --git a/src/easymega-v0.1/ao_easymega.c b/src/easymega-v1.0/ao_easymega.c index e217c33c..e217c33c 100644 --- a/src/easymega-v0.1/ao_easymega.c +++ b/src/easymega-v1.0/ao_easymega.c diff --git a/src/easymega-v0.1/ao_pins.h b/src/easymega-v1.0/ao_pins.h index cb6e3980..d6490ba5 100644 --- a/src/easymega-v0.1/ao_pins.h +++ b/src/easymega-v1.0/ao_pins.h @@ -65,6 +65,9 @@ #define ao_gps_fifo (ao_stm_usart1.rx_fifo) #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024) +#define AO_CONFIG_MAX_SIZE 1024 +#define LOG_ERASE_MARK 0x55 +#define LOG_MAX_ERASE 128 #define HAS_EEPROM 1 #define USE_INTERNAL_FLASH 0 #define USE_EEPROM_CONFIG 1 diff --git a/src/easymega-v0.1/flash-loader/Makefile b/src/easymega-v1.0/flash-loader/Makefile index 35312fd6..d83cb70a 100644 --- a/src/easymega-v0.1/flash-loader/Makefile +++ b/src/easymega-v1.0/flash-loader/Makefile @@ -4,5 +4,5 @@ # TOPDIR=../.. -HARDWARE=easymega-v0.1 +HARDWARE=easymega-v1.0 include $(TOPDIR)/stm/Makefile-flash.defs diff --git a/src/easymega-v0.1/flash-loader/ao_pins.h b/src/easymega-v1.0/flash-loader/ao_pins.h index 445289bf..445289bf 100644 --- a/src/easymega-v0.1/flash-loader/ao_pins.h +++ b/src/easymega-v1.0/flash-loader/ao_pins.h diff --git a/src/kalman/kalman.5c b/src/kalman/kalman.5c index 46fa8e1f..55fde04c 100755 --- a/src/kalman/kalman.5c +++ b/src/kalman/kalman.5c @@ -457,7 +457,7 @@ void main() { name = sprintf("%s_K%d_%d", prefix, i, time_inc); else name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc); - printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]); + printf ("#define %s to_fix_k(%12.10f)\n", name, k[i,j]); } printf ("\n"); exit(0); diff --git a/src/kalman/kalman_micro.5c b/src/kalman/kalman_micro.5c index 266a1182..1b080384 100644 --- a/src/kalman/kalman_micro.5c +++ b/src/kalman/kalman_micro.5c @@ -307,7 +307,7 @@ void main() { name = sprintf("%s_K%d_%d", prefix, i, time_inc); else name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc); - printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]); + printf ("#define %s to_fix_k(%12.10f)\n", name, k[i,j]); } printf ("\n"); exit(0); diff --git a/src/kernel/ao.h b/src/kernel/ao.h index 5ff9b518..ad5bbf8e 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -132,6 +132,9 @@ ao_clock_init(void); */ #ifndef ao_mutex_get +uint8_t +ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant; + void ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; @@ -275,15 +278,17 @@ ao_report_init(void); * Given raw data, convert to SI units */ +#if HAS_BARO /* pressure from the sensor to altitude in meters */ -int16_t -ao_pres_to_altitude(int16_t pres) __reentrant; +alt_t +ao_pres_to_altitude(pres_t pres) __reentrant; -int16_t -ao_altitude_to_pres(int16_t alt) __reentrant; +pres_t +ao_altitude_to_pres(alt_t alt) __reentrant; int16_t ao_temp_to_dC(int16_t temp) __reentrant; +#endif /* * ao_convert_pa.c @@ -293,11 +298,13 @@ ao_temp_to_dC(int16_t temp) __reentrant; #include <ao_data.h> +#if HAS_BARO alt_t -ao_pa_to_altitude(int32_t pa); +ao_pa_to_altitude(pres_t pa); int32_t ao_altitude_to_pa(alt_t alt); +#endif #if HAS_DBG #include <ao_dbg.h> @@ -522,6 +529,9 @@ struct ao_telemetry_raw_recv { #endif void +ao_telemetry_reset_interval(void); + +void ao_telemetry_set_interval(uint16_t interval); void @@ -558,6 +568,15 @@ extern __xdata int8_t ao_radio_rssi; #define HAS_RADIO_XMIT HAS_RADIO #endif +#define AO_RADIO_RATE_38400 0 +#define AO_RADIO_RATE_9600 1 +#define AO_RADIO_RATE_2400 2 +#define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400 + +#if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE) +#define HAS_RADIO_RATE HAS_RADIO +#endif + void ao_radio_general_isr(void) ao_arch_interrupt(16); @@ -757,11 +776,13 @@ extern __xdata uint8_t ao_force_freq; * ao_rssi.c */ +#ifdef AO_LED_TYPE void -ao_rssi_set(int rssi_value); +ao_rssi_set(int16_t rssi_value); void -ao_rssi_init(uint8_t rssi_led); +ao_rssi_init(AO_LED_TYPE rssi_led); +#endif /* * ao_product.c diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c index 0052bdce..d2f583ef 100644 --- a/src/kernel/ao_cmd.c +++ b/src/kernel/ao_cmd.c @@ -290,6 +290,9 @@ version(void) #if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND) "program-space %u\n" #endif +#if AO_VALUE_32 + "altitude-32 1\n" +#endif , ao_manufacturer , ao_product , ao_serial_number diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index 71445335..6b8a1813 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -50,17 +50,25 @@ __xdata uint8_t ao_config_mutex; #error Please define USE_INTERNAL_FLASH #endif #endif + #ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX -#if USE_INTERNAL_FLASH -#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ao_storage_config -#else -#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 192 * (uint32_t) 1024) -#endif +# if FLIGHT_LOG_APPEND +# define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ao_storage_log_max +# else +# if USE_INTERNAL_FLASH +# define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ao_storage_config +# else +# define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 192 * (uint32_t) 1024) +# endif +# endif #endif + #ifndef AO_CONFIG_DEFAULT_RADIO_POWER #define AO_CONFIG_DEFAULT_RADIO_POWER 0x60 #endif #define AO_CONFIG_DEFAULT_RADIO_AMP 0 +#define AO_CONFIG_DEFAULT_APRS_SSID (ao_serial_number % 10) +#define AO_CONFIG_DEFAULT_RADIO_RATE AO_RADIO_RATE_38400 #if HAS_EEPROM static void @@ -85,10 +93,18 @@ ao_config_put(void) #endif #if HAS_RADIO + +#if HAS_RADIO_FORWARD +__xdata uint32_t ao_send_radio_setting; +#endif + void ao_config_set_radio(void) { ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal); +#if HAS_RADIO_FORWARD + ao_send_radio_setting = ao_freq_to_set(ao_config.send_frequency, ao_config.radio_cal); +#endif } #endif /* HAS_RADIO */ @@ -192,6 +208,18 @@ _ao_config_get(void) if (minor < 18) ao_config.pyro_time = AO_CONFIG_DEFAULT_PYRO_TIME; #endif +#if HAS_APRS + if (minor < 19) + ao_config.aprs_ssid = AO_CONFIG_DEFAULT_APRS_SSID; +#endif +#if HAS_RADIO_RATE + if (minor < 20) + ao_config.radio_rate = AO_CONFIG_DEFAULT_RADIO_RATE; +#endif +#if HAS_RADIO_FORWARD + if (minor < 21) + ao_config.send_frequency = 434550; +#endif ao_config.minor = AO_CONFIG_MINOR; ao_config_dirty = 1; } @@ -283,6 +311,32 @@ ao_config_frequency_set(void) __reentrant ao_radio_recv_abort(); #endif } + +#endif + +#if HAS_RADIO_FORWARD +void +ao_config_send_frequency_show(void) __reentrant +{ + printf("Send frequency: %ld\n", + ao_config.send_frequency); +} + +void +ao_config_send_frequency_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.send_frequency = ao_cmd_lex_u32; + ao_config_set_radio(); + _ao_config_edit_finish(); +#if HAS_RADIO_RECV + ao_radio_recv_abort(); +#endif +} + #endif #if HAS_FLIGHT @@ -477,18 +531,73 @@ ao_config_radio_cal_set(void) __reentrant ao_config_set_radio(); _ao_config_edit_finish(); } + +#endif + +#if HAS_RADIO_RATE +#ifndef HAS_TELEMETRY +#error Please define HAS_TELEMETRY +#endif + +void +ao_config_radio_rate_show(void) __reentrant +{ + printf("Telemetry rate: %d\n", ao_config.radio_rate); +} + +void +ao_config_radio_rate_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + if (AO_RADIO_RATE_MAX < ao_cmd_lex_i) { + ao_cmd_status = ao_cmd_lex_error; + return; + } + _ao_config_edit_start(); + ao_config.radio_rate = ao_cmd_lex_i; +#if HAS_TELEMETRY + ao_telemetry_reset_interval(); +#endif + _ao_config_edit_finish(); +#if HAS_RADIO_RECV + ao_radio_recv_abort(); +#endif +} #endif #if HAS_LOG + void ao_config_log_show(void) __reentrant { printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10)); +#if FLIGHT_LOG_APPEND + printf("Log fixed: 1\n"); +#endif } +#if FLIGHT_LOG_APPEND +void +ao_config_log_fix_append(void) +{ + _ao_config_edit_start(); + ao_config.flight_log_max = ao_storage_log_max; + _ao_config_edit_finish(); + ao_mutex_get(&ao_config_mutex); + _ao_config_put(); + ao_config_dirty = 0; + ao_mutex_put(&ao_config_mutex); +} +#endif + void ao_config_log_set(void) __reentrant { +#if FLIGHT_LOG_APPEND + printf("Flight log fixed size %d kB\n", ao_storage_log_max >> 10); +#else uint16_t block = (uint16_t) (ao_storage_block >> 10); uint16_t log_max = (uint16_t) (ao_storage_log_max >> 10); @@ -506,6 +615,7 @@ ao_config_log_set(void) __reentrant ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10; _ao_config_edit_finish(); } +#endif } #endif /* HAS_LOG */ @@ -737,6 +847,30 @@ ao_config_pyro_time_set(void) } #endif +#if HAS_APRS +void +ao_config_aprs_ssid_show(void) +{ + printf ("APRS SSID: %d\n", + ao_config.aprs_ssid); +} + +void +ao_config_aprs_ssid_set(void) +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + if (15 < ao_cmd_lex_i) { + ao_cmd_status = ao_cmd_lex_error; + return; + } + _ao_config_edit_start(); + ao_config.aprs_ssid = ao_cmd_lex_i; + _ao_config_edit_finish(); +} +#endif /* HAS_APRS */ + struct ao_config_var { __code char *str; void (*set)(void) __reentrant; @@ -766,12 +900,20 @@ __code struct ao_config_var ao_config_vars[] = { #if HAS_RADIO { "F <freq>\0Frequency (kHz)", ao_config_frequency_set, ao_config_frequency_show }, +#if HAS_RADIO_FORWARD + { "R <freq>\0Repeater output frequency (kHz)", + ao_config_send_frequency_set, ao_config_send_frequency_show }, +#endif { "c <call>\0Callsign (8 char max)", ao_config_callsign_set, ao_config_callsign_show }, { "e <0 disable, 1 enable>\0Enable telemetry and RDF", ao_config_radio_enable_set, ao_config_radio_enable_show }, { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))", ao_config_radio_cal_set, ao_config_radio_cal_show }, +#if HAS_RADIO_RATE + { "T <rate>\0Telemetry rate (0=38.4, 1=9.6, 2=2.4)", + ao_config_radio_rate_set, ao_config_radio_rate_show }, +#endif #if HAS_RADIO_POWER { "p <setting>\0Radio power setting (0-255)", ao_config_radio_power_set, ao_config_radio_power_show }, @@ -817,6 +959,10 @@ __code struct ao_config_var ao_config_vars[] = { { "t <motion> <interval>\0Tracker configuration", ao_config_tracker_set, ao_config_tracker_show }, #endif +#if HAS_APRS + { "S <ssid>\0Set APRS SSID (0-15)", + ao_config_aprs_ssid_set, ao_config_aprs_ssid_show }, +#endif { "s\0Show", ao_config_show, 0 }, #if HAS_EEPROM diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h index 2b5cd352..164584a5 100644 --- a/src/kernel/ao_config.h +++ b/src/kernel/ao_config.h @@ -28,6 +28,10 @@ #define USE_EEPROM_CONFIG 0 #endif +#ifndef FLIGHT_LOG_APPEND +#define FLIGHT_LOG_APPEND 0 +#endif + #if USE_STORAGE_CONFIG #include <ao_storage.h> @@ -53,7 +57,7 @@ #endif #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 18 +#define AO_CONFIG_MINOR 21 #define AO_AES_LEN 16 @@ -102,8 +106,21 @@ struct ao_config { #if AO_PYRO_NUM uint16_t pyro_time; /* minor version 18 */ #endif +#if HAS_APRS + uint8_t aprs_ssid; /* minor version 19 */ +#endif +#if HAS_RADIO_RATE + uint8_t radio_rate; /* minor version 20 */ +#endif +#if HAS_RADIO_FORWARD + uint32_t send_frequency; /* minor version 21 */ +#endif }; +#if HAS_RADIO_FORWARD +extern __xdata uint32_t ao_send_radio_setting; +#endif + #define AO_IGNITE_MODE_DUAL 0 #define AO_IGNITE_MODE_APOGEE 1 #define AO_IGNITE_MODE_MAIN 2 @@ -141,6 +158,9 @@ void ao_config_set_radio(void); void +ao_config_log_fix_append(void); + +void ao_config_init(void); #endif /* _AO_CONFIG_H_ */ diff --git a/src/kernel/ao_convert.c b/src/kernel/ao_convert.c index aa9b5f48..db1f2301 100644 --- a/src/kernel/ao_convert.c +++ b/src/kernel/ao_convert.c @@ -19,14 +19,16 @@ #include "ao.h" #endif -static const int16_t altitude_table[] = { +#include <ao_sample.h> + +static const ao_v_t altitude_table[] = { #include "altitude.h" }; #define ALT_FRAC_SCALE (1 << ALT_FRAC_BITS) #define ALT_FRAC_MASK (ALT_FRAC_SCALE - 1) -int16_t +ao_v_t ao_pres_to_altitude(int16_t pres) __reentrant { uint8_t o; @@ -43,9 +45,9 @@ ao_pres_to_altitude(int16_t pres) __reentrant #if AO_NEED_ALTITUDE_TO_PRES int16_t -ao_altitude_to_pres(int16_t alt) __reentrant +ao_altitude_to_pres(ao_v_t alt) __reentrant { - int16_t span, sub_span; + ao_v_t span, sub_span; uint8_t l, h, m; int32_t pres; diff --git a/src/kernel/ao_convert_pa.c b/src/kernel/ao_convert_pa.c index fe6e0ef6..410815b6 100644 --- a/src/kernel/ao_convert_pa.c +++ b/src/kernel/ao_convert_pa.c @@ -24,7 +24,11 @@ #endif static const alt_t altitude_table[] AO_CONST_ATTRIB = { +#if AO_SMALL_ALTITUDE_TABLE +#include "altitude-pa-small.h" +#else #include "altitude-pa.h" +#endif }; #ifndef FETCH_ALT @@ -35,11 +39,11 @@ static const alt_t altitude_table[] AO_CONST_ATTRIB = { #define ALT_MASK (ALT_SCALE - 1) alt_t -ao_pa_to_altitude(int32_t pa) +ao_pa_to_altitude(pres_t pa) { int16_t o; int16_t part; - int32_t low, high; + alt_t low, high; if (pa < 0) pa = 0; @@ -48,16 +52,16 @@ ao_pa_to_altitude(int32_t pa) o = pa >> ALT_SHIFT; part = pa & ALT_MASK; - low = (int32_t) FETCH_ALT(o) * (ALT_SCALE - part); - high = (int32_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1); + low = (alt_t) FETCH_ALT(o) * (ALT_SCALE - part); + high = (alt_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1); return (low + high) >> ALT_SHIFT; } #ifdef AO_CONVERT_TEST -int32_t -ao_altitude_to_pa(int32_t alt) +pres_t +ao_altitude_to_pa(alt_t alt) { - int32_t span, sub_span; + alt_t span, sub_span; uint16_t l, h, m; int32_t pa; @@ -72,7 +76,7 @@ ao_altitude_to_pa(int32_t alt) } span = altitude_table[l] - altitude_table[h]; sub_span = altitude_table[l] - alt; - pa = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span; + pa = ((((alt_t) l * (span - sub_span) + (alt_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span; if (pa > 120000) pa = 120000; if (pa < 0) diff --git a/src/kernel/ao_convert_pa_test.c b/src/kernel/ao_convert_pa_test.c index 7d5b1922..95422862 100644 --- a/src/kernel/ao_convert_pa_test.c +++ b/src/kernel/ao_convert_pa_test.c @@ -18,6 +18,7 @@ #include <stdint.h> #define AO_CONVERT_TEST typedef int32_t alt_t; +typedef int32_t pres_t; #include "ao_host.h" #include "ao_convert_pa.c" diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index c4b062fd..8f75ad87 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -117,9 +117,7 @@ extern volatile __data uint8_t ao_data_count; typedef int32_t pres_t; -#ifndef AO_ALT_TYPE #define AO_ALT_TYPE int32_t -#endif typedef AO_ALT_TYPE alt_t; @@ -146,10 +144,6 @@ typedef int16_t alt_t; #endif -#if !HAS_BARO -typedef int16_t alt_t; -#endif - /* * Need a few macros to pull data from the sensors: * diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 2b433ee9..251dbc02 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -60,10 +60,10 @@ __xdata uint8_t ao_sensor_errors; * resting */ static __data uint16_t ao_interval_end; -static __data int16_t ao_interval_min_height; -static __data int16_t ao_interval_max_height; +static __data ao_v_t ao_interval_min_height; +static __data ao_v_t ao_interval_max_height; #if HAS_ACCEL -static __data int16_t ao_coast_avg_accel; +static __data ao_v_t ao_coast_avg_accel; #endif __pdata uint8_t ao_flight_force_idle; @@ -398,14 +398,14 @@ ao_flight(void) } #if HAS_FLIGHT_DEBUG -static inline int int_part(int16_t i) { return i >> 4; } -static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; } +static inline int int_part(ao_v_t i) { return i >> 4; } +static inline int frac_part(ao_v_t i) { return ((i & 0xf) * 100 + 8) / 16; } static void ao_flight_dump(void) { #if HAS_ACCEL - int16_t accel; + ao_v_t accel; accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16; #endif diff --git a/src/kernel/ao_forward.c b/src/kernel/ao_forward.c new file mode 100644 index 00000000..2a937183 --- /dev/null +++ b/src/kernel/ao_forward.c @@ -0,0 +1,48 @@ +/* + * Copyright © 2014 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_telem.h" + +static void +ao_monitor_forward(void) +{ + uint32_t recv_radio_setting; + static __xdata struct ao_telemetry_all_recv packet; + + for (;;) { + while (ao_monitoring) + ao_sleep(DATA_TO_XDATA(&ao_monitoring)); + + if (!ao_radio_recv(&packet, sizeof(packet), 0)) + continue; + if (!(packet.status & PKT_APPEND_STATUS_1_CRC_OK)) + continue; + recv_radio_setting = ao_config.radio_setting; + ao_config.radio_setting = ao_send_radio_setting; + ao_radio_send(&packet.telemetry, sizeof (packet.telemetry)); + ao_config.radio_setting = recv_radio_setting; + } +} + +static __xdata struct ao_task ao_monitor_forward_task; + +void +ao_monitor_forward_init(void) __reentrant +{ + ao_add_task(&ao_monitor_forward_task, ao_monitor_forward, "monitor_forward"); +} diff --git a/src/kernel/ao_forward.h b/src/kernel/ao_forward.h new file mode 100644 index 00000000..1897dc08 --- /dev/null +++ b/src/kernel/ao_forward.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2014 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_FORWARD_H_ +#define _AO_FORWARD_H_ + +void +ao_monitor_forward_init(void) __reentrant; + +#endif /* _AO_FORWARD_H_ */ diff --git a/src/kernel/ao_gps_print.c b/src/kernel/ao_gps_print.c index 47c945d7..d26021da 100644 --- a/src/kernel/ao_gps_print.c +++ b/src/kernel/ao_gps_print.c @@ -20,6 +20,10 @@ #endif #include "ao_telem.h" +#ifndef AO_TELEMETRY_LOCATION_ALTITUDE +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((l)->altitude) +#endif + void ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant { @@ -42,7 +46,7 @@ ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant AO_TELEM_GPS_ALTITUDE " %d ", (long) gps_data->latitude, (long) gps_data->longitude, - gps_data->altitude); + AO_TELEMETRY_LOCATION_ALTITUDE(gps_data)); if (gps_data->flags & AO_GPS_DATE_VALID) printf(AO_TELEM_GPS_YEAR " %d " diff --git a/src/kernel/ao_gps_report.c b/src/kernel/ao_gps_report.c index 07201ac2..7ef98a97 100644 --- a/src/kernel/ao_gps_report.c +++ b/src/kernel/ao_gps_report.c @@ -52,8 +52,12 @@ ao_gps_report(void) gps_log.u.gps_longitude = gps_data.longitude; ao_log_data(&gps_log); gps_log.type = AO_LOG_GPS_ALT; - gps_log.u.gps_altitude.altitude = gps_data.altitude; - gps_log.u.gps_altitude.unused = 0xffff; + gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low; +#if HAS_WIDE_GPS + gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high; +#else + gps_log.u.gps_altitude.altitude_high = 0xffff; +#endif ao_log_data(&gps_log); if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) { gps_log.type = AO_LOG_GPS_DATE; diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c index cb0c0fd9..f3711fb1 100644 --- a/src/kernel/ao_gps_report_mega.c +++ b/src/kernel/ao_gps_report_mega.c @@ -78,7 +78,8 @@ ao_gps_report_mega(void) #if GPS_SPARSE_LOG /* Don't log data if GPS has a fix and hasn't moved for a while */ if ((gps_data.flags & AO_GPS_VALID) && - !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, gps_data.altitude)) + !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, + AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data)) continue; #endif if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) { @@ -87,8 +88,8 @@ ao_gps_report_mega(void) gps_log.type = AO_LOG_GPS_TIME; gps_log.u.gps.latitude = gps_data.latitude; gps_log.u.gps.longitude = gps_data.longitude; - gps_log.u.gps.altitude = gps_data.altitude; - + gps_log.u.gps.altitude_low = gps_data.altitude_low; + gps_log.u.gps.altitude_high = gps_data.altitude_high; gps_log.u.gps.hour = gps_data.hour; gps_log.u.gps.minute = gps_data.minute; gps_log.u.gps.second = gps_data.second; diff --git a/src/kernel/ao_gps_report_metrum.c b/src/kernel/ao_gps_report_metrum.c index 696a833b..8ce074fe 100644 --- a/src/kernel/ao_gps_report_metrum.c +++ b/src/kernel/ao_gps_report_metrum.c @@ -44,7 +44,8 @@ ao_gps_report_metrum(void) gps_log.type = AO_LOG_GPS_POS; gps_log.u.gps.latitude = gps_data.latitude; gps_log.u.gps.longitude = gps_data.longitude; - gps_log.u.gps.altitude = gps_data.altitude; + gps_log.u.gps.altitude_low = gps_data.altitude_low; + gps_log.u.gps.altitude_high = gps_data.altitude_high; ao_log_metrum(&gps_log); gps_log.type = AO_LOG_GPS_TIME; @@ -55,6 +56,7 @@ ao_gps_report_metrum(void) gps_log.u.gps_time.year = gps_data.year; gps_log.u.gps_time.month = gps_data.month; gps_log.u.gps_time.day = gps_data.day; + gps_log.u.gps_time.pdop = gps_data.pdop; ao_log_metrum(&gps_log); } diff --git a/src/kernel/ao_gps_show.c b/src/kernel/ao_gps_show.c index 3a05e35a..e45cd795 100644 --- a/src/kernel/ao_gps_show.c +++ b/src/kernel/ao_gps_show.c @@ -19,6 +19,8 @@ #include <ao.h> #endif +#include <ao_data.h> + void ao_gps_show(void) __reentrant { @@ -27,7 +29,11 @@ ao_gps_show(void) __reentrant printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day); printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second); printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude); - printf ("Alt: %d\n", ao_gps_data.altitude); +#if HAS_WIDE_GPS + printf ("Alt: %ld\n", (long) AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data)); +#else + printf ("Alt: %d\n", AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data)); +#endif printf ("Flags: 0x%x\n", ao_gps_data.flags); printf ("Sats: %d", ao_gps_tracking_data.channels); for (i = 0; i < ao_gps_tracking_data.channels; i++) diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index 9aea1f14..7b0f8145 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -23,32 +23,31 @@ #include "ao_sample.h" #include "ao_kalman.h" +static __pdata ao_k_t ao_k_height; +static __pdata ao_k_t ao_k_speed; +static __pdata ao_k_t ao_k_accel; -static __pdata int32_t ao_k_height; -static __pdata int32_t ao_k_speed; -static __pdata int32_t ao_k_accel; +#define AO_K_STEP_100 to_fix_v(0.01) +#define AO_K_STEP_2_2_100 to_fix_v(0.00005) -#define AO_K_STEP_100 to_fix16(0.01) -#define AO_K_STEP_2_2_100 to_fix16(0.00005) +#define AO_K_STEP_10 to_fix_v(0.1) +#define AO_K_STEP_2_2_10 to_fix_v(0.005) -#define AO_K_STEP_10 to_fix16(0.1) -#define AO_K_STEP_2_2_10 to_fix16(0.005) +#define AO_K_STEP_1 to_fix_v(1) +#define AO_K_STEP_2_2_1 to_fix_v(0.5) -#define AO_K_STEP_1 to_fix16(1) -#define AO_K_STEP_2_2_1 to_fix16(0.5) +__pdata ao_v_t ao_height; +__pdata ao_v_t ao_speed; +__pdata ao_v_t ao_accel; +__xdata ao_v_t ao_max_height; +static __pdata ao_k_t ao_avg_height_scaled; +__xdata ao_v_t ao_avg_height; -__pdata int16_t ao_height; -__pdata int16_t ao_speed; -__pdata int16_t ao_accel; -__xdata int16_t ao_max_height; -static __pdata int32_t ao_avg_height_scaled; -__xdata int16_t ao_avg_height; - -__pdata int16_t ao_error_h; -__pdata int16_t ao_error_h_sq_avg; +__pdata ao_v_t ao_error_h; +__pdata ao_v_t ao_error_h_sq_avg; #if HAS_ACCEL -__pdata int16_t ao_error_a; +__pdata ao_v_t ao_error_a; #endif static void @@ -56,40 +55,40 @@ ao_kalman_predict(void) { #ifdef AO_FLIGHT_TEST if (ao_sample_tick - ao_sample_prev_tick > 50) { - ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 + - (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4; - ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1; + ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 + + (ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4; + ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1; return; } if (ao_sample_tick - ao_sample_prev_tick > 5) { - ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 + - (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4; - ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10; + ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 + + (ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4; + ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10; return; } if (ao_flight_debug) { printf ("predict speed %g + (%g * %g) = %g\n", ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0, - (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0)); + (ao_k_speed + (ao_k_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0)); } #endif - ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 + - (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4; - ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100; + ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_100 + + (ao_k_t) ao_accel * AO_K_STEP_2_2_100) >> 4; + ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100; } static void ao_kalman_err_height(void) { - int16_t e; - int16_t height_distrust; + ao_v_t e; + ao_v_t height_distrust; #if HAS_ACCEL - int16_t speed_distrust; + ao_v_t speed_distrust; #endif - ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16); + ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16); e = ao_error_h; if (e < 0) @@ -123,7 +122,7 @@ ao_kalman_err_height(void) #endif if (height_distrust > 0x100) height_distrust = 0x100; - ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8); + ao_error_h = (ao_v_t) (((ao_k_t) ao_error_h * (0x100 - height_distrust)) >> 8); #ifdef AO_FLIGHT_TEST if (ao_flight_debug) { printf("over height %g over speed %g distrust: %g height: error %d -> %d\n", @@ -142,21 +141,21 @@ ao_kalman_correct_baro(void) ao_kalman_err_height(); #ifdef AO_FLIGHT_TEST if (ao_sample_tick - ao_sample_prev_tick > 50) { - ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h; - ao_k_speed += (int32_t) AO_BARO_K1_1 * ao_error_h; - ao_k_accel += (int32_t) AO_BARO_K2_1 * ao_error_h; + ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h; + ao_k_speed += (ao_k_t) AO_BARO_K1_1 * ao_error_h; + ao_k_accel += (ao_k_t) AO_BARO_K2_1 * ao_error_h; return; } if (ao_sample_tick - ao_sample_prev_tick > 5) { - ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h; - ao_k_speed += (int32_t) AO_BARO_K1_10 * ao_error_h; - ao_k_accel += (int32_t) AO_BARO_K2_10 * ao_error_h; + ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h; + ao_k_speed += (ao_k_t) AO_BARO_K1_10 * ao_error_h; + ao_k_accel += (ao_k_t) AO_BARO_K2_10 * ao_error_h; return; } #endif - ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h; - ao_k_speed += (int32_t) AO_BARO_K1_100 * ao_error_h; - ao_k_accel += (int32_t) AO_BARO_K2_100 * ao_error_h; + ao_k_height += (ao_k_t) AO_BARO_K0_100 * ao_error_h; + ao_k_speed += (ao_k_t) AO_BARO_K1_100 * ao_error_h; + ao_k_accel += (ao_k_t) AO_BARO_K2_100 * ao_error_h; } #if HAS_ACCEL @@ -164,7 +163,7 @@ ao_kalman_correct_baro(void) static void ao_kalman_err_accel(void) { - int32_t accel; + ao_k_t accel; accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale; @@ -187,18 +186,18 @@ ao_kalman_correct_both(void) (double) ao_error_h, AO_BOTH_K10_1 / 65536.0, (double) ao_error_a, AO_BOTH_K11_1 / 65536.0, (ao_k_speed + - (int32_t) AO_BOTH_K10_1 * ao_error_h + - (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0)); + (ao_k_t) AO_BOTH_K10_1 * ao_error_h + + (ao_k_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0)); } ao_k_height += - (int32_t) AO_BOTH_K00_1 * ao_error_h + - (int32_t) AO_BOTH_K01_1 * ao_error_a; + (ao_k_t) AO_BOTH_K00_1 * ao_error_h + + (ao_k_t) AO_BOTH_K01_1 * ao_error_a; ao_k_speed += - (int32_t) AO_BOTH_K10_1 * ao_error_h + - (int32_t) AO_BOTH_K11_1 * ao_error_a; + (ao_k_t) AO_BOTH_K10_1 * ao_error_h + + (ao_k_t) AO_BOTH_K11_1 * ao_error_a; ao_k_accel += - (int32_t) AO_BOTH_K20_1 * ao_error_h + - (int32_t) AO_BOTH_K21_1 * ao_error_a; + (ao_k_t) AO_BOTH_K20_1 * ao_error_h + + (ao_k_t) AO_BOTH_K21_1 * ao_error_a; return; } if (ao_sample_tick - ao_sample_prev_tick > 5) { @@ -208,18 +207,18 @@ ao_kalman_correct_both(void) (double) ao_error_h, AO_BOTH_K10_10 / 65536.0, (double) ao_error_a, AO_BOTH_K11_10 / 65536.0, (ao_k_speed + - (int32_t) AO_BOTH_K10_10 * ao_error_h + - (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0)); + (ao_k_t) AO_BOTH_K10_10 * ao_error_h + + (ao_k_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0)); } ao_k_height += - (int32_t) AO_BOTH_K00_10 * ao_error_h + - (int32_t) AO_BOTH_K01_10 * ao_error_a; + (ao_k_t) AO_BOTH_K00_10 * ao_error_h + + (ao_k_t) AO_BOTH_K01_10 * ao_error_a; ao_k_speed += - (int32_t) AO_BOTH_K10_10 * ao_error_h + - (int32_t) AO_BOTH_K11_10 * ao_error_a; + (ao_k_t) AO_BOTH_K10_10 * ao_error_h + + (ao_k_t) AO_BOTH_K11_10 * ao_error_a; ao_k_accel += - (int32_t) AO_BOTH_K20_10 * ao_error_h + - (int32_t) AO_BOTH_K21_10 * ao_error_a; + (ao_k_t) AO_BOTH_K20_10 * ao_error_h + + (ao_k_t) AO_BOTH_K21_10 * ao_error_a; return; } if (ao_flight_debug) { @@ -228,19 +227,19 @@ ao_kalman_correct_both(void) (double) ao_error_h, AO_BOTH_K10_100 / 65536.0, (double) ao_error_a, AO_BOTH_K11_100 / 65536.0, (ao_k_speed + - (int32_t) AO_BOTH_K10_100 * ao_error_h + - (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0)); + (ao_k_t) AO_BOTH_K10_100 * ao_error_h + + (ao_k_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0)); } #endif ao_k_height += - (int32_t) AO_BOTH_K00_100 * ao_error_h + - (int32_t) AO_BOTH_K01_100 * ao_error_a; + (ao_k_t) AO_BOTH_K00_100 * ao_error_h + + (ao_k_t) AO_BOTH_K01_100 * ao_error_a; ao_k_speed += - (int32_t) AO_BOTH_K10_100 * ao_error_h + - (int32_t) AO_BOTH_K11_100 * ao_error_a; + (ao_k_t) AO_BOTH_K10_100 * ao_error_h + + (ao_k_t) AO_BOTH_K11_100 * ao_error_a; ao_k_accel += - (int32_t) AO_BOTH_K20_100 * ao_error_h + - (int32_t) AO_BOTH_K21_100 * ao_error_a; + (ao_k_t) AO_BOTH_K20_100 * ao_error_h + + (ao_k_t) AO_BOTH_K21_100 * ao_error_a; } #else @@ -251,14 +250,14 @@ ao_kalman_correct_accel(void) ao_kalman_err_accel(); if (ao_sample_tick - ao_sample_prev_tick > 5) { - ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a; - ao_k_speed += (int32_t) AO_ACCEL_K1_10 * ao_error_a; - ao_k_accel += (int32_t) AO_ACCEL_K2_10 * ao_error_a; + ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a; + ao_k_speed += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a; + ao_k_accel += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a; return; } - ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a; - ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a; - ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a; + ao_k_height += (ao_k_t) AO_ACCEL_K0_100 * ao_error_a; + ao_k_speed += (ao_k_t) AO_ACCEL_K1_100 * ao_error_a; + ao_k_accel += (ao_k_t) AO_ACCEL_K2_100 * ao_error_a; } #endif /* else FORCE_ACCEL */ diff --git a/src/kernel/ao_log.c b/src/kernel/ao_log.c index 91617d93..40a96ef7 100644 --- a/src/kernel/ao_log.c +++ b/src/kernel/ao_log.c @@ -142,19 +142,39 @@ ao_log_max_flight(void) return max_flight; } -void -ao_log_scan(void) __reentrant +static void +ao_log_erase(uint8_t slot) __reentrant { - uint8_t log_slot; - uint8_t log_slots; - uint8_t log_want; + uint32_t log_current_pos, log_end_pos; - ao_config_get(); + ao_log_erase_mark(); + log_current_pos = ao_log_pos(slot); + log_end_pos = log_current_pos + ao_config.flight_log_max; + while (log_current_pos < log_end_pos) { + uint8_t i; + static __xdata uint8_t b; + + /* + * Check to see if we've reached the end of + * the used memory to avoid re-erasing the same + * memory over and over again + */ + for (i = 0; i < 16; i++) { + if (ao_storage_read(log_current_pos + i, &b, 1)) + if (b != 0xff) + break; + } + if (i == 16) + break; + ao_storage_erase(log_current_pos); + log_current_pos += ao_storage_block; + } +} - ao_flight_number = ao_log_max_flight(); - if (ao_flight_number) - if (++ao_flight_number == 0) - ao_flight_number = 1; +static void +ao_log_find_max_erase_flight(void) __reentrant +{ + uint8_t log_slot; /* Now look through the log of flight numbers from erase operations and * see if the last one is bigger than what we found above @@ -170,6 +190,80 @@ ao_log_scan(void) __reentrant } if (ao_flight_number == 0) ao_flight_number = 1; +} + +uint8_t +ao_log_scan(void) __reentrant +{ + uint8_t log_slot; + uint8_t log_slots; +#if FLIGHT_LOG_APPEND + uint8_t ret; +#else + uint8_t log_want; +#endif + + ao_config_get(); + + /* Get any existing flight number */ + ao_flight_number = ao_log_max_flight(); + +#if FLIGHT_LOG_APPEND + + /* Deal with older OS versions which stored multiple + * flights in rom by erasing everything after the first + * slot + */ + if (ao_config.flight_log_max != ao_storage_log_max) { + log_slots = ao_log_slots(); + for (log_slot = 1; log_slot < log_slots; log_slot++) { + if (ao_log_flight(log_slot) != 0) + ao_log_erase(log_slot); + } + ao_config_log_fix_append(); + } + ao_log_current_pos = ao_log_pos(0); + ao_log_end_pos = ao_log_current_pos + ao_storage_log_max; + + if (ao_flight_number) { + uint32_t full = ao_log_current_pos; + uint32_t empty = ao_log_end_pos - ao_log_size; + + /* If there's already a flight started, then find the + * end of it + */ + for (;;) { + ao_log_current_pos = (full + empty) >> 1; + ao_log_current_pos -= ao_log_current_pos % ao_log_size; + + if (ao_log_current_pos == full) { + if (ao_log_check(ao_log_current_pos)) + ao_log_current_pos += ao_log_size; + break; + } + if (ao_log_current_pos == empty) + break; + + if (ao_log_check(ao_log_current_pos)) { + full = ao_log_current_pos; + } else { + empty = ao_log_current_pos; + } + } + ret = 1; + } else { + ao_log_find_max_erase_flight(); + ret = 0; + } + ao_wakeup(&ao_flight_number); + return ret; +#else + + if (ao_flight_number) + if (++ao_flight_number == 0) + ao_flight_number = 1; + + ao_log_find_max_erase_flight(); /* With a flight number in hand, find a place to write a new log, * use the target flight number to index the available log slots so @@ -190,8 +284,9 @@ ao_log_scan(void) __reentrant if (++log_slot >= log_slots) log_slot = 0; } while (log_slot != log_want); - ao_wakeup(&ao_flight_number); + return 0; +#endif } void @@ -254,7 +349,6 @@ ao_log_delete(void) __reentrant { uint8_t slot; uint8_t slots; - uint32_t log_current_pos, log_end_pos; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) @@ -268,28 +362,7 @@ ao_log_delete(void) __reentrant #if HAS_TRACKER ao_tracker_erase_start(ao_cmd_lex_i); #endif - ao_log_erase_mark(); - log_current_pos = ao_log_pos(slot); - log_end_pos = log_current_pos + ao_config.flight_log_max; - while (log_current_pos < log_end_pos) { - uint8_t i; - static __xdata uint8_t b; - - /* - * Check to see if we've reached the end of - * the used memory to avoid re-erasing the same - * memory over and over again - */ - for (i = 0; i < 16; i++) { - if (ao_storage_read(log_current_pos + i, &b, 1)) - if (b != 0xff) - break; - } - if (i == 16) - break; - ao_storage_erase(log_current_pos); - log_current_pos += ao_storage_block; - } + ao_log_erase(slot); #if HAS_TRACKER ao_tracker_erase_end(); #endif diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h index 33cda3eb..c13a2580 100644 --- a/src/kernel/ao_log.h +++ b/src/kernel/ao_log.h @@ -51,11 +51,16 @@ extern __pdata enum ao_flight_state ao_log_state; #define AO_LOG_FORMAT_NONE 127 /* No log at all */ extern __code uint8_t ao_log_format; +extern __code uint8_t ao_log_size; /* Return the flight number from the given log slot, 0 if none */ uint16_t ao_log_flight(uint8_t slot); +/* Check if there is valid log data at the specified location */ +uint8_t +ao_log_check(uint32_t pos); + /* Flush the log */ void ao_log_flush(void); @@ -67,7 +72,7 @@ ao_log(void); /* functions provided in ao_log.c */ /* Figure out the current flight number */ -void +uint8_t ao_log_scan(void) __reentrant; /* Return the position of the start of the given log slot */ @@ -176,8 +181,8 @@ struct ao_log_record { int32_t gps_latitude; int32_t gps_longitude; struct { - int16_t altitude; - uint16_t unused; + uint16_t altitude_low; + int16_t altitude_high; } gps_altitude; struct { uint16_t svid; @@ -246,7 +251,7 @@ struct ao_log_mega { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ + uint16_t altitude_low; /* 12 */ uint8_t hour; /* 14 */ uint8_t minute; /* 15 */ uint8_t second; /* 16 */ @@ -261,7 +266,8 @@ struct ao_log_mega { uint8_t hdop; /* 27 */ uint8_t vdop; /* 28 */ uint8_t mode; /* 29 */ - } gps; /* 30 */ + int16_t altitude_high; /* 30 */ + } gps; /* 32 */ /* AO_LOG_GPS_SAT */ struct { uint16_t channels; /* 4 */ @@ -273,6 +279,11 @@ struct ao_log_mega { } u; }; +#define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low)) +#define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \ + ((l)->u.gps.altitude_high = (a) >> 16), \ + (l)->u.gps.altitude_low = (a)) + struct ao_log_metrum { char type; /* 0 */ uint8_t csum; /* 1 */ @@ -306,8 +317,9 @@ struct ao_log_metrum { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ - } gps; /* 14 */ + uint16_t altitude_low; /* 12 */ + int16_t altitude_high; /* 14 */ + } gps; /* 16 */ /* AO_LOG_GPS_TIME */ struct { uint8_t hour; /* 4 */ @@ -317,7 +329,7 @@ struct ao_log_metrum { uint8_t year; /* 8 */ uint8_t month; /* 9 */ uint8_t day; /* 10 */ - uint8_t pad; /* 11 */ + uint8_t pdop; /* 11 */ } gps_time; /* 12 */ /* AO_LOG_GPS_SAT (up to three packets) */ struct { @@ -381,7 +393,7 @@ struct ao_log_gps { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ + uint16_t altitude_low; /* 12 */ uint8_t hour; /* 14 */ uint8_t minute; /* 15 */ uint8_t second; /* 16 */ @@ -396,7 +408,7 @@ struct ao_log_gps { uint8_t hdop; /* 27 */ uint8_t vdop; /* 28 */ uint8_t mode; /* 29 */ - uint8_t state; /* 30 */ + int16_t altitude_high; /* 30 */ } gps; /* 31 */ /* AO_LOG_GPS_SAT */ struct { diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c index 3b728c25..7643091c 100644 --- a/src/kernel/ao_log_gps.c +++ b/src/kernel/ao_log_gps.c @@ -26,6 +26,7 @@ static __xdata struct ao_log_gps log; __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS; +__code uint8_t ao_log_size = sizeof (struct ao_log_gps); static uint8_t ao_log_csum(__xdata uint8_t *b) __reentrant @@ -75,7 +76,8 @@ ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data) log.type = AO_LOG_GPS_TIME; log.u.gps.latitude = gps_data->latitude; log.u.gps.longitude = gps_data->longitude; - log.u.gps.altitude = gps_data->altitude; + log.u.gps.altitude_low = gps_data->altitude_low; + log.u.gps.altitude_high = gps_data->altitude_high; log.u.gps.hour = gps_data->hour; log.u.gps.minute = gps_data->minute; @@ -135,3 +137,16 @@ ao_log_flight(uint8_t slot) return log.u.flight.flight; return 0; } + +uint8_t +ao_log_check(uint32_t pos) +{ + if (!ao_storage_read(pos, + &log, + sizeof (struct ao_log_gps))) + return 0; + + if (ao_log_dump_check_data()) + return 1; + return 0; +} diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h index 5851f4d1..a9e8c831 100644 --- a/src/kernel/ao_log_gps.h +++ b/src/kernel/ao_log_gps.h @@ -21,9 +21,6 @@ #ifndef _AO_LOG_GPS_H_ #define _AO_LOG_GPS_H_ -uint8_t -ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt); - void ao_log_gps_flight(void); diff --git a/src/kernel/ao_log_micro.c b/src/kernel/ao_log_micro.c index d665efb5..aef78def 100644 --- a/src/kernel/ao_log_micro.c +++ b/src/kernel/ao_log_micro.c @@ -22,10 +22,17 @@ static uint16_t ao_log_offset = STARTING_LOG_OFFSET; +#define AO_LOG_ID_SHIFT 12 +#define AO_LOG_ID_MASK ((1 << AO_LOG_ID_SHIFT) - 1) + void ao_log_micro_save(void) { uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t); + +#if AO_LOG_ID + n_samples |= AO_LOG_ID << AO_LOG_ID_SHIFT; +#endif ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); @@ -99,8 +106,12 @@ ao_log_micro_dump(void) uint16_t crc = 0xffff; ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); + if (n_samples == 0xffff) n_samples = 0; +#if AO_LOG_ID + n_samples &= AO_LOG_ID_MASK; +#endif nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples; ao_async_start(); ao_async_byte('M'); diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c index f680e400..f7521f21 100644 --- a/src/kernel/ao_microflight.c +++ b/src/kernel/ao_microflight.c @@ -43,10 +43,12 @@ void ao_microflight(void) { int16_t sample_count; + int16_t log_count; uint16_t time; uint32_t pa_interval_min, pa_interval_max; int32_t pa_diff; - uint8_t h, i; + uint8_t h; + uint8_t i; uint8_t accel_lock = 0; uint32_t pa_sum = 0; @@ -60,19 +62,25 @@ ao_microflight(void) h = 0; for (;;) { time += SAMPLE_SLEEP; +#if BOOST_DETECT if ((sample_count & 0x1f) == 0) ao_led_on(AO_LED_REPORT); +#endif ao_delay_until(time); ao_microsample(); +#if BOOST_DETECT if ((sample_count & 0x1f) == 0) ao_led_off(AO_LED_REPORT); +#endif pa_hist[h] = pa; h = SKIP_PA_HIST(h,1); pa_diff = pa_ground - ao_pa; +#if BOOST_DETECT /* Check for a significant pressure change */ if (pa_diff > BOOST_DETECT) break; +#endif if (sample_count < GROUND_AVG * 2) { if (sample_count < GROUND_AVG) @@ -82,6 +90,9 @@ ao_microflight(void) pa_ground = pa_sum >> GROUND_AVG_SHIFT; pa_sum = 0; sample_count = 0; +#if !BOOST_DETECT + break; +#endif } } @@ -93,7 +104,10 @@ ao_microflight(void) } /* Log the remaining samples so we get a complete history since leaving the ground */ - for (; i != h; i = SKIP_PA_HIST(i,2)) { +#if LOG_INTERVAL < NUM_PA_HIST + for (; i != h; i = SKIP_PA_HIST(i,2)) +#endif + { pa = pa_hist[i]; ao_log_micro_data(); } @@ -101,6 +115,7 @@ ao_microflight(void) /* Now sit around until the pressure is stable again and record the max */ sample_count = 0; + log_count = 0; pa_min = ao_pa; pa_interval_min = ao_pa; pa_interval_max = ao_pa; @@ -112,8 +127,11 @@ ao_microflight(void) ao_microsample(); if ((sample_count & 3) == 0) ao_led_off(AO_LED_REPORT); - if (sample_count & 1) + if (log_count == LOG_INTERVAL - 1) { ao_log_micro_data(); + log_count = 0; + } else + log_count++; /* If accelerating upwards, don't look for min pressure */ if (ao_pa_accel < ACCEL_LOCK_PA) diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c index 0684ea2b..75a29cc4 100644 --- a/src/kernel/ao_microkalman.c +++ b/src/kernel/ao_microkalman.c @@ -22,19 +22,19 @@ #define FIX_BITS 16 -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define to_fix_v(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix_k(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix8(x) ((x) >> 8) #define from_fix(x) ((x) >> 16) -#define fix8_to_fix16(x) ((x) << 8) +#define fix8_to_fix_v(x) ((x) << 8) #define fix16_to_fix8(x) ((x) >> 8) #include <ao_kalman.h> /* Basic time step (96ms) */ -#define AO_MK_STEP to_fix16(0.096) +#define AO_MK_STEP to_fix_v(0.096) /* step ** 2 / 2 */ -#define AO_MK_STEP_2_2 to_fix16(0.004608) +#define AO_MK_STEP_2_2 to_fix_v(0.004608) uint32_t ao_k_pa; /* 24.8 fixed point */ int32_t ao_k_pa_speed; /* 16.16 fixed point */ @@ -49,7 +49,7 @@ ao_microkalman_init(void) { ao_pa = pa; ao_k_pa = pa << 8; -} +} void ao_microkalman_predict(void) diff --git a/src/kernel/ao_monitor.c b/src/kernel/ao_monitor.c index 18f170b4..2d75c41c 100644 --- a/src/kernel/ao_monitor.c +++ b/src/kernel/ao_monitor.c @@ -115,6 +115,8 @@ ao_monitor_put(void) { #if LEGACY_MONITOR __xdata char callsign[AO_MAX_CALLSIGN+1]; +#endif +#if LEGACY_MONITOR || HAS_RSSI int16_t rssi; #endif uint8_t ao_monitor_tail; @@ -240,7 +242,7 @@ ao_monitor_put(void) hex(sum); putchar ('\n'); #if HAS_RSSI - if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) { + if (recv_raw.packet[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK) { rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]); ao_rssi_set(rssi); } diff --git a/src/kernel/ao_mutex.c b/src/kernel/ao_mutex.c index 952ff462..a36fe939 100644 --- a/src/kernel/ao_mutex.c +++ b/src/kernel/ao_mutex.c @@ -17,6 +17,29 @@ #include "ao.h" +#ifndef HAS_MUTEX_TRY +#define HAS_MUTEX_TRY 1 +#endif + +#if HAS_MUTEX_TRY + +uint8_t +ao_mutex_try(__xdata uint8_t *mutex, uint8_t task_id) __reentrant +{ + uint8_t ret; + if (*mutex == task_id) + ao_panic(AO_PANIC_MUTEX); + ao_arch_critical( + if (*mutex) + ret = 0; + else { + *mutex = task_id; + ret = 1; + }); + return ret; +} +#endif + void ao_mutex_get(__xdata uint8_t *mutex) __reentrant { diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c index 85d88d98..3044d565 100644 --- a/src/kernel/ao_pyro.c +++ b/src/kernel/ao_pyro.c @@ -69,6 +69,16 @@ ao_pyro_print_status(void) uint16_t ao_pyro_fired; +#ifndef PYRO_DBG +#define PYRO_DBG 0 +#endif + +#if PYRO_DBG +#define DBG(...) do { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0) +#else +#define DBG(...) +#endif + /* * Given a pyro structure, figure out * if the current flight state satisfies all @@ -88,63 +98,73 @@ ao_pyro_ready(struct ao_pyro *pyro) case ao_pyro_accel_less: if (ao_accel <= pyro->accel_less) continue; + DBG("accel %d > %d\n", ao_accel, pyro->accel_less); break; case ao_pyro_accel_greater: if (ao_accel >= pyro->accel_greater) continue; + DBG("accel %d < %d\n", ao_accel, pyro->accel_greater); break; - - case ao_pyro_speed_less: if (ao_speed <= pyro->speed_less) continue; + DBG("speed %d > %d\n", ao_speed, pyro->speed_less); break; case ao_pyro_speed_greater: if (ao_speed >= pyro->speed_greater) continue; + DBG("speed %d < %d\n", ao_speed, pyro->speed_greater); break; - case ao_pyro_height_less: if (ao_height <= pyro->height_less) continue; + DBG("height %d > %d\n", ao_height, pyro->height_less); break; case ao_pyro_height_greater: if (ao_height >= pyro->height_greater) continue; + DBG("height %d < %d\n", ao_height, pyro->height_greater); break; #if HAS_GYRO case ao_pyro_orient_less: if (ao_sample_orient <= pyro->orient_less) continue; + DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less); break; case ao_pyro_orient_greater: if (ao_sample_orient >= pyro->orient_greater) continue; + DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater); break; #endif case ao_pyro_time_less: if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less) continue; + DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less); break; case ao_pyro_time_greater: if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater) continue; + DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater); break; case ao_pyro_ascending: if (ao_speed > 0) continue; + DBG("not ascending speed %d\n", ao_speed); break; case ao_pyro_descending: if (ao_speed < 0) continue; + DBG("not descending speed %d\n", ao_speed); break; case ao_pyro_after_motor: if (ao_motor_number == pyro->motor) continue; + DBG("motor %d != %d\n", ao_motor_number, pyro->motor); break; case ao_pyro_delay: @@ -154,10 +174,12 @@ ao_pyro_ready(struct ao_pyro *pyro) case ao_pyro_state_less: if (ao_flight_state < pyro->state_less) continue; + DBG("state %d >= %d\n", ao_flight_state, pyro->state_less); break; case ao_pyro_state_greater_or_equal: if (ao_flight_state >= pyro->state_greater_or_equal) continue; + DBG("state %d >= %d\n", ao_flight_state, pyro->state_less); break; default: @@ -230,7 +252,7 @@ ao_pyro_check(void) struct ao_pyro *pyro; uint8_t p, any_waiting; uint16_t fire = 0; - + any_waiting = 0; for (p = 0; p < AO_PYRO_NUM; p++) { pyro = &ao_config.pyro[p]; @@ -266,6 +288,16 @@ ao_pyro_check(void) * the delay to expire */ if (pyro->delay_done) { + + /* Check to make sure the required conditions + * remain valid. If not, inhibit the channel + * by setting the fired bit + */ + if (!ao_pyro_ready(pyro)) { + pyro->fired = 1; + continue; + } + if ((int16_t) (ao_time() - pyro->delay_done) < 0) continue; } @@ -443,7 +475,7 @@ ao_pyro_set(void) printf ("invalid pyro channel %d\n", p); return; } - pyro_tmp.flags = 0; + memset(&pyro_tmp, '\0', sizeof (pyro_tmp)); for (;;) { ao_cmd_white(); if (ao_cmd_lex_c == '\n') @@ -467,13 +499,26 @@ ao_pyro_set(void) } pyro_tmp.flags |= ao_pyro_values[v].flag; if (ao_pyro_values[v].offset != NO_VALUE) { + uint8_t negative = 0; + ao_cmd_white(); + if (ao_cmd_lex_c == '-') { + negative = 1; + ao_cmd_lex(); + } ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) + if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) { + if (negative) { + ao_cmd_status = ao_cmd_syntax_error; + return; + } *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i; - else + } else { + if (negative) + ao_cmd_lex_i = -ao_cmd_lex_i; *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i; + } } } _ao_config_edit_start(); diff --git a/src/kernel/ao_pyro.h b/src/kernel/ao_pyro.h index b37aaeb1..0fde725a 100644 --- a/src/kernel/ao_pyro.h +++ b/src/kernel/ao_pyro.h @@ -83,6 +83,9 @@ ao_pyro_init(void); void ao_pyro_manual(uint8_t p); +enum ao_igniter_status +ao_pyro_status(uint8_t p); + void ao_pyro_print_status(void); diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c index f2263154..5314fc8f 100644 --- a/src/kernel/ao_report.c +++ b/src/kernel/ao_report.c @@ -211,12 +211,23 @@ ao_report_continuity(void) __reentrant pause(AO_MS_TO_TICKS(100)); } } else { - c = 10; + c = 5; while (c--) { high(AO_MS_TO_TICKS(20)); low(AO_MS_TO_TICKS(20)); } } +#if AO_PYRO_NUM + pause(AO_MS_TO_TICKS(250)); + for(c = 0; c < AO_PYRO_NUM; c++) { + enum ao_igniter_status status = ao_pyro_status(c); + if (status == ao_igniter_ready) + mid(AO_MS_TO_TICKS(25)); + else + low(AO_MS_TO_TICKS(25)); + pause(AO_MS_TO_TICKS(200)); + } +#endif #if HAS_LOG if (ao_log_full()) { pause(AO_MS_TO_TICKS(100)); diff --git a/src/kernel/ao_rssi.c b/src/kernel/ao_rssi.c index 244a84fe..793b190b 100644 --- a/src/kernel/ao_rssi.c +++ b/src/kernel/ao_rssi.c @@ -17,9 +17,9 @@ #include "ao.h" -static __xdata uint16_t ao_rssi_time; -static __pdata uint16_t ao_rssi_delay; -static __pdata uint8_t ao_rssi_led; +static __xdata uint16_t ao_rssi_time; +static __pdata uint16_t ao_rssi_delay; +static __pdata AO_LED_TYPE ao_rssi_led; void ao_rssi(void) @@ -33,7 +33,7 @@ ao_rssi(void) } void -ao_rssi_set(int rssi_value) +ao_rssi_set(int16_t rssi_value) { if (rssi_value > 0) rssi_value = 0; @@ -45,7 +45,7 @@ ao_rssi_set(int rssi_value) __xdata struct ao_task ao_rssi_task; void -ao_rssi_init(uint8_t rssi_led) +ao_rssi_init(AO_LED_TYPE rssi_led) { ao_rssi_led = rssi_led; ao_rssi_delay = 0; diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index 34658951..29bf2bf6 100644 --- a/src/kernel/ao_sample.c +++ b/src/kernel/ao_sample.c @@ -245,7 +245,7 @@ ao_sample_preflight(void) } else { #if HAS_ACCEL ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g; - ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g; + ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g; #endif ao_sample_preflight_set(); ao_preflight = FALSE; diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h index 16d4c507..2ec998bd 100644 --- a/src/kernel/ao_sample.h +++ b/src/kernel/ao_sample.h @@ -24,6 +24,24 @@ * ao_sample.c */ +#ifndef AO_VALUE_32 +#define AO_VALUE_32 1 +#endif + +#if AO_VALUE_32 +/* + * For 32-bit computed values, use 64-bit intermediates. + */ +typedef int64_t ao_k_t; +typedef int32_t ao_v_t; +#else +/* + * For 16-bit computed values, use 32-bit intermediates. + */ +typedef int32_t ao_k_t; +typedef int16_t ao_v_t; +#endif + /* * Barometer calibration * @@ -87,9 +105,9 @@ * 2047m/s² (over 200g) */ -#define AO_M_TO_HEIGHT(m) ((int16_t) (m)) -#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) -#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) +#define AO_M_TO_HEIGHT(m) ((ao_v_t) (m)) +#define AO_MS_TO_SPEED(ms) ((ao_v_t) ((ms) * 16)) +#define AO_MSS_TO_ACCEL(mss) ((ao_v_t) ((mss) * 16)) extern __pdata uint16_t ao_sample_tick; /* time of last data */ extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ @@ -134,21 +152,33 @@ uint8_t ao_sample(void); * ao_kalman.c */ -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define to_fix_16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix_32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define to_fix_64(x) ((int64_t) ((x) * 65536.0 + 0.5)) + +#ifdef AO_VALUE_32 +#if AO_VALUE_32 +#define to_fix_v(x) to_fix_32(x) +#define to_fix_k(x) to_fix_64(x) +#else +#define to_fix_v(x) to_fix_16(x) +#define to_fix_k(x) to_fix_32(x) +#endif + #define from_fix(x) ((x) >> 16) -extern __pdata int16_t ao_height; /* meters */ -extern __pdata int16_t ao_speed; /* m/s * 16 */ -extern __pdata int16_t ao_accel; /* m/s² * 16 */ -extern __xdata int16_t ao_max_height; /* max of ao_height */ -extern __xdata int16_t ao_avg_height; /* running average of height */ +extern __pdata ao_v_t ao_height; /* meters */ +extern __pdata ao_v_t ao_speed; /* m/s * 16 */ +extern __pdata ao_v_t ao_accel; /* m/s² * 16 */ +extern __xdata ao_v_t ao_max_height; /* max of ao_height */ +extern __xdata ao_v_t ao_avg_height; /* running average of height */ -extern __pdata int16_t ao_error_h; -extern __pdata int16_t ao_error_h_sq_avg; +extern __pdata ao_v_t ao_error_h; +extern __pdata ao_v_t ao_error_h_sq_avg; #if HAS_ACCEL -extern __pdata int16_t ao_error_a; +extern __pdata ao_v_t ao_error_a; +#endif #endif void ao_kalman(void); diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index 9f778b09..56bd715e 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -1,5 +1,5 @@ /* - * Copyright © 2011 Keith Packard <keithp@keithp.com> + * Copyright © 2011 Keth 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 @@ -25,6 +25,10 @@ static __pdata uint16_t ao_telemetry_interval; +#if HAS_RADIO_RATE +static __xdata uint16_t ao_telemetry_desired_interval; +#endif + #if HAS_RDF static __pdata uint8_t ao_rdf = 0; static __pdata uint16_t ao_rdf_time; @@ -64,7 +68,7 @@ static void ao_send_sensor(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_SENSOR; @@ -106,12 +110,13 @@ ao_send_sensor(void) #ifdef AO_SEND_MEGA + /* Send mega sensor packet */ static void ao_send_mega_sensor(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_MEGA_SENSOR; @@ -240,7 +245,7 @@ static void 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; @@ -339,7 +344,7 @@ ao_send_location(void) ao_mutex_get(&ao_gps_mutex); ao_xmemcpy(&telemetry.location.flags, &ao_gps_data.flags, - 26); + 27); telemetry.location.tick = ao_gps_tick; ao_mutex_put(&ao_gps_mutex); ao_radio_send(&telemetry, sizeof (telemetry)); @@ -490,12 +495,33 @@ ao_telemetry(void) } } +#if HAS_RADIO_RATE +void +ao_telemetry_reset_interval(void) +{ + ao_telemetry_set_interval(ao_telemetry_desired_interval); +} +#endif + void ao_telemetry_set_interval(uint16_t interval) { int8_t cur = 0; + +#if HAS_RADIO_RATE + /* Limit max telemetry rate based on available radio bandwidth. + */ + static __xdata const uint16_t min_interval[] = { + /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100), + /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500), + /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000) + }; + + ao_telemetry_desired_interval = interval; + if (interval < min_interval[ao_config.radio_rate]) + interval = min_interval[ao_config.radio_rate]; +#endif ao_telemetry_interval = interval; - #if AO_SEND_MEGA if (interval > 1) ao_telemetry_mega_data_max = 1; @@ -521,7 +547,7 @@ ao_telemetry_set_interval(uint16_t interval) ao_telemetry_companion_cur = cur; #endif - ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval; + ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval; #if HAS_COMPANION if (ao_telemetry_config_max > cur) cur++; diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h index be7d0340..83d432cf 100644 --- a/src/kernel/ao_telemetry.h +++ b/src/kernel/ao_telemetry.h @@ -86,12 +86,9 @@ struct ao_telemetry_configuration { #define AO_TELEMETRY_LOCATION 0x05 -#define AO_GPS_MODE_NOT_VALID 'N' -#define AO_GPS_MODE_AUTONOMOUS 'A' -#define AO_GPS_MODE_DIFFERENTIAL 'D' -#define AO_GPS_MODE_ESTIMATED 'E' -#define AO_GPS_MODE_MANUAL 'M' -#define AO_GPS_MODE_SIMULATED 'S' +/* Mode bits */ + +#define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */ struct ao_telemetry_location { uint16_t serial; /* 0 */ @@ -99,7 +96,7 @@ struct ao_telemetry_location { uint8_t type; /* 4 */ uint8_t flags; /* 5 Number of sats and other flags */ - int16_t altitude; /* 6 GPS reported altitude (m) */ + uint16_t altitude_low; /* 6 GPS reported altitude (m) */ int32_t latitude; /* 8 latitude (degrees * 10⁷) */ int32_t longitude; /* 12 longitude (degrees * 10⁷) */ uint8_t year; /* 16 (- 2000) */ @@ -115,10 +112,31 @@ struct ao_telemetry_location { uint16_t ground_speed; /* 26 cm/s */ int16_t climb_rate; /* 28 cm/s */ uint8_t course; /* 30 degrees / 2 */ - uint8_t unused; /* 31 unused */ + int8_t altitude_high; /* 31 high byte of altitude */ /* 32 */ }; +#if HAS_GPS + +#ifndef HAS_WIDE_GPS +#define HAS_WIDE_GPS 1 +#endif + +#if HAS_WIDE_GPS +typedef int32_t gps_alt_t; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low)) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \ + ((l)->altitude_high = (a) >> 16), \ + ((l)->altitude_low = (a))) +#else +typedef int16_t gps_alt_t; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((gps_alt_t) (l)->altitude_low) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode = 0, \ + (l)->altitude_low = (a))) +#endif /* HAS_WIDE_GPS */ + +#endif /* HAS_GPS */ + #define AO_TELEMETRY_SATELLITE 0x06 struct ao_telemetry_satellite_info { diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c index 9febc7f0..9b007af8 100644 --- a/src/kernel/ao_tracker.c +++ b/src/kernel/ao_tracker.c @@ -36,9 +36,9 @@ ao_usb_connected(void) #endif struct gps_position { - int32_t latitude; - int32_t longitude; - int16_t altitude; + int32_t latitude; + int32_t longitude; + gps_alt_t altitude; }; #define GPS_RING 16 @@ -72,7 +72,7 @@ ao_tracker(void) #if !HAS_USB_CONNECT ao_tracker_force_telem = 1; #endif - ao_log_scan(); + log_started = ao_log_scan(); ao_rdf_set(1); @@ -122,12 +122,13 @@ ao_tracker(void) { uint8_t ring; uint8_t moving = 0; + gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data); for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) { ground_distance = ao_distance(gps_data.latitude, gps_data.longitude, gps_position[ring].latitude, gps_position[ring].longitude); - height = gps_position[ring].altitude - gps_data.altitude; + height = gps_position[ring].altitude - altitude; if (height < 0) height = -height; @@ -153,7 +154,7 @@ ao_tracker(void) ao_log_gps_data(gps_tick, &gps_data); gps_position[gps_head].latitude = gps_data.latitude; gps_position[gps_head].longitude = gps_data.longitude; - gps_position[gps_head].altitude = gps_data.altitude; + gps_position[gps_head].altitude = altitude; gps_head = ao_gps_ring_next(gps_head); ao_mutex_put(&tracker_mutex); } @@ -180,8 +181,7 @@ void ao_tracker_erase_end(void) { if (erasing_current) { - ao_log_scan(); - log_started = 0; + log_started = ao_log_scan(); ao_mutex_put(&tracker_mutex); } } @@ -203,7 +203,7 @@ ao_tracker_set_telem(void) printf ("log_started: %d\n", log_started); printf ("latitude: %ld\n", (long) gps_data.latitude); printf ("longitude: %ld\n", (long) gps_data.longitude); - printf ("altitude: %d\n", gps_data.altitude); + printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data)); printf ("log_running: %d\n", ao_log_running); printf ("log_start_pos: %ld\n", (long) ao_log_start_pos); printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos); diff --git a/src/lpc/ao_arch_funcs.h b/src/lpc/ao_arch_funcs.h index 0891903e..21a7a8e5 100644 --- a/src/lpc/ao_arch_funcs.h +++ b/src/lpc/ao_arch_funcs.h @@ -161,16 +161,17 @@ static inline void ao_arch_restore_stack(void) { #endif /* HAS_TASK */ -#define ao_arch_wait_interrupt() do { \ - asm(".global ao_idle_loc\n\twfi\nao_idle_loc:"); \ - ao_arch_release_interrupts(); \ - ao_arch_block_interrupts(); \ +#define ao_arch_wait_interrupt() do { \ + asm("\twfi\n"); \ + ao_arch_release_interrupts(); \ + asm(".global ao_idle_loc\n\nao_idle_loc:"); \ + ao_arch_block_interrupts(); \ } while (0) -#define ao_arch_critical(b) do { \ - ao_arch_block_interrupts(); \ - do { b } while (0); \ - ao_arch_release_interrupts(); \ +#define ao_arch_critical(b) do { \ + uint32_t __mask = ao_arch_irqsave(); \ + do { b } while (0); \ + ao_arch_irqrestore(__mask); \ } while (0) /* diff --git a/src/megadongle-v0.1/Makefile b/src/megadongle-v0.1/Makefile index ade8e496..bbe2ea58 100644 --- a/src/megadongle-v0.1/Makefile +++ b/src/megadongle-v0.1/Makefile @@ -53,6 +53,7 @@ ALTOS_SRC = \ ao_rssi.c \ ao_send_packet.c \ ao_packet_master.c \ + ao_eeprom_stm.c \ ao_packet.c PRODUCT=MegaDongle-v0.1 diff --git a/src/megadongle-v0.1/ao_megadongle.c b/src/megadongle-v0.1/ao_megadongle.c index 2792af22..68d6de60 100644 --- a/src/megadongle-v0.1/ao_megadongle.c +++ b/src/megadongle-v0.1/ao_megadongle.c @@ -24,7 +24,7 @@ int main(void) { ao_clock_init(); - + #if HAS_STACK_GUARD ao_mpu_init(); #endif @@ -48,7 +48,7 @@ main(void) ao_send_packet_init(); ao_config_init(); - + ao_start_scheduler(); return 0; } diff --git a/src/megadongle-v0.1/ao_pins.h b/src/megadongle-v0.1/ao_pins.h index d460a490..9edd91f4 100644 --- a/src/megadongle-v0.1/ao_pins.h +++ b/src/megadongle-v0.1/ao_pins.h @@ -15,6 +15,8 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ +/* Using TeleMetrum v1.9 board */ + #ifndef _AO_PINS_H_ #define _AO_PINS_H_ @@ -46,7 +48,7 @@ #define HAS_SERIAL_1 0 #define USE_SERIAL_1_STDIN 0 #define SERIAL_1_PB6_PB7 0 -#define SERIAL_1_PA9_PA10 1 +#define SERIAL_1_PA9_PA10 0 #define HAS_SERIAL_2 0 #define USE_SERIAL_2_STDIN 0 @@ -56,19 +58,18 @@ #define HAS_SERIAL_3 0 #define USE_SERIAL_3_STDIN 0 #define SERIAL_3_PB10_PB11 0 -#define SERIAL_3_PC10_PC11 1 +#define SERIAL_3_PC10_PC11 0 #define SERIAL_3_PD8_PD9 0 -#define ao_gps_getchar ao_serial3_getchar -#define ao_gps_putchar ao_serial3_putchar -#define ao_gps_set_speed ao_serial3_set_speed - -#define HAS_EEPROM 0 -#define USE_INTERNAL_FLASH 0 +#define HAS_EEPROM 1 +#define USE_INTERNAL_FLASH 1 +#define USE_STORAGE_CONFIG 0 +#define USE_EEPROM_CONFIG 1 #define HAS_USB 1 #define HAS_BEEP 0 #define HAS_RADIO 1 #define HAS_TELEMETRY 0 +#define HAS_RSSI 1 #define HAS_SPI_1 0 #define SPI_1_PA5_PA6_PA7 0 /* Barometer */ @@ -76,7 +77,7 @@ #define SPI_1_PE13_PE14_PE15 0 /* Accelerometer */ #define HAS_SPI_2 1 -#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */ +#define SPI_2_PB13_PB14_PB15 1 /* Radio */ #define SPI_2_PD1_PD3_PD4 0 #define SPI_2_OSPEEDR STM_OSPEEDR_10MHz @@ -85,27 +86,17 @@ #define SPI_2_MISO_PIN 14 #define SPI_2_MOSI_PIN 15 -#define HAS_I2C_1 0 -#define I2C_1_PB8_PB9 1 - -#define HAS_I2C_2 0 -#define I2C_2_PB10_PB11 1 - #define PACKET_HAS_SLAVE 0 #define PACKET_HAS_MASTER 1 #define LOW_LEVEL_DEBUG 0 -#define LED_PORT_0_ENABLE STM_RCC_AHBENR_GPIOAEN -#define LED_PORT_1_ENABLE STM_RCC_AHBENR_GPIOBEN -#define LED_PORT_0 (&stm_gpioa) -#define LED_PORT_0_MASK (0xff) +#define LED_PORT_0_ENABLE STM_RCC_AHBENR_GPIOCEN +#define LED_PORT_0 (&stm_gpioc) +#define LED_PORT_0_MASK (0xffff) #define LED_PORT_0_SHIFT 0 -#define LED_PORT_1_MASK (0xff00) -#define LED_PORT_1_SHIFT 0 -#define LED_PORT_1 (&stm_gpiob) -#define LED_PIN_RED 1 -#define LED_PIN_GREEN 12 +#define LED_PIN_RED 14 +#define LED_PIN_GREEN 15 #define AO_LED_RED (1 << LED_PIN_RED) #define AO_LED_GREEN (1 << LED_PIN_GREEN) @@ -134,15 +125,15 @@ #define AO_FEC_DEBUG 0 #define AO_CC1120_SPI_CS_PORT (&stm_gpioa) -#define AO_CC1120_SPI_CS_PIN 0 +#define AO_CC1120_SPI_CS_PIN 2 #define AO_CC1120_SPI_BUS AO_SPI_2_PB13_PB14_PB15 #define AO_CC1120_SPI stm_spi2 -#define AO_CC1120_INT_PORT (&stm_gpioc) -#define AO_CC1120_INT_PIN 13 +#define AO_CC1120_INT_PORT (&stm_gpioa) +#define AO_CC1120_INT_PIN 3 -#define AO_CC1120_MCU_WAKEUP_PORT (&stm_gpioc) -#define AO_CC1120_MCU_WAKEUP_PIN (0) +#define AO_CC1120_MCU_WAKEUP_PORT (&stm_gpioa) +#define AO_CC1120_MCU_WAKEUP_PIN (4) #define AO_CC1120_INT_GPIO 2 #define AO_CC1120_INT_GPIO_IOCFG CC1120_IOCFG2 diff --git a/src/microkite/.gitignore b/src/microkite/.gitignore new file mode 100644 index 00000000..7a5d0a1f --- /dev/null +++ b/src/microkite/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +microkite-* diff --git a/src/microkite/Makefile b/src/microkite/Makefile new file mode 100644 index 00000000..b7523758 --- /dev/null +++ b/src/microkite/Makefile @@ -0,0 +1,134 @@ +# +# Tiny AltOS build +# +# +vpath % ../attiny:../drivers:../kernel:../product:.. +vpath ao-make-product.5c ../util +vpath make-altitude-pa ../util + +include ../avr/Makefile.defs + +PROGNAME=microkite-v0.1 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SCRIPT=microkite-load + +PUBLISH_DIR=$(HOME)/altusmetrumllc/Binaries +PUBLISH_HEX=$(PUBLISH_DIR)/$(HEX) +PUBLISH_SCRIPT=$(PUBLISH_DIR)/$(SCRIPT) + +MCU=attiny85 +DUDECPUTYPE=t85 +#PROGRAMMER=stk500v2 -P usb +LOADSLOW=-i 32 -B 32 +LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: + +#LDFLAGS=-L$(LDSCRIPTS) -Tavr25.x + +ALTOS_SRC = \ + ao_micropeak.c \ + ao_spi_attiny.c \ + ao_led.c \ + ao_clock.c \ + ao_ms5607.c \ + ao_exti.c \ + ao_convert_pa.c \ + ao_report_micro.c \ + ao_notask.c \ + ao_eeprom_tiny.c \ + ao_panic.c \ + ao_log_micro.c \ + ao_async.c \ + ao_microflight.c \ + ao_microkalman.c + +INC=\ + ao.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_exti.h \ + ao_ms5607.h \ + ao_log_micro.h \ + ao_micropeak.h \ + altitude-pa.h + +IDPRODUCT=0 +PRODUCT=MicroKite-v0.1 +PRODUCT_DEF=-DMICROPEAK +CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../kernel -I.. -I../drivers -I../product +CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY + +NICKLE=nickle + +SRC=$(ALTOS_SRC) +OBJ=$(SRC:.c=.o) + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: $(PROG) $(HEX) microkite-load + +CHECK=sh ../util/check-avr-mem + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) + $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1) + +$(HEX): $(PROG) + avr-size $(PROG) + $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@ + + +load: $(HEX) + $(LOADCMD) $(LOADARG)$(HEX) + +load-slow: $(HEX) + $(LOADCMD) $(LOADSLOW) $(LOADARG)$(HEX) + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +ao_product.o: ao_product.c ao_product.h + +%.o : %.c $(INC) + $(call quiet,CC) -c $(CFLAGS) $< + +distclean: clean + +clean: + rm -f *.o $(PROG) $(HEX) $(SCRIPT) + rm -f ao_product.h + +publish: $(PUBLISH_HEX) $(PUBLISH_SCRIPT) + +$(PUBLISH_HEX): $(HEX) + cp -a $(HEX) $@ + +$(PUBLISH_SCRIPT): $(SCRIPT) + cp -a $(SCRIPT) $@ + +load-product: + ./$(SCRIPT) fast + +load-product-slow: + ./$(SCRIPT) slow + +../altitude-pa.h: make-altitude-pa + nickle $< > $@ + +$(SCRIPT): $(SCRIPT).tmpl Makefile ../Version + sed -e 's/%HEX%/$(HEX)/' -e 's/%LOADCMD%/$(LOADCMD)/' -e 's/%LOADARG%/$(LOADARG)/' -e 's/%LOADSLOW%/$(LOADSLOW)/' $(SCRIPT).tmpl > $@ || (rm $@ && exit 1) + chmod +x $@ + +install: + +uninstall: + +$(OBJ): ao_product.h $(INC) diff --git a/src/microkite/ao_pins.h b/src/microkite/ao_pins.h new file mode 100644 index 00000000..346b63a1 --- /dev/null +++ b/src/microkite/ao_pins.h @@ -0,0 +1,71 @@ +/* + * Copyright © 2011 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_PINS_H_ +#define _AO_PINS_H_ +#include <avr/pgmspace.h> + +#define AO_LED_ORANGE (1<<4) +#define AO_LED_SERIAL 4 +#define AO_LED_PANIC AO_LED_ORANGE +#define AO_LED_REPORT AO_LED_ORANGE +#define LEDS_AVAILABLE (AO_LED_ORANGE) +#define USE_SERIAL_1_STDIN 0 +#define HAS_USB 0 +#define PACKET_HAS_SLAVE 0 +#define HAS_SERIAL_1 0 +#define HAS_TASK 0 +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define HAS_EEPROM 0 +#define HAS_BEEP 0 +#define AVR_CLOCK 250000UL + +/* SPI */ +#define SPI_PORT PORTB +#define SPI_PIN PINB +#define SPI_DIR DDRB +#define AO_MS5607_CS_PORT PORTB +#define AO_MS5607_CS_PIN 3 + +/* MS5607 */ +#define AO_MS5607_SPI_INDEX 0 +#define AO_MS5607_MISO_PORT PORTB +#define AO_MS5607_MISO_PIN 0 +#define AO_MS5607_BARO_OVERSAMPLE 4096 +#define AO_MS5607_TEMP_OVERSAMPLE 1024 + +/* I2C */ +#define I2C_PORT PORTB +#define I2C_PIN PINB +#define I2C_DIR DDRB +#define I2C_PIN_SCL PINB2 +#define I2C_PIN_SDA PINB0 + +#define AO_CONST_ATTRIB PROGMEM +typedef int32_t alt_t; +#define FETCH_ALT(o) ((alt_t) pgm_read_dword(&altitude_table[o])) + +#define AO_ALT_VALUE(x) ((x) * (alt_t) 10) + +#define BOOST_DETECT 0 /* none */ +#define LOG_INTERVAL 200 /* 19.2 seconds */ +#define BOOST_DELAY 0 + +#define AO_LOG_ID AO_LOG_ID_MICROKITE + +#endif /* _AO_PINS_H_ */ diff --git a/src/microkite/microkite-load.tmpl b/src/microkite/microkite-load.tmpl new file mode 100644 index 00000000..08236a15 --- /dev/null +++ b/src/microkite/microkite-load.tmpl @@ -0,0 +1,20 @@ +#!/bin/sh +dir=`dirname $0` + +HEX="$dir"/"%HEX%" +LOADCMD="%LOADCMD%" +LOADARG="%LOADARG%" +LOADSLOW="%LOADSLOW%" +LOADFAST="" + +case "$1" in +fast) + LOADSPEED="$LOADFAST" + ;; +*) + LOADSPEED="$LOADSLOW" + ;; +esac + +echo ${LOADCMD} ${LOADSPEED} ${LOADARG}${HEX} +${LOADCMD} ${LOADSPEED} ${LOADARG}${HEX} diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile index 6ae3d0be..ac00f635 100644 --- a/src/micropeak/Makefile +++ b/src/micropeak/Makefile @@ -8,8 +8,15 @@ vpath make-altitude-pa ../util include ../avr/Makefile.defs +PROGNAME=micropeak-v0.1 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SCRIPT=micropeak-load + PUBLISH_DIR=$(HOME)/altusmetrumllc/Binaries -PUBLISH_FILE=$(PUBLISH_DIR)/$(PROG)-$(VERSION).hex +PUBLISH_HEX=$(PUBLISH_DIR)/$(HEX) +PUBLISH_SCRIPT=$(PUBLISH_DIR)/$(SCRIPT) MCU=attiny85 DUDECPUTYPE=t85 @@ -55,8 +62,6 @@ CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTIN NICKLE=nickle -PROG=micropeak-v0.1 - SRC=$(ALTOS_SRC) OBJ=$(SRC:.c=.o) @@ -68,7 +73,7 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: $(PROG) $(PROG).hex +all: $(PROG) $(HEX) micropeak-load CHECK=sh ../util/check-avr-mem @@ -76,16 +81,16 @@ $(PROG): Makefile $(OBJ) $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1) -$(PROG).hex: $(PROG) +$(HEX): $(PROG) avr-size $(PROG) $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@ -load: $(PROG).hex - $(LOADCMD) $(LOADARG)$(PROG).hex +load: $(HEX) + $(LOADCMD) $(LOADARG)$(HEX) -load-slow: $(PROG).hex - $(LOADCMD) $(LOADSLOW) $(LOADARG)$(PROG).hex +load-slow: $(HEX) + $(LOADCMD) $(LOADSLOW) $(LOADARG)$(HEX) ao_product.h: ao-make-product.5c ../Version $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ @@ -98,22 +103,30 @@ ao_product.o: ao_product.c ao_product.h distclean: clean clean: - rm -f *.o $(PROG) $(PROG).hex + rm -f *.o $(PROG) $(HEX) $(SCRIPT) rm -f ao_product.h +publish: $(PUBLISH_HEX) $(PUBLISH_SCRIPT) -publish: $(PROG).hex - cp -a $(PROG).hex $(PUBLISH_FILE) +$(PUBLISH_HEX): $(HEX) + cp -a $(HEX) $@ + +$(PUBLISH_SCRIPT): $(SCRIPT) + cp -a $(SCRIPT) $@ load-product: - $(LOADCMD) $(LOADARG)$(PUBLISH_FILE) + ./$(SCRIPT) fast load-product-slow: - $(LOADCMD) $(LOADSLOW) $(LOADARG)$(PUBLISH_FILE) + ./$(SCRIPT) slow ../altitude-pa.h: make-altitude-pa nickle $< > $@ +$(SCRIPT): $(SCRIPT).tmpl Makefile ../Version + sed -e 's/%HEX%/$(HEX)/' -e 's/%LOADCMD%/$(LOADCMD)/' -e 's/%LOADARG%/$(LOADARG)/' -e 's/%LOADSLOW%/$(LOADSLOW)/' $(SCRIPT).tmpl > $@ || (rm $@ && exit 1) + chmod +x $@ + install: uninstall: diff --git a/src/micropeak/micropeak-load.tmpl b/src/micropeak/micropeak-load.tmpl new file mode 100644 index 00000000..08236a15 --- /dev/null +++ b/src/micropeak/micropeak-load.tmpl @@ -0,0 +1,20 @@ +#!/bin/sh +dir=`dirname $0` + +HEX="$dir"/"%HEX%" +LOADCMD="%LOADCMD%" +LOADARG="%LOADARG%" +LOADSLOW="%LOADSLOW%" +LOADFAST="" + +case "$1" in +fast) + LOADSPEED="$LOADFAST" + ;; +*) + LOADSPEED="$LOADSLOW" + ;; +esac + +echo ${LOADCMD} ${LOADSPEED} ${LOADARG}${HEX} +${LOADCMD} ${LOADSPEED} ${LOADARG}${HEX} diff --git a/src/product/Makefile.teledongle b/src/product/Makefile.teledongle index 81151364..b7c28987 100644 --- a/src/product/Makefile.teledongle +++ b/src/product/Makefile.teledongle @@ -83,7 +83,7 @@ quiet ?= $($1) all: $(PROG) $(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(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.telelaunch b/src/product/Makefile.telelaunch index 90fe7833..7311c21e 100644 --- a/src/product/Makefile.telelaunch +++ b/src/product/Makefile.telelaunch @@ -85,7 +85,7 @@ quiet ?= $($1) all: $(PROG) $(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(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.telemetrum b/src/product/Makefile.telemetrum index dbbf57d8..e9b144c0 100644 --- a/src/product/Makefile.telemetrum +++ b/src/product/Makefile.telemetrum @@ -24,6 +24,7 @@ INC = \ altitude.h \ ao_kalman.h \ ao_product.h \ + ao_telemetry.h \ $(TM_INC) CORE_SRC = \ diff --git a/src/product/Makefile.telenano b/src/product/Makefile.telenano index d2fcb6d8..e1e350a6 100644 --- a/src/product/Makefile.telenano +++ b/src/product/Makefile.telenano @@ -85,7 +85,7 @@ quiet ?= $($1) all: $(PROG) $(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(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/ao_micropeak.c b/src/product/ao_micropeak.c index 10f0d192..54522d86 100644 --- a/src/product/ao_micropeak.c +++ b/src/product/ao_micropeak.c @@ -73,8 +73,9 @@ main(void) ao_report_altitude(); ao_pips(); ao_log_micro_dump(); - +#if BOOST_DELAY ao_delay(BOOST_DELAY); +#endif ao_microflight(); diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h index 0ec407d7..622f5a69 100644 --- a/src/product/ao_micropeak.h +++ b/src/product/ao_micropeak.h @@ -29,8 +29,21 @@ #define BOOST_DETECT 360 /* 30m at sea level, 36m at 2000m */ #endif +#ifndef LOG_INTERVAL +#define LOG_INTERVAL 2 /* 192 ms */ +#endif + +#define AO_LOG_ID_MICROPEAK 0 +#define AO_LOG_ID_MICROKITE 1 + +#ifndef AO_LOG_ID +#define AO_LOG_ID AO_LOG_ID_MICROPEAK +#endif + /* Wait after power on before doing anything to give the user time to assemble the rocket */ +#ifndef BOOST_DELAY #define BOOST_DELAY AO_SEC_TO_TICKS(60) +#endif /* Pressure change (in Pa) to detect landing */ #define LAND_DETECT 24 /* 2m at sea level, 2.4m at 2000m */ diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index b461cd3f..7ad3b4b8 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -64,6 +64,9 @@ #define AO_SPI_INDEX(id) ((id) & AO_SPI_INDEX_MASK) #define AO_SPI_CONFIG(id) ((id) & AO_SPI_CONFIG_MASK) +uint8_t +ao_spi_try_get(uint8_t spi_index, uint32_t speed, uint8_t task_id); + void ao_spi_get(uint8_t spi_index, uint32_t speed); @@ -77,6 +80,9 @@ void ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index); void +ao_spi_send_sync(void *block, uint16_t len, uint8_t spi_index); + +void ao_spi_recv(void *block, uint16_t len, uint8_t spi_index); void @@ -95,6 +101,15 @@ ao_spi_init(void); ao_spi_set_cs(reg,mask); \ } while (0) +static inline uint8_t +ao_spi_try_get_mask(struct stm_gpio *reg, uint16_t mask, uint8_t bus, uint32_t speed, uint8_t task_id) +{ + if (!ao_spi_try_get(bus, speed, task_id)) + return 0; + ao_spi_set_cs(reg, mask); + return 1; +} + #define ao_spi_put_mask(reg,mask,bus) do { \ ao_spi_clr_cs(reg,mask); \ ao_spi_put(bus); \ @@ -252,6 +267,8 @@ extern struct ao_stm_usart ao_stm_usart3; #define ARM_PUSH32(stack, val) (*(--(stack)) = (val)) +typedef uint32_t ao_arch_irq_t; + static inline uint32_t ao_arch_irqsave(void) { uint32_t primask; @@ -369,10 +386,10 @@ static inline void ao_arch_start_scheduler(void) { ao_arch_block_interrupts(); \ } while (0) -#define ao_arch_critical(b) do { \ - ao_arch_block_interrupts(); \ - do { b } while (0); \ - ao_arch_release_interrupts(); \ +#define ao_arch_critical(b) do { \ + uint32_t __mask = ao_arch_irqsave(); \ + do { b } while (0); \ + ao_arch_irqrestore(__mask); \ } while (0) #endif /* _AO_ARCH_FUNCS_H_ */ diff --git a/src/stm/ao_spi_stm.c b/src/stm/ao_spi_stm.c index 56329c24..885af544 100644 --- a/src/stm/ao_spi_stm.c +++ b/src/stm/ao_spi_stm.c @@ -154,6 +154,28 @@ ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index) } void +ao_spi_send_sync(void *block, uint16_t len, uint8_t spi_index) +{ + uint8_t *b = block; + struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; + + stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) | + (0 << STM_SPI_CR2_RXNEIE) | + (0 << STM_SPI_CR2_ERRIE) | + (0 << STM_SPI_CR2_SSOE) | + (0 << STM_SPI_CR2_TXDMAEN) | + (0 << STM_SPI_CR2_RXDMAEN)); + + /* Clear RXNE */ + (void) stm_spi->dr; + + while (len--) { + while (!(stm_spi->sr & (1 << STM_SPI_SR_TXE))); + stm_spi->dr = *b++; + } +} + +void ao_spi_recv(void *block, uint16_t len, uint8_t spi_index) { struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; @@ -356,13 +378,11 @@ ao_spi_enable_index(uint8_t spi_index) } } -void -ao_spi_get(uint8_t spi_index, uint32_t speed) +static void +ao_spi_config(uint8_t spi_index, uint32_t speed) { uint8_t id = AO_SPI_INDEX(spi_index); struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi; - - ao_mutex_get(&ao_spi_mutex[id]); stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) | /* Three wire mode */ (0 << STM_SPI_CR1_BIDIOE) | (0 << STM_SPI_CR1_CRCEN) | /* CRC disabled */ @@ -378,7 +398,7 @@ ao_spi_get(uint8_t spi_index, uint32_t speed) (0 << STM_SPI_CR1_CPOL) | /* Format 0 */ (0 << STM_SPI_CR1_CPHA)); if (spi_index != ao_spi_index[id]) { - + /* Disable old config */ ao_spi_disable_index(ao_spi_index[id]); @@ -386,13 +406,32 @@ ao_spi_get(uint8_t spi_index, uint32_t speed) /* Enable new config */ ao_spi_enable_index(spi_index); - + /* Remember current config */ ao_spi_index[id] = spi_index; } } +uint8_t +ao_spi_try_get(uint8_t spi_index, uint32_t speed, uint8_t task_id) +{ + uint8_t id = AO_SPI_INDEX(spi_index); + + if (!ao_mutex_try(&ao_spi_mutex[id], task_id)) + return 0; + ao_spi_config(spi_index, speed); + return 1; +} + +void +ao_spi_get(uint8_t spi_index, uint32_t speed) +{ + uint8_t id = AO_SPI_INDEX(spi_index); + ao_mutex_get(&ao_spi_mutex[id]); + ao_spi_config(spi_index, speed); +} + void ao_spi_put(uint8_t spi_index) { diff --git a/src/telebt-v1.0/ao_pins.h b/src/telebt-v1.0/ao_pins.h index 9e47f3b8..4181ef35 100644 --- a/src/telebt-v1.0/ao_pins.h +++ b/src/telebt-v1.0/ao_pins.h @@ -48,6 +48,8 @@ #define BT_LINK_PIN P1_7 #define HAS_MONITOR 1 #define LEGACY_MONITOR 0 +#define HAS_TELEMETRY 0 +#define AO_RADIO_REG_TEST 1 #define HAS_ADC 1 #define AO_PAD_ADC_BATT 0 diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile index 25267268..99d29826 100644 --- a/src/telefire-v0.1/Makefile +++ b/src/telefire-v0.1/Makefile @@ -25,7 +25,6 @@ INC = \ CORE_SRC = \ ao_cmd.c \ ao_config.c \ - ao_convert.c \ ao_mutex.c \ ao_panic.c \ ao_stdio.c \ diff --git a/src/telefire-v0.1/ao_pins.h b/src/telefire-v0.1/ao_pins.h index f7a3ff2c..47ae663f 100644 --- a/src/telefire-v0.1/ao_pins.h +++ b/src/telefire-v0.1/ao_pins.h @@ -18,7 +18,8 @@ #ifndef _AO_PINS_H_ #define _AO_PINS_H_ -#define HAS_RADIO 1 +#define HAS_RADIO 1 +#define HAS_TELEMETRY 0 #define HAS_FLIGHT 0 #define HAS_USB 1 diff --git a/src/telefire-v0.2/Makefile b/src/telefire-v0.2/Makefile index ad5065c1..944543c5 100644 --- a/src/telefire-v0.2/Makefile +++ b/src/telefire-v0.2/Makefile @@ -25,7 +25,6 @@ INC = \ CORE_SRC = \ ao_cmd.c \ ao_config.c \ - ao_convert.c \ ao_mutex.c \ ao_panic.c \ ao_stdio.c \ diff --git a/src/telefire-v0.2/ao_pins.h b/src/telefire-v0.2/ao_pins.h index 96e6b066..28cc65b9 100644 --- a/src/telefire-v0.2/ao_pins.h +++ b/src/telefire-v0.2/ao_pins.h @@ -18,7 +18,9 @@ #ifndef _AO_PINS_H_ #define _AO_PINS_H_ -#define HAS_RADIO 1 +#define HAS_RADIO 1 +#define HAS_RADIO_RATE 1 +#define HAS_TELEMETRY 0 #define HAS_FLIGHT 0 #define HAS_USB 1 @@ -95,11 +97,13 @@ #define AO_PAD_ALL_PINS ((1 << AO_PAD_PIN_0) | (1 << AO_PAD_PIN_1) | (1 << AO_PAD_PIN_2) | (1 << AO_PAD_PIN_3)) #define AO_PAD_ALL_CHANNELS ((1 << 0) | (1 << 1) | (1 << 2) | (1 << 3)) +/* Alarm 2 */ #define AO_SIREN_PORT P2 #define AO_SIREN_DIR P2DIR #define AO_SIREN_PIN 3 #define AO_SIREN P2_3 +/* Alarm 1 */ #define AO_STROBE_PORT P2 #define AO_STROBE_DIR P2DIR #define AO_STROBE_PIN 4 diff --git a/src/telegps-v1.0/ao_pins.h b/src/telegps-v1.0/ao_pins.h index 5f53dd9d..d2382a56 100644 --- a/src/telegps-v1.0/ao_pins.h +++ b/src/telegps-v1.0/ao_pins.h @@ -71,11 +71,11 @@ #define HAS_GPS 1 #define HAS_FLIGHT 0 #define HAS_LOG 1 +#define FLIGHT_LOG_APPEND 1 #define HAS_TRACKER 1 #define AO_CONFIG_DEFAULT_APRS_INTERVAL 0 #define AO_CONFIG_DEFAULT_RADIO_POWER 0xc0 -#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX 496 * 1024 /* * GPS diff --git a/src/telelco-v0.2/ao_lco.c b/src/telelco-v0.2/ao_lco.c index b3f5bb16..4b5f7a9b 100644 --- a/src/telelco-v0.2/ao_lco.c +++ b/src/telelco-v0.2/ao_lco.c @@ -258,7 +258,7 @@ ao_lco_search(void) for (box = 0; box < AO_PAD_MAX_BOXES; box++) { if ((box % 10) == 0) ao_lco_set_box(box); - for (try = 0; try < 5; try++) { + for (try = 0; try < 3; try++) { tick_offset = 0; r = ao_lco_query(box, &ao_pad_query, &tick_offset); PRINTD("box %d result %d\n", box, r); diff --git a/src/telelco-v0.2/ao_pins.h b/src/telelco-v0.2/ao_pins.h index a6fd4ff8..da790b14 100644 --- a/src/telelco-v0.2/ao_pins.h +++ b/src/telelco-v0.2/ao_pins.h @@ -48,6 +48,7 @@ #define HAS_USB 1 #define HAS_BEEP 1 #define HAS_RADIO 1 +#define HAS_RADIO_RATE 1 #define HAS_TELEMETRY 0 #define HAS_AES 1 diff --git a/src/telemega-v1.0/Makefile b/src/telemega-v1.0/Makefile index 46c768e4..4a1b3908 100644 --- a/src/telemega-v1.0/Makefile +++ b/src/telemega-v1.0/Makefile @@ -31,6 +31,7 @@ INC = \ ao_mpu.h \ stm32l.h \ math.h \ + ao_ms5607_convert.c \ Makefile # diff --git a/src/telemini-v2.0/Makefile b/src/telemini-v2.0/Makefile index ca69dc41..8657e9a9 100644 --- a/src/telemini-v2.0/Makefile +++ b/src/telemini-v2.0/Makefile @@ -25,7 +25,8 @@ INC = \ ao_int64.h \ ao_sample.h \ ao_exti.h \ - ao_task.h + ao_task.h \ + altitude-pa-small.h CORE_SRC = \ ao_cmd.c \ diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h index f202ccd1..ed911798 100644 --- a/src/telemini-v2.0/ao_pins.h +++ b/src/telemini-v2.0/ao_pins.h @@ -22,15 +22,18 @@ #define HAS_FLIGHT 1 #define HAS_USB 1 +#define AO_VALUE_32 0 #define HAS_USB_PULLUP 1 #define AO_USB_PULLUP_PORT P1 #define AO_USB_PULLUP_PIN 0 #define AO_USB_PULLUP P1_0 +#define AO_SMALL_ALTITUDE_TABLE 1 + #define USB_FORCE_FLIGHT_IDLE 1 #define HAS_BEEP 1 -#define HAS_BEEP_CONFIG 0 +#define HAS_BEEP_CONFIG 1 #define HAS_BATTERY_REPORT 1 #define HAS_GPS 0 #define HAS_SERIAL_1 0 @@ -39,6 +42,8 @@ #define USE_INTERNAL_FLASH 0 #define HAS_DBG 0 #define PACKET_HAS_SLAVE 1 +#define HAS_RADIO_RATE 1 +#define HAS_TELEMETRY 1 #define AO_LED_RED 2 #define LEDS_AVAILABLE AO_LED_RED diff --git a/src/telerepeat-v1.0/Makefile b/src/telerepeat-v1.0/Makefile new file mode 100644 index 00000000..17f68377 --- /dev/null +++ b/src/telerepeat-v1.0/Makefile @@ -0,0 +1,100 @@ +# +# TeleRepeat build file +# + +TELEREPEAT_VER=1.0 +TELEREPEAT_DEF=1_0 + +vpath %.c ..:../kernel:../cc1111:../drivers:../product +vpath %.h ..:../kernel:../cc1111:../drivers:../product +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + cc1111.h \ + ao_product.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_monitor.c \ + ao_mutex.c \ + ao_panic.c \ + ao_state.c \ + ao_stdio.c \ + ao_task.c \ + ao_forward.c \ + ao_storage.c \ + ao_freq.c + +CC1111_SRC = \ + ao_dbg.c \ + ao_adc.c \ + ao_dma.c \ + ao_led.c \ + ao_packet.c \ + ao_intflash.c \ + ao_packet_master.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = \ + ao_btm.c + +PRODUCT_SRC = \ + ao_telerepeat.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telerepeat-v$(TELEREPEAT_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleRepeat-v$(TELEREPEAT_VER) +PRODUCT_DEF=-DTELEREPEAT_V_$(TELEREPEAT_DEF) +IDPRODUCT=0x000e +CODESIZE=0x7800 + +include ../cc1111/Makefile.cc1111 + +NICKLE=nickle +CHECK_STACK=sh ../util/check-stack + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: $(PROG) + +$(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 + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: clean-cc1111 + +install: + +uninstall: diff --git a/src/telerepeat-v1.0/ao_pins.h b/src/telerepeat-v1.0/ao_pins.h new file mode 100644 index 00000000..2a7dbd3b --- /dev/null +++ b/src/telerepeat-v1.0/ao_pins.h @@ -0,0 +1,111 @@ +/* + * Copyright © 2010 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_PINS_H_ +#define _AO_PINS_H_ + +#define HAS_RADIO 1 +#define HAS_RADIO_FORWARD 1 +#define HAS_FLIGHT 0 +#define HAS_USB 1 +#define HAS_BEEP 0 +#define HAS_SERIAL_1 1 +#define HAS_SERIAL_1_ALT_1 1 +#define HAS_SERIAL_1_ALT_2 0 +#define HAS_SERIAL_1_HW_FLOW 1 +#define USE_SERIAL_1_STDIN 1 +#define DELAY_SERIAL_1_STDIN 1 +#define HAS_DBG 1 +#define HAS_EEPROM 1 +#define HAS_LOG 0 +#define USE_INTERNAL_FLASH 1 +#define HAS_BTM 1 +#define DBG_ON_P1 1 +#define DBG_ON_P0 0 +#define PACKET_HAS_MASTER 1 +#define PACKET_HAS_SLAVE 0 +#define AO_LED_RED 1 +#define AO_LED_BLUE 2 +#define LEDS_AVAILABLE (AO_LED_RED|AO_LED_BLUE) +#define AO_MONITOR_LED AO_LED_RED +#define AO_BT_LED AO_LED_BLUE +#define BT_LINK_ON_P2 0 +#define BT_LINK_ON_P1 1 +#define BT_LINK_PIN_INDEX 7 +#define BT_LINK_PIN P1_7 +#define HAS_MONITOR 1 +#define HAS_MONITOR_PUT 1 +#define LEGACY_MONITOR 0 +#define HAS_TELEMETRY 0 +#define AO_RADIO_REG_TEST 1 + +#define HAS_ADC 1 +#define AO_PAD_ADC_BATT 0 +#define AO_ADC_PINS (1 << AO_PAD_ADC_BATT) + +struct ao_adc { + int16_t batt; +}; + +#define AO_ADC_DUMP(p) \ + printf ("tick: %5u batt %5d\n", \ + (p)->tick, \ + (p)->adc.batt) + +#define FETCH_ADC() do { \ + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.batt); \ + a[0] = ADCL; \ + a[1] = ADCH; \ + } while (0) + +#if DBG_ON_P1 + + #define DBG_CLOCK (1 << 4) /* mi0 */ + #define DBG_DATA (1 << 5) /* mo0 */ + #define DBG_RESET_N (1 << 3) /* c0 */ + + #define DBG_CLOCK_PIN (P1_4) + #define DBG_DATA_PIN (P1_5) + #define DBG_RESET_N_PIN (P1_3) + + #define DBG_PORT_NUM 1 + #define DBG_PORT P1 + #define DBG_PORT_SEL P1SEL + #define DBG_PORT_INP P1INP + #define DBG_PORT_DIR P1DIR + +#endif /* DBG_ON_P1 */ + +#if DBG_ON_P0 + + #define DBG_CLOCK (1 << 3) + #define DBG_DATA (1 << 4) + #define DBG_RESET_N (1 << 5) + + #define DBG_CLOCK_PIN (P0_3) + #define DBG_DATA_PIN (P0_4) + #define DBG_RESET_N_PIN (P0_5) + + #define DBG_PORT_NUM 0 + #define DBG_PORT P0 + #define DBG_PORT_SEL P0SEL + #define DBG_PORT_INP P0INP + #define DBG_PORT_DIR P0DIR + +#endif /* DBG_ON_P0 */ + +#endif /* _AO_PINS_H_ */ diff --git a/src/telerepeat-v1.0/ao_telerepeat.c b/src/telerepeat-v1.0/ao_telerepeat.c new file mode 100644 index 00000000..21bf8a73 --- /dev/null +++ b/src/telerepeat-v1.0/ao_telerepeat.c @@ -0,0 +1,47 @@ +/* + * Copyright © 2011 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_forward.h" + +void +main(void) +{ + ao_clock_init(); + + /* Turn on the LED until the system is stable */ + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_RED); + + ao_task_init(); + + ao_timer_init(); + ao_cmd_init(); + ao_usb_init(); + ao_monitor_init(); + ao_radio_init(); + ao_packet_master_init(); + ao_adc_init(); + ao_btm_init(); + ao_monitor_forward_init(); + ao_storage_init(); +#if HAS_DBG + ao_dbg_init(); +#endif + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/teleshield-v0.1/ao_pins.h b/src/teleshield-v0.1/ao_pins.h index 30239afc..68bb44ee 100644 --- a/src/teleshield-v0.1/ao_pins.h +++ b/src/teleshield-v0.1/ao_pins.h @@ -62,6 +62,7 @@ #define HAS_RSSI 0 #define HAS_AES 0 #define HAS_RADIO 1 + #define HAS_TELEMETRY 0 #endif #if DBG_ON_P1 diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h index 1c12c437..472af534 100644 --- a/src/teleterra-v0.2/ao_pins.h +++ b/src/teleterra-v0.2/ao_pins.h @@ -71,7 +71,9 @@ #define HAS_P2_ISR 1 #define BATTERY_PIN 5 - + #define HAS_TELEMETRY 0 + + #define AO_VALUE_32 0 #endif #if DBG_ON_P1 diff --git a/src/test/Makefile b/src/test/Makefile index 017f7f71..02e1d22b 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,6 +1,7 @@ vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \ + ao_flight_test_metrum \ ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \ ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \ ao_ms5607_convert_test ao_quaternion_test @@ -33,6 +34,9 @@ ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kal ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS) cc -DTELEMEGA=1 $(CFLAGS) -o $@ $< -lm +ao_flight_test_metrum: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS) + cc -DTELEMETRUM_V2=1 $(CFLAGS) -o $@ $< -lm + ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h cc $(CFLAGS) -o $@ $< diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c index 86cf527a..ae505dea 100644 --- a/src/test/ao_aprs_test.c +++ b/src/test/ao_aprs_test.c @@ -21,6 +21,8 @@ #include <stdint.h> #include <stdarg.h> +#define HAS_GPS 1 + #include <ao_telemetry.h> #define AO_GPS_NUM_SAT_MASK (0xf << 0) @@ -97,41 +99,14 @@ audio_gap(int secs) #endif } -#include <math.h> - -int -ao_aprs_encode_altitude_expensive(int meters) -{ - double feet = meters / 0.3048; - - double encode = log(feet) / log(1.002); - return floor(encode + 0.5); -} - // This is where we go after reset. int main(int argc, char **argv) { - int e, x; - int a; - - for (a = 1; a < 100000; a++) { - e = ao_aprs_encode_altitude(a); - x = ao_aprs_encode_altitude_expensive(a); - - if (e != x) { - double back_feet, back_meters; - back_feet = pow(1.002, e); - back_meters = back_feet * 0.3048; - fprintf (stderr, "APRS altitude encoding failure: altitude %d actual %d expected %d actual meters %f\n", - a, e, x, back_meters); - } - } - audio_gap(1); ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000; ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000; - ao_gps_data.altitude = 84; + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, 84); ao_gps_data.flags = (AO_GPS_VALID|AO_GPS_RUNNING); /* Transmit one packet */ diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 0647fc6c..8b737ca1 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -34,15 +34,21 @@ #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) +#if 0 #define AO_M_TO_HEIGHT(m) ((int16_t) (m)) #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) +#endif #define AO_GPS_NEW_DATA 1 #define AO_GPS_NEW_TRACKING 2 int ao_gps_new; +#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) +#define TELEMETRUM_V1 1 +#endif + #if TELEMEGA #define AO_ADC_NUM_SENSE 6 #define HAS_MS5607 1 @@ -50,6 +56,7 @@ int ao_gps_new; #define HAS_MMA655X 1 #define HAS_HMC5883 1 #define HAS_BEEP 1 +#define AO_CONFIG_MAX_SIZE 1024 struct ao_adc { int16_t sense[AO_ADC_NUM_SENSE]; @@ -57,7 +64,25 @@ struct ao_adc { int16_t v_pbatt; int16_t temp; }; -#else +#endif + +#if TELEMETRUM_V2 +#define AO_ADC_NUM_SENSE 2 +#define HAS_MS5607 1 +#define HAS_MMA655X 1 +#define HAS_BEEP 1 +#define AO_CONFIG_MAX_SIZE 1024 + +struct ao_adc { + int16_t sense_a; + int16_t sense_m; + int16_t v_batt; + int16_t temp; +}; +#endif + + +#if TELEMETRUM_V1 /* * One set of samples read from the A/D converter */ @@ -92,6 +117,7 @@ struct ao_adc { #include <ao_data.h> #include <ao_log.h> #include <ao_telemetry.h> +#include <ao_sample.h> #if TELEMEGA int ao_gps_count; @@ -174,7 +200,7 @@ ao_gps_angle(void) ao_gps_static.latitude / 1e7, ao_gps_static.longitude / 1e7, &dist, &bearing); - height = ao_gps_static.altitude - ao_gps_prev.altitude; + height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev); angle = atan2(dist, height); return angle * 180/M_PI; @@ -185,17 +211,6 @@ ao_gps_angle(void) #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix(x) ((x) >> 16) -/* - * Above this height, the baro sensor doesn't work - */ -#define AO_BARO_SATURATE 13000 -#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE) - -/* - * Above this speed, baro measurements are unreliable - */ -#define AO_MAX_BARO_SPEED 200 - #define ACCEL_NOSE_UP (ao_accel_2g >> 2) extern enum ao_flight_state ao_flight_state; @@ -233,7 +248,7 @@ double main_time; int tick_offset; -static int32_t ao_k_height; +static ao_k_t ao_k_height; int16_t ao_time(void) @@ -305,7 +320,7 @@ struct ao_cmds { #define ao_xmemcmp(d,s,c) memcmp(d,s,c) #define AO_NEED_ALTITUDE_TO_PRES 1 -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 #include "ao_convert_pa.c" #include <ao_ms5607.h> struct ao_ms5607_prom ao_ms5607_prom; @@ -455,7 +470,7 @@ ao_insert(void) #else double accel = 0.0; #endif -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 double height; ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked); @@ -550,6 +565,7 @@ ao_insert(void) mag_azel.el, mag_azel.az); #endif +#if 0 printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n", time, ao_state_names[ao_flight_state], @@ -559,6 +575,7 @@ ao_insert(void) (int) floor (ao_gps_angle() + 0.5), (ao_gps_static.flags & 0xf) * 10); +#endif #if 0 printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n", ao_state_names[ao_flight_state], @@ -581,9 +598,9 @@ ao_insert(void) #endif #endif -#if 0 +#if 1 printf("%7.2f height %8.2f accel %8.3f " -#if TELEMEGA +#if TELEMEGA && 0 "angle %5d " "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d " #endif @@ -591,7 +608,7 @@ ao_insert(void) time, height, accel, -#if TELEMEGA +#if TELEMEGA && 0 ao_sample_orient, ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), @@ -674,7 +691,8 @@ ao_sleep(void *wchan) { #if TELEMEGA ao_data_static.mpu6000 = ao_ground_mpu6000; -#else +#endif +#if TELEMETRUM_V1 ao_data_static.adc.accel = ao_flight_ground_accel; #endif ao_insert(); @@ -755,7 +773,10 @@ ao_sleep(void *wchan) ao_gps_static.tick = tick; ao_gps_static.latitude = int32(bytes, 0); ao_gps_static.longitude = int32(bytes, 4); - ao_gps_static.altitude = int32(bytes, 8); + { + int32_t altitude = int32(bytes, 8); + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude); + } ao_gps_static.flags = bytes[13]; if (!ao_gps_count) ao_gps_first = ao_gps_static; @@ -795,11 +816,64 @@ ao_sleep(void *wchan) pyro->flags |= ao_pyro_values[j].flag; if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) { int16_t val = strtoul(words[++i], NULL, 10); + printf("pyro %d condition %s value %d\n", p, words[i-1], val); *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val; } } } -#else +#endif +#if TELEMETRUM_V2 + if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) { + int i; + struct ao_ms5607_value value; + + type = words[0][0]; + tick = strtoul(words[1], NULL, 16); +// printf ("%c %04x", type, tick); + for (i = 2; i < nword; i++) { + bytes[i - 2] = strtoul(words[i], NULL, 16); +// printf(" %02x", bytes[i-2]); + } +// printf ("\n"); + switch (type) { + case 'F': + ao_flight_ground_accel = int16(bytes, 2); + ao_flight_started = 1; + ao_ground_pres = int32(bytes, 4); + ao_ground_height = ao_pa_to_altitude(ao_ground_pres); + break; + case 'A': + ao_data_static.tick = tick; + ao_data_static.ms5607_raw.pres = int32(bytes, 0); + ao_data_static.ms5607_raw.temp = int32(bytes, 4); + ao_ms5607_convert(&ao_data_static.ms5607_raw, &value); + ao_data_static.mma655x = int16(bytes, 8); + ao_records_read++; + ao_insert(); + return; + } + continue; + } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) { + if (strcmp(words[1], "reserved:") == 0) + ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "sens:") == 0) + ao_ms5607_prom.sens = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "off:") == 0) + ao_ms5607_prom.off = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tcs:") == 0) + ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tco:") == 0) + ao_ms5607_prom.tco = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tref:") == 0) + ao_ms5607_prom.tref = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tempsens:") == 0) + ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "crc:") == 0) + ao_ms5607_prom.crc = strtoul(words[2], NULL, 10); + continue; + } +#endif +#if TELEMETRUM_V1 if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) { type = words[0][0]; tick = strtoul(words[1], NULL, 16); @@ -924,7 +998,7 @@ ao_sleep(void *wchan) if (type != 'F' && !ao_flight_started) continue; -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 (void) a; (void) b; #else @@ -945,8 +1019,6 @@ ao_sleep(void *wchan) ao_data_static.tick = tick; ao_data_static.adc.accel = a; ao_data_static.adc.pres_real = b; - if (b < AO_MIN_BARO_VALUE) - b = AO_MIN_BARO_VALUE; ao_data_static.adc.pres = b; ao_records_read++; ao_insert(); diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c index e799ab0f..543bbcc3 100644 --- a/src/test/ao_gps_test.c +++ b/src/test/ao_gps_test.c @@ -53,6 +53,9 @@ struct ao_gps_orig { uint16_t v_error; /* m */ }; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((l)->altitude) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a)) + #define SIRF_SAT_STATE_ACQUIRED (1 << 0) #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) @@ -433,7 +436,7 @@ ao_dump_state(void *wchan) if (wchan != &ao_gps_new) return; - + if (ao_gps_new & AO_GPS_NEW_DATA) { ao_gps_print(&ao_gps_data); putchar('\n'); diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c index 1b590d5e..5eb7118d 100644 --- a/src/test/ao_gps_test_skytraq.c +++ b/src/test/ao_gps_test_skytraq.c @@ -16,6 +16,7 @@ */ #define AO_GPS_TEST +#define HAS_GPS 1 #include "ao_host.h" #include <termios.h> #include <errno.h> @@ -53,6 +54,9 @@ struct ao_gps_orig { uint16_t v_error; /* m */ }; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((l)->altitude) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a)) + #define SIRF_SAT_STATE_ACQUIRED (1 << 0) #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c index 4eb4b837..5ea205d6 100644 --- a/src/test/ao_gps_test_ublox.c +++ b/src/test/ao_gps_test_ublox.c @@ -16,6 +16,7 @@ */ #define AO_GPS_TEST +#define HAS_GPS 1 #include "ao_host.h" #include <termios.h> #include <errno.h> @@ -44,7 +45,7 @@ struct ao_telemetry_location { uint8_t flags; int32_t latitude; /* degrees * 10⁷ */ int32_t longitude; /* degrees * 10⁷ */ - int16_t altitude; /* m */ + int16_t altitude_low; /* m */ uint16_t ground_speed; /* cm/s */ uint8_t course; /* degrees / 2 */ uint8_t pdop; /* * 5 */ @@ -53,8 +54,14 @@ struct ao_telemetry_location { int16_t climb_rate; /* cm/s */ uint16_t h_error; /* m */ uint16_t v_error; /* m */ + int16_t altitude_high; /* m */ }; +typedef int32_t gps_alt_t; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low)) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \ + ((l)->altitude_low = (a))) + #define UBLOX_SAT_STATE_ACQUIRED (1 << 0) #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) #define UBLOX_SAT_BIT_SYNC_COMPLETE (1 << 2) diff --git a/src/test/ao_micropeak_test.c b/src/test/ao_micropeak_test.c index 5961bd93..f4af707e 100644 --- a/src/test/ao_micropeak_test.c +++ b/src/test/ao_micropeak_test.c @@ -33,6 +33,7 @@ uint8_t ao_flight_debug; #define AO_FLIGHT_TEST typedef int32_t alt_t; +typedef int32_t pres_t; #define AO_MS_TO_TICKS(ms) ((ms) / 10) diff --git a/src/test/plottest b/src/test/plottest index 76af5ee7..7d253ff1 100755 --- a/src/test/plottest +++ b/src/test/plottest @@ -10,7 +10,7 @@ plot "$1" using 1:3 with lines axes x1y1 title "raw height",\ "$1" using 1:9 with lines axes x1y1 title "height",\ "$1" using 1:11 with lines axes x1y2 title "speed",\ "$1" using 1:13 with lines axes x1y2 title "accel",\ -"$1" using 1:15 with lines axes x1y1 title "drogue",\ -"$1" using 1:17 with lines axes x1y1 title "main",\ -"$1" using 1:19 with lines axes x1y1 title "error" +"$1" using 1:17 with lines axes x1y1 title "drogue",\ +"$1" using 1:19 with lines axes x1y1 title "main",\ +"$1" using 1:21 with lines axes x1y1 title "error" EOF diff --git a/src/util/make-altitude-pa b/src/util/make-altitude-pa index 22831d50..d36f3f41 100644 --- a/src/util/make-altitude-pa +++ b/src/util/make-altitude-pa @@ -185,105 +185,135 @@ line_t best_fit(real[] values, int first, int last) { return (line_t) { m = m, b = b }; } -real min_Pa = 0; -real max_Pa = 120000; +void print_table (int pa_sample_shift, int pa_part_shift) +{ + real min_Pa = 0; + real max_Pa = 120000; -/* Target is an array of < 1000 entries */ -int pa_sample_shift = 2; -int pa_part_shift = 6; -int pa_part_mask = (1 << pa_part_shift) - 1; + int pa_part_mask = (1 << pa_part_shift) - 1; -int num_part = ceil(max_Pa / (2 ** (pa_part_shift + pa_sample_shift))); + int num_part = ceil(max_Pa / (2 ** (pa_part_shift + pa_sample_shift))); -int num_samples = num_part << pa_part_shift; + int num_samples = num_part << pa_part_shift; -real sample_to_Pa(int sample) = sample << pa_sample_shift; + real sample_to_Pa(int sample) = sample << pa_sample_shift; -real sample_to_altitude(int sample) = pressure_to_altitude(sample_to_Pa(sample)); + real sample_to_altitude(int sample) = pressure_to_altitude(sample_to_Pa(sample)); -int part_to_sample(int part) = part << pa_part_shift; + int part_to_sample(int part) = part << pa_part_shift; -int sample_to_part(int sample) = sample >> pa_part_shift; + int sample_to_part(int sample) = sample >> pa_part_shift; -bool is_part(int sample) = (sample & pa_part_mask) == 0; + bool is_part(int sample) = (sample & pa_part_mask) == 0; -real[num_samples] alt = { [n] = sample_to_altitude(n) }; + real[num_samples] alt = { [n] = sample_to_altitude(n) }; -int seg_len = 1 << pa_part_shift; + int seg_len = 1 << pa_part_shift; -line_t [num_part] fit = { - [n] = best_fit(alt, n * seg_len, n * seg_len + seg_len - 1) -}; - -real[num_samples/seg_len + 1] alt_part; -real[dim(alt_part)] alt_error = {0...}; - -alt_part[0] = fit[0].b; -alt_part[dim(fit)] = fit[dim(fit)-1].m * dim(fit) * seg_len + fit[dim(fit)-1].b; + line_t [num_part] fit = { + [n] = best_fit(alt, n * seg_len, n * seg_len + seg_len - 1) + }; -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; -# printf ("at %d mis-fit %8.2f\n", i, there - here); - alt_part[i+1] = (here + there) / 2; -} + real[num_samples/seg_len + 1] alt_part; + real[dim(alt_part)] alt_error = {0...}; -real round(real x) = floor(x + 0.5); + alt_part[0] = fit[0].b; + alt_part[dim(fit)] = fit[dim(fit)-1].m * dim(fit) * seg_len + fit[dim(fit)-1].b; -real sample_to_fit_altitude(int sample) { - int sub = sample // seg_len; - int off = sample % seg_len; - line_t l = fit[sub]; - real r_v; - real i_v; + 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; +# printf ("at %d mis-fit %8.2f\n", i, there - here); + alt_part[i+1] = (here + there) / 2; + } - r_v = sample * l.m + l.b; - i_v = (round(alt_part[sub]*10) * (seg_len - off) + round(alt_part[sub+1]*10) * off) / seg_len; - return i_v/10; -} + real round(real x) = floor(x + 0.5); -real max_error = 0; -int max_error_sample = 0; -real total_error = 0; + real sample_to_fit_altitude(int sample) { + int sub = sample // seg_len; + int off = sample % seg_len; + line_t l = fit[sub]; + real r_v; + real i_v; -for (int sample = 0; sample < num_samples; sample++) { - real Pa = sample_to_Pa(sample); - real meters = alt[sample]; + r_v = sample * l.m + l.b; + i_v = (round(alt_part[sub]*10) * (seg_len - off) + round(alt_part[sub+1]*10) * off) / seg_len; + return i_v/10; + } - real meters_approx = sample_to_fit_altitude(sample); - real error = abs(meters - meters_approx); + real max_error = 0; + int max_error_sample = 0; + real total_error = 0; + + for (int sample = 0; sample < num_samples; sample++) { + real Pa = sample_to_Pa(sample); + real meters = alt[sample]; + + real meters_approx = sample_to_fit_altitude(sample); + real error = abs(meters - meters_approx); + + int part = sample_to_part(sample); + + if (error > alt_error[part]) + alt_error[part] = error; + + total_error += error; + if (error > max_error) { + max_error = error; + max_error_sample = sample; + } + if (false) { + printf (" %8.1f %8.2f %8.2f %8.2f %s\n", + Pa, + meters, + meters_approx, + meters - meters_approx, + is_part(sample) ? "*" : ""); + } + } - int part = sample_to_part(sample); + printf ("/*max error %f at %7.3f kPa. Average error %f*/\n", + max_error, sample_to_Pa(max_error_sample) / 1000, total_error / num_samples); - if (error > alt_error[part]) - alt_error[part] = error; + printf ("#define NALT %d\n", dim(alt_part)); + printf ("#define ALT_SHIFT %d\n", pa_part_shift + pa_sample_shift); + printf ("#ifndef AO_ALT_VALUE\n#define AO_ALT_VALUE(x) (alt_t) (x)\n#endif\n"); - total_error += error; - if (error > max_error) { - max_error = error; - max_error_sample = sample; - } - if (false) { - printf (" %8.1f %8.2f %8.2f %8.2f %s\n", - Pa, - meters, - meters_approx, - meters - meters_approx, - is_part(sample) ? "*" : ""); + for (int part = 0; part < dim(alt_part); part++) { + real kPa = sample_to_Pa(part_to_sample(part)) / 1000; + printf ("AO_ALT_VALUE(%10.1f), /* %6.2f kPa error %6.2fm */\n", + round (alt_part[part]*10) / 10, kPa, + alt_error[part]); } } -printf ("/*max error %f at %7.3f kPa. Average error %f*/\n", - max_error, sample_to_Pa(max_error_sample) / 1000, total_error / num_samples); - -printf ("#define NALT %d\n", dim(alt_part)); -printf ("#define ALT_SHIFT %d\n", pa_part_shift + pa_sample_shift); -printf ("#ifndef AO_ALT_VALUE\n#define AO_ALT_VALUE(x) (alt_t) (x)\n#endif\n"); - -for (int part = 0; part < dim(alt_part); part++) { - real kPa = sample_to_Pa(part_to_sample(part)) / 1000; - printf ("AO_ALT_VALUE(%10.1f), /* %6.2f kPa error %6.2fm */\n", - round (alt_part[part]*10) / 10, kPa, - alt_error[part]); +autoload ParseArgs; + +void main() +{ + /* Target is an array of < 1000 entries */ + int pa_sample_shift = 2; + int pa_part_shift = 6; + + ParseArgs::argdesc argd = { + .args = { + { .var = { .arg_int = &pa_sample_shift }, + .abbr = 's', + .name = "sample", + .expr_name = "sample_shift", + .desc = "sample shift value" }, + { .var = { .arg_int = &pa_part_shift }, + .abbr = 'p', + .name = "part", + .expr_name = "part_shift", + .desc = "part shift value" }, + } + }; + + ParseArgs::parseargs(&argd, &argv); + + print_table(pa_sample_shift, pa_part_shift); } + +main(); |