diff options
| author | Bdale Garbee <bdale@gag.com> | 2012-09-12 20:01:22 -0600 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2012-09-12 20:01:22 -0600 |
| commit | 3b612efcd1dddc6a3d59012f7ed57754b1f798c2 (patch) | |
| tree | 18d50713491ef96c5c127a309f870efb6c33f98d /src | |
| parent | e076773c1693e2a62bb828dee71c04c20dbab0a5 (diff) | |
| parent | 01eb36408d7e0e826b431fcc1d3b2deb23607e0b (diff) | |
Merge branch 'new-debian' into debian
Conflicts:
ChangeLog
debian/altos.install
debian/changelog
debian/control
debian/copyright
debian/dirs
debian/docs
debian/menu
debian/rules
src/Makefile
Diffstat (limited to 'src')
344 files changed, 43242 insertions, 6521 deletions
diff --git a/src/.gitignore b/src/.gitignore new file mode 100644 index 00000000..cae36ae6 --- /dev/null +++ b/src/.gitignore @@ -0,0 +1,3 @@ +altitude.h +altitude-pa.h +ao_whiten.h diff --git a/src/Makefile b/src/Makefile index 5a8afe0b..b8828d46 100644 --- a/src/Makefile +++ b/src/Makefile @@ -1,269 +1,73 @@ # # AltOS build # -# -CC=sdcc -ifndef VERSION -VERSION=$(shell git describe) +vpath make-altitude util +vpath make-altitude-pa util +vpath make-kalman util +vpath make-whiten util +vpath kalman.5c kalman +vpath kalman_filter.5c kalman +vpath load_csv.5c kalman +vpath matrix.5c kalman + +include Version + +ifneq ($(shell which sdcc),) + SUBDIRS+=\ + telemetrum-v1.2 telemetrum-v1.1 telemetrum-v1.0 \ + teledongle-v0.2 teledongle-v0.1 \ + telemini-v1.0 telenano-v0.1 \ + telebt-v0.0 telebt-v0.1 \ + telemetrum-v0.1-sky telemetrum-v0.1-sirf \ + telelaunch-v0.1 tidongle test \ + teleterra-v0.2 teleshield-v0.1 \ + telefire-v0.1 \ + spiradio-v0.1 endif -CFLAGS=--model-small --debug --opt-code-speed - -LDFLAGS=--out-fmt-ihx --code-loc 0x0000 --code-size 0x8000 \ - --xram-loc 0xf000 --xram-size 0xda2 --iram-size 0xff - -INC = \ - ao.h \ - cc1111.h \ - altitude.h \ - 25lc1024.h - -# -# Common AltOS sources -# -ALTOS_SRC = \ - ao_cmd.c \ - ao_dbg.c \ - ao_dma.c \ - ao_mutex.c \ - ao_panic.c \ - ao_task.c \ - ao_timer.c \ - _bp.c - -# -# Shared AltOS drivers -# -ALTOS_DRIVER_SRC = \ - ao_beep.c \ - ao_config.c \ - ao_led.c \ - ao_radio.c \ - ao_stdio.c \ - ao_usb.c - -TELE_COMMON_SRC = \ - ao_gps_print.c \ - ao_state.c - -# -# Receiver code -# -TELE_RECEIVER_SRC =\ - ao_monitor.c \ - ao_rssi.c - -# -# Shared Tele drivers (on TeleMetrum, TeleTerra, TeleDongle) -# - -TELE_DRIVER_SRC = \ - ao_convert.c \ - ao_gps.c \ - ao_serial.c - -# -# Drivers for partially-flled boards (TT, TD and TI) -# -TELE_FAKE_SRC = \ - ao_adc_fake.c \ - ao_ee_fake.c - -# -# Drivers only on TeleMetrum -# -TM_DRIVER_SRC = \ - ao_adc.c \ - ao_ee.c \ - ao_gps_report.c \ - ao_ignite.c - -# -# Tasks run on TeleMetrum -# -TM_TASK_SRC = \ - ao_flight.c \ - ao_log.c \ - ao_report.c \ - ao_telemetry.c - -TM_MAIN_SRC = \ - ao_telemetrum.c - -# -# All sources for TeleMetrum -# -TM_SRC = \ - $(ALTOS_SRC) \ - $(ALTOS_DRIVER_SRC) \ - $(TELE_DRIVER_SRC) \ - $(TELE_COMMON_SRC) \ - $(TM_DRIVER_SRC) \ - $(TM_TASK_SRC) \ - $(TM_MAIN_SRC) - -TI_MAIN_SRC = \ - ao_tidongle.c - -# -# All sources for the TI debug dongle -# -TI_SRC = \ - $(ALTOS_SRC) \ - $(ALTOS_DRIVER_SRC) \ - $(TELE_RECEIVER_SRC) \ - $(TELE_COMMON_SRC) \ - $(TELE_FAKE_SRC) \ - $(TI_MAIN_SRC) - -TT_MAIN_SRC = \ - ao_teleterra.c -# -# All sources for TeleTerra -# -TT_SRC = \ - $(ALTOS_SRC) \ - $(ALTOS_DRIVER_SRC) \ - $(TELE_RECEIVER_SRC) \ - $(TELE_DRIVER_SRC) \ - $(TELE_COMMON_SRC) \ - $(TELE_FAKE_SRC) \ - $(TT_MAIN_SRC) - - -# -# Sources for TeleDongle -# - -TD_MAIN_SRC = \ - ao_teledongle.c - -TD_SRC = \ - $(ALTOS_SRC) \ - $(ALTOS_DRIVER_SRC) \ - $(TELE_RECEIVER_SRC) \ - $(TELE_COMMON_SRC) \ - $(TELE_FAKE_SRC) \ - $(TD_MAIN_SRC) - -SRC = \ - $(ALTOS_SRC) \ - $(ALTOS_DRIVER_SRC) \ - $(TELE_DRIVER_SRC) \ - $(TELE_RECEIVER_SRC) \ - $(TELE_COMMON_SRC) \ - $(TELE_FAKE_SRC) \ - $(TM_DRIVER_SRC) \ - $(TM_TASK_SRC) \ - $(TM_MAIN_SRC) \ - $(TI_MAIN_SRC) \ - $(TD_MAIN_SRC) \ - $(TT_MAIN_SRC) - -TM_REL=$(TM_SRC:.c=.rel) ao_product-telemetrum.rel -TI_REL=$(TI_SRC:.c=.rel) ao_product-tidongle.rel -TT_REL=$(TT_SRC:.c=.rel) ao_product-teleterra.rel -TD_REL=$(TD_SRC:.c=.rel) ao_product-teledongle.rel - -PROD_REL=\ - ao_product-telemetrum.rel \ - ao_product-tidongle.rel \ - ao_product-teleterra.rel \ - ao_product-teledongle.rel - -REL=$(SRC:.c=.rel) $(PROD_REL) -ADB=$(REL:.rel=.adb) -ASM=$(REL:.rel=.asm) -LNK=$(REL:.rel=.lnk) -LST=$(REL:.rel=.lst) -RST=$(REL:.rel=.rst) -SYM=$(REL:.rel=.sym) - -PROGS= telemetrum.ihx tidongle.ihx \ - teleterra.ihx teledongle.ihx - -HOST_PROGS=ao_flight_test ao_gps_test +ifneq ($(shell which avr-gcc),) + SUBDIRS += telescience-v0.1 telepyro-v0.1 +endif -PCDB=$(PROGS:.ihx=.cdb) -PLNK=$(PROGS:.ihx=.lnk) -PMAP=$(PROGS:.ihx=.map) -PMEM=$(PROGS:.ihx=.mem) -PAOM=$(PROGS:.ihx=) +ifneq ($(shell which arm-none-eabi-gcc),) + SUBDIRS += megametrum-v0.1 stm-bringup stm-demo telelco-v0.1 +endif -%.rel : %.c $(INC) - $(CC) -c $(CFLAGS) -o$*.rel $*.c +all: all-local all-recursive -all: $(PROGS) $(HOST_PROGS) +RECURSIVE_TARGETS = all-recursive clean-recursive install-recursive -telemetrum.ihx: $(TM_REL) Makefile - $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $(TM_REL) - sh check-stack ao.h telemetrum.mem +$(RECURSIVE_TARGETS): + @target=`echo $@ | sed 's/-recursive//'`; \ + for subdir in $(SUBDIRS); do \ + echo "Making $$target in $$subdir"; \ + (cd $$subdir && $(MAKE) $$target) || exit 1; \ + done -tidongle.ihx: $(TI_REL) Makefile - $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $(TI_REL) - sh check-stack ao.h tidongle.mem +distclean: clean -tidongle.ihx: telemetrum.ihx +clean: clean-local clean-recursive -teleterra.ihx: $(TT_REL) Makefile - $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $(TT_REL) - sh check-stack ao.h teleterra.mem +install: install-recursive -teleterra.ihx: tidongle.ihx +uninstall: -teledongle.ihx: $(TD_REL) Makefile - $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $(TD_REL) - sh check-stack ao.h teledongle.mem +all-recursive: all-local -teledongle.ihx: teleterra.ihx +all-local: altitude.h altitude-pa.h ao_kalman.h ao_whiten.h altitude.h: make-altitude - nickle make-altitude > altitude.h - -TELEMETRUM_DEFS=ao-telemetrum.h -TELETERRA_DEFS=ao-teleterra.h -TELEDONGLE_DEFS=ao-teledongle.h -TIDONGLE_DEFS=ao-tidongle.h - -ALL_DEFS=$(TELEMETRUM_DEFS) $(TELETERRA_DEFS) \ - $(TELEDONGLE_DEFS) $(TIDONGLE_DEFS) -ao_product-telemetrum.rel: ao_product.c $(TELEMETRUM_DEFS) - $(CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"$(TELEMETRUM_DEFS)\"' -o$@ ao_product.c - -ao_product-teleterra.rel: ao_product.c $(TELETERRA_DEFS) - $(CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"$(TELETERRA_DEFS)\"' -o$@ ao_product.c - -ao_product-teledongle.rel: ao_product.c $(TELEDONGLE_DEFS) - $(CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"$(TELEDONGLE_DEFS)\"' -o$@ ao_product.c - -ao_product-tidongle.rel: ao_product.c $(TIDONGLE_DEFS) - $(CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"$(TIDONGLE_DEFS)\"' -o$@ ao_product.c - -$(TELEMETRUM_DEFS): ao-make-product.5c - nickle ao-make-product.5c -m altusmetrum.org -p TeleMetrum -v $(VERSION) > $@ - -$(TELETERRA_DEFS): ao-make-product.5c - nickle ao-make-product.5c -m altusmetrum.org -p TeleTerra -v $(VERSION) > $@ - -$(TELEDONGLE_DEFS): ao-make-product.5c - nickle ao-make-product.5c -m altusmetrum.org -p TeleDongle -v $(VERSION) > $@ - -$(TIDONGLE_DEFS): ao-make-product.5c - nickle ao-make-product.5c -m altusmetrum.org -p TIDongle -v $(VERSION) > $@ - -distclean: clean + nickle $< > $@ -clean: - rm -f $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM) - rm -f $(PROGS) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM) - rm -f $(ALL_DEFS) $(HOST_PROGS) - rm -f $(TELEMETRUM_DEFS) $(TELETERRA_DEFS) $(TELEDONGLE_DEFS) $(TIDONGLE_DEFS) +altitude-pa.h: make-altitude-pa + nickle $< > $@ -install: +ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c + bash $< kalman > $@ -ao_flight_test: ao_flight.c ao_flight_test.c - cc -g -o $@ ao_flight_test.c +ao_whiten.h: make-whiten + nickle $< > $@ -ao_gps_test: ao_gps.c ao_gps_test.c ao_host.h - cc -g -o $@ ao_gps_test.c +clean-local: + rm -f altitude.h ao_kalman.h diff --git a/src/Version.in b/src/Version.in new file mode 100644 index 00000000..aff9490b --- /dev/null +++ b/src/Version.in @@ -0,0 +1 @@ +VERSION=@VERSION@ diff --git a/src/aes/ao_aes.c b/src/aes/ao_aes.c new file mode 100644 index 00000000..4977aaf8 --- /dev/null +++ b/src/aes/ao_aes.c @@ -0,0 +1,390 @@ +/* Copyright (C) 2000-2009 Peter Selinger. + This file is part of ccrypt. It is free software and it is covered + by the GNU general public license. See the file COPYING for details. */ + +/* rijndael.c - optimized version of the Rijndeal cipher */ +/* $Id: rijndael.c 258 2009-08-26 17:46:10Z selinger $ */ + +/* derived from original source: rijndael-alg-ref.c v2.0 August '99 + * Reference ANSI C code for NIST competition + * authors: Paulo Barreto + * Vincent Rijmen + */ + +#include <ao.h> +#include <ao_aes.h> +#include "ao_aes_int.h" + +static const int xshifts[3][2][4] = { + {{0, 1, 2, 3}, + {0, 3, 2, 1}}, + + {{0, 1, 2, 3}, + {0, 5, 4, 3}}, + + {{0, 1, 3, 4}, + {0, 7, 5, 4}}, +}; + +/* Exor corresponding text input and round key input bytes */ +/* the result is written to res, which can be the same as a */ +static inline void xKeyAddition(word32 res[MAXBC], word32 a[MAXBC], + word32 rk[MAXBC], int BC) +{ + int j; + + for (j = 0; j < BC; j++) { + res[j] = a[j] ^ rk[j]; + } +} + +#if 0 /* code included for reference */ + +/* shift rows a, return result in res. This avoids having to copy a + tmp array back to a. res must not be a. */ +static inline void xShiftRow(word32 res[MAXBC], word32 a[MAXBC], int shift[4], + int BC) +{ + word8 (*a8)[4] = (word8 (*)[4]) a; + word8 (*res8)[4] = (word8 (*)[4]) res; + + /* Row 0 remains unchanged + * The other three rows are shifted a variable amount + */ + int i, j; + int s; + + for (j = 0; j < BC; j++) { + res8[j][0] = a8[j][0]; + } + for (i = 1; i < 4; i++) { + s = shift[i]; + for (j = 0; j < BC; j++) { + res8[j][i] = a8[(j + s) % BC][i]; + } + } +} + +static inline void xSubstitution(word32 a[MAXBC], word8 box[256], int BC) +{ + word8 (*a8)[4] = (word8 (*)[4]) a; + + /* Replace every byte of the input by the byte at that place + * in the nonlinear S-box + */ + int i, j; + + for (i = 0; i < 4; i++) { + for (j = 0; j < BC; j++) { + a8[j][i] = box[a[j][i]]; + } + } +} + +#endif /* code included for reference */ + +/* profiling shows that the ccrypt program spends about 50% of its + time in the function xShiftSubst. Splitting the inner "for" + statement into two parts - versus using the expensive "%" modulo + operation, makes this function about 44% faster, thereby making the + entire program about 28% faster. With -O3 optimization, the time + savings are even more dramatic - ccrypt runs between 55% and 65% + faster on most platforms. */ + +/* do ShiftRow and Substitution together. res must not be a. */ +static inline void xShiftSubst(word32 res[MAXBC], word32 a[MAXBC], + int shift[4], int BC, const word8 box[256]) +{ + int i, j; + int s; + word8 (*a8)[4] = (word8 (*)[4]) a; + word8 (*res8)[4] = (word8 (*)[4]) res; + + for (j = 0; j < BC; j++) { + res8[j][0] = box[a8[j][0]]; + } + for (i = 1; i < 4; i++) { + s = shift[i]; + for (j = 0; j < BC - s; j++) { + res8[j][i] = box[a8[(j + s)][i]]; + } + for (j = BC - s; j < BC; j++) { + res8[j][i] = box[a8[(j + s) - BC][i]]; + } + } +} + +#if 0 /* code included for reference */ + +/* Mix the four bytes of every column in a linear way */ +/* the result is written to res, which may equal a */ +static inline void xMixColumn(word32 res[MAXBC], word32 a[MAXBC], int BC) +{ + int j; + word32 b; + word8 (*a8)[4] = (word8 (*)[4]) a; + + for (j = 0; j < BC; j++) { + b = M0[0][a8[j][0]].w32; + b ^= M0[1][a8[j][1]].w32; + b ^= M0[2][a8[j][2]].w32; + b ^= M0[3][a8[j][3]].w32; + res[j] = b; + } +} + +#endif /* code included for reference */ + +/* do MixColumn and KeyAddition together */ +static inline void xMixAdd(word32 res[MAXBC], word32 a[MAXBC], + word32 rk[MAXBC], int BC) +{ + int j; + word32 b; + word8 (*a8)[4] = (word8 (*)[4]) a; + + for (j = 0; j < BC; j++) { + b = M0[0][a8[j][0]].w32; + b ^= M0[1][a8[j][1]].w32; + b ^= M0[2][a8[j][2]].w32; + b ^= M0[3][a8[j][3]].w32; + b ^= rk[j]; + res[j] = b; + } +} + +/* Mix the four bytes of every column in a linear way + * This is the opposite operation of xMixColumn */ +/* the result is written to res, which may equal a */ +static inline void xInvMixColumn(word32 res[MAXBC], word32 a[MAXBC], int BC) +{ + int j; + word32 b; + word8 (*a8)[4] = (word8 (*)[4]) a; + + for (j = 0; j < BC; j++) { + b = M1[0][a8[j][0]].w32; + b ^= M1[1][a8[j][1]].w32; + b ^= M1[2][a8[j][2]].w32; + b ^= M1[3][a8[j][3]].w32; + res[j] = b; + } +} + +#if 0 /* code included for reference */ + +/* do KeyAddition and InvMixColumn together */ +static inline void xAddInvMix(word32 res[MAXBC], word32 a[MAXBC], + word32 rk[MAXBC], int BC) +{ + int j; + word32 b; + word8 (*a8)[4] = (word8 (*)[4]) a; + + for (j = 0; j < BC; j++) { + a[j] = a[j] ^ rk[j]; + b = M1[0][a8[j][0]].w32; + b ^= M1[1][a8[j][1]].w32; + b ^= M1[2][a8[j][2]].w32; + b ^= M1[3][a8[j][3]].w32; + res[j] = b; + } +} + +#endif /* code included for reference */ + +int xrijndaelKeySched(word32 key[], int keyBits, int blockBits, + roundkey *rkk) +{ + /* Calculate the necessary round keys + * The number of calculations depends on keyBits and blockBits */ + int KC, BC, ROUNDS; + int i, j, t, rconpointer = 0; + word8 (*k8)[4] = (word8 (*)[4]) key; + + switch (keyBits) { + case 128: + KC = 4; + break; + case 192: + KC = 6; + break; + case 256: + KC = 8; + break; + default: + return -1; + } + + switch (blockBits) { + case 128: + BC = 4; + break; + case 192: + BC = 6; + break; + case 256: + BC = 8; + break; + default: + return -2; + } + + ROUNDS = KC > BC ? KC + 6 : BC + 6; + + t = 0; + /* copy values into round key array */ + for (j = 0; (j < KC) && (t < (ROUNDS + 1) * BC); j++, t++) + rkk->rk[t] = key[j]; + + while (t < (ROUNDS + 1) * BC) { /* while not enough round key material */ + /* calculate new values */ + for (i = 0; i < 4; i++) { + k8[0][i] ^= xS[k8[KC - 1][(i + 1) % 4]]; + } + k8[0][0] ^= xrcon[rconpointer++]; + + if (KC != 8) { + for (j = 1; j < KC; j++) { + key[j] ^= key[j - 1]; + } + } else { + for (j = 1; j < 4; j++) { + key[j] ^= key[j - 1]; + } + for (i = 0; i < 4; i++) { + k8[4][i] ^= xS[k8[3][i]]; + } + for (j = 5; j < 8; j++) { + key[j] ^= key[j - 1]; + } + } + /* copy values into round key array */ + for (j = 0; (j < KC) && (t < (ROUNDS + 1) * BC); j++, t++) { + rkk->rk[t] = key[j]; + } + } + + /* make roundkey structure */ + rkk->BC = BC; + rkk->KC = KC; + rkk->ROUNDS = ROUNDS; + for (i = 0; i < 2; i++) { + for (j = 0; j < 4; j++) { + rkk->shift[i][j] = xshifts[(BC - 4) >> 1][i][j]; + } + } + + return 0; +} + +/* Encryption of one block. */ + +void xrijndaelEncrypt(word32 block[], roundkey *rkk) +{ + word32 block2[MAXBC]; /* hold intermediate result */ + int r; + + int *shift = rkk->shift[0]; + int BC = rkk->BC; + int ROUNDS = rkk->ROUNDS; + word32 *rp = rkk->rk; + + /* begin with a key addition */ + xKeyAddition(block, block, rp, BC); + rp += BC; + + /* ROUNDS-1 ordinary rounds */ + for (r = 1; r < ROUNDS; r++) { + xShiftSubst(block2, block, shift, BC, xS); + xMixAdd(block, block2, rp, BC); + rp += BC; + } + + /* Last round is special: there is no xMixColumn */ + xShiftSubst(block2, block, shift, BC, xS); + xKeyAddition(block, block2, rp, BC); +} + +void xrijndaelDecrypt(word32 block[], roundkey *rkk) +{ + word32 block2[MAXBC]; /* hold intermediate result */ + int r; + + int *shift = rkk->shift[1]; + int BC = rkk->BC; + int ROUNDS = rkk->ROUNDS; + word32 *rp = rkk->rk + ROUNDS * BC; + + /* To decrypt: apply the inverse operations of the encrypt routine, + * in opposite order + * + * (xKeyAddition is an involution: it's equal to its inverse) + * (the inverse of xSubstitution with table S is xSubstitution with the + * inverse table of S) + * (the inverse of xShiftRow is xShiftRow over a suitable distance) + */ + + /* First the special round: + * without xInvMixColumn + * with extra xKeyAddition + */ + xKeyAddition(block2, block, rp, BC); + xShiftSubst(block, block2, shift, BC, xSi); + rp -= BC; + + /* ROUNDS-1 ordinary rounds + */ + for (r = ROUNDS - 1; r > 0; r--) { + xKeyAddition(block, block, rp, BC); + xInvMixColumn(block2, block, BC); + xShiftSubst(block, block2, shift, BC, xSi); + rp -= BC; + } + + /* End with the extra key addition + */ + + xKeyAddition(block, block, rp, BC); +} + +uint8_t ao_aes_mutex; +static roundkey rkk; + +static uint8_t iv[16]; + +void +ao_aes_set_mode(enum ao_aes_mode mode) +{ + /* we only do CBC_MAC anyways... */ +} + +void +ao_aes_set_key(__xdata uint8_t *in) +{ + xrijndaelKeySched((word32 *) in, 128, 128, &rkk); +} + +void +ao_aes_zero_iv(void) +{ + memset(iv, '\0', sizeof (iv)); +} + +void +ao_aes_run(__xdata uint8_t *in, + __xdata uint8_t *out) +{ + uint8_t i; + + for (i = 0; i < 16; i++) + iv[i] ^= in[i]; + xrijndaelEncrypt((word32 *) iv, &rkk); + if (out) + memcpy(out, iv, 16); +} + +void +ao_aes_init(void) +{ +} diff --git a/src/aes/ao_aes_int.h b/src/aes/ao_aes_int.h new file mode 100644 index 00000000..7990a2e1 --- /dev/null +++ b/src/aes/ao_aes_int.h @@ -0,0 +1,64 @@ +/* Copyright (C) 2000-2009 Peter Selinger. + This file is part of ccrypt. It is free software and it is covered + by the GNU general public license. See the file COPYING for details. */ + +/* rijndael.h */ +/* $Id: rijndael.h 258 2009-08-26 17:46:10Z selinger $ */ + +/* derived from original source: rijndael-alg-ref.h v2.0 August '99 + * Reference ANSI C code for NIST competition + * authors: Paulo Barreto + * Vincent Rijmen + */ + +#ifndef __RIJNDAEL_H +#define __RIJNDAEL_H + +#include <stdint.h> + +typedef uint8_t word8; +typedef uint32_t word32; + +/* a type to hold 32 bits accessible as 1 integer or 4 bytes */ +union word8x4_u { + word8 w8[4]; + word32 w32; +}; +typedef union word8x4_u word8x4; + +#include "ao_aes_tables.h" + +#define MAXBC (256/32) +#define MAXKC (256/32) +#define MAXROUNDS 14 +#define MAXRK ((MAXROUNDS+1)*MAXBC) + +typedef struct { + int BC; + int KC; + int ROUNDS; + int shift[2][4]; + word32 rk[MAXRK]; +} roundkey; + +/* keys and blocks are externally treated as word32 arrays, to + make sure they are aligned on 4-byte boundaries on architectures + that require it. */ + +/* make a roundkey rkk from key. key must have appropriate size given + by keyBits. keyBits and blockBits may only be 128, 196, or + 256. Returns non-zero if arguments are invalid. */ + +int xrijndaelKeySched(word32 key[], int keyBits, int blockBits, + roundkey *rkk); + +/* encrypt, resp. decrypt, block using rijndael roundkey rkk. rkk must + have been created with xrijndaelKeySched. Size of block, in bits, + must be equal to blockBits parameter that was used to make rkk. In + all other cases, behavior is undefined - for reasons of speed, no + check for error conditions is done. */ + +void xrijndaelEncrypt(word32 block[], roundkey *rkk); +void xrijndaelDecrypt(word32 block[], roundkey *rkk); + +#endif /* __RIJNDAEL_H */ diff --git a/src/aes/ao_aes_tables.c b/src/aes/ao_aes_tables.c new file mode 100644 index 00000000..1bca227c --- /dev/null +++ b/src/aes/ao_aes_tables.c @@ -0,0 +1,768 @@ +/* Copyright (C) 2000-2009 Peter Selinger. + This file is part of ccrypt. It is free software and it is covered + by the GNU general public license. See the file COPYING for details. */ + +/* generated by maketables.c */ + +#include "ao_aes_int.h" + +const word8x4 M0[4][256] = { + { + {{ 0, 0, 0, 0}}, {{ 2, 1, 1, 3}}, {{ 4, 2, 2, 6}}, + {{ 6, 3, 3, 5}}, {{ 8, 4, 4, 12}}, {{ 10, 5, 5, 15}}, + {{ 12, 6, 6, 10}}, {{ 14, 7, 7, 9}}, {{ 16, 8, 8, 24}}, + {{ 18, 9, 9, 27}}, {{ 20, 10, 10, 30}}, {{ 22, 11, 11, 29}}, + {{ 24, 12, 12, 20}}, {{ 26, 13, 13, 23}}, {{ 28, 14, 14, 18}}, + {{ 30, 15, 15, 17}}, {{ 32, 16, 16, 48}}, {{ 34, 17, 17, 51}}, + {{ 36, 18, 18, 54}}, {{ 38, 19, 19, 53}}, {{ 40, 20, 20, 60}}, + {{ 42, 21, 21, 63}}, {{ 44, 22, 22, 58}}, {{ 46, 23, 23, 57}}, + {{ 48, 24, 24, 40}}, {{ 50, 25, 25, 43}}, {{ 52, 26, 26, 46}}, + {{ 54, 27, 27, 45}}, {{ 56, 28, 28, 36}}, {{ 58, 29, 29, 39}}, + {{ 60, 30, 30, 34}}, {{ 62, 31, 31, 33}}, {{ 64, 32, 32, 96}}, + {{ 66, 33, 33, 99}}, {{ 68, 34, 34, 102}}, {{ 70, 35, 35, 101}}, + {{ 72, 36, 36, 108}}, {{ 74, 37, 37, 111}}, {{ 76, 38, 38, 106}}, + {{ 78, 39, 39, 105}}, {{ 80, 40, 40, 120}}, {{ 82, 41, 41, 123}}, + {{ 84, 42, 42, 126}}, {{ 86, 43, 43, 125}}, {{ 88, 44, 44, 116}}, + {{ 90, 45, 45, 119}}, {{ 92, 46, 46, 114}}, {{ 94, 47, 47, 113}}, + {{ 96, 48, 48, 80}}, {{ 98, 49, 49, 83}}, {{100, 50, 50, 86}}, + {{102, 51, 51, 85}}, {{104, 52, 52, 92}}, {{106, 53, 53, 95}}, + {{108, 54, 54, 90}}, {{110, 55, 55, 89}}, {{112, 56, 56, 72}}, + {{114, 57, 57, 75}}, {{116, 58, 58, 78}}, {{118, 59, 59, 77}}, + {{120, 60, 60, 68}}, {{122, 61, 61, 71}}, {{124, 62, 62, 66}}, + {{126, 63, 63, 65}}, {{128, 64, 64, 192}}, {{130, 65, 65, 195}}, + {{132, 66, 66, 198}}, {{134, 67, 67, 197}}, {{136, 68, 68, 204}}, + {{138, 69, 69, 207}}, {{140, 70, 70, 202}}, {{142, 71, 71, 201}}, + {{144, 72, 72, 216}}, {{146, 73, 73, 219}}, {{148, 74, 74, 222}}, + {{150, 75, 75, 221}}, {{152, 76, 76, 212}}, {{154, 77, 77, 215}}, + {{156, 78, 78, 210}}, {{158, 79, 79, 209}}, {{160, 80, 80, 240}}, + {{162, 81, 81, 243}}, {{164, 82, 82, 246}}, {{166, 83, 83, 245}}, + {{168, 84, 84, 252}}, {{170, 85, 85, 255}}, {{172, 86, 86, 250}}, + {{174, 87, 87, 249}}, {{176, 88, 88, 232}}, {{178, 89, 89, 235}}, + {{180, 90, 90, 238}}, {{182, 91, 91, 237}}, {{184, 92, 92, 228}}, + {{186, 93, 93, 231}}, {{188, 94, 94, 226}}, {{190, 95, 95, 225}}, + {{192, 96, 96, 160}}, {{194, 97, 97, 163}}, {{196, 98, 98, 166}}, + {{198, 99, 99, 165}}, {{200, 100, 100, 172}}, {{202, 101, 101, 175}}, + {{204, 102, 102, 170}}, {{206, 103, 103, 169}}, {{208, 104, 104, 184}}, + {{210, 105, 105, 187}}, {{212, 106, 106, 190}}, {{214, 107, 107, 189}}, + {{216, 108, 108, 180}}, {{218, 109, 109, 183}}, {{220, 110, 110, 178}}, + {{222, 111, 111, 177}}, {{224, 112, 112, 144}}, {{226, 113, 113, 147}}, + {{228, 114, 114, 150}}, {{230, 115, 115, 149}}, {{232, 116, 116, 156}}, + {{234, 117, 117, 159}}, {{236, 118, 118, 154}}, {{238, 119, 119, 153}}, + {{240, 120, 120, 136}}, {{242, 121, 121, 139}}, {{244, 122, 122, 142}}, + {{246, 123, 123, 141}}, {{248, 124, 124, 132}}, {{250, 125, 125, 135}}, + {{252, 126, 126, 130}}, {{254, 127, 127, 129}}, {{ 27, 128, 128, 155}}, + {{ 25, 129, 129, 152}}, {{ 31, 130, 130, 157}}, {{ 29, 131, 131, 158}}, + {{ 19, 132, 132, 151}}, {{ 17, 133, 133, 148}}, {{ 23, 134, 134, 145}}, + {{ 21, 135, 135, 146}}, {{ 11, 136, 136, 131}}, {{ 9, 137, 137, 128}}, + {{ 15, 138, 138, 133}}, {{ 13, 139, 139, 134}}, {{ 3, 140, 140, 143}}, + {{ 1, 141, 141, 140}}, {{ 7, 142, 142, 137}}, {{ 5, 143, 143, 138}}, + {{ 59, 144, 144, 171}}, {{ 57, 145, 145, 168}}, {{ 63, 146, 146, 173}}, + {{ 61, 147, 147, 174}}, {{ 51, 148, 148, 167}}, {{ 49, 149, 149, 164}}, + {{ 55, 150, 150, 161}}, {{ 53, 151, 151, 162}}, {{ 43, 152, 152, 179}}, + {{ 41, 153, 153, 176}}, {{ 47, 154, 154, 181}}, {{ 45, 155, 155, 182}}, + {{ 35, 156, 156, 191}}, {{ 33, 157, 157, 188}}, {{ 39, 158, 158, 185}}, + {{ 37, 159, 159, 186}}, {{ 91, 160, 160, 251}}, {{ 89, 161, 161, 248}}, + {{ 95, 162, 162, 253}}, {{ 93, 163, 163, 254}}, {{ 83, 164, 164, 247}}, + {{ 81, 165, 165, 244}}, {{ 87, 166, 166, 241}}, {{ 85, 167, 167, 242}}, + {{ 75, 168, 168, 227}}, {{ 73, 169, 169, 224}}, {{ 79, 170, 170, 229}}, + {{ 77, 171, 171, 230}}, {{ 67, 172, 172, 239}}, {{ 65, 173, 173, 236}}, + {{ 71, 174, 174, 233}}, {{ 69, 175, 175, 234}}, {{123, 176, 176, 203}}, + {{121, 177, 177, 200}}, {{127, 178, 178, 205}}, {{125, 179, 179, 206}}, + {{115, 180, 180, 199}}, {{113, 181, 181, 196}}, {{119, 182, 182, 193}}, + {{117, 183, 183, 194}}, {{107, 184, 184, 211}}, {{105, 185, 185, 208}}, + {{111, 186, 186, 213}}, {{109, 187, 187, 214}}, {{ 99, 188, 188, 223}}, + {{ 97, 189, 189, 220}}, {{103, 190, 190, 217}}, {{101, 191, 191, 218}}, + {{155, 192, 192, 91}}, {{153, 193, 193, 88}}, {{159, 194, 194, 93}}, + {{157, 195, 195, 94}}, {{147, 196, 196, 87}}, {{145, 197, 197, 84}}, + {{151, 198, 198, 81}}, {{149, 199, 199, 82}}, {{139, 200, 200, 67}}, + {{137, 201, 201, 64}}, {{143, 202, 202, 69}}, {{141, 203, 203, 70}}, + {{131, 204, 204, 79}}, {{129, 205, 205, 76}}, {{135, 206, 206, 73}}, + {{133, 207, 207, 74}}, {{187, 208, 208, 107}}, {{185, 209, 209, 104}}, + {{191, 210, 210, 109}}, {{189, 211, 211, 110}}, {{179, 212, 212, 103}}, + {{177, 213, 213, 100}}, {{183, 214, 214, 97}}, {{181, 215, 215, 98}}, + {{171, 216, 216, 115}}, {{169, 217, 217, 112}}, {{175, 218, 218, 117}}, + {{173, 219, 219, 118}}, {{163, 220, 220, 127}}, {{161, 221, 221, 124}}, + {{167, 222, 222, 121}}, {{165, 223, 223, 122}}, {{219, 224, 224, 59}}, + {{217, 225, 225, 56}}, {{223, 226, 226, 61}}, {{221, 227, 227, 62}}, + {{211, 228, 228, 55}}, {{209, 229, 229, 52}}, {{215, 230, 230, 49}}, + {{213, 231, 231, 50}}, {{203, 232, 232, 35}}, {{201, 233, 233, 32}}, + {{207, 234, 234, 37}}, {{205, 235, 235, 38}}, {{195, 236, 236, 47}}, + {{193, 237, 237, 44}}, {{199, 238, 238, 41}}, {{197, 239, 239, 42}}, + {{251, 240, 240, 11}}, {{249, 241, 241, 8}}, {{255, 242, 242, 13}}, + {{253, 243, 243, 14}}, {{243, 244, 244, 7}}, {{241, 245, 245, 4}}, + {{247, 246, 246, 1}}, {{245, 247, 247, 2}}, {{235, 248, 248, 19}}, + {{233, 249, 249, 16}}, {{239, 250, 250, 21}}, {{237, 251, 251, 22}}, + {{227, 252, 252, 31}}, {{225, 253, 253, 28}}, {{231, 254, 254, 25}}, + {{229, 255, 255, 26}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 3, 2, 1, 1}}, {{ 6, 4, 2, 2}}, + {{ 5, 6, 3, 3}}, {{ 12, 8, 4, 4}}, {{ 15, 10, 5, 5}}, + {{ 10, 12, 6, 6}}, {{ 9, 14, 7, 7}}, {{ 24, 16, 8, 8}}, + {{ 27, 18, 9, 9}}, {{ 30, 20, 10, 10}}, {{ 29, 22, 11, 11}}, + {{ 20, 24, 12, 12}}, {{ 23, 26, 13, 13}}, {{ 18, 28, 14, 14}}, + {{ 17, 30, 15, 15}}, {{ 48, 32, 16, 16}}, {{ 51, 34, 17, 17}}, + {{ 54, 36, 18, 18}}, {{ 53, 38, 19, 19}}, {{ 60, 40, 20, 20}}, + {{ 63, 42, 21, 21}}, {{ 58, 44, 22, 22}}, {{ 57, 46, 23, 23}}, + {{ 40, 48, 24, 24}}, {{ 43, 50, 25, 25}}, {{ 46, 52, 26, 26}}, + {{ 45, 54, 27, 27}}, {{ 36, 56, 28, 28}}, {{ 39, 58, 29, 29}}, + {{ 34, 60, 30, 30}}, {{ 33, 62, 31, 31}}, {{ 96, 64, 32, 32}}, + {{ 99, 66, 33, 33}}, {{102, 68, 34, 34}}, {{101, 70, 35, 35}}, + {{108, 72, 36, 36}}, {{111, 74, 37, 37}}, {{106, 76, 38, 38}}, + {{105, 78, 39, 39}}, {{120, 80, 40, 40}}, {{123, 82, 41, 41}}, + {{126, 84, 42, 42}}, {{125, 86, 43, 43}}, {{116, 88, 44, 44}}, + {{119, 90, 45, 45}}, {{114, 92, 46, 46}}, {{113, 94, 47, 47}}, + {{ 80, 96, 48, 48}}, {{ 83, 98, 49, 49}}, {{ 86, 100, 50, 50}}, + {{ 85, 102, 51, 51}}, {{ 92, 104, 52, 52}}, {{ 95, 106, 53, 53}}, + {{ 90, 108, 54, 54}}, {{ 89, 110, 55, 55}}, {{ 72, 112, 56, 56}}, + {{ 75, 114, 57, 57}}, {{ 78, 116, 58, 58}}, {{ 77, 118, 59, 59}}, + {{ 68, 120, 60, 60}}, {{ 71, 122, 61, 61}}, {{ 66, 124, 62, 62}}, + {{ 65, 126, 63, 63}}, {{192, 128, 64, 64}}, {{195, 130, 65, 65}}, + {{198, 132, 66, 66}}, {{197, 134, 67, 67}}, {{204, 136, 68, 68}}, + {{207, 138, 69, 69}}, {{202, 140, 70, 70}}, {{201, 142, 71, 71}}, + {{216, 144, 72, 72}}, {{219, 146, 73, 73}}, {{222, 148, 74, 74}}, + {{221, 150, 75, 75}}, {{212, 152, 76, 76}}, {{215, 154, 77, 77}}, + {{210, 156, 78, 78}}, {{209, 158, 79, 79}}, {{240, 160, 80, 80}}, + {{243, 162, 81, 81}}, {{246, 164, 82, 82}}, {{245, 166, 83, 83}}, + {{252, 168, 84, 84}}, {{255, 170, 85, 85}}, {{250, 172, 86, 86}}, + {{249, 174, 87, 87}}, {{232, 176, 88, 88}}, {{235, 178, 89, 89}}, + {{238, 180, 90, 90}}, {{237, 182, 91, 91}}, {{228, 184, 92, 92}}, + {{231, 186, 93, 93}}, {{226, 188, 94, 94}}, {{225, 190, 95, 95}}, + {{160, 192, 96, 96}}, {{163, 194, 97, 97}}, {{166, 196, 98, 98}}, + {{165, 198, 99, 99}}, {{172, 200, 100, 100}}, {{175, 202, 101, 101}}, + {{170, 204, 102, 102}}, {{169, 206, 103, 103}}, {{184, 208, 104, 104}}, + {{187, 210, 105, 105}}, {{190, 212, 106, 106}}, {{189, 214, 107, 107}}, + {{180, 216, 108, 108}}, {{183, 218, 109, 109}}, {{178, 220, 110, 110}}, + {{177, 222, 111, 111}}, {{144, 224, 112, 112}}, {{147, 226, 113, 113}}, + {{150, 228, 114, 114}}, {{149, 230, 115, 115}}, {{156, 232, 116, 116}}, + {{159, 234, 117, 117}}, {{154, 236, 118, 118}}, {{153, 238, 119, 119}}, + {{136, 240, 120, 120}}, {{139, 242, 121, 121}}, {{142, 244, 122, 122}}, + {{141, 246, 123, 123}}, {{132, 248, 124, 124}}, {{135, 250, 125, 125}}, + {{130, 252, 126, 126}}, {{129, 254, 127, 127}}, {{155, 27, 128, 128}}, + {{152, 25, 129, 129}}, {{157, 31, 130, 130}}, {{158, 29, 131, 131}}, + {{151, 19, 132, 132}}, {{148, 17, 133, 133}}, {{145, 23, 134, 134}}, + {{146, 21, 135, 135}}, {{131, 11, 136, 136}}, {{128, 9, 137, 137}}, + {{133, 15, 138, 138}}, {{134, 13, 139, 139}}, {{143, 3, 140, 140}}, + {{140, 1, 141, 141}}, {{137, 7, 142, 142}}, {{138, 5, 143, 143}}, + {{171, 59, 144, 144}}, {{168, 57, 145, 145}}, {{173, 63, 146, 146}}, + {{174, 61, 147, 147}}, {{167, 51, 148, 148}}, {{164, 49, 149, 149}}, + {{161, 55, 150, 150}}, {{162, 53, 151, 151}}, {{179, 43, 152, 152}}, + {{176, 41, 153, 153}}, {{181, 47, 154, 154}}, {{182, 45, 155, 155}}, + {{191, 35, 156, 156}}, {{188, 33, 157, 157}}, {{185, 39, 158, 158}}, + {{186, 37, 159, 159}}, {{251, 91, 160, 160}}, {{248, 89, 161, 161}}, + {{253, 95, 162, 162}}, {{254, 93, 163, 163}}, {{247, 83, 164, 164}}, + {{244, 81, 165, 165}}, {{241, 87, 166, 166}}, {{242, 85, 167, 167}}, + {{227, 75, 168, 168}}, {{224, 73, 169, 169}}, {{229, 79, 170, 170}}, + {{230, 77, 171, 171}}, {{239, 67, 172, 172}}, {{236, 65, 173, 173}}, + {{233, 71, 174, 174}}, {{234, 69, 175, 175}}, {{203, 123, 176, 176}}, + {{200, 121, 177, 177}}, {{205, 127, 178, 178}}, {{206, 125, 179, 179}}, + {{199, 115, 180, 180}}, {{196, 113, 181, 181}}, {{193, 119, 182, 182}}, + {{194, 117, 183, 183}}, {{211, 107, 184, 184}}, {{208, 105, 185, 185}}, + {{213, 111, 186, 186}}, {{214, 109, 187, 187}}, {{223, 99, 188, 188}}, + {{220, 97, 189, 189}}, {{217, 103, 190, 190}}, {{218, 101, 191, 191}}, + {{ 91, 155, 192, 192}}, {{ 88, 153, 193, 193}}, {{ 93, 159, 194, 194}}, + {{ 94, 157, 195, 195}}, {{ 87, 147, 196, 196}}, {{ 84, 145, 197, 197}}, + {{ 81, 151, 198, 198}}, {{ 82, 149, 199, 199}}, {{ 67, 139, 200, 200}}, + {{ 64, 137, 201, 201}}, {{ 69, 143, 202, 202}}, {{ 70, 141, 203, 203}}, + {{ 79, 131, 204, 204}}, {{ 76, 129, 205, 205}}, {{ 73, 135, 206, 206}}, + {{ 74, 133, 207, 207}}, {{107, 187, 208, 208}}, {{104, 185, 209, 209}}, + {{109, 191, 210, 210}}, {{110, 189, 211, 211}}, {{103, 179, 212, 212}}, + {{100, 177, 213, 213}}, {{ 97, 183, 214, 214}}, {{ 98, 181, 215, 215}}, + {{115, 171, 216, 216}}, {{112, 169, 217, 217}}, {{117, 175, 218, 218}}, + {{118, 173, 219, 219}}, {{127, 163, 220, 220}}, {{124, 161, 221, 221}}, + {{121, 167, 222, 222}}, {{122, 165, 223, 223}}, {{ 59, 219, 224, 224}}, + {{ 56, 217, 225, 225}}, {{ 61, 223, 226, 226}}, {{ 62, 221, 227, 227}}, + {{ 55, 211, 228, 228}}, {{ 52, 209, 229, 229}}, {{ 49, 215, 230, 230}}, + {{ 50, 213, 231, 231}}, {{ 35, 203, 232, 232}}, {{ 32, 201, 233, 233}}, + {{ 37, 207, 234, 234}}, {{ 38, 205, 235, 235}}, {{ 47, 195, 236, 236}}, + {{ 44, 193, 237, 237}}, {{ 41, 199, 238, 238}}, {{ 42, 197, 239, 239}}, + {{ 11, 251, 240, 240}}, {{ 8, 249, 241, 241}}, {{ 13, 255, 242, 242}}, + {{ 14, 253, 243, 243}}, {{ 7, 243, 244, 244}}, {{ 4, 241, 245, 245}}, + {{ 1, 247, 246, 246}}, {{ 2, 245, 247, 247}}, {{ 19, 235, 248, 248}}, + {{ 16, 233, 249, 249}}, {{ 21, 239, 250, 250}}, {{ 22, 237, 251, 251}}, + {{ 31, 227, 252, 252}}, {{ 28, 225, 253, 253}}, {{ 25, 231, 254, 254}}, + {{ 26, 229, 255, 255}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 1, 3, 2, 1}}, {{ 2, 6, 4, 2}}, + {{ 3, 5, 6, 3}}, {{ 4, 12, 8, 4}}, {{ 5, 15, 10, 5}}, + {{ 6, 10, 12, 6}}, {{ 7, 9, 14, 7}}, {{ 8, 24, 16, 8}}, + {{ 9, 27, 18, 9}}, {{ 10, 30, 20, 10}}, {{ 11, 29, 22, 11}}, + {{ 12, 20, 24, 12}}, {{ 13, 23, 26, 13}}, {{ 14, 18, 28, 14}}, + {{ 15, 17, 30, 15}}, {{ 16, 48, 32, 16}}, {{ 17, 51, 34, 17}}, + {{ 18, 54, 36, 18}}, {{ 19, 53, 38, 19}}, {{ 20, 60, 40, 20}}, + {{ 21, 63, 42, 21}}, {{ 22, 58, 44, 22}}, {{ 23, 57, 46, 23}}, + {{ 24, 40, 48, 24}}, {{ 25, 43, 50, 25}}, {{ 26, 46, 52, 26}}, + {{ 27, 45, 54, 27}}, {{ 28, 36, 56, 28}}, {{ 29, 39, 58, 29}}, + {{ 30, 34, 60, 30}}, {{ 31, 33, 62, 31}}, {{ 32, 96, 64, 32}}, + {{ 33, 99, 66, 33}}, {{ 34, 102, 68, 34}}, {{ 35, 101, 70, 35}}, + {{ 36, 108, 72, 36}}, {{ 37, 111, 74, 37}}, {{ 38, 106, 76, 38}}, + {{ 39, 105, 78, 39}}, {{ 40, 120, 80, 40}}, {{ 41, 123, 82, 41}}, + {{ 42, 126, 84, 42}}, {{ 43, 125, 86, 43}}, {{ 44, 116, 88, 44}}, + {{ 45, 119, 90, 45}}, {{ 46, 114, 92, 46}}, {{ 47, 113, 94, 47}}, + {{ 48, 80, 96, 48}}, {{ 49, 83, 98, 49}}, {{ 50, 86, 100, 50}}, + {{ 51, 85, 102, 51}}, {{ 52, 92, 104, 52}}, {{ 53, 95, 106, 53}}, + {{ 54, 90, 108, 54}}, {{ 55, 89, 110, 55}}, {{ 56, 72, 112, 56}}, + {{ 57, 75, 114, 57}}, {{ 58, 78, 116, 58}}, {{ 59, 77, 118, 59}}, + {{ 60, 68, 120, 60}}, {{ 61, 71, 122, 61}}, {{ 62, 66, 124, 62}}, + {{ 63, 65, 126, 63}}, {{ 64, 192, 128, 64}}, {{ 65, 195, 130, 65}}, + {{ 66, 198, 132, 66}}, {{ 67, 197, 134, 67}}, {{ 68, 204, 136, 68}}, + {{ 69, 207, 138, 69}}, {{ 70, 202, 140, 70}}, {{ 71, 201, 142, 71}}, + {{ 72, 216, 144, 72}}, {{ 73, 219, 146, 73}}, {{ 74, 222, 148, 74}}, + {{ 75, 221, 150, 75}}, {{ 76, 212, 152, 76}}, {{ 77, 215, 154, 77}}, + {{ 78, 210, 156, 78}}, {{ 79, 209, 158, 79}}, {{ 80, 240, 160, 80}}, + {{ 81, 243, 162, 81}}, {{ 82, 246, 164, 82}}, {{ 83, 245, 166, 83}}, + {{ 84, 252, 168, 84}}, {{ 85, 255, 170, 85}}, {{ 86, 250, 172, 86}}, + {{ 87, 249, 174, 87}}, {{ 88, 232, 176, 88}}, {{ 89, 235, 178, 89}}, + {{ 90, 238, 180, 90}}, {{ 91, 237, 182, 91}}, {{ 92, 228, 184, 92}}, + {{ 93, 231, 186, 93}}, {{ 94, 226, 188, 94}}, {{ 95, 225, 190, 95}}, + {{ 96, 160, 192, 96}}, {{ 97, 163, 194, 97}}, {{ 98, 166, 196, 98}}, + {{ 99, 165, 198, 99}}, {{100, 172, 200, 100}}, {{101, 175, 202, 101}}, + {{102, 170, 204, 102}}, {{103, 169, 206, 103}}, {{104, 184, 208, 104}}, + {{105, 187, 210, 105}}, {{106, 190, 212, 106}}, {{107, 189, 214, 107}}, + {{108, 180, 216, 108}}, {{109, 183, 218, 109}}, {{110, 178, 220, 110}}, + {{111, 177, 222, 111}}, {{112, 144, 224, 112}}, {{113, 147, 226, 113}}, + {{114, 150, 228, 114}}, {{115, 149, 230, 115}}, {{116, 156, 232, 116}}, + {{117, 159, 234, 117}}, {{118, 154, 236, 118}}, {{119, 153, 238, 119}}, + {{120, 136, 240, 120}}, {{121, 139, 242, 121}}, {{122, 142, 244, 122}}, + {{123, 141, 246, 123}}, {{124, 132, 248, 124}}, {{125, 135, 250, 125}}, + {{126, 130, 252, 126}}, {{127, 129, 254, 127}}, {{128, 155, 27, 128}}, + {{129, 152, 25, 129}}, {{130, 157, 31, 130}}, {{131, 158, 29, 131}}, + {{132, 151, 19, 132}}, {{133, 148, 17, 133}}, {{134, 145, 23, 134}}, + {{135, 146, 21, 135}}, {{136, 131, 11, 136}}, {{137, 128, 9, 137}}, + {{138, 133, 15, 138}}, {{139, 134, 13, 139}}, {{140, 143, 3, 140}}, + {{141, 140, 1, 141}}, {{142, 137, 7, 142}}, {{143, 138, 5, 143}}, + {{144, 171, 59, 144}}, {{145, 168, 57, 145}}, {{146, 173, 63, 146}}, + {{147, 174, 61, 147}}, {{148, 167, 51, 148}}, {{149, 164, 49, 149}}, + {{150, 161, 55, 150}}, {{151, 162, 53, 151}}, {{152, 179, 43, 152}}, + {{153, 176, 41, 153}}, {{154, 181, 47, 154}}, {{155, 182, 45, 155}}, + {{156, 191, 35, 156}}, {{157, 188, 33, 157}}, {{158, 185, 39, 158}}, + {{159, 186, 37, 159}}, {{160, 251, 91, 160}}, {{161, 248, 89, 161}}, + {{162, 253, 95, 162}}, {{163, 254, 93, 163}}, {{164, 247, 83, 164}}, + {{165, 244, 81, 165}}, {{166, 241, 87, 166}}, {{167, 242, 85, 167}}, + {{168, 227, 75, 168}}, {{169, 224, 73, 169}}, {{170, 229, 79, 170}}, + {{171, 230, 77, 171}}, {{172, 239, 67, 172}}, {{173, 236, 65, 173}}, + {{174, 233, 71, 174}}, {{175, 234, 69, 175}}, {{176, 203, 123, 176}}, + {{177, 200, 121, 177}}, {{178, 205, 127, 178}}, {{179, 206, 125, 179}}, + {{180, 199, 115, 180}}, {{181, 196, 113, 181}}, {{182, 193, 119, 182}}, + {{183, 194, 117, 183}}, {{184, 211, 107, 184}}, {{185, 208, 105, 185}}, + {{186, 213, 111, 186}}, {{187, 214, 109, 187}}, {{188, 223, 99, 188}}, + {{189, 220, 97, 189}}, {{190, 217, 103, 190}}, {{191, 218, 101, 191}}, + {{192, 91, 155, 192}}, {{193, 88, 153, 193}}, {{194, 93, 159, 194}}, + {{195, 94, 157, 195}}, {{196, 87, 147, 196}}, {{197, 84, 145, 197}}, + {{198, 81, 151, 198}}, {{199, 82, 149, 199}}, {{200, 67, 139, 200}}, + {{201, 64, 137, 201}}, {{202, 69, 143, 202}}, {{203, 70, 141, 203}}, + {{204, 79, 131, 204}}, {{205, 76, 129, 205}}, {{206, 73, 135, 206}}, + {{207, 74, 133, 207}}, {{208, 107, 187, 208}}, {{209, 104, 185, 209}}, + {{210, 109, 191, 210}}, {{211, 110, 189, 211}}, {{212, 103, 179, 212}}, + {{213, 100, 177, 213}}, {{214, 97, 183, 214}}, {{215, 98, 181, 215}}, + {{216, 115, 171, 216}}, {{217, 112, 169, 217}}, {{218, 117, 175, 218}}, + {{219, 118, 173, 219}}, {{220, 127, 163, 220}}, {{221, 124, 161, 221}}, + {{222, 121, 167, 222}}, {{223, 122, 165, 223}}, {{224, 59, 219, 224}}, + {{225, 56, 217, 225}}, {{226, 61, 223, 226}}, {{227, 62, 221, 227}}, + {{228, 55, 211, 228}}, {{229, 52, 209, 229}}, {{230, 49, 215, 230}}, + {{231, 50, 213, 231}}, {{232, 35, 203, 232}}, {{233, 32, 201, 233}}, + {{234, 37, 207, 234}}, {{235, 38, 205, 235}}, {{236, 47, 195, 236}}, + {{237, 44, 193, 237}}, {{238, 41, 199, 238}}, {{239, 42, 197, 239}}, + {{240, 11, 251, 240}}, {{241, 8, 249, 241}}, {{242, 13, 255, 242}}, + {{243, 14, 253, 243}}, {{244, 7, 243, 244}}, {{245, 4, 241, 245}}, + {{246, 1, 247, 246}}, {{247, 2, 245, 247}}, {{248, 19, 235, 248}}, + {{249, 16, 233, 249}}, {{250, 21, 239, 250}}, {{251, 22, 237, 251}}, + {{252, 31, 227, 252}}, {{253, 28, 225, 253}}, {{254, 25, 231, 254}}, + {{255, 26, 229, 255}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 1, 1, 3, 2}}, {{ 2, 2, 6, 4}}, + {{ 3, 3, 5, 6}}, {{ 4, 4, 12, 8}}, {{ 5, 5, 15, 10}}, + {{ 6, 6, 10, 12}}, {{ 7, 7, 9, 14}}, {{ 8, 8, 24, 16}}, + {{ 9, 9, 27, 18}}, {{ 10, 10, 30, 20}}, {{ 11, 11, 29, 22}}, + {{ 12, 12, 20, 24}}, {{ 13, 13, 23, 26}}, {{ 14, 14, 18, 28}}, + {{ 15, 15, 17, 30}}, {{ 16, 16, 48, 32}}, {{ 17, 17, 51, 34}}, + {{ 18, 18, 54, 36}}, {{ 19, 19, 53, 38}}, {{ 20, 20, 60, 40}}, + {{ 21, 21, 63, 42}}, {{ 22, 22, 58, 44}}, {{ 23, 23, 57, 46}}, + {{ 24, 24, 40, 48}}, {{ 25, 25, 43, 50}}, {{ 26, 26, 46, 52}}, + {{ 27, 27, 45, 54}}, {{ 28, 28, 36, 56}}, {{ 29, 29, 39, 58}}, + {{ 30, 30, 34, 60}}, {{ 31, 31, 33, 62}}, {{ 32, 32, 96, 64}}, + {{ 33, 33, 99, 66}}, {{ 34, 34, 102, 68}}, {{ 35, 35, 101, 70}}, + {{ 36, 36, 108, 72}}, {{ 37, 37, 111, 74}}, {{ 38, 38, 106, 76}}, + {{ 39, 39, 105, 78}}, {{ 40, 40, 120, 80}}, {{ 41, 41, 123, 82}}, + {{ 42, 42, 126, 84}}, {{ 43, 43, 125, 86}}, {{ 44, 44, 116, 88}}, + {{ 45, 45, 119, 90}}, {{ 46, 46, 114, 92}}, {{ 47, 47, 113, 94}}, + {{ 48, 48, 80, 96}}, {{ 49, 49, 83, 98}}, {{ 50, 50, 86, 100}}, + {{ 51, 51, 85, 102}}, {{ 52, 52, 92, 104}}, {{ 53, 53, 95, 106}}, + {{ 54, 54, 90, 108}}, {{ 55, 55, 89, 110}}, {{ 56, 56, 72, 112}}, + {{ 57, 57, 75, 114}}, {{ 58, 58, 78, 116}}, {{ 59, 59, 77, 118}}, + {{ 60, 60, 68, 120}}, {{ 61, 61, 71, 122}}, {{ 62, 62, 66, 124}}, + {{ 63, 63, 65, 126}}, {{ 64, 64, 192, 128}}, {{ 65, 65, 195, 130}}, + {{ 66, 66, 198, 132}}, {{ 67, 67, 197, 134}}, {{ 68, 68, 204, 136}}, + {{ 69, 69, 207, 138}}, {{ 70, 70, 202, 140}}, {{ 71, 71, 201, 142}}, + {{ 72, 72, 216, 144}}, {{ 73, 73, 219, 146}}, {{ 74, 74, 222, 148}}, + {{ 75, 75, 221, 150}}, {{ 76, 76, 212, 152}}, {{ 77, 77, 215, 154}}, + {{ 78, 78, 210, 156}}, {{ 79, 79, 209, 158}}, {{ 80, 80, 240, 160}}, + {{ 81, 81, 243, 162}}, {{ 82, 82, 246, 164}}, {{ 83, 83, 245, 166}}, + {{ 84, 84, 252, 168}}, {{ 85, 85, 255, 170}}, {{ 86, 86, 250, 172}}, + {{ 87, 87, 249, 174}}, {{ 88, 88, 232, 176}}, {{ 89, 89, 235, 178}}, + {{ 90, 90, 238, 180}}, {{ 91, 91, 237, 182}}, {{ 92, 92, 228, 184}}, + {{ 93, 93, 231, 186}}, {{ 94, 94, 226, 188}}, {{ 95, 95, 225, 190}}, + {{ 96, 96, 160, 192}}, {{ 97, 97, 163, 194}}, {{ 98, 98, 166, 196}}, + {{ 99, 99, 165, 198}}, {{100, 100, 172, 200}}, {{101, 101, 175, 202}}, + {{102, 102, 170, 204}}, {{103, 103, 169, 206}}, {{104, 104, 184, 208}}, + {{105, 105, 187, 210}}, {{106, 106, 190, 212}}, {{107, 107, 189, 214}}, + {{108, 108, 180, 216}}, {{109, 109, 183, 218}}, {{110, 110, 178, 220}}, + {{111, 111, 177, 222}}, {{112, 112, 144, 224}}, {{113, 113, 147, 226}}, + {{114, 114, 150, 228}}, {{115, 115, 149, 230}}, {{116, 116, 156, 232}}, + {{117, 117, 159, 234}}, {{118, 118, 154, 236}}, {{119, 119, 153, 238}}, + {{120, 120, 136, 240}}, {{121, 121, 139, 242}}, {{122, 122, 142, 244}}, + {{123, 123, 141, 246}}, {{124, 124, 132, 248}}, {{125, 125, 135, 250}}, + {{126, 126, 130, 252}}, {{127, 127, 129, 254}}, {{128, 128, 155, 27}}, + {{129, 129, 152, 25}}, {{130, 130, 157, 31}}, {{131, 131, 158, 29}}, + {{132, 132, 151, 19}}, {{133, 133, 148, 17}}, {{134, 134, 145, 23}}, + {{135, 135, 146, 21}}, {{136, 136, 131, 11}}, {{137, 137, 128, 9}}, + {{138, 138, 133, 15}}, {{139, 139, 134, 13}}, {{140, 140, 143, 3}}, + {{141, 141, 140, 1}}, {{142, 142, 137, 7}}, {{143, 143, 138, 5}}, + {{144, 144, 171, 59}}, {{145, 145, 168, 57}}, {{146, 146, 173, 63}}, + {{147, 147, 174, 61}}, {{148, 148, 167, 51}}, {{149, 149, 164, 49}}, + {{150, 150, 161, 55}}, {{151, 151, 162, 53}}, {{152, 152, 179, 43}}, + {{153, 153, 176, 41}}, {{154, 154, 181, 47}}, {{155, 155, 182, 45}}, + {{156, 156, 191, 35}}, {{157, 157, 188, 33}}, {{158, 158, 185, 39}}, + {{159, 159, 186, 37}}, {{160, 160, 251, 91}}, {{161, 161, 248, 89}}, + {{162, 162, 253, 95}}, {{163, 163, 254, 93}}, {{164, 164, 247, 83}}, + {{165, 165, 244, 81}}, {{166, 166, 241, 87}}, {{167, 167, 242, 85}}, + {{168, 168, 227, 75}}, {{169, 169, 224, 73}}, {{170, 170, 229, 79}}, + {{171, 171, 230, 77}}, {{172, 172, 239, 67}}, {{173, 173, 236, 65}}, + {{174, 174, 233, 71}}, {{175, 175, 234, 69}}, {{176, 176, 203, 123}}, + {{177, 177, 200, 121}}, {{178, 178, 205, 127}}, {{179, 179, 206, 125}}, + {{180, 180, 199, 115}}, {{181, 181, 196, 113}}, {{182, 182, 193, 119}}, + {{183, 183, 194, 117}}, {{184, 184, 211, 107}}, {{185, 185, 208, 105}}, + {{186, 186, 213, 111}}, {{187, 187, 214, 109}}, {{188, 188, 223, 99}}, + {{189, 189, 220, 97}}, {{190, 190, 217, 103}}, {{191, 191, 218, 101}}, + {{192, 192, 91, 155}}, {{193, 193, 88, 153}}, {{194, 194, 93, 159}}, + {{195, 195, 94, 157}}, {{196, 196, 87, 147}}, {{197, 197, 84, 145}}, + {{198, 198, 81, 151}}, {{199, 199, 82, 149}}, {{200, 200, 67, 139}}, + {{201, 201, 64, 137}}, {{202, 202, 69, 143}}, {{203, 203, 70, 141}}, + {{204, 204, 79, 131}}, {{205, 205, 76, 129}}, {{206, 206, 73, 135}}, + {{207, 207, 74, 133}}, {{208, 208, 107, 187}}, {{209, 209, 104, 185}}, + {{210, 210, 109, 191}}, {{211, 211, 110, 189}}, {{212, 212, 103, 179}}, + {{213, 213, 100, 177}}, {{214, 214, 97, 183}}, {{215, 215, 98, 181}}, + {{216, 216, 115, 171}}, {{217, 217, 112, 169}}, {{218, 218, 117, 175}}, + {{219, 219, 118, 173}}, {{220, 220, 127, 163}}, {{221, 221, 124, 161}}, + {{222, 222, 121, 167}}, {{223, 223, 122, 165}}, {{224, 224, 59, 219}}, + {{225, 225, 56, 217}}, {{226, 226, 61, 223}}, {{227, 227, 62, 221}}, + {{228, 228, 55, 211}}, {{229, 229, 52, 209}}, {{230, 230, 49, 215}}, + {{231, 231, 50, 213}}, {{232, 232, 35, 203}}, {{233, 233, 32, 201}}, + {{234, 234, 37, 207}}, {{235, 235, 38, 205}}, {{236, 236, 47, 195}}, + {{237, 237, 44, 193}}, {{238, 238, 41, 199}}, {{239, 239, 42, 197}}, + {{240, 240, 11, 251}}, {{241, 241, 8, 249}}, {{242, 242, 13, 255}}, + {{243, 243, 14, 253}}, {{244, 244, 7, 243}}, {{245, 245, 4, 241}}, + {{246, 246, 1, 247}}, {{247, 247, 2, 245}}, {{248, 248, 19, 235}}, + {{249, 249, 16, 233}}, {{250, 250, 21, 239}}, {{251, 251, 22, 237}}, + {{252, 252, 31, 227}}, {{253, 253, 28, 225}}, {{254, 254, 25, 231}}, + {{255, 255, 26, 229}}, + }, +}; + +const word8x4 M1[4][256] = { + { + {{ 0, 0, 0, 0}}, {{ 14, 9, 13, 11}}, {{ 28, 18, 26, 22}}, + {{ 18, 27, 23, 29}}, {{ 56, 36, 52, 44}}, {{ 54, 45, 57, 39}}, + {{ 36, 54, 46, 58}}, {{ 42, 63, 35, 49}}, {{112, 72, 104, 88}}, + {{126, 65, 101, 83}}, {{108, 90, 114, 78}}, {{ 98, 83, 127, 69}}, + {{ 72, 108, 92, 116}}, {{ 70, 101, 81, 127}}, {{ 84, 126, 70, 98}}, + {{ 90, 119, 75, 105}}, {{224, 144, 208, 176}}, {{238, 153, 221, 187}}, + {{252, 130, 202, 166}}, {{242, 139, 199, 173}}, {{216, 180, 228, 156}}, + {{214, 189, 233, 151}}, {{196, 166, 254, 138}}, {{202, 175, 243, 129}}, + {{144, 216, 184, 232}}, {{158, 209, 181, 227}}, {{140, 202, 162, 254}}, + {{130, 195, 175, 245}}, {{168, 252, 140, 196}}, {{166, 245, 129, 207}}, + {{180, 238, 150, 210}}, {{186, 231, 155, 217}}, {{219, 59, 187, 123}}, + {{213, 50, 182, 112}}, {{199, 41, 161, 109}}, {{201, 32, 172, 102}}, + {{227, 31, 143, 87}}, {{237, 22, 130, 92}}, {{255, 13, 149, 65}}, + {{241, 4, 152, 74}}, {{171, 115, 211, 35}}, {{165, 122, 222, 40}}, + {{183, 97, 201, 53}}, {{185, 104, 196, 62}}, {{147, 87, 231, 15}}, + {{157, 94, 234, 4}}, {{143, 69, 253, 25}}, {{129, 76, 240, 18}}, + {{ 59, 171, 107, 203}}, {{ 53, 162, 102, 192}}, {{ 39, 185, 113, 221}}, + {{ 41, 176, 124, 214}}, {{ 3, 143, 95, 231}}, {{ 13, 134, 82, 236}}, + {{ 31, 157, 69, 241}}, {{ 17, 148, 72, 250}}, {{ 75, 227, 3, 147}}, + {{ 69, 234, 14, 152}}, {{ 87, 241, 25, 133}}, {{ 89, 248, 20, 142}}, + {{115, 199, 55, 191}}, {{125, 206, 58, 180}}, {{111, 213, 45, 169}}, + {{ 97, 220, 32, 162}}, {{173, 118, 109, 246}}, {{163, 127, 96, 253}}, + {{177, 100, 119, 224}}, {{191, 109, 122, 235}}, {{149, 82, 89, 218}}, + {{155, 91, 84, 209}}, {{137, 64, 67, 204}}, {{135, 73, 78, 199}}, + {{221, 62, 5, 174}}, {{211, 55, 8, 165}}, {{193, 44, 31, 184}}, + {{207, 37, 18, 179}}, {{229, 26, 49, 130}}, {{235, 19, 60, 137}}, + {{249, 8, 43, 148}}, {{247, 1, 38, 159}}, {{ 77, 230, 189, 70}}, + {{ 67, 239, 176, 77}}, {{ 81, 244, 167, 80}}, {{ 95, 253, 170, 91}}, + {{117, 194, 137, 106}}, {{123, 203, 132, 97}}, {{105, 208, 147, 124}}, + {{103, 217, 158, 119}}, {{ 61, 174, 213, 30}}, {{ 51, 167, 216, 21}}, + {{ 33, 188, 207, 8}}, {{ 47, 181, 194, 3}}, {{ 5, 138, 225, 50}}, + {{ 11, 131, 236, 57}}, {{ 25, 152, 251, 36}}, {{ 23, 145, 246, 47}}, + {{118, 77, 214, 141}}, {{120, 68, 219, 134}}, {{106, 95, 204, 155}}, + {{100, 86, 193, 144}}, {{ 78, 105, 226, 161}}, {{ 64, 96, 239, 170}}, + {{ 82, 123, 248, 183}}, {{ 92, 114, 245, 188}}, {{ 6, 5, 190, 213}}, + {{ 8, 12, 179, 222}}, {{ 26, 23, 164, 195}}, {{ 20, 30, 169, 200}}, + {{ 62, 33, 138, 249}}, {{ 48, 40, 135, 242}}, {{ 34, 51, 144, 239}}, + {{ 44, 58, 157, 228}}, {{150, 221, 6, 61}}, {{152, 212, 11, 54}}, + {{138, 207, 28, 43}}, {{132, 198, 17, 32}}, {{174, 249, 50, 17}}, + {{160, 240, 63, 26}}, {{178, 235, 40, 7}}, {{188, 226, 37, 12}}, + {{230, 149, 110, 101}}, {{232, 156, 99, 110}}, {{250, 135, 116, 115}}, + {{244, 142, 121, 120}}, {{222, 177, 90, 73}}, {{208, 184, 87, 66}}, + {{194, 163, 64, 95}}, {{204, 170, 77, 84}}, {{ 65, 236, 218, 247}}, + {{ 79, 229, 215, 252}}, {{ 93, 254, 192, 225}}, {{ 83, 247, 205, 234}}, + {{121, 200, 238, 219}}, {{119, 193, 227, 208}}, {{101, 218, 244, 205}}, + {{107, 211, 249, 198}}, {{ 49, 164, 178, 175}}, {{ 63, 173, 191, 164}}, + {{ 45, 182, 168, 185}}, {{ 35, 191, 165, 178}}, {{ 9, 128, 134, 131}}, + {{ 7, 137, 139, 136}}, {{ 21, 146, 156, 149}}, {{ 27, 155, 145, 158}}, + {{161, 124, 10, 71}}, {{175, 117, 7, 76}}, {{189, 110, 16, 81}}, + {{179, 103, 29, 90}}, {{153, 88, 62, 107}}, {{151, 81, 51, 96}}, + {{133, 74, 36, 125}}, {{139, 67, 41, 118}}, {{209, 52, 98, 31}}, + {{223, 61, 111, 20}}, {{205, 38, 120, 9}}, {{195, 47, 117, 2}}, + {{233, 16, 86, 51}}, {{231, 25, 91, 56}}, {{245, 2, 76, 37}}, + {{251, 11, 65, 46}}, {{154, 215, 97, 140}}, {{148, 222, 108, 135}}, + {{134, 197, 123, 154}}, {{136, 204, 118, 145}}, {{162, 243, 85, 160}}, + {{172, 250, 88, 171}}, {{190, 225, 79, 182}}, {{176, 232, 66, 189}}, + {{234, 159, 9, 212}}, {{228, 150, 4, 223}}, {{246, 141, 19, 194}}, + {{248, 132, 30, 201}}, {{210, 187, 61, 248}}, {{220, 178, 48, 243}}, + {{206, 169, 39, 238}}, {{192, 160, 42, 229}}, {{122, 71, 177, 60}}, + {{116, 78, 188, 55}}, {{102, 85, 171, 42}}, {{104, 92, 166, 33}}, + {{ 66, 99, 133, 16}}, {{ 76, 106, 136, 27}}, {{ 94, 113, 159, 6}}, + {{ 80, 120, 146, 13}}, {{ 10, 15, 217, 100}}, {{ 4, 6, 212, 111}}, + {{ 22, 29, 195, 114}}, {{ 24, 20, 206, 121}}, {{ 50, 43, 237, 72}}, + {{ 60, 34, 224, 67}}, {{ 46, 57, 247, 94}}, {{ 32, 48, 250, 85}}, + {{236, 154, 183, 1}}, {{226, 147, 186, 10}}, {{240, 136, 173, 23}}, + {{254, 129, 160, 28}}, {{212, 190, 131, 45}}, {{218, 183, 142, 38}}, + {{200, 172, 153, 59}}, {{198, 165, 148, 48}}, {{156, 210, 223, 89}}, + {{146, 219, 210, 82}}, {{128, 192, 197, 79}}, {{142, 201, 200, 68}}, + {{164, 246, 235, 117}}, {{170, 255, 230, 126}}, {{184, 228, 241, 99}}, + {{182, 237, 252, 104}}, {{ 12, 10, 103, 177}}, {{ 2, 3, 106, 186}}, + {{ 16, 24, 125, 167}}, {{ 30, 17, 112, 172}}, {{ 52, 46, 83, 157}}, + {{ 58, 39, 94, 150}}, {{ 40, 60, 73, 139}}, {{ 38, 53, 68, 128}}, + {{124, 66, 15, 233}}, {{114, 75, 2, 226}}, {{ 96, 80, 21, 255}}, + {{110, 89, 24, 244}}, {{ 68, 102, 59, 197}}, {{ 74, 111, 54, 206}}, + {{ 88, 116, 33, 211}}, {{ 86, 125, 44, 216}}, {{ 55, 161, 12, 122}}, + {{ 57, 168, 1, 113}}, {{ 43, 179, 22, 108}}, {{ 37, 186, 27, 103}}, + {{ 15, 133, 56, 86}}, {{ 1, 140, 53, 93}}, {{ 19, 151, 34, 64}}, + {{ 29, 158, 47, 75}}, {{ 71, 233, 100, 34}}, {{ 73, 224, 105, 41}}, + {{ 91, 251, 126, 52}}, {{ 85, 242, 115, 63}}, {{127, 205, 80, 14}}, + {{113, 196, 93, 5}}, {{ 99, 223, 74, 24}}, {{109, 214, 71, 19}}, + {{215, 49, 220, 202}}, {{217, 56, 209, 193}}, {{203, 35, 198, 220}}, + {{197, 42, 203, 215}}, {{239, 21, 232, 230}}, {{225, 28, 229, 237}}, + {{243, 7, 242, 240}}, {{253, 14, 255, 251}}, {{167, 121, 180, 146}}, + {{169, 112, 185, 153}}, {{187, 107, 174, 132}}, {{181, 98, 163, 143}}, + {{159, 93, 128, 190}}, {{145, 84, 141, 181}}, {{131, 79, 154, 168}}, + {{141, 70, 151, 163}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 11, 14, 9, 13}}, {{ 22, 28, 18, 26}}, + {{ 29, 18, 27, 23}}, {{ 44, 56, 36, 52}}, {{ 39, 54, 45, 57}}, + {{ 58, 36, 54, 46}}, {{ 49, 42, 63, 35}}, {{ 88, 112, 72, 104}}, + {{ 83, 126, 65, 101}}, {{ 78, 108, 90, 114}}, {{ 69, 98, 83, 127}}, + {{116, 72, 108, 92}}, {{127, 70, 101, 81}}, {{ 98, 84, 126, 70}}, + {{105, 90, 119, 75}}, {{176, 224, 144, 208}}, {{187, 238, 153, 221}}, + {{166, 252, 130, 202}}, {{173, 242, 139, 199}}, {{156, 216, 180, 228}}, + {{151, 214, 189, 233}}, {{138, 196, 166, 254}}, {{129, 202, 175, 243}}, + {{232, 144, 216, 184}}, {{227, 158, 209, 181}}, {{254, 140, 202, 162}}, + {{245, 130, 195, 175}}, {{196, 168, 252, 140}}, {{207, 166, 245, 129}}, + {{210, 180, 238, 150}}, {{217, 186, 231, 155}}, {{123, 219, 59, 187}}, + {{112, 213, 50, 182}}, {{109, 199, 41, 161}}, {{102, 201, 32, 172}}, + {{ 87, 227, 31, 143}}, {{ 92, 237, 22, 130}}, {{ 65, 255, 13, 149}}, + {{ 74, 241, 4, 152}}, {{ 35, 171, 115, 211}}, {{ 40, 165, 122, 222}}, + {{ 53, 183, 97, 201}}, {{ 62, 185, 104, 196}}, {{ 15, 147, 87, 231}}, + {{ 4, 157, 94, 234}}, {{ 25, 143, 69, 253}}, {{ 18, 129, 76, 240}}, + {{203, 59, 171, 107}}, {{192, 53, 162, 102}}, {{221, 39, 185, 113}}, + {{214, 41, 176, 124}}, {{231, 3, 143, 95}}, {{236, 13, 134, 82}}, + {{241, 31, 157, 69}}, {{250, 17, 148, 72}}, {{147, 75, 227, 3}}, + {{152, 69, 234, 14}}, {{133, 87, 241, 25}}, {{142, 89, 248, 20}}, + {{191, 115, 199, 55}}, {{180, 125, 206, 58}}, {{169, 111, 213, 45}}, + {{162, 97, 220, 32}}, {{246, 173, 118, 109}}, {{253, 163, 127, 96}}, + {{224, 177, 100, 119}}, {{235, 191, 109, 122}}, {{218, 149, 82, 89}}, + {{209, 155, 91, 84}}, {{204, 137, 64, 67}}, {{199, 135, 73, 78}}, + {{174, 221, 62, 5}}, {{165, 211, 55, 8}}, {{184, 193, 44, 31}}, + {{179, 207, 37, 18}}, {{130, 229, 26, 49}}, {{137, 235, 19, 60}}, + {{148, 249, 8, 43}}, {{159, 247, 1, 38}}, {{ 70, 77, 230, 189}}, + {{ 77, 67, 239, 176}}, {{ 80, 81, 244, 167}}, {{ 91, 95, 253, 170}}, + {{106, 117, 194, 137}}, {{ 97, 123, 203, 132}}, {{124, 105, 208, 147}}, + {{119, 103, 217, 158}}, {{ 30, 61, 174, 213}}, {{ 21, 51, 167, 216}}, + {{ 8, 33, 188, 207}}, {{ 3, 47, 181, 194}}, {{ 50, 5, 138, 225}}, + {{ 57, 11, 131, 236}}, {{ 36, 25, 152, 251}}, {{ 47, 23, 145, 246}}, + {{141, 118, 77, 214}}, {{134, 120, 68, 219}}, {{155, 106, 95, 204}}, + {{144, 100, 86, 193}}, {{161, 78, 105, 226}}, {{170, 64, 96, 239}}, + {{183, 82, 123, 248}}, {{188, 92, 114, 245}}, {{213, 6, 5, 190}}, + {{222, 8, 12, 179}}, {{195, 26, 23, 164}}, {{200, 20, 30, 169}}, + {{249, 62, 33, 138}}, {{242, 48, 40, 135}}, {{239, 34, 51, 144}}, + {{228, 44, 58, 157}}, {{ 61, 150, 221, 6}}, {{ 54, 152, 212, 11}}, + {{ 43, 138, 207, 28}}, {{ 32, 132, 198, 17}}, {{ 17, 174, 249, 50}}, + {{ 26, 160, 240, 63}}, {{ 7, 178, 235, 40}}, {{ 12, 188, 226, 37}}, + {{101, 230, 149, 110}}, {{110, 232, 156, 99}}, {{115, 250, 135, 116}}, + {{120, 244, 142, 121}}, {{ 73, 222, 177, 90}}, {{ 66, 208, 184, 87}}, + {{ 95, 194, 163, 64}}, {{ 84, 204, 170, 77}}, {{247, 65, 236, 218}}, + {{252, 79, 229, 215}}, {{225, 93, 254, 192}}, {{234, 83, 247, 205}}, + {{219, 121, 200, 238}}, {{208, 119, 193, 227}}, {{205, 101, 218, 244}}, + {{198, 107, 211, 249}}, {{175, 49, 164, 178}}, {{164, 63, 173, 191}}, + {{185, 45, 182, 168}}, {{178, 35, 191, 165}}, {{131, 9, 128, 134}}, + {{136, 7, 137, 139}}, {{149, 21, 146, 156}}, {{158, 27, 155, 145}}, + {{ 71, 161, 124, 10}}, {{ 76, 175, 117, 7}}, {{ 81, 189, 110, 16}}, + {{ 90, 179, 103, 29}}, {{107, 153, 88, 62}}, {{ 96, 151, 81, 51}}, + {{125, 133, 74, 36}}, {{118, 139, 67, 41}}, {{ 31, 209, 52, 98}}, + {{ 20, 223, 61, 111}}, {{ 9, 205, 38, 120}}, {{ 2, 195, 47, 117}}, + {{ 51, 233, 16, 86}}, {{ 56, 231, 25, 91}}, {{ 37, 245, 2, 76}}, + {{ 46, 251, 11, 65}}, {{140, 154, 215, 97}}, {{135, 148, 222, 108}}, + {{154, 134, 197, 123}}, {{145, 136, 204, 118}}, {{160, 162, 243, 85}}, + {{171, 172, 250, 88}}, {{182, 190, 225, 79}}, {{189, 176, 232, 66}}, + {{212, 234, 159, 9}}, {{223, 228, 150, 4}}, {{194, 246, 141, 19}}, + {{201, 248, 132, 30}}, {{248, 210, 187, 61}}, {{243, 220, 178, 48}}, + {{238, 206, 169, 39}}, {{229, 192, 160, 42}}, {{ 60, 122, 71, 177}}, + {{ 55, 116, 78, 188}}, {{ 42, 102, 85, 171}}, {{ 33, 104, 92, 166}}, + {{ 16, 66, 99, 133}}, {{ 27, 76, 106, 136}}, {{ 6, 94, 113, 159}}, + {{ 13, 80, 120, 146}}, {{100, 10, 15, 217}}, {{111, 4, 6, 212}}, + {{114, 22, 29, 195}}, {{121, 24, 20, 206}}, {{ 72, 50, 43, 237}}, + {{ 67, 60, 34, 224}}, {{ 94, 46, 57, 247}}, {{ 85, 32, 48, 250}}, + {{ 1, 236, 154, 183}}, {{ 10, 226, 147, 186}}, {{ 23, 240, 136, 173}}, + {{ 28, 254, 129, 160}}, {{ 45, 212, 190, 131}}, {{ 38, 218, 183, 142}}, + {{ 59, 200, 172, 153}}, {{ 48, 198, 165, 148}}, {{ 89, 156, 210, 223}}, + {{ 82, 146, 219, 210}}, {{ 79, 128, 192, 197}}, {{ 68, 142, 201, 200}}, + {{117, 164, 246, 235}}, {{126, 170, 255, 230}}, {{ 99, 184, 228, 241}}, + {{104, 182, 237, 252}}, {{177, 12, 10, 103}}, {{186, 2, 3, 106}}, + {{167, 16, 24, 125}}, {{172, 30, 17, 112}}, {{157, 52, 46, 83}}, + {{150, 58, 39, 94}}, {{139, 40, 60, 73}}, {{128, 38, 53, 68}}, + {{233, 124, 66, 15}}, {{226, 114, 75, 2}}, {{255, 96, 80, 21}}, + {{244, 110, 89, 24}}, {{197, 68, 102, 59}}, {{206, 74, 111, 54}}, + {{211, 88, 116, 33}}, {{216, 86, 125, 44}}, {{122, 55, 161, 12}}, + {{113, 57, 168, 1}}, {{108, 43, 179, 22}}, {{103, 37, 186, 27}}, + {{ 86, 15, 133, 56}}, {{ 93, 1, 140, 53}}, {{ 64, 19, 151, 34}}, + {{ 75, 29, 158, 47}}, {{ 34, 71, 233, 100}}, {{ 41, 73, 224, 105}}, + {{ 52, 91, 251, 126}}, {{ 63, 85, 242, 115}}, {{ 14, 127, 205, 80}}, + {{ 5, 113, 196, 93}}, {{ 24, 99, 223, 74}}, {{ 19, 109, 214, 71}}, + {{202, 215, 49, 220}}, {{193, 217, 56, 209}}, {{220, 203, 35, 198}}, + {{215, 197, 42, 203}}, {{230, 239, 21, 232}}, {{237, 225, 28, 229}}, + {{240, 243, 7, 242}}, {{251, 253, 14, 255}}, {{146, 167, 121, 180}}, + {{153, 169, 112, 185}}, {{132, 187, 107, 174}}, {{143, 181, 98, 163}}, + {{190, 159, 93, 128}}, {{181, 145, 84, 141}}, {{168, 131, 79, 154}}, + {{163, 141, 70, 151}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 13, 11, 14, 9}}, {{ 26, 22, 28, 18}}, + {{ 23, 29, 18, 27}}, {{ 52, 44, 56, 36}}, {{ 57, 39, 54, 45}}, + {{ 46, 58, 36, 54}}, {{ 35, 49, 42, 63}}, {{104, 88, 112, 72}}, + {{101, 83, 126, 65}}, {{114, 78, 108, 90}}, {{127, 69, 98, 83}}, + {{ 92, 116, 72, 108}}, {{ 81, 127, 70, 101}}, {{ 70, 98, 84, 126}}, + {{ 75, 105, 90, 119}}, {{208, 176, 224, 144}}, {{221, 187, 238, 153}}, + {{202, 166, 252, 130}}, {{199, 173, 242, 139}}, {{228, 156, 216, 180}}, + {{233, 151, 214, 189}}, {{254, 138, 196, 166}}, {{243, 129, 202, 175}}, + {{184, 232, 144, 216}}, {{181, 227, 158, 209}}, {{162, 254, 140, 202}}, + {{175, 245, 130, 195}}, {{140, 196, 168, 252}}, {{129, 207, 166, 245}}, + {{150, 210, 180, 238}}, {{155, 217, 186, 231}}, {{187, 123, 219, 59}}, + {{182, 112, 213, 50}}, {{161, 109, 199, 41}}, {{172, 102, 201, 32}}, + {{143, 87, 227, 31}}, {{130, 92, 237, 22}}, {{149, 65, 255, 13}}, + {{152, 74, 241, 4}}, {{211, 35, 171, 115}}, {{222, 40, 165, 122}}, + {{201, 53, 183, 97}}, {{196, 62, 185, 104}}, {{231, 15, 147, 87}}, + {{234, 4, 157, 94}}, {{253, 25, 143, 69}}, {{240, 18, 129, 76}}, + {{107, 203, 59, 171}}, {{102, 192, 53, 162}}, {{113, 221, 39, 185}}, + {{124, 214, 41, 176}}, {{ 95, 231, 3, 143}}, {{ 82, 236, 13, 134}}, + {{ 69, 241, 31, 157}}, {{ 72, 250, 17, 148}}, {{ 3, 147, 75, 227}}, + {{ 14, 152, 69, 234}}, {{ 25, 133, 87, 241}}, {{ 20, 142, 89, 248}}, + {{ 55, 191, 115, 199}}, {{ 58, 180, 125, 206}}, {{ 45, 169, 111, 213}}, + {{ 32, 162, 97, 220}}, {{109, 246, 173, 118}}, {{ 96, 253, 163, 127}}, + {{119, 224, 177, 100}}, {{122, 235, 191, 109}}, {{ 89, 218, 149, 82}}, + {{ 84, 209, 155, 91}}, {{ 67, 204, 137, 64}}, {{ 78, 199, 135, 73}}, + {{ 5, 174, 221, 62}}, {{ 8, 165, 211, 55}}, {{ 31, 184, 193, 44}}, + {{ 18, 179, 207, 37}}, {{ 49, 130, 229, 26}}, {{ 60, 137, 235, 19}}, + {{ 43, 148, 249, 8}}, {{ 38, 159, 247, 1}}, {{189, 70, 77, 230}}, + {{176, 77, 67, 239}}, {{167, 80, 81, 244}}, {{170, 91, 95, 253}}, + {{137, 106, 117, 194}}, {{132, 97, 123, 203}}, {{147, 124, 105, 208}}, + {{158, 119, 103, 217}}, {{213, 30, 61, 174}}, {{216, 21, 51, 167}}, + {{207, 8, 33, 188}}, {{194, 3, 47, 181}}, {{225, 50, 5, 138}}, + {{236, 57, 11, 131}}, {{251, 36, 25, 152}}, {{246, 47, 23, 145}}, + {{214, 141, 118, 77}}, {{219, 134, 120, 68}}, {{204, 155, 106, 95}}, + {{193, 144, 100, 86}}, {{226, 161, 78, 105}}, {{239, 170, 64, 96}}, + {{248, 183, 82, 123}}, {{245, 188, 92, 114}}, {{190, 213, 6, 5}}, + {{179, 222, 8, 12}}, {{164, 195, 26, 23}}, {{169, 200, 20, 30}}, + {{138, 249, 62, 33}}, {{135, 242, 48, 40}}, {{144, 239, 34, 51}}, + {{157, 228, 44, 58}}, {{ 6, 61, 150, 221}}, {{ 11, 54, 152, 212}}, + {{ 28, 43, 138, 207}}, {{ 17, 32, 132, 198}}, {{ 50, 17, 174, 249}}, + {{ 63, 26, 160, 240}}, {{ 40, 7, 178, 235}}, {{ 37, 12, 188, 226}}, + {{110, 101, 230, 149}}, {{ 99, 110, 232, 156}}, {{116, 115, 250, 135}}, + {{121, 120, 244, 142}}, {{ 90, 73, 222, 177}}, {{ 87, 66, 208, 184}}, + {{ 64, 95, 194, 163}}, {{ 77, 84, 204, 170}}, {{218, 247, 65, 236}}, + {{215, 252, 79, 229}}, {{192, 225, 93, 254}}, {{205, 234, 83, 247}}, + {{238, 219, 121, 200}}, {{227, 208, 119, 193}}, {{244, 205, 101, 218}}, + {{249, 198, 107, 211}}, {{178, 175, 49, 164}}, {{191, 164, 63, 173}}, + {{168, 185, 45, 182}}, {{165, 178, 35, 191}}, {{134, 131, 9, 128}}, + {{139, 136, 7, 137}}, {{156, 149, 21, 146}}, {{145, 158, 27, 155}}, + {{ 10, 71, 161, 124}}, {{ 7, 76, 175, 117}}, {{ 16, 81, 189, 110}}, + {{ 29, 90, 179, 103}}, {{ 62, 107, 153, 88}}, {{ 51, 96, 151, 81}}, + {{ 36, 125, 133, 74}}, {{ 41, 118, 139, 67}}, {{ 98, 31, 209, 52}}, + {{111, 20, 223, 61}}, {{120, 9, 205, 38}}, {{117, 2, 195, 47}}, + {{ 86, 51, 233, 16}}, {{ 91, 56, 231, 25}}, {{ 76, 37, 245, 2}}, + {{ 65, 46, 251, 11}}, {{ 97, 140, 154, 215}}, {{108, 135, 148, 222}}, + {{123, 154, 134, 197}}, {{118, 145, 136, 204}}, {{ 85, 160, 162, 243}}, + {{ 88, 171, 172, 250}}, {{ 79, 182, 190, 225}}, {{ 66, 189, 176, 232}}, + {{ 9, 212, 234, 159}}, {{ 4, 223, 228, 150}}, {{ 19, 194, 246, 141}}, + {{ 30, 201, 248, 132}}, {{ 61, 248, 210, 187}}, {{ 48, 243, 220, 178}}, + {{ 39, 238, 206, 169}}, {{ 42, 229, 192, 160}}, {{177, 60, 122, 71}}, + {{188, 55, 116, 78}}, {{171, 42, 102, 85}}, {{166, 33, 104, 92}}, + {{133, 16, 66, 99}}, {{136, 27, 76, 106}}, {{159, 6, 94, 113}}, + {{146, 13, 80, 120}}, {{217, 100, 10, 15}}, {{212, 111, 4, 6}}, + {{195, 114, 22, 29}}, {{206, 121, 24, 20}}, {{237, 72, 50, 43}}, + {{224, 67, 60, 34}}, {{247, 94, 46, 57}}, {{250, 85, 32, 48}}, + {{183, 1, 236, 154}}, {{186, 10, 226, 147}}, {{173, 23, 240, 136}}, + {{160, 28, 254, 129}}, {{131, 45, 212, 190}}, {{142, 38, 218, 183}}, + {{153, 59, 200, 172}}, {{148, 48, 198, 165}}, {{223, 89, 156, 210}}, + {{210, 82, 146, 219}}, {{197, 79, 128, 192}}, {{200, 68, 142, 201}}, + {{235, 117, 164, 246}}, {{230, 126, 170, 255}}, {{241, 99, 184, 228}}, + {{252, 104, 182, 237}}, {{103, 177, 12, 10}}, {{106, 186, 2, 3}}, + {{125, 167, 16, 24}}, {{112, 172, 30, 17}}, {{ 83, 157, 52, 46}}, + {{ 94, 150, 58, 39}}, {{ 73, 139, 40, 60}}, {{ 68, 128, 38, 53}}, + {{ 15, 233, 124, 66}}, {{ 2, 226, 114, 75}}, {{ 21, 255, 96, 80}}, + {{ 24, 244, 110, 89}}, {{ 59, 197, 68, 102}}, {{ 54, 206, 74, 111}}, + {{ 33, 211, 88, 116}}, {{ 44, 216, 86, 125}}, {{ 12, 122, 55, 161}}, + {{ 1, 113, 57, 168}}, {{ 22, 108, 43, 179}}, {{ 27, 103, 37, 186}}, + {{ 56, 86, 15, 133}}, {{ 53, 93, 1, 140}}, {{ 34, 64, 19, 151}}, + {{ 47, 75, 29, 158}}, {{100, 34, 71, 233}}, {{105, 41, 73, 224}}, + {{126, 52, 91, 251}}, {{115, 63, 85, 242}}, {{ 80, 14, 127, 205}}, + {{ 93, 5, 113, 196}}, {{ 74, 24, 99, 223}}, {{ 71, 19, 109, 214}}, + {{220, 202, 215, 49}}, {{209, 193, 217, 56}}, {{198, 220, 203, 35}}, + {{203, 215, 197, 42}}, {{232, 230, 239, 21}}, {{229, 237, 225, 28}}, + {{242, 240, 243, 7}}, {{255, 251, 253, 14}}, {{180, 146, 167, 121}}, + {{185, 153, 169, 112}}, {{174, 132, 187, 107}}, {{163, 143, 181, 98}}, + {{128, 190, 159, 93}}, {{141, 181, 145, 84}}, {{154, 168, 131, 79}}, + {{151, 163, 141, 70}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 9, 13, 11, 14}}, {{ 18, 26, 22, 28}}, + {{ 27, 23, 29, 18}}, {{ 36, 52, 44, 56}}, {{ 45, 57, 39, 54}}, + {{ 54, 46, 58, 36}}, {{ 63, 35, 49, 42}}, {{ 72, 104, 88, 112}}, + {{ 65, 101, 83, 126}}, {{ 90, 114, 78, 108}}, {{ 83, 127, 69, 98}}, + {{108, 92, 116, 72}}, {{101, 81, 127, 70}}, {{126, 70, 98, 84}}, + {{119, 75, 105, 90}}, {{144, 208, 176, 224}}, {{153, 221, 187, 238}}, + {{130, 202, 166, 252}}, {{139, 199, 173, 242}}, {{180, 228, 156, 216}}, + {{189, 233, 151, 214}}, {{166, 254, 138, 196}}, {{175, 243, 129, 202}}, + {{216, 184, 232, 144}}, {{209, 181, 227, 158}}, {{202, 162, 254, 140}}, + {{195, 175, 245, 130}}, {{252, 140, 196, 168}}, {{245, 129, 207, 166}}, + {{238, 150, 210, 180}}, {{231, 155, 217, 186}}, {{ 59, 187, 123, 219}}, + {{ 50, 182, 112, 213}}, {{ 41, 161, 109, 199}}, {{ 32, 172, 102, 201}}, + {{ 31, 143, 87, 227}}, {{ 22, 130, 92, 237}}, {{ 13, 149, 65, 255}}, + {{ 4, 152, 74, 241}}, {{115, 211, 35, 171}}, {{122, 222, 40, 165}}, + {{ 97, 201, 53, 183}}, {{104, 196, 62, 185}}, {{ 87, 231, 15, 147}}, + {{ 94, 234, 4, 157}}, {{ 69, 253, 25, 143}}, {{ 76, 240, 18, 129}}, + {{171, 107, 203, 59}}, {{162, 102, 192, 53}}, {{185, 113, 221, 39}}, + {{176, 124, 214, 41}}, {{143, 95, 231, 3}}, {{134, 82, 236, 13}}, + {{157, 69, 241, 31}}, {{148, 72, 250, 17}}, {{227, 3, 147, 75}}, + {{234, 14, 152, 69}}, {{241, 25, 133, 87}}, {{248, 20, 142, 89}}, + {{199, 55, 191, 115}}, {{206, 58, 180, 125}}, {{213, 45, 169, 111}}, + {{220, 32, 162, 97}}, {{118, 109, 246, 173}}, {{127, 96, 253, 163}}, + {{100, 119, 224, 177}}, {{109, 122, 235, 191}}, {{ 82, 89, 218, 149}}, + {{ 91, 84, 209, 155}}, {{ 64, 67, 204, 137}}, {{ 73, 78, 199, 135}}, + {{ 62, 5, 174, 221}}, {{ 55, 8, 165, 211}}, {{ 44, 31, 184, 193}}, + {{ 37, 18, 179, 207}}, {{ 26, 49, 130, 229}}, {{ 19, 60, 137, 235}}, + {{ 8, 43, 148, 249}}, {{ 1, 38, 159, 247}}, {{230, 189, 70, 77}}, + {{239, 176, 77, 67}}, {{244, 167, 80, 81}}, {{253, 170, 91, 95}}, + {{194, 137, 106, 117}}, {{203, 132, 97, 123}}, {{208, 147, 124, 105}}, + {{217, 158, 119, 103}}, {{174, 213, 30, 61}}, {{167, 216, 21, 51}}, + {{188, 207, 8, 33}}, {{181, 194, 3, 47}}, {{138, 225, 50, 5}}, + {{131, 236, 57, 11}}, {{152, 251, 36, 25}}, {{145, 246, 47, 23}}, + {{ 77, 214, 141, 118}}, {{ 68, 219, 134, 120}}, {{ 95, 204, 155, 106}}, + {{ 86, 193, 144, 100}}, {{105, 226, 161, 78}}, {{ 96, 239, 170, 64}}, + {{123, 248, 183, 82}}, {{114, 245, 188, 92}}, {{ 5, 190, 213, 6}}, + {{ 12, 179, 222, 8}}, {{ 23, 164, 195, 26}}, {{ 30, 169, 200, 20}}, + {{ 33, 138, 249, 62}}, {{ 40, 135, 242, 48}}, {{ 51, 144, 239, 34}}, + {{ 58, 157, 228, 44}}, {{221, 6, 61, 150}}, {{212, 11, 54, 152}}, + {{207, 28, 43, 138}}, {{198, 17, 32, 132}}, {{249, 50, 17, 174}}, + {{240, 63, 26, 160}}, {{235, 40, 7, 178}}, {{226, 37, 12, 188}}, + {{149, 110, 101, 230}}, {{156, 99, 110, 232}}, {{135, 116, 115, 250}}, + {{142, 121, 120, 244}}, {{177, 90, 73, 222}}, {{184, 87, 66, 208}}, + {{163, 64, 95, 194}}, {{170, 77, 84, 204}}, {{236, 218, 247, 65}}, + {{229, 215, 252, 79}}, {{254, 192, 225, 93}}, {{247, 205, 234, 83}}, + {{200, 238, 219, 121}}, {{193, 227, 208, 119}}, {{218, 244, 205, 101}}, + {{211, 249, 198, 107}}, {{164, 178, 175, 49}}, {{173, 191, 164, 63}}, + {{182, 168, 185, 45}}, {{191, 165, 178, 35}}, {{128, 134, 131, 9}}, + {{137, 139, 136, 7}}, {{146, 156, 149, 21}}, {{155, 145, 158, 27}}, + {{124, 10, 71, 161}}, {{117, 7, 76, 175}}, {{110, 16, 81, 189}}, + {{103, 29, 90, 179}}, {{ 88, 62, 107, 153}}, {{ 81, 51, 96, 151}}, + {{ 74, 36, 125, 133}}, {{ 67, 41, 118, 139}}, {{ 52, 98, 31, 209}}, + {{ 61, 111, 20, 223}}, {{ 38, 120, 9, 205}}, {{ 47, 117, 2, 195}}, + {{ 16, 86, 51, 233}}, {{ 25, 91, 56, 231}}, {{ 2, 76, 37, 245}}, + {{ 11, 65, 46, 251}}, {{215, 97, 140, 154}}, {{222, 108, 135, 148}}, + {{197, 123, 154, 134}}, {{204, 118, 145, 136}}, {{243, 85, 160, 162}}, + {{250, 88, 171, 172}}, {{225, 79, 182, 190}}, {{232, 66, 189, 176}}, + {{159, 9, 212, 234}}, {{150, 4, 223, 228}}, {{141, 19, 194, 246}}, + {{132, 30, 201, 248}}, {{187, 61, 248, 210}}, {{178, 48, 243, 220}}, + {{169, 39, 238, 206}}, {{160, 42, 229, 192}}, {{ 71, 177, 60, 122}}, + {{ 78, 188, 55, 116}}, {{ 85, 171, 42, 102}}, {{ 92, 166, 33, 104}}, + {{ 99, 133, 16, 66}}, {{106, 136, 27, 76}}, {{113, 159, 6, 94}}, + {{120, 146, 13, 80}}, {{ 15, 217, 100, 10}}, {{ 6, 212, 111, 4}}, + {{ 29, 195, 114, 22}}, {{ 20, 206, 121, 24}}, {{ 43, 237, 72, 50}}, + {{ 34, 224, 67, 60}}, {{ 57, 247, 94, 46}}, {{ 48, 250, 85, 32}}, + {{154, 183, 1, 236}}, {{147, 186, 10, 226}}, {{136, 173, 23, 240}}, + {{129, 160, 28, 254}}, {{190, 131, 45, 212}}, {{183, 142, 38, 218}}, + {{172, 153, 59, 200}}, {{165, 148, 48, 198}}, {{210, 223, 89, 156}}, + {{219, 210, 82, 146}}, {{192, 197, 79, 128}}, {{201, 200, 68, 142}}, + {{246, 235, 117, 164}}, {{255, 230, 126, 170}}, {{228, 241, 99, 184}}, + {{237, 252, 104, 182}}, {{ 10, 103, 177, 12}}, {{ 3, 106, 186, 2}}, + {{ 24, 125, 167, 16}}, {{ 17, 112, 172, 30}}, {{ 46, 83, 157, 52}}, + {{ 39, 94, 150, 58}}, {{ 60, 73, 139, 40}}, {{ 53, 68, 128, 38}}, + {{ 66, 15, 233, 124}}, {{ 75, 2, 226, 114}}, {{ 80, 21, 255, 96}}, + {{ 89, 24, 244, 110}}, {{102, 59, 197, 68}}, {{111, 54, 206, 74}}, + {{116, 33, 211, 88}}, {{125, 44, 216, 86}}, {{161, 12, 122, 55}}, + {{168, 1, 113, 57}}, {{179, 22, 108, 43}}, {{186, 27, 103, 37}}, + {{133, 56, 86, 15}}, {{140, 53, 93, 1}}, {{151, 34, 64, 19}}, + {{158, 47, 75, 29}}, {{233, 100, 34, 71}}, {{224, 105, 41, 73}}, + {{251, 126, 52, 91}}, {{242, 115, 63, 85}}, {{205, 80, 14, 127}}, + {{196, 93, 5, 113}}, {{223, 74, 24, 99}}, {{214, 71, 19, 109}}, + {{ 49, 220, 202, 215}}, {{ 56, 209, 193, 217}}, {{ 35, 198, 220, 203}}, + {{ 42, 203, 215, 197}}, {{ 21, 232, 230, 239}}, {{ 28, 229, 237, 225}}, + {{ 7, 242, 240, 243}}, {{ 14, 255, 251, 253}}, {{121, 180, 146, 167}}, + {{112, 185, 153, 169}}, {{107, 174, 132, 187}}, {{ 98, 163, 143, 181}}, + {{ 93, 128, 190, 159}}, {{ 84, 141, 181, 145}}, {{ 79, 154, 168, 131}}, + {{ 70, 151, 163, 141}}, + }, +}; + +const int xrcon[30] = { + 0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80, 0x1b, 0x36, + 0x6c, 0xd8, 0xab, 0x4d, 0x9a, 0x2f, 0x5e, 0xbc, 0x63, 0xc6, + 0x97, 0x35, 0x6a, 0xd4, 0xb3, 0x7d, 0xfa, 0xef, 0xc5, 0x91, +}; + +const word8 xS[256] = { + 99, 124, 119, 123, 242, 107, 111, 197, 48, 1, 103, 43, 254, 215, + 171, 118, 202, 130, 201, 125, 250, 89, 71, 240, 173, 212, 162, 175, + 156, 164, 114, 192, 183, 253, 147, 38, 54, 63, 247, 204, 52, 165, + 229, 241, 113, 216, 49, 21, 4, 199, 35, 195, 24, 150, 5, 154, + 7, 18, 128, 226, 235, 39, 178, 117, 9, 131, 44, 26, 27, 110, + 90, 160, 82, 59, 214, 179, 41, 227, 47, 132, 83, 209, 0, 237, + 32, 252, 177, 91, 106, 203, 190, 57, 74, 76, 88, 207, 208, 239, + 170, 251, 67, 77, 51, 133, 69, 249, 2, 127, 80, 60, 159, 168, + 81, 163, 64, 143, 146, 157, 56, 245, 188, 182, 218, 33, 16, 255, + 243, 210, 205, 12, 19, 236, 95, 151, 68, 23, 196, 167, 126, 61, + 100, 93, 25, 115, 96, 129, 79, 220, 34, 42, 144, 136, 70, 238, + 184, 20, 222, 94, 11, 219, 224, 50, 58, 10, 73, 6, 36, 92, + 194, 211, 172, 98, 145, 149, 228, 121, 231, 200, 55, 109, 141, 213, + 78, 169, 108, 86, 244, 234, 101, 122, 174, 8, 186, 120, 37, 46, + 28, 166, 180, 198, 232, 221, 116, 31, 75, 189, 139, 138, 112, 62, + 181, 102, 72, 3, 246, 14, 97, 53, 87, 185, 134, 193, 29, 158, + 225, 248, 152, 17, 105, 217, 142, 148, 155, 30, 135, 233, 206, 85, + 40, 223, 140, 161, 137, 13, 191, 230, 66, 104, 65, 153, 45, 15, + 176, 84, 187, 22, +}; + +const word8 xSi[256] = { + 82, 9, 106, 213, 48, 54, 165, 56, 191, 64, 163, 158, 129, 243, + 215, 251, 124, 227, 57, 130, 155, 47, 255, 135, 52, 142, 67, 68, + 196, 222, 233, 203, 84, 123, 148, 50, 166, 194, 35, 61, 238, 76, + 149, 11, 66, 250, 195, 78, 8, 46, 161, 102, 40, 217, 36, 178, + 118, 91, 162, 73, 109, 139, 209, 37, 114, 248, 246, 100, 134, 104, + 152, 22, 212, 164, 92, 204, 93, 101, 182, 146, 108, 112, 72, 80, + 253, 237, 185, 218, 94, 21, 70, 87, 167, 141, 157, 132, 144, 216, + 171, 0, 140, 188, 211, 10, 247, 228, 88, 5, 184, 179, 69, 6, + 208, 44, 30, 143, 202, 63, 15, 2, 193, 175, 189, 3, 1, 19, + 138, 107, 58, 145, 17, 65, 79, 103, 220, 234, 151, 242, 207, 206, + 240, 180, 230, 115, 150, 172, 116, 34, 231, 173, 53, 133, 226, 249, + 55, 232, 28, 117, 223, 110, 71, 241, 26, 113, 29, 41, 197, 137, + 111, 183, 98, 14, 170, 24, 190, 27, 252, 86, 62, 75, 198, 210, + 121, 32, 154, 219, 192, 254, 120, 205, 90, 244, 31, 221, 168, 51, + 136, 7, 199, 49, 177, 18, 16, 89, 39, 128, 236, 95, 96, 81, + 127, 169, 25, 181, 74, 13, 45, 229, 122, 159, 147, 201, 156, 239, + 160, 224, 59, 77, 174, 42, 245, 176, 200, 235, 187, 60, 131, 83, + 153, 97, 23, 43, 4, 126, 186, 119, 214, 38, 225, 105, 20, 99, + 85, 33, 12, 125, +}; + diff --git a/src/aes/ao_aes_tables.h b/src/aes/ao_aes_tables.h new file mode 100644 index 00000000..73bcf3fb --- /dev/null +++ b/src/aes/ao_aes_tables.h @@ -0,0 +1,10 @@ +/* Copyright (C) 2000-2009 Peter Selinger. + This file is part of ccrypt. It is free software and it is covered + by the GNU general public license. See the file COPYING for details. */ + +extern const word8x4 M0[4][256]; +extern const word8x4 M1[4][256]; +extern const int xrcon[30]; +extern const word8 xS[256]; +extern const word8 xSi[256]; + diff --git a/src/altitude.h b/src/altitude.h deleted file mode 100644 index 5225df4d..00000000 --- a/src/altitude.h +++ /dev/null @@ -1,2048 +0,0 @@ - 15837, /* 10.56 kPa 0 count */ - 15804, /* 10.61 kPa 1 count */ - 15772, /* 10.66 kPa 2 count */ - 15740, /* 10.72 kPa 3 count */ - 15708, /* 10.77 kPa 4 count */ - 15676, /* 10.83 kPa 5 count */ - 15644, /* 10.88 kPa 6 count */ - 15613, /* 10.94 kPa 7 count */ - 15581, /* 10.99 kPa 8 count */ - 15550, /* 11.04 kPa 9 count */ - 15519, /* 11.10 kPa 10 count */ - 15488, /* 11.15 kPa 11 count */ - 15457, /* 11.21 kPa 12 count */ - 15426, /* 11.26 kPa 13 count */ - 15396, /* 11.32 kPa 14 count */ - 15366, /* 11.37 kPa 15 count */ - 15335, /* 11.42 kPa 16 count */ - 15305, /* 11.48 kPa 17 count */ - 15275, /* 11.53 kPa 18 count */ - 15246, /* 11.59 kPa 19 count */ - 15216, /* 11.64 kPa 20 count */ - 15187, /* 11.70 kPa 21 count */ - 15157, /* 11.75 kPa 22 count */ - 15128, /* 11.80 kPa 23 count */ - 15099, /* 11.86 kPa 24 count */ - 15070, /* 11.91 kPa 25 count */ - 15041, /* 11.97 kPa 26 count */ - 15012, /* 12.02 kPa 27 count */ - 14984, /* 12.08 kPa 28 count */ - 14955, /* 12.13 kPa 29 count */ - 14927, /* 12.18 kPa 30 count */ - 14899, /* 12.24 kPa 31 count */ - 14871, /* 12.29 kPa 32 count */ - 14843, /* 12.35 kPa 33 count */ - 14815, /* 12.40 kPa 34 count */ - 14787, /* 12.46 kPa 35 count */ - 14760, /* 12.51 kPa 36 count */ - 14732, /* 12.56 kPa 37 count */ - 14705, /* 12.62 kPa 38 count */ - 14678, /* 12.67 kPa 39 count */ - 14651, /* 12.73 kPa 40 count */ - 14624, /* 12.78 kPa 41 count */ - 14597, /* 12.84 kPa 42 count */ - 14570, /* 12.89 kPa 43 count */ - 14543, /* 12.94 kPa 44 count */ - 14517, /* 13.00 kPa 45 count */ - 14490, /* 13.05 kPa 46 count */ - 14464, /* 13.11 kPa 47 count */ - 14438, /* 13.16 kPa 48 count */ - 14412, /* 13.22 kPa 49 count */ - 14386, /* 13.27 kPa 50 count */ - 14360, /* 13.32 kPa 51 count */ - 14334, /* 13.38 kPa 52 count */ - 14308, /* 13.43 kPa 53 count */ - 14283, /* 13.49 kPa 54 count */ - 14257, /* 13.54 kPa 55 count */ - 14232, /* 13.60 kPa 56 count */ - 14207, /* 13.65 kPa 57 count */ - 14182, /* 13.70 kPa 58 count */ - 14156, /* 13.76 kPa 59 count */ - 14132, /* 13.81 kPa 60 count */ - 14107, /* 13.87 kPa 61 count */ - 14082, /* 13.92 kPa 62 count */ - 14057, /* 13.98 kPa 63 count */ - 14033, /* 14.03 kPa 64 count */ - 14008, /* 14.08 kPa 65 count */ - 13984, /* 14.14 kPa 66 count */ - 13959, /* 14.19 kPa 67 count */ - 13935, /* 14.25 kPa 68 count */ - 13911, /* 14.30 kPa 69 count */ - 13887, /* 14.36 kPa 70 count */ - 13863, /* 14.41 kPa 71 count */ - 13839, /* 14.46 kPa 72 count */ - 13816, /* 14.52 kPa 73 count */ - 13792, /* 14.57 kPa 74 count */ - 13768, /* 14.63 kPa 75 count */ - 13745, /* 14.68 kPa 76 count */ - 13721, /* 14.74 kPa 77 count */ - 13698, /* 14.79 kPa 78 count */ - 13675, /* 14.84 kPa 79 count */ - 13652, /* 14.90 kPa 80 count */ - 13629, /* 14.95 kPa 81 count */ - 13606, /* 15.01 kPa 82 count */ - 13583, /* 15.06 kPa 83 count */ - 13560, /* 15.12 kPa 84 count */ - 13537, /* 15.17 kPa 85 count */ - 13515, /* 15.22 kPa 86 count */ - 13492, /* 15.28 kPa 87 count */ - 13470, /* 15.33 kPa 88 count */ - 13447, /* 15.39 kPa 89 count */ - 13425, /* 15.44 kPa 90 count */ - 13403, /* 15.50 kPa 91 count */ - 13380, /* 15.55 kPa 92 count */ - 13358, /* 15.60 kPa 93 count */ - 13336, /* 15.66 kPa 94 count */ - 13314, /* 15.71 kPa 95 count */ - 13292, /* 15.77 kPa 96 count */ - 13271, /* 15.82 kPa 97 count */ - 13249, /* 15.87 kPa 98 count */ - 13227, /* 15.93 kPa 99 count */ - 13206, /* 15.98 kPa 100 count */ - 13184, /* 16.04 kPa 101 count */ - 13163, /* 16.09 kPa 102 count */ - 13141, /* 16.15 kPa 103 count */ - 13120, /* 16.20 kPa 104 count */ - 13099, /* 16.25 kPa 105 count */ - 13078, /* 16.31 kPa 106 count */ - 13057, /* 16.36 kPa 107 count */ - 13036, /* 16.42 kPa 108 count */ - 13015, /* 16.47 kPa 109 count */ - 12994, /* 16.53 kPa 110 count */ - 12973, /* 16.58 kPa 111 count */ - 12952, /* 16.63 kPa 112 count */ - 12932, /* 16.69 kPa 113 count */ - 12911, /* 16.74 kPa 114 count */ - 12891, /* 16.80 kPa 115 count */ - 12870, /* 16.85 kPa 116 count */ - 12850, /* 16.91 kPa 117 count */ - 12829, /* 16.96 kPa 118 count */ - 12809, /* 17.01 kPa 119 count */ - 12789, /* 17.07 kPa 120 count */ - 12769, /* 17.12 kPa 121 count */ - 12749, /* 17.18 kPa 122 count */ - 12729, /* 17.23 kPa 123 count */ - 12709, /* 17.29 kPa 124 count */ - 12689, /* 17.34 kPa 125 count */ - 12669, /* 17.39 kPa 126 count */ - 12649, /* 17.45 kPa 127 count */ - 12630, /* 17.50 kPa 128 count */ - 12610, /* 17.56 kPa 129 count */ - 12590, /* 17.61 kPa 130 count */ - 12571, /* 17.67 kPa 131 count */ - 12551, /* 17.72 kPa 132 count */ - 12532, /* 17.77 kPa 133 count */ - 12513, /* 17.83 kPa 134 count */ - 12493, /* 17.88 kPa 135 count */ - 12474, /* 17.94 kPa 136 count */ - 12455, /* 17.99 kPa 137 count */ - 12436, /* 18.05 kPa 138 count */ - 12417, /* 18.10 kPa 139 count */ - 12398, /* 18.15 kPa 140 count */ - 12379, /* 18.21 kPa 141 count */ - 12360, /* 18.26 kPa 142 count */ - 12341, /* 18.32 kPa 143 count */ - 12323, /* 18.37 kPa 144 count */ - 12304, /* 18.43 kPa 145 count */ - 12285, /* 18.48 kPa 146 count */ - 12267, /* 18.53 kPa 147 count */ - 12248, /* 18.59 kPa 148 count */ - 12230, /* 18.64 kPa 149 count */ - 12211, /* 18.70 kPa 150 count */ - 12193, /* 18.75 kPa 151 count */ - 12174, /* 18.81 kPa 152 count */ - 12156, /* 18.86 kPa 153 count */ - 12138, /* 18.91 kPa 154 count */ - 12120, /* 18.97 kPa 155 count */ - 12102, /* 19.02 kPa 156 count */ - 12084, /* 19.08 kPa 157 count */ - 12065, /* 19.13 kPa 158 count */ - 12048, /* 19.19 kPa 159 count */ - 12030, /* 19.24 kPa 160 count */ - 12012, /* 19.29 kPa 161 count */ - 11994, /* 19.35 kPa 162 count */ - 11976, /* 19.40 kPa 163 count */ - 11958, /* 19.46 kPa 164 count */ - 11941, /* 19.51 kPa 165 count */ - 11923, /* 19.57 kPa 166 count */ - 11906, /* 19.62 kPa 167 count */ - 11888, /* 19.67 kPa 168 count */ - 11871, /* 19.73 kPa 169 count */ - 11853, /* 19.78 kPa 170 count */ - 11836, /* 19.84 kPa 171 count */ - 11818, /* 19.89 kPa 172 count */ - 11801, /* 19.95 kPa 173 count */ - 11784, /* 20.00 kPa 174 count */ - 11767, /* 20.05 kPa 175 count */ - 11750, /* 20.11 kPa 176 count */ - 11733, /* 20.16 kPa 177 count */ - 11715, /* 20.22 kPa 178 count */ - 11698, /* 20.27 kPa 179 count */ - 11682, /* 20.33 kPa 180 count */ - 11665, /* 20.38 kPa 181 count */ - 11648, /* 20.43 kPa 182 count */ - 11631, /* 20.49 kPa 183 count */ - 11614, /* 20.54 kPa 184 count */ - 11597, /* 20.60 kPa 185 count */ - 11581, /* 20.65 kPa 186 count */ - 11564, /* 20.71 kPa 187 count */ - 11547, /* 20.76 kPa 188 count */ - 11531, /* 20.81 kPa 189 count */ - 11514, /* 20.87 kPa 190 count */ - 11498, /* 20.92 kPa 191 count */ - 11481, /* 20.98 kPa 192 count */ - 11465, /* 21.03 kPa 193 count */ - 11449, /* 21.09 kPa 194 count */ - 11432, /* 21.14 kPa 195 count */ - 11416, /* 21.19 kPa 196 count */ - 11400, /* 21.25 kPa 197 count */ - 11384, /* 21.30 kPa 198 count */ - 11368, /* 21.36 kPa 199 count */ - 11352, /* 21.41 kPa 200 count */ - 11336, /* 21.47 kPa 201 count */ - 11319, /* 21.52 kPa 202 count */ - 11304, /* 21.57 kPa 203 count */ - 11288, /* 21.63 kPa 204 count */ - 11272, /* 21.68 kPa 205 count */ - 11256, /* 21.74 kPa 206 count */ - 11240, /* 21.79 kPa 207 count */ - 11224, /* 21.85 kPa 208 count */ - 11208, /* 21.90 kPa 209 count */ - 11193, /* 21.95 kPa 210 count */ - 11177, /* 22.01 kPa 211 count */ - 11162, /* 22.06 kPa 212 count */ - 11146, /* 22.12 kPa 213 count */ - 11130, /* 22.17 kPa 214 count */ - 11115, /* 22.23 kPa 215 count */ - 11099, /* 22.28 kPa 216 count */ - 11084, /* 22.33 kPa 217 count */ - 11069, /* 22.39 kPa 218 count */ - 11053, /* 22.44 kPa 219 count */ - 11038, /* 22.50 kPa 220 count */ - 11023, /* 22.55 kPa 221 count */ - 11007, /* 22.61 kPa 222 count */ - 10992, /* 22.66 kPa 223 count */ - 10977, /* 22.71 kPa 224 count */ - 10962, /* 22.77 kPa 225 count */ - 10947, /* 22.82 kPa 226 count */ - 10932, /* 22.88 kPa 227 count */ - 10917, /* 22.93 kPa 228 count */ - 10902, /* 22.99 kPa 229 count */ - 10887, /* 23.04 kPa 230 count */ - 10872, /* 23.09 kPa 231 count */ - 10857, /* 23.15 kPa 232 count */ - 10842, /* 23.20 kPa 233 count */ - 10827, /* 23.26 kPa 234 count */ - 10812, /* 23.31 kPa 235 count */ - 10797, /* 23.37 kPa 236 count */ - 10782, /* 23.42 kPa 237 count */ - 10768, /* 23.47 kPa 238 count */ - 10753, /* 23.53 kPa 239 count */ - 10738, /* 23.58 kPa 240 count */ - 10723, /* 23.64 kPa 241 count */ - 10709, /* 23.69 kPa 242 count */ - 10694, /* 23.75 kPa 243 count */ - 10679, /* 23.80 kPa 244 count */ - 10665, /* 23.85 kPa 245 count */ - 10650, /* 23.91 kPa 246 count */ - 10636, /* 23.96 kPa 247 count */ - 10621, /* 24.02 kPa 248 count */ - 10607, /* 24.07 kPa 249 count */ - 10592, /* 24.13 kPa 250 count */ - 10578, /* 24.18 kPa 251 count */ - 10563, /* 24.23 kPa 252 count */ - 10549, /* 24.29 kPa 253 count */ - 10535, /* 24.34 kPa 254 count */ - 10520, /* 24.40 kPa 255 count */ - 10506, /* 24.45 kPa 256 count */ - 10492, /* 24.51 kPa 257 count */ - 10478, /* 24.56 kPa 258 count */ - 10463, /* 24.61 kPa 259 count */ - 10449, /* 24.67 kPa 260 count */ - 10435, /* 24.72 kPa 261 count */ - 10421, /* 24.78 kPa 262 count */ - 10407, /* 24.83 kPa 263 count */ - 10393, /* 24.89 kPa 264 count */ - 10379, /* 24.94 kPa 265 count */ - 10364, /* 24.99 kPa 266 count */ - 10350, /* 25.05 kPa 267 count */ - 10336, /* 25.10 kPa 268 count */ - 10322, /* 25.16 kPa 269 count */ - 10309, /* 25.21 kPa 270 count */ - 10295, /* 25.27 kPa 271 count */ - 10281, /* 25.32 kPa 272 count */ - 10267, /* 25.37 kPa 273 count */ - 10253, /* 25.43 kPa 274 count */ - 10239, /* 25.48 kPa 275 count */ - 10225, /* 25.54 kPa 276 count */ - 10212, /* 25.59 kPa 277 count */ - 10198, /* 25.65 kPa 278 count */ - 10184, /* 25.70 kPa 279 count */ - 10170, /* 25.75 kPa 280 count */ - 10157, /* 25.81 kPa 281 count */ - 10143, /* 25.86 kPa 282 count */ - 10129, /* 25.92 kPa 283 count */ - 10116, /* 25.97 kPa 284 count */ - 10102, /* 26.03 kPa 285 count */ - 10089, /* 26.08 kPa 286 count */ - 10075, /* 26.13 kPa 287 count */ - 10062, /* 26.19 kPa 288 count */ - 10048, /* 26.24 kPa 289 count */ - 10035, /* 26.30 kPa 290 count */ - 10021, /* 26.35 kPa 291 count */ - 10008, /* 26.41 kPa 292 count */ - 9994, /* 26.46 kPa 293 count */ - 9981, /* 26.51 kPa 294 count */ - 9967, /* 26.57 kPa 295 count */ - 9954, /* 26.62 kPa 296 count */ - 9941, /* 26.68 kPa 297 count */ - 9928, /* 26.73 kPa 298 count */ - 9914, /* 26.79 kPa 299 count */ - 9901, /* 26.84 kPa 300 count */ - 9888, /* 26.89 kPa 301 count */ - 9875, /* 26.95 kPa 302 count */ - 9861, /* 27.00 kPa 303 count */ - 9848, /* 27.06 kPa 304 count */ - 9835, /* 27.11 kPa 305 count */ - 9822, /* 27.17 kPa 306 count */ - 9809, /* 27.22 kPa 307 count */ - 9796, /* 27.27 kPa 308 count */ - 9783, /* 27.33 kPa 309 count */ - 9770, /* 27.38 kPa 310 count */ - 9757, /* 27.44 kPa 311 count */ - 9744, /* 27.49 kPa 312 count */ - 9731, /* 27.55 kPa 313 count */ - 9718, /* 27.60 kPa 314 count */ - 9705, /* 27.65 kPa 315 count */ - 9692, /* 27.71 kPa 316 count */ - 9679, /* 27.76 kPa 317 count */ - 9666, /* 27.82 kPa 318 count */ - 9653, /* 27.87 kPa 319 count */ - 9640, /* 27.93 kPa 320 count */ - 9627, /* 27.98 kPa 321 count */ - 9615, /* 28.03 kPa 322 count */ - 9602, /* 28.09 kPa 323 count */ - 9589, /* 28.14 kPa 324 count */ - 9576, /* 28.20 kPa 325 count */ - 9564, /* 28.25 kPa 326 count */ - 9551, /* 28.31 kPa 327 count */ - 9538, /* 28.36 kPa 328 count */ - 9526, /* 28.41 kPa 329 count */ - 9513, /* 28.47 kPa 330 count */ - 9500, /* 28.52 kPa 331 count */ - 9488, /* 28.58 kPa 332 count */ - 9475, /* 28.63 kPa 333 count */ - 9463, /* 28.69 kPa 334 count */ - 9450, /* 28.74 kPa 335 count */ - 9438, /* 28.79 kPa 336 count */ - 9425, /* 28.85 kPa 337 count */ - 9413, /* 28.90 kPa 338 count */ - 9400, /* 28.96 kPa 339 count */ - 9388, /* 29.01 kPa 340 count */ - 9375, /* 29.07 kPa 341 count */ - 9363, /* 29.12 kPa 342 count */ - 9350, /* 29.17 kPa 343 count */ - 9338, /* 29.23 kPa 344 count */ - 9326, /* 29.28 kPa 345 count */ - 9313, /* 29.34 kPa 346 count */ - 9301, /* 29.39 kPa 347 count */ - 9289, /* 29.44 kPa 348 count */ - 9276, /* 29.50 kPa 349 count */ - 9264, /* 29.55 kPa 350 count */ - 9252, /* 29.61 kPa 351 count */ - 9240, /* 29.66 kPa 352 count */ - 9227, /* 29.72 kPa 353 count */ - 9215, /* 29.77 kPa 354 count */ - 9203, /* 29.82 kPa 355 count */ - 9191, /* 29.88 kPa 356 count */ - 9179, /* 29.93 kPa 357 count */ - 9167, /* 29.99 kPa 358 count */ - 9155, /* 30.04 kPa 359 count */ - 9142, /* 30.10 kPa 360 count */ - 9130, /* 30.15 kPa 361 count */ - 9118, /* 30.20 kPa 362 count */ - 9106, /* 30.26 kPa 363 count */ - 9094, /* 30.31 kPa 364 count */ - 9082, /* 30.37 kPa 365 count */ - 9070, /* 30.42 kPa 366 count */ - 9058, /* 30.48 kPa 367 count */ - 9046, /* 30.53 kPa 368 count */ - 9035, /* 30.58 kPa 369 count */ - 9023, /* 30.64 kPa 370 count */ - 9011, /* 30.69 kPa 371 count */ - 8999, /* 30.75 kPa 372 count */ - 8987, /* 30.80 kPa 373 count */ - 8975, /* 30.86 kPa 374 count */ - 8963, /* 30.91 kPa 375 count */ - 8952, /* 30.96 kPa 376 count */ - 8940, /* 31.02 kPa 377 count */ - 8928, /* 31.07 kPa 378 count */ - 8916, /* 31.13 kPa 379 count */ - 8904, /* 31.18 kPa 380 count */ - 8893, /* 31.24 kPa 381 count */ - 8881, /* 31.29 kPa 382 count */ - 8869, /* 31.34 kPa 383 count */ - 8858, /* 31.40 kPa 384 count */ - 8846, /* 31.45 kPa 385 count */ - 8834, /* 31.51 kPa 386 count */ - 8823, /* 31.56 kPa 387 count */ - 8811, /* 31.62 kPa 388 count */ - 8800, /* 31.67 kPa 389 count */ - 8788, /* 31.72 kPa 390 count */ - 8776, /* 31.78 kPa 391 count */ - 8765, /* 31.83 kPa 392 count */ - 8753, /* 31.89 kPa 393 count */ - 8742, /* 31.94 kPa 394 count */ - 8730, /* 32.00 kPa 395 count */ - 8719, /* 32.05 kPa 396 count */ - 8707, /* 32.10 kPa 397 count */ - 8696, /* 32.16 kPa 398 count */ - 8684, /* 32.21 kPa 399 count */ - 8673, /* 32.27 kPa 400 count */ - 8662, /* 32.32 kPa 401 count */ - 8650, /* 32.38 kPa 402 count */ - 8639, /* 32.43 kPa 403 count */ - 8628, /* 32.48 kPa 404 count */ - 8616, /* 32.54 kPa 405 count */ - 8605, /* 32.59 kPa 406 count */ - 8594, /* 32.65 kPa 407 count */ - 8582, /* 32.70 kPa 408 count */ - 8571, /* 32.76 kPa 409 count */ - 8560, /* 32.81 kPa 410 count */ - 8548, /* 32.86 kPa 411 count */ - 8537, /* 32.92 kPa 412 count */ - 8526, /* 32.97 kPa 413 count */ - 8515, /* 33.03 kPa 414 count */ - 8504, /* 33.08 kPa 415 count */ - 8492, /* 33.14 kPa 416 count */ - 8481, /* 33.19 kPa 417 count */ - 8470, /* 33.24 kPa 418 count */ - 8459, /* 33.30 kPa 419 count */ - 8448, /* 33.35 kPa 420 count */ - 8437, /* 33.41 kPa 421 count */ - 8426, /* 33.46 kPa 422 count */ - 8415, /* 33.52 kPa 423 count */ - 8403, /* 33.57 kPa 424 count */ - 8392, /* 33.62 kPa 425 count */ - 8381, /* 33.68 kPa 426 count */ - 8370, /* 33.73 kPa 427 count */ - 8359, /* 33.79 kPa 428 count */ - 8348, /* 33.84 kPa 429 count */ - 8337, /* 33.90 kPa 430 count */ - 8326, /* 33.95 kPa 431 count */ - 8316, /* 34.00 kPa 432 count */ - 8305, /* 34.06 kPa 433 count */ - 8294, /* 34.11 kPa 434 count */ - 8283, /* 34.17 kPa 435 count */ - 8272, /* 34.22 kPa 436 count */ - 8261, /* 34.28 kPa 437 count */ - 8250, /* 34.33 kPa 438 count */ - 8239, /* 34.38 kPa 439 count */ - 8228, /* 34.44 kPa 440 count */ - 8218, /* 34.49 kPa 441 count */ - 8207, /* 34.55 kPa 442 count */ - 8196, /* 34.60 kPa 443 count */ - 8185, /* 34.66 kPa 444 count */ - 8175, /* 34.71 kPa 445 count */ - 8164, /* 34.76 kPa 446 count */ - 8153, /* 34.82 kPa 447 count */ - 8142, /* 34.87 kPa 448 count */ - 8132, /* 34.93 kPa 449 count */ - 8121, /* 34.98 kPa 450 count */ - 8110, /* 35.04 kPa 451 count */ - 8100, /* 35.09 kPa 452 count */ - 8089, /* 35.14 kPa 453 count */ - 8078, /* 35.20 kPa 454 count */ - 8068, /* 35.25 kPa 455 count */ - 8057, /* 35.31 kPa 456 count */ - 8046, /* 35.36 kPa 457 count */ - 8036, /* 35.42 kPa 458 count */ - 8025, /* 35.47 kPa 459 count */ - 8015, /* 35.52 kPa 460 count */ - 8004, /* 35.58 kPa 461 count */ - 7994, /* 35.63 kPa 462 count */ - 7983, /* 35.69 kPa 463 count */ - 7973, /* 35.74 kPa 464 count */ - 7962, /* 35.80 kPa 465 count */ - 7952, /* 35.85 kPa 466 count */ - 7941, /* 35.90 kPa 467 count */ - 7931, /* 35.96 kPa 468 count */ - 7920, /* 36.01 kPa 469 count */ - 7910, /* 36.07 kPa 470 count */ - 7899, /* 36.12 kPa 471 count */ - 7889, /* 36.18 kPa 472 count */ - 7879, /* 36.23 kPa 473 count */ - 7868, /* 36.28 kPa 474 count */ - 7858, /* 36.34 kPa 475 count */ - 7847, /* 36.39 kPa 476 count */ - 7837, /* 36.45 kPa 477 count */ - 7827, /* 36.50 kPa 478 count */ - 7816, /* 36.56 kPa 479 count */ - 7806, /* 36.61 kPa 480 count */ - 7796, /* 36.66 kPa 481 count */ - 7785, /* 36.72 kPa 482 count */ - 7775, /* 36.77 kPa 483 count */ - 7765, /* 36.83 kPa 484 count */ - 7755, /* 36.88 kPa 485 count */ - 7744, /* 36.94 kPa 486 count */ - 7734, /* 36.99 kPa 487 count */ - 7724, /* 37.04 kPa 488 count */ - 7714, /* 37.10 kPa 489 count */ - 7704, /* 37.15 kPa 490 count */ - 7693, /* 37.21 kPa 491 count */ - 7683, /* 37.26 kPa 492 count */ - 7673, /* 37.32 kPa 493 count */ - 7663, /* 37.37 kPa 494 count */ - 7653, /* 37.42 kPa 495 count */ - 7643, /* 37.48 kPa 496 count */ - 7633, /* 37.53 kPa 497 count */ - 7623, /* 37.59 kPa 498 count */ - 7613, /* 37.64 kPa 499 count */ - 7602, /* 37.70 kPa 500 count */ - 7592, /* 37.75 kPa 501 count */ - 7582, /* 37.80 kPa 502 count */ - 7572, /* 37.86 kPa 503 count */ - 7562, /* 37.91 kPa 504 count */ - 7552, /* 37.97 kPa 505 count */ - 7542, /* 38.02 kPa 506 count */ - 7532, /* 38.08 kPa 507 count */ - 7522, /* 38.13 kPa 508 count */ - 7512, /* 38.18 kPa 509 count */ - 7502, /* 38.24 kPa 510 count */ - 7492, /* 38.29 kPa 511 count */ - 7483, /* 38.35 kPa 512 count */ - 7473, /* 38.40 kPa 513 count */ - 7463, /* 38.46 kPa 514 count */ - 7453, /* 38.51 kPa 515 count */ - 7443, /* 38.56 kPa 516 count */ - 7433, /* 38.62 kPa 517 count */ - 7423, /* 38.67 kPa 518 count */ - 7413, /* 38.73 kPa 519 count */ - 7403, /* 38.78 kPa 520 count */ - 7394, /* 38.84 kPa 521 count */ - 7384, /* 38.89 kPa 522 count */ - 7374, /* 38.94 kPa 523 count */ - 7364, /* 39.00 kPa 524 count */ - 7354, /* 39.05 kPa 525 count */ - 7345, /* 39.11 kPa 526 count */ - 7335, /* 39.16 kPa 527 count */ - 7325, /* 39.22 kPa 528 count */ - 7315, /* 39.27 kPa 529 count */ - 7306, /* 39.32 kPa 530 count */ - 7296, /* 39.38 kPa 531 count */ - 7286, /* 39.43 kPa 532 count */ - 7277, /* 39.49 kPa 533 count */ - 7267, /* 39.54 kPa 534 count */ - 7257, /* 39.60 kPa 535 count */ - 7248, /* 39.65 kPa 536 count */ - 7238, /* 39.70 kPa 537 count */ - 7228, /* 39.76 kPa 538 count */ - 7219, /* 39.81 kPa 539 count */ - 7209, /* 39.87 kPa 540 count */ - 7199, /* 39.92 kPa 541 count */ - 7190, /* 39.98 kPa 542 count */ - 7180, /* 40.03 kPa 543 count */ - 7171, /* 40.08 kPa 544 count */ - 7161, /* 40.14 kPa 545 count */ - 7152, /* 40.19 kPa 546 count */ - 7142, /* 40.25 kPa 547 count */ - 7132, /* 40.30 kPa 548 count */ - 7123, /* 40.36 kPa 549 count */ - 7113, /* 40.41 kPa 550 count */ - 7104, /* 40.46 kPa 551 count */ - 7094, /* 40.52 kPa 552 count */ - 7085, /* 40.57 kPa 553 count */ - 7075, /* 40.63 kPa 554 count */ - 7066, /* 40.68 kPa 555 count */ - 7056, /* 40.74 kPa 556 count */ - 7047, /* 40.79 kPa 557 count */ - 7038, /* 40.84 kPa 558 count */ - 7028, /* 40.90 kPa 559 count */ - 7019, /* 40.95 kPa 560 count */ - 7009, /* 41.01 kPa 561 count */ - 7000, /* 41.06 kPa 562 count */ - 6991, /* 41.12 kPa 563 count */ - 6981, /* 41.17 kPa 564 count */ - 6972, /* 41.22 kPa 565 count */ - 6962, /* 41.28 kPa 566 count */ - 6953, /* 41.33 kPa 567 count */ - 6944, /* 41.39 kPa 568 count */ - 6934, /* 41.44 kPa 569 count */ - 6925, /* 41.50 kPa 570 count */ - 6916, /* 41.55 kPa 571 count */ - 6907, /* 41.60 kPa 572 count */ - 6897, /* 41.66 kPa 573 count */ - 6888, /* 41.71 kPa 574 count */ - 6879, /* 41.77 kPa 575 count */ - 6869, /* 41.82 kPa 576 count */ - 6860, /* 41.88 kPa 577 count */ - 6851, /* 41.93 kPa 578 count */ - 6842, /* 41.98 kPa 579 count */ - 6833, /* 42.04 kPa 580 count */ - 6823, /* 42.09 kPa 581 count */ - 6814, /* 42.15 kPa 582 count */ - 6805, /* 42.20 kPa 583 count */ - 6796, /* 42.26 kPa 584 count */ - 6787, /* 42.31 kPa 585 count */ - 6777, /* 42.36 kPa 586 count */ - 6768, /* 42.42 kPa 587 count */ - 6759, /* 42.47 kPa 588 count */ - 6750, /* 42.53 kPa 589 count */ - 6741, /* 42.58 kPa 590 count */ - 6732, /* 42.64 kPa 591 count */ - 6723, /* 42.69 kPa 592 count */ - 6714, /* 42.74 kPa 593 count */ - 6705, /* 42.80 kPa 594 count */ - 6695, /* 42.85 kPa 595 count */ - 6686, /* 42.91 kPa 596 count */ - 6677, /* 42.96 kPa 597 count */ - 6668, /* 43.01 kPa 598 count */ - 6659, /* 43.07 kPa 599 count */ - 6650, /* 43.12 kPa 600 count */ - 6641, /* 43.18 kPa 601 count */ - 6632, /* 43.23 kPa 602 count */ - 6623, /* 43.29 kPa 603 count */ - 6614, /* 43.34 kPa 604 count */ - 6605, /* 43.39 kPa 605 count */ - 6596, /* 43.45 kPa 606 count */ - 6587, /* 43.50 kPa 607 count */ - 6578, /* 43.56 kPa 608 count */ - 6569, /* 43.61 kPa 609 count */ - 6560, /* 43.67 kPa 610 count */ - 6552, /* 43.72 kPa 611 count */ - 6543, /* 43.77 kPa 612 count */ - 6534, /* 43.83 kPa 613 count */ - 6525, /* 43.88 kPa 614 count */ - 6516, /* 43.94 kPa 615 count */ - 6507, /* 43.99 kPa 616 count */ - 6498, /* 44.05 kPa 617 count */ - 6489, /* 44.10 kPa 618 count */ - 6480, /* 44.15 kPa 619 count */ - 6472, /* 44.21 kPa 620 count */ - 6463, /* 44.26 kPa 621 count */ - 6454, /* 44.32 kPa 622 count */ - 6445, /* 44.37 kPa 623 count */ - 6436, /* 44.43 kPa 624 count */ - 6427, /* 44.48 kPa 625 count */ - 6419, /* 44.53 kPa 626 count */ - 6410, /* 44.59 kPa 627 count */ - 6401, /* 44.64 kPa 628 count */ - 6392, /* 44.70 kPa 629 count */ - 6384, /* 44.75 kPa 630 count */ - 6375, /* 44.81 kPa 631 count */ - 6366, /* 44.86 kPa 632 count */ - 6357, /* 44.91 kPa 633 count */ - 6349, /* 44.97 kPa 634 count */ - 6340, /* 45.02 kPa 635 count */ - 6331, /* 45.08 kPa 636 count */ - 6322, /* 45.13 kPa 637 count */ - 6314, /* 45.19 kPa 638 count */ - 6305, /* 45.24 kPa 639 count */ - 6296, /* 45.29 kPa 640 count */ - 6288, /* 45.35 kPa 641 count */ - 6279, /* 45.40 kPa 642 count */ - 6270, /* 45.46 kPa 643 count */ - 6262, /* 45.51 kPa 644 count */ - 6253, /* 45.57 kPa 645 count */ - 6245, /* 45.62 kPa 646 count */ - 6236, /* 45.67 kPa 647 count */ - 6227, /* 45.73 kPa 648 count */ - 6219, /* 45.78 kPa 649 count */ - 6210, /* 45.84 kPa 650 count */ - 6202, /* 45.89 kPa 651 count */ - 6193, /* 45.95 kPa 652 count */ - 6184, /* 46.00 kPa 653 count */ - 6176, /* 46.05 kPa 654 count */ - 6167, /* 46.11 kPa 655 count */ - 6159, /* 46.16 kPa 656 count */ - 6150, /* 46.22 kPa 657 count */ - 6142, /* 46.27 kPa 658 count */ - 6133, /* 46.33 kPa 659 count */ - 6125, /* 46.38 kPa 660 count */ - 6116, /* 46.43 kPa 661 count */ - 6108, /* 46.49 kPa 662 count */ - 6099, /* 46.54 kPa 663 count */ - 6091, /* 46.60 kPa 664 count */ - 6082, /* 46.65 kPa 665 count */ - 6074, /* 46.71 kPa 666 count */ - 6065, /* 46.76 kPa 667 count */ - 6057, /* 46.81 kPa 668 count */ - 6048, /* 46.87 kPa 669 count */ - 6040, /* 46.92 kPa 670 count */ - 6032, /* 46.98 kPa 671 count */ - 6023, /* 47.03 kPa 672 count */ - 6015, /* 47.09 kPa 673 count */ - 6006, /* 47.14 kPa 674 count */ - 5998, /* 47.19 kPa 675 count */ - 5990, /* 47.25 kPa 676 count */ - 5981, /* 47.30 kPa 677 count */ - 5973, /* 47.36 kPa 678 count */ - 5964, /* 47.41 kPa 679 count */ - 5956, /* 47.47 kPa 680 count */ - 5948, /* 47.52 kPa 681 count */ - 5939, /* 47.57 kPa 682 count */ - 5931, /* 47.63 kPa 683 count */ - 5923, /* 47.68 kPa 684 count */ - 5914, /* 47.74 kPa 685 count */ - 5906, /* 47.79 kPa 686 count */ - 5898, /* 47.85 kPa 687 count */ - 5890, /* 47.90 kPa 688 count */ - 5881, /* 47.95 kPa 689 count */ - 5873, /* 48.01 kPa 690 count */ - 5865, /* 48.06 kPa 691 count */ - 5856, /* 48.12 kPa 692 count */ - 5848, /* 48.17 kPa 693 count */ - 5840, /* 48.23 kPa 694 count */ - 5832, /* 48.28 kPa 695 count */ - 5823, /* 48.33 kPa 696 count */ - 5815, /* 48.39 kPa 697 count */ - 5807, /* 48.44 kPa 698 count */ - 5799, /* 48.50 kPa 699 count */ - 5791, /* 48.55 kPa 700 count */ - 5782, /* 48.61 kPa 701 count */ - 5774, /* 48.66 kPa 702 count */ - 5766, /* 48.71 kPa 703 count */ - 5758, /* 48.77 kPa 704 count */ - 5750, /* 48.82 kPa 705 count */ - 5742, /* 48.88 kPa 706 count */ - 5733, /* 48.93 kPa 707 count */ - 5725, /* 48.99 kPa 708 count */ - 5717, /* 49.04 kPa 709 count */ - 5709, /* 49.09 kPa 710 count */ - 5701, /* 49.15 kPa 711 count */ - 5693, /* 49.20 kPa 712 count */ - 5685, /* 49.26 kPa 713 count */ - 5677, /* 49.31 kPa 714 count */ - 5668, /* 49.37 kPa 715 count */ - 5660, /* 49.42 kPa 716 count */ - 5652, /* 49.47 kPa 717 count */ - 5644, /* 49.53 kPa 718 count */ - 5636, /* 49.58 kPa 719 count */ - 5628, /* 49.64 kPa 720 count */ - 5620, /* 49.69 kPa 721 count */ - 5612, /* 49.75 kPa 722 count */ - 5604, /* 49.80 kPa 723 count */ - 5596, /* 49.85 kPa 724 count */ - 5588, /* 49.91 kPa 725 count */ - 5580, /* 49.96 kPa 726 count */ - 5572, /* 50.02 kPa 727 count */ - 5564, /* 50.07 kPa 728 count */ - 5556, /* 50.13 kPa 729 count */ - 5548, /* 50.18 kPa 730 count */ - 5540, /* 50.23 kPa 731 count */ - 5532, /* 50.29 kPa 732 count */ - 5524, /* 50.34 kPa 733 count */ - 5516, /* 50.40 kPa 734 count */ - 5508, /* 50.45 kPa 735 count */ - 5500, /* 50.51 kPa 736 count */ - 5492, /* 50.56 kPa 737 count */ - 5484, /* 50.61 kPa 738 count */ - 5476, /* 50.67 kPa 739 count */ - 5468, /* 50.72 kPa 740 count */ - 5461, /* 50.78 kPa 741 count */ - 5453, /* 50.83 kPa 742 count */ - 5445, /* 50.89 kPa 743 count */ - 5437, /* 50.94 kPa 744 count */ - 5429, /* 50.99 kPa 745 count */ - 5421, /* 51.05 kPa 746 count */ - 5413, /* 51.10 kPa 747 count */ - 5405, /* 51.16 kPa 748 count */ - 5398, /* 51.21 kPa 749 count */ - 5390, /* 51.27 kPa 750 count */ - 5382, /* 51.32 kPa 751 count */ - 5374, /* 51.37 kPa 752 count */ - 5366, /* 51.43 kPa 753 count */ - 5358, /* 51.48 kPa 754 count */ - 5351, /* 51.54 kPa 755 count */ - 5343, /* 51.59 kPa 756 count */ - 5335, /* 51.65 kPa 757 count */ - 5327, /* 51.70 kPa 758 count */ - 5319, /* 51.75 kPa 759 count */ - 5312, /* 51.81 kPa 760 count */ - 5304, /* 51.86 kPa 761 count */ - 5296, /* 51.92 kPa 762 count */ - 5288, /* 51.97 kPa 763 count */ - 5281, /* 52.03 kPa 764 count */ - 5273, /* 52.08 kPa 765 count */ - 5265, /* 52.13 kPa 766 count */ - 5257, /* 52.19 kPa 767 count */ - 5250, /* 52.24 kPa 768 count */ - 5242, /* 52.30 kPa 769 count */ - 5234, /* 52.35 kPa 770 count */ - 5226, /* 52.41 kPa 771 count */ - 5219, /* 52.46 kPa 772 count */ - 5211, /* 52.51 kPa 773 count */ - 5203, /* 52.57 kPa 774 count */ - 5196, /* 52.62 kPa 775 count */ - 5188, /* 52.68 kPa 776 count */ - 5180, /* 52.73 kPa 777 count */ - 5173, /* 52.79 kPa 778 count */ - 5165, /* 52.84 kPa 779 count */ - 5157, /* 52.89 kPa 780 count */ - 5150, /* 52.95 kPa 781 count */ - 5142, /* 53.00 kPa 782 count */ - 5134, /* 53.06 kPa 783 count */ - 5127, /* 53.11 kPa 784 count */ - 5119, /* 53.17 kPa 785 count */ - 5112, /* 53.22 kPa 786 count */ - 5104, /* 53.27 kPa 787 count */ - 5096, /* 53.33 kPa 788 count */ - 5089, /* 53.38 kPa 789 count */ - 5081, /* 53.44 kPa 790 count */ - 5074, /* 53.49 kPa 791 count */ - 5066, /* 53.55 kPa 792 count */ - 5058, /* 53.60 kPa 793 count */ - 5051, /* 53.65 kPa 794 count */ - 5043, /* 53.71 kPa 795 count */ - 5036, /* 53.76 kPa 796 count */ - 5028, /* 53.82 kPa 797 count */ - 5021, /* 53.87 kPa 798 count */ - 5013, /* 53.93 kPa 799 count */ - 5006, /* 53.98 kPa 800 count */ - 4998, /* 54.03 kPa 801 count */ - 4991, /* 54.09 kPa 802 count */ - 4983, /* 54.14 kPa 803 count */ - 4976, /* 54.20 kPa 804 count */ - 4968, /* 54.25 kPa 805 count */ - 4961, /* 54.31 kPa 806 count */ - 4953, /* 54.36 kPa 807 count */ - 4946, /* 54.41 kPa 808 count */ - 4938, /* 54.47 kPa 809 count */ - 4931, /* 54.52 kPa 810 count */ - 4923, /* 54.58 kPa 811 count */ - 4916, /* 54.63 kPa 812 count */ - 4908, /* 54.69 kPa 813 count */ - 4901, /* 54.74 kPa 814 count */ - 4893, /* 54.79 kPa 815 count */ - 4886, /* 54.85 kPa 816 count */ - 4879, /* 54.90 kPa 817 count */ - 4871, /* 54.96 kPa 818 count */ - 4864, /* 55.01 kPa 819 count */ - 4856, /* 55.07 kPa 820 count */ - 4849, /* 55.12 kPa 821 count */ - 4842, /* 55.17 kPa 822 count */ - 4834, /* 55.23 kPa 823 count */ - 4827, /* 55.28 kPa 824 count */ - 4819, /* 55.34 kPa 825 count */ - 4812, /* 55.39 kPa 826 count */ - 4805, /* 55.45 kPa 827 count */ - 4797, /* 55.50 kPa 828 count */ - 4790, /* 55.55 kPa 829 count */ - 4783, /* 55.61 kPa 830 count */ - 4775, /* 55.66 kPa 831 count */ - 4768, /* 55.72 kPa 832 count */ - 4761, /* 55.77 kPa 833 count */ - 4753, /* 55.83 kPa 834 count */ - 4746, /* 55.88 kPa 835 count */ - 4739, /* 55.93 kPa 836 count */ - 4731, /* 55.99 kPa 837 count */ - 4724, /* 56.04 kPa 838 count */ - 4717, /* 56.10 kPa 839 count */ - 4709, /* 56.15 kPa 840 count */ - 4702, /* 56.21 kPa 841 count */ - 4695, /* 56.26 kPa 842 count */ - 4688, /* 56.31 kPa 843 count */ - 4680, /* 56.37 kPa 844 count */ - 4673, /* 56.42 kPa 845 count */ - 4666, /* 56.48 kPa 846 count */ - 4659, /* 56.53 kPa 847 count */ - 4651, /* 56.58 kPa 848 count */ - 4644, /* 56.64 kPa 849 count */ - 4637, /* 56.69 kPa 850 count */ - 4630, /* 56.75 kPa 851 count */ - 4622, /* 56.80 kPa 852 count */ - 4615, /* 56.86 kPa 853 count */ - 4608, /* 56.91 kPa 854 count */ - 4601, /* 56.96 kPa 855 count */ - 4594, /* 57.02 kPa 856 count */ - 4586, /* 57.07 kPa 857 count */ - 4579, /* 57.13 kPa 858 count */ - 4572, /* 57.18 kPa 859 count */ - 4565, /* 57.24 kPa 860 count */ - 4558, /* 57.29 kPa 861 count */ - 4550, /* 57.34 kPa 862 count */ - 4543, /* 57.40 kPa 863 count */ - 4536, /* 57.45 kPa 864 count */ - 4529, /* 57.51 kPa 865 count */ - 4522, /* 57.56 kPa 866 count */ - 4515, /* 57.62 kPa 867 count */ - 4508, /* 57.67 kPa 868 count */ - 4500, /* 57.72 kPa 869 count */ - 4493, /* 57.78 kPa 870 count */ - 4486, /* 57.83 kPa 871 count */ - 4479, /* 57.89 kPa 872 count */ - 4472, /* 57.94 kPa 873 count */ - 4465, /* 58.00 kPa 874 count */ - 4458, /* 58.05 kPa 875 count */ - 4451, /* 58.10 kPa 876 count */ - 4444, /* 58.16 kPa 877 count */ - 4437, /* 58.21 kPa 878 count */ - 4429, /* 58.27 kPa 879 count */ - 4422, /* 58.32 kPa 880 count */ - 4415, /* 58.38 kPa 881 count */ - 4408, /* 58.43 kPa 882 count */ - 4401, /* 58.48 kPa 883 count */ - 4394, /* 58.54 kPa 884 count */ - 4387, /* 58.59 kPa 885 count */ - 4380, /* 58.65 kPa 886 count */ - 4373, /* 58.70 kPa 887 count */ - 4366, /* 58.76 kPa 888 count */ - 4359, /* 58.81 kPa 889 count */ - 4352, /* 58.86 kPa 890 count */ - 4345, /* 58.92 kPa 891 count */ - 4338, /* 58.97 kPa 892 count */ - 4331, /* 59.03 kPa 893 count */ - 4324, /* 59.08 kPa 894 count */ - 4317, /* 59.14 kPa 895 count */ - 4310, /* 59.19 kPa 896 count */ - 4303, /* 59.24 kPa 897 count */ - 4296, /* 59.30 kPa 898 count */ - 4289, /* 59.35 kPa 899 count */ - 4282, /* 59.41 kPa 900 count */ - 4275, /* 59.46 kPa 901 count */ - 4268, /* 59.52 kPa 902 count */ - 4261, /* 59.57 kPa 903 count */ - 4254, /* 59.62 kPa 904 count */ - 4247, /* 59.68 kPa 905 count */ - 4240, /* 59.73 kPa 906 count */ - 4234, /* 59.79 kPa 907 count */ - 4227, /* 59.84 kPa 908 count */ - 4220, /* 59.90 kPa 909 count */ - 4213, /* 59.95 kPa 910 count */ - 4206, /* 60.00 kPa 911 count */ - 4199, /* 60.06 kPa 912 count */ - 4192, /* 60.11 kPa 913 count */ - 4185, /* 60.17 kPa 914 count */ - 4178, /* 60.22 kPa 915 count */ - 4171, /* 60.28 kPa 916 count */ - 4164, /* 60.33 kPa 917 count */ - 4158, /* 60.38 kPa 918 count */ - 4151, /* 60.44 kPa 919 count */ - 4144, /* 60.49 kPa 920 count */ - 4137, /* 60.55 kPa 921 count */ - 4130, /* 60.60 kPa 922 count */ - 4123, /* 60.66 kPa 923 count */ - 4116, /* 60.71 kPa 924 count */ - 4110, /* 60.76 kPa 925 count */ - 4103, /* 60.82 kPa 926 count */ - 4096, /* 60.87 kPa 927 count */ - 4089, /* 60.93 kPa 928 count */ - 4082, /* 60.98 kPa 929 count */ - 4076, /* 61.04 kPa 930 count */ - 4069, /* 61.09 kPa 931 count */ - 4062, /* 61.14 kPa 932 count */ - 4055, /* 61.20 kPa 933 count */ - 4048, /* 61.25 kPa 934 count */ - 4042, /* 61.31 kPa 935 count */ - 4035, /* 61.36 kPa 936 count */ - 4028, /* 61.42 kPa 937 count */ - 4021, /* 61.47 kPa 938 count */ - 4014, /* 61.52 kPa 939 count */ - 4008, /* 61.58 kPa 940 count */ - 4001, /* 61.63 kPa 941 count */ - 3994, /* 61.69 kPa 942 count */ - 3987, /* 61.74 kPa 943 count */ - 3981, /* 61.80 kPa 944 count */ - 3974, /* 61.85 kPa 945 count */ - 3967, /* 61.90 kPa 946 count */ - 3960, /* 61.96 kPa 947 count */ - 3954, /* 62.01 kPa 948 count */ - 3947, /* 62.07 kPa 949 count */ - 3940, /* 62.12 kPa 950 count */ - 3934, /* 62.18 kPa 951 count */ - 3927, /* 62.23 kPa 952 count */ - 3920, /* 62.28 kPa 953 count */ - 3913, /* 62.34 kPa 954 count */ - 3907, /* 62.39 kPa 955 count */ - 3900, /* 62.45 kPa 956 count */ - 3893, /* 62.50 kPa 957 count */ - 3887, /* 62.56 kPa 958 count */ - 3880, /* 62.61 kPa 959 count */ - 3873, /* 62.66 kPa 960 count */ - 3867, /* 62.72 kPa 961 count */ - 3860, /* 62.77 kPa 962 count */ - 3853, /* 62.83 kPa 963 count */ - 3847, /* 62.88 kPa 964 count */ - 3840, /* 62.94 kPa 965 count */ - 3833, /* 62.99 kPa 966 count */ - 3827, /* 63.04 kPa 967 count */ - 3820, /* 63.10 kPa 968 count */ - 3814, /* 63.15 kPa 969 count */ - 3807, /* 63.21 kPa 970 count */ - 3800, /* 63.26 kPa 971 count */ - 3794, /* 63.32 kPa 972 count */ - 3787, /* 63.37 kPa 973 count */ - 3780, /* 63.42 kPa 974 count */ - 3774, /* 63.48 kPa 975 count */ - 3767, /* 63.53 kPa 976 count */ - 3761, /* 63.59 kPa 977 count */ - 3754, /* 63.64 kPa 978 count */ - 3748, /* 63.70 kPa 979 count */ - 3741, /* 63.75 kPa 980 count */ - 3734, /* 63.80 kPa 981 count */ - 3728, /* 63.86 kPa 982 count */ - 3721, /* 63.91 kPa 983 count */ - 3715, /* 63.97 kPa 984 count */ - 3708, /* 64.02 kPa 985 count */ - 3702, /* 64.08 kPa 986 count */ - 3695, /* 64.13 kPa 987 count */ - 3688, /* 64.18 kPa 988 count */ - 3682, /* 64.24 kPa 989 count */ - 3675, /* 64.29 kPa 990 count */ - 3669, /* 64.35 kPa 991 count */ - 3662, /* 64.40 kPa 992 count */ - 3656, /* 64.46 kPa 993 count */ - 3649, /* 64.51 kPa 994 count */ - 3643, /* 64.56 kPa 995 count */ - 3636, /* 64.62 kPa 996 count */ - 3630, /* 64.67 kPa 997 count */ - 3623, /* 64.73 kPa 998 count */ - 3617, /* 64.78 kPa 999 count */ - 3610, /* 64.84 kPa 1000 count */ - 3604, /* 64.89 kPa 1001 count */ - 3597, /* 64.94 kPa 1002 count */ - 3591, /* 65.00 kPa 1003 count */ - 3584, /* 65.05 kPa 1004 count */ - 3578, /* 65.11 kPa 1005 count */ - 3571, /* 65.16 kPa 1006 count */ - 3565, /* 65.22 kPa 1007 count */ - 3559, /* 65.27 kPa 1008 count */ - 3552, /* 65.32 kPa 1009 count */ - 3546, /* 65.38 kPa 1010 count */ - 3539, /* 65.43 kPa 1011 count */ - 3533, /* 65.49 kPa 1012 count */ - 3526, /* 65.54 kPa 1013 count */ - 3520, /* 65.60 kPa 1014 count */ - 3514, /* 65.65 kPa 1015 count */ - 3507, /* 65.70 kPa 1016 count */ - 3501, /* 65.76 kPa 1017 count */ - 3494, /* 65.81 kPa 1018 count */ - 3488, /* 65.87 kPa 1019 count */ - 3481, /* 65.92 kPa 1020 count */ - 3475, /* 65.98 kPa 1021 count */ - 3469, /* 66.03 kPa 1022 count */ - 3462, /* 66.08 kPa 1023 count */ - 3456, /* 66.14 kPa 1024 count */ - 3450, /* 66.19 kPa 1025 count */ - 3443, /* 66.25 kPa 1026 count */ - 3437, /* 66.30 kPa 1027 count */ - 3430, /* 66.36 kPa 1028 count */ - 3424, /* 66.41 kPa 1029 count */ - 3418, /* 66.46 kPa 1030 count */ - 3411, /* 66.52 kPa 1031 count */ - 3405, /* 66.57 kPa 1032 count */ - 3399, /* 66.63 kPa 1033 count */ - 3392, /* 66.68 kPa 1034 count */ - 3386, /* 66.74 kPa 1035 count */ - 3380, /* 66.79 kPa 1036 count */ - 3373, /* 66.84 kPa 1037 count */ - 3367, /* 66.90 kPa 1038 count */ - 3361, /* 66.95 kPa 1039 count */ - 3354, /* 67.01 kPa 1040 count */ - 3348, /* 67.06 kPa 1041 count */ - 3342, /* 67.12 kPa 1042 count */ - 3335, /* 67.17 kPa 1043 count */ - 3329, /* 67.22 kPa 1044 count */ - 3323, /* 67.28 kPa 1045 count */ - 3316, /* 67.33 kPa 1046 count */ - 3310, /* 67.39 kPa 1047 count */ - 3304, /* 67.44 kPa 1048 count */ - 3298, /* 67.50 kPa 1049 count */ - 3291, /* 67.55 kPa 1050 count */ - 3285, /* 67.60 kPa 1051 count */ - 3279, /* 67.66 kPa 1052 count */ - 3273, /* 67.71 kPa 1053 count */ - 3266, /* 67.77 kPa 1054 count */ - 3260, /* 67.82 kPa 1055 count */ - 3254, /* 67.88 kPa 1056 count */ - 3248, /* 67.93 kPa 1057 count */ - 3241, /* 67.98 kPa 1058 count */ - 3235, /* 68.04 kPa 1059 count */ - 3229, /* 68.09 kPa 1060 count */ - 3223, /* 68.15 kPa 1061 count */ - 3216, /* 68.20 kPa 1062 count */ - 3210, /* 68.26 kPa 1063 count */ - 3204, /* 68.31 kPa 1064 count */ - 3198, /* 68.36 kPa 1065 count */ - 3191, /* 68.42 kPa 1066 count */ - 3185, /* 68.47 kPa 1067 count */ - 3179, /* 68.53 kPa 1068 count */ - 3173, /* 68.58 kPa 1069 count */ - 3167, /* 68.64 kPa 1070 count */ - 3160, /* 68.69 kPa 1071 count */ - 3154, /* 68.74 kPa 1072 count */ - 3148, /* 68.80 kPa 1073 count */ - 3142, /* 68.85 kPa 1074 count */ - 3136, /* 68.91 kPa 1075 count */ - 3130, /* 68.96 kPa 1076 count */ - 3123, /* 69.02 kPa 1077 count */ - 3117, /* 69.07 kPa 1078 count */ - 3111, /* 69.12 kPa 1079 count */ - 3105, /* 69.18 kPa 1080 count */ - 3099, /* 69.23 kPa 1081 count */ - 3093, /* 69.29 kPa 1082 count */ - 3087, /* 69.34 kPa 1083 count */ - 3080, /* 69.40 kPa 1084 count */ - 3074, /* 69.45 kPa 1085 count */ - 3068, /* 69.50 kPa 1086 count */ - 3062, /* 69.56 kPa 1087 count */ - 3056, /* 69.61 kPa 1088 count */ - 3050, /* 69.67 kPa 1089 count */ - 3044, /* 69.72 kPa 1090 count */ - 3037, /* 69.78 kPa 1091 count */ - 3031, /* 69.83 kPa 1092 count */ - 3025, /* 69.88 kPa 1093 count */ - 3019, /* 69.94 kPa 1094 count */ - 3013, /* 69.99 kPa 1095 count */ - 3007, /* 70.05 kPa 1096 count */ - 3001, /* 70.10 kPa 1097 count */ - 2995, /* 70.15 kPa 1098 count */ - 2989, /* 70.21 kPa 1099 count */ - 2983, /* 70.26 kPa 1100 count */ - 2977, /* 70.32 kPa 1101 count */ - 2970, /* 70.37 kPa 1102 count */ - 2964, /* 70.43 kPa 1103 count */ - 2958, /* 70.48 kPa 1104 count */ - 2952, /* 70.53 kPa 1105 count */ - 2946, /* 70.59 kPa 1106 count */ - 2940, /* 70.64 kPa 1107 count */ - 2934, /* 70.70 kPa 1108 count */ - 2928, /* 70.75 kPa 1109 count */ - 2922, /* 70.81 kPa 1110 count */ - 2916, /* 70.86 kPa 1111 count */ - 2910, /* 70.91 kPa 1112 count */ - 2904, /* 70.97 kPa 1113 count */ - 2898, /* 71.02 kPa 1114 count */ - 2892, /* 71.08 kPa 1115 count */ - 2886, /* 71.13 kPa 1116 count */ - 2880, /* 71.19 kPa 1117 count */ - 2874, /* 71.24 kPa 1118 count */ - 2868, /* 71.29 kPa 1119 count */ - 2862, /* 71.35 kPa 1120 count */ - 2856, /* 71.40 kPa 1121 count */ - 2850, /* 71.46 kPa 1122 count */ - 2844, /* 71.51 kPa 1123 count */ - 2838, /* 71.57 kPa 1124 count */ - 2832, /* 71.62 kPa 1125 count */ - 2826, /* 71.67 kPa 1126 count */ - 2820, /* 71.73 kPa 1127 count */ - 2814, /* 71.78 kPa 1128 count */ - 2808, /* 71.84 kPa 1129 count */ - 2802, /* 71.89 kPa 1130 count */ - 2796, /* 71.95 kPa 1131 count */ - 2790, /* 72.00 kPa 1132 count */ - 2784, /* 72.05 kPa 1133 count */ - 2778, /* 72.11 kPa 1134 count */ - 2772, /* 72.16 kPa 1135 count */ - 2766, /* 72.22 kPa 1136 count */ - 2760, /* 72.27 kPa 1137 count */ - 2754, /* 72.33 kPa 1138 count */ - 2748, /* 72.38 kPa 1139 count */ - 2743, /* 72.43 kPa 1140 count */ - 2737, /* 72.49 kPa 1141 count */ - 2731, /* 72.54 kPa 1142 count */ - 2725, /* 72.60 kPa 1143 count */ - 2719, /* 72.65 kPa 1144 count */ - 2713, /* 72.71 kPa 1145 count */ - 2707, /* 72.76 kPa 1146 count */ - 2701, /* 72.81 kPa 1147 count */ - 2695, /* 72.87 kPa 1148 count */ - 2689, /* 72.92 kPa 1149 count */ - 2683, /* 72.98 kPa 1150 count */ - 2678, /* 73.03 kPa 1151 count */ - 2672, /* 73.09 kPa 1152 count */ - 2666, /* 73.14 kPa 1153 count */ - 2660, /* 73.19 kPa 1154 count */ - 2654, /* 73.25 kPa 1155 count */ - 2648, /* 73.30 kPa 1156 count */ - 2642, /* 73.36 kPa 1157 count */ - 2636, /* 73.41 kPa 1158 count */ - 2631, /* 73.47 kPa 1159 count */ - 2625, /* 73.52 kPa 1160 count */ - 2619, /* 73.57 kPa 1161 count */ - 2613, /* 73.63 kPa 1162 count */ - 2607, /* 73.68 kPa 1163 count */ - 2601, /* 73.74 kPa 1164 count */ - 2595, /* 73.79 kPa 1165 count */ - 2590, /* 73.85 kPa 1166 count */ - 2584, /* 73.90 kPa 1167 count */ - 2578, /* 73.95 kPa 1168 count */ - 2572, /* 74.01 kPa 1169 count */ - 2566, /* 74.06 kPa 1170 count */ - 2560, /* 74.12 kPa 1171 count */ - 2555, /* 74.17 kPa 1172 count */ - 2549, /* 74.23 kPa 1173 count */ - 2543, /* 74.28 kPa 1174 count */ - 2537, /* 74.33 kPa 1175 count */ - 2531, /* 74.39 kPa 1176 count */ - 2526, /* 74.44 kPa 1177 count */ - 2520, /* 74.50 kPa 1178 count */ - 2514, /* 74.55 kPa 1179 count */ - 2508, /* 74.61 kPa 1180 count */ - 2502, /* 74.66 kPa 1181 count */ - 2497, /* 74.71 kPa 1182 count */ - 2491, /* 74.77 kPa 1183 count */ - 2485, /* 74.82 kPa 1184 count */ - 2479, /* 74.88 kPa 1185 count */ - 2473, /* 74.93 kPa 1186 count */ - 2468, /* 74.99 kPa 1187 count */ - 2462, /* 75.04 kPa 1188 count */ - 2456, /* 75.09 kPa 1189 count */ - 2450, /* 75.15 kPa 1190 count */ - 2445, /* 75.20 kPa 1191 count */ - 2439, /* 75.26 kPa 1192 count */ - 2433, /* 75.31 kPa 1193 count */ - 2427, /* 75.37 kPa 1194 count */ - 2422, /* 75.42 kPa 1195 count */ - 2416, /* 75.47 kPa 1196 count */ - 2410, /* 75.53 kPa 1197 count */ - 2405, /* 75.58 kPa 1198 count */ - 2399, /* 75.64 kPa 1199 count */ - 2393, /* 75.69 kPa 1200 count */ - 2387, /* 75.75 kPa 1201 count */ - 2382, /* 75.80 kPa 1202 count */ - 2376, /* 75.85 kPa 1203 count */ - 2370, /* 75.91 kPa 1204 count */ - 2364, /* 75.96 kPa 1205 count */ - 2359, /* 76.02 kPa 1206 count */ - 2353, /* 76.07 kPa 1207 count */ - 2347, /* 76.13 kPa 1208 count */ - 2342, /* 76.18 kPa 1209 count */ - 2336, /* 76.23 kPa 1210 count */ - 2330, /* 76.29 kPa 1211 count */ - 2325, /* 76.34 kPa 1212 count */ - 2319, /* 76.40 kPa 1213 count */ - 2313, /* 76.45 kPa 1214 count */ - 2308, /* 76.51 kPa 1215 count */ - 2302, /* 76.56 kPa 1216 count */ - 2296, /* 76.61 kPa 1217 count */ - 2291, /* 76.67 kPa 1218 count */ - 2285, /* 76.72 kPa 1219 count */ - 2279, /* 76.78 kPa 1220 count */ - 2274, /* 76.83 kPa 1221 count */ - 2268, /* 76.89 kPa 1222 count */ - 2262, /* 76.94 kPa 1223 count */ - 2257, /* 76.99 kPa 1224 count */ - 2251, /* 77.05 kPa 1225 count */ - 2245, /* 77.10 kPa 1226 count */ - 2240, /* 77.16 kPa 1227 count */ - 2234, /* 77.21 kPa 1228 count */ - 2228, /* 77.27 kPa 1229 count */ - 2223, /* 77.32 kPa 1230 count */ - 2217, /* 77.37 kPa 1231 count */ - 2212, /* 77.43 kPa 1232 count */ - 2206, /* 77.48 kPa 1233 count */ - 2200, /* 77.54 kPa 1234 count */ - 2195, /* 77.59 kPa 1235 count */ - 2189, /* 77.65 kPa 1236 count */ - 2184, /* 77.70 kPa 1237 count */ - 2178, /* 77.75 kPa 1238 count */ - 2172, /* 77.81 kPa 1239 count */ - 2167, /* 77.86 kPa 1240 count */ - 2161, /* 77.92 kPa 1241 count */ - 2156, /* 77.97 kPa 1242 count */ - 2150, /* 78.03 kPa 1243 count */ - 2144, /* 78.08 kPa 1244 count */ - 2139, /* 78.13 kPa 1245 count */ - 2133, /* 78.19 kPa 1246 count */ - 2128, /* 78.24 kPa 1247 count */ - 2122, /* 78.30 kPa 1248 count */ - 2117, /* 78.35 kPa 1249 count */ - 2111, /* 78.41 kPa 1250 count */ - 2105, /* 78.46 kPa 1251 count */ - 2100, /* 78.51 kPa 1252 count */ - 2094, /* 78.57 kPa 1253 count */ - 2089, /* 78.62 kPa 1254 count */ - 2083, /* 78.68 kPa 1255 count */ - 2078, /* 78.73 kPa 1256 count */ - 2072, /* 78.79 kPa 1257 count */ - 2067, /* 78.84 kPa 1258 count */ - 2061, /* 78.89 kPa 1259 count */ - 2056, /* 78.95 kPa 1260 count */ - 2050, /* 79.00 kPa 1261 count */ - 2045, /* 79.06 kPa 1262 count */ - 2039, /* 79.11 kPa 1263 count */ - 2033, /* 79.17 kPa 1264 count */ - 2028, /* 79.22 kPa 1265 count */ - 2022, /* 79.27 kPa 1266 count */ - 2017, /* 79.33 kPa 1267 count */ - 2011, /* 79.38 kPa 1268 count */ - 2006, /* 79.44 kPa 1269 count */ - 2000, /* 79.49 kPa 1270 count */ - 1995, /* 79.55 kPa 1271 count */ - 1989, /* 79.60 kPa 1272 count */ - 1984, /* 79.65 kPa 1273 count */ - 1978, /* 79.71 kPa 1274 count */ - 1973, /* 79.76 kPa 1275 count */ - 1967, /* 79.82 kPa 1276 count */ - 1962, /* 79.87 kPa 1277 count */ - 1957, /* 79.93 kPa 1278 count */ - 1951, /* 79.98 kPa 1279 count */ - 1946, /* 80.03 kPa 1280 count */ - 1940, /* 80.09 kPa 1281 count */ - 1935, /* 80.14 kPa 1282 count */ - 1929, /* 80.20 kPa 1283 count */ - 1924, /* 80.25 kPa 1284 count */ - 1918, /* 80.31 kPa 1285 count */ - 1913, /* 80.36 kPa 1286 count */ - 1907, /* 80.41 kPa 1287 count */ - 1902, /* 80.47 kPa 1288 count */ - 1896, /* 80.52 kPa 1289 count */ - 1891, /* 80.58 kPa 1290 count */ - 1886, /* 80.63 kPa 1291 count */ - 1880, /* 80.69 kPa 1292 count */ - 1875, /* 80.74 kPa 1293 count */ - 1869, /* 80.79 kPa 1294 count */ - 1864, /* 80.85 kPa 1295 count */ - 1858, /* 80.90 kPa 1296 count */ - 1853, /* 80.96 kPa 1297 count */ - 1848, /* 81.01 kPa 1298 count */ - 1842, /* 81.07 kPa 1299 count */ - 1837, /* 81.12 kPa 1300 count */ - 1831, /* 81.17 kPa 1301 count */ - 1826, /* 81.23 kPa 1302 count */ - 1821, /* 81.28 kPa 1303 count */ - 1815, /* 81.34 kPa 1304 count */ - 1810, /* 81.39 kPa 1305 count */ - 1804, /* 81.45 kPa 1306 count */ - 1799, /* 81.50 kPa 1307 count */ - 1794, /* 81.55 kPa 1308 count */ - 1788, /* 81.61 kPa 1309 count */ - 1783, /* 81.66 kPa 1310 count */ - 1777, /* 81.72 kPa 1311 count */ - 1772, /* 81.77 kPa 1312 count */ - 1767, /* 81.83 kPa 1313 count */ - 1761, /* 81.88 kPa 1314 count */ - 1756, /* 81.93 kPa 1315 count */ - 1751, /* 81.99 kPa 1316 count */ - 1745, /* 82.04 kPa 1317 count */ - 1740, /* 82.10 kPa 1318 count */ - 1735, /* 82.15 kPa 1319 count */ - 1729, /* 82.21 kPa 1320 count */ - 1724, /* 82.26 kPa 1321 count */ - 1718, /* 82.31 kPa 1322 count */ - 1713, /* 82.37 kPa 1323 count */ - 1708, /* 82.42 kPa 1324 count */ - 1702, /* 82.48 kPa 1325 count */ - 1697, /* 82.53 kPa 1326 count */ - 1692, /* 82.59 kPa 1327 count */ - 1686, /* 82.64 kPa 1328 count */ - 1681, /* 82.69 kPa 1329 count */ - 1676, /* 82.75 kPa 1330 count */ - 1670, /* 82.80 kPa 1331 count */ - 1665, /* 82.86 kPa 1332 count */ - 1660, /* 82.91 kPa 1333 count */ - 1655, /* 82.97 kPa 1334 count */ - 1649, /* 83.02 kPa 1335 count */ - 1644, /* 83.07 kPa 1336 count */ - 1639, /* 83.13 kPa 1337 count */ - 1633, /* 83.18 kPa 1338 count */ - 1628, /* 83.24 kPa 1339 count */ - 1623, /* 83.29 kPa 1340 count */ - 1617, /* 83.35 kPa 1341 count */ - 1612, /* 83.40 kPa 1342 count */ - 1607, /* 83.45 kPa 1343 count */ - 1602, /* 83.51 kPa 1344 count */ - 1596, /* 83.56 kPa 1345 count */ - 1591, /* 83.62 kPa 1346 count */ - 1586, /* 83.67 kPa 1347 count */ - 1580, /* 83.72 kPa 1348 count */ - 1575, /* 83.78 kPa 1349 count */ - 1570, /* 83.83 kPa 1350 count */ - 1565, /* 83.89 kPa 1351 count */ - 1559, /* 83.94 kPa 1352 count */ - 1554, /* 84.00 kPa 1353 count */ - 1549, /* 84.05 kPa 1354 count */ - 1544, /* 84.10 kPa 1355 count */ - 1538, /* 84.16 kPa 1356 count */ - 1533, /* 84.21 kPa 1357 count */ - 1528, /* 84.27 kPa 1358 count */ - 1523, /* 84.32 kPa 1359 count */ - 1517, /* 84.38 kPa 1360 count */ - 1512, /* 84.43 kPa 1361 count */ - 1507, /* 84.48 kPa 1362 count */ - 1502, /* 84.54 kPa 1363 count */ - 1496, /* 84.59 kPa 1364 count */ - 1491, /* 84.65 kPa 1365 count */ - 1486, /* 84.70 kPa 1366 count */ - 1481, /* 84.76 kPa 1367 count */ - 1475, /* 84.81 kPa 1368 count */ - 1470, /* 84.86 kPa 1369 count */ - 1465, /* 84.92 kPa 1370 count */ - 1460, /* 84.97 kPa 1371 count */ - 1455, /* 85.03 kPa 1372 count */ - 1449, /* 85.08 kPa 1373 count */ - 1444, /* 85.14 kPa 1374 count */ - 1439, /* 85.19 kPa 1375 count */ - 1434, /* 85.24 kPa 1376 count */ - 1429, /* 85.30 kPa 1377 count */ - 1423, /* 85.35 kPa 1378 count */ - 1418, /* 85.41 kPa 1379 count */ - 1413, /* 85.46 kPa 1380 count */ - 1408, /* 85.52 kPa 1381 count */ - 1403, /* 85.57 kPa 1382 count */ - 1398, /* 85.62 kPa 1383 count */ - 1392, /* 85.68 kPa 1384 count */ - 1387, /* 85.73 kPa 1385 count */ - 1382, /* 85.79 kPa 1386 count */ - 1377, /* 85.84 kPa 1387 count */ - 1372, /* 85.90 kPa 1388 count */ - 1366, /* 85.95 kPa 1389 count */ - 1361, /* 86.00 kPa 1390 count */ - 1356, /* 86.06 kPa 1391 count */ - 1351, /* 86.11 kPa 1392 count */ - 1346, /* 86.17 kPa 1393 count */ - 1341, /* 86.22 kPa 1394 count */ - 1336, /* 86.28 kPa 1395 count */ - 1330, /* 86.33 kPa 1396 count */ - 1325, /* 86.38 kPa 1397 count */ - 1320, /* 86.44 kPa 1398 count */ - 1315, /* 86.49 kPa 1399 count */ - 1310, /* 86.55 kPa 1400 count */ - 1305, /* 86.60 kPa 1401 count */ - 1300, /* 86.66 kPa 1402 count */ - 1294, /* 86.71 kPa 1403 count */ - 1289, /* 86.76 kPa 1404 count */ - 1284, /* 86.82 kPa 1405 count */ - 1279, /* 86.87 kPa 1406 count */ - 1274, /* 86.93 kPa 1407 count */ - 1269, /* 86.98 kPa 1408 count */ - 1264, /* 87.04 kPa 1409 count */ - 1259, /* 87.09 kPa 1410 count */ - 1254, /* 87.14 kPa 1411 count */ - 1248, /* 87.20 kPa 1412 count */ - 1243, /* 87.25 kPa 1413 count */ - 1238, /* 87.31 kPa 1414 count */ - 1233, /* 87.36 kPa 1415 count */ - 1228, /* 87.42 kPa 1416 count */ - 1223, /* 87.47 kPa 1417 count */ - 1218, /* 87.52 kPa 1418 count */ - 1213, /* 87.58 kPa 1419 count */ - 1208, /* 87.63 kPa 1420 count */ - 1203, /* 87.69 kPa 1421 count */ - 1198, /* 87.74 kPa 1422 count */ - 1192, /* 87.80 kPa 1423 count */ - 1187, /* 87.85 kPa 1424 count */ - 1182, /* 87.90 kPa 1425 count */ - 1177, /* 87.96 kPa 1426 count */ - 1172, /* 88.01 kPa 1427 count */ - 1167, /* 88.07 kPa 1428 count */ - 1162, /* 88.12 kPa 1429 count */ - 1157, /* 88.18 kPa 1430 count */ - 1152, /* 88.23 kPa 1431 count */ - 1147, /* 88.28 kPa 1432 count */ - 1142, /* 88.34 kPa 1433 count */ - 1137, /* 88.39 kPa 1434 count */ - 1132, /* 88.45 kPa 1435 count */ - 1127, /* 88.50 kPa 1436 count */ - 1122, /* 88.56 kPa 1437 count */ - 1117, /* 88.61 kPa 1438 count */ - 1112, /* 88.66 kPa 1439 count */ - 1107, /* 88.72 kPa 1440 count */ - 1102, /* 88.77 kPa 1441 count */ - 1097, /* 88.83 kPa 1442 count */ - 1091, /* 88.88 kPa 1443 count */ - 1086, /* 88.94 kPa 1444 count */ - 1081, /* 88.99 kPa 1445 count */ - 1076, /* 89.04 kPa 1446 count */ - 1071, /* 89.10 kPa 1447 count */ - 1066, /* 89.15 kPa 1448 count */ - 1061, /* 89.21 kPa 1449 count */ - 1056, /* 89.26 kPa 1450 count */ - 1051, /* 89.32 kPa 1451 count */ - 1046, /* 89.37 kPa 1452 count */ - 1041, /* 89.42 kPa 1453 count */ - 1036, /* 89.48 kPa 1454 count */ - 1031, /* 89.53 kPa 1455 count */ - 1026, /* 89.59 kPa 1456 count */ - 1021, /* 89.64 kPa 1457 count */ - 1016, /* 89.70 kPa 1458 count */ - 1011, /* 89.75 kPa 1459 count */ - 1006, /* 89.80 kPa 1460 count */ - 1001, /* 89.86 kPa 1461 count */ - 996, /* 89.91 kPa 1462 count */ - 992, /* 89.97 kPa 1463 count */ - 987, /* 90.02 kPa 1464 count */ - 982, /* 90.08 kPa 1465 count */ - 977, /* 90.13 kPa 1466 count */ - 972, /* 90.18 kPa 1467 count */ - 967, /* 90.24 kPa 1468 count */ - 962, /* 90.29 kPa 1469 count */ - 957, /* 90.35 kPa 1470 count */ - 952, /* 90.40 kPa 1471 count */ - 947, /* 90.46 kPa 1472 count */ - 942, /* 90.51 kPa 1473 count */ - 937, /* 90.56 kPa 1474 count */ - 932, /* 90.62 kPa 1475 count */ - 927, /* 90.67 kPa 1476 count */ - 922, /* 90.73 kPa 1477 count */ - 917, /* 90.78 kPa 1478 count */ - 912, /* 90.84 kPa 1479 count */ - 907, /* 90.89 kPa 1480 count */ - 902, /* 90.94 kPa 1481 count */ - 897, /* 91.00 kPa 1482 count */ - 892, /* 91.05 kPa 1483 count */ - 888, /* 91.11 kPa 1484 count */ - 883, /* 91.16 kPa 1485 count */ - 878, /* 91.22 kPa 1486 count */ - 873, /* 91.27 kPa 1487 count */ - 868, /* 91.32 kPa 1488 count */ - 863, /* 91.38 kPa 1489 count */ - 858, /* 91.43 kPa 1490 count */ - 853, /* 91.49 kPa 1491 count */ - 848, /* 91.54 kPa 1492 count */ - 843, /* 91.60 kPa 1493 count */ - 838, /* 91.65 kPa 1494 count */ - 834, /* 91.70 kPa 1495 count */ - 829, /* 91.76 kPa 1496 count */ - 824, /* 91.81 kPa 1497 count */ - 819, /* 91.87 kPa 1498 count */ - 814, /* 91.92 kPa 1499 count */ - 809, /* 91.98 kPa 1500 count */ - 804, /* 92.03 kPa 1501 count */ - 799, /* 92.08 kPa 1502 count */ - 794, /* 92.14 kPa 1503 count */ - 790, /* 92.19 kPa 1504 count */ - 785, /* 92.25 kPa 1505 count */ - 780, /* 92.30 kPa 1506 count */ - 775, /* 92.36 kPa 1507 count */ - 770, /* 92.41 kPa 1508 count */ - 765, /* 92.46 kPa 1509 count */ - 760, /* 92.52 kPa 1510 count */ - 755, /* 92.57 kPa 1511 count */ - 751, /* 92.63 kPa 1512 count */ - 746, /* 92.68 kPa 1513 count */ - 741, /* 92.74 kPa 1514 count */ - 736, /* 92.79 kPa 1515 count */ - 731, /* 92.84 kPa 1516 count */ - 726, /* 92.90 kPa 1517 count */ - 721, /* 92.95 kPa 1518 count */ - 717, /* 93.01 kPa 1519 count */ - 712, /* 93.06 kPa 1520 count */ - 707, /* 93.12 kPa 1521 count */ - 702, /* 93.17 kPa 1522 count */ - 697, /* 93.22 kPa 1523 count */ - 692, /* 93.28 kPa 1524 count */ - 688, /* 93.33 kPa 1525 count */ - 683, /* 93.39 kPa 1526 count */ - 678, /* 93.44 kPa 1527 count */ - 673, /* 93.50 kPa 1528 count */ - 668, /* 93.55 kPa 1529 count */ - 664, /* 93.60 kPa 1530 count */ - 659, /* 93.66 kPa 1531 count */ - 654, /* 93.71 kPa 1532 count */ - 649, /* 93.77 kPa 1533 count */ - 644, /* 93.82 kPa 1534 count */ - 639, /* 93.88 kPa 1535 count */ - 635, /* 93.93 kPa 1536 count */ - 630, /* 93.98 kPa 1537 count */ - 625, /* 94.04 kPa 1538 count */ - 620, /* 94.09 kPa 1539 count */ - 615, /* 94.15 kPa 1540 count */ - 611, /* 94.20 kPa 1541 count */ - 606, /* 94.26 kPa 1542 count */ - 601, /* 94.31 kPa 1543 count */ - 596, /* 94.36 kPa 1544 count */ - 591, /* 94.42 kPa 1545 count */ - 587, /* 94.47 kPa 1546 count */ - 582, /* 94.53 kPa 1547 count */ - 577, /* 94.58 kPa 1548 count */ - 572, /* 94.64 kPa 1549 count */ - 568, /* 94.69 kPa 1550 count */ - 563, /* 94.74 kPa 1551 count */ - 558, /* 94.80 kPa 1552 count */ - 553, /* 94.85 kPa 1553 count */ - 549, /* 94.91 kPa 1554 count */ - 544, /* 94.96 kPa 1555 count */ - 539, /* 95.02 kPa 1556 count */ - 534, /* 95.07 kPa 1557 count */ - 529, /* 95.12 kPa 1558 count */ - 525, /* 95.18 kPa 1559 count */ - 520, /* 95.23 kPa 1560 count */ - 515, /* 95.29 kPa 1561 count */ - 510, /* 95.34 kPa 1562 count */ - 506, /* 95.40 kPa 1563 count */ - 501, /* 95.45 kPa 1564 count */ - 496, /* 95.50 kPa 1565 count */ - 492, /* 95.56 kPa 1566 count */ - 487, /* 95.61 kPa 1567 count */ - 482, /* 95.67 kPa 1568 count */ - 477, /* 95.72 kPa 1569 count */ - 473, /* 95.78 kPa 1570 count */ - 468, /* 95.83 kPa 1571 count */ - 463, /* 95.88 kPa 1572 count */ - 458, /* 95.94 kPa 1573 count */ - 454, /* 95.99 kPa 1574 count */ - 449, /* 96.05 kPa 1575 count */ - 444, /* 96.10 kPa 1576 count */ - 440, /* 96.16 kPa 1577 count */ - 435, /* 96.21 kPa 1578 count */ - 430, /* 96.26 kPa 1579 count */ - 425, /* 96.32 kPa 1580 count */ - 421, /* 96.37 kPa 1581 count */ - 416, /* 96.43 kPa 1582 count */ - 411, /* 96.48 kPa 1583 count */ - 407, /* 96.54 kPa 1584 count */ - 402, /* 96.59 kPa 1585 count */ - 397, /* 96.64 kPa 1586 count */ - 392, /* 96.70 kPa 1587 count */ - 388, /* 96.75 kPa 1588 count */ - 383, /* 96.81 kPa 1589 count */ - 378, /* 96.86 kPa 1590 count */ - 374, /* 96.91 kPa 1591 count */ - 369, /* 96.97 kPa 1592 count */ - 364, /* 97.02 kPa 1593 count */ - 360, /* 97.08 kPa 1594 count */ - 355, /* 97.13 kPa 1595 count */ - 350, /* 97.19 kPa 1596 count */ - 346, /* 97.24 kPa 1597 count */ - 341, /* 97.29 kPa 1598 count */ - 336, /* 97.35 kPa 1599 count */ - 332, /* 97.40 kPa 1600 count */ - 327, /* 97.46 kPa 1601 count */ - 322, /* 97.51 kPa 1602 count */ - 318, /* 97.57 kPa 1603 count */ - 313, /* 97.62 kPa 1604 count */ - 308, /* 97.67 kPa 1605 count */ - 304, /* 97.73 kPa 1606 count */ - 299, /* 97.78 kPa 1607 count */ - 294, /* 97.84 kPa 1608 count */ - 290, /* 97.89 kPa 1609 count */ - 285, /* 97.95 kPa 1610 count */ - 280, /* 98.00 kPa 1611 count */ - 276, /* 98.05 kPa 1612 count */ - 271, /* 98.11 kPa 1613 count */ - 267, /* 98.16 kPa 1614 count */ - 262, /* 98.22 kPa 1615 count */ - 257, /* 98.27 kPa 1616 count */ - 253, /* 98.33 kPa 1617 count */ - 248, /* 98.38 kPa 1618 count */ - 243, /* 98.43 kPa 1619 count */ - 239, /* 98.49 kPa 1620 count */ - 234, /* 98.54 kPa 1621 count */ - 230, /* 98.60 kPa 1622 count */ - 225, /* 98.65 kPa 1623 count */ - 220, /* 98.71 kPa 1624 count */ - 216, /* 98.76 kPa 1625 count */ - 211, /* 98.81 kPa 1626 count */ - 206, /* 98.87 kPa 1627 count */ - 202, /* 98.92 kPa 1628 count */ - 197, /* 98.98 kPa 1629 count */ - 193, /* 99.03 kPa 1630 count */ - 188, /* 99.09 kPa 1631 count */ - 183, /* 99.14 kPa 1632 count */ - 179, /* 99.19 kPa 1633 count */ - 174, /* 99.25 kPa 1634 count */ - 170, /* 99.30 kPa 1635 count */ - 165, /* 99.36 kPa 1636 count */ - 160, /* 99.41 kPa 1637 count */ - 156, /* 99.47 kPa 1638 count */ - 151, /* 99.52 kPa 1639 count */ - 147, /* 99.57 kPa 1640 count */ - 142, /* 99.63 kPa 1641 count */ - 138, /* 99.68 kPa 1642 count */ - 133, /* 99.74 kPa 1643 count */ - 128, /* 99.79 kPa 1644 count */ - 124, /* 99.85 kPa 1645 count */ - 119, /* 99.90 kPa 1646 count */ - 115, /* 99.95 kPa 1647 count */ - 110, /* 100.01 kPa 1648 count */ - 106, /* 100.06 kPa 1649 count */ - 101, /* 100.12 kPa 1650 count */ - 96, /* 100.17 kPa 1651 count */ - 92, /* 100.23 kPa 1652 count */ - 87, /* 100.28 kPa 1653 count */ - 83, /* 100.33 kPa 1654 count */ - 78, /* 100.39 kPa 1655 count */ - 74, /* 100.44 kPa 1656 count */ - 69, /* 100.50 kPa 1657 count */ - 65, /* 100.55 kPa 1658 count */ - 60, /* 100.61 kPa 1659 count */ - 55, /* 100.66 kPa 1660 count */ - 51, /* 100.71 kPa 1661 count */ - 46, /* 100.77 kPa 1662 count */ - 42, /* 100.82 kPa 1663 count */ - 37, /* 100.88 kPa 1664 count */ - 33, /* 100.93 kPa 1665 count */ - 28, /* 100.99 kPa 1666 count */ - 24, /* 101.04 kPa 1667 count */ - 19, /* 101.09 kPa 1668 count */ - 15, /* 101.15 kPa 1669 count */ - 10, /* 101.20 kPa 1670 count */ - 6, /* 101.26 kPa 1671 count */ - 1, /* 101.31 kPa 1672 count */ - -3, /* 101.37 kPa 1673 count */ - -8, /* 101.42 kPa 1674 count */ - -12, /* 101.47 kPa 1675 count */ - -17, /* 101.53 kPa 1676 count */ - -21, /* 101.58 kPa 1677 count */ - -26, /* 101.64 kPa 1678 count */ - -30, /* 101.69 kPa 1679 count */ - -35, /* 101.75 kPa 1680 count */ - -39, /* 101.80 kPa 1681 count */ - -44, /* 101.85 kPa 1682 count */ - -48, /* 101.91 kPa 1683 count */ - -53, /* 101.96 kPa 1684 count */ - -57, /* 102.02 kPa 1685 count */ - -62, /* 102.07 kPa 1686 count */ - -66, /* 102.13 kPa 1687 count */ - -71, /* 102.18 kPa 1688 count */ - -75, /* 102.23 kPa 1689 count */ - -80, /* 102.29 kPa 1690 count */ - -84, /* 102.34 kPa 1691 count */ - -89, /* 102.40 kPa 1692 count */ - -93, /* 102.45 kPa 1693 count */ - -98, /* 102.51 kPa 1694 count */ - -102, /* 102.56 kPa 1695 count */ - -107, /* 102.61 kPa 1696 count */ - -111, /* 102.67 kPa 1697 count */ - -116, /* 102.72 kPa 1698 count */ - -120, /* 102.78 kPa 1699 count */ - -125, /* 102.83 kPa 1700 count */ - -129, /* 102.89 kPa 1701 count */ - -134, /* 102.94 kPa 1702 count */ - -138, /* 102.99 kPa 1703 count */ - -143, /* 103.05 kPa 1704 count */ - -147, /* 103.10 kPa 1705 count */ - -151, /* 103.16 kPa 1706 count */ - -156, /* 103.21 kPa 1707 count */ - -160, /* 103.27 kPa 1708 count */ - -165, /* 103.32 kPa 1709 count */ - -169, /* 103.37 kPa 1710 count */ - -174, /* 103.43 kPa 1711 count */ - -178, /* 103.48 kPa 1712 count */ - -183, /* 103.54 kPa 1713 count */ - -187, /* 103.59 kPa 1714 count */ - -191, /* 103.65 kPa 1715 count */ - -196, /* 103.70 kPa 1716 count */ - -200, /* 103.75 kPa 1717 count */ - -205, /* 103.81 kPa 1718 count */ - -209, /* 103.86 kPa 1719 count */ - -214, /* 103.92 kPa 1720 count */ - -218, /* 103.97 kPa 1721 count */ - -222, /* 104.03 kPa 1722 count */ - -227, /* 104.08 kPa 1723 count */ - -231, /* 104.13 kPa 1724 count */ - -236, /* 104.19 kPa 1725 count */ - -240, /* 104.24 kPa 1726 count */ - -245, /* 104.30 kPa 1727 count */ - -249, /* 104.35 kPa 1728 count */ - -253, /* 104.41 kPa 1729 count */ - -258, /* 104.46 kPa 1730 count */ - -262, /* 104.51 kPa 1731 count */ - -267, /* 104.57 kPa 1732 count */ - -271, /* 104.62 kPa 1733 count */ - -275, /* 104.68 kPa 1734 count */ - -280, /* 104.73 kPa 1735 count */ - -284, /* 104.79 kPa 1736 count */ - -289, /* 104.84 kPa 1737 count */ - -293, /* 104.89 kPa 1738 count */ - -297, /* 104.95 kPa 1739 count */ - -302, /* 105.00 kPa 1740 count */ - -306, /* 105.06 kPa 1741 count */ - -311, /* 105.11 kPa 1742 count */ - -315, /* 105.17 kPa 1743 count */ - -319, /* 105.22 kPa 1744 count */ - -324, /* 105.27 kPa 1745 count */ - -328, /* 105.33 kPa 1746 count */ - -332, /* 105.38 kPa 1747 count */ - -337, /* 105.44 kPa 1748 count */ - -341, /* 105.49 kPa 1749 count */ - -346, /* 105.55 kPa 1750 count */ - -350, /* 105.60 kPa 1751 count */ - -354, /* 105.65 kPa 1752 count */ - -359, /* 105.71 kPa 1753 count */ - -363, /* 105.76 kPa 1754 count */ - -367, /* 105.82 kPa 1755 count */ - -372, /* 105.87 kPa 1756 count */ - -376, /* 105.93 kPa 1757 count */ - -380, /* 105.98 kPa 1758 count */ - -385, /* 106.03 kPa 1759 count */ - -389, /* 106.09 kPa 1760 count */ - -394, /* 106.14 kPa 1761 count */ - -398, /* 106.20 kPa 1762 count */ - -402, /* 106.25 kPa 1763 count */ - -407, /* 106.31 kPa 1764 count */ - -411, /* 106.36 kPa 1765 count */ - -415, /* 106.41 kPa 1766 count */ - -420, /* 106.47 kPa 1767 count */ - -424, /* 106.52 kPa 1768 count */ - -428, /* 106.58 kPa 1769 count */ - -433, /* 106.63 kPa 1770 count */ - -437, /* 106.69 kPa 1771 count */ - -441, /* 106.74 kPa 1772 count */ - -446, /* 106.79 kPa 1773 count */ - -450, /* 106.85 kPa 1774 count */ - -454, /* 106.90 kPa 1775 count */ - -459, /* 106.96 kPa 1776 count */ - -463, /* 107.01 kPa 1777 count */ - -467, /* 107.07 kPa 1778 count */ - -472, /* 107.12 kPa 1779 count */ - -476, /* 107.17 kPa 1780 count */ - -480, /* 107.23 kPa 1781 count */ - -485, /* 107.28 kPa 1782 count */ - -489, /* 107.34 kPa 1783 count */ - -493, /* 107.39 kPa 1784 count */ - -497, /* 107.45 kPa 1785 count */ - -502, /* 107.50 kPa 1786 count */ - -506, /* 107.55 kPa 1787 count */ - -510, /* 107.61 kPa 1788 count */ - -515, /* 107.66 kPa 1789 count */ - -519, /* 107.72 kPa 1790 count */ - -523, /* 107.77 kPa 1791 count */ - -528, /* 107.83 kPa 1792 count */ - -532, /* 107.88 kPa 1793 count */ - -536, /* 107.93 kPa 1794 count */ - -540, /* 107.99 kPa 1795 count */ - -545, /* 108.04 kPa 1796 count */ - -549, /* 108.10 kPa 1797 count */ - -553, /* 108.15 kPa 1798 count */ - -558, /* 108.21 kPa 1799 count */ - -562, /* 108.26 kPa 1800 count */ - -566, /* 108.31 kPa 1801 count */ - -570, /* 108.37 kPa 1802 count */ - -575, /* 108.42 kPa 1803 count */ - -579, /* 108.48 kPa 1804 count */ - -583, /* 108.53 kPa 1805 count */ - -588, /* 108.59 kPa 1806 count */ - -592, /* 108.64 kPa 1807 count */ - -596, /* 108.69 kPa 1808 count */ - -600, /* 108.75 kPa 1809 count */ - -605, /* 108.80 kPa 1810 count */ - -609, /* 108.86 kPa 1811 count */ - -613, /* 108.91 kPa 1812 count */ - -617, /* 108.97 kPa 1813 count */ - -622, /* 109.02 kPa 1814 count */ - -626, /* 109.07 kPa 1815 count */ - -630, /* 109.13 kPa 1816 count */ - -634, /* 109.18 kPa 1817 count */ - -639, /* 109.24 kPa 1818 count */ - -643, /* 109.29 kPa 1819 count */ - -647, /* 109.35 kPa 1820 count */ - -651, /* 109.40 kPa 1821 count */ - -656, /* 109.45 kPa 1822 count */ - -660, /* 109.51 kPa 1823 count */ - -664, /* 109.56 kPa 1824 count */ - -668, /* 109.62 kPa 1825 count */ - -673, /* 109.67 kPa 1826 count */ - -677, /* 109.73 kPa 1827 count */ - -681, /* 109.78 kPa 1828 count */ - -685, /* 109.83 kPa 1829 count */ - -690, /* 109.89 kPa 1830 count */ - -694, /* 109.94 kPa 1831 count */ - -698, /* 110.00 kPa 1832 count */ - -702, /* 110.05 kPa 1833 count */ - -706, /* 110.11 kPa 1834 count */ - -711, /* 110.16 kPa 1835 count */ - -715, /* 110.21 kPa 1836 count */ - -719, /* 110.27 kPa 1837 count */ - -723, /* 110.32 kPa 1838 count */ - -728, /* 110.38 kPa 1839 count */ - -732, /* 110.43 kPa 1840 count */ - -736, /* 110.48 kPa 1841 count */ - -740, /* 110.54 kPa 1842 count */ - -744, /* 110.59 kPa 1843 count */ - -749, /* 110.65 kPa 1844 count */ - -753, /* 110.70 kPa 1845 count */ - -757, /* 110.76 kPa 1846 count */ - -761, /* 110.81 kPa 1847 count */ - -765, /* 110.86 kPa 1848 count */ - -770, /* 110.92 kPa 1849 count */ - -774, /* 110.97 kPa 1850 count */ - -778, /* 111.03 kPa 1851 count */ - -782, /* 111.08 kPa 1852 count */ - -786, /* 111.14 kPa 1853 count */ - -791, /* 111.19 kPa 1854 count */ - -795, /* 111.24 kPa 1855 count */ - -799, /* 111.30 kPa 1856 count */ - -803, /* 111.35 kPa 1857 count */ - -807, /* 111.41 kPa 1858 count */ - -812, /* 111.46 kPa 1859 count */ - -816, /* 111.52 kPa 1860 count */ - -820, /* 111.57 kPa 1861 count */ - -824, /* 111.62 kPa 1862 count */ - -828, /* 111.68 kPa 1863 count */ - -832, /* 111.73 kPa 1864 count */ - -837, /* 111.79 kPa 1865 count */ - -841, /* 111.84 kPa 1866 count */ - -845, /* 111.90 kPa 1867 count */ - -849, /* 111.95 kPa 1868 count */ - -853, /* 112.00 kPa 1869 count */ - -857, /* 112.06 kPa 1870 count */ - -862, /* 112.11 kPa 1871 count */ - -866, /* 112.17 kPa 1872 count */ - -870, /* 112.22 kPa 1873 count */ - -874, /* 112.28 kPa 1874 count */ - -878, /* 112.33 kPa 1875 count */ - -882, /* 112.38 kPa 1876 count */ - -887, /* 112.44 kPa 1877 count */ - -891, /* 112.49 kPa 1878 count */ - -895, /* 112.55 kPa 1879 count */ - -899, /* 112.60 kPa 1880 count */ - -903, /* 112.66 kPa 1881 count */ - -907, /* 112.71 kPa 1882 count */ - -911, /* 112.76 kPa 1883 count */ - -916, /* 112.82 kPa 1884 count */ - -920, /* 112.87 kPa 1885 count */ - -924, /* 112.93 kPa 1886 count */ - -928, /* 112.98 kPa 1887 count */ - -932, /* 113.04 kPa 1888 count */ - -936, /* 113.09 kPa 1889 count */ - -940, /* 113.14 kPa 1890 count */ - -945, /* 113.20 kPa 1891 count */ - -949, /* 113.25 kPa 1892 count */ - -953, /* 113.31 kPa 1893 count */ - -957, /* 113.36 kPa 1894 count */ - -961, /* 113.42 kPa 1895 count */ - -965, /* 113.47 kPa 1896 count */ - -969, /* 113.52 kPa 1897 count */ - -973, /* 113.58 kPa 1898 count */ - -978, /* 113.63 kPa 1899 count */ - -982, /* 113.69 kPa 1900 count */ - -986, /* 113.74 kPa 1901 count */ - -990, /* 113.80 kPa 1902 count */ - -994, /* 113.85 kPa 1903 count */ - -998, /* 113.90 kPa 1904 count */ - -1002, /* 113.96 kPa 1905 count */ - -1006, /* 114.01 kPa 1906 count */ - -1010, /* 114.07 kPa 1907 count */ - -1015, /* 114.12 kPa 1908 count */ - -1019, /* 114.18 kPa 1909 count */ - -1023, /* 114.23 kPa 1910 count */ - -1027, /* 114.28 kPa 1911 count */ - -1031, /* 114.34 kPa 1912 count */ - -1035, /* 114.39 kPa 1913 count */ - -1039, /* 114.45 kPa 1914 count */ - -1043, /* 114.50 kPa 1915 count */ - -1047, /* 114.56 kPa 1916 count */ - -1051, /* 114.61 kPa 1917 count */ - -1056, /* 114.66 kPa 1918 count */ - -1060, /* 114.72 kPa 1919 count */ - -1064, /* 114.77 kPa 1920 count */ - -1068, /* 114.83 kPa 1921 count */ - -1072, /* 114.88 kPa 1922 count */ - -1076, /* 114.94 kPa 1923 count */ - -1080, /* 114.99 kPa 1924 count */ - -1084, /* 115.04 kPa 1925 count */ - -1088, /* 115.10 kPa 1926 count */ - -1092, /* 115.15 kPa 1927 count */ - -1096, /* 115.21 kPa 1928 count */ - -1100, /* 115.26 kPa 1929 count */ - -1104, /* 115.32 kPa 1930 count */ - -1109, /* 115.37 kPa 1931 count */ - -1113, /* 115.42 kPa 1932 count */ - -1117, /* 115.48 kPa 1933 count */ - -1121, /* 115.53 kPa 1934 count */ - -1125, /* 115.59 kPa 1935 count */ - -1129, /* 115.64 kPa 1936 count */ - -1133, /* 115.70 kPa 1937 count */ - -1137, /* 115.75 kPa 1938 count */ - -1141, /* 115.80 kPa 1939 count */ - -1145, /* 115.86 kPa 1940 count */ - -1149, /* 115.91 kPa 1941 count */ - -1153, /* 115.97 kPa 1942 count */ - -1157, /* 116.02 kPa 1943 count */ - -1161, /* 116.08 kPa 1944 count */ - -1165, /* 116.13 kPa 1945 count */ - -1169, /* 116.18 kPa 1946 count */ - -1173, /* 116.24 kPa 1947 count */ - -1177, /* 116.29 kPa 1948 count */ - -1182, /* 116.35 kPa 1949 count */ - -1186, /* 116.40 kPa 1950 count */ - -1190, /* 116.46 kPa 1951 count */ - -1194, /* 116.51 kPa 1952 count */ - -1198, /* 116.56 kPa 1953 count */ - -1202, /* 116.62 kPa 1954 count */ - -1206, /* 116.67 kPa 1955 count */ - -1210, /* 116.73 kPa 1956 count */ - -1214, /* 116.78 kPa 1957 count */ - -1218, /* 116.84 kPa 1958 count */ - -1222, /* 116.89 kPa 1959 count */ - -1226, /* 116.94 kPa 1960 count */ - -1230, /* 117.00 kPa 1961 count */ - -1234, /* 117.05 kPa 1962 count */ - -1238, /* 117.11 kPa 1963 count */ - -1242, /* 117.16 kPa 1964 count */ - -1246, /* 117.22 kPa 1965 count */ - -1250, /* 117.27 kPa 1966 count */ - -1254, /* 117.32 kPa 1967 count */ - -1258, /* 117.38 kPa 1968 count */ - -1262, /* 117.43 kPa 1969 count */ - -1266, /* 117.49 kPa 1970 count */ - -1270, /* 117.54 kPa 1971 count */ - -1274, /* 117.60 kPa 1972 count */ - -1278, /* 117.65 kPa 1973 count */ - -1282, /* 117.70 kPa 1974 count */ - -1286, /* 117.76 kPa 1975 count */ - -1290, /* 117.81 kPa 1976 count */ - -1294, /* 117.87 kPa 1977 count */ - -1298, /* 117.92 kPa 1978 count */ - -1302, /* 117.98 kPa 1979 count */ - -1306, /* 118.03 kPa 1980 count */ - -1310, /* 118.08 kPa 1981 count */ - -1314, /* 118.14 kPa 1982 count */ - -1318, /* 118.19 kPa 1983 count */ - -1322, /* 118.25 kPa 1984 count */ - -1326, /* 118.30 kPa 1985 count */ - -1330, /* 118.36 kPa 1986 count */ - -1334, /* 118.41 kPa 1987 count */ - -1338, /* 118.46 kPa 1988 count */ - -1342, /* 118.52 kPa 1989 count */ - -1346, /* 118.57 kPa 1990 count */ - -1350, /* 118.63 kPa 1991 count */ - -1354, /* 118.68 kPa 1992 count */ - -1358, /* 118.74 kPa 1993 count */ - -1362, /* 118.79 kPa 1994 count */ - -1366, /* 118.84 kPa 1995 count */ - -1370, /* 118.90 kPa 1996 count */ - -1374, /* 118.95 kPa 1997 count */ - -1378, /* 119.01 kPa 1998 count */ - -1382, /* 119.06 kPa 1999 count */ - -1386, /* 119.12 kPa 2000 count */ - -1390, /* 119.17 kPa 2001 count */ - -1394, /* 119.22 kPa 2002 count */ - -1397, /* 119.28 kPa 2003 count */ - -1401, /* 119.33 kPa 2004 count */ - -1405, /* 119.39 kPa 2005 count */ - -1409, /* 119.44 kPa 2006 count */ - -1413, /* 119.50 kPa 2007 count */ - -1417, /* 119.55 kPa 2008 count */ - -1421, /* 119.60 kPa 2009 count */ - -1425, /* 119.66 kPa 2010 count */ - -1429, /* 119.71 kPa 2011 count */ - -1433, /* 119.77 kPa 2012 count */ - -1437, /* 119.82 kPa 2013 count */ - -1441, /* 119.88 kPa 2014 count */ - -1445, /* 119.93 kPa 2015 count */ - -1449, /* 119.98 kPa 2016 count */ - -1453, /* 120.04 kPa 2017 count */ - -1457, /* 120.09 kPa 2018 count */ - -1461, /* 120.15 kPa 2019 count */ - -1465, /* 120.20 kPa 2020 count */ - -1469, /* 120.26 kPa 2021 count */ - -1472, /* 120.31 kPa 2022 count */ - -1476, /* 120.36 kPa 2023 count */ - -1480, /* 120.42 kPa 2024 count */ - -1484, /* 120.47 kPa 2025 count */ - -1488, /* 120.53 kPa 2026 count */ - -1492, /* 120.58 kPa 2027 count */ - -1496, /* 120.64 kPa 2028 count */ - -1500, /* 120.69 kPa 2029 count */ - -1504, /* 120.74 kPa 2030 count */ - -1508, /* 120.80 kPa 2031 count */ - -1512, /* 120.85 kPa 2032 count */ - -1516, /* 120.91 kPa 2033 count */ - -1520, /* 120.96 kPa 2034 count */ - -1523, /* 121.02 kPa 2035 count */ - -1527, /* 121.07 kPa 2036 count */ - -1531, /* 121.12 kPa 2037 count */ - -1535, /* 121.18 kPa 2038 count */ - -1539, /* 121.23 kPa 2039 count */ - -1543, /* 121.29 kPa 2040 count */ - -1547, /* 121.34 kPa 2041 count */ - -1551, /* 121.40 kPa 2042 count */ - -1555, /* 121.45 kPa 2043 count */ - -1559, /* 121.50 kPa 2044 count */ - -1562, /* 121.56 kPa 2045 count */ - -1566, /* 121.61 kPa 2046 count */ - -1570, /* 121.67 kPa 2047 count */ diff --git a/src/ao.h b/src/ao.h deleted file mode 100644 index 85b7825f..00000000 --- a/src/ao.h +++ /dev/null @@ -1,929 +0,0 @@ -/* - * Copyright © 2009 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_H_ -#define _AO_H_ - -#include <stdint.h> -#include <stdio.h> -#include <string.h> -#include <stddef.h> -#include "cc1111.h" - -#define TRUE 1 -#define FALSE 0 - -/* Convert a __data pointer into an __xdata pointer */ -#define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00)) - -/* Stack runs from above the allocated __data space to 0xfe, which avoids - * writing to 0xff as that triggers the stack overflow indicator - */ -#define AO_STACK_START 0x80 -#define AO_STACK_END 0xfe -#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) - -/* An AltOS task */ -struct ao_task { - __xdata void *wchan; /* current wait channel (NULL if running) */ - uint8_t stack_count; /* amount of saved stack */ - uint8_t task_id; /* index in the task array */ - __code char *name; /* task name */ - uint8_t stack[AO_STACK_SIZE]; /* saved stack */ -}; - -extern __xdata struct ao_task *__data ao_cur_task; - -#define AO_NUM_TASKS 16 /* maximum number of tasks */ -#define AO_NO_TASK 0 /* no task id */ - -/* - ao_task.c - */ - -/* Suspend the current task until wchan is awoken */ -void -ao_sleep(__xdata void *wchan); - -/* Wake all tasks sleeping on wchan */ -void -ao_wakeup(__xdata void *wchan); - -/* Yield the processor to another task */ -void -ao_yield(void) _naked; - -/* Add a task to the run queue */ -void -ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant; - -/* Dump task info to console */ -void -ao_task_info(void); - -/* Start the scheduler. This will not return */ -void -ao_start_scheduler(void); - -/* - * ao_panic.c - */ - -#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */ -#define AO_PANIC_DMA 2 /* Attempt to start DMA while active */ -#define AO_PANIC_MUTEX 3 /* Mis-using mutex API */ -#define AO_PANIC_EE 4 /* Mis-using eeprom API */ -#define AO_PANIC_LOG 5 /* Failing to read/write log data */ -#define AO_PANIC_CMD 6 /* Too many command sets registered */ - -/* Stop the operating system, beeping and blinking the reason */ -void -ao_panic(uint8_t reason); - -/* - * ao_timer.c - */ - -/* Our timer runs at 100Hz */ -#define AO_MS_TO_TICKS(ms) ((ms) / 10) -#define AO_SEC_TO_TICKS(s) ((s) * 100) - -/* Returns the current time in ticks */ -uint16_t -ao_time(void); - -/* Suspend the current task until ticks time has passed */ -void -ao_delay(uint16_t ticks); - -/* Set the ADC interval */ -void -ao_timer_set_adc_interval(uint8_t interval) __critical; - -/* Timer interrupt */ -void -ao_timer_isr(void) interrupt 9; - -/* Initialize the timer */ -void -ao_timer_init(void); - -/* Initialize the hardware clock. Must be called first */ -void -ao_clock_init(void); - -/* - * ao_adc.c - */ - -#define AO_ADC_RING 64 -#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) -#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) - -/* - * One set of samples read from the A/D converter - */ -struct ao_adc { - uint16_t tick; /* tick when the sample was read */ - int16_t accel; /* accelerometer */ - int16_t pres; /* pressure sensor */ - int16_t temp; /* temperature sensor */ - int16_t v_batt; /* battery voltage */ - int16_t sense_d; /* drogue continuity sense */ - int16_t sense_m; /* main continuity sense */ -}; - -/* - * A/D data is stored in a ring, with the next sample to be written - * at ao_adc_head - */ -extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; -extern volatile __data uint8_t ao_adc_head; - -/* Trigger a conversion sequence (called from the timer interrupt) */ -void -ao_adc_poll(void); - -/* Suspend the current task until another A/D sample is converted */ -void -ao_adc_sleep(void); - -/* Get a copy of the last complete A/D sample set */ -void -ao_adc_get(__xdata struct ao_adc *packet); - -/* The A/D interrupt handler */ -#if !AO_NO_ADC_ISR -void -ao_adc_isr(void) interrupt 1; -#endif - -/* Initialize the A/D converter */ -void -ao_adc_init(void); - -/* - * ao_beep.c - */ - -/* - * Various pre-defined beep frequencies - * - * frequency = 1/2 (24e6/32) / beep - */ - -#define AO_BEEP_LOW 150 /* 2500Hz */ -#define AO_BEEP_MID 94 /* 3989Hz */ -#define AO_BEEP_HIGH 75 /* 5000Hz */ -#define AO_BEEP_OFF 0 /* off */ - -#define AO_BEEP_g 240 /* 1562.5Hz */ -#define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */ -#define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */ -#define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */ -#define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */ -#define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */ -#define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */ -#define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */ -#define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */ -#define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */ -#define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */ -#define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */ -#define AO_BEEP_gg 120 /* 3125Hz */ -#define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */ -#define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */ -#define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */ -#define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */ -#define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */ -#define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */ -#define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */ -#define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */ -#define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */ -#define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */ -#define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */ -#define AO_BEEP_ggg 60 /* 6250Hz */ - -/* Set the beeper to the specified tone */ -void -ao_beep(uint8_t beep); - -/* Turn on the beeper for the specified time */ -void -ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant; - -/* Initialize the beeper */ -void -ao_beep_init(void); - -/* - * ao_led.c - */ - -#define AO_LED_NONE 0 -#define AO_LED_GREEN 1 -#define AO_LED_RED 2 - -/* Turn on the specified LEDs */ -void -ao_led_on(uint8_t colors); - -/* Turn off the specified LEDs */ -void -ao_led_off(uint8_t colors); - -/* Set all of the LEDs to the specified state */ -void -ao_led_set(uint8_t colors); - -/* Toggle the specified LEDs */ -void -ao_led_toggle(uint8_t colors); - -/* Turn on the specified LEDs for the indicated interval */ -void -ao_led_for(uint8_t colors, uint16_t ticks) __reentrant; - -/* Initialize the LEDs */ -void -ao_led_init(uint8_t enable); - -/* - * ao_usb.c - */ - -/* Put one character to the USB output queue */ -void -ao_usb_putchar(char c); - -/* Get one character from the USB input queue */ -char -ao_usb_getchar(void); - -/* Flush the USB output queue */ -void -ao_usb_flush(void); - -/* USB interrupt handler */ -void -ao_usb_isr(void) interrupt 6; - -/* Enable the USB controller */ -void -ao_usb_enable(void); - -/* Disable the USB controller */ -void -ao_usb_disable(void); - -/* Initialize the USB system */ -void -ao_usb_init(void); - -/* - * ao_cmd.c - */ - -enum ao_cmd_status { - ao_cmd_success = 0, - ao_cmd_lex_error = 1, - ao_cmd_syntax_error = 2, -}; - -extern __xdata uint16_t ao_cmd_lex_i; -extern __xdata char ao_cmd_lex_c; -extern __xdata enum ao_cmd_status ao_cmd_status; - -void -ao_cmd_lex(void); - -void -ao_cmd_put8(uint8_t v); - -void -ao_cmd_put16(uint16_t v); - -void -ao_cmd_white(void); - -void -ao_cmd_hex(void); - -void -ao_cmd_decimal(void); - -struct ao_cmds { - char cmd; - void (*func)(void); - const char *help; -}; - -void -ao_cmd_register(__code struct ao_cmds *cmds); - -void -ao_cmd_init(void); - -/* - * ao_dma.c - */ - -/* Allocate a DMA channel. the 'done' parameter will be set to 1 - * when the dma is finished and will be used to wakeup any waiters - */ -uint8_t -ao_dma_alloc(__xdata uint8_t * done); - -/* Setup a DMA channel */ -void -ao_dma_set_transfer(uint8_t id, - void __xdata *srcaddr, - void __xdata *dstaddr, - uint16_t count, - uint8_t cfg0, - uint8_t cfg1); - -/* Start a DMA channel */ -void -ao_dma_start(uint8_t id); - -/* Manually trigger a DMA channel */ -void -ao_dma_trigger(uint8_t id); - -/* Abort a running DMA transfer */ -void -ao_dma_abort(uint8_t id); - -/* DMA interrupt routine */ -void -ao_dma_isr(void) interrupt 8; - -/* - * ao_mutex.c - */ - -void -ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; - -void -ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; - -/* - * ao_ee.c - */ - -/* - * We reserve the last block on the device for - * configuration space. Writes and reads in this - * area return errors. - */ - -#define AO_EE_BLOCK_SIZE ((uint16_t) (256)) -#define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024) -#define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE) -#define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE)) - -void -ao_ee_flush(void) __reentrant; - -/* Write to the eeprom */ -uint8_t -ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant; - -/* Read from the eeprom */ -uint8_t -ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant; - -/* Write the config block (at the end of the eeprom) */ -uint8_t -ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant; - -/* Read the config block (at the end of the eeprom) */ -uint8_t -ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant; - -/* Initialize the EEPROM code */ -void -ao_ee_init(void); - -/* - * ao_log.c - */ - -/* - * The data log is recorded in the eeprom as a sequence - * of data packets. - * - * Each packet starts with a 4-byte header that has the - * packet type, the packet checksum and the tick count. Then - * they all contain 2 16 bit values which hold packet-specific - * data. - * - * For each flight, the first packet - * is FLIGHT packet, indicating the serial number of the - * device and a unique number marking the number of flights - * recorded by this device. - * - * During flight, data from the accelerometer and barometer - * are recorded in SENSOR packets, using the raw 16-bit values - * read from the A/D converter. - * - * Also during flight, but at a lower rate, the deployment - * sensors are recorded in DEPLOY packets. The goal here is to - * detect failure in the deployment circuits. - * - * STATE packets hold state transitions as the flight computer - * transitions through different stages of the flight. - */ -#define AO_LOG_FLIGHT 'F' -#define AO_LOG_SENSOR 'A' -#define AO_LOG_TEMP_VOLT 'T' -#define AO_LOG_DEPLOY 'D' -#define AO_LOG_STATE 'S' -#define AO_LOG_GPS_TIME 'G' -#define AO_LOG_GPS_LAT 'N' -#define AO_LOG_GPS_LON 'W' -#define AO_LOG_GPS_ALT 'H' - -#define AO_LOG_POS_NONE (~0UL) - -struct ao_log_record { - char type; - uint8_t csum; - uint16_t tick; - union { - struct { - int16_t ground_accel; - uint16_t flight; - } flight; - struct { - int16_t accel; - int16_t pres; - } sensor; - struct { - int16_t temp; - int16_t v_batt; - } temp_volt; - struct { - int16_t drogue; - int16_t main; - } deploy; - struct { - uint16_t state; - uint16_t reason; - } state; - struct { - uint8_t hour; - uint8_t minute; - uint8_t second; - uint8_t flags; - } gps_time; - int32_t gps_latitude; - int32_t gps_longitude; - struct { - int16_t altitude; - uint16_t unused; - } gps_altitude; - struct { - uint16_t d0; - uint16_t d1; - } anon; - } u; -}; - -/* Write a record to the eeprom log */ -void -ao_log_data(struct ao_log_record *log); - -/* Flush the log */ -void -ao_log_flush(void); - -/* Log dumping API: - * ao_log_dump_first() - get first log record - * ao_log_dump_next() - get next log record - */ -extern __xdata struct ao_log_record ao_log_dump; - -/* Retrieve first log record for the current flight */ -uint8_t -ao_log_dump_first(void); - -/* return next log record for the current flight */ -uint8_t -ao_log_dump_next(void); - -/* Logging thread main routine */ -void -ao_log(void); - -/* Start logging to eeprom */ -void -ao_log_start(void); - -/* Stop logging */ -void -ao_log_stop(void); - -/* Initialize the logging system */ -void -ao_log_init(void); - -/* - * ao_flight.c - */ - -enum ao_flight_state { - ao_flight_startup = 0, - ao_flight_idle = 1, - ao_flight_pad = 2, - ao_flight_boost = 3, - ao_flight_fast = 4, - ao_flight_coast = 5, - ao_flight_drogue = 6, - ao_flight_main = 7, - ao_flight_landed = 8, - ao_flight_invalid = 9 -}; - -extern __xdata struct ao_adc ao_flight_data; -extern __pdata enum ao_flight_state ao_flight_state; -extern __pdata uint16_t ao_flight_tick; -extern __pdata int16_t ao_flight_accel; -extern __pdata int16_t ao_flight_pres; -extern __pdata int32_t ao_flight_vel; -extern __pdata int16_t ao_ground_pres; -extern __pdata int16_t ao_ground_accel; -extern __pdata int16_t ao_min_pres; -extern __pdata uint16_t ao_launch_time; - -/* Flight thread */ -void -ao_flight(void); - -/* Initialize flight thread */ -void -ao_flight_init(void); - -/* - * ao_report.c - */ - -void -ao_report_init(void); - -/* - * ao_convert.c - * - * Given raw data, convert to SI units - */ - -/* pressure from the sensor to altitude in meters */ -int16_t -ao_pres_to_altitude(int16_t pres) __reentrant; - -int16_t -ao_altitude_to_pres(int16_t alt) __reentrant; - -int16_t -ao_temp_to_dC(int16_t temp) __reentrant; - -/* - * ao_dbg.c - * - * debug another telemetrum board - */ - -/* Send a byte to the dbg target */ -void -ao_dbg_send_byte(uint8_t byte); - -/* Receive a byte from the dbg target */ -uint8_t -ao_dbg_recv_byte(void); - -/* Start a bulk transfer to/from dbg target memory */ -void -ao_dbg_start_transfer(uint16_t addr); - -/* End a bulk transfer to/from dbg target memory */ -void -ao_dbg_end_transfer(void); - -/* Write a byte to dbg target memory */ -void -ao_dbg_write_byte(uint8_t byte); - -/* Read a byte from dbg target memory */ -uint8_t -ao_dbg_read_byte(void); - -/* Enable dbg mode, switching use of the pins */ -void -ao_dbg_debug_mode(void); - -/* Reset the dbg target */ -void -ao_dbg_reset(void); - -void -ao_dbg_init(void); - -/* - * ao_serial.c - */ - -#if !AO_NO_SERIAL_ISR -void -ao_serial_rx1_isr(void) interrupt 3; - -void -ao_serial_tx1_isr(void) interrupt 14; -#endif - -char -ao_serial_getchar(void) __critical; - -void -ao_serial_putchar(char c) __critical; - -#define AO_SERIAL_SPEED_4800 0 -#define AO_SERIAL_SPEED_57600 1 - -void -ao_serial_set_speed(uint8_t speed); - -void -ao_serial_init(void); - -/* - * ao_gps.c - */ - -#define AO_GPS_NUM_SAT_MASK (0xf << 0) -#define AO_GPS_NUM_SAT_SHIFT (0) - -#define AO_GPS_VALID (1 << 4) -#define AO_GPS_RUNNING (1 << 5) - -struct ao_gps_data { - uint8_t hour; - uint8_t minute; - uint8_t second; - uint8_t flags; - int32_t latitude; /* degrees * 10⁷ */ - int32_t longitude; /* degrees * 10⁷ */ - int16_t altitude; /* m */ - uint16_t ground_speed; /* cm/s */ - uint8_t course; /* degrees / 2 */ - uint8_t hdop; /* * 5 */ - int16_t climb_rate; /* cm/s */ - uint16_t h_error; /* m */ - uint16_t v_error; /* m */ -}; - -extern __xdata uint8_t ao_gps_mutex; -extern __xdata struct ao_gps_data ao_gps_data; - -void -ao_gps(void); - -void -ao_gps_print(__xdata struct ao_gps_data *gps_data); - -void -ao_gps_init(void); - -/* - * ao_gps_report.c - */ - -void -ao_gps_report(void); - -void -ao_gps_report_init(void); - -/* - * ao_telemetry.c - */ - -#define AO_MAX_CALLSIGN 8 - -struct ao_telemetry { - uint8_t addr; - uint8_t flight_state; - int16_t flight_accel; - int16_t ground_accel; - int32_t flight_vel; - int16_t flight_pres; - int16_t ground_pres; - struct ao_adc adc; - struct ao_gps_data gps; - char callsign[AO_MAX_CALLSIGN]; -}; - -/* Set delay between telemetry reports (0 to disable) */ - -#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) -#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50) -#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) - -void -ao_telemetry_set_interval(uint16_t interval); - -void -ao_telemetry_init(void); - -/* - * ao_radio.c - */ - -void -ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; - -struct ao_radio_recv { - struct ao_telemetry telemetry; - int8_t rssi; - uint8_t status; -}; - -void -ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; - -void -ao_radio_init(void); - -/* - * ao_monitor.c - */ - -extern const char const * const ao_state_names[]; - -void -ao_monitor(void); - -void -ao_set_monitor(uint8_t monitoring); - -void -ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant; - -/* - * ao_stdio.c - */ - -void -flush(void); - -/* - * ao_ignite.c - */ - -enum ao_igniter { - ao_igniter_drogue = 0, - ao_igniter_main = 1 -}; - -void -ao_ignite(enum ao_igniter igniter); - -enum ao_igniter_status { - ao_igniter_unknown, /* unknown status (ambiguous voltage) */ - ao_igniter_ready, /* continuity detected */ - ao_igniter_active, /* igniter firing */ - ao_igniter_open, /* open circuit detected */ -}; - -enum ao_igniter_status -ao_igniter_status(enum ao_igniter igniter); - -void -ao_igniter_init(void); - -/* - * ao_config.c - */ - -#define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 0 - -struct ao_config { - uint8_t major; - uint8_t minor; - uint16_t main_deploy; - int16_t accel_zero_g; - uint8_t radio_channel; - char callsign[AO_MAX_CALLSIGN + 1]; -}; - -extern __xdata struct ao_config ao_config; - -void -ao_config_get(void); - -void -ao_config_init(void); - -/* - * ao_rssi.c - */ - -void -ao_rssi_set(int rssi_value); - -void -ao_rssi_init(uint8_t rssi_led); - -/* - * ao_product.c - * - * values which need to be defined for - * each instance of a product - */ - -extern const uint8_t ao_usb_descriptors []; -extern const uint16_t ao_serial_number; -extern const char ao_version[]; -extern const char ao_manufacturer[]; -extern const char ao_product[]; - -/* - * Fifos - */ - -#define AO_FIFO_SIZE 32 - -struct ao_fifo { - uint8_t insert; - uint8_t remove; - char fifo[AO_FIFO_SIZE]; -}; - -#define ao_fifo_insert(f,c) do { \ - (f).fifo[(f).insert] = (c); \ - (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \ -} while(0) - -#define ao_fifo_remove(f,c) do {\ - c = (f).fifo[(f).remove]; \ - (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \ -} while(0) - -#define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) -#define ao_fifo_empty(f) ((f).insert == (f).remove) - -/* - * ao_packet.c - * - * Packet-based command interface - */ - -#define AO_PACKET_MAX 32 -#define AO_PACKET_WIN 256 - -#define AO_PACKET_FIN (1 << 0) -#define AO_PACKET_SYN (1 << 1) -#define AO_PACKET_RST (1 << 2) -#define AO_PACKET_ACK (1 << 3) - -struct ao_packet { - uint8_t addr; - uint8_t flags; - uint16_t seq; - uint16_t ack; - uint16_t window; - uint8_t len; - uint8_t d[AO_PACKET_MAX]; -}; - -uint8_t -ao_packet_connect(uint8_t dest); - -uint8_t -ao_packet_accept(void); - -int -ao_packet_send(uint8_t *data, int len); - -int -ao_packet_recv(uint8_t *data, int len); - -void -ao_packet_init(void); - -#endif /* _AO_H_ */ diff --git a/src/ao_adc.c b/src/ao_adc.c deleted file mode 100644 index 26209dcf..00000000 --- a/src/ao_adc.c +++ /dev/null @@ -1,92 +0,0 @@ -/* - * Copyright © 2009 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" - -volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; -volatile __data uint8_t ao_adc_head; - -void -ao_adc_poll(void) -{ - ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 0; -} - -void -ao_adc_sleep(void) -{ - ao_sleep(&ao_adc_ring); -} - -void -ao_adc_get(__xdata struct ao_adc *packet) -{ - uint8_t i = ao_adc_ring_prev(ao_adc_head); - memcpy(packet, &ao_adc_ring[i], sizeof (struct ao_adc)); -} - -void -ao_adc_isr(void) interrupt 1 -{ - uint8_t sequence; - uint8_t __xdata *a; - - sequence = (ADCCON2 & ADCCON2_SCH_MASK) >> ADCCON2_SCH_SHIFT; - a = (uint8_t __xdata *) (&ao_adc_ring[ao_adc_head].accel + sequence); - a[0] = ADCL; - a[1] = ADCH; - if (sequence < 5) { - /* start next channel conversion */ - ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | (sequence + 1); - } else { - /* record this conversion series */ - ao_adc_ring[ao_adc_head].tick = ao_time(); - ao_adc_head = ao_adc_ring_next(ao_adc_head); - ao_wakeup(ao_adc_ring); - } -} - -static void -ao_adc_dump(void) -{ - __xdata struct ao_adc packet; - ao_adc_get(&packet); - printf("tick: %5u accel: %4d pres: %4d temp: %4d batt: %4d drogue: %4d main: %4d\n", - packet.tick, packet.accel >> 4, packet.pres >> 4, packet.temp >> 4, - packet.v_batt >> 4, packet.sense_d >> 4, packet.sense_m >> 4); -} - -__code struct ao_cmds ao_adc_cmds[] = { - { 'a', ao_adc_dump, "a Display current ADC values" }, - { 0, ao_adc_dump, NULL }, -}; - -void -ao_adc_init(void) -{ - ADCCFG = ((1 << 0) | /* acceleration */ - (1 << 1) | /* pressure */ - (1 << 2) | /* temperature */ - (1 << 3) | /* battery voltage */ - (1 << 4) | /* drogue sense */ - (1 << 5)); /* main sense */ - - /* enable interrupts */ - ADCIF = 0; - IEN0 |= IEN0_ADCIE; - ao_cmd_register(&ao_adc_cmds[0]); -} diff --git a/src/ao_config.c b/src/ao_config.c deleted file mode 100644 index 657c7a8a..00000000 --- a/src/ao_config.c +++ /dev/null @@ -1,287 +0,0 @@ -/* - * Copyright © 2009 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" - -__xdata struct ao_config ao_config; -__xdata uint8_t ao_config_loaded; -__xdata uint8_t ao_config_dirty; -__xdata uint8_t ao_config_mutex; - -#define AO_CONFIG_DEFAULT_MAIN_DEPLOY 250 -#define AO_CONFIG_DEFAULT_RADIO_CHANNEL 0 -#define AO_CONFIG_DEFAULT_CALLSIGN "KD7SQG" -#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000 - -static void -_ao_config_put(void) -{ - ao_ee_write_config((uint8_t *) &ao_config, sizeof (ao_config)); -} - -static void -_ao_config_get(void) -{ - if (ao_config_loaded) - return; - ao_ee_read_config((uint8_t *) &ao_config, sizeof (ao_config)); - if (ao_config.major != AO_CONFIG_MAJOR) { - ao_config.major = AO_CONFIG_MAJOR; - ao_config.minor = AO_CONFIG_MINOR; - ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY; - ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL; - ao_config.accel_zero_g = AO_CONFIG_DEFAULT_ACCEL_ZERO_G; - memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign)); - memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN, - sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1); - ao_config_dirty = 1; - } - /* deal with minor version issues here, at 0 we haven't any */ - ao_config_loaded = 1; -} - -void -ao_config_get(void) -{ - ao_mutex_get(&ao_config_mutex); - _ao_config_get(); - ao_mutex_put(&ao_config_mutex); -} - -void -ao_config_callsign_show(void) -{ - printf ("Callsign: \"%s\"\n", ao_config.callsign); -} - -void -ao_config_callsign_set(void) __reentrant -{ - uint8_t c; - char callsign[AO_MAX_CALLSIGN + 1]; - - ao_cmd_white(); - c = 0; - while (ao_cmd_lex_c != '\n') { - if (c < AO_MAX_CALLSIGN) - callsign[c++] = ao_cmd_lex_c; - else - ao_cmd_status = ao_cmd_lex_error; - ao_cmd_lex(); - } - if (ao_cmd_status != ao_cmd_success) - return; - ao_mutex_get(&ao_config_mutex); - _ao_config_get(); - while (c < AO_MAX_CALLSIGN + 1) - callsign[c++] = '\0'; - memcpy(&ao_config.callsign, &callsign, - AO_MAX_CALLSIGN + 1); - ao_config_dirty = 1; - ao_mutex_put(&ao_config_mutex); - ao_config_callsign_show(); -} - -void -ao_config_radio_channel_show(void) __reentrant -{ - uint32_t freq = 434550L + ao_config.radio_channel * 100L; - uint16_t mhz = freq / 1000L; - uint16_t khz = freq % 1000L; - - printf("Radio channel: %d (%d.%03dMHz)\n", - ao_config.radio_channel, mhz, khz); -} - -void -ao_config_radio_channel_set(void) __reentrant -{ - ao_cmd_decimal(); - if (ao_cmd_status != ao_cmd_success) - return; - ao_mutex_get(&ao_config_mutex); - _ao_config_get(); - ao_config.radio_channel = ao_cmd_lex_i; - ao_config_dirty = 1; - ao_mutex_put(&ao_config_mutex); - ao_config_radio_channel_show(); -} - -void -ao_config_main_deploy_show(void) __reentrant -{ - printf("Main deploy set to %d meters (%d feet)\n", - ao_config.main_deploy, - (int16_t) ((int32_t) ao_config.main_deploy * 328 / 100)); -} - -void -ao_config_main_deploy_set(void) __reentrant -{ - ao_cmd_decimal(); - if (ao_cmd_status != ao_cmd_success) - return; - ao_mutex_get(&ao_config_mutex); - _ao_config_get(); - ao_config.main_deploy = ao_cmd_lex_i; - ao_config_dirty = 1; - ao_mutex_put(&ao_config_mutex); - ao_config_main_deploy_show(); -} - -void -ao_config_accel_zero_g_show(void) __reentrant -{ - printf("Accel zero g point set to %d\n", - ao_config.accel_zero_g); -} - -#define ZERO_G_SAMPLES 1000 - -static int16_t -ao_config_accel_zero_g_auto(void) __reentrant -{ - uint16_t i; - int32_t accel_total; - uint8_t cal_adc_ring; - - puts("Calibrating accelerometer..."); flush(); - i = ZERO_G_SAMPLES; - accel_total = 0; - cal_adc_ring = ao_adc_head; - while (i) { - ao_sleep(&ao_adc_ring); - while (i && cal_adc_ring != ao_adc_head) { - accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel; - cal_adc_ring = ao_adc_ring_next(cal_adc_ring); - i--; - } - } - return (int16_t) (accel_total / ZERO_G_SAMPLES); -} -void -ao_config_accel_zero_g_set(void) __reentrant -{ - ao_cmd_decimal(); - if (ao_cmd_status != ao_cmd_success) - return; - if (ao_cmd_lex_i == 0) - ao_cmd_lex_i = ao_config_accel_zero_g_auto(); - ao_mutex_get(&ao_config_mutex); - _ao_config_get(); - ao_config.accel_zero_g = ao_cmd_lex_i; - ao_config_dirty = 1; - ao_mutex_put(&ao_config_mutex); - ao_config_accel_zero_g_show(); -} - -struct ao_config_var { - char cmd; - void (*set)(void) __reentrant; - void (*show)(void) __reentrant; - const char *help; -}; - -void -ao_config_help(void) __reentrant; - -void -ao_config_show(void) __reentrant; - -void -ao_config_write(void) __reentrant; - -__code struct ao_config_var ao_config_vars[] = { - { 'm', ao_config_main_deploy_set, ao_config_main_deploy_show, - "m <meters> Set height above launch for main deploy (in meters)" }, - { 'a', ao_config_accel_zero_g_set, ao_config_accel_zero_g_show, - "a <value> Set accelerometer zero g point (0 for auto)" }, - { 'r', ao_config_radio_channel_set, ao_config_radio_channel_show, - "r <channel> Set radio channel (freq = 434.550 + channel * .1)" }, - { 'c', ao_config_callsign_set, ao_config_callsign_show, - "c <call> Set callsign broadcast in each packet (8 char max)" }, - { 's', ao_config_show, ao_config_show, - "s Show current config values" }, - { 'w', ao_config_write, ao_config_write, - "w Write current values to eeprom" }, - { '?', ao_config_help, ao_config_help, - "? Show available config variables" }, - { 0, ao_config_main_deploy_set, ao_config_main_deploy_show, - NULL }, -}; - -void -ao_config_set(void) -{ - char c; - uint8_t cmd; - void (*__xdata func)(void) __reentrant; - - ao_cmd_white(); - c = ao_cmd_lex_c; - ao_cmd_lex(); - func = 0; - for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++) - if (ao_config_vars[cmd].cmd == c) { - func = ao_config_vars[cmd].set; - break; - } - if (func) - (*func)(); - else - ao_cmd_status = ao_cmd_syntax_error; -} - -void -ao_config_help(void) __reentrant -{ - uint8_t cmd; - for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++) - puts (ao_config_vars[cmd].help); -} - -void -ao_config_show(void) __reentrant -{ - uint8_t cmd; - for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++) - if (ao_config_vars[cmd].show != ao_config_vars[cmd].set) - (*ao_config_vars[cmd].show)(); -} - -void -ao_config_write(void) __reentrant -{ - ao_mutex_get(&ao_config_mutex); - if (ao_config_dirty) { - _ao_config_put(); - ao_config_dirty = 0; - printf("Saved\n"); - } - ao_mutex_put(&ao_config_mutex); -} - -__code struct ao_cmds ao_config_cmds[] = { - { 'c', ao_config_set, "c <var> <value> Set config variable (? for help, s to show)" }, - { '\0', ao_config_set, NULL }, -}; - -void -ao_config_init(void) -{ - ao_cmd_register(&ao_config_cmds[0]); -} diff --git a/src/ao_ee.c b/src/ao_ee.c deleted file mode 100644 index f299b925..00000000 --- a/src/ao_ee.c +++ /dev/null @@ -1,459 +0,0 @@ -/* - * Copyright © 2009 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 "25lc1024.h" - -/* - * Using SPI on USART 0, with P1_2 as the chip select - */ - -#define EE_CS P1_2 -#define EE_CS_INDEX 2 - -__xdata uint8_t ao_ee_dma_in_done; -__xdata uint8_t ao_ee_dma_out_done; -__xdata uint8_t ao_ee_mutex; - -uint8_t ao_ee_dma_out_id; -uint8_t ao_ee_dma_in_id; - -static __xdata uint8_t ao_ee_const = 0xff; - -#define ao_ee_delay() do { \ - _asm nop _endasm; \ - _asm nop _endasm; \ - _asm nop _endasm; \ -} while(0) - -void ao_ee_cs_low(void) -{ - ao_ee_delay(); - EE_CS = 0; - ao_ee_delay(); -} - -void ao_ee_cs_high(void) -{ - ao_ee_delay(); - EE_CS = 1; - ao_ee_delay(); -} - -/* Send bytes over SPI. - * - * This sets up two DMA engines, one writing the data and another reading - * bytes coming back. We use the bytes coming back to tell when the transfer - * is complete, as the transmit register is double buffered and hence signals - * completion one byte before the transfer is actually complete - */ -static void -ao_ee_send(void __xdata *block, uint16_t len) -{ - ao_dma_set_transfer(ao_ee_dma_in_id, - &U0DBUFXADDR, - &ao_ee_const, - len, - DMA_CFG0_WORDSIZE_8 | - DMA_CFG0_TMODE_SINGLE | - DMA_CFG0_TRIGGER_URX0, - DMA_CFG1_SRCINC_0 | - DMA_CFG1_DESTINC_0 | - DMA_CFG1_PRIORITY_NORMAL); - - ao_dma_set_transfer(ao_ee_dma_out_id, - block, - &U0DBUFXADDR, - len, - DMA_CFG0_WORDSIZE_8 | - DMA_CFG0_TMODE_SINGLE | - DMA_CFG0_TRIGGER_UTX0, - DMA_CFG1_SRCINC_1 | - DMA_CFG1_DESTINC_0 | - DMA_CFG1_PRIORITY_NORMAL); - - ao_dma_start(ao_ee_dma_in_id); - ao_dma_start(ao_ee_dma_out_id); - ao_dma_trigger(ao_ee_dma_out_id); - __critical while (!ao_ee_dma_in_done) - ao_sleep(&ao_ee_dma_in_done); -} - -/* Receive bytes over SPI. - * - * This sets up tow DMA engines, one reading the data and another - * writing constant values to the SPI transmitter as that is what - * clocks the data coming in. - */ -static void -ao_ee_recv(void __xdata *block, uint16_t len) -{ - ao_dma_set_transfer(ao_ee_dma_in_id, - &U0DBUFXADDR, - block, - len, - DMA_CFG0_WORDSIZE_8 | - DMA_CFG0_TMODE_SINGLE | - DMA_CFG0_TRIGGER_URX0, - DMA_CFG1_SRCINC_0 | - DMA_CFG1_DESTINC_1 | - DMA_CFG1_PRIORITY_NORMAL); - - ao_dma_set_transfer(ao_ee_dma_out_id, - &ao_ee_const, - &U0DBUFXADDR, - len, - DMA_CFG0_WORDSIZE_8 | - DMA_CFG0_TMODE_SINGLE | - DMA_CFG0_TRIGGER_UTX0, - DMA_CFG1_SRCINC_0 | - DMA_CFG1_DESTINC_0 | - DMA_CFG1_PRIORITY_NORMAL); - - ao_dma_start(ao_ee_dma_in_id); - ao_dma_start(ao_ee_dma_out_id); - ao_dma_trigger(ao_ee_dma_out_id); - __critical while (!ao_ee_dma_in_done) - ao_sleep(&ao_ee_dma_in_done); -} - -#define EE_BLOCK 256 - -struct ao_ee_instruction { - uint8_t instruction; - uint8_t address[3]; -} __xdata ao_ee_instruction; - -static void -ao_ee_write_enable(void) -{ - ao_ee_cs_low(); - ao_ee_instruction.instruction = EE_WREN; - ao_ee_send(&ao_ee_instruction, 1); - ao_ee_cs_high(); -} - -static uint8_t -ao_ee_rdsr(void) -{ - ao_ee_cs_low(); - ao_ee_instruction.instruction = EE_RDSR; - ao_ee_send(&ao_ee_instruction, 1); - ao_ee_recv(&ao_ee_instruction, 1); - ao_ee_cs_high(); - return ao_ee_instruction.instruction; -} - -static void -ao_ee_wrsr(uint8_t status) -{ - ao_ee_cs_low(); - ao_ee_instruction.instruction = EE_WRSR; - ao_ee_instruction.address[0] = status; - ao_ee_send(&ao_ee_instruction, 2); - ao_ee_cs_high(); -} - -#define EE_BLOCK_NONE 0xffff - -static __xdata uint8_t ao_ee_data[EE_BLOCK]; -static __pdata uint16_t ao_ee_block = EE_BLOCK_NONE; -static __pdata uint8_t ao_ee_block_dirty; - -/* Write the current block to the EEPROM */ -static void -ao_ee_write_block(void) -{ - uint8_t status; - - status = ao_ee_rdsr(); - if (status & (EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN)) { - status &= ~(EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN); - ao_ee_wrsr(status); - } - ao_ee_write_enable(); - ao_ee_cs_low(); - ao_ee_instruction.instruction = EE_WRITE; - ao_ee_instruction.address[0] = ao_ee_block >> 8; - ao_ee_instruction.address[1] = ao_ee_block; - ao_ee_instruction.address[2] = 0; - ao_ee_send(&ao_ee_instruction, 4); - ao_ee_send(ao_ee_data, EE_BLOCK); - ao_ee_cs_high(); - for (;;) { - uint8_t status = ao_ee_rdsr(); - if ((status & EE_STATUS_WIP) == 0) - break; - } -} - -/* Read the current block from the EEPROM */ -static void -ao_ee_read_block(void) -{ - ao_ee_cs_low(); - ao_ee_instruction.instruction = EE_READ; - ao_ee_instruction.address[0] = ao_ee_block >> 8; - ao_ee_instruction.address[1] = ao_ee_block; - ao_ee_instruction.address[2] = 0; - ao_ee_send(&ao_ee_instruction, 4); - ao_ee_recv(ao_ee_data, EE_BLOCK); - ao_ee_cs_high(); -} - -static void -ao_ee_flush_internal(void) -{ - if (ao_ee_block_dirty) { - ao_ee_write_block(); - ao_ee_block_dirty = 0; - } -} - -static void -ao_ee_fill(uint16_t block) -{ - if (block != ao_ee_block) { - ao_ee_flush_internal(); - ao_ee_block = block; - ao_ee_read_block(); - } -} - -uint8_t -ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant -{ - uint16_t block; - uint16_t this_len; - uint8_t this_off; - - if (pos >= AO_EE_DATA_SIZE || pos + len > AO_EE_DATA_SIZE) - return 0; - while (len) { - - /* Compute portion of transfer within - * a single block - */ - this_off = pos; - this_len = 256 - (uint16_t) this_off; - block = (uint16_t) (pos >> 8); - if (this_len > len) - this_len = len; - if (this_len & 0xff00) - ao_panic(AO_PANIC_EE); - - /* Transfer the data */ - ao_mutex_get(&ao_ee_mutex); { - if (this_len != 256) - ao_ee_fill(block); - else { - ao_ee_flush_internal(); - ao_ee_block = block; - } - memcpy(ao_ee_data + this_off, buf, this_len); - ao_ee_block_dirty = 1; - } ao_mutex_put(&ao_ee_mutex); - - /* See how much is left */ - buf += this_len; - len -= this_len; - } - return 1; -} - -uint8_t -ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant -{ - uint16_t block; - uint16_t this_len; - uint8_t this_off; - - if (pos >= AO_EE_DATA_SIZE || pos + len > AO_EE_DATA_SIZE) - return 0; - while (len) { - - /* Compute portion of transfer within - * a single block - */ - this_off = pos; - this_len = 256 - (uint16_t) this_off; - block = (uint16_t) (pos >> 8); - if (this_len > len) - this_len = len; - if (this_len & 0xff00) - ao_panic(AO_PANIC_EE); - - /* Transfer the data */ - ao_mutex_get(&ao_ee_mutex); { - ao_ee_fill(block); - memcpy(buf, ao_ee_data + this_off, this_len); - } ao_mutex_put(&ao_ee_mutex); - - /* See how much is left */ - buf += this_len; - len -= this_len; - } - return 1; -} - -void -ao_ee_flush(void) __reentrant -{ - ao_mutex_get(&ao_ee_mutex); { - ao_ee_flush_internal(); - } ao_mutex_put(&ao_ee_mutex); -} - -/* - * Read/write the config block, which is in - * the last block of the ao_eeprom - */ -uint8_t -ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant -{ - if (len > AO_EE_BLOCK_SIZE) - return 0; - ao_mutex_get(&ao_ee_mutex); { - ao_ee_fill(AO_EE_CONFIG_BLOCK); - memcpy(ao_ee_data, buf, len); - ao_ee_block_dirty = 1; - ao_ee_flush_internal(); - } ao_mutex_put(&ao_ee_mutex); - return 1; -} - -uint8_t -ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant -{ - if (len > AO_EE_BLOCK_SIZE) - return 0; - ao_mutex_get(&ao_ee_mutex); { - ao_ee_fill(AO_EE_CONFIG_BLOCK); - memcpy(buf, ao_ee_data, len); - } ao_mutex_put(&ao_ee_mutex); - return 1; -} - -static void -ee_dump(void) -{ - __xdata uint8_t b; - __xdata uint16_t block; - __xdata uint8_t i; - - ao_cmd_hex(); - block = ao_cmd_lex_i; - if (ao_cmd_status != ao_cmd_success) - return; - i = 0; - do { - if ((i & 7) == 0) { - if (i) - putchar('\n'); - ao_cmd_put16((uint16_t) i); - } - putchar(' '); - ao_ee_read(((uint32_t) block << 8) | i, &b, 1); - ao_cmd_put8(b); - ++i; - } while (i != 0); - putchar('\n'); -} - -static void -ee_store(void) -{ - __xdata uint16_t block; - __xdata uint8_t i; - __xdata uint16_t len; - __xdata uint8_t b; - __xdata uint32_t addr; - - ao_cmd_hex(); - block = ao_cmd_lex_i; - ao_cmd_hex(); - i = ao_cmd_lex_i; - addr = ((uint32_t) block << 8) | i; - ao_cmd_hex(); - len = ao_cmd_lex_i; - if (ao_cmd_status != ao_cmd_success) - return; - while (len--) { - ao_cmd_hex(); - if (ao_cmd_status != ao_cmd_success) - return; - b = ao_cmd_lex_i; - ao_ee_write(addr, &b, 1); - addr++; - } - ao_ee_flush(); -} - -__code struct ao_cmds ao_ee_cmds[] = { - { 'e', ee_dump, "e <block> Dump a block of EEPROM data" }, - { 'w', ee_store, "w <block> <start> <len> <data> ... Write data to EEPROM" }, - { 0, ee_store, NULL }, -}; - -/* - * To initialize the chip, set up the CS line and - * the SPI interface - */ -void -ao_ee_init(void) -{ - /* set up CS */ - EE_CS = 1; - P1DIR |= (1 << EE_CS_INDEX); - P1SEL &= ~(1 << EE_CS_INDEX); - - /* Set up the USART pin assignment */ - PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_2; - - /* Ensure that USART0 takes precidence over USART1 for pins that - * they share - */ - P2SEL = (P2SEL & ~P2SEL_PRI3P1_MASK) | P2SEL_PRI3P1_USART0; - - /* Make the SPI pins be controlled by the USART peripheral */ - P1SEL |= ((1 << 5) | (1 << 4) | (1 << 3)); - - /* Set up OUT DMA */ - ao_ee_dma_out_id = ao_dma_alloc(&ao_ee_dma_out_done); - - /* Set up IN DMA */ - ao_ee_dma_in_id = ao_dma_alloc(&ao_ee_dma_in_done); - - /* Set up the USART. - * - * SPI master mode - */ - U0CSR = (UxCSR_MODE_SPI | UxCSR_RE | UxCSR_MASTER); - - /* Set the baud rate and signal parameters - * - * The cc1111 is limited to a 24/8 MHz SPI clock, - * while the 25LC1024 is limited to 20MHz. So, - * use the 3MHz clock (BAUD_E 17, BAUD_M 0) - */ - U0BAUD = 0; - U0GCR = (UxGCR_CPOL_NEGATIVE | - UxGCR_CPHA_FIRST_EDGE | - UxGCR_ORDER_MSB | - (17 << UxGCR_BAUD_E_SHIFT)); - ao_cmd_register(&ao_ee_cmds[0]); -} diff --git a/src/ao_flight.c b/src/ao_flight.c deleted file mode 100644 index be9b3bb6..00000000 --- a/src/ao_flight.c +++ /dev/null @@ -1,484 +0,0 @@ -/* - * Copyright © 2009 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_FLIGHT_TEST -#include "ao.h" -#endif - -/* Main flight thread. */ - -__pdata enum ao_flight_state ao_flight_state; /* current flight state */ -__pdata uint16_t ao_flight_tick; /* time of last data */ -__pdata uint16_t ao_flight_prev_tick; /* time of previous data */ -__pdata int16_t ao_flight_accel; /* filtered acceleration */ -__pdata int16_t ao_flight_pres; /* filtered pressure */ -__pdata int16_t ao_ground_pres; /* startup pressure */ -__pdata int16_t ao_ground_accel; /* startup acceleration */ -__pdata int16_t ao_min_pres; /* minimum recorded pressure */ -__pdata uint16_t ao_launch_tick; /* time of launch detect */ -__pdata int16_t ao_main_pres; /* pressure to eject main */ - -/* - * track min/max data over a long interval to detect - * resting - */ -__pdata uint16_t ao_interval_end; -__pdata int16_t ao_interval_cur_min_accel; -__pdata int16_t ao_interval_cur_max_accel; -__pdata int16_t ao_interval_cur_min_pres; -__pdata int16_t ao_interval_cur_max_pres; -__pdata int16_t ao_interval_min_accel; -__pdata int16_t ao_interval_max_accel; -__pdata int16_t ao_interval_min_pres; -__pdata int16_t ao_interval_max_pres; - -__data uint8_t ao_flight_adc; -__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; - -/* Accelerometer calibration - * - * We're sampling the accelerometer through a resistor divider which - * consists of 5k and 10k resistors. This multiplies the values by 2/3. - * That goes into the cc1111 A/D converter, which is running at 11 bits - * of precision with the bits in the MSB of the 16 bit value. Only positive - * values are used, so values should range from 0-32752 for 0-3.3V. The - * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what - * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV, - * for a final computation of: - * - * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g - * - * Zero g was measured at 16000 (we would expect 16384). - * Note that this value is only require to tell if the - * rocket is standing upright. Once that is determined, - * the value of the accelerometer is averaged for 100 samples - * to find the resting accelerometer value, which is used - * for all further flight computations - */ - -#define GRAVITY 9.80665 -/* convert m/s to velocity count */ -#define VEL_MPS_TO_COUNT(mps) ((int32_t) (((mps) / GRAVITY) * ACCEL_G * 100)) - -#define ACCEL_G 265 -#define ACCEL_ZERO_G 16000 -#define ACCEL_NOSE_UP (ACCEL_G * 2 /3) -#define ACCEL_BOOST ACCEL_G * 2 -#define ACCEL_INT_LAND (ACCEL_G / 10) -#define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10) -#define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200) -#define ACCEL_VEL_APOGEE VEL_MPS_TO_COUNT(2) -#define ACCEL_VEL_MAIN VEL_MPS_TO_COUNT(100) -#define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5) - -/* - * Barometer calibration - * - * We directly sample the barometer. The specs say: - * - * Pressure range: 15-115 kPa - * Voltage at 115kPa: 2.82 - * Output scale: 27mV/kPa - * - * If we want to detect launch with the barometer, we need - * a large enough bump to not be fooled by noise. At typical - * launch elevations (0-2000m), a 200Pa pressure change cooresponds - * to about a 20m elevation change. This is 5.4mV, or about 3LSB. - * As all of our calculations are done in 16 bits, we'll actually see a change - * of 16 times this though - * - * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa - */ - -#define BARO_kPa 268 -#define BARO_LAUNCH (BARO_kPa / 5) /* .2kPa, or about 20m */ -#define BARO_APOGEE (BARO_kPa / 10) /* .1kPa, or about 10m */ -#define BARO_COAST (BARO_kPa * 5) /* 5kpa, or about 500m */ -#define BARO_MAIN (BARO_kPa) /* 1kPa, or about 100m */ -#define BARO_INT_LAND (BARO_kPa / 20) /* .05kPa, or about 5m */ -#define BARO_LAND (BARO_kPa * 10) /* 10kPa or about 1000m */ - -/* We also have a clock, which can be used to sanity check things in - * case of other failures - */ - -#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15) - -/* This value is scaled in a weird way. It's a running total of accelerometer - * readings minus the ground accelerometer reading. That means it measures - * velocity, and quite accurately too. As it gets updated 100 times a second, - * it's scaled by 100 - */ -__pdata int32_t ao_flight_vel; -__pdata int32_t ao_min_vel; -__pdata int32_t ao_old_vel; -__pdata int16_t ao_old_vel_tick; -__xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum; - -/* Landing is detected by getting constant readings from both pressure and accelerometer - * for a fairly long time (AO_INTERVAL_TICKS) - */ -#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(20) - -#define abs(a) ((a) < 0 ? -(a) : (a)) - -void -ao_flight(void) -{ - __pdata static uint16_t nsamples = 0; - - ao_flight_adc = ao_adc_head; - ao_raw_accel_prev = 0; - ao_raw_accel = 0; - ao_raw_pres = 0; - ao_flight_tick = 0; - for (;;) { - ao_sleep(&ao_adc_ring); - while (ao_flight_adc != ao_adc_head) { - __pdata uint8_t ticks; - __pdata int16_t ao_vel_change; - ao_flight_prev_tick = ao_flight_tick; - - /* Capture a sample */ - ao_raw_accel = ao_adc_ring[ao_flight_adc].accel; - ao_raw_pres = ao_adc_ring[ao_flight_adc].pres; - ao_flight_tick = ao_adc_ring[ao_flight_adc].tick; - - ao_flight_accel -= ao_flight_accel >> 4; - ao_flight_accel += ao_raw_accel >> 4; - ao_flight_pres -= ao_flight_pres >> 4; - ao_flight_pres += ao_raw_pres >> 4; - /* Update velocity - * - * The accelerometer is mounted so that - * acceleration yields negative values - * while deceleration yields positive values, - * so subtract instead of add. - */ - ticks = ao_flight_tick - ao_flight_prev_tick; - ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel); - ao_raw_accel_prev = ao_raw_accel; - - /* one is a common interval */ - if (ticks == 1) - ao_flight_vel -= (int32_t) ao_vel_change; - else - ao_flight_vel -= (int32_t) ao_vel_change * (int32_t) ticks; - - ao_flight_adc = ao_adc_ring_next(ao_flight_adc); - } - - if (ao_flight_pres < ao_min_pres) - ao_min_pres = ao_flight_pres; - if (ao_flight_vel >= 0) { - if (ao_flight_vel < ao_min_vel) - ao_min_vel = ao_flight_vel; - } else { - if (-ao_flight_vel < ao_min_vel) - ao_min_vel = -ao_flight_vel; - } - - switch (ao_flight_state) { - case ao_flight_startup: - - /* startup state: - * - * Collect 1000 samples of acceleration and pressure - * data and average them to find the resting values - */ - if (nsamples < 1000) { - ao_raw_accel_sum += ao_raw_accel; - ao_raw_pres_sum += ao_raw_pres; - ++nsamples; - continue; - } - ao_ground_accel = (ao_raw_accel_sum / nsamples); - ao_ground_pres = (ao_raw_pres_sum / nsamples); - ao_min_pres = ao_ground_pres; - ao_config_get(); - ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy); - ao_flight_vel = 0; - ao_min_vel = 0; - ao_old_vel = ao_flight_vel; - ao_old_vel_tick = ao_flight_tick; - - /* Go to pad state if the nose is pointing up */ - ao_config_get(); - if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) { - - /* Disable the USB controller in flight mode - * to save power - */ - ao_usb_disable(); - - /* Turn on telemetry system - */ - ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); - - ao_flight_state = ao_flight_pad; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - } else { - ao_flight_state = ao_flight_idle; - - /* Turn on the Green LED in idle mode - */ - ao_led_on(AO_LED_GREEN); - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - } - /* signal successful initialization by turning off the LED */ - ao_led_off(AO_LED_RED); - break; - case ao_flight_pad: - - /* Trim velocity - * - * Once a second, remove any velocity from - * a second ago - */ - if ((int16_t) (ao_flight_tick - ao_old_vel_tick) >= AO_SEC_TO_TICKS(1)) { - ao_old_vel_tick = ao_flight_tick; - ao_flight_vel -= ao_old_vel; - ao_old_vel = ao_flight_vel; - } - /* pad to boost: - * - * accelerometer: > 2g AND velocity > 5m/s - * OR - * barometer: > 20m vertical motion - * - * The accelerometer should always detect motion before - * the barometer, but we use both to make sure this - * transition is detected - */ - if ((ao_flight_accel < ao_ground_accel - ACCEL_BOOST && - ao_flight_vel > ACCEL_VEL_BOOST) || - ao_flight_pres < ao_ground_pres - BARO_LAUNCH) - { - ao_flight_state = ao_flight_boost; - ao_launch_tick = ao_flight_tick; - - /* start logging data */ - ao_log_start(); - - /* Increase telemetry rate */ - ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); - - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - break; - } - break; - case ao_flight_boost: - - /* boost to fast: - * - * accelerometer: start to fall at > 1/4 G - * OR - * time: boost for more than 15 seconds - * - * Detects motor burn out by the switch from acceleration to - * deceleration, or by waiting until the maximum burn duration - * (15 seconds) has past. - */ - if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) || - (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX) - { - ao_flight_state = ao_flight_fast; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - break; - } - break; - case ao_flight_fast: - - /* fast to coast: - * - * accelerometer: integrated velocity < 200 m/s - * OR - * barometer: fall at least 500m from max altitude - * - * This extra state is required to avoid mis-detecting - * apogee due to mach transitions. - * - * XXX this is essentially a single-detector test - * as the 500m altitude change would likely result - * in a loss of the rocket. More data on precisely - * how big a pressure change the mach transition - * generates would be useful here. - */ - if (ao_flight_vel < ACCEL_VEL_MACH || - ao_flight_pres > ao_min_pres + BARO_COAST) - { - /* set min velocity to current velocity for - * apogee detect - */ - ao_min_vel = abs(ao_flight_vel); - ao_flight_state = ao_flight_coast; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - } - break; - case ao_flight_coast: - - /* apogee detect: coast to drogue deploy: - * - * accelerometer: abs(velocity) > min_velocity + 2m/s - * OR - * barometer: fall at least 10m - * - * If the barometer saturates because the flight - * goes over its measuring range (about 53k'), - * requiring a 10m fall will avoid prematurely - * detecting apogee; the accelerometer will take - * over in that case and the integrated velocity - * measurement should suffice to find apogee - */ - if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */ - ao_flight_pres > ao_min_pres + BARO_APOGEE) - { - /* ignite the drogue charge */ - ao_ignite(ao_igniter_drogue); - - /* slow down the telemetry system */ - ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); - - /* slow down the ADC sample rate */ - ao_timer_set_adc_interval(10); - - /* - * Start recording min/max accel and pres for a while - * to figure out when the rocket has landed - */ - /* Set the 'last' limits to max range to prevent - * early resting detection - */ - ao_interval_min_accel = 0; - ao_interval_max_accel = 0x7fff; - ao_interval_min_pres = 0; - ao_interval_max_pres = 0x7fff; - - /* initialize interval values */ - ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; - - ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; - ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; - - /* and enter drogue state */ - ao_flight_state = ao_flight_drogue; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - } - - break; - case ao_flight_drogue: - - /* drogue to main deploy: - * - * barometer: reach main deploy altitude - * - * Would like to use the accelerometer for this test, but - * the orientation of the flight computer is unknown after - * drogue deploy, so we ignore it. Could also detect - * high descent rate using the pressure sensor to - * recognize drogue deploy failure and eject the main - * at that point. Perhaps also use the drogue sense lines - * to notice continutity? - */ - if (ao_flight_pres >= ao_main_pres) - { - ao_ignite(ao_igniter_main); - ao_flight_state = ao_flight_main; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - } - - /* fall through... */ - case ao_flight_main: - - /* drogue/main to land: - * - * accelerometer: value stable - * AND - * barometer: altitude stable and within 1000m of the launch altitude - */ - - if (ao_flight_pres < ao_interval_cur_min_pres) - ao_interval_cur_min_pres = ao_flight_pres; - if (ao_flight_pres > ao_interval_cur_max_pres) - ao_interval_cur_max_pres = ao_flight_pres; - if (ao_flight_accel < ao_interval_cur_min_accel) - ao_interval_cur_min_accel = ao_flight_accel; - if (ao_flight_accel > ao_interval_cur_max_accel) - ao_interval_cur_max_accel = ao_flight_accel; - - if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) { - ao_interval_max_pres = ao_interval_cur_max_pres; - ao_interval_min_pres = ao_interval_cur_min_pres; - ao_interval_max_accel = ao_interval_cur_max_accel; - ao_interval_min_accel = ao_interval_cur_min_accel; - ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; - ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; - ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; - } - - if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND && - ao_flight_pres > ao_ground_pres - BARO_LAND && - (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND) - { - ao_flight_state = ao_flight_landed; - - /* turn off the ADC capture */ - ao_timer_set_adc_interval(0); - - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - } - break; - case ao_flight_landed: - break; - } - } -} - -#define AO_ACCEL_COUNT_TO_MSS(count) ((count) / 27) -#define AO_VEL_COUNT_TO_MS(count) ((int16_t) ((count) / 2700)) - -static void -ao_flight_status(void) -{ - printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n", - ao_state_names[ao_flight_state], - AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel), - AO_VEL_COUNT_TO_MS(ao_flight_vel), - ao_pres_to_altitude(ao_flight_pres), - ao_pres_to_altitude(ao_main_pres)); -} - -static __xdata struct ao_task flight_task; - -__code struct ao_cmds ao_flight_cmds[] = { - { 'f', ao_flight_status, "f Display current flight state" }, - { 0, ao_flight_status, NULL } -}; - -void -ao_flight_init(void) -{ - ao_flight_state = ao_flight_startup; - ao_interval_min_accel = 0; - ao_interval_max_accel = 0x7fff; - ao_interval_min_pres = 0; - ao_interval_max_pres = 0x7fff; - ao_interval_end = AO_INTERVAL_TICKS; - - ao_add_task(&flight_task, ao_flight, "flight"); - ao_cmd_register(&ao_flight_cmds[0]); -} diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c deleted file mode 100644 index 1466b886..00000000 --- a/src/ao_flight_test.c +++ /dev/null @@ -1,288 +0,0 @@ -/* - * Copyright © 2009 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. - */ - -#define _GNU_SOURCE - -#include <stdint.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> - -#define AO_ADC_RING 64 -#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) -#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) - -/* - * One set of samples read from the A/D converter - */ -struct ao_adc { - uint16_t tick; /* tick when the sample was read */ - int16_t accel; /* accelerometer */ - int16_t pres; /* pressure sensor */ - int16_t temp; /* temperature sensor */ - int16_t v_batt; /* battery voltage */ - int16_t sense_d; /* drogue continuity sense */ - int16_t sense_m; /* main continuity sense */ -}; - -#define __pdata -#define __data -#define __xdata -#define __code -#define __reentrant - -enum ao_flight_state { - ao_flight_startup = 0, - ao_flight_idle = 1, - ao_flight_pad = 2, - ao_flight_boost = 3, - ao_flight_fast = 4, - ao_flight_coast = 5, - ao_flight_drogue = 6, - ao_flight_main = 7, - ao_flight_landed = 8, - ao_flight_invalid = 9 -}; - -struct ao_adc ao_adc_ring[AO_ADC_RING]; -uint8_t ao_adc_head; - -#define ao_led_on(l) -#define ao_led_off(l) -#define ao_timer_set_adc_interval(i) -#define ao_wakeup(wchan) ao_dump_state() -#define ao_cmd_register(c) -#define ao_usb_disable() -#define ao_telemetry_set_interval(x) - -enum ao_igniter { - ao_igniter_drogue = 0, - ao_igniter_main = 1 -}; - -void -ao_ignite(enum ao_igniter igniter) -{ - printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main"); -} - -struct ao_task { - int dummy; -}; - -#define ao_add_task(t,f,n) - -#define ao_log_start() -#define ao_log_stop() - -#define AO_MS_TO_TICKS(ms) ((ms) / 10) -#define AO_SEC_TO_TICKS(s) ((s) * 100) - -#define AO_FLIGHT_TEST - -struct ao_adc ao_adc_static; - -FILE *emulator_in; - -void -ao_dump_state(void); - -void -ao_sleep(void *wchan); - -const char const * const ao_state_names[] = { - "startup", "idle", "pad", "boost", "fast", - "coast", "drogue", "main", "landed", "invalid" -}; - -struct ao_cmds { - char cmd; - void (*func)(void); - const char *help; -}; - - -static int16_t altitude_table[2048] = { -#include "altitude.h" -}; - -int16_t -ao_pres_to_altitude(int16_t pres) __reentrant -{ - pres = pres >> 4; - if (pres < 0) pres = 0; - if (pres > 2047) pres = 2047; - return altitude_table[pres]; -} - -int16_t -ao_altitude_to_pres(int16_t alt) __reentrant -{ - int16_t pres; - - for (pres = 0; pres < 2047; pres++) - if (altitude_table[pres] <= alt) - break; - return pres << 4; -} - -struct ao_config { - uint16_t main_deploy; - int16_t accel_zero_g; -}; - -#define ao_config_get() - -struct ao_config ao_config = { 250, 16000 }; - -#include "ao_flight.c" - -void -ao_insert(void) -{ - ao_adc_ring[ao_adc_head] = ao_adc_static; - ao_adc_head = ao_adc_ring_next(ao_adc_head); - if (ao_flight_state != ao_flight_startup) { - printf("time %g accel %d pres %d\n", - (double) ao_adc_static.tick / 100, - ao_adc_static.accel, - ao_adc_static.pres); - } -} - -static int ao_records_read = 0; -static int ao_eof_read = 0; -static int ao_flight_ground_accel; -static int ao_flight_started = 0; - -void -ao_sleep(void *wchan) -{ - ao_dump_state(); - if (wchan == &ao_adc_ring) { - char type; - uint16_t tick; - uint16_t a, b; - int ret; - char line[1024]; - char *saveptr; - char *l; - char *words[64]; - int nword; - - for (;;) { - if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) - { - ao_adc_static.accel = ao_flight_ground_accel; - ao_insert(); - return; - } - - if (!fgets(line, sizeof (line), emulator_in)) { - if (++ao_eof_read >= 1000) { - printf ("no more data, exiting simulation\n"); - exit(0); - } - ao_adc_static.tick += 10; - ao_insert(); - return; - } - l = line; - for (nword = 0; nword < 64; nword++) { - words[nword] = strtok_r(l, " \t\n", &saveptr); - l = NULL; - if (words[nword] == NULL) - break; - } - if (nword == 4) { - type = words[0][0]; - tick = strtoul(words[1], NULL, 16); - a = strtoul(words[2], NULL, 16); - b = strtoul(words[2], NULL, 16); - } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) { - tick = atoi(words[10]); - if (!ao_flight_started) { - type = 'F'; - a = atoi(words[26]); - ao_flight_started = 1; - } else { - type = 'A'; - a = atoi(words[12]); - b = atoi(words[14]); - } - } - if (type != 'F' && !ao_flight_started) - continue; - - switch (type) { - case 'F': - ao_flight_ground_accel = a; - ao_flight_started = 1; - break; - case 'S': - break; - case 'A': - ao_adc_static.tick = tick; - ao_adc_static.accel = a; - ao_adc_static.pres = b; - ao_records_read++; - ao_insert(); - return; - case 'T': - ao_adc_static.tick = tick; - ao_adc_static.temp = a; - ao_adc_static.v_batt = b; - break; - case 'D': - case 'G': - case 'N': - case 'W': - case 'H': - break; - } - } - - } -} -#define COUNTS_PER_G 264.8 - -void -ao_dump_state(void) -{ - if (ao_flight_state == ao_flight_startup) - return; - printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n", - ao_state_names[ao_flight_state], - (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY, - (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY, - ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres), - ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres)); - if (ao_flight_state == ao_flight_landed) - exit(0); -} - -int -main (int argc, char **argv) -{ - emulator_in = fopen (argv[1], "r"); - if (!emulator_in) { - perror(argv[1]); - exit(1); - } - ao_flight_init(); - ao_flight(); -} diff --git a/src/ao_gps_print.c b/src/ao_gps_print.c deleted file mode 100644 index 8cc07c85..00000000 --- a/src/ao_gps_print.c +++ /dev/null @@ -1,95 +0,0 @@ -/* - * Copyright © 2009 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_GPS_TEST -#include "ao.h" -#endif - -struct ao_gps_split { - uint8_t positive; - uint8_t degrees; - uint8_t minutes; - uint16_t minutes_fraction; -}; - -static void -ao_gps_split(int32_t v, __xdata struct ao_gps_split *split) __reentrant -{ - uint32_t minutes_e7; - - split->positive = 1; - if (v < 0) { - v = -v; - split->positive = 0; - } - split->degrees = v / 10000000; - minutes_e7 = (v % 10000000) * 60; - split->minutes = minutes_e7 / 10000000; - split->minutes_fraction = (minutes_e7 % 10000000) / 1000; -} - -void -ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant -{ - printf("GPS %2d sat", - (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT); - if (gps_data->flags & AO_GPS_VALID) { - static __xdata struct ao_gps_split lat, lon; - int16_t climb, climb_int, climb_frac; - - ao_gps_split(gps_data->latitude, &lat); - ao_gps_split(gps_data->longitude, &lon); - printf(" %2d:%02d:%02d", - gps_data->hour, - gps_data->minute, - gps_data->second); - printf(" %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm", - lat.degrees, - lat.minutes, - lat.minutes_fraction, - lat.positive ? 'N' : 'S', - lon.degrees, - lon.minutes, - lon.minutes_fraction, - lon.positive ? 'E' : 'W', - gps_data->altitude); - climb = gps_data->climb_rate; - if (climb >= 0) { - climb_int = climb / 100; - climb_frac = climb % 100; - } else { - climb = -climb; - climb_int = -(climb / 100); - climb_frac = climb % 100; - } - printf(" %5u.%02dm/s(H) %d° %5d.%02dm/s(V)", - gps_data->ground_speed / 100, - gps_data->ground_speed % 100, - gps_data->course * 2, - climb / 100, - climb % 100); - printf(" %d.%d(hdop) %5u(herr) %5u(verr)\n", - gps_data->hdop / 5, - (gps_data->hdop * 2) % 10, - gps_data->h_error, - gps_data->v_error); - } else if (gps_data->flags & AO_GPS_RUNNING) { - printf(" unlocked\n"); - } else { - printf (" not-connected\n"); - } -} diff --git a/src/ao_log.c b/src/ao_log.c deleted file mode 100644 index 19bfdfb8..00000000 --- a/src/ao_log.c +++ /dev/null @@ -1,229 +0,0 @@ -/* - * Copyright © 2009 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" - -static __pdata uint32_t ao_log_current_pos; -static __pdata uint32_t ao_log_start_pos; -static __xdata uint8_t ao_log_running; -static __xdata uint8_t ao_log_mutex; - -static uint8_t -ao_log_csum(uint8_t *b) -{ - uint8_t sum = 0x5a; - uint8_t i; - - for (i = 0; i < sizeof (struct ao_log_record); i++) - sum += *b++; - return -sum; -} - -void -ao_log_data(struct ao_log_record *log) -{ - /* set checksum */ - log->csum = 0; - log->csum = ao_log_csum((uint8_t *) log); - ao_mutex_get(&ao_log_mutex); { - if (ao_log_running) { - ao_ee_write(ao_log_current_pos, - (uint8_t *) log, - sizeof (struct ao_log_record)); - ao_log_current_pos += sizeof (struct ao_log_record); - if (ao_log_current_pos >= AO_EE_DATA_SIZE) - ao_log_current_pos = 0; - if (ao_log_current_pos == ao_log_start_pos) - ao_log_running = 0; - } - } ao_mutex_put(&ao_log_mutex); -} - -void -ao_log_flush(void) -{ - ao_ee_flush(); -} - -__xdata struct ao_log_record ao_log_dump; -static __xdata uint16_t ao_log_dump_flight; -static __xdata uint32_t ao_log_dump_pos; - -static uint8_t -ao_log_dump_check_data(void) -{ - if (ao_log_csum((uint8_t *) &ao_log_dump) != 0) - return 0; - return 1; -} - -static uint8_t -ao_log_dump_scan(void) -{ - if (!ao_ee_read(0, (uint8_t *) &ao_log_dump, sizeof (struct ao_log_record))) - ao_panic(AO_PANIC_LOG); - if (ao_log_dump_check_data() && ao_log_dump.type == AO_LOG_FLIGHT) { - ao_log_dump_flight = ao_log_dump.u.flight.flight; - return 1; - } else { - ao_log_dump_flight = 0; - return 0; - } -} - -uint8_t -ao_log_dump_first(void) -{ - ao_log_dump_pos = 0; - if (!ao_log_dump_scan()) - return 0; - return 1; -} - -uint8_t -ao_log_dump_next(void) -{ - ao_log_dump_pos += sizeof (struct ao_log_record); - if (ao_log_dump_pos >= AO_EE_DEVICE_SIZE) - return 0; - if (!ao_ee_read(ao_log_dump_pos, (uint8_t *) &ao_log_dump, - sizeof (struct ao_log_record))) - return 0; - return ao_log_dump_check_data(); -} - -__xdata uint8_t ao_log_adc_pos; -__xdata enum flight_state ao_log_state; - -void -ao_log(void) -{ - static __xdata struct ao_log_record log; - - ao_log_dump_scan(); - - while (!ao_log_running) - ao_sleep(&ao_log_running); - - log.type = AO_LOG_FLIGHT; - log.tick = ao_flight_tick; - log.u.flight.ground_accel = ao_ground_accel; - log.u.flight.flight = ao_log_dump_flight + 1; - ao_log_data(&log); - - /* Write the whole contents of the ring to the log - * when starting up. - */ - ao_log_adc_pos = ao_adc_ring_next(ao_adc_head); - for (;;) { - /* Write samples to EEPROM */ - while (ao_log_adc_pos != ao_adc_head) { - log.type = AO_LOG_SENSOR; - log.tick = ao_adc_ring[ao_log_adc_pos].tick; - log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel; - log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres; - ao_log_data(&log); - if ((ao_log_adc_pos & 0x1f) == 0) { - log.type = AO_LOG_TEMP_VOLT; - log.tick = ao_adc_ring[ao_log_adc_pos].tick; - log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp; - log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt; - ao_log_data(&log); - log.type = AO_LOG_DEPLOY; - log.tick = ao_adc_ring[ao_log_adc_pos].tick; - log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d; - log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m; - ao_log_data(&log); - } - ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos); - } - /* Write state change to EEPROM */ - if (ao_flight_state != ao_log_state) { - ao_log_state = ao_flight_state; - log.type = AO_LOG_STATE; - log.tick = ao_flight_tick; - log.u.state.state = ao_log_state; - log.u.state.reason = 0; - ao_log_data(&log); - - if (ao_log_state == ao_flight_landed) - ao_log_stop(); - } - - /* Wait for a while */ - ao_delay(AO_MS_TO_TICKS(100)); - - /* Stop logging when told to */ - while (!ao_log_running) - ao_sleep(&ao_log_running); - } -} - -void -ao_log_start(void) -{ - /* start logging */ - ao_log_running = 1; - ao_wakeup(&ao_log_running); -} - -void -ao_log_stop(void) -{ - ao_log_running = 0; - ao_log_flush(); -} - -static void -dump_log(void) -{ - uint8_t more; - - for (more = ao_log_dump_first(); more; more = ao_log_dump_next()) { - printf("%c %4x %4x %4x\n", - ao_log_dump.type, - ao_log_dump.tick, - ao_log_dump.u.anon.d0, - ao_log_dump.u.anon.d1); - if (ao_log_dump.type == AO_LOG_STATE && - ao_log_dump.u.state.state == ao_flight_landed) - break; - } - printf("end\n"); -} - -__code struct ao_cmds ao_log_cmds[] = { - { 'l', dump_log, "l Dump last flight log" }, - { 0, dump_log, NULL }, -}; - -static __xdata struct ao_task ao_log_task; - -void -ao_log_init(void) -{ - ao_log_running = 0; - - /* For now, just log the flight starting at the begining of eeprom */ - ao_log_start_pos = 0; - ao_log_current_pos = ao_log_start_pos; - ao_log_state = ao_flight_invalid; - - /* Create a task to log events to eeprom */ - ao_add_task(&ao_log_task, ao_log, "log"); - ao_cmd_register(&ao_log_cmds[0]); -} diff --git a/src/ao_monitor.c b/src/ao_monitor.c deleted file mode 100644 index 5997d427..00000000 --- a/src/ao_monitor.c +++ /dev/null @@ -1,95 +0,0 @@ -/* - * Copyright © 2009 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" - -__xdata uint8_t ao_monitoring; -__pdata uint8_t ao_monitor_led; - -void -ao_monitor(void) -{ - __xdata struct ao_radio_recv recv; - __xdata char callsign[AO_MAX_CALLSIGN+1]; - uint8_t state; - - for (;;) { - __critical while (!ao_monitoring) - ao_sleep(&ao_monitoring); - ao_radio_recv(&recv); - state = recv.telemetry.flight_state; - memcpy(callsign, recv.telemetry.callsign, AO_MAX_CALLSIGN); - if (state > ao_flight_invalid) - state = ao_flight_invalid; - if (recv.status & PKT_APPEND_STATUS_1_CRC_OK) { - printf ("CALL %s SERIAL %3d RSSI %4d STATUS %02x STATE %7s ", - callsign, - recv.telemetry.addr, - (int) recv.rssi - 74, recv.status, - ao_state_names[state]); - printf("%5u a: %5d p: %5d t: %5d v: %5d d: %5d m: %5d fa: %5d ga: %d fv: %7ld fp: %5d gp: %5d ", - recv.telemetry.adc.tick, - recv.telemetry.adc.accel, - recv.telemetry.adc.pres, - recv.telemetry.adc.temp, - recv.telemetry.adc.v_batt, - recv.telemetry.adc.sense_d, - recv.telemetry.adc.sense_m, - recv.telemetry.flight_accel, - recv.telemetry.ground_accel, - recv.telemetry.flight_vel, - recv.telemetry.flight_pres, - recv.telemetry.ground_pres); - ao_gps_print(&recv.telemetry.gps); - ao_rssi_set((int) recv.rssi - 74); - } else { - printf("CRC INVALID RSSI %3d\n", (int) recv.rssi - 74); - } - ao_usb_flush(); - ao_led_toggle(ao_monitor_led); - } -} - -__xdata struct ao_task ao_monitor_task; - -void -ao_set_monitor(uint8_t monitoring) -{ - ao_monitoring = monitoring; - ao_wakeup(&ao_monitoring); -} - -static void -set_monitor(void) -{ - ao_cmd_hex(); - ao_set_monitor(ao_cmd_lex_i != 0); -} - -__code struct ao_cmds ao_monitor_cmds[] = { - { 'm', set_monitor, "m <0 off, 1 on> Enable/disable radio monitoring" }, - { 0, set_monitor, NULL }, -}; - -void -ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant -{ - ao_monitor_led = monitor_led; - ao_monitoring = monitoring; - ao_cmd_register(&ao_monitor_cmds[0]); - ao_add_task(&ao_monitor_task, ao_monitor, "monitor"); -} diff --git a/src/ao_report.c b/src/ao_report.c deleted file mode 100644 index 14eaf428..00000000 --- a/src/ao_report.c +++ /dev/null @@ -1,122 +0,0 @@ -/* - * Copyright © 2009 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" - -static const char * __xdata flight_reports[] = { - "...", /* startup, 'S' */ - "..", /* idle 'I' */ - ".--.", /* pad 'P' */ - "-...", /* boost 'B' */ - "..-.", /* fast 'F' */ - "-.-.", /* coast 'C' */ - "-..", /* drogue 'D' */ - "--", /* main 'M' */ - ".-..", /* landed 'L' */ - ".-.-.-", /* invalid */ -}; - -#if 1 -#define signal(time) ao_beep_for(AO_BEEP_MID, time) -#else -#define signal(time) ao_led_for(AO_LED_RED, time) -#endif -#define pause(time) ao_delay(time) - -static __xdata enum ao_flight_state ao_report_state; - -static void -ao_report_beep(void) __reentrant -{ - char *r = flight_reports[ao_flight_state]; - char c; - - if (!r) - return; - while (c = *r++) { - if (c == '.') - signal(AO_MS_TO_TICKS(200)); - else - signal(AO_MS_TO_TICKS(600)); - pause(AO_MS_TO_TICKS(200)); - } - pause(AO_MS_TO_TICKS(400)); -} - -static void -ao_report_digit(uint8_t digit) __reentrant -{ - if (!digit) { - signal(AO_MS_TO_TICKS(500)); - pause(AO_MS_TO_TICKS(200)); - } else { - while (digit--) { - signal(AO_MS_TO_TICKS(200)); - pause(AO_MS_TO_TICKS(200)); - } - } - pause(AO_MS_TO_TICKS(300)); -} - -static void -ao_report_altitude(void) -{ - __xdata int16_t agl = ao_pres_to_altitude(ao_min_pres) - ao_pres_to_altitude(ao_ground_pres); - __xdata uint8_t digits[10]; - __xdata uint8_t ndigits, i; - - if (agl < 0) - agl = 0; - ndigits = 0; - do { - digits[ndigits++] = agl % 10; - agl /= 10; - } while (agl); - - for (;;) { - ao_report_beep(); - i = ndigits; - do - ao_report_digit(digits[--i]); - while (i != 0); - pause(AO_SEC_TO_TICKS(5)); - } -} - -void -ao_report(void) -{ - ao_report_state = ao_flight_state; - for(;;) { - if (ao_flight_state == ao_flight_landed) - ao_report_altitude(); - ao_report_beep(); - __critical { - while (ao_report_state == ao_flight_state) - ao_sleep(DATA_TO_XDATA(&ao_flight_state)); - ao_report_state = ao_flight_state; - } - } -} - -static __xdata struct ao_task ao_report_task; - -void -ao_report_init(void) -{ - ao_add_task(&ao_report_task, ao_report, "report"); -} diff --git a/src/ao_serial.c b/src/ao_serial.c deleted file mode 100644 index 59110354..00000000 --- a/src/ao_serial.c +++ /dev/null @@ -1,171 +0,0 @@ -/* - * Copyright © 2009 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" - -volatile __xdata struct ao_fifo ao_usart1_rx_fifo; -volatile __xdata struct ao_fifo ao_usart1_tx_fifo; - -void -ao_serial_rx1_isr(void) interrupt 3 -{ - if (!ao_fifo_full(ao_usart1_rx_fifo)) - ao_fifo_insert(ao_usart1_rx_fifo, U1DBUF); - ao_wakeup(&ao_usart1_rx_fifo); -} - -static __xdata uint8_t ao_serial_tx1_started; - -static void -ao_serial_tx1_start(void) -{ - if (!ao_fifo_empty(ao_usart1_tx_fifo) && - !ao_serial_tx1_started) - { - ao_serial_tx1_started = 1; - ao_fifo_remove(ao_usart1_tx_fifo, U1DBUF); - } -} - -void -ao_serial_tx1_isr(void) interrupt 14 -{ - UTX1IF = 0; - ao_serial_tx1_started = 0; - ao_serial_tx1_start(); - ao_wakeup(&ao_usart1_tx_fifo); -} - -static __pdata serial_echo; - -char -ao_serial_getchar(void) __critical -{ - char c; - while (ao_fifo_empty(ao_usart1_rx_fifo)) - ao_sleep(&ao_usart1_rx_fifo); - ao_fifo_remove(ao_usart1_rx_fifo, c); - if (serial_echo) { - printf("%02x\n", ((int) c) & 0xff); - flush(); - } - return c; -} - -void -ao_serial_putchar(char c) __critical -{ - while (ao_fifo_full(ao_usart1_tx_fifo)) - ao_sleep(&ao_usart1_tx_fifo); - ao_fifo_insert(ao_usart1_tx_fifo, c); - ao_serial_tx1_start(); -} - -static void -ao_serial_drain(void) __critical -{ - while (!ao_fifo_empty(ao_usart1_tx_fifo)) - ao_sleep(&ao_usart1_tx_fifo); -} - -static void -send_serial(void) -{ - ao_cmd_white(); - while (ao_cmd_lex_c != '\n') { - ao_serial_putchar(ao_cmd_lex_c); - ao_cmd_lex(); - } -} - -static void -monitor_serial(void) -{ - ao_cmd_hex(); - serial_echo = ao_cmd_lex_i != 0; -} - -static void -serial_baud(void) -{ - ao_cmd_hex(); - ao_serial_set_speed(ao_cmd_lex_i); -} - -__code struct ao_cmds ao_serial_cmds[] = { - { 'S', send_serial, "S <data> Send data to serial line" }, - { 'M', monitor_serial, "M <enable> Monitor serial data" }, - { 'B', serial_baud, "B <0 = 4800, 1 = 57600> Set serial baud rate" }, - { 0, send_serial, NULL }, -}; - -static const struct { - uint8_t baud; - uint8_t gcr; -} ao_serial_speeds[] = { - /* [AO_SERIAL_SPEED_4800] = */ { - /* .baud = */ 163, - /* .gcr = */ (7 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB - }, - /* [AO_SERIAL_SPEED_57600] = */ { - /* .baud = */ 59, - /* .gcr = */ (11 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB - }, -}; - -void -ao_serial_set_speed(uint8_t speed) -{ - ao_serial_drain(); - if (speed > AO_SERIAL_SPEED_57600) - return; - U1BAUD = ao_serial_speeds[speed].baud; - U1GCR = ao_serial_speeds[speed].gcr; -} - -void -ao_serial_init(void) -{ - /* Set up the USART pin assignment */ - PERCFG = (PERCFG & ~PERCFG_U1CFG_ALT_MASK) | PERCFG_U1CFG_ALT_2; - - /* ee has already set the P2SEL bits */ - - /* Make the USART pins be controlled by the USART */ - P1SEL |= (1 << 6) | (1 << 7); - - /* UART mode with receiver enabled */ - U1CSR = (UxCSR_MODE_UART | UxCSR_RE); - - /* Pick a 4800 baud rate */ - ao_serial_set_speed(AO_SERIAL_SPEED_4800); - - /* Reasonable serial parameters */ - U1UCR = (UxUCR_FLUSH | - UxUCR_FLOW_DISABLE | - UxUCR_D9_ODD_PARITY | - UxUCR_BIT9_8_BITS | - UxUCR_PARITY_DISABLE | - UxUCR_SPB_1_STOP_BIT | - UxUCR_STOP_HIGH | - UxUCR_START_LOW); - - IEN0 |= IEN0_URX1IE; - IEN2 |= IEN2_UTX1IE; - - ao_cmd_register(&ao_serial_cmds[0]); -} diff --git a/src/ao_task.c b/src/ao_task.c deleted file mode 100644 index 12b73943..00000000 --- a/src/ao_task.c +++ /dev/null @@ -1,224 +0,0 @@ -/* - * Copyright © 2009 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" - -#define AO_NO_TASK_INDEX 0xff - -__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS]; -__data uint8_t ao_num_tasks; -__data uint8_t ao_cur_task_index; -__xdata struct ao_task *__data ao_cur_task; - -void -ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant -{ - uint8_t __xdata *stack; - if (ao_num_tasks == AO_NUM_TASKS) - ao_panic(AO_PANIC_NO_TASK); - ao_tasks[ao_num_tasks++] = task; - task->task_id = ao_num_tasks; - task->name = name; - /* - * Construct a stack frame so that it will 'return' - * to the start of the task - */ - stack = task->stack; - - *stack++ = ((uint16_t) start); - *stack++ = ((uint16_t) start) >> 8; - - /* and the stuff saved by ao_switch */ - *stack++ = 0; /* acc */ - *stack++ = 0x80; /* IE */ - *stack++ = 0; /* DPL */ - *stack++ = 0; /* DPH */ - *stack++ = 0; /* B */ - *stack++ = 0; /* R2 */ - *stack++ = 0; /* R3 */ - *stack++ = 0; /* R4 */ - *stack++ = 0; /* R5 */ - *stack++ = 0; /* R6 */ - *stack++ = 0; /* R7 */ - *stack++ = 0; /* R0 */ - *stack++ = 0; /* R1 */ - *stack++ = 0; /* PSW */ - *stack++ = 0; /* BP */ - task->stack_count = stack - task->stack; - task->wchan = NULL; -} - -/* Task switching function. This must not use any stack variables */ -void -ao_yield(void) _naked -{ - - /* Save current context */ - _asm - /* Push ACC first, as when restoring the context it must be restored - * last (it is used to set the IE register). */ - push ACC - /* Store the IE register then enable interrupts. */ - push _IEN0 - setb _EA - push DPL - push DPH - push b - push ar2 - push ar3 - push ar4 - push ar5 - push ar6 - push ar7 - push ar0 - push ar1 - push PSW - _endasm; - PSW = 0; - _asm - push _bp - _endasm; - - if (ao_cur_task_index != AO_NO_TASK_INDEX) - { - uint8_t stack_len; - __data uint8_t *stack_ptr; - __xdata uint8_t *save_ptr; - /* Save the current stack */ - stack_len = SP - (AO_STACK_START - 1); - ao_cur_task->stack_count = stack_len; - stack_ptr = (uint8_t __data *) AO_STACK_START; - save_ptr = (uint8_t __xdata *) ao_cur_task->stack; - do - *save_ptr++ = *stack_ptr++; - while (--stack_len); - } - - /* Empty the stack; might as well let interrupts have the whole thing */ - SP = AO_STACK_START - 1; - - /* Find a task to run. If there isn't any runnable task, - * this loop will run forever, which is just fine - */ - { - __pdata uint8_t ao_next_task_index = ao_cur_task_index; - for (;;) { - ++ao_next_task_index; - if (ao_next_task_index == ao_num_tasks) - ao_next_task_index = 0; - - ao_cur_task = ao_tasks[ao_next_task_index]; - if (ao_cur_task->wchan == NULL) { - ao_cur_task_index = ao_next_task_index; - break; - } - - /* Enter lower power mode when there isn't anything to do */ - if (ao_next_task_index == ao_cur_task_index) - PCON = PCON_IDLE; - } - } - - { - uint8_t stack_len; - __data uint8_t *stack_ptr; - __xdata uint8_t *save_ptr; - - /* Restore the old stack */ - stack_len = ao_cur_task->stack_count; - SP = AO_STACK_START - 1 + stack_len; - - stack_ptr = (uint8_t __data *) AO_STACK_START; - save_ptr = (uint8_t __xdata *) ao_cur_task->stack; - do - *stack_ptr++ = *save_ptr++; - while (--stack_len); - } - - _asm - pop _bp - pop PSW - pop ar1 - pop ar0 - pop ar7 - pop ar6 - pop ar5 - pop ar4 - pop ar3 - pop ar2 - pop b - pop DPH - pop DPL - /* The next byte of the stack is the IE register. Only the global - enable bit forms part of the task context. Pop off the IE then set - the global enable bit to match that of the stored IE register. */ - pop ACC - JB ACC.7,0098$ - CLR _EA - LJMP 0099$ - 0098$: - SETB _EA - 0099$: - /* Finally pop off the ACC, which was the first register saved. */ - pop ACC - ret - _endasm; -} - -void -ao_sleep(__xdata void *wchan) -{ - __critical { - ao_cur_task->wchan = wchan; - } - ao_yield(); -} - -void -ao_wakeup(__xdata void *wchan) -{ - uint8_t i; - - for (i = 0; i < ao_num_tasks; i++) - if (ao_tasks[i]->wchan == wchan) - ao_tasks[i]->wchan = NULL; -} - -void -ao_task_info(void) -{ - uint8_t i; - uint8_t pc_loc; - __xdata struct ao_task *task; - - for (i = 0; i < ao_num_tasks; i++) { - task = ao_tasks[i]; - pc_loc = task->stack_count - 17; - printf("%12s: wchan %04x pc %04x\n", - task->name, - (int16_t) task->wchan, - (task->stack[pc_loc]) | (task->stack[pc_loc+1] << 8)); - } -} - -void -ao_start_scheduler(void) -{ - ao_cur_task_index = AO_NO_TASK_INDEX; - ao_cur_task = NULL; - ao_yield(); -} diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c deleted file mode 100644 index 463bcd91..00000000 --- a/src/ao_telemetry.c +++ /dev/null @@ -1,61 +0,0 @@ -/* - * Copyright © 2009 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" - -__xdata uint16_t ao_telemetry_interval = 0; - -void -ao_telemetry(void) -{ - static __xdata struct ao_telemetry telemetry; - - ao_config_get(); - memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN); - telemetry.addr = ao_serial_number; - for (;;) { - while (ao_telemetry_interval == 0) - ao_sleep(&ao_telemetry_interval); - telemetry.flight_state = ao_flight_state; - telemetry.flight_accel = ao_flight_accel; - telemetry.ground_accel = ao_ground_accel; - telemetry.flight_vel = ao_flight_vel; - telemetry.flight_pres = ao_flight_pres; - telemetry.ground_pres = ao_ground_pres; - ao_adc_get(&telemetry.adc); - ao_mutex_get(&ao_gps_mutex); - memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data)); - ao_mutex_put(&ao_gps_mutex); - ao_radio_send(&telemetry); - ao_delay(ao_telemetry_interval); - } -} - -void -ao_telemetry_set_interval(uint16_t interval) -{ - ao_telemetry_interval = interval; - ao_wakeup(&ao_telemetry_interval); -} - -__xdata struct ao_task ao_telemetry_task; - -void -ao_telemetry_init() -{ - ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry"); -} diff --git a/src/avr-demo/.gitignore b/src/avr-demo/.gitignore new file mode 100644 index 00000000..e7d16343 --- /dev/null +++ b/src/avr-demo/.gitignore @@ -0,0 +1,3 @@ +avr-demo +avr-demo.hex +ao_product.h diff --git a/src/avr-demo/Makefile b/src/avr-demo/Makefile new file mode 100644 index 00000000..93295166 --- /dev/null +++ b/src/avr-demo/Makefile @@ -0,0 +1,105 @@ +# +# AltOS build +# +# +vpath % ..:../core:../product:../drivers:../avr +vpath make-altitude .. +vpath make-kalman .. +vpath kalman.5c ../kalman +vpath kalman_filter.5c ../kalman +vpath load_csv.5c ../kalman +vpath matrix.5c ../kalman +vpath ao-make-product.5c ../util + +MCU=atmega32u4 +DUDECPUTYPE=m32u4 +#PROGRAMMER=stk500v2 -P usb +PROGRAMMER=usbtiny +LOADCMD=avrdude +LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: +CC=avr-gcc +OBJCOPY=avr-objcopy + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + altitude.h \ + ao_kalman.h + +# +# Common AltOS sources +# +ALTOS_SRC = \ + ao_cmd.c \ + ao_mutex.c \ + ao_panic.c \ + ao_product.c \ + ao_romconfig.c \ + ao_serial_avr.c \ + ao_avr_stdio.c \ + ao_stdio.c \ + ao_task.c \ + ao_timer.c \ + ao_led.c \ + ao_usb_avr.c \ + ao_lcd.c + +PRODUCT=AvrDemo-v0.0 +MCU=atmega32u4 +PRODUCT_DEF=-DAVR_DEMO +IDPRODUCT=0x000a +CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I.. +CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -Os -mcall-prologues + +NICKLE=nickle + +PROG=avr-demo + +SRC=$(ALTOS_SRC) ao_demo.c ao_debug_avr.c +OBJ=$(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: $(PROG) + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) + +$(PROG).hex: $(PROG) + avr-size $(PROG) + $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@ + + +load: $(PROG).hex + $(LOADCMD) $(LOADARG)$(PROG).hex + +../altitude.h: make-altitude + nickle $< > $@ + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +ao_product.rel: ao_product.c ao_product.h + $(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $< + +distclean: clean + +clean: + rm -f $(OBJ) + rm -f ao_product.h + +install: + +uninstall: + +$(OBJ): ao.h ao_product.h
\ No newline at end of file diff --git a/src/avr-demo/ao_demo.c b/src/avr-demo/ao_demo.c new file mode 100644 index 00000000..756dd0d4 --- /dev/null +++ b/src/avr-demo/ao_demo.c @@ -0,0 +1,52 @@ +/* + * 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" + +struct ao_task demo_task; + +void +ao_demo(void) +{ + for (;;) { + ao_led_toggle(AO_LED_RED); + printf ("hello %d\n", ao_time()); + ao_delay(AO_MS_TO_TICKS(200)); + } +} + +int +main(void) +{ + ao_clock_init(); + + ao_serial_init(); + + ao_led_init(LEDS_AVAILABLE); + ao_avr_stdio_init(); + printf ("stdio initialized\n"); +// ao_debug_init(); + ao_timer_init(); + ao_cmd_init(); + ao_usb_init(); + ao_lcd_init(); + +// ao_add_task(&demo_task, ao_demo, "demo"); + /* Turn on the LED until the system is stable */ + ao_start_scheduler(); + return 0; +} diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c new file mode 100644 index 00000000..3a262977 --- /dev/null +++ b/src/avr/ao_adc_avr.c @@ -0,0 +1,148 @@ +/* + * 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" + +volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; +volatile __data uint8_t ao_data_head; + +#ifdef TELESCIENCE +const uint8_t adc_channels[AO_LOG_TELESCIENCE_NUM_ADC] = { + 0x00, + 0x01, + 0x04, + 0x05, + 0x06, + 0x07, + 0x20, + 0x21, + 0x22, + 0x23, + 0x24, + 0x25, +}; +#endif + +#ifdef TELEPYRO +const uint8_t adc_channels[AO_TELEPYRO_NUM_ADC] = { + 0x00, /* ADC0 v_batt */ + 0x04, /* ADC4 sense_a */ + 0x05, /* ADC5 sense_b */ + 0x06, /* ADC6 sense_c */ + 0x07, /* ADC7 sense_d */ + 0x23, /* ADC11 sense_e */ + 0x22, /* ADC10 sense_f */ + 0x21, /* ADC9 sense_g */ + 0x20, /* ADC8 sense_h */ +}; +#endif + +#define NUM_ADC (sizeof (adc_channels) / sizeof (adc_channels[0])) + +static uint8_t ao_adc_channel; + +#define ADC_CHANNEL_LOW(c) (((c) & 0x1f) << MUX0) +#define ADC_CHANNEL_HIGH(c) ((((c) & 0x20) >> 5) << MUX5) + +#define ADCSRA_INIT ((1 << ADEN) | /* Enable ADC */ \ + (0 << ADATE) | /* No auto ADC trigger */ \ + (1 << ADIF) | /* Clear interrupt */ \ + (0 << ADIE) | /* Enable interrupt */ \ + (6 << ADPS0)) /* Prescale clock by 64 */ + +#define ADCSRB_INIT ((0 << ADHSM) | /* No high-speed mode */ \ + (0 << ACME) | /* Some comparitor thing */ \ + (0 << ADTS0)) /* Free running mode (don't care) */ + +static void +ao_adc_start(void) +{ + uint8_t channel = adc_channels[ao_adc_channel]; + ADMUX = ((0 << REFS1) | /* AVcc reference */ + (1 << REFS0) | /* AVcc reference */ + (1 << ADLAR) | /* Left-shift results */ + (ADC_CHANNEL_LOW(channel))); /* Select channel */ + + ADCSRB = (ADCSRB_INIT | + ADC_CHANNEL_HIGH(channel)); /* High channel bit */ + + ADCSRA = (ADCSRA_INIT | + (1 << ADSC) | + (1 << ADIE)); /* Start conversion */ +} + +ISR(ADC_vect) +{ + uint16_t value; + + /* Must read ADCL first or the value there will be lost */ + value = ADCL; + value |= (ADCH << 8); + ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value; + if (++ao_adc_channel < NUM_ADC) + ao_adc_start(); + else { + ADCSRA = ADCSRA_INIT; + ao_data_ring[ao_data_head].tick = ao_time(); + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup((void *) &ao_data_head); + ao_cpu_sleep_disable = 0; + } +} + +void +ao_adc_poll(void) +{ + ao_cpu_sleep_disable = 1; + ao_adc_channel = 0; + ao_adc_start(); +} + +void +ao_data_get(__xdata struct ao_data *packet) +{ + uint8_t i = ao_data_ring_prev(ao_data_head); + memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); +} + +static void +ao_adc_dump(void) __reentrant +{ + static __xdata struct ao_data packet; + uint8_t i; + ao_data_get(&packet); + printf("tick: %5u", packet.tick); + for (i = 0; i < NUM_ADC; i++) + printf (" %2d: %5u", i, packet.adc.adc[i]); + printf("\n"); +} + +__code struct ao_cmds ao_adc_cmds[] = { + { ao_adc_dump, "a\0ADC" }, + { 0, NULL }, +}; + +void +ao_adc_init(void) +{ + PRR0 &= ~(1 << PRADC); + DIDR0 = 0xf3; + DIDR2 = 0x3f; + ADCSRB = ADCSRB_INIT; + ADCSRA = ADCSRA_INIT; + ao_cmd_register(&ao_adc_cmds[0]); +} diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h new file mode 100644 index 00000000..a14d0ade --- /dev/null +++ b/src/avr/ao_arch.h @@ -0,0 +1,154 @@ +/* + * 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_ARCH_H_ +#define _AO_ARCH_H_ + +#include <stdio.h> +#include <avr/io.h> +#include <avr/interrupt.h> +#include <avr/sleep.h> + +#ifdef AVR_DEMO +#define TEENSY 1 +#endif + +#if TEENSY +#define F_CPU 16000000UL // 16 MHz +#else +#define F_CPU 8000000UL // 8 MHz +#endif + +/* + * AVR definitions and code fragments for AltOS + */ + +#define AO_STACK_SIZE 116 + +/* Various definitions to make GCC look more like SDCC */ + +#define ao_arch_naked_declare __attribute__((naked)) +#define ao_arch_naked_define +#define __pdata +#define __data +#define __xdata +#define __code const +#define __reentrant +#define __critical +#define __interrupt(n) +#define __at(n) + +#define ao_arch_reboot() /* XXX */ + +#define ao_arch_nop() asm("nop") + +#define ao_arch_interrupt(n) /* nothing */ + +#undef putchar +#undef getchar +#define putchar(c) ao_putchar(c) +#define getchar ao_getchar + +extern void putchar(char c); +extern char getchar(void); +extern void ao_avr_stdio_init(void); + +#define AO_ROMCONFIG_VERSION 2 + +#define AO_ROMCONFIG_SYMBOL(a) const + +extern AO_ROMCONFIG_SYMBOL(0) uint16_t ao_serial_number; + +#define AVR_PUSH8(stack, val) (*((stack)--) = (val)) + +extern uint8_t ao_cpu_sleep_disable; + +#define ao_arch_task_globals uint8_t ao_cpu_sleep_disable; + +#define ao_arch_task_members\ + uint8_t *sp; /* saved stack pointer */ + +#define ao_arch_init_stack(task, start) do { \ + uint8_t *sp = task->stack + AO_STACK_SIZE - 1; \ + uint16_t a = (uint16_t) start; \ + int i; \ + \ + /* Return address */ \ + AVR_PUSH8(sp, a); \ + AVR_PUSH8(sp, (a >> 8)); \ + \ + /* Clear register values */ \ + i = 32; \ + while (i--) \ + AVR_PUSH8(sp, 0); \ + \ + /* SREG with interrupts enabled */ \ + AVR_PUSH8(sp, 0x80); \ + task->sp = sp; \ +} while (0); + +#define ao_arch_save_regs() do { \ + asm("push r31" "\n\t" "push r30"); \ + asm("push r29" "\n\t" "push r28" "\n\t" "push r27" "\n\t" "push r26" "\n\t" "push r25"); \ + asm("push r24" "\n\t" "push r23" "\n\t" "push r22" "\n\t" "push r21" "\n\t" "push r20"); \ + asm("push r19" "\n\t" "push r18" "\n\t" "push r17" "\n\t" "push r16" "\n\t" "push r15"); \ + asm("push r14" "\n\t" "push r13" "\n\t" "push r12" "\n\t" "push r11" "\n\t" "push r10"); \ + asm("push r9" "\n\t" "push r8" "\n\t" "push r7" "\n\t" "push r6" "\n\t" "push r5"); \ + asm("push r4" "\n\t" "push r3" "\n\t" "push r2" "\n\t" "push r1" "\n\t" "push r0"); \ + asm("in r0, __SREG__" "\n\t" "push r0"); \ + sei(); \ + } while (0) + +#define ao_arch_save_stack() do { \ + uint8_t sp_l, sp_h; \ + asm("in %0,__SP_L__" : "=&r" (sp_l) ); \ + asm("in %0,__SP_H__" : "=&r" (sp_h) ); \ + ao_cur_task->sp = (uint8_t *) ((uint16_t) sp_l | ((uint16_t) sp_h << 8)); \ + } while (0) + +#define ao_arch_isr_stack() /* nothing */ + +#define ao_arch_cpu_idle() do { \ + if (!ao_cpu_sleep_disable) \ + sleep_cpu(); \ + } while (0) + +#define ao_arch_restore_stack() do { \ + uint8_t sp_l, sp_h; \ + sp_l = (uint16_t) ao_cur_task->sp; \ + sp_h = ((uint16_t) ao_cur_task->sp) >> 8; \ + cli(); \ + asm("out __SP_H__,%0" : : "r" (sp_h) ); \ + asm("out __SP_L__,%0" : : "r" (sp_l) ); \ + asm("pop r0" "\n\t" \ + "out __SREG__, r0"); \ + asm("pop r0" "\n\t" "pop r1" "\n\t" "pop r2" "\n\t" "pop r3" "\n\t" "pop r4"); \ + asm("pop r5" "\n\t" "pop r6" "\n\t" "pop r7" "\n\t" "pop r8" "\n\t" "pop r9"); \ + asm("pop r10" "\n\t" "pop r11" "\n\t" "pop r12" "\n\t" "pop r13" "\n\t" "pop r14"); \ + asm("pop r15" "\n\t" "pop r16" "\n\t" "pop r17" "\n\t" "pop r18" "\n\t" "pop r19"); \ + asm("pop r20" "\n\t" "pop r21" "\n\t" "pop r22" "\n\t" "pop r23" "\n\t" "pop r24"); \ + asm("pop r25" "\n\t" "pop r26" "\n\t" "pop r27" "\n\t" "pop r28" "\n\t" "pop r29"); \ + asm("pop r30" "\n\t" "pop r31"); \ + asm("ret"); \ + } while(0) + +#define ao_arch_critical(b) do { cli(); do { b } while (0); sei(); } while (0) + +#define AO_TELESCIENCE_NUM_ADC 12 + +#endif /* _AO_ARCH_H_ */ + diff --git a/src/avr/ao_arch_funcs.h b/src/avr/ao_arch_funcs.h new file mode 100644 index 00000000..792ff744 --- /dev/null +++ b/src/avr/ao_arch_funcs.h @@ -0,0 +1,82 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* + * ao_spi.c + */ + +extern __xdata uint8_t ao_spi_mutex; + +#define ao_spi_get_mask(reg,mask,bus,speed) do { \ + ao_mutex_get(&ao_spi_mutex); \ + (reg) &= ~(mask); \ + } while (0) + +#define ao_spi_put_mask(reg,mask,bus) do { \ + (reg) |= (mask); \ + ao_mutex_put(&ao_spi_mutex); \ + } while (0) + +#define ao_spi_get_bit(reg,bit,pin,bus,speed) do { \ + ao_mutex_get(&ao_spi_mutex); \ + (pin) = 0; \ + } while (0) + +#define ao_spi_put_bit(reg,bit,pin,bus) do { \ + (pin) = 1; \ + ao_mutex_put(&ao_spi_mutex); \ + } while (0) + + +#define ao_gpio_token_paster(x,y) x ## y +#define ao_gpio_token_evaluator(x,y) ao_gpio_token_paster(x,y) + +#define ao_gpio_set(port, bit, pin, v) do { \ + if (v) \ + (ao_gpio_token_evaluator(PORT,port)) |= (1 << bit); \ + else \ + (ao_gpio_token_evaluator(PORT,port)) &= ~(1 << bit); \ + } while (0) + +/* + * The SPI mutex must be held to call either of these + * functions -- this mutex covers the entire SPI operation, + * from chip select low to chip select high + */ + +#define ao_enable_output(port, bit, pin, v) do { \ + ao_gpio_set(port, bit, pin, v); \ + ao_gpio_token_evaluator(DDR,port) |= (1 << bit); \ + } while (0) + + +void +ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant; + +void +ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant; + +#define ao_spi_send(block, len, bus) ao_spi_send_bus(block, len) +#define ao_spi_recv(block, len, bus) ao_spi_recv_bus(block, len) + +void +ao_spi_init(void); + +#define ao_spi_init_cs(port, mask) do { \ + SPI_CS_PORT |= (mask); \ + SPI_CS_DIR |= (mask); \ + } while (0) diff --git a/src/avr/ao_avr_stdio.c b/src/avr/ao_avr_stdio.c new file mode 100644 index 00000000..2765853a --- /dev/null +++ b/src/avr/ao_avr_stdio.c @@ -0,0 +1,51 @@ +/* + * 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" + +int +stdio_put(char c, FILE *stream) +{ + if (ao_cur_task && ao_num_stdios) + putchar(c); + else + { + if (c == '\n') + stdio_put('\r', stream); + loop_until_bit_is_set(UCSR1A, UDRE1); + UDR1 = c; + } + + return 0; +} + +int +stdio_get(FILE *stream) +{ + return (int) getchar() & 0xff; +} + +static FILE mystdout = FDEV_SETUP_STREAM(stdio_put, NULL, _FDEV_SETUP_WRITE); + +static FILE mystdin = FDEV_SETUP_STREAM(NULL, stdio_get, _FDEV_SETUP_READ); + +void +ao_avr_stdio_init(void) +{ + stdout = &mystdout; + stdin = &mystdin; +} diff --git a/src/avr/ao_clock.c b/src/avr/ao_clock.c new file mode 100644 index 00000000..0d42b6d5 --- /dev/null +++ b/src/avr/ao_clock.c @@ -0,0 +1,77 @@ +/* + * 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" + +/* + * AltOS always cranks the clock to the max frequency + */ + +void +ao_clock_init(void) +{ + /* disable RC clock */ + CLKSEL0 &= ~(1 << RCE); + + /* Disable PLL */ + PLLCSR &= ~(1 << PLLE); + + /* Enable external clock */ + CLKSEL0 |= (1 << EXTE); + + /* wait for external clock to be ready */ + while ((CLKSTA & (1 << EXTON)) == 0) + ; + + /* select external clock */ + CLKSEL0 |= (1 << CLKS); + + /* Disable the clock prescaler */ + cli(); + CLKPR = (1 << CLKPCE); + + /* Always run the system clock at 8MHz */ +#if AVR_CLOCK > 12000000UL + CLKPR = 1; +#else + CLKPR = 0; +#endif + sei(); + + /* Set up the PLL to use the crystal */ + + /* Use primary system clock as PLL source */ + PLLFRQ = ((0 << PINMUX) | /* Use primary clock */ + (0 << PLLUSB) | /* No divide by 2 for USB */ + (0 << PLLTM0) | /* Disable high speed timer */ + (0x4 << PDIV0)); /* 48MHz PLL clock */ + + /* Set the frequency of the crystal */ +#if AVR_CLOCK > 12000000UL + PLLCSR |= (1 << PINDIV); /* For 16MHz crystal on Teensy board */ +#else + PLLCSR &= ~(1 << PINDIV); /* For 8MHz crystal on TeleScience board */ +#endif + + /* Enable the PLL */ + PLLCSR |= (1 << PLLE); + while (!(PLLCSR & (1 << PLOCK))) + ; + + set_sleep_mode(SLEEP_MODE_IDLE); + sleep_enable(); +} diff --git a/src/avr/ao_debug_avr.c b/src/avr/ao_debug_avr.c new file mode 100644 index 00000000..2e41e15a --- /dev/null +++ b/src/avr/ao_debug_avr.c @@ -0,0 +1,78 @@ +/* + * 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" + +void +uart_send(char c) +{ + loop_until_bit_is_set(UCSR1A, UDRE1); + UDR1 = c; +} + +int +uart_put(char c, FILE *stream) +{ + if (c == '\n') + uart_send('\r'); + uart_send(c); + return 0; +} + +int +uart_get(FILE *stream) +{ + loop_until_bit_is_set(UCSR1A, RXC1); + return (int) UDR1 & 0xff; +} + +void +uart_init(uint16_t baud) +{ + PRR1 &= ~(1 << PRUSART1); + UBRR1L = baud; + UBRR1H = baud >> 8; + UCSR1A = 0; + UCSR1B = ((1 << RXEN1) | /* Enable receiver */ + (1 << TXEN1)); /* Enable transmitter */ + UCSR1C = ((0 << UMSEL10) | /* Asynchronous mode */ + (0 << UPM10) | /* No parity */ + (0 << USBS1) | /* 1 stop bit */ + (3 << UCSZ10) | /* 8 bit characters */ + (0 << UCPOL1)); /* MBZ for async mode */ +} + +static FILE mystdout = FDEV_SETUP_STREAM(uart_put, NULL, _FDEV_SETUP_WRITE); + +static FILE mystdin = FDEV_SETUP_STREAM(NULL, uart_get, _FDEV_SETUP_READ); + +void ao_debug_init(void) +{ + uart_init(F_CPU / (16UL * 9600UL) - 1); + + stdout = &mystdout; + stdin = &mystdin; + + if (DDRB & AO_LED_RED) { + printf ("oops, starting all over\n"); + for (;;) + ; + } + DDRB |= (1 << 7); + PORTB |= (1 << 7); + printf ("debug initialized\n"); +} diff --git a/src/avr/ao_eeprom_avr.c b/src/avr/ao_eeprom_avr.c new file mode 100644 index 00000000..2451fa8a --- /dev/null +++ b/src/avr/ao_eeprom_avr.c @@ -0,0 +1,133 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * Copyright © 2011 Anthony Towns <aj@erisian.com.au> + * + * 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_storage.h> + +/* Total bytes of available storage */ +__pdata ao_pos_t ao_storage_total = 1024; + +/* Block size - device is erased in these units. */ +__pdata ao_pos_t ao_storage_block = 1024; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +__pdata ao_pos_t ao_storage_config = 0; + +/* Storage unit size - device reads and writes must be within blocks of this size. */ +__pdata uint16_t ao_storage_unit = 1024; + +/* + * The internal flash chip is arranged in 8 byte sectors; the + * chip cannot erase in units smaller than that. + * + * Writing happens in units of 2 bytes and + * can only change bits from 1 to 0. So, you can rewrite + * the same contents, or append to an existing page easily enough + */ + +/* + * Erase the specified sector + */ +uint8_t +ao_storage_erase(ao_pos_t pos) __reentrant +{ + /* Not necessary */ + return 1; +} + +#define ao_intflash_wait_idle() do { \ + /* Wait for any outstanding writes to complete */ \ + while (EECR & (1 << EEPE)) \ + ; \ + } while (0) \ + +static void +ao_intflash_write(uint16_t pos, uint8_t d) +{ + ao_intflash_wait_idle(); + EEAR = pos; + EEDR = d; + ao_arch_critical( + EECR |= (1 << EEMPE); + EECR |= (1 << EEPE); + ); +} + +static uint8_t +ao_intflash_read(uint16_t pos) +{ + ao_intflash_wait_idle(); + EEAR = pos; + + EECR |= (1 << EERE); + return EEDR; +} +/* + * Write to flash + */ + +uint8_t +ao_storage_device_write(ao_pos_t pos32, __xdata void *v, uint16_t len) __reentrant +{ + uint16_t pos = pos32; + __xdata uint8_t *d = v; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + + while (len--) + ao_intflash_write(pos++, *d++); + + return 1; +} + +/* + * Read from flash + */ +uint8_t +ao_storage_device_read(ao_pos_t pos, __xdata void *v, uint16_t len) __reentrant +{ + uint8_t *d = v; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + while (len--) + *d++ = ao_intflash_read(pos++); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ +} + +void +ao_storage_setup(void) +{ +} + +void +ao_storage_device_info(void) __reentrant +{ + printf ("Using internal flash\n"); +} + +void +ao_storage_device_init(void) +{ +} diff --git a/src/avr/ao_i2c_usart.c b/src/avr/ao_i2c_usart.c new file mode 100644 index 00000000..60e35f8c --- /dev/null +++ b/src/avr/ao_i2c_usart.c @@ -0,0 +1,101 @@ +/* + * 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" + +/* + * Atmega32u4 TWI master mode (I2C) + */ + +__xdata uint8_t ao_i2c_mutex; + +/* Send bytes over I2C. + * + * This just polls; the I2C is set to go as fast as possible, + * so using interrupts would take way too long + */ +void +ao_i2c_send(void __xdata *block, uint16_t len) __reentrant +{ + uint8_t *d = block; + + ao_mutex_get(&ao_i2c_mutex); + while (len--) { + while (!(UCSR1A & (1 << UDRE1))); + UDR1 = *d++; + while (!(UCSR1A & (1 << RXC1))); + (void) UDR1; + } + ao_mutex_put(&ao_i2c_mutex); +} + +/* Receive bytes over I2C. + * + * This sets up tow DMA engines, one reading the data and another + * writing constant values to the I2C transmitter as that is what + * clocks the data coming in. + */ +void +ao_i2c_recv(void __xdata *block, uint16_t len) __reentrant +{ + uint8_t *d = block; + + ao_mutex_get(&ao_i2c_mutex); + while (len--) { + while (!(UCSR1A & (1 << UDRE1))); + UDR1 = 0; + while (!(UCSR1A & (1 << RXC1))); + *d++ = UDR1; + } + ao_mutex_put(&ao_i2c_mutex); +} + +#define XCK1_DDR DDRD +#define XCK1_PORT PORTD +#define XCK1 PORTD5 +#define XMS1_DDR DDRE +#define XMS1_PORT PORTE +#define XMS1 PORTE6 + +void +ao_i2c_init(void) +{ + /* Ensure the TWI is powered */ + + /* + * Set pin directions + */ + XCK1_DDR |= (1 << XCK1); + + /* Clear chip select (which is negated) */ + XMS1_PORT |= (1 < XMS1); + XMS1_DDR |= (1 << XMS1); + + /* Set baud register to zero (required before turning transmitter on) */ + UBRR1 = 0; + + UCSR1C = ((0x3 << UMSEL10) | /* Master I2C mode */ + (0 << UCSZ10) | /* I2C mode 0 */ + (0 << UCPOL1)); /* I2C mode 0 */ + + /* Enable transmitter and receiver */ + UCSR1B = ((1 << RXEN1) | + (1 << TXEN1)); + + /* It says that 0 is a legal value; we'll see... */ + UBRR1 = 0; +} diff --git a/src/avr/ao_lcd_port.c b/src/avr/ao_lcd_port.c new file mode 100644 index 00000000..b1e8aa17 --- /dev/null +++ b/src/avr/ao_lcd_port.c @@ -0,0 +1,74 @@ +/* + * 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" + +#define LCD_PORT PORTB +#define LCD_DDR DDRB + +#define PIN_RS 4 +#define PIN_E 5 +#define PIN_RW 6 + +static void +ao_lcd_port_set_bits(uint8_t bits) +{ +#if 0 + printf("\tLCD data %x RS %d R/W %d E %d\n", + bits & 0xf, + (bits & (1 << PIN_RS)) ? 1 : 0, + (bits & (1 << PIN_RW)) ? 1 : 0, + (bits & (1 << PIN_E)) ? 1 : 0); +#endif + LCD_PORT = bits; +#if 0 + ao_delay(1); + if (bits & (1 << PIN_RW)) + printf("\tLCD input %x\n", PINB); +#endif +} + +uint8_t +ao_lcd_port_get_nibble(uint8_t rs) +{ + uint8_t data = (rs ? (1 << PIN_RS) : 0) | (1 << PIN_RW); + uint8_t n; + + DDRB = (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW); + ao_lcd_port_set_bits(data); + ao_lcd_port_set_bits(data | (1 << PIN_E)); + n = PINB & 0xf; + ao_lcd_port_set_bits(data); + return n; +} + +void +ao_lcd_port_put_nibble(uint8_t rs, uint8_t data) +{ + data = (data & 0xf) | (rs ? (1 << PIN_RS) : 0); + DDRB = (0xf) | (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW); + ao_lcd_port_set_bits(data); + ao_lcd_port_set_bits(data | (1 << PIN_E)); + ao_lcd_port_set_bits(data); +} + +void +ao_lcd_port_init(void) +{ + DDRB = (1 << PIN_RS) | (1 << PIN_E) | (1 << PIN_RW); + PORTB = 0; +} diff --git a/src/ao_convert.c b/src/avr/ao_led.c index 57ed7370..91dfb85e 100644 --- a/src/ao_convert.c +++ b/src/avr/ao_led.c @@ -17,39 +17,51 @@ #include "ao.h" -static const int16_t altitude_table[2048] = { -#include "altitude.h" -}; +__pdata uint8_t ao_led_enable; -int16_t -ao_pres_to_altitude(int16_t pres) __reentrant +#define LED_PORT PORTB +#define LED_DDR DDRB + +void +ao_led_on(uint8_t colors) { - pres = pres >> 4; - if (pres < 0) pres = 0; - if (pres > 2047) pres = 2047; - return altitude_table[pres]; + LED_PORT |= (colors & ao_led_enable); } -int16_t -ao_altitude_to_pres(int16_t alt) __reentrant +void +ao_led_off(uint8_t colors) { - int16_t pres; + LED_PORT &= ~(colors & ao_led_enable); +} - for (pres = 0; pres < 2047; pres++) - if (altitude_table[pres] <= alt) - break; - return pres << 4; +void +ao_led_set(uint8_t colors) +{ + LED_PORT = (LED_PORT & ~(ao_led_enable)) | (colors & ao_led_enable); } -static __xdata uint8_t ao_temp_mutex; +void +ao_led_toggle(uint8_t colors) +{ + LED_PORT ^= (colors & ao_led_enable); +} -int16_t -ao_temp_to_dC(int16_t temp) __reentrant +void +ao_led_for(uint8_t colors, uint16_t ticks) __reentrant { - int16_t ret; + ao_led_on(colors); + ao_delay(ticks); + ao_led_off(colors); +} - ao_mutex_get(&ao_temp_mutex); - ret = (int16_t) ((temp >> 4) * 3300L / 2047L) - 500; - ao_mutex_put(&ao_temp_mutex); - return ret; +void +ao_led_init(uint8_t enable) +{ + ao_led_enable = enable; + if ((LED_DDR & enable)) { + printf ("oops! restarted\n"); + ao_panic(AO_PANIC_REBOOT); + } + LED_PORT &= ~enable; + LED_DDR |= enable; } diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h new file mode 100644 index 00000000..bc423ff7 --- /dev/null +++ b/src/avr/ao_pins.h @@ -0,0 +1,135 @@ +/* + * 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_ + +#ifdef AVR_DEMO + #define AO_LED_RED (1<<7) + #define LEDS_AVAILABLE (AO_LED_RED) + #define USE_SERIAL_1_STDIN 1 + #define HAS_USB 1 + #define PACKET_HAS_SLAVE 0 + #define HAS_SERIAL_1 1 + #define TEENSY 1 + #define AVR_VCC_5V 1 + #define AVR_VCC_3V3 0 + #define AVR_CLOCK 16000000UL + #define HAS_BEEP 0 +#endif + +#ifdef TELESCIENCE + #define LEDS_AVAILABLE 0 + #define HAS_USB 1 + #define HAS_LOG 1 + #define TEENSY 0 + #define HAS_SERIAL_1 0 + #define HAS_ADC 1 + #define PACKET_HAS_SLAVE 0 + #define HAS_BEEP 0 + #define HAS_EEPROM 1 + #define HAS_STORAGE_DEBUG 0 + + #define AVR_VCC_5V 0 + #define AVR_VCC_3V3 1 + #define AVR_CLOCK 8000000UL + + #define SPI_CS_PORT PORTE + #define SPI_CS_DIR DDRE + #define M25_CS_MASK (1 << PORTE6) + #define M25_MAX_CHIPS 1 + + #define SPI_SLAVE_CS_PORT PORTB + #define SPI_SLAVE_CS_PIN PINB + #define SPI_SLAVE_CS_PIN_NO PINB0 + + #define SPI_SLAVE_PIN_0_3 1 + #define SPI_SLAVE_PIN_2_5 0 + + #define IS_COMPANION 1 +#endif + +#ifdef TELEPYRO + #define LEDS_AVAILABLE 0 + #define HAS_USB 1 + #define HAS_LOG 0 + #define TEENSY 0 + #define USE_SERIAL_1_STDIN 1 + #define HAS_SERIAL_1 1 + #define HAS_USB 1 + #define HAS_ADC 1 + #define PACKET_HAS_SLAVE 0 + #define HAS_BEEP 0 + #define HAS_EEPROM 1 + #define USE_INTERNAL_FLASH 1 + #define DISABLE_HELP 1 + #define HAS_STORAGE_DEBUG 0 + #define IS_COMPANION 1 + #define HAS_ORIENT 0 + #define ao_storage_pos_t uint16_t + + #define AVR_VCC_5V 0 + #define AVR_VCC_3V3 1 + #define AVR_CLOCK 8000000UL + + #define SPI_SLAVE_CS_PORT PORTB + #define SPI_SLAVE_CS_PIN PINB + #define SPI_SLAVE_CS_PIN_NO PINB0 + + #define SPI_SLAVE_PIN_0_3 1 + #define SPI_SLAVE_PIN_2_5 0 + + #define AO_PYRO_NUM 8 + + #define AO_PYRO_PORT_0 B + #define AO_PYRO_PIN_0 5 + + #define AO_PYRO_PORT_1 B + #define AO_PYRO_PIN_1 6 + + #define AO_PYRO_PORT_2 B + #define AO_PYRO_PIN_2 7 + + #define AO_PYRO_PORT_3 C + #define AO_PYRO_PIN_3 6 + + #define AO_PYRO_PORT_4 C + #define AO_PYRO_PIN_4 7 + + #define AO_PYRO_PORT_5 D + #define AO_PYRO_PIN_5 5 + + #define AO_PYRO_PORT_6 D + #define AO_PYRO_PIN_6 3 + + #define AO_PYRO_PORT_7 D + #define AO_PYRO_PIN_7 2 + +#endif + +#define AO_M25_SPI_CS_PORT SPI_CS_PORT +#define AO_M25_SPI_CS_MASK M25_CS_MASK + +#define AO_TELESCIENCE_NUM_ADC 12 + +struct ao_adc { + uint16_t adc[AO_TELESCIENCE_NUM_ADC]; /* samples */ +}; + +#define AO_DATA_RING 16 + +#endif /* _AO_PINS_H_ */ diff --git a/src/ao_stdio.c b/src/avr/ao_romconfig.c index fb8ce093..ecc19c76 100644 --- a/src/ao_stdio.c +++ b/src/avr/ao_romconfig.c @@ -1,5 +1,5 @@ /* - * Copyright © 2009 Keith Packard <keithp@keithp.com> + * 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 @@ -17,26 +17,4 @@ #include "ao.h" -/* - * Basic I/O functions to support SDCC stdio package - */ - -void -putchar(char c) -{ - if (c == '\n') - ao_usb_putchar('\r'); - ao_usb_putchar(c); -} - -void -flush(void) -{ - ao_usb_flush(); -} - -char -getchar(void) -{ - return ao_usb_getchar(); -} +AO_ROMCONFIG_SYMBOL (0) uint16_t ao_serial_number = 0; diff --git a/src/avr/ao_serial_avr.c b/src/avr/ao_serial_avr.c new file mode 100644 index 00000000..dcee246c --- /dev/null +++ b/src/avr/ao_serial_avr.c @@ -0,0 +1,162 @@ +/* + * 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" + +__xdata struct ao_fifo ao_serial1_rx_fifo; +__xdata struct ao_fifo ao_serial1_tx_fifo; + +void +ao_debug_out(char c) +{ + if (c == '\n') + ao_debug_out('\r'); + loop_until_bit_is_set(UCSR1A, UDRE1); + UDR1 = c; +} + +ISR(USART1_RX_vect) +{ + if (!ao_fifo_full(ao_serial1_rx_fifo)) + ao_fifo_insert(ao_serial1_rx_fifo, UDR1); + ao_wakeup(&ao_serial1_rx_fifo); +#if USE_SERIAL_1_STDIN + ao_wakeup(&ao_stdin_ready); +#endif +} + +static __xdata uint8_t ao_serial_tx1_started; + +static void +ao_serial1_tx_start(void) +{ + if (!ao_fifo_empty(ao_serial1_tx_fifo) && + !ao_serial_tx1_started) + { + ao_serial_tx1_started = 1; + ao_fifo_remove(ao_serial1_tx_fifo, UDR1); + } +} + +ISR(USART1_UDRE_vect) +{ + ao_serial1_tx_started = 0; + ao_serial1_tx_start(); + ao_wakeup(&ao_serial1_tx_fifo); +} + +char +ao_serial1_getchar(void) __critical +{ + char c; + cli(); + while (ao_fifo_empty(ao_serial1_rx_fifo)) + ao_sleep(&ao_serial1_rx_fifo); + ao_fifo_remove(ao_serial1_rx_fifo, c); + sei(); + return c; +} + +#if USE_SERIAL_1_STDIN +char +ao_serial1_pollchar(void) __critical +{ + char c; + cli(); + if (ao_fifo_empty(ao_serial1_rx_fifo)) { + sei(); + return AO_READ_AGAIN; + } + ao_fifo_remove(ao_serial1_rx_fifo,c); + sei(); + return c; +} +#endif + +void +ao_serial1_putchar(char c) __critical +{ + cli(); + while (ao_fifo_full(ao_serial1_tx_fifo)) + ao_sleep(&ao_serial1_tx_fifo); + ao_fifo_insert(ao_serial1_tx_fifo, c); + ao_serial_tx1_start(); + sei(); +} + +void +ao_serial1_drain(void) __critical +{ + cli(); + while (!ao_fifo_empty(ao_serial1_tx_fifo)) + ao_sleep(&ao_serial1_tx_fifo); + sei(); +} + +static const struct { + uint16_t ubrr; +} ao_serial_speeds[] = { + /* [AO_SERIAL_SPEED_4800] = */ { + F_CPU / (16UL * 4800UL) - 1 + }, + /* [AO_SERIAL_SPEED_9600] = */ { + F_CPU / (16UL * 9600UL) - 1 + }, + /* [AO_SERIAL_SPEED_19200] = */ { + F_CPU / (16UL * 19200UL) - 1 + }, + /* [AO_SERIAL_SPEED_57600] = */ { + F_CPU / (16UL * 57600UL) - 1 + }, +}; + +void +ao_serial1_set_speed(uint8_t speed) +{ + ao_serial_drain(); + if (speed > AO_SERIAL_SPEED_57600) + return; + UBRR1L = ao_serial_speeds[speed].ubrr; + UBRR1H = ao_serial_speeds[speed].ubrr >> 8; +} + +void +ao_serial_init(void) +{ + /* Ensure the uart is powered up */ + + PRR1 &= ~(1 << PRUSART1); + + /* Pick a 9600 baud rate */ + ao_serial_set_speed(AO_SERIAL_SPEED_9600); + + UCSR1A = 0; + UCSR1C = ((0 << UMSEL10) | /* Asynchronous mode */ + (0 << UPM10) | /* No parity */ + (0 << USBS1) | /* 1 stop bit */ + (3 << UCSZ10) | /* 8 bit characters */ + (0 << UCPOL1)); /* MBZ for async mode */ + UCSR1B = ((1 << RXEN1) | /* Enable receiver */ + (1 << TXEN1) | /* Enable transmitter */ + (1 << RXCIE1) | /* Enable receive interrupts */ + (1 << UDRIE1)); /* Enable transmit empty interrupts */ +#if USE_SERIAL_1_STDIN + ao_add_stdio(ao_serial1_pollchar, + ao_serial1_putchar, + NULL); +#endif +} diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c new file mode 100644 index 00000000..b742d29a --- /dev/null +++ b/src/avr/ao_spi_slave.c @@ -0,0 +1,115 @@ +/* + * 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" + +uint8_t +ao_spi_slave_recv(uint8_t *buf, uint8_t len) +{ + while (len--) { + while (!(SPSR & (1 << SPIF))) + if ((PINB & (1 << PINB0))) + return 0; + *buf++ = SPDR; + } + return 1; +} + +void +ao_spi_slave_send(uint8_t *buf, uint8_t len) +{ + while (len--) { + SPDR = *buf++; + while (!(SPSR & (1 << SPIF))) + if ((PINB & (1 << PINB0))) + return; + } + /* Clear pending SPIF bit by reading */ + (void) SPDR; +} + +static uint8_t ao_spi_slave_running; + +ISR(PCINT0_vect) +{ + cli(); +#if SPI_SLAVE_PIN_0_3 + if ((PINB & (1 << PORTB0)) == 0) +#endif +#if SPI_SLAVE_PIN_2_5 + if ((PINB & (1 << PORTB2)) == 0) +#endif + { + if (!ao_spi_slave_running) { + ao_spi_slave_running = 1; + ao_spi_slave(); + } + } else { + ao_spi_slave_running = 0; + } + sei(); +} + +void +ao_spi_slave_init(void) +{ + /* We'd like to have a pull-up on SS so that disconnecting the + * TM would cause any SPI transaction to abort. However, when + * I tried that, SPI transactions would spontaneously abort, + * making me assume that we needed a less aggressive pull-up + * than is offered inside the AVR + */ +#if SPI_SLAVE_PIN_0_3 + PCMSK0 |= (1 << PCINT0); /* Enable PCINT0 pin change */ + PCICR |= (1 << PCIE0); /* Enable pin change interrupt */ + + DDRB = ((DDRB & 0xf0) | + (1 << 3) | /* MISO, output */ + (0 << 2) | /* MOSI, input */ + (0 << 1) | /* SCK, input */ + (0 << 0)); /* SS, input */ + + PORTB = ((PORTB & 0xf0) | + (1 << 3) | /* MISO, output */ + (0 << 2) | /* MOSI, no pull-up */ + (0 << 1) | /* SCK, no pull-up */ + (1 << 0)); /* SS, pull-up */ +#endif +#if SPI_SLAVE_PIN_2_5 + PCMSK0 |= (1 << PCINT2); /* Enable PCINT2 pin change */ + PCICR |= (1 << PCIE0); /* Enable pin change interrupt */ + + DDRB = ((DDRB & 0xf0) | + (0 << 5) | /* SCK, input */ + (1 << 4) | /* MISO, output */ + (0 << 3) | /* MOSI, input */ + (0 << 2)); /* SS, input */ + + PORTB = ((PORTB & 0xf0) | + (0 << 5) | /* SCK, no pull-up */ + (1 << 4) | /* MISO, output */ + (0 << 3) | /* MOSI, no pull-up */ + (1 << 2)); /* SS, pull-up */ +#endif + + SPCR = (0 << SPIE) | /* Disable SPI interrupts */ + (1 << SPE) | /* Enable SPI */ + (0 << DORD) | /* MSB first */ + (0 << MSTR) | /* Slave mode */ + (0 << CPOL) | /* Clock low when idle */ + (0 << CPHA); /* Sample at leading clock edge */ +} diff --git a/src/avr/ao_spi_usart.c b/src/avr/ao_spi_usart.c new file mode 100644 index 00000000..7c41042a --- /dev/null +++ b/src/avr/ao_spi_usart.c @@ -0,0 +1,110 @@ +/* + * 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" + +/* + * Atmega32u4 USART in MSPIM (master SPI mode) + */ + +__xdata uint8_t ao_spi_mutex; + +/* Send bytes over SPI. + * + * This just polls; the SPI is set to go as fast as possible, + * so using interrupts would take way too long + */ +void +ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant +{ + uint8_t *d = block; + + while (len--) { + while (!(UCSR1A & (1 << UDRE1))); + UDR1 = *d++; + while (!(UCSR1A & (1 << RXC1))); + (void) UDR1; + } +} + +/* Receive bytes over SPI. + * + * Poll, sending zeros and reading data back + */ +void +ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant +{ + uint8_t *d = block; + + /* Clear any pending data */ + while (UCSR1A & (1 << RXC1)) + (void) UDR1; + + while (len--) { + while (!(UCSR1A & (1 << UDRE1))); + UDR1 = 0; + while (!(UCSR1A & (1 << RXC1))); + *d++ = UDR1; + } +} + +/* + * Initialize USART0 for SPI using config alt 2 + * + * MO P1_5 + * MI P1_4 + * CLK P1_3 + * + * Chip select is the responsibility of the caller + */ + +#define XCK1_DDR DDRD +#define XCK1_PORT PORTD +#define XCK1 PORTD5 +#define XMS1_DDR DDRE +#define XMS1_PORT PORTE +#define XMS1 PORTE6 + +void +ao_spi_init(void) +{ + /* Ensure the USART is powered */ + PRR1 &= ~(1 << PRUSART1); + + /* + * Set pin directions + */ + XCK1_DDR |= (1 << XCK1); + + /* Clear chip select (which is negated) */ + XMS1_PORT |= (1 < XMS1); + XMS1_DDR |= (1 << XMS1); + + /* Set baud register to zero (required before turning transmitter on) */ + UBRR1 = 0; + + UCSR1C = ((0x3 << UMSEL10) | /* Master SPI mode */ + (0 << UCSZ10) | /* SPI mode 0 */ + (0 << UCPOL1)); /* SPI mode 0 */ + + /* Enable transmitter and receiver */ + UCSR1B = ((1 << RXEN1) | + (1 << TXEN1)); + + /* It says that 0 is a legal value; we'll see... */ + UBRR1 = 0; +} diff --git a/src/avr/ao_timer.c b/src/avr/ao_timer.c new file mode 100644 index 00000000..d2ea2be7 --- /dev/null +++ b/src/avr/ao_timer.c @@ -0,0 +1,80 @@ +/* + * Copyright © 2009 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" + +volatile __data uint16_t ao_tick_count; + +uint16_t ao_time(void) +{ + uint16_t v; + ao_arch_critical( + v = ao_tick_count; + ); + return v; +} + +#define T1_CLOCK_DIVISOR 8 /* 24e6/8 = 3e6 */ +#define T1_SAMPLE_TIME 30000 /* 3e6/30000 = 100 */ + +#if HAS_ADC +volatile __data uint8_t ao_adc_interval = 1; +volatile __data uint8_t ao_adc_count; +#endif + +void +ao_debug_out(char c); + +ISR(TIMER1_COMPA_vect) +{ + ++ao_tick_count; +#if HAS_ADC + if (++ao_adc_count == ao_adc_interval) { + ao_adc_count = 0; + ao_adc_poll(); + } +#endif +} + +#if HAS_ADC +void +ao_timer_set_adc_interval(uint8_t interval) __critical +{ + ao_adc_interval = interval; + ao_adc_count = 0; +} +#endif + +void +ao_timer_init(void) +{ + TCCR1A = ((0 << WGM11) | /* CTC mode, OCR1A */ + (0 << WGM10)); /* CTC mode, OCR1A */ + TCCR1B = ((0 << ICNC1) | /* no input capture noise canceler */ + (0 << ICES1) | /* input capture on falling edge (don't care) */ + (0 << WGM13) | /* CTC mode, OCR1A */ + (1 << WGM12) | /* CTC mode, OCR1A */ + (3 << CS10)); /* clk/64 from prescaler */ + +#if TEENSY + OCR1A = 2500; /* 16MHz clock */ +#else + OCR1A = 1250; /* 8MHz clock */ +#endif + + TIMSK1 = (1 << OCIE1A); /* Interrupt on compare match */ +} diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c new file mode 100644 index 00000000..9ba407af --- /dev/null +++ b/src/avr/ao_usb_avr.c @@ -0,0 +1,672 @@ +/* + * 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_usb.h" + +#define USB_DEBUG 0 + +#if USB_DEBUG +#define debug(format, args...) printf(format, ## args) +#else +#define debug(format, args...) +#endif + +struct ao_task __xdata ao_usb_task; + +struct ao_usb_setup { + uint8_t dir_type_recip; + uint8_t request; + uint16_t value; + uint16_t index; + uint16_t length; +} __xdata ao_usb_setup; + +static __xdata uint8_t ao_usb_ep0_state; +static const uint8_t * __xdata ao_usb_ep0_in_data; +static __xdata uint8_t ao_usb_ep0_in_len; +static __xdata uint8_t ao_usb_ep0_in_pending; +static __xdata uint8_t ao_usb_addr_pending; +static __xdata uint8_t ao_usb_ep0_in_buf[2]; +static __xdata uint8_t ao_usb_ep0_out_len; +static __xdata uint8_t *__xdata ao_usb_ep0_out_data; + +static __xdata uint8_t ao_usb_in_flushed; +static __xdata uint8_t ao_usb_running; +static __xdata uint8_t ao_usb_configuration; +static __xdata uint8_t ueienx_0; + +void +ao_usb_set_address(uint8_t address) +{ + UDADDR = (0 << ADDEN) | address; + ao_usb_addr_pending = 1; +} + +#define EP_SIZE(s) ((s) == 64 ? 0x30 : \ + ((s) == 32 ? 0x20 : \ + ((s) == 16 ? 0x10 : \ + 0x00))) + +static void +ao_usb_dump_ep(uint8_t ep) +{ + UENUM = ep; + debug ("EP %d: UECONX %02x UECFG0X %02x UECFG1X %02x UEIENX %02x UESTA0X %02x UESTA1X %02X\n", + ep, UECONX, UECFG0X, UECFG1X, UEIENX, UESTA0X, UESTA1X); +} + +static void +ao_usb_set_ep0(void) +{ + debug ("set_ep0\n"); + /* Set the CONTROL max packet size, single buffered */ + UENUM = 0; + UECONX = (1 << EPEN); /* Enable */ + + UECFG0X = ((0 << EPTYPE0) | /* Control */ + (0 << EPDIR)); /* Out (ish) */ + + UECFG1X = (EP_SIZE(AO_USB_CONTROL_SIZE) | /* Size */ + (0 << EPBK0) | /* Single bank */ + (1 << ALLOC)); + + ueienx_0 = ((1 << RXSTPE) | /* Enable SETUP interrupt */ + (1 << RXOUTE)); /* Enable OUT interrupt */ + +// ao_usb_dump_ep(0); + ao_usb_addr_pending = 0; +} + +static void +ao_usb_set_configuration(void) +{ + /* Set the IN max packet size, double buffered */ + UENUM = AO_USB_IN_EP; + UECONX = (1 << EPEN); /* Enable */ + + UECFG0X = ((2 << EPTYPE0) | /* Bulk */ + (1 << EPDIR)); /* In */ + + UECFG1X = (EP_SIZE(AO_USB_IN_SIZE) | /* Size */ + (1 << EPBK0) | /* Double bank */ + (1 << ALLOC)); /* Allocate */ + +#if 0 + UEIENX = ((1 << TXINE)); /* Enable IN complete interrupt */ +#endif + + ao_usb_dump_ep(AO_USB_IN_EP); + + /* Set the OUT max packet size, double buffered */ + UENUM = AO_USB_OUT_EP; + UECONX |= (1 << EPEN); /* Enable */ + + UECFG0X = ((2 << EPTYPE0) | /* Bulk */ + (0 << EPDIR)); /* Out */ + + UECFG1X = (EP_SIZE(AO_USB_OUT_SIZE) | /* Size */ + (1 << EPBK0) | /* Double bank */ + (1 << ALLOC)); /* Allocate */ + + UEIENX = ((1 << RXOUTE)); /* Enable OUT complete interrupt */ + + ao_usb_dump_ep(AO_USB_OUT_EP); + ao_usb_running = 1; +} + +ISR(USB_GEN_vect) +{ + ao_wakeup(&ao_usb_task); +} + + +__xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; + +/* Walk through the list of descriptors and find a match + */ +static void +ao_usb_get_descriptor(uint16_t value) +{ + const uint8_t *__xdata descriptor; + __xdata uint8_t type = value >> 8; + __xdata uint8_t index = value; + + descriptor = ao_usb_descriptors; + while (descriptor[0] != 0) { + if (descriptor[1] == type && index-- == 0) { + if (type == AO_USB_DESC_CONFIGURATION) + ao_usb_ep0_in_len = descriptor[2]; + else + ao_usb_ep0_in_len = descriptor[0]; + ao_usb_ep0_in_data = descriptor; + break; + } + descriptor += descriptor[0]; + } +} + +static void +ao_usb_ep0_set_in_pending(uint8_t in_pending) +{ + ao_usb_ep0_in_pending = in_pending; + + if (in_pending) + ueienx_0 = ((1 << RXSTPE) | (1 << RXOUTE) | (1 << TXINE)); /* Enable IN interrupt */ +} + +/* Send an IN data packet */ +static void +ao_usb_ep0_flush(void) +{ + __xdata uint8_t this_len; + + cli(); + UENUM = 0; + if (!(UEINTX & (1 << TXINI))) { + debug("EP0 not accepting IN data\n"); + ao_usb_ep0_set_in_pending(1); + } else { + this_len = ao_usb_ep0_in_len; + if (this_len > AO_USB_CONTROL_SIZE) + this_len = AO_USB_CONTROL_SIZE; + + ao_usb_ep0_in_len -= this_len; + + /* Set IN interrupt enable */ + if (ao_usb_ep0_in_len == 0 && this_len != AO_USB_CONTROL_SIZE) + ao_usb_ep0_set_in_pending(0); + else + ao_usb_ep0_set_in_pending(1); + + debug ("Flush EP0 len %d:", this_len); + while (this_len--) { + uint8_t c = *ao_usb_ep0_in_data++; + debug(" %02x", c); + UEDATX = c; + } + debug ("\n"); + + /* Clear the TXINI bit to send the packet */ + UEINTX &= ~(1 << TXINI); + } + sei(); +} + +/* Read data from the ep0 OUT fifo */ +static void +ao_usb_ep0_fill(uint8_t len, uint8_t ack) +{ + if (len > ao_usb_ep0_out_len) + len = ao_usb_ep0_out_len; + ao_usb_ep0_out_len -= len; + +// debug ("EP0 UEINTX %02x UEBCLX %d UEBCHX %d\n", +// UEINTX, UEBCLX, UEBCHX); + /* Pull all of the data out of the packet */ + debug ("Fill EP0 len %d:", len); + UENUM = 0; + while (len--) { + uint8_t c = UEDATX; + *ao_usb_ep0_out_data++ = c; + debug (" %02x", c); + } + debug ("\n"); + + /* ACK the packet */ + UEINTX &= ~ack; +} + +void +ao_usb_ep0_queue_byte(uint8_t a) +{ + ao_usb_ep0_in_buf[ao_usb_ep0_in_len++] = a; +} + +static void +ao_usb_ep0_setup(void) +{ + /* Pull the setup packet out of the fifo */ + ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_setup; + ao_usb_ep0_out_len = 8; + ao_usb_ep0_fill(8, (1 << RXSTPI) | (1 << RXOUTI) | (1 << TXINI)); + if (ao_usb_ep0_out_len != 0) { + debug ("invalid setup packet length\n"); + return; + } + + /* Figure out how to ACK the setup packet */ + if (ao_usb_setup.dir_type_recip & AO_USB_DIR_IN) { + if (ao_usb_setup.length) + ao_usb_ep0_state = AO_USB_EP0_DATA_IN; + else + ao_usb_ep0_state = AO_USB_EP0_IDLE; + } else { + if (ao_usb_setup.length) + ao_usb_ep0_state = AO_USB_EP0_DATA_OUT; + else + ao_usb_ep0_state = AO_USB_EP0_IDLE; + } +/* + UENUM = 0; + if (ao_usb_ep0_state == AO_USB_EP0_IDLE) + USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_DATA_END; + else + USBCS0 = USBCS0_CLR_OUTPKT_RDY; +*/ + + ao_usb_ep0_in_data = ao_usb_ep0_in_buf; + ao_usb_ep0_in_len = 0; + switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_TYPE_MASK) { + case AO_USB_TYPE_STANDARD: + debug ("Standard setup packet\n"); + switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_RECIP_MASK) { + case AO_USB_RECIP_DEVICE: + debug ("Device setup packet\n"); + switch(ao_usb_setup.request) { + case AO_USB_REQ_GET_STATUS: + debug ("get status\n"); + ao_usb_ep0_queue_byte(0); + ao_usb_ep0_queue_byte(0); + break; + case AO_USB_REQ_SET_ADDRESS: + debug ("set address %d\n", ao_usb_setup.value); + ao_usb_set_address(ao_usb_setup.value); + break; + case AO_USB_REQ_GET_DESCRIPTOR: + debug ("get descriptor %d\n", ao_usb_setup.value); + ao_usb_get_descriptor(ao_usb_setup.value); + break; + case AO_USB_REQ_GET_CONFIGURATION: + debug ("get configuration %d\n", ao_usb_configuration); + ao_usb_ep0_queue_byte(ao_usb_configuration); + break; + case AO_USB_REQ_SET_CONFIGURATION: + ao_usb_configuration = ao_usb_setup.value; + debug ("set configuration %d\n", ao_usb_configuration); + ao_usb_set_configuration(); + break; + } + break; + case AO_USB_RECIP_INTERFACE: + debug ("Interface setup packet\n"); + switch(ao_usb_setup.request) { + case AO_USB_REQ_GET_STATUS: + ao_usb_ep0_queue_byte(0); + ao_usb_ep0_queue_byte(0); + break; + case AO_USB_REQ_GET_INTERFACE: + ao_usb_ep0_queue_byte(0); + break; + case AO_USB_REQ_SET_INTERFACE: + break; + } + break; + case AO_USB_RECIP_ENDPOINT: + debug ("Endpoint setup packet\n"); + switch(ao_usb_setup.request) { + case AO_USB_REQ_GET_STATUS: + ao_usb_ep0_queue_byte(0); + ao_usb_ep0_queue_byte(0); + break; + } + break; + } + break; + case AO_USB_TYPE_CLASS: + debug ("Class setup packet\n"); + switch (ao_usb_setup.request) { + case AO_USB_SET_LINE_CODING: + debug ("set line coding\n"); + ao_usb_ep0_out_len = 7; + ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_line_coding; + break; + case AO_USB_GET_LINE_CODING: + debug ("get line coding\n"); + ao_usb_ep0_in_len = 7; + ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding; + break; + case AO_USB_SET_CONTROL_LINE_STATE: + break; + } + break; + } + if (ao_usb_ep0_state != AO_USB_EP0_DATA_OUT) { + if (ao_usb_setup.length < ao_usb_ep0_in_len) + ao_usb_ep0_in_len = ao_usb_setup.length; + debug ("Start ep0 in delivery %d\n", ao_usb_ep0_in_len); + ao_usb_ep0_set_in_pending(1); + } +} + +/* End point 0 receives all of the control messages. */ +static void +ao_usb_ep0(void) +{ + uint8_t intx, udint; + + debug ("usb task started\n"); + ao_usb_ep0_state = AO_USB_EP0_IDLE; + for (;;) { + cli(); + for (;;) { + udint = UDINT; + UDINT = 0; +// debug ("UDINT %02x\n", udint); + if (udint & (1 << EORSTI)) { + ao_usb_configuration = 0; + ao_usb_set_ep0(); + } + UENUM = 0; + intx = UEINTX; +// debug ("UEINTX %02x\n", intx); + if (intx & ((1 << RXSTPI) | (1 << RXOUTI))) + break; + if ((intx & (1 << TXINI))) { + if (ao_usb_ep0_in_pending) + break; + else + { + if (ao_usb_addr_pending) { + UDADDR |= (1 << ADDEN); + ao_usb_addr_pending = 0; + } + ueienx_0 = ((1 << RXSTPE) | (1 << RXOUTE)); /* Disable IN interrupt */ + } + } +// debug ("usb task sleeping...\n"); + UENUM = 0; + UEIENX = ueienx_0; + ao_sleep(&ao_usb_task); + } + sei(); +// debug ("UEINTX for ep0 is %02x\n", intx); + if (intx & (1 << RXSTPI)) { + ao_usb_ep0_setup(); + } + if (intx & (1 << RXOUTI)) { + ao_usb_ep0_fill(UEBCLX, (1 << RXOUTI)); + ao_usb_ep0_set_in_pending(1); + } + if (intx & (1 << TXINI) && ao_usb_ep0_in_pending) { + debug ("continue sending ep0 IN data\n"); + ao_usb_ep0_flush(); + } + } +} + +/* Wait for a free IN buffer */ +static void +ao_usb_in_wait(void) +{ + for (;;) { + /* Check if the current buffer is writable */ + UENUM = AO_USB_IN_EP; + if (UEINTX & (1 << RWAL)) + break; + + cli(); + /* Wait for an IN buffer to be ready */ + for (;;) { + UENUM = AO_USB_IN_EP; + if ((UEINTX & (1 << TXINI))) + break; + UEIENX = (1 << TXINE); + ao_sleep(&ao_usb_in_flushed); + } + /* Ack the interrupt */ + UEINTX &= ~(1 << TXINI); + sei(); + } +} + +/* Queue the current IN buffer for transmission */ +static void +ao_usb_in_send(void) +{ + UENUM = AO_USB_IN_EP; + UEINTX &= ~(1 << FIFOCON); +} + +void +ao_usb_flush(void) __critical +{ + if (!ao_usb_running) + return; + + /* Anytime we've sent a character since + * the last time we flushed, we'll need + * to send a packet -- the only other time + * we would send a packet is when that + * packet was full, in which case we now + * want to send an empty packet + */ + if (!ao_usb_in_flushed) { + ao_usb_in_flushed = 1; + ao_usb_in_wait(); + ao_usb_in_send(); + } +} + +void +ao_usb_putchar(char c) __critical __reentrant +{ + if (!ao_usb_running) + return; + + ao_usb_in_wait(); + + /* Queue a byte */ + UENUM = AO_USB_IN_EP; + UEDATX = c; + + /* Send the packet when full */ + if ((UEINTX & (1 << RWAL)) == 0) + ao_usb_in_send(); + ao_usb_in_flushed = 0; +} + +static char +_ao_usb_pollchar(void) +{ + char c; + uint8_t intx; + + if (!ao_usb_running) + return AO_READ_AGAIN; + + for (;;) { + UENUM = AO_USB_OUT_EP; + intx = UEINTX; + debug("usb_pollchar UEINTX %02d\n", intx); + if (intx & (1 << RWAL)) + break; + + if (intx & (1 << FIFOCON)) { + /* Ack the last packet */ + UEINTX = (uint8_t) ~(1 << FIFOCON); + } + + /* Check to see if a packet has arrived */ + if ((intx & (1 << RXOUTI)) == 0) { + UENUM = AO_USB_OUT_EP; + UEIENX = (1 << RXOUTE); + return AO_READ_AGAIN; + } + + /* Ack the interrupt */ + UEINTX = ~(1 << RXOUTI); + } + + /* Pull a character out of the fifo */ + c = UEDATX; + return c; +} + +char +ao_usb_pollchar(void) +{ + char c; + cli(); + c = _ao_usb_pollchar(); + sei(); + return c; +} + +char +ao_usb_getchar(void) __critical +{ + char c; + + cli(); + while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN) + ao_sleep(&ao_stdin_ready); + sei(); + return c; +} + +uint16_t control_count; +uint16_t in_count; +uint16_t out_count; + +/* Endpoint interrupt */ +ISR(USB_COM_vect) +{ + uint8_t old_num = UENUM; + uint8_t i = UEINT; + +#ifdef AO_LED_RED + ao_led_toggle(AO_LED_RED); +#endif + UEINT = 0; + if (i & (1 << 0)) { + UENUM = 0; + UEIENX = 0; + ao_wakeup(&ao_usb_task); + ++control_count; + } + if (i & (1 << AO_USB_IN_EP)) { + UENUM = AO_USB_IN_EP; + UEIENX = 0; + ao_wakeup(&ao_usb_in_flushed); + in_count++; + } + if (i & (1 << AO_USB_OUT_EP)) { + UENUM = AO_USB_OUT_EP; + UEIENX = 0; + ao_wakeup(&ao_stdin_ready); + ++out_count; + } + UENUM = old_num; +} + +#if AVR_VCC_5V +#define AO_PAD_REGULATOR_INIT (1 << UVREGE) /* Turn on pad regulator */ +#endif +#if AVR_VCC_3V3 +/* TeleScience V0.1 has a hardware bug -- UVcc is hooked up, but UCap is not + * Make this work by running power through UVcc to the USB system + */ +#define AO_PAD_REGULATOR_INIT (1 << UVREGE) /* Turn off pad regulator */ +#endif + +#if AVR_CLOCK == 16000000UL +#define AO_USB_PLL_INPUT_PRESCALER (1 << PINDIV) /* Divide 16MHz clock by 2 */ +#endif +#if AVR_CLOCK == 8000000UL +#define AO_USB_PLL_INPUT_PRESCALER 0 /* Don't divide clock */ +#endif + +void +ao_usb_disable(void) +{ + /* Unplug from the bus */ + UDCON = (1 << DETACH); + + /* Disable the interface */ + USBCON = 0; + + /* Disable the PLL */ + PLLCSR = 0; + + /* Turn off the pad regulator */ + UHWCON = 0; +} + +#define AO_USB_CON ((1 << USBE) | /* USB enable */ \ + (0 << RSTCPU) | /* do not reset CPU */ \ + (0 << LSM) | /* Full speed mode */ \ + (0 << RMWKUP)) /* no remote wake-up */ \ + +void +ao_usb_enable(void) +{ + /* Configure pad regulator */ + UHWCON = AO_PAD_REGULATOR_INIT; + + /* Enable USB device, but freeze the clocks until initialized */ + USBCON = AO_USB_CON | (1 <<FRZCLK); + + /* Enable PLL with appropriate divider */ + PLLCSR = AO_USB_PLL_INPUT_PRESCALER | (1 << PLLE); + + /* Wait for PLL to lock */ + loop_until_bit_is_set(PLLCSR, (1 << PLOCK)); + + /* Enable USB, enable the VBUS pad */ + USBCON = AO_USB_CON | (1 << OTGPADE); + + /* Enable global interrupts */ + UDIEN = (1 << EORSTE); /* End of reset interrupt */ + + ao_usb_configuration = 0; + + debug ("ao_usb_enable\n"); + + debug ("UHWCON %02x USBCON %02x PLLCSR %02x UDIEN %02x\n", + UHWCON, USBCON, PLLCSR, UDIEN); + UDCON = (0 << DETACH); /* Clear the DETACH bit to plug into the bus */ +} + +#if USB_DEBUG +struct ao_task __xdata ao_usb_echo_task; + +static void +ao_usb_echo(void) +{ + char c; + + for (;;) { + c = ao_usb_getchar(); + ao_usb_putchar(c); + ao_usb_flush(); + } +} +#endif + +void +ao_usb_init(void) +{ + ao_usb_enable(); + + debug ("ao_usb_init\n"); + ao_add_task(&ao_usb_task, ao_usb_ep0, "usb"); +#if USB_DEBUG + ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo"); +#endif + ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush); +} diff --git a/src/cc1111/Makefile.cc1111 b/src/cc1111/Makefile.cc1111 new file mode 100644 index 00000000..0e19603b --- /dev/null +++ b/src/cc1111/Makefile.cc1111 @@ -0,0 +1,38 @@ +CC=sdcc + +CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE) + +CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../core -I../cc1111 -I../drivers -I../product + +CODESIZE ?= 0x8000 + +LDFLAGS=--out-fmt-ihx --code-loc 0x0000 --code-size $(CODESIZE) \ + --xram-loc 0xf000 --xram-size 0xda2 --iram-size 0xff + +REL=$(SRC:.c=.rel) ao_product.rel +ADB=$(REL:.rel=.adb) +ASM=$(REL:.rel=.asm) +LNK=$(REL:.rel=.lnk) +LST=$(REL:.rel=.lst) +RST=$(REL:.rel=.rst) +SYM=$(REL:.rel=.sym) + +PCDB=$(PROG:.ihx=.cdb) +PLNK=$(PROG:.ihx=.lnk) +PMAP=$(PROG:.ihx=.map) +PMEM=$(PROG:.ihx=.mem) +PAOM=$(PROG:.ihx=) + +%.rel : %.c $(INC) + $(call quiet,CC,$(PRODUCT_DEF)) $(CFLAGS) -c -o$@ $< + +all: + +clean-cc1111: + rm -f *.adb *.asm *.lnk *.lst *.rel *.rst *.sym + rm -f $(PROGNAME)-* + rm -f ao_product.h + rm -f ../$(PROGNAME)-* + +../ao_kalman.h: + +(cd .. && make ao_kalman.h) diff --git a/src/_bp.c b/src/cc1111/_bp.c index 6bf135bc..6bf135bc 100644 --- a/src/_bp.c +++ b/src/cc1111/_bp.c diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c new file mode 100644 index 00000000..f7b52281 --- /dev/null +++ b/src/cc1111/ao_adc.c @@ -0,0 +1,217 @@ +/* + * Copyright © 2009 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" + +volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; +volatile __data uint8_t ao_data_head; + +void +ao_adc_poll(void) +{ +#if HAS_ACCEL_REF + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 2; +#else +# ifdef TELENANO_V_0_1 + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 1; +# else + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 0; +# endif +#endif +} + +void +ao_data_get(__xdata struct ao_data *packet) +{ +#if HAS_FLIGHT + uint8_t i = ao_data_ring_prev(ao_sample_data); +#else + uint8_t i = ao_data_ring_prev(ao_data_head); +#endif + ao_xmemcpy(packet, (void __xdata *) &ao_data_ring[i], sizeof (struct ao_data)); +} + +void +ao_adc_isr(void) __interrupt 1 +{ + uint8_t sequence; + uint8_t __xdata *a; + + sequence = (ADCCON2 & ADCCON2_SCH_MASK) >> ADCCON2_SCH_SHIFT; +#if TELEMETRUM_V_0_1 || TELEMETRUM_V_0_2 || TELEMETRUM_V_1_0 || TELEMETRUM_V_1_1 || TELEMETRUM_V_1_2 || TELELAUNCH_V_0_1 + /* TeleMetrum readings */ +#if HAS_ACCEL_REF + if (sequence == 2) { + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.accel_ref); + sequence = 0; + } else +#endif + { + if (sequence == ADCCON3_ECH_TEMP) + sequence = 2; + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.accel + sequence); + sequence++; + } +#define GOT_ADC + a[0] = ADCL; + a[1] = ADCH; + if (sequence < 6) { +#if HAS_EXTERNAL_TEMP == 0 + /* start next channel conversion */ + /* v0.2 replaces external temp sensor with internal one */ + if (sequence == 2) + ADCCON3 = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP; + else +#endif + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | sequence; + } +#endif + +#if TELEMINI_V_1_0 || TELENANO_V_0_1 + /* TeleMini readings */ + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.pres); +#if TELEMINI_V_1_0 + switch (sequence) { + case 0: + /* pressure */ + a += 0; + sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 1; + break; + case 1: + /* drogue sense */ + a += 6; + sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 2; + break; + case 2: + /* main sense */ + a += 8; + sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 3; + break; + case 3: + /* battery */ + a += 4; + sequence = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP; + break; + case ADCCON3_ECH_TEMP: + a += 2; + sequence = 0; + break; + } +#define GOT_ADC +#endif +#ifdef TELENANO_V_0_1 + switch (sequence) { + case 1: + /* pressure */ + a += 0; + sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 3; + break; + case 3: + /* battery */ + a += 4; + sequence = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP; + break; + case ADCCON3_ECH_TEMP: + a += 2; + sequence = 0; + break; + } +#define GOT_ADC +#endif + a[0] = ADCL; + a[1] = ADCH; + if (sequence) { + /* Start next conversion */ + ADCCON3 = sequence; + } +#endif /* telemini || telenano */ + +#ifdef TELEFIRE_V_0_1 + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.sense[0] + sequence); + a[0] = ADCL; + a[1] = ADCH; + if (sequence < 5) + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | (sequence + 1); +#define GOT_ADC +#endif /* TELEFIRE_V_0_1 */ + +#ifndef GOT_ADC +#error No known ADC configuration set +#endif + + else { + /* record this conversion series */ + ao_data_ring[ao_data_head].tick = ao_time(); + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup(DATA_TO_XDATA(&ao_data_head)); + } +} + +static void +ao_adc_dump(void) __reentrant +{ + static __xdata struct ao_data packet; + ao_data_get(&packet); +#ifndef AO_ADC_DUMP + printf("tick: %5u accel: %5d pres: %5d temp: %5d batt: %5d drogue: %5d main: %5d\n", + packet.tick, packet.adc.accel, packet.adc.pres, packet.adc.temp, + packet.adc.v_batt, packet.adc.sense_d, packet.adc.sense_m); +#else + AO_ADC_DUMP(&packet); +#endif +} + +__code struct ao_cmds ao_adc_cmds[] = { + { ao_adc_dump, "a\0Current ADC" }, + { 0, NULL }, +}; + +void +ao_adc_init(void) +{ +#ifdef AO_ADC_PINS + ADCCFG = AO_ADC_PINS; + +#else + +#if IGNITE_ON_P2 + /* TeleMetrum configuration */ + ADCCFG = ((1 << 0) | /* acceleration */ + (1 << 1) | /* pressure */ +#if HAS_EXTERNAL_TEMP + (1 << 2) | /* v0.1 temperature */ +#endif + (1 << 3) | /* battery voltage */ + (1 << 4) | /* drogue sense */ + (1 << 5)); /* main sense */ +#endif + +#if IGNITE_ON_P0 + /* TeleMini configuration */ + ADCCFG = ((1 << 0) | /* pressure */ + (1 << 1) | /* drogue sense */ + (1 << 2) | /* main sense */ + (1 << 3)); /* battery voltage */ +#endif + +#endif /* else AO_ADC_PINS */ + + /* enable interrupts */ + ADCIF = 0; + IEN0 |= IEN0_ADCIE; + ao_cmd_register(&ao_adc_cmds[0]); +} diff --git a/src/cc1111/ao_aes.c b/src/cc1111/ao_aes.c new file mode 100644 index 00000000..b1f305ec --- /dev/null +++ b/src/cc1111/ao_aes.c @@ -0,0 +1,146 @@ +/* + * 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" + +#if !HAS_AES +#error Must define HAS_AES 1 +#endif + +__xdata uint8_t ao_aes_mutex; +__xdata uint8_t ao_aes_done; +__xdata uint8_t ao_aes_dma_in, ao_aes_dma_out; +__xdata uint8_t ao_aes_dma_in_done, ao_aes_dma_out_done; +__pdata enum ao_aes_mode ao_aes_current_mode; + +void +ao_aes_isr(void) __interrupt 4 +{ + S0CON = 0; + if (ENCCCS & ENCCCS_RDY) { + ao_aes_done = 1; + ao_wakeup(&ao_aes_done); + } +} + +void +ao_aes_set_mode(enum ao_aes_mode mode) +{ + ao_aes_current_mode = mode; +} + +void +ao_aes_set_key(__xdata uint8_t *in) +{ + ao_dma_set_transfer(ao_aes_dma_in, + in, + &ENCDIXADDR, + AO_AES_LEN, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + DMA_CFG0_TRIGGER_ENC_DW, + DMA_CFG1_SRCINC_1 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_LOW); + ao_dma_start(ao_aes_dma_in); + ao_aes_done = 0; + ENCCCS = ENCCCS_MODE_CBC_MAC | + ENCCCS_CMD_LOAD_KEY; + ENCCCS |= ENCCCS_START; + __critical while (!ao_aes_done) + ao_sleep(&ao_aes_done); +} + +void +ao_aes_zero_iv(void) +{ + uint8_t b; + + ENCCCS = ENCCCS_MODE_CBC_MAC | ENCCCS_CMD_LOAD_IV | ENCCCS_START; + for (b = 0; b < AO_AES_LEN; b++) + ENCDI = 0; +} + +void +ao_aes_run(__xdata uint8_t *in, + __xdata uint8_t *out) +{ + uint8_t b; + if (in) { + ao_dma_set_transfer(ao_aes_dma_in, + in, + &ENCDIXADDR, + AO_AES_LEN, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + DMA_CFG0_TRIGGER_ENC_DW, + DMA_CFG1_SRCINC_1 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_LOW); + } + if (out) { + ao_dma_set_transfer(ao_aes_dma_out, + &ENCDOXADDR, + out, + AO_AES_LEN, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + DMA_CFG0_TRIGGER_ENC_UP, + DMA_CFG1_SRCINC_0 | + DMA_CFG1_DESTINC_1 | + DMA_CFG1_PRIORITY_LOW); + } + switch (ao_aes_current_mode) { + case ao_aes_mode_cbc_mac: + if (out) + b = (ENCCCS_MODE_CBC | + ENCCCS_CMD_ENCRYPT); + else + b = (ENCCCS_MODE_CBC_MAC | + ENCCCS_CMD_ENCRYPT); + break; + default: + return; + } + ao_aes_done = 0; + if (in) + ao_dma_start(ao_aes_dma_in); + if (out) + ao_dma_start(ao_aes_dma_out); + ENCCCS = b; + ENCCCS |= ENCCCS_START; + if (out) { + __critical while (!ao_aes_dma_out_done) + ao_sleep(&ao_aes_dma_out_done); + } else { + __critical while (!ao_aes_done) + ao_sleep(&ao_aes_done); + } +} + +void +ao_aes_init(void) +{ +#if DMA_SHARE_AES_RADIO + ao_aes_dma_in = ao_radio_dma; +#else + ao_aes_dma_in = ao_dma_alloc(&ao_aes_dma_in_done); +#endif + ao_aes_dma_out = ao_dma_alloc(&ao_aes_dma_out_done); + S0CON = 0; + ENCIE = 1; +} diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h new file mode 100644 index 00000000..a97515a7 --- /dev/null +++ b/src/cc1111/ao_arch.h @@ -0,0 +1,319 @@ +/* + * 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. + */ + +/* + * CC1111 definitions and code fragments for AltOS + */ + +#ifndef _AO_ARCH_H_ +#define _AO_ARCH_H_ + +#include "cc1111.h" + +/* Convert a __data pointer into an __xdata pointer */ +#define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00)) + +/* Code and xdata use the same address space */ +#define CODE_TO_XDATA(a) ((__xdata void *) ((uint16_t) (a))) + +/* Pdata lives at the start of xdata */ +#define PDATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xf000)) + +/* Stack runs from above the allocated __data space to 0xfe, which avoids + * writing to 0xff as that triggers the stack overflow indicator + */ +#define AO_STACK_START 0x90 +#define AO_STACK_END 0xfe +#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) + +#define ao_arch_reboot() do { \ + WDCTL = WDCTL_EN | WDCTL_MODE_WATCHDOG | WDCTL_INT_64; \ + ao_delay(AO_SEC_TO_TICKS(2)); \ + } while (0) + +#define ao_arch_nop() __asm nop __endasm +#define ao_arch_interrupt(n) __interrupt n + +#define ao_arch_naked_declare __naked +#define ao_arch_naked_define __naked + +/* CC1111-specific drivers */ + +/* + * ao_romconfig.c + */ + +#define AO_ROMCONFIG_VERSION 2 + +#define AO_ROMCONFIG_SYMBOL(a) __code __at(a) + +extern AO_ROMCONFIG_SYMBOL(0x00a0) uint16_t ao_romconfig_version; +extern AO_ROMCONFIG_SYMBOL(0x00a2) uint16_t ao_romconfig_check; +extern AO_ROMCONFIG_SYMBOL(0x00a4) uint16_t ao_serial_number; +extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal; + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +#define ao_arch_task_members\ + uint8_t stack_count; /* amount of saved stack */ + +/* Initialize stack */ +#define ao_arch_init_stack(task, start) { \ + uint8_t __xdata *stack = task->stack; \ + uint8_t t; \ + *stack++ = ((uint16_t) start); /* 0 */ \ + *stack++ = ((uint16_t) start) >> 8; /* 1 */ \ + \ + /* and the stuff saved by ao_switch */ \ + *stack++ = 0; /* 2 acc */ \ + *stack++ = 0x80; /* 3 IE */ \ + \ + /* 4 DPL \ + * 5 DPH \ + * 6 B \ + * 7 R2 \ + * 8 R3 \ + * 9 R4 \ + * 10 R5 \ + * 11 R6 \ + * 12 R7 \ + * 13 R0 \ + * 14 R1 \ + * 15 PSW \ + * 16 BP \ + */ \ + for (t = 0; t < 13; t++) \ + *stack++ = 0; \ + task->stack_count = 17; \ + } + + + +/* Save current context */ + +#define ao_arch_save_regs() \ + __asm \ + /* Push ACC first, as when restoring the context it must be restored \ + * last (it is used to set the IE register). */ \ + push ACC \ + /* Store the IE register then enable interrupts. */ \ + push _IEN0 \ + setb _EA \ + push DPL \ + push DPH \ + push b \ + push ar2 \ + push ar3 \ + push ar4 \ + push ar5 \ + push ar6 \ + push ar7 \ + push ar0 \ + push ar1 \ + push PSW \ + __endasm; \ + PSW = 0; \ + __asm \ + push _bp \ + __endasm + +#define ao_arch_save_stack() { \ + uint8_t stack_len; \ + __data uint8_t *stack_ptr; \ + __xdata uint8_t *save_ptr; \ + /* Save the current stack */ \ + stack_len = SP - (AO_STACK_START - 1); \ + ao_cur_task->stack_count = stack_len; \ + stack_ptr = (uint8_t __data *) AO_STACK_START; \ + save_ptr = (uint8_t __xdata *) ao_cur_task->stack; \ + do \ + *save_ptr++ = *stack_ptr++; \ + while (--stack_len); \ + } + +#define ao_arch_isr_stack() \ + /* Empty the stack; might as well let interrupts have the whole thing */ \ + (SP = AO_STACK_START - 1) + +#define ao_arch_cpu_idle() (PCON = PCON_IDLE) + +#define ao_arch_restore_stack() { \ + uint8_t stack_len; \ + __data uint8_t *stack_ptr; \ + __xdata uint8_t *save_ptr; \ + \ + /* Restore the old stack */ \ + stack_len = ao_cur_task->stack_count; \ + SP = AO_STACK_START - 1 + stack_len; \ + \ + stack_ptr = (uint8_t __data *) AO_STACK_START; \ + save_ptr = (uint8_t __xdata *) ao_cur_task->stack; \ + do \ + *stack_ptr++ = *save_ptr++; \ + while (--stack_len); \ + \ + __asm \ + pop _bp \ + pop PSW \ + pop ar1 \ + pop ar0 \ + pop ar7 \ + pop ar6 \ + pop ar5 \ + pop ar4 \ + pop ar3 \ + pop ar2 \ + pop b \ + pop DPH \ + pop DPL \ + /* The next byte of the stack is the IE register. Only the global \ + enable bit forms part of the task context. Pop off the IE then set \ + the global enable bit to match that of the stored IE register. */ \ + pop ACC \ + JB ACC.7,0098$ \ + CLR _EA \ + LJMP 0099$ \ + 0098$: \ + SETB _EA \ + 0099$: \ + /* Finally pop off the ACC, which was the first register saved. */ \ + pop ACC \ + ret \ + __endasm; \ +} + +#define ao_arch_critical(b) __critical { b } + +#define AO_DATA_RING 32 + +/* ao_button.c */ +#ifdef HAS_BUTTON +void +ao_p0_isr(void) ao_arch_interrupt(13); + +void +ao_p1_isr(void) ao_arch_interrupt(15); + +void +ao_p2_isr(void); + +#define HAS_P2_ISR 1 + +#endif + +void +ao_button_init(void); + +char +ao_button_get(void) __critical; + +void +ao_button_clear(void) __critical; + +/* ao_string.c */ + +void +_ao_xmemcpy(__xdata void *dst, __xdata void *src, uint8_t count); + +#define ao_xmemcpy(d,s,c) _ao_xmemcpy(d,s,c) + +void +_ao_xmemset(__xdata void *dst, uint8_t value, uint8_t count); + +#define ao_xmemset(d,v,c) _ao_xmemset(d,v,c) + +int8_t +_ao_xmemcmp(__xdata void *a, __xdata void *b, uint8_t count); + +#define ao_xmemcmp(d,s,c) _ao_xmemcmp((d), (s), (c)) + +struct ao_serial_speed { + uint8_t baud; + uint8_t gcr; +}; + +extern const __code struct ao_serial_speed ao_serial_speeds[]; + +/* + * ao_dma.c + */ + +/* Allocate a DMA channel. the 'done' parameter will be set when the + * dma is finished and will be used to wakeup any waiters + */ + +uint8_t +ao_dma_alloc(__xdata uint8_t * done); + +/* Setup a DMA channel */ +void +ao_dma_set_transfer(uint8_t id, + void __xdata *srcaddr, + void __xdata *dstaddr, + uint16_t count, + uint8_t cfg0, + uint8_t cfg1); + +/* Start a DMA channel */ +void +ao_dma_start(uint8_t id); + +/* Manually trigger a DMA channel */ +void +ao_dma_trigger(uint8_t id); + +/* Abort a running DMA transfer */ +void +ao_dma_abort(uint8_t id); + +/* DMA interrupt routine */ +void +ao_dma_isr(void) ao_arch_interrupt(8); + +/* ao_adc.c */ + +#if HAS_ADC +/* The A/D interrupt handler */ +void +ao_adc_isr(void) ao_arch_interrupt(1); +#endif + +#if HAS_USB +/* USB interrupt handler */ +void +ao_usb_isr(void) ao_arch_interrupt(6); +#endif + +#if HAS_SERIAL_0 +void +ao_serial0_rx_isr(void) ao_arch_interrupt(2); + +void +ao_serial0_tx_isr(void) ao_arch_interrupt(7); +#endif + +#if HAS_SERIAL_1 +void +ao_serial1_rx_isr(void) ao_arch_interrupt(3); + +void +ao_serial1_tx_isr(void) ao_arch_interrupt(14); +#endif + +#endif /* _AO_ARCH_H_ */ diff --git a/src/cc1111/ao_arch_funcs.h b/src/cc1111/ao_arch_funcs.h new file mode 100644 index 00000000..8f1cc094 --- /dev/null +++ b/src/cc1111/ao_arch_funcs.h @@ -0,0 +1,108 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* + * ao_spi.c + */ + +extern __xdata uint8_t ao_spi_mutex; + +#define AO_SPI_SPEED_FAST 17 +#define AO_SPI_SPEED_200kHz 13 + +#define ao_spi_set_speed(speed) (U0GCR = (UxGCR_CPOL_NEGATIVE | \ + UxGCR_CPHA_FIRST_EDGE | \ + UxGCR_ORDER_MSB | \ + ((speed) << UxGCR_BAUD_E_SHIFT))) + +#define ao_spi_get_slave(bus) do { \ + ao_mutex_get(&ao_spi_mutex); \ + ao_spi_set_speed(AO_SPI_SPEED_FAST); \ + } while (0) + +#define ao_spi_put_slave(bus) do { \ + ao_mutex_put(&ao_spi_mutex); \ + } while (0) + +#define ao_spi_get_mask(reg,mask,bus,speed) do { \ + ao_mutex_get(&ao_spi_mutex); \ + ao_spi_set_speed(speed); \ + (reg) &= ~(mask); \ + } while (0) + +#define ao_spi_put_mask(reg,mask,bus) do { \ + (reg) |= (mask); \ + ao_mutex_put(&ao_spi_mutex); \ + } while (0) + + +#define ao_spi_get_bit(reg,bit,pin,bus,speed) do { \ + ao_mutex_get(&ao_spi_mutex); \ + ao_spi_set_speed(speed); \ + pin = 0; \ + } while (0) + +#define ao_spi_put_bit(reg,bit,pin,bus) do { \ + pin = 1; \ + ao_mutex_put(&ao_spi_mutex); \ + } while (0) + + +/* + * The SPI mutex must be held to call either of these + * functions -- this mutex covers the entire SPI operation, + * from chip select low to chip select high + */ + +void +ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant; + +void +ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant; + +#define ao_spi_send(block, len, bus) ao_spi_send_bus(block, len) +#define ao_spi_recv(block, len, bus) ao_spi_recv_bus(block, len) + +#if AO_SPI_SLAVE +void +ao_spi_send_wait(void); + +void +ao_spi_recv_wait(void); +#endif + +void +ao_spi_init(void); + +#define ao_spi_init_cs(port, mask) do { \ + SPI_CS_PORT |= mask; \ + SPI_CS_DIR |= mask; \ + SPI_CS_SEL &= ~mask; \ + } while (0) + +#define cc1111_enable_output(port,dir,sel,pin,bit,v) do { \ + pin = v; \ + dir |= (1 << bit); \ + sel &= ~(1 << bit); \ + } while (0) + +#define disable_unreachable _Pragma("disable_warning 126") + +#define token_paster(x,y) x ## y +#define token_evaluator(x,y) token_paster(x,y) +#define ao_enable_output(port,bit,pin,v) cc1111_enable_output(port,token_evaluator(port,DIR), token_evaluator(port,SEL), pin, bit, v) +#define ao_gpio_set(port, bit, pin, v) ((pin) = (v)) diff --git a/src/cc1111/ao_battery.c b/src/cc1111/ao_battery.c new file mode 100644 index 00000000..b9845fb3 --- /dev/null +++ b/src/cc1111/ao_battery.c @@ -0,0 +1,60 @@ +/* + * 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" +static __data union { + uint8_t d[2]; + int16_t v; +} ao_battery_value; + +void +ao_battery_isr(void) ao_arch_interrupt(1) +{ + ao_battery_value.d[0] = ADCL; + ao_battery_value.d[1] = ADCH; + ao_wakeup(DATA_TO_XDATA(&ao_battery_value)); +} + +uint16_t +ao_battery_get(void) +{ + ao_arch_critical( + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | BATTERY_PIN; + ao_sleep(DATA_TO_XDATA(&ao_battery_value)); + ); + return (uint16_t) ((int32_t) ao_battery_value.v * (int32_t) 4950 >> 15); +} + +static void +ao_battery_show(void) +{ + printf("Battery: %u mV\n", ao_battery_get()); +} + +__code struct ao_cmds ao_battery_cmds[] = { + { ao_battery_show, "B\0Show battery voltage" }, + { 0, NULL }, +}; + +void +ao_battery_init(void) +{ + ADCCFG = (1 << BATTERY_PIN); + ADCIF = 0; + IEN0 |= IEN0_ADCIE; + ao_cmd_register(&ao_battery_cmds[0]); +} diff --git a/src/ao_beep.c b/src/cc1111/ao_beep.c index 3642f4c6..3642f4c6 100644 --- a/src/ao_beep.c +++ b/src/cc1111/ao_beep.c diff --git a/src/cc1111/ao_button.c b/src/cc1111/ao_button.c new file mode 100644 index 00000000..69f3475f --- /dev/null +++ b/src/cc1111/ao_button.c @@ -0,0 +1,158 @@ +/* + * 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" + +volatile __xdata struct ao_fifo ao_button_fifo; + +static __code struct { + uint8_t mask; + uint8_t reg; +} ao_buttons[] = { +#ifdef BUTTON_1_MASK + { BUTTON_1_MASK, BUTTON_1_REG }, +#endif +#ifdef BUTTON_2_MASK + { BUTTON_2_MASK, BUTTON_2_REG }, +#endif +#ifdef BUTTON_3_MASK + { BUTTON_3_MASK, BUTTON_3_REG }, +#endif +}; + +#define NUM_BUTTONS ((sizeof ao_buttons) / sizeof (ao_buttons[0])) + +static __xdata uint16_t ao_button_tick[NUM_BUTTONS]; + +static void +ao_button_insert(char n) +{ + uint16_t now = ao_time(); + if ((now - ao_button_tick[n]) > 20) { + ao_button_tick[n] = now; + ao_fifo_insert(ao_button_fifo, n); + ao_wakeup(&ao_button_fifo); + } +} + +static void +ao_button_isr(uint8_t flag, uint8_t reg) +{ + uint8_t b; + + for (b = 0; b < NUM_BUTTONS; b++) + if (ao_buttons[b].reg == reg && (ao_buttons[b].mask & flag)) + ao_button_insert(b + 1); +} + +static uint8_t +ao_button_mask(uint8_t reg) +{ + uint8_t b; + uint8_t mask = 0; + + for (b = 0; b < NUM_BUTTONS; b++) + if (ao_buttons[b].reg == reg) + mask |= ao_buttons[b].mask; + return mask; +} + +char +ao_button_get(void) __critical +{ + char b; + + while (ao_fifo_empty(ao_button_fifo)) + if (ao_sleep(&ao_button_fifo)) + return 0; + ao_fifo_remove(ao_button_fifo, b); + return b; +} + +void +ao_button_clear(void) __critical +{ + char b; + + while (!ao_fifo_empty(ao_button_fifo)) + ao_fifo_remove(ao_button_fifo, b); +} + +void +ao_p0_isr(void) ao_arch_interrupt(13) +{ + P0IF = 0; + ao_button_isr(P0IFG, 0); + P0IFG = 0; +} + +void +ao_p1_isr(void) ao_arch_interrupt(15) +{ + P1IF = 0; + ao_button_isr(P1IFG, 1); + P1IFG = 0; +} + +/* Shared with USB */ +void +ao_p2_isr(void) +{ + ao_button_isr(P2IFG, 2); + P2IFG = 0; +} + +void +ao_button_init(void) +{ + uint8_t mask; + + /* Pins are configured as inputs with pull-up by default */ + + /* Enable interrupts for P0 inputs */ + mask = ao_button_mask(0); + if (mask) { + if (mask & 0x0f) + PICTL |= PICTL_P0IENL; + if (mask & 0xf0) + PICTL |= PICTL_P0IENH; + P0IFG = 0; + P0IF = 0; + IEN1 |= IEN1_P0IE; + PICTL |= PICTL_P0ICON; + } + + /* Enable interrupts for P1 inputs */ + mask = ao_button_mask(1); + if (mask) { + P1IEN |= mask; + P1IFG = 0; + P1IF = 0; + IEN2 |= IEN2_P1IE; + PICTL |= PICTL_P1ICON; + } + + /* Enable interrupts for P2 inputs */ + mask = ao_button_mask(2); + if (mask) { + PICTL |= PICTL_P2IEN; + P2IFG = 0; + P2IF = 0; + IEN2 |= IEN2_P2IE; + PICTL |= PICTL_P2ICON; + } +} diff --git a/src/ao_dbg.c b/src/cc1111/ao_dbg.c index c8dc6ddc..847b5aaf 100644 --- a/src/ao_dbg.c +++ b/src/cc1111/ao_dbg.c @@ -16,32 +16,25 @@ */ #include "ao.h" - -#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) +#include "ao_pins.h" static void -ao_dbg_send_bits(uint8_t msk, uint8_t val) +ao_dbg_send_bits(uint8_t msk, uint8_t val) __reentrant { - P0 = (P0 & ~msk) | (val & msk); - _asm + DBG_PORT = (DBG_PORT & ~msk) | (val & msk); + __asm nop nop - _endasm; + __endasm; } void ao_dbg_send_byte(uint8_t byte) { - __xdata uint8_t b, d; + __pdata uint8_t b, d; - P0 |= DBG_DATA; - P0DIR |= DBG_DATA; + DBG_PORT |= DBG_DATA; + DBG_PORT_DIR |= DBG_DATA; for (b = 0; b < 8; b++) { d = 0; if (byte & 0x80) @@ -50,13 +43,13 @@ ao_dbg_send_byte(uint8_t byte) ao_dbg_send_bits(DBG_CLOCK|DBG_DATA, DBG_CLOCK|d); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA, 0 |d); } - P0DIR &= ~DBG_DATA; + DBG_PORT_DIR &= ~DBG_DATA; } uint8_t ao_dbg_recv_byte(void) { - __xdata uint8_t byte, b; + __pdata uint8_t byte, b; byte = 0; for (b = 0; b < 8; b++) { @@ -96,12 +89,12 @@ ao_dbg_recv_byte(void) #define SFR_DPL1 0x84 #define SFR_DPH1 0x85 -__xdata uint8_t save_acc; -__xdata uint8_t save_psw; -__xdata uint8_t save_dpl0; -__xdata uint8_t save_dph0; -__xdata uint8_t save_dpl1; -__xdata uint8_t save_dph1; +__pdata uint8_t save_acc; +__pdata uint8_t save_psw; +__pdata uint8_t save_dpl0; +__pdata uint8_t save_dph0; +__pdata uint8_t save_dpl1; +__pdata uint8_t save_dph1; static uint8_t ao_dbg_inst1(uint8_t a) __reentrant @@ -171,20 +164,21 @@ ao_dbg_read_byte(void) static void ao_dbg_set_pins(void) { - /* Disable peripheral use of P0 */ - ADCCFG = 0; - P0SEL = 0; + /* Make the DBG pins GPIOs. On TeleMetrum, this will + * disable the SPI link, so don't expect SPI to work after + * using the debugger. + */ + DBG_PORT_SEL &= ~(DBG_CLOCK|DBG_DATA|DBG_RESET_N); - - /* make P0_4 tri-state */ - P0INP = DBG_DATA; - P2INP &= ~(P2INP_PDUP0_PULL_DOWN); + /* make DBG_DATA tri-state */ + DBG_PORT_INP |= DBG_DATA; /* Raise RESET_N and CLOCK */ - P0 = DBG_RESET_N | DBG_CLOCK; + DBG_PORT |= DBG_RESET_N | DBG_CLOCK; /* RESET_N and CLOCK are outputs now */ - P0DIR = DBG_RESET_N | DBG_CLOCK; + DBG_PORT_DIR |= DBG_RESET_N | DBG_CLOCK; + DBG_PORT_DIR &= ~DBG_DATA; } static void @@ -193,9 +187,12 @@ ao_dbg_long_delay(void) uint8_t n; for (n = 0; n < 20; n++) - _asm nop _endasm; + __asm nop __endasm; } +#define AO_RESET_LOW_DELAY AO_MS_TO_TICKS(100) +#define AO_RESET_HIGH_DELAY AO_MS_TO_TICKS(100) + void ao_dbg_debug_mode(void) { @@ -204,7 +201,7 @@ ao_dbg_debug_mode(void) ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N); ao_dbg_long_delay(); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, 0 |DBG_DATA| 0 ); - ao_dbg_long_delay(); + ao_delay(AO_RESET_LOW_DELAY); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 ); ao_dbg_long_delay(); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, 0 |DBG_DATA| 0 ); @@ -212,7 +209,7 @@ ao_dbg_debug_mode(void) ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 ); ao_dbg_long_delay(); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, 0 |DBG_DATA|DBG_RESET_N); - ao_dbg_long_delay(); + ao_delay(AO_RESET_HIGH_DELAY); } void @@ -223,7 +220,7 @@ ao_dbg_reset(void) ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N); ao_dbg_long_delay(); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 ); - ao_dbg_long_delay(); + ao_delay(AO_RESET_LOW_DELAY); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 ); ao_dbg_long_delay(); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 ); @@ -231,7 +228,7 @@ ao_dbg_reset(void) ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 ); ao_dbg_long_delay(); ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N); - ao_dbg_long_delay(); + ao_delay(AO_RESET_HIGH_DELAY); } static void @@ -263,9 +260,9 @@ debug_put(void) static void debug_get(void) { - __xdata uint16_t count; - __xdata uint16_t i; - __xdata uint8_t byte; + __pdata uint16_t count; + __pdata uint16_t i; + __pdata uint8_t byte; ao_cmd_hex(); if (ao_cmd_status != ao_cmd_success) return; @@ -287,7 +284,7 @@ debug_get(void) static uint8_t getnibble(void) { - __xdata char c; + __pdata char c; c = getchar(); if ('0' <= c && c <= '9') @@ -303,10 +300,10 @@ getnibble(void) static void debug_input(void) { - __xdata uint16_t count; - __xdata uint16_t addr; - __xdata uint8_t b; - __xdata uint8_t i; + __pdata uint16_t count; + __pdata uint16_t addr; + __pdata uint8_t b; + __pdata uint8_t i; ao_cmd_hex(); count = ao_cmd_lex_i; @@ -329,9 +326,9 @@ debug_input(void) static void debug_output(void) { - __xdata uint16_t count; - __xdata uint16_t addr; - __xdata uint8_t b; + __pdata uint16_t count; + __pdata uint16_t addr; + __pdata uint8_t b; ao_cmd_hex(); count = ao_cmd_lex_i; @@ -351,13 +348,13 @@ debug_output(void) } __code struct ao_cmds ao_dbg_cmds[7] = { - { 'D', debug_enable, "D Enable debug mode" }, - { 'G', debug_get, "G <count> Get data from debug port" }, - { 'I', debug_input, "I <count> <addr> Input <count> bytes to target at <addr>" }, - { 'O', debug_output, "O <count> <addr> Output <count> bytes to target at <addr>" }, - { 'P', debug_put, "P <byte> ... Put data to debug port" }, - { 'R', debug_reset, "R Reset target" }, - { 0, debug_reset, 0 }, + { debug_enable, "D\0Enable debug" }, + { debug_get, "G <count>\0Get data" }, + { debug_input, "I <count> <addr>\0Input <count> at <addr>" }, + { debug_output, "O <count> <addr>\0Output <count> at <addr>" }, + { debug_put, "P <byte> ...\0Put data" }, + { debug_reset, "R\0Reset" }, + { 0, NULL }, }; void diff --git a/src/ao_dma.c b/src/cc1111/ao_dma.c index a4d45f14..8779ddf4 100644 --- a/src/ao_dma.c +++ b/src/cc1111/ao_dma.c @@ -46,6 +46,10 @@ ao_dma_alloc(__xdata uint8_t *done) DMAIRQ = 0; DMAIF = 0; IEN1 |= IEN1_DMAIE; + DMA0CFGH = ((uint16_t) (&ao_dma_config[0])) >> 8; + DMA0CFGL = ((uint16_t) (&ao_dma_config[0])); + DMA1CFGH = ((uint16_t) (&ao_dma_config[1])) >> 8; + DMA1CFGL = ((uint16_t) (&ao_dma_config[1])); } return id; @@ -69,25 +73,20 @@ ao_dma_set_transfer(uint8_t id, ao_dma_config[id].len_low = count; ao_dma_config[id].cfg0 = cfg0; ao_dma_config[id].cfg1 = cfg1 | DMA_CFG1_IRQMASK; - if (id == 0) { - DMA0CFGH = ((uint16_t) (&ao_dma_config[0])) >> 8; - DMA0CFGL = ((uint16_t) (&ao_dma_config[0])); - } else { - DMA1CFGH = ((uint16_t) (&ao_dma_config[1])) >> 8; - DMA1CFGL = ((uint16_t) (&ao_dma_config[1])); - } } -#define nop() _asm nop _endasm; +#define nop() __asm nop __endasm; void ao_dma_start(uint8_t id) { uint8_t mask = (1 << id); DMAIRQ &= ~mask; - DMAARM = 0x80 | mask; - nop(); nop(); nop(); nop(); - nop(); nop(); nop(); nop(); + if (DMAARM & mask) { + DMAARM = 0x80 | mask; + nop(); nop(); nop(); nop(); + nop(); nop(); nop(); nop(); + } *(ao_dma_done[id]) = 0; DMAARM = mask; nop(); nop(); nop(); nop(); @@ -110,7 +109,7 @@ ao_dma_abort(uint8_t id) } void -ao_dma_isr(void) interrupt 8 +ao_dma_isr(void) __interrupt 8 { uint8_t id, mask; diff --git a/src/cc1111/ao_intflash.c b/src/cc1111/ao_intflash.c new file mode 100644 index 00000000..632e2a85 --- /dev/null +++ b/src/cc1111/ao_intflash.c @@ -0,0 +1,209 @@ +/* + * Copyright © 2011 Anthony Towns <aj@erisian.com.au> + * + * 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 "cc1111.h" + +#define ENDOFCODE (CODESIZE) +#define AO_INTFLASH_BLOCK 1024 +#define AO_INTFLASH_BLOCKS ((0x8000 - ENDOFCODE)/AO_INTFLASH_BLOCK) +#define AO_INTFLASH_SIZE (AO_INTFLASH_BLOCK * AO_INTFLASH_BLOCKS) +#define AO_INTFLASH_LOCATION (0x8000 - AO_INTFLASH_SIZE) + +/* + * 21000 * 24e6 + * FWT = ------------ + * 16e9 + * + * = 31.5 + * + * Round up and use 32 + */ + +#define FLASH_TIMING 0x20 + +#if AO_INTFLASH_BLOCKS < 2 +#error "Too few pages" +#endif + +#if AO_INFTLASH_LOCATION % 1024 != 0 +#error "Pages aren't aligned properly" +#endif + +__xdata __at(AO_INTFLASH_LOCATION) uint8_t ao_intflash[AO_INTFLASH_SIZE]; + +/* Total bytes of available storage */ +__pdata uint32_t ao_storage_total = sizeof(ao_intflash); + +/* Block size - device is erased in these units. */ +__pdata uint32_t ao_storage_block = AO_INTFLASH_BLOCK; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +__pdata uint32_t ao_storage_config = sizeof(ao_intflash) - AO_INTFLASH_BLOCK; + +/* Storage unit size - device reads and writes must be within blocks of this size. */ +__pdata uint16_t ao_storage_unit = AO_INTFLASH_BLOCK; + +__xdata static uint8_t ao_intflash_dma_done; +static uint8_t ao_intflash_dma; + +/* + * The internal flash chip is arranged in 1kB sectors; the + * chip cannot erase in units smaller than that. + * + * Writing happens in units of 2 bytes and + * can only change bits from 1 to 0. So, you can rewrite + * the same contents, or append to an existing page easily enough + */ + +/* + * Erase the specified sector + */ +uint8_t +ao_storage_erase(uint32_t pos) __reentrant +{ + uint16_t addr; + + if (pos >= ao_storage_total || pos + ao_storage_block > ao_storage_total) + return 0; + + addr = ((uint16_t)(ao_intflash + pos) >> 1); + + FADDRH = addr >> 8; + FADDRL = addr; + + __critical { + _asm + .even + orl _FCTL, #FCTL_ERASE; ; FCTL |= FCTL_ERASE + nop ; Required, see datasheet. + _endasm; + } + + return 1; +} + +/* + * Write to flash + */ + +static void +ao_intflash_write_aligned(uint16_t pos, __xdata void *d, uint16_t len) __reentrant +{ + pos = ((uint16_t) ao_intflash + pos) >> 1; + + ao_dma_set_transfer(ao_intflash_dma, + d, + &FWDATAXADDR, + len, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + DMA_CFG0_TRIGGER_FLASH, + DMA_CFG1_SRCINC_1 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_HIGH); + + FADDRH = pos >> 8; + FADDRL = pos; + + ao_dma_start(ao_intflash_dma); + + __critical { + _asm + .even + orl _FCTL, #FCTL_WRITE; ; FCTL |= FCTL_WRITE + nop + _endasm; + } +} + +static void +ao_intflash_write_byte(uint16_t pos, uint8_t byte) __reentrant +{ + static __xdata uint8_t b[2]; + + if (pos & 1) { + b[0] = 0xff; + b[1] = byte; + } else { + b[0] = byte; + b[1] = 0xff; + } + ao_intflash_write_aligned(pos, b, 2); +} + +uint8_t +ao_storage_device_write(uint32_t pos32, __xdata void *v, uint16_t len) __reentrant +{ + uint16_t pos = pos32; + __xdata uint8_t *d = v; + uint8_t oddlen; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + if (len == 0) + return 1; + + if (pos & 1) { + ao_intflash_write_byte(pos++, *d++); + len--; + } + oddlen = len & 1; + len -= oddlen; + if (len) + ao_intflash_write_aligned(pos, d, len); + if (oddlen) + ao_intflash_write_byte(pos + len, d[len]); + + return 1; +} + +/* + * Read from flash + */ +uint8_t +ao_storage_device_read(uint32_t pos, __xdata void *d, uint16_t len) __reentrant +{ + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + ao_xmemcpy(d, ao_intflash+pos, len); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ +} + +void +ao_storage_setup(void) +{ +} + +void +ao_storage_device_info(void) __reentrant +{ + printf ("Using internal flash, starting at 0x%04x\n", AO_INTFLASH_LOCATION); +} + +void +ao_storage_device_init(void) +{ + ao_intflash_dma = ao_dma_alloc(&ao_intflash_dma_done); + + FWT = FLASH_TIMING; +} diff --git a/src/cc1111/ao_launch.c b/src/cc1111/ao_launch.c new file mode 100644 index 00000000..420f7568 --- /dev/null +++ b/src/cc1111/ao_launch.c @@ -0,0 +1,210 @@ +/* + * 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_radio_cmac.h> + +__xdata uint16_t ao_launch_ignite; + +#if 0 +#define PRINTD(...) printf(__VA_ARGS__) +#else +#define PRINTD(...) +#endif + +static void +ao_launch_run(void) +{ + for (;;) { + while (!ao_launch_ignite) + ao_sleep(&ao_launch_ignite); + ao_ignition[ao_igniter_drogue].firing = 1; + ao_ignition[ao_igniter_main].firing = 1; + AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT; + AO_IGNITER_DROGUE = 1; + while (ao_launch_ignite) { + ao_launch_ignite = 0; + ao_delay(AO_MS_TO_TICKS(500)); + } + AO_IGNITER_DROGUE = 0; + ao_ignition[ao_igniter_drogue].firing = 0; + ao_ignition[ao_igniter_main].firing = 0; + } +} + +static void +ao_launch_status(void) +{ + uint8_t i; + for (;;) { + ao_delay(AO_SEC_TO_TICKS(1)); + if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) { + if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) { + for (i = 0; i < 5; i++) { + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50)); + ao_delay(AO_MS_TO_TICKS(100)); + } + } else { + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + } + } + } +} + +static __pdata uint8_t ao_launch_armed; +static __pdata uint16_t ao_launch_arm_time; + +static void +ao_launch(void) +{ + static __xdata struct ao_launch_command command; + static __xdata struct ao_launch_query query; + int16_t time_difference; + + ao_led_off(AO_LED_RED); + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + for (;;) { + flush(); + if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK) + continue; + + PRINTD ("tick %d serial %d cmd %d channel %d\n", + command.tick, command.serial, command.cmd, command.channel); + + switch (command.cmd) { + case AO_LAUNCH_QUERY: + if (command.serial != ao_serial_number) { + PRINTD ("serial number mismatch\n"); + break; + } + + if (command.channel == 0) { + query.valid = 1; + query.arm_status = ao_igniter_status(ao_igniter_drogue); + query.igniter_status = ao_igniter_status(ao_igniter_main); + } else { + query.valid = 0; + } + query.tick = ao_time(); + query.serial = ao_serial_number; + query.channel = command.channel; + PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n", + query.tick, query.serial, query.channel, query.valid, query.arm_status, + query.igniter_status); + ao_radio_cmac_send(&query, sizeof (query)); + break; + case AO_LAUNCH_ARM: + if (command.serial != ao_serial_number) { + PRINTD ("serial number mismatch\n"); + break; + } + + if (command.channel != 0) + break; + time_difference = command.tick - ao_time(); + PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time()); + if (time_difference < 0) + time_difference = -time_difference; + if (time_difference > 10) { + PRINTD ("time difference too large %d\n", time_difference); + break; + } + PRINTD ("armed\n"); + ao_launch_armed = 1; + ao_launch_arm_time = ao_time(); + break; + case AO_LAUNCH_FIRE: + if (!ao_launch_armed) { + PRINTD ("not armed\n"); + break; + } + if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) { + PRINTD ("late launch arm_time %d time %d\n", + ao_launch_arm_time, ao_time()); + break; + } + time_difference = command.tick - ao_time(); + if (time_difference < 0) + time_difference = -time_difference; + if (time_difference > 10) { + PRINTD ("time different too large %d\n", time_difference); + break; + } + PRINTD ("ignite\n"); + ao_launch_ignite = 1; + ao_wakeup(&ao_launch_ignite); + break; + } + } +} + +void +ao_launch_test(void) +{ + switch (ao_igniter_status(ao_igniter_drogue)) { + case ao_igniter_ready: + case ao_igniter_active: + printf ("Armed: "); + switch (ao_igniter_status(ao_igniter_main)) { + default: + printf("unknown status\n"); + break; + case ao_igniter_ready: + printf("igniter good\n"); + break; + case ao_igniter_open: + printf("igniter bad\n"); + break; + } + break; + default: + printf("Disarmed\n"); + } +} + +void +ao_launch_manual(void) +{ + ao_cmd_white(); + if (!ao_match_word("DoIt")) + return; + ao_cmd_white(); + ao_launch_ignite = 1; + ao_wakeup(&ao_launch_ignite); +} + +static __xdata struct ao_task ao_launch_task; +static __xdata struct ao_task ao_launch_ignite_task; +static __xdata struct ao_task ao_launch_status_task; + +__code struct ao_cmds ao_launch_cmds[] = { + { ao_launch_test, "t\0Test launch continuity" }, + { ao_launch_manual, "i <key>\0Fire igniter. <key> is doit with D&I" }, + { 0, NULL } +}; + +void +ao_launch_init(void) +{ + AO_IGNITER_DROGUE = 0; + AO_IGNITER_MAIN = 0; + AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT; + ao_cmd_register(&ao_launch_cmds[0]); + ao_add_task(&ao_launch_task, ao_launch, "launch listener"); + ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter"); + ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status"); +} diff --git a/src/cc1111/ao_lcd_port.c b/src/cc1111/ao_lcd_port.c new file mode 100644 index 00000000..e61b1a60 --- /dev/null +++ b/src/cc1111/ao_lcd_port.c @@ -0,0 +1,50 @@ +/* + * 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" + +static void +ao_lcd_port_delay(void) +{ + uint8_t i; + + for (i = 0; i < 100; i++) + ao_arch_nop(); +} + +void +ao_lcd_port_put_nibble(uint8_t rs, uint8_t nibble) +{ + P0 = (P0 & 0xf0) | (nibble & 0x0f); + P1_1 = rs; + P1_0 = 1; + ao_lcd_port_delay(); + P1_0 = 0; + ao_lcd_port_delay(); +} + +void +ao_lcd_port_init(void) +{ + /* LCD_E and LCD_RS are GPIO outputs */ + P1DIR |= 0x03; + P1SEL &= ~0x03; + + /* LCD D4-D7 are GPIO outputs */ + P0DIR |= 0x0f; + P0SEL &= ~0x0f; +} diff --git a/src/ao_led.c b/src/cc1111/ao_led.c index 6c698b4b..5beed58d 100644 --- a/src/ao_led.c +++ b/src/cc1111/ao_led.c @@ -17,8 +17,6 @@ #include "ao.h" -#define AO_LED_ALL (AO_LED_GREEN|AO_LED_RED) - __pdata uint8_t ao_led_enable; void diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h new file mode 100644 index 00000000..2f0e2884 --- /dev/null +++ b/src/cc1111/ao_pins.h @@ -0,0 +1,575 @@ +/* + * 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 + +#if defined(TELEMETRUM_V_1_0) + #define HAS_FLIGHT 1 + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 + #define HAS_SERIAL_1 1 + #define HAS_ADC 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_DBG 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 1 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + #define NOISY_ACCEL 1 + + #define HAS_COMPANION 1 + #define COMPANION_CS_ON_P1 1 + #define AO_COMPANION_CS_PORT P1 + #define AO_COMPANION_CS_PIN 2 + #define AO_COMPANION_CS P1_2 + + #define AO_LED_RED 1 + #define LEDS_AVAILABLE (AO_LED_RED) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL_REF 0 + #define HAS_ACCEL 1 + #define HAS_IGNITE 1 + #define HAS_MONITOR 0 +#endif + +#if defined(TELEMETRUM_V_1_1) + #define HAS_FLIGHT 1 + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 + #define HAS_SERIAL_1 1 + #define HAS_ADC 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_DBG 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 1 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + + #define HAS_COMPANION 1 + #define AO_COMPANION_CS_PORT P1 + #define AO_COMPANION_CS_PIN 2 + #define AO_COMPANION_CS P1_2 + + #define AO_LED_RED 1 + #define LEDS_AVAILABLE (AO_LED_RED) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL_REF 1 + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define AO_M25_SPI_CS_MASK 0x02 /* CS0 is P1_1 */ + #define M25_MAX_CHIPS 1 + #define HAS_ACCEL 1 + #define HAS_IGNITE 1 + #define HAS_MONITOR 0 +#endif + +#if defined(TELEMETRUM_V_1_2) + #define HAS_FLIGHT 1 + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 + #define HAS_SERIAL_1 1 + #define HAS_ADC 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_DBG 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 1 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + + #define HAS_COMPANION 1 + #define AO_COMPANION_CS_PORT P1 + #define AO_COMPANION_CS_PIN 2 + #define AO_COMPANION_CS P1_2 + + #define AO_LED_RED 1 + #define LEDS_AVAILABLE (AO_LED_RED) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL_REF 1 + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define AO_M25_SPI_CS_MASK 0x02 /* CS0 is P1_1 */ + #define M25_MAX_CHIPS 1 + #define HAS_ACCEL 1 + #define HAS_IGNITE 1 + #define HAS_MONITOR 0 +#endif + +#if defined(TELEDONGLE_V_0_2) + #define HAS_FLIGHT 0 + #define HAS_USB 1 + #define HAS_BEEP 0 + #define HAS_SERIAL_1 0 + #define HAS_ADC 0 + #define HAS_DBG 1 + #define HAS_EEPROM 0 + #define HAS_LOG 0 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 1 + #define PACKET_HAS_SLAVE 0 + #define AO_LED_RED 1 + #define AO_LED_GREEN 2 + #define AO_MONITOR_LED AO_LED_GREEN + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define HAS_IGNITE 0 + #define HAS_MONITOR 1 + #define LEGACY_MONITOR 1 + #define HAS_RSSI 1 + #define HAS_AES 0 +#endif + +#if defined(TELEMINI_V_1_0) + #define HAS_FLIGHT 1 + #define HAS_USB 0 + #define HAS_BEEP 0 + #define HAS_GPS 0 + #define HAS_SERIAL_1 0 + #define HAS_ADC 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define HAS_FORCE_FREQ 1 + #define USE_INTERNAL_FLASH 1 + #define HAS_DBG 0 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 1 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + #define USE_FAST_ASCENT_LOG 1 + + #define AO_LED_GREEN 1 + #define AO_LED_RED 2 + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL 0 + #define HAS_IGNITE 1 + #define HAS_MONITOR 0 +#endif + +#if defined(TELENANO_V_0_1) + #define HAS_FLIGHT 1 + #define HAS_USB 0 + #define HAS_BEEP 0 + #define HAS_GPS 0 + #define HAS_SERIAL_1 0 + #define HAS_ADC 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 1 + #define HAS_DBG 0 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 1 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + + #define AO_LED_GREEN 1 + #define AO_LED_RED 2 + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL 0 + #define HAS_IGNITE 0 + #define HAS_MONITOR 0 +#endif + +#if defined(TELEMETRUM_V_0_1) + #define HAS_FLIGHT 1 + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 + #define HAS_SERIAL_1 1 + #define HAS_ADC 1 + #define HAS_DBG 0 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define DBG_ON_P1 0 + #define DBG_ON_P0 1 + #define IGNITE_ON_P2 1 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + #define AO_LED_RED 2 + #define AO_LED_GREEN 1 + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define HAS_EXTERNAL_TEMP 1 + #define HAS_ACCEL_REF 0 + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define HAS_ACCEL 1 + #define HAS_IGNITE 1 + #define HAS_MONITOR 0 + #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 127 * (uint32_t) 1024) +#endif + +#if defined(TELEDONGLE_V_0_1) + #define HAS_FLIGHT 0 + #define HAS_USB 1 + #define HAS_BEEP 0 + #define HAS_SERIAL_1 0 + #define HAS_ADC 0 + #define HAS_DBG 0 + #define HAS_EEPROM 0 + #define HAS_LOG 0 + #define DBG_ON_P1 0 + #define DBG_ON_P0 1 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 1 + #define PACKET_HAS_SLAVE 0 + #define AO_LED_RED 2 + #define AO_LED_GREEN 1 + #define AO_MONITOR_LED AO_LED_GREEN + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define SPI_CS_ON_P1 0 + #define SPI_CS_ON_P0 1 + #define HAS_IGNITE 0 + #define HAS_MONITOR 1 + #define LEGACY_MONITOR 1 + #define HAS_RSSI 1 + #define HAS_AES 0 +#endif + +#if defined(TIDONGLE) + #define HAS_FLIGHT 0 + #define HAS_USB 1 + #define HAS_BEEP 0 + #define HAS_SERIAL_1 0 + #define HAS_ADC 0 + #define HAS_DBG 1 + #define HAS_EEPROM 0 + #define HAS_LOG 0 + #define DBG_ON_P1 0 + #define DBG_ON_P0 1 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 1 + #define PACKET_HAS_SLAVE 0 + #define AO_LED_RED 2 + #define AO_MONITOR_LED AO_LED_RED + #define LEDS_AVAILABLE (AO_LED_RED) + #define SPI_CS_ON_P1 0 + #define SPI_CS_ON_P0 1 + #define HAS_IGNITE 0 + #define HAS_MONITOR 1 + #define LEGACY_MONITOR 1 + #define HAS_RSSI 1 + #define HAS_AES 0 +#endif + +#if defined(TELEBT_V_0_0) + #define HAS_FLIGHT 0 + #define HAS_USB 1 + #define HAS_BEEP 0 + #define HAS_SERIAL_1 1 + #define USE_SERIAL_1_STDIN 1 + #define DELAY_SERIAL_1_STDIN 1 + #define HAS_ADC 0 + #define HAS_DBG 1 + #define HAS_EEPROM 0 + #define HAS_LOG 0 + #define HAS_BTM 1 + #define DBG_ON_P1 0 + #define DBG_ON_P0 1 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 1 + #define PACKET_HAS_SLAVE 0 + #define AO_LED_RED 2 + #define AO_LED_GREEN 1 + #define AO_MONITOR_LED AO_LED_RED + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define HAS_IGNITE 0 + #define HAS_IGNITE_REPORT 1 + #define BT_LINK_ON_P2 1 + #define BT_LINK_ON_P1 0 + #define BT_LINK_PIN_INDEX 7 + #define BT_LINK_PIN P2_1 + #define HAS_MONITOR 1 + #define LEGACY_MONITOR 1 + #define HAS_RSSI 0 + #define HAS_AES 0 +#endif + +#if defined(TELEBT_V_0_1) + #define HAS_FLIGHT 0 + #define HAS_USB 1 + #define HAS_BEEP 1 + #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_ADC 0 + #define HAS_DBG 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_BTM 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 1 + #define PACKET_HAS_SLAVE 0 + #define AO_LED_RED 1 + #define AO_LED_GREEN 2 + #define AO_MONITOR_LED AO_LED_RED + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define AO_M25_SPI_CS_MASK 0x04 /* CS0 is P1_2 */ + #define M25_MAX_CHIPS 1 + #define HAS_ACCEL 0 + #define HAS_IGNITE 0 + #define HAS_IGNITE_REPORT 1 + #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 LEGACY_MONITOR 1 + #define HAS_RSSI 0 + #define HAS_AES 0 +#endif + +#if defined(TELELAUNCH_V_0_1) + #define HAS_FLIGHT 0 + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 0 + #define HAS_SERIAL_1 1 + #define HAS_ADC 1 + #define HAS_DBG 0 + #define HAS_EEPROM 1 + #define HAS_LOG 0 + #define USE_INTERNAL_FLASH 1 + #define DBG_ON_P1 0 + #define DBG_ON_P0 1 + #define IGNITE_ON_P2 1 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 0 + #define AO_LED_RED 2 + #define AO_LED_GREEN 1 + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define HAS_EXTERNAL_TEMP 1 + #define HAS_ACCEL_REF 0 + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define HAS_ACCEL 0 + #define HAS_IGNITE 1 + #define HAS_MONITOR 0 + #define HAS_AES 1 +#endif + +#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 */ + +#if COMPANION_CS_ON_P1 + #define COMPANION_CS_PORT P1 + #define COMPANION_CS_SEL P1SEL + #define COMPANION_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P1 + #define SPI_CS_PORT P1 + #define SPI_CS_SEL P1SEL + #define SPI_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P0 + #define SPI_CS_PORT P0 + #define SPI_CS_SEL P0SEL + #define SPI_CS_DIR P0DIR +#endif + +#define AO_M25_SPI_CS_PORT SPI_CS_PORT + +#ifndef IGNITE_ON_P2 +#error Please define IGNITE_ON_P2 +#endif + +#ifndef IGNITE_ON_P0 +#error Please define IGNITE_ON_P0 +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#ifndef HAS_EEPROM +#error Please define HAS_EEPROM +#endif + +#ifndef HAS_LOG +#error Please define HAS_LOG +#endif + +#if HAS_EEPROM +#ifndef USE_INTERNAL_FLASH +#error Please define USE_INTERNAL_FLASH +#endif +#endif + +#ifndef HAS_DBG +#error Please define HAS_DBG +#endif + +#ifndef HAS_IGNITE +#error Please define HAS_IGNITE +#endif + +#if HAS_IGNITE +#define HAS_IGNITE_REPORT 1 +#endif + +#ifndef PACKET_HAS_MASTER +#error Please define PACKET_HAS_MASTER +#endif + +#ifndef PACKET_HAS_SLAVE +#error Please define PACKET_HAS_SLAVE +#endif + +#ifndef HAS_MONITOR +#error Please define HAS_MONITOR +#endif + +#if HAS_MONITOR +#ifndef HAS_RSSI +#error Please define HAS_RSSI +#endif +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#if HAS_ADC + +#if HAS_ACCEL +#ifndef HAS_ACCEL_REF +#error Please define HAS_ACCEL_REF +#endif +#else +#define HAS_ACCEL_REF 0 +#endif + +#endif /* HAS_ADC */ + +#if IGNITE_ON_P2 +#define AO_IGNITER_PORT P2 +#define AO_IGNITER_DROGUE_PORT AO_IGNITER_PORT +#define AO_IGNITER_DROGUE P2_3 +#define AO_IGNITER_MAIN P2_4 +#define AO_IGNITER_DIR P2DIR +#define AO_IGNITER_DROGUE_BIT (1 << 3) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#define AO_IGNITER_DROGUE_PIN 3 +#define AO_IGNITER_MAIN_PIN 4 +#endif + +#if IGNITE_ON_P0 +#define AO_IGNITER_PORT P0 +#define AO_IGNITER_DROGUE P0_5 +#define AO_IGNITER_MAIN P0_4 +#define AO_IGNITER_DIR P0DIR +#define AO_IGNITER_DROGUE_BIT (1 << 5) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#define AO_IGNITER_DROGUE_PIN 5 +#define AO_IGNITER_MAIN_PIN 4 +#endif + +#define AO_IGNITER_DROGUE_PORT AO_IGNITER_PORT +#define AO_IGNITER_MAIN_PORT AO_IGNITER_PORT + +/* test these values with real igniters */ +#define AO_IGNITER_OPEN 1000 +#define AO_IGNITER_CLOSED 7000 +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) + +struct ao_adc { + int16_t accel; /* accelerometer */ + int16_t pres; /* pressure sensor */ + int16_t temp; /* temperature sensor */ + int16_t v_batt; /* battery voltage */ + int16_t sense_d; /* drogue continuity sense */ + int16_t sense_m; /* main continuity sense */ +#if HAS_ACCEL_REF + uint16_t accel_ref; /* acceleration reference */ +#endif +}; + +#endif /* _AO_PINS_H_ */ diff --git a/src/ao_radio.c b/src/cc1111/ao_radio.c index ca1ec7e8..cb2c2fdd 100644 --- a/src/ao_radio.c +++ b/src/cc1111/ao_radio.c @@ -16,6 +16,9 @@ */ #include "ao.h" +#if HAS_PAD +#include <ao_pad.h> +#endif /* Values from SmartRF® Studio for: * @@ -29,14 +32,6 @@ */ /* - * For 434.550MHz, the frequency value is: - * - * 434.550e6 / (24e6 / 2**16) = 1186611.2 - */ - -#define FREQ_CONTROL 1186611 - -/* * For IF freq of 140.62kHz, the IF value is: * * 140.62e3 / (24e6 / 2**10) = 6 @@ -77,6 +72,29 @@ #define DEVIATION_M 6 #define DEVIATION_E 3 +/* + * For our RDF beacon, set the symbol rate to 2kBaud (for a 1kHz tone), + * so the DRATE_E and DRATE_M values are: + * + * M is 94 and E is 6 + * + * To make the tone last for 200ms, we need 2000 * .2 = 400 bits or 50 bytes + */ + +#define RDF_DRATE_E 6 +#define RDF_DRATE_M 94 +#define RDF_PACKET_LEN 50 + +/* + * RDF deviation should match the normal NFM value of 5kHz + * + * M is 6 and E is 1 + * + */ + +#define RDF_DEVIATION_M 6 +#define RDF_DEVIATION_E 1 + /* This are from the table for 433MHz */ #define RF_POWER_M30_DBM 0x12 @@ -101,10 +119,6 @@ static __code uint8_t radio_setup[] = { RF_PA_TABLE1_OFF, RF_POWER, RF_PA_TABLE0_OFF, RF_POWER, - RF_FREQ2_OFF, (FREQ_CONTROL >> 16) & 0xff, - RF_FREQ1_OFF, (FREQ_CONTROL >> 8) & 0xff, - RF_FREQ0_OFF, (FREQ_CONTROL >> 0) & 0xff, - RF_FSCTRL1_OFF, (IF_FREQ_CONTROL << RF_FSCTRL1_FREQ_IF_SHIFT), RF_FSCTRL0_OFF, (0 << RF_FSCTRL0_FREQOFF_SHIFT), @@ -150,8 +164,6 @@ static __code uint8_t radio_setup[] = { RF_SYNC0_OFF, 0x91, /* max packet length */ - RF_PKTLEN_OFF, sizeof (struct ao_telemetry), - RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)| PKTCTRL1_APPEND_STATUS| PKTCTRL1_ADR_CHK_NONE), @@ -184,8 +196,29 @@ static __code uint8_t radio_setup[] = { RF_IOCFG0_OFF, 0x00, }; +static __code uint8_t rdf_setup[] = { + RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) | + (CHANBW_M << 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 | + RF_MDMCFG2_MOD_FORMAT_GFSK | + RF_MDMCFG2_SYNC_MODE_NONE), + RF_MDMCFG1_OFF, (RF_MDMCFG1_FEC_DIS | + RF_MDMCFG1_NUM_PREAMBLE_2 | + (2 << RF_MDMCFG1_CHANSPC_E_SHIFT)), + + RF_DEVIATN_OFF, ((RDF_DEVIATION_E << RF_DEVIATN_DEVIATION_E_SHIFT) | + (RDF_DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)), -static __code uint8_t telemetry_setup[] = { + /* packet length is set in-line */ + RF_PKTCTRL1_OFF, ((1 << 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[] = { RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) | (CHANBW_M << RF_MDMCFG4_CHANBW_M_SHIFT) | (DRATE_E << RF_MDMCFG4_DRATE_E_SHIFT)), @@ -200,8 +233,7 @@ static __code uint8_t telemetry_setup[] = { RF_DEVIATN_OFF, ((DEVIATION_E << RF_DEVIATN_DEVIATION_E_SHIFT) | (DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)), - /* max packet length */ - RF_PKTLEN_OFF, sizeof (struct ao_telemetry), + /* max packet length -- now set inline */ RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)| PKTCTRL1_APPEND_STATUS| PKTCTRL1_ADR_CHK_NONE), @@ -213,31 +245,69 @@ static __code uint8_t telemetry_setup[] = { __xdata uint8_t ao_radio_dma; __xdata uint8_t ao_radio_dma_done; +__xdata uint8_t ao_radio_done; +__xdata uint8_t ao_radio_abort; __xdata uint8_t ao_radio_mutex; +void +ao_radio_general_isr(void) __interrupt 16 +{ + S1CON &= ~0x03; + if (RFIF & RFIF_IM_TIMEOUT) { + ao_radio_recv_abort(); + RFIF &= ~ RFIF_IM_TIMEOUT; + } else if (RFIF & RFIF_IM_DONE) { + ao_radio_done = 1; + ao_wakeup(&ao_radio_done); + RFIF &= ~RFIF_IM_DONE; + } +} + +static void +ao_radio_set_packet(void) +{ + uint8_t i; + for (i = 0; i < sizeof (fixed_pkt_setup); i += 2) + RF[fixed_pkt_setup[i]] = fixed_pkt_setup[i+1]; +} + static void ao_radio_idle(void) { if (RF_MARCSTATE != RF_MARCSTATE_IDLE) { - RFST = RFST_SIDLE; do { + RFST = RFST_SIDLE; ao_yield(); } while (RF_MARCSTATE != RF_MARCSTATE_IDLE); } } -void -ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant +#define ao_radio_put() ao_mutex_put(&ao_radio_mutex) + +static void +ao_radio_get(uint8_t len) { ao_config_get(); ao_mutex_get(&ao_radio_mutex); ao_radio_idle(); - RF_CHANNR = ao_config.radio_channel; + RF_CHANNR = 0; + RF_FREQ2 = (uint8_t) (ao_config.radio_setting >> 16); + RF_FREQ1 = (uint8_t) (ao_config.radio_setting >> 8); + RF_FREQ0 = (uint8_t) (ao_config.radio_setting); + RF_PKTLEN = len; +} + + +void +ao_radio_send(__xdata void *packet, uint8_t size) __reentrant +{ + ao_radio_get(size); + ao_radio_done = 0; ao_dma_set_transfer(ao_radio_dma, - telemetry, + packet, &RFDXADDR, - sizeof (struct ao_telemetry), + size, DMA_CFG0_WORDSIZE_8 | DMA_CFG0_TMODE_SINGLE | DMA_CFG0_TRIGGER_RADIO, @@ -246,22 +316,20 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant DMA_CFG1_PRIORITY_HIGH); ao_dma_start(ao_radio_dma); RFST = RFST_STX; - __critical while (!ao_radio_dma_done) - ao_sleep(&ao_radio_dma_done); - ao_mutex_put(&ao_radio_mutex); + __critical while (!ao_radio_done) + ao_sleep(&ao_radio_done); + ao_radio_put(); } -void -ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant +uint8_t +ao_radio_recv(__xdata void *packet, uint8_t size) __reentrant { - ao_config_get(); - ao_mutex_get(&ao_radio_mutex); - ao_radio_idle(); - RF_CHANNR = ao_config.radio_channel; + ao_radio_abort = 0; + ao_radio_get(size - 2); ao_dma_set_transfer(ao_radio_dma, &RFDXADDR, - radio, - sizeof (struct ao_radio_recv), + packet, + size, DMA_CFG0_WORDSIZE_8 | DMA_CFG0_TMODE_SINGLE | DMA_CFG0_TRIGGER_RADIO, @@ -270,17 +338,212 @@ ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant DMA_CFG1_PRIORITY_HIGH); ao_dma_start(ao_radio_dma); RFST = RFST_SRX; - __critical while (!ao_radio_dma_done) - ao_sleep(&ao_radio_dma_done); - ao_mutex_put(&ao_radio_mutex); + + /* Wait for DMA to be done, for the radio receive process to + * get aborted or for a receive timeout to fire + */ + __critical while (!ao_radio_dma_done && !ao_radio_abort) + if (ao_sleep(&ao_radio_dma_done)) + break; + + /* If recv was aborted, clean up by stopping the DMA engine + * and idling the radio + */ + if (!ao_radio_dma_done) { + ao_dma_abort(ao_radio_dma); + ao_radio_idle(); + } + ao_radio_put(); + return ao_radio_dma_done; +} + +/* + * Wake up a task waiting to receive a radio packet + * and tell them to abort the transfer + */ + +void +ao_radio_recv_abort(void) +{ + ao_radio_abort = 1; + ao_wakeup(&ao_radio_dma_done); } +__code ao_radio_rdf_value = 0x55; + +static void +ao_radio_rdf_start(void) +{ + uint8_t i; + ao_radio_abort = 0; + ao_radio_get(AO_RADIO_RDF_LEN); + ao_radio_done = 0; + for (i = 0; i < sizeof (rdf_setup); i += 2) + RF[rdf_setup[i]] = rdf_setup[i+1]; +} + +static void +ao_radio_rdf_run(void) +{ + ao_dma_start(ao_radio_dma); + RFST = RFST_STX; + __critical while (!ao_radio_done && !ao_radio_abort) + ao_sleep(&ao_radio_done); + if (!ao_radio_done) { + ao_dma_abort(ao_radio_dma); + ao_radio_idle(); + } + ao_radio_set_packet(); + ao_radio_put(); +} + +void +ao_radio_rdf(void) +{ + ao_radio_rdf_start(); + + ao_dma_set_transfer(ao_radio_dma, + CODE_TO_XDATA(&ao_radio_rdf_value), + &RFDXADDR, + AO_RADIO_RDF_LEN, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + DMA_CFG0_TRIGGER_RADIO, + DMA_CFG1_SRCINC_0 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_HIGH); + ao_radio_rdf_run(); +} + +#define PA 0x00 +#define BE 0x55 + +#define CONT_PAUSE_8 PA, PA, PA, PA, PA, PA, PA, PA +#define CONT_PAUSE_16 CONT_PAUSE_8, CONT_PAUSE_8 +#define CONT_PAUSE_24 CONT_PAUSE_16, CONT_PAUSE_8 + +#define CONT_BEEP_8 BE, BE, BE, BE, BE, BE, BE, BE + +#if AO_RADIO_CONT_PAUSE_LEN == 24 +#define CONT_PAUSE CONT_PAUSE_24 +#endif + +#if AO_RADIO_CONT_TONE_LEN == 8 +#define CONT_BEEP CONT_BEEP_8 +#define CONT_PAUSE_SHORT CONT_PAUSE_8 +#endif + +#define CONT_ADDR(c) CODE_TO_XDATA(&ao_radio_cont[(3-(c)) * (AO_RADIO_CONT_PAUSE_LEN + AO_RADIO_CONT_TONE_LEN)]) + +__code uint8_t ao_radio_cont[] = { + CONT_PAUSE, CONT_BEEP, + CONT_PAUSE, CONT_BEEP, + CONT_PAUSE, CONT_BEEP, + CONT_PAUSE, CONT_PAUSE_SHORT, + CONT_PAUSE, CONT_PAUSE_SHORT, + CONT_PAUSE, +}; + +void +ao_radio_continuity(uint8_t c) +{ + ao_radio_rdf_start(); + ao_dma_set_transfer(ao_radio_dma, + CONT_ADDR(c), + &RFDXADDR, + AO_RADIO_CONT_TOTAL_LEN, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + DMA_CFG0_TRIGGER_RADIO, + DMA_CFG1_SRCINC_1 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_HIGH); + ao_radio_rdf_run(); +} + +void +ao_radio_rdf_abort(void) +{ + ao_radio_abort = 1; + ao_wakeup(&ao_radio_done); +} + + +/* Output carrier */ + +static __xdata ao_radio_test_on; + +void +ao_radio_test(uint8_t on) +{ + if (on) { + if (!ao_radio_test_on) { +#if HAS_MONITOR + ao_monitor_disable(); +#endif +#if PACKET_HAS_SLAVE + ao_packet_slave_stop(); +#endif +#if HAS_PAD + ao_pad_disable(); +#endif + ao_radio_get(0xff); + RFST = RFST_STX; + ao_radio_test_on = 1; + } + } else { + if (ao_radio_test_on) { + ao_radio_idle(); + ao_radio_put(); + ao_radio_test_on = 0; +#if HAS_MONITOR + ao_monitor_enable(); +#endif +#if HAS_PAD + ao_pad_enable(); +#endif + } + } +} + +static void +ao_radio_test_cmd(void) +{ + uint8_t mode = 2; + static __xdata radio_on; + ao_cmd_white(); + if (ao_cmd_lex_c != '\n') { + ao_cmd_decimal(); + mode = (uint8_t) ao_cmd_lex_u32; + } + mode++; + if ((mode & 2)) + ao_radio_test(1); + if (mode == 3) { + printf ("Hit a character to stop..."); flush(); + getchar(); + putchar('\n'); + } + if ((mode & 1)) + ao_radio_test(0); +} + +__code struct ao_cmds ao_radio_cmds[] = { + { ao_radio_test_cmd, "C <1 start, 0 stop, none both>\0Radio carrier test" }, + { 0, NULL }, +}; + void ao_radio_init(void) { uint8_t i; for (i = 0; i < sizeof (radio_setup); i += 2) RF[radio_setup[i]] = radio_setup[i+1]; + ao_radio_set_packet(); ao_radio_dma_done = 1; ao_radio_dma = ao_dma_alloc(&ao_radio_dma_done); + RFIF = 0; + RFIM = RFIM_IM_TIMEOUT|RFIM_IM_DONE; + IEN2 |= IEN2_RFIE; + ao_cmd_register(&ao_radio_cmds[0]); } diff --git a/src/ao_adc_fake.c b/src/cc1111/ao_reboot.c index 6ca88d4e..8c47b893 100644 --- a/src/ao_adc_fake.c +++ b/src/cc1111/ao_reboot.c @@ -17,11 +17,12 @@ #include "ao.h" -volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; -volatile __data uint8_t ao_adc_head; - -/* Stub for systems which have no ADC */ +/* Use the watchdog timer to force a complete reboot + */ void -ao_adc_poll(void) +ao_reboot(void) { + WDCTL = WDCTL_EN | WDCTL_MODE_WATCHDOG | WDCTL_INT_32768; + ao_delay(AO_SEC_TO_TICKS(2)); + ao_panic(AO_PANIC_REBOOT); } diff --git a/src/cc1111/ao_romconfig.c b/src/cc1111/ao_romconfig.c new file mode 100644 index 00000000..f3fe61b1 --- /dev/null +++ b/src/cc1111/ao_romconfig.c @@ -0,0 +1,32 @@ +/* + * 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. + */ + +#include "ao.h" + +__code __at (0x00a0) uint16_t ao_romconfig_version = AO_ROMCONFIG_VERSION; +__code __at (0x00a2) uint16_t ao_romconfig_check = ~AO_ROMCONFIG_VERSION; +__code __at (0x00a4) uint16_t ao_serial_number = 0; +/* + * For 434.550MHz, the frequency value is: + * + * 434.550e6 / (24e6 / 2**16) = 1186611.2 + * + * This value is stored in a const variable so that + * ao-load can change it during programming for + * devices that have no eeprom for config data. + */ +__code __at (0x00a6) uint32_t ao_radio_cal = 1186611; diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c new file mode 100644 index 00000000..48383802 --- /dev/null +++ b/src/cc1111/ao_serial.c @@ -0,0 +1,329 @@ +/* + * Copyright © 2009 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" + +const __code struct ao_serial_speed ao_serial_speeds[] = { + /* [AO_SERIAL_SPEED_4800] = */ { + /* .baud = */ 163, + /* .gcr = */ (7 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB + }, + /* [AO_SERIAL_SPEED_9600] = */ { + /* .baud = */ 163, + /* .gcr = */ (8 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB + }, + /* [AO_SERIAL_SPEED_19200] = */ { + /* .baud = */ 163, + /* .gcr = */ (9 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB + }, + /* [AO_SERIAL_SPEED_57600] = */ { + /* .baud = */ 59, + /* .gcr = */ (11 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB + }, +}; + +#if HAS_SERIAL_0 + +volatile __xdata struct ao_fifo ao_serial0_rx_fifo; +volatile __xdata struct ao_fifo ao_serial0_tx_fifo; + +void +ao_serial0_rx_isr(void) __interrupt 2 +{ + if (!ao_fifo_full(ao_serial0_rx_fifo)) + ao_fifo_insert(ao_serial0_rx_fifo, U0DBUF); + ao_wakeup(&ao_serial0_rx_fifo); +#if USE_SERIAL_0_STDIN + ao_wakeup(&ao_stdin_ready); +#endif +} + +static __xdata uint8_t ao_serial0_tx_started; + +static void +ao_serial0_tx_start(void) +{ + if (!ao_fifo_empty(ao_serial0_tx_fifo) && + !ao_serial0_tx_started) + { + ao_serial0_tx_started = 1; + ao_fifo_remove(ao_serial0_tx_fifo, U0DBUF); + } +} + +void +ao_serial0_tx_isr(void) __interrupt 7 +{ + UTX0IF = 0; + ao_serial0_tx_started = 0; + ao_serial0_tx_start(); + ao_wakeup(&ao_serial0_tx_fifo); +} + +char +ao_serial0_getchar(void) __critical +{ + char c; + while (ao_fifo_empty(ao_serial0_rx_fifo)) + ao_sleep(&ao_serial0_rx_fifo); + ao_fifo_remove(ao_serial0_rx_fifo, c); + return c; +} + +#if USE_SERIAL_0_STDIN +char +ao_serial0_pollchar(void) __critical +{ + char c; + if (ao_fifo_empty(ao_serial0_rx_fifo)) + return AO_READ_AGAIN; + ao_fifo_remove(ao_serial0_rx_fifo,c); + return c; +} +#endif + +void +ao_serial0_putchar(char c) __critical +{ + while (ao_fifo_full(ao_serial0_tx_fifo)) + ao_sleep(&ao_serial0_tx_fifo); + ao_fifo_insert(ao_serial0_tx_fifo, c); + ao_serial0_tx_start(); +} + +void +ao_serial0_drain(void) __critical +{ + while (!ao_fifo_empty(ao_serial0_tx_fifo)) + ao_sleep(&ao_serial0_tx_fifo); +} + +void +ao_serial0_set_speed(uint8_t speed) +{ + ao_serial0_drain(); + if (speed > AO_SERIAL_SPEED_57600) + return; + U0UCR |= UxUCR_FLUSH; + U0BAUD = ao_serial_speeds[speed].baud; + U0GCR = ao_serial_speeds[speed].gcr; +} +#endif /* HAS_SERIAL_0 */ + +#if HAS_SERIAL_1 + +volatile __xdata struct ao_fifo ao_serial1_rx_fifo; +volatile __xdata struct ao_fifo ao_serial1_tx_fifo; + +void +ao_serial1_rx_isr(void) __interrupt 3 +{ + if (!ao_fifo_full(ao_serial1_rx_fifo)) + ao_fifo_insert(ao_serial1_rx_fifo, U1DBUF); + ao_wakeup(&ao_serial1_rx_fifo); +#if USE_SERIAL_1_STDIN + ao_wakeup(&ao_stdin_ready); +#endif +} + +static __xdata uint8_t ao_serial1_tx_started; + +static void +ao_serial1_tx_start(void) +{ + if (!ao_fifo_empty(ao_serial1_tx_fifo) && + !ao_serial1_tx_started) + { + ao_serial1_tx_started = 1; + ao_fifo_remove(ao_serial1_tx_fifo, U1DBUF); + } +} + +void +ao_serial1_tx_isr(void) __interrupt 14 +{ + UTX1IF = 0; + ao_serial1_tx_started = 0; + ao_serial1_tx_start(); + ao_wakeup(&ao_serial1_tx_fifo); +} + +char +ao_serial1_getchar(void) __critical +{ + char c; + while (ao_fifo_empty(ao_serial1_rx_fifo)) + ao_sleep(&ao_serial1_rx_fifo); + ao_fifo_remove(ao_serial1_rx_fifo, c); + return c; +} + +#if USE_SERIAL_1_STDIN +char +ao_serial1_pollchar(void) __critical +{ + char c; + if (ao_fifo_empty(ao_serial1_rx_fifo)) + return AO_READ_AGAIN; + ao_fifo_remove(ao_serial1_rx_fifo,c); + return c; +} +#endif + +void +ao_serial1_putchar(char c) __critical +{ + while (ao_fifo_full(ao_serial1_tx_fifo)) + ao_sleep(&ao_serial1_tx_fifo); + ao_fifo_insert(ao_serial1_tx_fifo, c); + ao_serial1_tx_start(); +} + +void +ao_serial1_drain(void) __critical +{ + while (!ao_fifo_empty(ao_serial1_tx_fifo)) + ao_sleep(&ao_serial1_tx_fifo); +} + +void +ao_serial1_set_speed(uint8_t speed) +{ + ao_serial1_drain(); + if (speed > AO_SERIAL_SPEED_57600) + return; + U1UCR |= UxUCR_FLUSH; + U1BAUD = ao_serial_speeds[speed].baud; + U1GCR = ao_serial_speeds[speed].gcr; +} + +#endif /* HAS_SERIAL_1 */ + +void +ao_serial_init(void) +{ +#if HAS_SERIAL_0 +#if HAS_SERIAL_0_ALT_1 + /* Set up the USART pin assignment */ + PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_1; + + P2DIR = (P2DIR & ~P2DIR_PRIP0_MASK) | P2DIR_PRIP0_USART0_USART1; + + /* Make the USART pins be controlled by the USART */ + P0SEL |= (1 << 2) | (1 << 3); +#if HAS_SERIAL_0_HW_FLOW + P0SEL |= (1 << 4) | (1 << 5); +#endif +#else + /* Set up the USART pin assignment */ + PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_2; + + P2SEL = (P2SEL & ~(P2SEL_PRI3P1_MASK | P2SEL_PRI0P1_MASK)) | + (P2SEL_PRI3P1_USART0 | P2SEL_PRI0P1_USART0); + + /* Make the USART pins be controlled by the USART */ + P1SEL |= (1 << 5) | (1 << 4); +#if HAS_SERIAL_0_HW_FLOW + P1SEL |= (1 << 3) | (1 << 2); +#endif +#endif + + /* UART mode with receiver enabled */ + U0CSR = (UxCSR_MODE_UART | UxCSR_RE); + + /* Pick a 9600 baud rate */ + ao_serial0_set_speed(AO_SERIAL_SPEED_9600); + + /* Reasonable serial parameters */ + U0UCR = (UxUCR_FLUSH | +#if HAS_SERIAL_0_HW_FLOW + UxUCR_FLOW_ENABLE | +#else + UxUCR_FLOW_DISABLE | +#endif + UxUCR_D9_EVEN_PARITY | + UxUCR_BIT9_8_BITS | + UxUCR_PARITY_DISABLE | + UxUCR_SPB_1_STOP_BIT | + UxUCR_STOP_HIGH | + UxUCR_START_LOW); + + IEN0 |= IEN0_URX0IE; + IEN2 |= IEN2_UTX0IE; +#if USE_SERIAL_0_STDIN && !DELAY_SERIAL_0_STDIN + ao_add_stdio(ao_serial0_pollchar, + ao_serial0_putchar, + NULL); +#endif +#endif /* HAS_SERIAL_0 */ + +#if HAS_SERIAL_1 +#if HAS_SERIAL_1_ALT_1 + /* Set up the USART pin assignment */ + PERCFG = (PERCFG & ~PERCFG_U1CFG_ALT_MASK) | PERCFG_U1CFG_ALT_1; + + P2DIR = (P2DIR & ~P2DIR_PRIP0_MASK) | P2DIR_PRIP0_USART1_USART0; + + /* Make the USART pins be controlled by the USART */ + P0SEL |= (1 << 5) | (1 << 4); +#if HAS_SERIAL_1_HW_FLOW + P0SEL |= (1 << 3) | (1 << 2); +#endif +#else + /* Set up the USART pin assignment */ + PERCFG = (PERCFG & ~PERCFG_U1CFG_ALT_MASK) | PERCFG_U1CFG_ALT_2; + + P2SEL = (P2SEL & ~(P2SEL_PRI3P1_MASK | P2SEL_PRI2P1_MASK)) | + (P2SEL_PRI3P1_USART1 | P2SEL_PRI2P1_USART1); + + /* Make the USART pins be controlled by the USART */ + P1SEL |= (1 << 6) | (1 << 7); +#if HAS_SERIAL_1_HW_FLOW + P1SEL |= (1 << 5) | (1 << 4); +#endif +#endif + + /* UART mode with receiver enabled */ + U1CSR = (UxCSR_MODE_UART | UxCSR_RE); + + /* Pick a 4800 baud rate */ + ao_serial1_set_speed(AO_SERIAL_SPEED_4800); + + /* Reasonable serial parameters */ + U1UCR = (UxUCR_FLUSH | +#if HAS_SERIAL_1_HW_FLOW + UxUCR_FLOW_ENABLE | +#else + UxUCR_FLOW_DISABLE | +#endif + UxUCR_D9_EVEN_PARITY | + UxUCR_BIT9_8_BITS | + UxUCR_PARITY_DISABLE | + UxUCR_SPB_1_STOP_BIT | + UxUCR_STOP_HIGH | + UxUCR_START_LOW); + + IEN0 |= IEN0_URX1IE; + IEN2 |= IEN2_UTX1IE; + +#if USE_SERIAL_1_STDIN && !DELAY_SERIAL_1_STDIN + ao_add_stdio(ao_serial1_pollchar, + ao_serial1_putchar, + NULL); +#endif +#endif /* HAS_SERIAL_1 */ +} diff --git a/src/cc1111/ao_spi.c b/src/cc1111/ao_spi.c new file mode 100644 index 00000000..cdef6bda --- /dev/null +++ b/src/cc1111/ao_spi.c @@ -0,0 +1,277 @@ +/* + * 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. + */ + +#include "ao.h" + +/* Default pin usage for existing Altus Metrum devices */ +#if !HAS_SPI_0 && !HAS_SPI_1 +#define HAS_SPI_0 1 +#define SPI_0_ALT_2 1 +#endif + +#ifndef SPI_CONST +#define SPI_CONST 0xff +#endif + +/* + * USART0 SPI config alt 1 + * + * MO P0_3 + * MI P0_2 + * CLK P0_5 + * SS P0_4 + * + * USART0 SPI config alt 2 + * + * MO P1_5 + * MI P1_4 + * CLK P1_3 + * CSS P1_2 + * + * USART1 SPI config alt 1 + * + * MO P0_4 + * MI P0_5 + * CLK P0_3 + * SS P0_2 + * + * USART1 SPI config alt 2 + * + * MO P1_6 + * MI P1_7 + * CLK P1_5 + * SS P1_4 + * + * + * Chip select is the responsibility of the caller in master mode + */ + +#if HAS_SPI_0 +#define SPI_CSR U0CSR +#define SPI_BUF U0DBUFXADDR +#define SPI_BAUD U0BAUD +#define SPI_GCR U0GCR +#define SPI_CFG_MASK PERCFG_U0CFG_ALT_MASK +#define SPI_DMA_TX DMA_CFG0_TRIGGER_UTX0 +#define SPI_DMA_RX DMA_CFG0_TRIGGER_URX0 + +#if SPI_0_ALT_1 +#define SPI_CFG PERCFG_U0CFG_ALT_1 +#define SPI_SEL P0SEL +#define SPI_BITS (1 << 3) | (1 << 2) | (1 << 5) +#define SPI_CSS_BIT (1 << 4) +#endif + +#if SPI_0_ALT_2 +#define SPI_CFG PERCFG_U0CFG_ALT_2 +#define SPI_SEL P1SEL +#define SPI_PRI P2SEL_PRI3P1_USART0 +#define SPI_BITS (1 << 5) | (1 << 4) | (1 << 3) +#define SPI_CSS_BIT (1 << 2) +#endif + +#endif + +#if HAS_SPI_1 +#define SPI_CSR U1CSR +#define SPI_BUF U1DBUFXADDR +#define SPI_BAUD U1BAUD +#define SPI_GCR U1GCR +#define SPI_CFG_MASK PERCFG_U1CFG_ALT_MASK +#define SPI_DMA_TX DMA_CFG0_TRIGGER_UTX1 +#define SPI_DMA_RX DMA_CFG0_TRIGGER_URX1 + +#if SPI_1_ALT_1 +#define SPI_CFG PERCFG_U1CFG_ALT_1 +#define SPI_SEL P0SEL +#define SPI_BITS (1 << 4) | (1 << 5) | (1 << 3) +#define SPI_CSS_BIT (1 << 2) +#endif + +#if SPI_1_ALT_2 +#define SPI_CFG PERCFG_U1CFG_ALT_2 +#define SPI_SEL P1SEL +#define SPI_PRI P2SEL_PRI3P1_USART1 +#define SPI_BITS (1 << 6) | (1 << 7) | (1 << 5) +#define SPI_CSS_BIT (1 << 4) +#endif + +#endif + +#if AO_SPI_SLAVE +#define CSS SPI_CSS_BIT +#define UxCSR_DIRECTION UxCSR_SLAVE +#else +#define CSS 0 +#define UxCSR_DIRECTION UxCSR_MASTER +#endif + +/* Shared mutex to protect SPI bus, must cover the entire + * operation, from CS low to CS high. This means that any SPI + * user must protect the SPI bus with this mutex + */ +__xdata uint8_t ao_spi_mutex; +__xdata uint8_t ao_spi_dma_in_done; +__xdata uint8_t ao_spi_dma_out_done; + +uint8_t ao_spi_dma_out_id; +uint8_t ao_spi_dma_in_id; + +static __xdata uint8_t ao_spi_const; + +/* Send bytes over SPI. + * + * This sets up two DMA engines, one writing the data and another reading + * bytes coming back. We use the bytes coming back to tell when the transfer + * is complete, as the transmit register is double buffered and hence signals + * completion one byte before the transfer is actually complete + */ +void +ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant +{ + ao_dma_set_transfer(ao_spi_dma_in_id, + &SPI_BUF, + &ao_spi_const, + len, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + SPI_DMA_RX, + DMA_CFG1_SRCINC_0 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_NORMAL); + ao_dma_set_transfer(ao_spi_dma_out_id, + block, + &SPI_BUF, + len, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + SPI_DMA_TX, + DMA_CFG1_SRCINC_1 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_NORMAL); + + ao_dma_start(ao_spi_dma_in_id); + ao_dma_start(ao_spi_dma_out_id); + ao_dma_trigger(ao_spi_dma_out_id); +#if !AO_SPI_SLAVE + __critical while (!ao_spi_dma_in_done) + ao_sleep(&ao_spi_dma_in_done); +#endif +} + +#if AO_SPI_SLAVE +void +ao_spi_send_wait(void) +{ + __critical while (!ao_spi_dma_in_done) + ao_sleep(&ao_spi_dma_in_done); +} +#endif + +/* Receive bytes over SPI. + * + * This sets up tow DMA engines, one reading the data and another + * writing constant values to the SPI transmitter as that is what + * clocks the data coming in. + */ +void +ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant +{ + ao_dma_set_transfer(ao_spi_dma_in_id, + &SPI_BUF, + block, + len, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + SPI_DMA_RX, + DMA_CFG1_SRCINC_0 | + DMA_CFG1_DESTINC_1 | + DMA_CFG1_PRIORITY_NORMAL); + + ao_spi_const = SPI_CONST; + +#if !AO_SPI_SLAVE + ao_dma_set_transfer(ao_spi_dma_out_id, + &ao_spi_const, + &SPI_BUF, + len, + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + SPI_DMA_TX, + DMA_CFG1_SRCINC_0 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_NORMAL); +#endif + + ao_dma_start(ao_spi_dma_in_id); +#if !AO_SPI_SLAVE + ao_dma_start(ao_spi_dma_out_id); + ao_dma_trigger(ao_spi_dma_out_id); + __critical while (!ao_spi_dma_in_done) + ao_sleep(&ao_spi_dma_in_done); +#endif +} + +#if AO_SPI_SLAVE +void +ao_spi_recv_wait(void) +{ + __critical while (!ao_spi_dma_in_done) + ao_sleep(&ao_spi_dma_in_done); +} +#endif + +void +ao_spi_init(void) +{ + /* Set up the USART pin assignment */ + PERCFG = (PERCFG & ~SPI_CFG_MASK) | SPI_CFG; + + /* Ensure that SPI USART takes precidence over the other USART + * for pins that they share + */ +#ifdef SPI_PRI + P2SEL = (P2SEL & ~P2SEL_PRI3P1_MASK) | SPI_PRI; +#endif + + /* Make the SPI pins be controlled by the USART peripheral */ + SPI_SEL |= SPI_BITS | CSS; + + /* Set up OUT DMA */ + ao_spi_dma_out_id = ao_dma_alloc(&ao_spi_dma_out_done); + + /* Set up IN DMA */ + ao_spi_dma_in_id = ao_dma_alloc(&ao_spi_dma_in_done); + + /* Set up the USART. + * + * SPI master/slave mode + */ + SPI_CSR = (UxCSR_MODE_SPI | UxCSR_RE | UxCSR_DIRECTION); + + /* Set the baud rate and signal parameters + * + * The cc1111 is limited to a 24/8 MHz SPI clock. + * Every peripheral I've ever seen goes faster than that, + * so set the clock to 3MHz (BAUD_E 17, BAUD_M 0) + */ + SPI_BAUD = 0; + SPI_GCR = (UxGCR_CPOL_NEGATIVE | + UxGCR_CPHA_FIRST_EDGE | + UxGCR_ORDER_MSB | + (17 << UxGCR_BAUD_E_SHIFT)); +} diff --git a/src/cc1111/ao_string.c b/src/cc1111/ao_string.c new file mode 100644 index 00000000..3a07e47e --- /dev/null +++ b/src/cc1111/ao_string.c @@ -0,0 +1,50 @@ +/* + * 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" + +void +_ao_xmemcpy(__xdata void *dst, __xdata void *src, uint8_t count) +{ + while (count--) { + *(__xdata uint8_t *) dst = *(__xdata uint8_t *) src; + dst = (__xdata uint8_t *) dst + 1; + src = (__xdata uint8_t *) src + 1; + } +} + +void +_ao_xmemset(__xdata void *dst, uint8_t v, uint8_t count) +{ + while (count--) { + *(__xdata uint8_t *) dst = v; + dst = (__xdata uint8_t *) dst + 1; + } +} + +int8_t +_ao_xmemcmp(__xdata void *a, __xdata void *b, uint8_t count) +{ + while (count--) { + int8_t d = *(__xdata int8_t *) a - *(__xdata int8_t *) b; + if (d) + return d; + a = (__xdata int8_t *) a + 1; + b = (__xdata int8_t *) b + 1; + } + return 0; +} diff --git a/src/ao_timer.c b/src/cc1111/ao_timer.c index 78c6e063..a64b5aba 100644 --- a/src/ao_timer.c +++ b/src/cc1111/ao_timer.c @@ -17,44 +17,40 @@ #include "ao.h" -static volatile __data uint16_t ao_tick_count; +volatile __data uint16_t ao_tick_count; uint16_t ao_time(void) __critical { return ao_tick_count; } -void -ao_delay(uint16_t ticks) -{ - uint16_t until = ao_time() + ticks; - - while ((int16_t) (until - ao_time()) > 0) - ao_sleep(DATA_TO_XDATA(&ao_tick_count)); -} - #define T1_CLOCK_DIVISOR 8 /* 24e6/8 = 3e6 */ #define T1_SAMPLE_TIME 30000 /* 3e6/30000 = 100 */ +#if HAS_ADC volatile __data uint8_t ao_adc_interval = 1; volatile __data uint8_t ao_adc_count; +#endif -void ao_timer_isr(void) interrupt 9 +void ao_timer_isr(void) __interrupt 9 { ++ao_tick_count; +#if HAS_ADC if (++ao_adc_count == ao_adc_interval) { ao_adc_count = 0; ao_adc_poll(); } - ao_wakeup(DATA_TO_XDATA(&ao_tick_count)); +#endif } +#if HAS_ADC void ao_timer_set_adc_interval(uint8_t interval) __critical { ao_adc_interval = interval; ao_adc_count = 0; } +#endif void ao_timer_init(void) diff --git a/src/ao_usb.c b/src/cc1111/ao_usb.c index 99f0715b..ce26e808 100644 --- a/src/ao_usb.c +++ b/src/cc1111/ao_usb.c @@ -21,9 +21,10 @@ struct ao_task __xdata ao_usb_task; static __xdata uint16_t ao_usb_in_bytes; +static __pdata uint16_t ao_usb_in_bytes_last; static __xdata uint16_t ao_usb_out_bytes; -static __xdata uint8_t ao_usb_iif; -static __xdata uint8_t ao_usb_running; +static __pdata uint8_t ao_usb_iif; +static __pdata uint8_t ao_usb_running; static void ao_usb_set_interrupts(void) @@ -42,7 +43,7 @@ ao_usb_set_interrupts(void) * so when we hook that up, fix this */ void -ao_usb_isr(void) interrupt 6 +ao_usb_isr(void) __interrupt 6 { USBIF = 0; ao_usb_iif |= USBIIF; @@ -52,10 +53,18 @@ ao_usb_isr(void) interrupt 6 ao_wakeup(&ao_usb_in_bytes); if (USBOIF & (1 << AO_USB_OUT_EP)) - ao_wakeup(&ao_usb_out_bytes); + ao_wakeup(&ao_stdin_ready); if (USBCIF & USBCIF_RSTIF) ao_usb_set_interrupts(); +#if HAS_BTM +#if BT_LINK_ON_P2 + ao_btm_isr(); +#endif +#endif +#if HAS_P2_ISR + ao_p2_isr(); +#endif } struct ao_usb_setup { @@ -66,25 +75,26 @@ struct ao_usb_setup { uint16_t length; } __xdata ao_usb_setup; -__xdata uint8_t ao_usb_ep0_state; -uint8_t * __xdata ao_usb_ep0_in_data; -__xdata uint8_t ao_usb_ep0_in_len; -__xdata uint8_t ao_usb_ep0_in_buf[2]; -__xdata uint8_t ao_usb_ep0_out_len; -__xdata uint8_t *__data ao_usb_ep0_out_data; -__xdata uint8_t ao_usb_configuration; +__pdata uint8_t ao_usb_ep0_state; +uint8_t * __pdata ao_usb_ep0_in_data; +__pdata uint8_t ao_usb_ep0_in_len; +__pdata uint8_t ao_usb_ep0_in_buf[2]; +__pdata uint8_t ao_usb_ep0_out_len; +__xdata uint8_t *__pdata ao_usb_ep0_out_data; +__pdata uint8_t ao_usb_configuration; /* Send an IN data packet */ static void ao_usb_ep0_flush(void) { - __xdata uint8_t this_len; - __xdata uint8_t cs0; + __pdata uint8_t this_len; + __pdata uint8_t cs0; + /* If the IN packet hasn't been picked up, just return */ USBINDEX = 0; cs0 = USBCS0; if (cs0 & USBCS0_INPKT_RDY) - ao_panic(0); + return; this_len = ao_usb_ep0_in_len; if (this_len > AO_USB_CONTROL_SIZE) @@ -108,9 +118,9 @@ __xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; static void ao_usb_get_descriptor(uint16_t value) { - const uint8_t *__xdata descriptor; - __xdata uint8_t type = value >> 8; - __xdata uint8_t index = value; + __code uint8_t *__pdata descriptor; + __pdata uint8_t type = value >> 8; + __pdata uint8_t index = value; descriptor = ao_usb_descriptors; while (descriptor[0] != 0) { @@ -131,7 +141,7 @@ ao_usb_get_descriptor(uint16_t value) static void ao_usb_ep0_fill(void) { - __xdata uint8_t len; + __pdata uint8_t len; USBINDEX = 0; len = USBCNT0; @@ -251,15 +261,15 @@ ao_usb_ep0_setup(void) break; case AO_USB_TYPE_CLASS: switch (ao_usb_setup.request) { - case SET_LINE_CODING: + case AO_USB_SET_LINE_CODING: ao_usb_ep0_out_len = 7; ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_line_coding; break; - case GET_LINE_CODING: + case AO_USB_GET_LINE_CODING: ao_usb_ep0_in_len = 7; ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding; break; - case SET_CONTROL_LINE_STATE: + case AO_USB_SET_CONTROL_LINE_STATE: break; } break; @@ -275,7 +285,7 @@ ao_usb_ep0_setup(void) static void ao_usb_ep0(void) { - __xdata uint8_t cs0; + __pdata uint8_t cs0; ao_usb_ep0_state = AO_USB_EP0_IDLE; for (;;) { @@ -321,47 +331,71 @@ ao_usb_ep0(void) } } -void -ao_usb_flush(void) __critical +/* Wait for a free IN buffer */ +static void +ao_usb_in_wait(void) { - if (ao_usb_in_bytes) { + for (;;) { USBINDEX = AO_USB_IN_EP; - USBCSIL |= USBCSIL_INPKT_RDY; - ao_usb_in_bytes = 0; + if ((USBCSIL & USBCSIL_INPKT_RDY) == 0) + break; + ao_sleep(&ao_usb_in_bytes); } } +/* Send the current IN packet */ +static void +ao_usb_in_send(void) +{ + USBINDEX = AO_USB_IN_EP; + USBCSIL |= USBCSIL_INPKT_RDY; + ao_usb_in_bytes_last = ao_usb_in_bytes; + ao_usb_in_bytes = 0; +} + void -ao_usb_putchar(char c) __critical +ao_usb_flush(void) __critical { if (!ao_usb_running) return; - for (;;) { - USBINDEX = AO_USB_IN_EP; - if ((USBCSIL & USBCSIL_INPKT_RDY) == 0) - break; - ao_sleep(&ao_usb_in_bytes); + + /* If there are pending bytes, or if the last packet was full, + * send another IN packet + */ + if (ao_usb_in_bytes || (ao_usb_in_bytes_last == AO_USB_IN_SIZE)) { + ao_usb_in_wait(); + ao_usb_in_send(); } +} + +void +ao_usb_putchar(char c) __critical __reentrant +{ + if (!ao_usb_running) + return; + + ao_usb_in_wait(); + + /* Queue a byte, sending the packet when full */ USBFIFO[AO_USB_IN_EP << 1] = c; - if (++ao_usb_in_bytes == AO_USB_IN_SIZE) { - USBINDEX = AO_USB_IN_EP; - USBCSIL |= USBCSIL_INPKT_RDY; - ao_usb_in_bytes = 0; - } + if (++ao_usb_in_bytes == AO_USB_IN_SIZE) + ao_usb_in_send(); } char -ao_usb_getchar(void) __critical +ao_usb_pollchar(void) __critical { - __xdata char c; - while (ao_usb_out_bytes == 0) { - for (;;) { + char c; + if (ao_usb_out_bytes == 0) { + USBINDEX = AO_USB_OUT_EP; + if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0) + return AO_READ_AGAIN; + ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL; + if (ao_usb_out_bytes == 0) { USBINDEX = AO_USB_OUT_EP; - if ((USBCSOL & USBCSOL_OUTPKT_RDY) != 0) - break; - ao_sleep(&ao_usb_out_bytes); + USBCSOL &= ~USBCSOL_OUTPKT_RDY; + return AO_READ_AGAIN; } - ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL; } --ao_usb_out_bytes; c = USBFIFO[AO_USB_OUT_EP << 1]; @@ -372,6 +406,16 @@ ao_usb_getchar(void) __critical return c; } +char +ao_usb_getchar(void) __critical +{ + char c; + + while ((c = ao_usb_pollchar()) == AO_READ_AGAIN) + ao_sleep(&ao_stdin_ready); + return c; +} + void ao_usb_enable(void) { @@ -415,4 +459,5 @@ ao_usb_init(void) ao_usb_enable(); ao_add_task(&ao_usb_task, ao_usb_ep0, "usb"); + ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush); } diff --git a/src/cc1111.h b/src/cc1111/cc1111.h index 87b14485..80d3fb70 100644 --- a/src/cc1111.h +++ b/src/cc1111/cc1111.h @@ -40,16 +40,16 @@ #include <cc1110.h> #include <stdint.h> -sfr at 0xA8 IEN0; /* Interrupt Enable 0 Register */ +__sfr __at 0xA8 IEN0; /* Interrupt Enable 0 Register */ -sbit at 0xA8 RFTXRXIE; /* RF TX/RX done interrupt enable */ -sbit at 0xA9 ADCIE; /* ADC interrupt enable */ -sbit at 0xAA URX0IE; /* USART0 RX interrupt enable */ -sbit at 0xAB URX1IE; /* USART1 RX interrupt enable (shared with I2S RX) */ -sbit at 0xAB I2SRXIE; /* I2S RX interrupt enable (shared with USART1 RX) */ -sbit at 0xAC ENCIE; /* AES encryption/decryption interrupt enable */ -sbit at 0xAD STIE; /* Sleep Timer interrupt enable */ -sbit at 0xAF EA; /* Enable All */ +__sbit __at 0xA8 RFTXRXIE; /* RF TX/RX done interrupt enable */ +__sbit __at 0xA9 ADCIE; /* ADC interrupt enable */ +__sbit __at 0xAA URX0IE; /* USART0 RX interrupt enable */ +__sbit __at 0xAB URX1IE; /* USART1 RX interrupt enable (shared with I2S RX) */ +__sbit __at 0xAB I2SRXIE; /* I2S RX interrupt enable (shared with USART1 RX) */ +__sbit __at 0xAC ENCIE; /* AES encryption/decryption interrupt enable */ +__sbit __at 0xAD STIE; /* Sleep Timer interrupt enable */ +__sbit __at 0xAF EA; /* Enable All */ #define IEN0_EA (1 << 7) #define IEN0_STIE (1 << 5) @@ -60,7 +60,7 @@ sbit at 0xAF EA; /* Enable All */ #define IEN0_ADCIE (1 << 1) #define IEN0_RFTXRXIE (1 << 0) -sfr at 0xB8 IEN1; /* Interrupt Enable 1 Register */ +__sfr __at 0xB8 IEN1; /* Interrupt Enable 1 Register */ #define IEN1_P0IE (1 << 5) /* Port 0 interrupt enable */ #define IEN1_T4IE (1 << 4) /* Timer 4 interrupt enable */ @@ -70,7 +70,7 @@ sfr at 0xB8 IEN1; /* Interrupt Enable 1 Register */ #define IEN1_DMAIE (1 << 0) /* DMA transfer interrupt enable */ /* IEN2 */ -sfr at 0x9A IEN2; /* Interrupt Enable 2 Register */ +__sfr __at 0x9A IEN2; /* Interrupt Enable 2 Register */ #define IEN2_WDTIE (1 << 5) /* Watchdog timer interrupt enable */ #define IEN2_P1IE (1 << 4) /* Port 1 interrupt enable */ @@ -82,7 +82,7 @@ sfr at 0x9A IEN2; /* Interrupt Enable 2 Register */ #define IEN2_RFIE (1 << 0) /* RF general interrupt enable */ /* CLKCON 0xC6 */ -sfr at 0xC6 CLKCON; /* Clock Control */ +__sfr __at 0xC6 CLKCON; /* Clock Control */ #define CLKCON_OSC32K_RC (1 << 7) #define CLKCON_OSC32K_XTAL (0 << 7) @@ -126,20 +126,20 @@ sfr at 0xC6 CLKCON; /* Clock Control */ #define SLEEP_MODE_MASK (3 << 0) /* PCON 0x87 */ -sfr at 0x87 PCON; /* Power Mode Control Register */ +__sfr __at 0x87 PCON; /* Power Mode Control Register */ #define PCON_IDLE (1 << 0) /* * TCON */ -sfr at 0x88 TCON; /* CPU Interrupt Flag 1 */ +__sfr __at 0x88 TCON; /* CPU Interrupt Flag 1 */ -sbit at 0x8F URX1IF; /* USART1 RX interrupt flag. Automatically cleared */ -sbit at 0x8F I2SRXIF; /* I2S RX interrupt flag. Automatically cleared */ -sbit at 0x8D ADCIF; /* ADC interrupt flag. Automatically cleared */ -sbit at 0x8B URX0IF; /* USART0 RX interrupt flag. Automatically cleared */ -sbit at 0x89 RFTXRXIF; /* RF TX/RX complete interrupt flag. Automatically cleared */ +__sbit __at 0x8F URX1IF; /* USART1 RX interrupt flag. Automatically cleared */ +__sbit __at 0x8F I2SRXIF; /* I2S RX interrupt flag. Automatically cleared */ +__sbit __at 0x8D ADCIF; /* ADC interrupt flag. Automatically cleared */ +__sbit __at 0x8B URX0IF; /* USART0 RX interrupt flag. Automatically cleared */ +__sbit __at 0x89 RFTXRXIF; /* RF TX/RX complete interrupt flag. Automatically cleared */ #define TCON_URX1IF (1 << 7) #define TCON_I2SRXIF (1 << 7) @@ -150,10 +150,10 @@ sbit at 0x89 RFTXRXIF; /* RF TX/RX complete interrupt flag. Automatically cleare /* * S0CON */ -sfr at 0x98 S0CON; /* CPU Interrupt Flag 2 */ +__sfr __at 0x98 S0CON; /* CPU Interrupt Flag 2 */ -sbit at 0x98 ENCIF_0; /* AES interrupt 0. */ -sbit at 0x99 ENCIF_1; /* AES interrupt 1. */ +__sbit __at 0x98 ENCIF_0; /* AES interrupt 0. */ +__sbit __at 0x99 ENCIF_1; /* AES interrupt 1. */ #define S0CON_ENCIF_1 (1 << 1) #define S0CON_ENCIF_0 (1 << 0) @@ -161,7 +161,7 @@ sbit at 0x99 ENCIF_1; /* AES interrupt 1. */ /* * S1CON */ -sfr at 0x9B S1CON; /* CPU Interrupt Flag 3 */ +__sfr __at 0x9B S1CON; /* CPU Interrupt Flag 3 */ #define S1CON_RFIF_1 (1 << 1) #define S1CON_RFIF_0 (1 << 0) @@ -169,15 +169,15 @@ sfr at 0x9B S1CON; /* CPU Interrupt Flag 3 */ /* * IRCON */ -sfr at 0xC0 IRCON; /* CPU Interrupt Flag 4 */ +__sfr __at 0xC0 IRCON; /* CPU Interrupt Flag 4 */ -sbit at 0xC0 DMAIF; /* DMA complete interrupt flag */ -sbit at 0xC1 T1IF; /* Timer 1 interrupt flag. Automatically cleared */ -sbit at 0xC2 T2IF; /* Timer 2 interrupt flag. Automatically cleared */ -sbit at 0xC3 T3IF; /* Timer 3 interrupt flag. Automatically cleared */ -sbit at 0xC4 T4IF; /* Timer 4 interrupt flag. Automatically cleared */ -sbit at 0xC5 P0IF; /* Port0 interrupt flag */ -sbit at 0xC7 STIF; /* Sleep Timer interrupt flag */ +__sbit __at 0xC0 DMAIF; /* DMA complete interrupt flag */ +__sbit __at 0xC1 T1IF; /* Timer 1 interrupt flag. Automatically cleared */ +__sbit __at 0xC2 T2IF; /* Timer 2 interrupt flag. Automatically cleared */ +__sbit __at 0xC3 T3IF; /* Timer 3 interrupt flag. Automatically cleared */ +__sbit __at 0xC4 T4IF; /* Timer 4 interrupt flag. Automatically cleared */ +__sbit __at 0xC5 P0IF; /* Port0 interrupt flag */ +__sbit __at 0xC7 STIF; /* Sleep Timer interrupt flag */ #define IRCON_DMAIF (1 << 0) /* DMA complete interrupt flag */ #define IRCON_T1IF (1 << 1) /* Timer 1 interrupt flag. Automatically cleared */ @@ -190,15 +190,15 @@ sbit at 0xC7 STIF; /* Sleep Timer interrupt flag */ /* * IRCON2 */ -sfr at 0xE8 IRCON2; /* CPU Interrupt Flag 5 */ +__sfr __at 0xE8 IRCON2; /* CPU Interrupt Flag 5 */ -sbit at 0xE8 USBIF; /* USB interrupt flag (shared with Port2) */ -sbit at 0xE8 P2IF; /* Port2 interrupt flag (shared with USB) */ -sbit at 0xE9 UTX0IF; /* USART0 TX interrupt flag */ -sbit at 0xEA UTX1IF; /* USART1 TX interrupt flag (shared with I2S TX) */ -sbit at 0xEA I2STXIF; /* I2S TX interrupt flag (shared with USART1 TX) */ -sbit at 0xEB P1IF; /* Port1 interrupt flag */ -sbit at 0xEC WDTIF; /* Watchdog timer interrupt flag */ +__sbit __at 0xE8 USBIF; /* USB interrupt flag (shared with Port2) */ +__sbit __at 0xE8 P2IF; /* Port2 interrupt flag (shared with USB) */ +__sbit __at 0xE9 UTX0IF; /* USART0 TX interrupt flag */ +__sbit __at 0xEA UTX1IF; /* USART1 TX interrupt flag (shared with I2S TX) */ +__sbit __at 0xEA I2STXIF; /* I2S TX interrupt flag (shared with USART1 TX) */ +__sbit __at 0xEB P1IF; /* Port1 interrupt flag */ +__sbit __at 0xEC WDTIF; /* Watchdog timer interrupt flag */ #define IRCON2_USBIF (1 << 0) /* USB interrupt flag (shared with Port2) */ #define IRCON2_P2IF (1 << 0) /* Port2 interrupt flag (shared with USB) */ @@ -225,8 +225,8 @@ sbit at 0xEC WDTIF; /* Watchdog timer interrupt flag */ * Priority = (IP1 << 1) | IP0. Higher priority interrupts served first */ -sfr at 0xB9 IP1; /* Interrupt Priority 1 */ -sfr at 0xA9 IP0; /* Interrupt Priority 0 */ +__sfr __at 0xB9 IP1; /* Interrupt Priority 1 */ +__sfr __at 0xA9 IP0; /* Interrupt Priority 0 */ #define IP1_IPG5 (1 << 5) #define IP1_IPG4 (1 << 4) @@ -286,13 +286,13 @@ sfr at 0xA9 IP0; /* Interrupt Priority 0 */ */ /* Timer count */ -sfr at 0xCA T3CNT; -sfr at 0xEA T4CNT; +__sfr __at 0xCA T3CNT; +__sfr __at 0xEA T4CNT; /* Timer control */ -sfr at 0xCB T3CTL; -sfr at 0xEB T4CTL; +__sfr __at 0xCB T3CTL; +__sfr __at 0xEB T4CTL; #define TxCTL_DIV_1 (0 << 5) #define TxCTL_DIV_2 (1 << 5) @@ -312,10 +312,10 @@ sfr at 0xEB T4CTL; /* Timer 4 channel 0 compare control */ -sfr at 0xCC T3CCTL0; -sfr at 0xCE T3CCTL1; -sfr at 0xEC T4CCTL0; -sfr at 0xEE T4CCTL1; +__sfr __at 0xCC T3CCTL0; +__sfr __at 0xCE T3CCTL1; +__sfr __at 0xEC T4CCTL0; +__sfr __at 0xEE T4CCTL1; #define TxCCTLy_IM (1 << 6) #define TxCCTLy_CMP_SET (0 << 3) @@ -328,16 +328,16 @@ sfr at 0xEE T4CCTL1; #define TxCCTLy_CMP_MODE_ENABLE (1 << 2) /* Timer compare value */ -sfr at 0xCD T3CC0; -sfr at 0xCF T3CC1; -sfr at 0xED T4CC0; -sfr at 0xEF T4CC1; +__sfr __at 0xCD T3CC0; +__sfr __at 0xCF T3CC1; +__sfr __at 0xED T4CC0; +__sfr __at 0xEF T4CC1; /* * Peripheral control */ -sfr at 0xf1 PERCFG; +__sfr __at 0xf1 PERCFG; #define PERCFG_T1CFG_ALT_1 (0 << 6) #define PERCFG_T1CFG_ALT_2 (1 << 6) #define PERCFG_T1CFG_ALT_MASK (1 << 6) @@ -442,12 +442,12 @@ __xdata __at (0xde17) volatile uint8_t USBCNTH; __xdata __at (0xde20) volatile uint8_t USBFIFO[12]; /* ADC Data register, low and high */ -sfr at 0xBA ADCL; -sfr at 0xBB ADCH; +__sfr __at 0xBA ADCL; +__sfr __at 0xBB ADCH; __xdata __at (0xDFBA) volatile uint16_t ADCXDATA; /* ADC Control Register 1 */ -sfr at 0xB4 ADCCON1; +__sfr __at 0xB4 ADCCON1; # define ADCCON1_EOC (1 << 7) /* conversion complete */ # define ADCCON1_ST (1 << 6) /* start conversion */ @@ -463,7 +463,7 @@ sfr at 0xB4 ADCCON1; # define ADCCON1_RCTRL_CLOCK_LFSR (1 << 2) /* Clock the LFSR once */ /* ADC Control Register 2 */ -sfr at 0xB5 ADCCON2; +__sfr __at 0xB5 ADCCON2; # define ADCCON2_SREF_MASK (3 << 6) /* reference voltage */ # define ADCCON2_SREF_1_25V (0 << 6) /* internal 1.25V */ @@ -498,7 +498,7 @@ sfr at 0xB5 ADCCON2; /* ADC Control Register 3 */ -sfr at 0xB6 ADCCON3; +__sfr __at 0xB6 ADCCON3; # define ADCCON3_EREF_MASK (3 << 6) /* extra conversion reference */ # define ADCCON3_EREF_1_25 (0 << 6) /* internal 1.25V */ @@ -533,29 +533,51 @@ sfr at 0xB6 ADCCON3; * ADC configuration register, this selects which * GPIO pins are to be used as ADC inputs */ -sfr at 0xF2 ADCCFG; +__sfr __at 0xF2 ADCCFG; + +/* + * Watchdog timer + */ + +__sfr __at 0xc9 WDCTL; + +#define WDCTL_CLEAR_FIRST (0xa << 4) +#define WDCTL_CLEAR_SECOND (0x5 << 4) +#define WDCTL_EN (1 << 3) +#define WDCTL_MODE_WATCHDOG (0 << 2) +#define WDCTL_MODE_TIMER (1 << 2) +#define WDCTL_MODE_MASK (1 << 2) +#define WDCTL_INT_32768 (0 << 0) +#define WDCTL_INT_8192 (1 << 0) +#define WDCTL_INT_512 (2 << 0) +#define WDCTL_INT_64 (3 << 0) /* * Pin selectors, these set which pins are * using their peripheral function */ -sfr at 0xF3 P0SEL; -sfr at 0xF4 P1SEL; -sfr at 0xF5 P2SEL; +__sfr __at 0xF3 P0SEL; +__sfr __at 0xF4 P1SEL; +__sfr __at 0xF5 P2SEL; #define P2SEL_PRI3P1_USART0 (0 << 6) #define P2SEL_PRI3P1_USART1 (1 << 6) #define P2SEL_PRI3P1_MASK (1 << 6) #define P2SEL_PRI2P1_USART1 (0 << 5) #define P2SEL_PRI2P1_TIMER3 (1 << 5) +#define P2SEL_PRI2P1_MASK (1 << 5) #define P2SEL_PRI1P1_TIMER1 (0 << 4) #define P2SEL_PRI1P1_TIMER4 (1 << 4) +#define P2SEL_PRI1P1_MASK (1 << 4) #define P2SEL_PRI0P1_USART0 (0 << 3) #define P2SEL_PRI0P1_TIMER1 (1 << 3) +#define P2SEL_PRI0P1_MASK (1 << 3) #define P2SEL_SELP2_4_GPIO (0 << 2) #define P2SEL_SELP2_4_PERIPHERAL (1 << 2) +#define P2SEL_SELP2_4_MASK (1 << 2) #define P2SEL_SELP2_3_GPIO (0 << 1) #define P2SEL_SELP2_3_PERIPHERAL (1 << 1) +#define P2SEL_SELP2_3_MASK (1 << 1) #define P2SEL_SELP2_0_GPIO (0 << 0) #define P2SEL_SELP2_0_PERIPHERAL (1 << 0) #define P2SEL_SELP2_0_MASK (1 << 0) @@ -563,11 +585,17 @@ sfr at 0xF5 P2SEL; /* * For pins used as GPIOs, these set which are used as outputs */ -sfr at 0xFD P0DIR; -sfr at 0xFE P1DIR; -sfr at 0xFF P2DIR; +__sfr __at 0xFD P0DIR; +__sfr __at 0xFE P1DIR; +__sfr __at 0xFF P2DIR; + +#define P2DIR_PRIP0_USART0_USART1 (0 << 6) +#define P2DIR_PRIP0_USART1_USART0 (1 << 6) +#define P2DIR_PRIP0_TIMER1_01_USART1 (2 << 6) +#define P2DIR_PRIP0_TIMER1_2_USART0 (3 << 6) +#define P2DIR_PRIP0_MASK (3 << 6) -sfr at 0x8F P0INP; +__sfr __at 0x8F P0INP; /* Select between tri-state and pull up/down * for pins P0_0 - P0_7. @@ -589,7 +617,7 @@ sfr at 0x8F P0INP; #define P0INP_MDP0_0_PULL (0 << 0) #define P0INP_MDP0_0_TRISTATE (1 << 0) -sfr at 0xF6 P1INP; +__sfr __at 0xF6 P1INP; /* Select between tri-state and pull up/down * for pins P1_2 - P1_7. Pins P1_0 and P1_1 are @@ -608,7 +636,7 @@ sfr at 0xF6 P1INP; #define P1INP_MDP1_2_PULL (0 << 2) #define P1INP_MDP1_2_TRISTATE (1 << 2) -sfr at 0xF7 P2INP; +__sfr __at 0xF7 P2INP; /* P2INP has three extra bits which are used to choose * between pull-up and pull-down when they are not tri-stated */ @@ -634,42 +662,50 @@ sfr at 0xF7 P2INP; #define P2INP_MDP2_0_TRISTATE (1 << 0) /* GPIO interrupt status flags */ -sfr at 0x89 P0IFG; -sfr at 0x8A P1IFG; -sfr at 0x8B P2IFG; +__sfr __at 0x89 P0IFG; +__sfr __at 0x8A P1IFG; +__sfr __at 0x8B P2IFG; #define P0IFG_USB_RESUME (1 << 7) +__sfr __at 0x8C PICTL; +#define PICTL_P2IEN (1 << 5) +#define PICTL_P0IENH (1 << 4) +#define PICTL_P0IENL (1 << 3) +#define PICTL_P2ICON (1 << 2) +#define PICTL_P1ICON (1 << 1) +#define PICTL_P0ICON (1 << 0) + /* GPIO pins */ -sfr at 0x80 P0; - -sbit at 0x80 P0_0; -sbit at 0x81 P0_1; -sbit at 0x82 P0_2; -sbit at 0x83 P0_3; -sbit at 0x84 P0_4; -sbit at 0x85 P0_5; -sbit at 0x86 P0_6; -sbit at 0x87 P0_7; - -sfr at 0x90 P1; - -sbit at 0x90 P1_0; -sbit at 0x91 P1_1; -sbit at 0x92 P1_2; -sbit at 0x93 P1_3; -sbit at 0x94 P1_4; -sbit at 0x95 P1_5; -sbit at 0x96 P1_6; -sbit at 0x97 P1_7; - -sfr at 0xa0 P2; - -sbit at 0xa0 P2_0; -sbit at 0xa1 P2_1; -sbit at 0xa2 P2_2; -sbit at 0xa3 P2_3; -sbit at 0xa4 P2_4; +__sfr __at 0x80 P0; + +__sbit __at 0x80 P0_0; +__sbit __at 0x81 P0_1; +__sbit __at 0x82 P0_2; +__sbit __at 0x83 P0_3; +__sbit __at 0x84 P0_4; +__sbit __at 0x85 P0_5; +__sbit __at 0x86 P0_6; +__sbit __at 0x87 P0_7; + +__sfr __at 0x90 P1; + +__sbit __at 0x90 P1_0; +__sbit __at 0x91 P1_1; +__sbit __at 0x92 P1_2; +__sbit __at 0x93 P1_3; +__sbit __at 0x94 P1_4; +__sbit __at 0x95 P1_5; +__sbit __at 0x96 P1_6; +__sbit __at 0x97 P1_7; + +__sfr __at 0xa0 P2; + +__sbit __at 0xa0 P2_0; +__sbit __at 0xa1 P2_1; +__sbit __at 0xa2 P2_2; +__sbit __at 0xa3 P2_3; +__sbit __at 0xa4 P2_4; /* DMA controller */ struct cc_dma_channel { @@ -732,7 +768,7 @@ struct cc_dma_channel { # define DMA_CFG0_TRIGGER_ADC_CH7 28 # define DMA_CFG0_TRIGGER_I2STX 28 # define DMA_CFG0_TRIGGER_ENC_DW 29 -# define DMA_CFG0_TRIGGER_DNC_UP 30 +# define DMA_CFG0_TRIGGER_ENC_UP 30 # define DMA_CFG1_SRCINC_MASK (3 << 6) # define DMA_CFG1_SRCINC_0 (0 << 6) @@ -758,7 +794,7 @@ struct cc_dma_channel { * DMAARM - DMA Channel Arm */ -sfr at 0xD6 DMAARM; +__sfr __at 0xD6 DMAARM; # define DMAARM_ABORT (1 << 7) # define DMAARM_DMAARM4 (1 << 4) @@ -771,7 +807,7 @@ sfr at 0xD6 DMAARM; * DMAREQ - DMA Channel Start Request and Status */ -sfr at 0xD7 DMAREQ; +__sfr __at 0xD7 DMAREQ; # define DMAREQ_DMAREQ4 (1 << 4) # define DMAREQ_DMAREQ3 (1 << 3) @@ -783,21 +819,21 @@ sfr at 0xD7 DMAREQ; * DMA configuration 0 address */ -sfr at 0xD5 DMA0CFGH; -sfr at 0xD4 DMA0CFGL; +__sfr __at 0xD5 DMA0CFGH; +__sfr __at 0xD4 DMA0CFGL; /* * DMA configuration 1-4 address */ -sfr at 0xD3 DMA1CFGH; -sfr at 0xD2 DMA1CFGL; +__sfr __at 0xD3 DMA1CFGH; +__sfr __at 0xD2 DMA1CFGL; /* * DMAIRQ - DMA Interrupt Flag */ -sfr at 0xD1 DMAIRQ; +__sfr __at 0xD1 DMAIRQ; # define DMAIRQ_DMAIF4 (1 << 4) # define DMAIRQ_DMAIF3 (1 << 3) @@ -810,8 +846,8 @@ sfr at 0xD1 DMAIRQ; */ /* USART config/status registers */ -sfr at 0x86 U0CSR; -sfr at 0xF8 U1CSR; +__sfr __at 0x86 U0CSR; +__sfr __at 0xF8 U1CSR; # define UxCSR_MODE_UART (1 << 7) # define UxCSR_MODE_SPI (0 << 7) @@ -825,8 +861,8 @@ sfr at 0xF8 U1CSR; # define UxCSR_ACTIVE (1 << 0) /* UART configuration registers */ -sfr at 0xc4 U0UCR; -sfr at 0xfb U1UCR; +__sfr __at 0xc4 U0UCR; +__sfr __at 0xfb U1UCR; # define UxUCR_FLUSH (1 << 7) # define UxUCR_FLOW_DISABLE (0 << 6) @@ -845,8 +881,8 @@ sfr at 0xfb U1UCR; # define UxUCR_START_HIGH (1 << 0) /* USART General configuration registers (mostly SPI) */ -sfr at 0xc5 U0GCR; -sfr at 0xfc U1GCR; +__sfr __at 0xc5 U0GCR; +__sfr __at 0xfc U1GCR; # define UxGCR_CPOL_NEGATIVE (0 << 7) # define UxGCR_CPOL_POSITIVE (1 << 7) @@ -858,21 +894,41 @@ sfr at 0xfc U1GCR; # define UxGCR_BAUD_E_SHIFT 0 /* USART data registers */ -sfr at 0xc1 U0DBUF; +__sfr __at 0xc1 U0DBUF; __xdata __at (0xDFC1) volatile uint8_t U0DBUFXADDR; -sfr at 0xf9 U1DBUF; +__sfr __at 0xf9 U1DBUF; __xdata __at (0xDFF9) volatile uint8_t U1DBUFXADDR; /* USART baud rate registers, M value */ -sfr at 0xc2 U0BAUD; -sfr at 0xfa U1BAUD; +__sfr __at 0xc2 U0BAUD; +__sfr __at 0xfa U1BAUD; + +/* Flash controller */ + +__sfr __at 0xAE FCTL; +#define FCTL_BUSY (1 << 7) +#define FCTL_SWBSY (1 << 6) +#define FCTL_CONTRD_ENABLE (1 << 4) +#define FCTL_WRITE (1 << 1) +#define FCTL_ERASE (1 << 0) + +/* Flash write data. Write two bytes here */ +__sfr __at 0xAF FWDATA; +__xdata __at (0xDFAF) volatile uint8_t FWDATAXADDR; + +/* Flash write/erase address */ +__sfr __at 0xAD FADDRH; +__sfr __at 0xAC FADDRL; + +/* Flash timing */ +__sfr __at 0xAB FWT; /* Radio */ -sfr at 0xD9 RFD; -__xdata at (0xDFD9) volatile uint8_t RFDXADDR; +__sfr __at 0xD9 RFD; +__xdata __at (0xDFD9) volatile uint8_t RFDXADDR; -sfr at 0xE9 RFIF; +__sfr __at 0xE9 RFIF; #define RFIF_IM_TXUNF (1 << 7) #define RFIF_IM_RXOVF (1 << 6) #define RFIF_IM_TIMEOUT (1 << 5) @@ -882,7 +938,17 @@ sfr at 0xE9 RFIF; #define RFIF_IM_CCA (1 << 1) #define RFIF_IM_SFD (1 << 0) -sfr at 0xE1 RFST; +__sfr __at 0x91 RFIM; +#define RFIM_IM_TXUNF (1 << 7) +#define RFIM_IM_RXOVF (1 << 6) +#define RFIM_IM_TIMEOUT (1 << 5) +#define RFIM_IM_DONE (1 << 4) +#define RFIM_IM_CS (1 << 3) +#define RFIM_IM_PQT (1 << 2) +#define RFIM_IM_CCA (1 << 1) +#define RFIM_IM_SFD (1 << 0) + +__sfr __at 0xE1 RFST; #define RFST_SFSTXON 0x00 #define RFST_SCAL 0x01 @@ -1237,4 +1303,26 @@ __xdata __at (0xdf3c) uint8_t RF_PKTSTATUS; __xdata __at (0xdf3d) uint8_t RF_VCO_VC_DAC; #define RF_VCO_VC_DAC_OFF 0x3d +/* AES engine */ + +__sfr __at 0xB1 ENCDI; +__sfr __at 0xB2 ENCDO; +__xdata __at (0xDFB1) volatile uint8_t ENCDIXADDR; +__xdata __at (0xDFB2) volatile uint8_t ENCDOXADDR; + +__sfr __at 0xB3 ENCCCS; + +#define ENCCCS_MODE_CBC (0 << 4) +#define ENCCCS_MODE_CFB (1 << 4) +#define ENCCCS_MODE_OFB (2 << 4) +#define ENCCCS_MODE_CTR (3 << 4) +#define ENCCCS_MODE_ECB (4 << 4) +#define ENCCCS_MODE_CBC_MAC (5 << 4) +#define ENCCCS_RDY (1 << 3) +#define ENCCCS_CMD_ENCRYPT (0 << 1) +#define ENCCCS_CMD_DECRYPT (1 << 1) +#define ENCCCS_CMD_LOAD_KEY (2 << 1) +#define ENCCCS_CMD_LOAD_IV (3 << 1) +#define ENCCCS_START (1 << 0) + #endif diff --git a/src/check-stack b/src/check-stack deleted file mode 100755 index 82680b88..00000000 --- a/src/check-stack +++ /dev/null @@ -1,14 +0,0 @@ -#!/bin/sh -HEADER=$1 -MEM=$2 - -HEADER_STACK=`awk '/#define AO_STACK_START/ {print $3}' $HEADER | nickle` -MEM_STACK=`awk '/Stack starts at/ {print $4}' $MEM | nickle` - -if [ "$HEADER_STACK" -lt "$MEM_STACK" ]; then - MIN=0x`nickle -e "$MEM_STACK # 16"` - echo "Set AO_STACK_START to at least $MIN" - exit 1 -else - exit 0 -fi diff --git a/src/core/altitude.h b/src/core/altitude.h new file mode 100644 index 00000000..a278bbc6 --- /dev/null +++ b/src/core/altitude.h @@ -0,0 +1,132 @@ +/*max error 3.197865153490684 at 0.782%. Average error 0.260150920474668*/ +#define NALT 129 +#define ALT_FRAC_BITS 8 + 15835, /* 10.56 kPa 0.000% */ + 15332, /* 11.42 kPa 0.781% */ + 14868, /* 12.29 kPa 1.563% */ + 14435, /* 13.16 kPa 2.344% */ + 14030, /* 14.02 kPa 3.125% */ + 13649, /* 14.90 kPa 3.906% */ + 13290, /* 15.76 kPa 4.688% */ + 12950, /* 16.63 kPa 5.469% */ + 12627, /* 17.50 kPa 6.250% */ + 12320, /* 18.37 kPa 7.031% */ + 12027, /* 19.24 kPa 7.813% */ + 11747, /* 20.10 kPa 8.594% */ + 11479, /* 20.97 kPa 9.375% */ + 11222, /* 21.84 kPa 10.156% */ + 10975, /* 22.71 kPa 10.938% */ + 10736, /* 23.58 kPa 11.719% */ + 10504, /* 24.44 kPa 12.500% */ + 10278, /* 25.31 kPa 13.281% */ + 10059, /* 26.18 kPa 14.063% */ + 9846, /* 27.05 kPa 14.844% */ + 9638, /* 27.91 kPa 15.625% */ + 9435, /* 28.78 kPa 16.406% */ + 9237, /* 29.65 kPa 17.188% */ + 9044, /* 30.52 kPa 17.969% */ + 8855, /* 31.39 kPa 18.750% */ + 8670, /* 32.26 kPa 19.531% */ + 8490, /* 33.13 kPa 20.313% */ + 8313, /* 33.99 kPa 21.094% */ + 8140, /* 34.86 kPa 21.875% */ + 7970, /* 35.73 kPa 22.656% */ + 7803, /* 36.60 kPa 23.438% */ + 7640, /* 37.47 kPa 24.219% */ + 7480, /* 38.33 kPa 25.000% */ + 7322, /* 39.20 kPa 25.781% */ + 7168, /* 40.07 kPa 26.563% */ + 7016, /* 40.94 kPa 27.344% */ + 6867, /* 41.80 kPa 28.125% */ + 6720, /* 42.67 kPa 28.906% */ + 6575, /* 43.54 kPa 29.688% */ + 6433, /* 44.41 kPa 30.469% */ + 6294, /* 45.28 kPa 31.250% */ + 6156, /* 46.15 kPa 32.031% */ + 6020, /* 47.01 kPa 32.813% */ + 5887, /* 47.88 kPa 33.594% */ + 5755, /* 48.75 kPa 34.375% */ + 5625, /* 49.62 kPa 35.156% */ + 5497, /* 50.49 kPa 35.938% */ + 5371, /* 51.35 kPa 36.719% */ + 5247, /* 52.22 kPa 37.500% */ + 5124, /* 53.09 kPa 38.281% */ + 5003, /* 53.96 kPa 39.063% */ + 4883, /* 54.83 kPa 39.844% */ + 4765, /* 55.69 kPa 40.625% */ + 4648, /* 56.56 kPa 41.406% */ + 4533, /* 57.43 kPa 42.188% */ + 4419, /* 58.30 kPa 42.969% */ + 4307, /* 59.17 kPa 43.750% */ + 4196, /* 60.03 kPa 44.531% */ + 4086, /* 60.90 kPa 45.313% */ + 3977, /* 61.77 kPa 46.094% */ + 3870, /* 62.63 kPa 46.875% */ + 3764, /* 63.51 kPa 47.656% */ + 3659, /* 64.38 kPa 48.438% */ + 3555, /* 65.24 kPa 49.219% */ + 3453, /* 66.11 kPa 50.000% */ + 3351, /* 66.98 kPa 50.781% */ + 3250, /* 67.85 kPa 51.563% */ + 3151, /* 68.72 kPa 52.344% */ + 3052, /* 69.58 kPa 53.125% */ + 2955, /* 70.45 kPa 53.906% */ + 2858, /* 71.32 kPa 54.688% */ + 2763, /* 72.19 kPa 55.469% */ + 2668, /* 73.06 kPa 56.250% */ + 2574, /* 73.92 kPa 57.031% */ + 2482, /* 74.79 kPa 57.813% */ + 2390, /* 75.66 kPa 58.594% */ + 2298, /* 76.52 kPa 59.375% */ + 2208, /* 77.40 kPa 60.156% */ + 2119, /* 78.26 kPa 60.938% */ + 2030, /* 79.13 kPa 61.719% */ + 1942, /* 80.00 kPa 62.500% */ + 1855, /* 80.87 kPa 63.281% */ + 1769, /* 81.74 kPa 64.063% */ + 1683, /* 82.60 kPa 64.844% */ + 1598, /* 83.47 kPa 65.625% */ + 1514, /* 84.34 kPa 66.406% */ + 1430, /* 85.21 kPa 67.188% */ + 1347, /* 86.08 kPa 67.969% */ + 1265, /* 86.94 kPa 68.750% */ + 1184, /* 87.81 kPa 69.531% */ + 1103, /* 88.68 kPa 70.313% */ + 1023, /* 89.55 kPa 71.094% */ + 943, /* 90.41 kPa 71.875% */ + 864, /* 91.28 kPa 72.656% */ + 786, /* 92.15 kPa 73.438% */ + 708, /* 93.02 kPa 74.219% */ + 631, /* 93.89 kPa 75.000% */ + 554, /* 94.76 kPa 75.781% */ + 478, /* 95.63 kPa 76.563% */ + 403, /* 96.49 kPa 77.344% */ + 328, /* 97.36 kPa 78.125% */ + 254, /* 98.23 kPa 78.906% */ + 180, /* 99.10 kPa 79.688% */ + 106, /* 99.97 kPa 80.469% */ + 34, /* 100.83 kPa 81.250% */ + -39, /* 101.70 kPa 82.031% */ + -111, /* 102.57 kPa 82.813% */ + -182, /* 103.44 kPa 83.594% */ + -253, /* 104.30 kPa 84.375% */ + -323, /* 105.17 kPa 85.156% */ + -393, /* 106.04 kPa 85.938% */ + -462, /* 106.91 kPa 86.719% */ + -531, /* 107.78 kPa 87.500% */ + -600, /* 108.65 kPa 88.281% */ + -668, /* 109.51 kPa 89.063% */ + -736, /* 110.38 kPa 89.844% */ + -803, /* 111.25 kPa 90.625% */ + -870, /* 112.12 kPa 91.406% */ + -936, /* 112.99 kPa 92.188% */ + -1002, /* 113.85 kPa 92.969% */ + -1068, /* 114.72 kPa 93.750% */ + -1133, /* 115.59 kPa 94.531% */ + -1198, /* 116.46 kPa 95.313% */ + -1262, /* 117.33 kPa 96.094% */ + -1326, /* 118.19 kPa 96.875% */ + -1389, /* 119.06 kPa 97.656% */ + -1453, /* 119.93 kPa 98.438% */ + -1516, /* 120.80 kPa 99.219% */ + -1578, /* 121.67 kPa 100.000% */ diff --git a/src/core/ao.h b/src/core/ao.h new file mode 100644 index 00000000..31ec4686 --- /dev/null +++ b/src/core/ao.h @@ -0,0 +1,992 @@ +/* + * Copyright © 2009 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_H_ +#define _AO_H_ + +#include <stdint.h> +#include <stdio.h> +#include <string.h> +#include <stddef.h> +#include <ao_pins.h> +#include <ao_arch.h> + +#define TRUE 1 +#define FALSE 0 + +/* Convert a __data pointer into an __xdata pointer */ +#ifndef DATA_TO_XDATA +#define DATA_TO_XDATA(a) (a) +#endif +#ifndef PDATA_TO_XDATA +#define PDATA_TO_XDATA(a) (a) +#endif +#ifndef CODE_TO_XDATA +#define CODE_TO_XDATA(a) (a) +#endif + +/* An AltOS task */ +struct ao_task { + __xdata void *wchan; /* current wait channel (NULL if running) */ + uint16_t alarm; /* abort ao_sleep time */ + ao_arch_task_members /* any architecture-specific fields */ + uint8_t task_id; /* unique id */ + __code char *name; /* task name */ + uint8_t stack[AO_STACK_SIZE]; /* saved stack */ +}; + +extern __xdata struct ao_task *__data ao_cur_task; + +#define AO_NUM_TASKS 16 /* maximum number of tasks */ +#define AO_NO_TASK 0 /* no task id */ + +/* + ao_task.c + */ + +/* Suspend the current task until wchan is awoken. + * returns: + * 0 on normal wake + * 1 on alarm + */ +uint8_t +ao_sleep(__xdata void *wchan); + +/* Wake all tasks sleeping on wchan */ +void +ao_wakeup(__xdata void *wchan); + +/* set an alarm to go off in 'delay' ticks */ +void +ao_alarm(uint16_t delay); + +/* Clear any pending alarm */ +void +ao_clear_alarm(void); + +/* Yield the processor to another task */ +void +ao_yield(void) ao_arch_naked_declare; + +/* Add a task to the run queue */ +void +ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant; + +/* Terminate the current task */ +void +ao_exit(void); + +/* Dump task info to console */ +void +ao_task_info(void); + +/* Start the scheduler. This will not return */ +void +ao_start_scheduler(void); + +/* + * ao_panic.c + */ + +#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */ +#define AO_PANIC_DMA 2 /* Attempt to start DMA while active */ +#define AO_PANIC_MUTEX 3 /* Mis-using mutex API */ +#define AO_PANIC_EE 4 /* Mis-using eeprom API */ +#define AO_PANIC_LOG 5 /* Failing to read/write log data */ +#define AO_PANIC_CMD 6 /* Too many command sets registered */ +#define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */ +#define AO_PANIC_REBOOT 8 /* Reboot failed */ +#define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */ +#define AO_PANIC_USB 10 /* Trying to send USB packet while busy */ +#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */ +#define AO_PANIC_STACK 12 /* Stack overflow */ +#define AO_PANIC_SPI 13 /* SPI communication failure */ +#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */ +#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */ +#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */ +#define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */ + +/* Stop the operating system, beeping and blinking the reason */ +void +ao_panic(uint8_t reason); + +/* + * ao_timer.c + */ + +#ifndef AO_TICK_TYPE +#define AO_TICK_TYPE uint16_t +#define AO_TICK_SIGNED int16_t +#endif + +extern volatile __data AO_TICK_TYPE ao_tick_count; + +/* Our timer runs at 100Hz */ +#define AO_HERTZ 100 +#define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ)) +#define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ) + +/* Returns the current time in ticks */ +uint16_t +ao_time(void); + +/* Suspend the current task until ticks time has passed */ +void +ao_delay(uint16_t ticks); + +/* Set the ADC interval */ +void +ao_timer_set_adc_interval(uint8_t interval) __critical; + +/* Timer interrupt */ +void +ao_timer_isr(void) ao_arch_interrupt(9); + +/* Initialize the timer */ +void +ao_timer_init(void); + +/* Initialize the hardware clock. Must be called first */ +void +ao_clock_init(void); + +/* + * ao_mutex.c + */ + +void +ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; + +void +ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; + +/* + * ao_cmd.c + */ + +enum ao_cmd_status { + ao_cmd_success = 0, + ao_cmd_lex_error = 1, + ao_cmd_syntax_error = 2, +}; + +extern __pdata uint16_t ao_cmd_lex_i; +extern __pdata uint32_t ao_cmd_lex_u32; +extern __pdata char ao_cmd_lex_c; +extern __pdata enum ao_cmd_status ao_cmd_status; + +void +ao_cmd_lex(void); + +void +ao_cmd_put8(uint8_t v); + +void +ao_cmd_put16(uint16_t v); + +uint8_t +ao_cmd_is_white(void); + +void +ao_cmd_white(void); + +int8_t +ao_cmd_hexchar(char c); + +void +ao_cmd_hexbyte(void); + +void +ao_cmd_hex(void); + +void +ao_cmd_decimal(void); + +uint8_t +ao_match_word(__code char *word); + +struct ao_cmds { + void (*func)(void); + __code char *help; +}; + +void +ao_cmd_register(const __code struct ao_cmds *cmds); + +void +ao_cmd_init(void); + +#if HAS_CMD_FILTER +/* + * Provided by an external module to filter raw command lines + */ +uint8_t +ao_cmd_filter(void); +#endif + +/* + * Various drivers + */ +#if HAS_ADC +#include <ao_adc.h> +#endif + +#if HAS_BEEP +#include <ao_beep.h> +#endif + +#if LEDS_AVAILABLE +#include <ao_led.h> +#endif + +#if HAS_USB +#include <ao_usb.h> +#endif + +#if HAS_EEPROM +#include <ao_storage.h> +#endif + +#if HAS_LOG +#include <ao_log.h> +#endif + +#if HAS_FLIGHT +#include <ao_flight.h> +#include <ao_sample.h> +#endif + +/* + * ao_report.c + */ + +#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5) +#define AO_RDF_LENGTH_MS 500 +#define AO_RDF_CONTINUITY_MS 32 +#define AO_RDF_CONTINUITY_PAUSE 96 +#define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE) + +/* This assumes that we're generating a 1kHz tone, which + * modulates the carrier at 2kbps, or 250kBps + */ +#define AO_MS_TO_RDF_LEN(ms) ((ms) / 4) + +#define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS) +#define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS) +#define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE) +#define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL) + +/* returns a value 0-3 to indicate igniter continuity */ +uint8_t +ao_report_igniter(void); + +void +ao_report_init(void); + +/* + * ao_convert.c + * + * Given raw data, convert to SI units + */ + +/* pressure from the sensor to altitude in meters */ +int16_t +ao_pres_to_altitude(int16_t pres) __reentrant; + +int16_t +ao_altitude_to_pres(int16_t alt) __reentrant; + +int16_t +ao_temp_to_dC(int16_t temp) __reentrant; + +/* + * ao_convert_pa.c + * + * Convert between pressure in Pa and altitude in meters + */ + +int32_t +ao_pa_to_altitude(int32_t pa); + +int32_t +ao_altitude_to_pa(int32_t alt); + +#if HAS_DBG +#include <ao_dbg.h> +#endif + +#if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3 +#include <ao_serial.h> +#endif + + +/* + * ao_spi_slave.c + */ + +uint8_t +ao_spi_slave_recv(uint8_t *buf, uint8_t len); + +void +ao_spi_slave_send(uint8_t *buf, uint8_t len); + +void +ao_spi_slave_init(void); + +/* This must be defined by the product; it will get called when chip + * select goes low, at which point it should use ao_spi_read and + * ao_spi_write to deal with the request + */ + +void +ao_spi_slave(void); + +#include <ao_telemetry.h> +/* + * ao_gps.c + */ + +#define AO_GPS_NUM_SAT_MASK (0xf << 0) +#define AO_GPS_NUM_SAT_SHIFT (0) + +#define AO_GPS_VALID (1 << 4) +#define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) + +extern __pdata uint16_t ao_gps_tick; +extern __xdata uint8_t ao_gps_mutex; +extern __xdata struct ao_telemetry_location ao_gps_data; +extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data; + +struct ao_gps_orig { + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t minute; + uint8_t second; + uint8_t flags; + int32_t latitude; /* degrees * 10⁷ */ + int32_t longitude; /* degrees * 10⁷ */ + int16_t altitude; /* m */ + uint16_t ground_speed; /* cm/s */ + uint8_t course; /* degrees / 2 */ + uint8_t hdop; /* * 5 */ + int16_t climb_rate; /* cm/s */ + uint16_t h_error; /* m */ + uint16_t v_error; /* m */ +}; + +struct ao_gps_sat_orig { + uint8_t svid; + uint8_t c_n_1; +}; + +#define AO_MAX_GPS_TRACKING 12 + +struct ao_gps_tracking_orig { + uint8_t channels; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; +}; + +void +ao_gps(void); + +void +ao_gps_print(__xdata struct ao_gps_orig *gps_data); + +void +ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data); + +void +ao_gps_init(void); + +/* + * ao_gps_report.c + */ + +void +ao_gps_report(void); + +void +ao_gps_report_init(void); + +/* + * ao_gps_report_mega.c + */ + +void +ao_gps_report_mega(void); + +void +ao_gps_report_mega_init(void); + +/* + * ao_telemetry_orig.c + */ + +#if LEGACY_MONITOR +struct ao_adc_orig { + uint16_t tick; /* tick when the sample was read */ + int16_t accel; /* accelerometer */ + int16_t pres; /* pressure sensor */ + int16_t temp; /* temperature sensor */ + int16_t v_batt; /* battery voltage */ + int16_t sense_d; /* drogue continuity sense */ + int16_t sense_m; /* main continuity sense */ +}; + +struct ao_telemetry_orig { + uint16_t serial; + uint16_t flight; + uint8_t flight_state; + int16_t accel; + int16_t ground_accel; + union { + struct { + int16_t speed; + int16_t unused; + } k; + int32_t flight_vel; + } u; + int16_t height; + int16_t ground_pres; + int16_t accel_plus_g; + int16_t accel_minus_g; + struct ao_adc_orig adc; + struct ao_gps_orig gps; + char callsign[AO_MAX_CALLSIGN]; + struct ao_gps_tracking_orig gps_tracking; +}; + +struct ao_telemetry_tiny { + uint16_t serial; + uint16_t flight; + uint8_t flight_state; + int16_t height; /* AGL in meters */ + int16_t speed; /* in m/s * 16 */ + int16_t accel; /* in m/s² * 16 */ + int16_t ground_pres; /* sensor units */ + struct ao_adc adc; /* raw ADC readings */ + char callsign[AO_MAX_CALLSIGN]; +}; + +struct ao_telemetry_orig_recv { + struct ao_telemetry_orig telemetry_orig; + int8_t rssi; + uint8_t status; +}; + +struct ao_telemetry_tiny_recv { + struct ao_telemetry_tiny telemetry_tiny; + int8_t rssi; + uint8_t status; +}; + +#endif /* LEGACY_MONITOR */ + +/* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method + * for reporting RSSI. So, now we use these values everywhere + */ +#define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74) +#define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1) + +/* + * ao_radio_recv tacks on rssi and status bytes + */ + +struct ao_telemetry_raw_recv { + uint8_t packet[AO_MAX_TELEMETRY + 2]; +}; + +/* Set delay between telemetry reports (0 to disable) */ + +#ifdef AO_SEND_ALL_BARO +#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100) +#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) +#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100) +#else +#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) +#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) +#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) +#endif + +void +ao_telemetry_set_interval(uint16_t interval); + +void +ao_rdf_set(uint8_t rdf); + +void +ao_telemetry_init(void); + +void +ao_telemetry_orig_init(void); + +void +ao_telemetry_tiny_init(void); + +/* + * ao_radio.c + */ + +extern __xdata uint8_t ao_radio_dma; + +#ifdef PKT_APPEND_STATUS_1_CRC_OK +#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK +#else +#include <ao_fec.h> +#define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK +#endif + +void +ao_radio_general_isr(void) ao_arch_interrupt(16); + +void +ao_radio_send(const __xdata void *d, uint8_t size) __reentrant; + +uint8_t +ao_radio_recv(__xdata void *d, uint8_t size) __reentrant; + +void +ao_radio_recv_abort(void); + +void +ao_radio_test(uint8_t on); + +/* + * Compute the packet length as follows: + * + * 2000 bps (for a 1kHz tone) + * so, for 'ms' milliseconds, we need + * 2 * ms bits, or ms / 4 bytes + */ + +void +ao_radio_rdf(void); + +void +ao_radio_continuity(uint8_t c); + +void +ao_radio_rdf_abort(void); + +void +ao_radio_init(void); + +/* + * ao_monitor.c + */ + +#if HAS_MONITOR + +extern const char const * const ao_state_names[]; + +#define AO_MONITOR_RING 8 + +union ao_monitor { + struct ao_telemetry_raw_recv raw; + struct ao_telemetry_all_recv all; + struct ao_telemetry_orig_recv orig; + struct ao_telemetry_tiny_recv tiny; +}; + +extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; + +#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) + +extern __data uint8_t ao_monitoring; +extern __data uint8_t ao_monitor_head; + +void +ao_monitor(void); + +#define AO_MONITORING_OFF 0 +#define AO_MONITORING_ORIG 1 + +void +ao_monitor_set(uint8_t monitoring); + +void +ao_monitor_disable(void); + +void +ao_monitor_enable(void); + +void +ao_monitor_init(void) __reentrant; + +#endif + +/* + * ao_stdio.c + */ + +#define AO_READ_AGAIN ((char) -1) + +struct ao_stdio { + char (*pollchar)(void); + void (*putchar)(char c) __reentrant; + void (*flush)(void); + uint8_t echo; +}; + +extern __xdata struct ao_stdio ao_stdios[]; +extern __pdata int8_t ao_cur_stdio; +extern __pdata int8_t ao_num_stdios; + +void +flush(void); + +extern __xdata uint8_t ao_stdin_ready; + +uint8_t +ao_echo(void); + +int8_t +ao_add_stdio(char (*pollchar)(void), + void (*putchar)(char) __reentrant, + void (*flush)(void)) __reentrant; + +/* + * ao_ignite.c + */ + +enum ao_igniter { + ao_igniter_drogue = 0, + ao_igniter_main = 1 +}; + +void +ao_ignite(enum ao_igniter igniter); + +enum ao_igniter_status { + ao_igniter_unknown, /* unknown status (ambiguous voltage) */ + ao_igniter_ready, /* continuity detected */ + ao_igniter_active, /* igniter firing */ + ao_igniter_open, /* open circuit detected */ +}; + +struct ao_ignition { + uint8_t request; + uint8_t fired; + uint8_t firing; +}; + +extern __xdata struct ao_ignition ao_ignition[2]; + +enum ao_igniter_status +ao_igniter_status(enum ao_igniter igniter); + +extern __pdata uint8_t ao_igniter_present; + +void +ao_ignite_set_pins(void); + +void +ao_igniter_init(void); + +/* + * ao_config.c + */ + +#if AO_PYRO_NUM +#include <ao_pyro.h> +#endif + +#if HAS_FORCE_FREQ +/* + * Set this to force the frequency to 434.550MHz + */ +extern __xdata uint8_t ao_force_freq; +#endif + +#define AO_CONFIG_MAJOR 1 +#define AO_CONFIG_MINOR 12 + +#define AO_AES_LEN 16 + +extern __xdata uint8_t ao_config_aes_seq; + +struct ao_config { + uint8_t major; + uint8_t minor; + uint16_t main_deploy; + int16_t accel_plus_g; /* changed for minor version 2 */ + uint8_t _legacy_radio_channel; + char callsign[AO_MAX_CALLSIGN + 1]; + uint8_t apogee_delay; /* minor version 1 */ + int16_t accel_minus_g; /* minor version 2 */ + uint32_t radio_cal; /* minor version 3 */ + uint32_t flight_log_max; /* minor version 4 */ + uint8_t ignite_mode; /* minor version 5 */ + uint8_t pad_orientation; /* minor version 6 */ + uint32_t radio_setting; /* minor version 7 */ + uint8_t radio_enable; /* minor version 8 */ + uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */ + uint32_t frequency; /* minor version 10 */ + uint16_t apogee_lockout; /* minor version 11 */ +#if AO_PYRO_NUM + struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ +#endif +}; + +#define AO_IGNITE_MODE_DUAL 0 +#define AO_IGNITE_MODE_APOGEE 1 +#define AO_IGNITE_MODE_MAIN 2 + +#define AO_PAD_ORIENTATION_ANTENNA_UP 0 +#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 + +extern __xdata struct ao_config ao_config; + +#define AO_CONFIG_MAX_SIZE 128 + +void +_ao_config_edit_start(void); + +void +_ao_config_edit_finish(void); + +void +ao_config_get(void); + +void +ao_config_put(void); + +void +ao_config_set_radio(void); + +void +ao_config_init(void); + +/* + * ao_rssi.c + */ + +void +ao_rssi_set(int rssi_value); + +void +ao_rssi_init(uint8_t rssi_led); + +/* + * ao_product.c + * + * values which need to be defined for + * each instance of a product + */ + +extern const char ao_version[]; +extern const char ao_manufacturer[]; +extern const char ao_product[]; + +/* + * Fifos + */ + +#define AO_FIFO_SIZE 32 + +struct ao_fifo { + uint8_t insert; + uint8_t remove; + char fifo[AO_FIFO_SIZE]; +}; + +#define ao_fifo_insert(f,c) do { \ + (f).fifo[(f).insert] = (c); \ + (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \ +} while(0) + +#define ao_fifo_remove(f,c) do {\ + c = (f).fifo[(f).remove]; \ + (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \ +} while(0) + +#define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) +#define ao_fifo_empty(f) ((f).insert == (f).remove) + +#if PACKET_HAS_MASTER || PACKET_HAS_SLAVE +#include <ao_packet.h> +#endif + +#if HAS_BTM +#include <ao_btm.h> +#endif + +#if HAS_COMPANION +#include <ao_companion.h> +#endif + +#if HAS_LCD +#include <ao_lcd.h> +#endif + +#if HAS_AES +#include <ao_aes.h> +#endif + +/* ao_launch.c */ + +struct ao_launch_command { + uint16_t tick; + uint16_t serial; + uint8_t cmd; + uint8_t channel; + uint16_t unused; +}; + +#define AO_LAUNCH_QUERY 1 + +struct ao_launch_query { + uint16_t tick; + uint16_t serial; + uint8_t channel; + uint8_t valid; + uint8_t arm_status; + uint8_t igniter_status; +}; + +#define AO_LAUNCH_ARM 2 +#define AO_LAUNCH_FIRE 3 + +void +ao_launch_init(void); + +/* + * ao_log_single.c + */ + +#define AO_LOG_TELESCIENCE_START ((uint8_t) 's') +#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') + +#define AO_LOG_TELESCIENCE_NUM_ADC 12 + +struct ao_log_telescience { + uint8_t type; + uint8_t csum; + uint16_t tick; + uint16_t tm_tick; + uint8_t tm_state; + uint8_t unused; + uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC]; +}; + +#define AO_LOG_SINGLE_SIZE 32 + +union ao_log_single { + struct ao_log_telescience telescience; + union ao_telemetry_all telemetry; + uint8_t bytes[AO_LOG_SINGLE_SIZE]; +}; + +extern __xdata union ao_log_single ao_log_single_write_data; +extern __xdata union ao_log_single ao_log_single_read_data; + +void +ao_log_single_extra_query(void); + +void +ao_log_single_list(void); + +void +ao_log_single_main(void); + +uint8_t +ao_log_single_write(void); + +uint8_t +ao_log_single_read(uint32_t pos); + +void +ao_log_single_start(void); + +void +ao_log_single_stop(void); + +void +ao_log_single_restart(void); + +void +ao_log_single_set(void); + +void +ao_log_single_delete(void); + +void +ao_log_single_init(void); + +void +ao_log_single(void); + +/* + * ao_pyro_slave.c + */ + +#define AO_TELEPYRO_NUM_ADC 9 + +#ifndef ao_xmemcpy +#define ao_xmemcpy(d,s,c) memcpy(d,s,c) +#define ao_xmemset(d,v,c) memset(d,v,c) +#define ao_xmemcmp(d,s,c) memcmp(d,s,c) +#endif + +/* + * ao_terraui.c + */ + +void +ao_terraui_init(void); + +/* + * ao_battery.c + */ + +#ifdef BATTERY_PIN +void +ao_battery_isr(void) ao_arch_interrupt(1); + +uint16_t +ao_battery_get(void); + +void +ao_battery_init(void); +#endif /* BATTERY_PIN */ + +/* + * ao_sqrt.c + */ + +uint32_t +ao_sqrt(uint32_t op); + +/* + * ao_freq.c + */ + +int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant; + +/* + * ao_ms5607.c + */ + +void ao_ms5607_init(void); + +#include <ao_arch_funcs.h> + +#endif /* _AO_H_ */ diff --git a/src/core/ao_adc.h b/src/core/ao_adc.h new file mode 100644 index 00000000..0dd87080 --- /dev/null +++ b/src/core/ao_adc.h @@ -0,0 +1,39 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_ADC_H_ +#define _AO_ADC_H_ + +#include <ao_data.h> + +/* Trigger a conversion sequence (called from the timer interrupt) */ +void +ao_adc_poll(void); + +/* Suspend the current task until another A/D sample is converted */ +void +ao_adc_sleep(void); + +/* Get a copy of the last complete sample set */ +void +ao_data_get(__xdata struct ao_data *packet); + +/* Initialize the A/D converter */ +void +ao_adc_init(void); + +#endif /* _AO_ADC_H_ */ diff --git a/src/core/ao_aes.h b/src/core/ao_aes.h new file mode 100644 index 00000000..c47bc2db --- /dev/null +++ b/src/core/ao_aes.h @@ -0,0 +1,54 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_AES_H_ +#define _AO_AES_H_ + +/* ao_aes.c */ + +extern __xdata uint8_t ao_aes_mutex; + +/* AES keys and blocks are 128 bits */ + +enum ao_aes_mode { + ao_aes_mode_cbc_mac +}; + +#if HAS_AES +#ifdef SDCC +void +ao_aes_isr(void) __interrupt 4; +#endif +#endif + +void +ao_aes_set_mode(enum ao_aes_mode mode); + +void +ao_aes_set_key(__xdata uint8_t *in); + +void +ao_aes_zero_iv(void); + +void +ao_aes_run(__xdata uint8_t *in, + __xdata uint8_t *out); + +void +ao_aes_init(void); + +#endif /* _AO_AES_H_ */ diff --git a/src/core/ao_beep.h b/src/core/ao_beep.h new file mode 100644 index 00000000..55f61171 --- /dev/null +++ b/src/core/ao_beep.h @@ -0,0 +1,74 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_BEEP_H_ +#define _AO_BEEP_H_ + +/* + * ao_beep.c + */ + +/* + * Various pre-defined beep frequencies + * + * frequency = 1/2 (24e6/32) / beep + */ + +#define AO_BEEP_LOW 150 /* 2500Hz */ +#define AO_BEEP_MID 94 /* 3989Hz */ +#define AO_BEEP_HIGH 75 /* 5000Hz */ +#define AO_BEEP_OFF 0 /* off */ + +#define AO_BEEP_g 240 /* 1562.5Hz */ +#define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */ +#define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */ +#define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */ +#define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */ +#define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */ +#define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */ +#define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */ +#define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */ +#define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */ +#define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */ +#define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */ +#define AO_BEEP_gg 120 /* 3125Hz */ +#define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */ +#define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */ +#define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */ +#define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */ +#define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */ +#define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */ +#define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */ +#define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */ +#define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */ +#define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */ +#define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */ +#define AO_BEEP_ggg 60 /* 6250Hz */ + +/* Set the beeper to the specified tone */ +void +ao_beep(uint8_t beep); + +/* Turn on the beeper for the specified time */ +void +ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant; + +/* Initialize the beeper */ +void +ao_beep_init(void); + +#endif /* _AO_BEEP_H_ */ diff --git a/src/core/ao_btm.h b/src/core/ao_btm.h new file mode 100644 index 00000000..484e5d7f --- /dev/null +++ b/src/core/ao_btm.h @@ -0,0 +1,36 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_BTM_H_ +#define _AO_BTM_H_ + +/* ao_btm.c */ + +/* If bt_link is on P2, this interrupt is shared by USB, so the USB + * code calls this function. Otherwise, it's a regular ISR. + */ + +void +ao_btm_isr(void) +#if BT_LINK_ON_P1 + __interrupt 15 +#endif + ; +void +ao_btm_init(void); + +#endif /* _AO_BTM_H_ */ diff --git a/src/ao_cmd.c b/src/core/ao_cmd.c index 33619b24..1814cecf 100644 --- a/src/ao_cmd.c +++ b/src/core/ao_cmd.c @@ -17,30 +17,36 @@ #include "ao.h" -__xdata uint16_t ao_cmd_lex_i; -__xdata char ao_cmd_lex_c; -__xdata enum ao_cmd_status ao_cmd_status; -static __xdata uint8_t lex_echo; +__pdata uint16_t ao_cmd_lex_i; +__pdata uint32_t ao_cmd_lex_u32; +__pdata char ao_cmd_lex_c; +__pdata enum ao_cmd_status ao_cmd_status; -#define CMD_LEN 32 +#define CMD_LEN 48 static __xdata char cmd_line[CMD_LEN]; -static __xdata uint8_t cmd_len; -static __xdata uint8_t cmd_i; +static __pdata uint8_t cmd_len; +static __pdata uint8_t cmd_i; static void -put_string(char *s) +put_string(__code char *s) { - __xdata char c; - while (c = *s++) + char c; + while ((c = *s++)) putchar(c); } static void +backspace(void) +{ + put_string ("\010 \010"); +} + +static void readline(void) { - __xdata char c; - if (lex_echo) + char c; + if (ao_echo()) put_string("> "); cmd_len = 0; for (;;) { @@ -49,8 +55,8 @@ readline(void) /* backspace/delete */ if (c == '\010' || c == '\177') { if (cmd_len != 0) { - if (lex_echo) - put_string("\010 \010"); + if (ao_echo()) + backspace(); --cmd_len; } continue; @@ -59,8 +65,8 @@ readline(void) /* ^U */ if (c == '\025') { while (cmd_len != 0) { - if (lex_echo) - put_string("\010 \010"); + if (ao_echo()) + backspace(); --cmd_len; } continue; @@ -71,18 +77,15 @@ readline(void) c = '\n'; if (c == '\n') { - if (lex_echo) + if (ao_echo()) putchar('\n'); break; } - if (cmd_len >= CMD_LEN - 2) { - if (lex_echo) - putchar('\007'); + if (cmd_len >= CMD_LEN - 2) continue; - } cmd_line[cmd_len++] = c; - if (lex_echo) + if (ao_echo()) putchar(c); } cmd_line[cmd_len++] = '\n'; @@ -110,9 +113,8 @@ putnibble(uint8_t v) void ao_cmd_put16(uint16_t v) { - int8_t i; - for (i = 3; i >= 0; i--) - putnibble((v >> (i << 2)) & 0xf); + ao_cmd_put8(v >> 8); + ao_cmd_put8(v); } void @@ -122,29 +124,63 @@ ao_cmd_put8(uint8_t v) putnibble(v & 0xf); } +uint8_t +ao_cmd_is_white(void) +{ + return ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t'; +} + void ao_cmd_white(void) { - while (ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t') + while (ao_cmd_is_white()) ao_cmd_lex(); } +int8_t +ao_cmd_hexchar(char c) +{ + if ('0' <= c && c <= '9') + return (c - '0'); + if ('a' <= c && c <= 'f') + return (c - 'a' + 10); + if ('A' <= c && c <= 'F') + return (c - 'A' + 10); + return -1; +} + +void +ao_cmd_hexbyte(void) +{ + uint8_t i; + int8_t n; + + ao_cmd_lex_i = 0; + ao_cmd_white(); + for (i = 0; i < 2; i++) { + n = ao_cmd_hexchar(ao_cmd_lex_c); + if (n < 0) { + ao_cmd_status = ao_cmd_syntax_error; + break; + } + ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n; + ao_cmd_lex(); + } +} + void ao_cmd_hex(void) { - __xdata uint8_t r = ao_cmd_lex_error; + __pdata uint8_t r = ao_cmd_lex_error; + int8_t n; ao_cmd_lex_i = 0; ao_cmd_white(); for(;;) { - if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') - ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - '0'); - else if ('a' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'f') - ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - 'a' + 10); - else if ('A' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'F') - ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - 'A' + 10); - else + n = ao_cmd_hexchar(ao_cmd_lex_c); + if (n < 0) break; + ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n; r = ao_cmd_success; ao_cmd_lex(); } @@ -155,13 +191,13 @@ ao_cmd_hex(void) void ao_cmd_decimal(void) { - __xdata uint8_t r = ao_cmd_lex_error; + __pdata uint8_t r = ao_cmd_lex_error; - ao_cmd_lex_i = 0; + ao_cmd_lex_u32 = 0; ao_cmd_white(); for(;;) { if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') - ao_cmd_lex_i = (ao_cmd_lex_i * 10) + (ao_cmd_lex_c - '0'); + ao_cmd_lex_u32 = (ao_cmd_lex_u32 * 10) + (ao_cmd_lex_c - '0'); else break; r = ao_cmd_success; @@ -169,47 +205,45 @@ ao_cmd_decimal(void) } if (r != ao_cmd_success) ao_cmd_status = r; + ao_cmd_lex_i = (uint16_t) ao_cmd_lex_u32; } -static void -eol(void) +uint8_t +ao_match_word(__code char *word) { - while (ao_cmd_lex_c != '\n') + while (*word) { + if (ao_cmd_lex_c != *word) { + ao_cmd_status = ao_cmd_syntax_error; + return 0; + } + word++; ao_cmd_lex(); + } + return 1; } static void -dump(void) +echo(void) { - __xdata uint16_t c; - __xdata uint8_t * __xdata start, * __xdata end; - ao_cmd_hex(); - start = (uint8_t __xdata *) ao_cmd_lex_i; - ao_cmd_hex(); - end = (uint8_t __xdata *) ao_cmd_lex_i; - if (ao_cmd_status != ao_cmd_success) - return; - c = 0; - while (start <= end) { - if ((c & 7) == 0) { - if (c) - putchar('\n'); - ao_cmd_put16((uint16_t) start); - } - putchar(' '); - ao_cmd_put8(*start); - ++c; - start++; - } - putchar('\n'); + if (ao_cmd_status == ao_cmd_success) + ao_stdios[ao_cur_stdio].echo = ao_cmd_lex_i != 0; } static void -echo(void) +ao_reboot(void) { - ao_cmd_hex(); - lex_echo = ao_cmd_lex_i != 0; + ao_cmd_white(); + if (!ao_match_word("eboot")) + return; + /* Delay waiting for the packet master to be turned off + * so that we don't end up back in idle mode because we + * received a packet after boot. + */ + flush(); + ao_delay(AO_SEC_TO_TICKS(1)); + ao_arch_reboot(); + ao_panic(AO_PANIC_REBOOT); } static void @@ -218,27 +252,36 @@ version(void) printf("manufacturer %s\n", ao_manufacturer); printf("product %s\n", ao_product); printf("serial-number %u\n", ao_serial_number); +#if HAS_LOG + printf("log-format %u\n", ao_log_format); +#endif +#if HAS_MS5607 + ao_ms5607_info(); +#endif printf("software-version %s\n", ao_version); } -static const char help_txt[] = "All numbers are in hex"; - +#ifndef NUM_CMDS #define NUM_CMDS 11 +#endif static __code struct ao_cmds *__xdata (ao_cmds[NUM_CMDS]); -static __xdata uint8_t ao_ncmds; +static __pdata uint8_t ao_ncmds; static void help(void) { - __xdata uint8_t cmds; - __xdata uint8_t cmd; - __code struct ao_cmds * __xdata cs; - puts(help_txt); + __pdata uint8_t cmds; + __pdata uint8_t cmd; + __code struct ao_cmds * __pdata cs; + const char *h; + for (cmds = 0; cmds < ao_ncmds; cmds++) { cs = ao_cmds[cmds]; - for (cmd = 0; cs[cmd].cmd != '\0'; cmd++) - puts(cs[cmd].help); + for (cmd = 0; cs[cmd].func; cmd++) { + h = cs[cmd].help; + printf("%-45s %s\n", h, h + 1 + strlen(h)); + } } } @@ -250,6 +293,7 @@ report(void) case ao_cmd_syntax_error: puts("Syntax error"); ao_cmd_status = 0; + default: break; } } @@ -263,15 +307,13 @@ ao_cmd_register(__code struct ao_cmds *cmds) } void -ao_cmd(void *parameters) +ao_cmd(void) { - __xdata char c; - __xdata uint8_t cmd, cmds; + __pdata char c; + uint8_t cmd, cmds; __code struct ao_cmds * __xdata cs; void (*__xdata func)(void); - (void) parameters; - lex_echo = 1; for (;;) { readline(); ao_cmd_lex(); @@ -283,8 +325,8 @@ ao_cmd(void *parameters) func = (void (*)(void)) NULL; for (cmds = 0; cmds < ao_ncmds; cmds++) { cs = ao_cmds[cmds]; - for (cmd = 0; cs[cmd].cmd != '\0'; cmd++) - if (cs[cmd].cmd == c) { + for (cmd = 0; cs[cmd].func; cmd++) + if (cs[cmd].help[0] == c) { func = cs[cmd].func; break; } @@ -302,12 +344,12 @@ ao_cmd(void *parameters) __xdata struct ao_task ao_cmd_task; __code struct ao_cmds ao_base_cmds[] = { - { '?', help, "? Print this message" }, - { 'T', ao_task_info, "T Show task states" }, - { 'E', echo, "E <0 off, 1 on> Set command echo mode" }, - { 'd', dump, "d <start> <end> Dump memory" }, - { 'v', version, "v Show version" }, - { 0, help, NULL }, + { help, "?\0Help" }, + { ao_task_info, "T\0Tasks" }, + { echo, "E <0 off, 1 on>\0Echo" }, + { ao_reboot, "r eboot\0Reboot" }, + { version, "v\0Version" }, + { 0, NULL }, }; void diff --git a/src/core/ao_companion.h b/src/core/ao_companion.h new file mode 100644 index 00000000..035325a3 --- /dev/null +++ b/src/core/ao_companion.h @@ -0,0 +1,55 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_COMPANION_H_ +#define _AO_COMPANION_H_ + +/* ao_companion.c */ + +#define AO_COMPANION_SETUP 1 +#define AO_COMPANION_FETCH 2 +#define AO_COMPANION_NOTIFY 3 + +struct ao_companion_command { + uint8_t command; + uint8_t flight_state; + uint16_t tick; + uint16_t serial; + uint16_t flight; + int16_t accel; + int16_t speed; + int16_t height; + int16_t motor_number; +}; + +struct ao_companion_setup { + uint16_t board_id; + uint16_t board_id_inverse; + uint8_t update_period; + uint8_t channels; +}; + +extern __pdata uint8_t ao_companion_running; +extern __xdata uint8_t ao_companion_mutex; +extern __xdata struct ao_companion_command ao_companion_command; +extern __xdata struct ao_companion_setup ao_companion_setup; +extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; + +void +ao_companion_init(void); + +#endif /* _AO_COMPANION_H_ */ diff --git a/src/core/ao_config.c b/src/core/ao_config.c new file mode 100644 index 00000000..ce855ad1 --- /dev/null +++ b/src/core/ao_config.c @@ -0,0 +1,635 @@ +/* + * Copyright © 2009 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_log.h" +#include <ao_storage.h> +#if HAS_FLIGHT +#include <ao_sample.h> +#include <ao_data.h> +#endif + +__xdata struct ao_config ao_config; +__pdata uint8_t ao_config_loaded; +__pdata uint8_t ao_config_dirty; +__xdata uint8_t ao_config_mutex; + +#define AO_CONFIG_DEFAULT_MAIN_DEPLOY 250 +#define AO_CONFIG_DEFAULT_RADIO_CHANNEL 0 +#define AO_CONFIG_DEFAULT_CALLSIGN "N0CALL" +#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000 +#define AO_CONFIG_DEFAULT_APOGEE_DELAY 0 +#define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL +#define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP +#if HAS_EEPROM +#ifndef USE_INTERNAL_FLASH +#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 +#endif + +#if HAS_EEPROM +static void +_ao_config_put(void) +{ + ao_storage_setup(); + ao_storage_erase(ao_storage_config); + ao_storage_write(ao_storage_config, &ao_config, sizeof (ao_config)); +#if HAS_FLIGHT + ao_log_write_erase(0); +#endif + ao_storage_flush(); +} + +void +ao_config_put(void) +{ + ao_mutex_get(&ao_config_mutex); + _ao_config_put(); + ao_mutex_put(&ao_config_mutex); +} +#endif + +#if HAS_RADIO +void +ao_config_set_radio(void) +{ + ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal); +} +#endif /* HAS_RADIO */ + +static void +_ao_config_get(void) +{ + uint8_t minor; + + if (ao_config_loaded) + return; +#if HAS_EEPROM + /* Yes, I know ao_storage_read calls ao_storage_setup, + * but ao_storage_setup *also* sets ao_storage_config, which we + * need before calling ao_storage_read here + */ + ao_storage_setup(); + ao_storage_read(ao_storage_config, &ao_config, sizeof (ao_config)); +#endif + if (ao_config.major != AO_CONFIG_MAJOR) { + ao_config.major = AO_CONFIG_MAJOR; + ao_config.minor = 0; + + /* Version 0 stuff */ + ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY; + ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign)); + ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN), + sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1); + } + minor = ao_config.minor; + if (minor != AO_CONFIG_MINOR) { + /* Fixups for minor version 1 */ + if (minor < 1) + ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY; + /* Fixups for minor version 2 */ + if (minor < 2) { + ao_config.accel_plus_g = 0; + ao_config.accel_minus_g = 0; + } + /* Fixups for minor version 3 */ +#if HAS_RADIO + if (minor < 3) + ao_config.radio_cal = ao_radio_cal; +#endif + /* Fixups for minor version 4 */ + if (minor < 4) + ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX; + /* Fixupes for minor version 5 */ + if (minor < 5) + ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE; + if (minor < 6) + ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION; + if (minor < 8) + ao_config.radio_enable = TRUE; + if (minor < 9) + ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN); + if (minor < 10) + ao_config.frequency = 434550; + if (minor < 11) + ao_config.apogee_lockout = 0; +#if AO_PYRO_NUM + if (minor < 12) + memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro)); +#endif + ao_config.minor = AO_CONFIG_MINOR; + ao_config_dirty = 1; + } +#if HAS_RADIO +#if HAS_FORCE_FREQ + if (ao_force_freq) + ao_config.frequency = 434550; +#endif + ao_config_set_radio(); +#endif + ao_config_loaded = 1; +} + +void +_ao_config_edit_start(void) +{ + ao_mutex_get(&ao_config_mutex); + _ao_config_get(); +} + +void +_ao_config_edit_finish(void) +{ + ao_config_dirty = 1; + ao_mutex_put(&ao_config_mutex); +} + +void +ao_config_get(void) +{ + _ao_config_edit_start(); + ao_mutex_put(&ao_config_mutex); +} + +void +ao_config_callsign_show(void) +{ + printf ("Callsign: \"%s\"\n", ao_config.callsign); +} + +void +ao_config_callsign_set(void) __reentrant +{ + uint8_t c; + static __xdata char callsign[AO_MAX_CALLSIGN + 1]; + + ao_xmemset(callsign, '\0', sizeof callsign); + ao_cmd_white(); + c = 0; + while (ao_cmd_lex_c != '\n') { + if (c < AO_MAX_CALLSIGN) + callsign[c++] = ao_cmd_lex_c; + else + ao_cmd_status = ao_cmd_lex_error; + ao_cmd_lex(); + } + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_xmemcpy(&ao_config.callsign, &callsign, + AO_MAX_CALLSIGN + 1); + _ao_config_edit_finish(); +} + +#if HAS_RADIO +void +ao_config_frequency_show(void) __reentrant +{ + printf("Frequency: %ld\n", + ao_config.frequency); +} + +void +ao_config_frequency_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.frequency = ao_cmd_lex_u32; + ao_config_set_radio(); + _ao_config_edit_finish(); + ao_radio_recv_abort(); +} +#endif + +#if HAS_FLIGHT + +void +ao_config_main_deploy_show(void) __reentrant +{ + printf("Main deploy: %d meters\n", + ao_config.main_deploy); +} + +void +ao_config_main_deploy_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.main_deploy = ao_cmd_lex_i; + _ao_config_edit_finish(); +} + +#if HAS_ACCEL +void +ao_config_accel_calibrate_show(void) __reentrant +{ + printf("Accel cal +1g: %d -1g: %d\n", + ao_config.accel_plus_g, ao_config.accel_minus_g); +} + +#define ACCEL_CALIBRATE_SAMPLES 1024 +#define ACCEL_CALIBRATE_SHIFT 10 + +static int16_t +ao_config_accel_calibrate_auto(char *orientation) __reentrant +{ + uint16_t i; + int32_t accel_total; + uint8_t cal_data_ring; + + printf("Orient antenna %s and press a key...", orientation); + flush(); + (void) getchar(); + puts("\r\n"); flush(); + puts("Calibrating..."); flush(); + i = ACCEL_CALIBRATE_SAMPLES; + accel_total = 0; + cal_data_ring = ao_sample_data; + while (i) { + ao_sleep(DATA_TO_XDATA(&ao_sample_data)); + while (i && cal_data_ring != ao_sample_data) { + accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]); + cal_data_ring = ao_data_ring_next(cal_data_ring); + i--; + } + } + return accel_total >> ACCEL_CALIBRATE_SHIFT; +} + +void +ao_config_accel_calibrate_set(void) __reentrant +{ + int16_t up, down; + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + if (ao_cmd_lex_i == 0) { + up = ao_config_accel_calibrate_auto("up"); + down = ao_config_accel_calibrate_auto("down"); + } else { + up = ao_cmd_lex_i; + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + down = ao_cmd_lex_i; + } + if (up >= down) { + printf("Invalid accel: up (%d) down (%d)\n", + up, down); + return; + } + _ao_config_edit_start(); + ao_config.accel_plus_g = up; + ao_config.accel_minus_g = down; + _ao_config_edit_finish(); +} +#endif /* HAS_ACCEL */ + +void +ao_config_apogee_delay_show(void) __reentrant +{ + printf("Apogee delay: %d seconds\n", + ao_config.apogee_delay); +} + +void +ao_config_apogee_delay_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.apogee_delay = ao_cmd_lex_i; + _ao_config_edit_finish(); +} + +void +ao_config_apogee_lockout_show(void) __reentrant +{ + printf ("Apogee lockout: %d seconds\n", + ao_config.apogee_lockout); +} + +void +ao_config_apogee_lockout_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.apogee_lockout = ao_cmd_lex_i; + _ao_config_edit_finish(); +} + +#endif /* HAS_FLIGHT */ + +#if HAS_RADIO +void +ao_config_radio_cal_show(void) __reentrant +{ + printf("Radio cal: %ld\n", ao_config.radio_cal); +} + +void +ao_config_radio_cal_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.radio_cal = ao_cmd_lex_u32; + ao_config_set_radio(); + _ao_config_edit_finish(); +} +#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)); +} + +void +ao_config_log_set(void) __reentrant +{ + uint16_t block = (uint16_t) (ao_storage_block >> 10); + uint16_t config = (uint16_t) (ao_storage_config >> 10); + + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + if (ao_log_present()) + printf("Storage must be empty before changing log size\n"); + else if (block > 1024 && (ao_cmd_lex_i & (block - 1))) + printf("Flight log size must be multiple of %d kB\n", block); + else if (ao_cmd_lex_i > config) + printf("Flight log max %d kB\n", config); + else { + _ao_config_edit_start(); + ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10; + _ao_config_edit_finish(); + } +} +#endif /* HAS_LOG */ + +#if HAS_IGNITE +void +ao_config_ignite_mode_show(void) __reentrant +{ + printf("Ignite mode: %d\n", ao_config.ignite_mode); +} + +void +ao_config_ignite_mode_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.ignite_mode = ao_cmd_lex_i; + _ao_config_edit_finish(); +} +#endif + +#if HAS_ACCEL +void +ao_config_pad_orientation_show(void) __reentrant +{ + printf("Pad orientation: %d\n", ao_config.pad_orientation); +} + +void +ao_config_pad_orientation_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_cmd_lex_i &= 1; + if (ao_config.pad_orientation != ao_cmd_lex_i) { + uint16_t t; + t = ao_config.accel_plus_g; + ao_config.accel_plus_g = 0x7fff - ao_config.accel_minus_g; + ao_config.accel_minus_g = 0x7fff - t; + } + ao_config.pad_orientation = ao_cmd_lex_i; + _ao_config_edit_finish(); +} +#endif + +#if HAS_RADIO +void +ao_config_radio_enable_show(void) __reentrant +{ + printf("Radio enable: %d\n", ao_config.radio_enable); +} + +void +ao_config_radio_enable_set(void) __reentrant +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.radio_enable = ao_cmd_lex_i; + _ao_config_edit_finish(); +} +#endif /* HAS_RADIO */ + +#if HAS_AES + +__xdata uint8_t ao_config_aes_seq = 1; + +void +ao_config_key_show(void) __reentrant +{ + uint8_t i; + printf("AES key: "); + for (i = 0; i < AO_AES_LEN; i++) + printf ("%02x", ao_config.aes_key[i]); + printf("\n"); +} + +void +ao_config_key_set(void) __reentrant +{ + uint8_t i; + + _ao_config_edit_start(); + for (i = 0; i < AO_AES_LEN; i++) { + ao_cmd_hexbyte(); + if (ao_cmd_status != ao_cmd_success) + break; + ao_config.aes_key[i] = ao_cmd_lex_i; + } + ++ao_config_aes_seq; + _ao_config_edit_finish(); +} +#endif + +struct ao_config_var { + __code char *str; + void (*set)(void) __reentrant; + void (*show)(void) __reentrant; +}; + +static void +ao_config_help(void) __reentrant; + +static void +ao_config_show(void) __reentrant; + +static void +ao_config_write(void) __reentrant; + +__code struct ao_config_var ao_config_vars[] = { +#if HAS_FLIGHT + { "m <meters>\0Main deploy (m)", + ao_config_main_deploy_set, ao_config_main_deploy_show, }, + { "d <delay>\0Apogee delay (s)", + ao_config_apogee_delay_set, ao_config_apogee_delay_show }, + { "L <seconds>\0Apogee detect lockout (s)", + ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, }, +#endif /* HAS_FLIGHT */ +#if HAS_RADIO + { "F <freq>\0Frequency (kHz)", + ao_config_frequency_set, ao_config_frequency_show }, + { "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 }, +#endif /* HAS_RADIO */ +#if HAS_ACCEL + { "a <+g> <-g>\0Accel calib (0 for auto)", + ao_config_accel_calibrate_set,ao_config_accel_calibrate_show }, +#endif /* HAS_ACCEL */ +#if HAS_RADIO + { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))", + ao_config_radio_cal_set, ao_config_radio_cal_show }, +#endif /* HAS_RADIO */ +#if HAS_LOG + { "l <size>\0Flight log size (kB)", + ao_config_log_set, ao_config_log_show }, +#endif +#if HAS_IGNITE + { "i <0 dual, 1 apogee, 2 main>\0Set igniter mode", + ao_config_ignite_mode_set, ao_config_ignite_mode_show }, +#endif +#if HAS_ACCEL + { "o <0 antenna up, 1 antenna down>\0Set pad orientation", + ao_config_pad_orientation_set,ao_config_pad_orientation_show }, +#endif +#if HAS_AES + { "k <32 hex digits>\0Set AES encryption key", + ao_config_key_set, ao_config_key_show }, +#endif +#if AO_PYRO_NUM + { "P <n,?>\0Configure pyro channels", + ao_pyro_set, ao_pyro_show }, +#endif + { "s\0Show", + ao_config_show, 0 }, +#if HAS_EEPROM + { "w\0Write to eeprom", + ao_config_write, 0 }, +#endif + { "?\0Help", + ao_config_help, 0 }, + { 0, 0, 0 } +}; + +void +ao_config_set(void) +{ + char c; + uint8_t cmd; + + ao_cmd_white(); + c = ao_cmd_lex_c; + ao_cmd_lex(); + for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++) + if (ao_config_vars[cmd].str[0] == c) { + (*ao_config_vars[cmd].set)(); + return; + } + ao_cmd_status = ao_cmd_syntax_error; +} + +static void +ao_config_help(void) __reentrant +{ + uint8_t cmd; + for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++) + printf("%-20s %s\n", + ao_config_vars[cmd].str, + ao_config_vars[cmd].str+1+ + strlen(ao_config_vars[cmd].str)); +} + +static void +ao_config_show(void) __reentrant +{ + uint8_t cmd; + ao_config_get(); + printf("Config version: %d.%d\n", + ao_config.major, ao_config.minor); + for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++) + if (ao_config_vars[cmd].show) + (*ao_config_vars[cmd].show)(); +} + +#if HAS_EEPROM +static void +ao_config_write(void) __reentrant +{ + uint8_t saved = 0; + ao_mutex_get(&ao_config_mutex); + if (ao_config_dirty) { + _ao_config_put(); + ao_config_dirty = 0; + saved = 1; + } + ao_mutex_put(&ao_config_mutex); + if (saved) + puts("Saved"); + else + puts("Nothing to save"); +} +#endif + +__code struct ao_cmds ao_config_cmds[] = { + { ao_config_set, "c <var> <value>\0Set config (? for help, s to show)" }, + { 0, NULL }, +}; + +void +ao_config_init(void) +{ + ao_cmd_register(&ao_config_cmds[0]); +} diff --git a/src/core/ao_convert.c b/src/core/ao_convert.c new file mode 100644 index 00000000..aa9b5f48 --- /dev/null +++ b/src/core/ao_convert.c @@ -0,0 +1,89 @@ +/* + * Copyright © 2009 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. + */ + +#if !defined(AO_CONVERT_TEST) && !defined(AO_FLIGHT_TEST) +#include "ao.h" +#endif + +static const int16_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_pres_to_altitude(int16_t pres) __reentrant +{ + uint8_t o; + int16_t part; + + if (pres < 0) + pres = 0; + o = pres >> ALT_FRAC_BITS; + part = pres & ALT_FRAC_MASK; + + return ((int32_t) altitude_table[o] * (ALT_FRAC_SCALE - part) + + (int32_t) altitude_table[o+1] * part + (ALT_FRAC_SCALE >> 1)) >> ALT_FRAC_BITS; +} + +#if AO_NEED_ALTITUDE_TO_PRES +int16_t +ao_altitude_to_pres(int16_t alt) __reentrant +{ + int16_t span, sub_span; + uint8_t l, h, m; + int32_t pres; + + l = 0; + h = NALT - 1; + while ((h - l) != 1) { + m = (l + h) >> 1; + if (altitude_table[m] < alt) + h = m; + else + l = m; + } + span = altitude_table[l] - altitude_table[h]; + sub_span = altitude_table[l] - alt; + pres = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_FRAC_BITS) + (span >> 1)) / span; + if (pres > 32767) + pres = 32767; + if (pres < 0) + pres = 0; + return (int16_t) pres; +} +#endif + +#if 0 +int16_t +ao_temp_to_dC(int16_t temp) __reentrant +{ + int16_t ret; + + /* Output voltage at 0°C = 0.755V + * Coefficient = 0.00247V/°C + * Reference voltage = 1.25V + * + * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247 + * = (value - 19791.268) / 32768 * 1.25 / 0.00247 + * ≃ (value - 19791) * 1012 / 65536 + */ + ret = ((temp - 19791) * 1012L) >> 16; + return ret; +} +#endif diff --git a/src/core/ao_convert_pa.c b/src/core/ao_convert_pa.c new file mode 100644 index 00000000..0c93caea --- /dev/null +++ b/src/core/ao_convert_pa.c @@ -0,0 +1,72 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#if !defined(AO_CONVERT_TEST) && !defined(AO_FLIGHT_TEST) +#include "ao.h" +#endif + +static const int32_t altitude_table[] = { +#include "altitude-pa.h" +}; + +#define ALT_SCALE (1 << ALT_SHIFT) +#define ALT_MASK (ALT_SCALE - 1) + +int32_t +ao_pa_to_altitude(int32_t pa) +{ + int16_t o; + int16_t part; + int32_t low, high; + + if (pa < 0) + pa = 0; + if (pa > 120000) + pa = 120000; + o = pa >> ALT_SHIFT; + part = pa & ALT_MASK; + + low = (int32_t) altitude_table[o] * (ALT_SCALE - part); + high = (int32_t) altitude_table[o+1] * part + (ALT_SCALE >> 1); + return (low + high) >> ALT_SHIFT; +} + +int32_t +ao_altitude_to_pa(int32_t alt) +{ + int32_t span, sub_span; + uint16_t l, h, m; + int32_t pa; + + l = 0; + h = NALT - 1; + while ((h - l) != 1) { + m = (l + h) >> 1; + if (altitude_table[m] < alt) + h = m; + else + l = m; + } + 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; + if (pa > 120000) + pa = 120000; + if (pa < 0) + pa = 0; + return pa; +} diff --git a/src/core/ao_convert_pa_test.c b/src/core/ao_convert_pa_test.c new file mode 100644 index 00000000..972a4d4c --- /dev/null +++ b/src/core/ao_convert_pa_test.c @@ -0,0 +1,76 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <stdint.h> +#define AO_CONVERT_TEST +#include "ao_host.h" +#include "ao_convert_pa.c" + +#define STEP_P 1 +#define STEP_A 1 + +static inline i_abs(int i) { return i < 0 ? -i : i; } + +main () +{ + int i; + int32_t p_to_a, p_to_a_to_p; + int32_t a_to_p, a_to_p_to_a; + int max_p_error = 0, max_p_error_p = -1; + int max_a_error = 0, max_a_error_a = -1; + int p_error; + int a_error; + int ret = 0; + + for (i = 0; i < 120000 + STEP_P; i += STEP_P) { + if (i > 120000) + i = 120000; + p_to_a = ao_pa_to_altitude(i); + p_to_a_to_p = ao_altitude_to_pa(p_to_a); + p_error = i_abs(p_to_a_to_p - i); + if (p_error > max_p_error) { + max_p_error = p_error; + max_p_error_p = i; + } +// printf ("pa %d alt %d pa %d\n", +// i, p_to_a, p_to_a_to_p); + } + for (i = -1450; i < 74250 + STEP_A; i += STEP_A) { + if (i > 74250) + i = 74250; + a_to_p = ao_altitude_to_pa(i); + a_to_p_to_a = ao_pa_to_altitude(a_to_p); + a_error = i_abs(a_to_p_to_a - i); + if (a_error > max_a_error) { + max_a_error = a_error; + max_a_error_a = i; + } +// printf ("alt %d pa %d alt %d\n", +// i, a_to_p, a_to_p_to_a); + } + if (max_p_error > 2) { + printf ("max p error %d at %d\n", max_p_error, + max_p_error_p); + ret++; + } + if (max_a_error > 1) { + printf ("max a error %d at %d\n", max_a_error, + max_a_error_a); + ret++; + } + return ret; +} diff --git a/src/core/ao_convert_test.c b/src/core/ao_convert_test.c new file mode 100644 index 00000000..87e76841 --- /dev/null +++ b/src/core/ao_convert_test.c @@ -0,0 +1,76 @@ +/* + * 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. + */ + +#include <stdint.h> +#define AO_CONVERT_TEST +#define AO_NEED_ALTITUDE_TO_PRES 1 +#include "ao_host.h" +#include "ao_convert.c" + +#define STEP 1 + +static inline int i_abs(int i) { return i < 0 ? -i : i; } + +int main (int argc, char **argv) +{ + int i; + int16_t p_to_a, p_to_a_to_p; + int16_t a_to_p, a_to_p_to_a; + int max_p_error = 0, max_p_error_p = -1; + int max_a_error = 0, max_a_error_a = -1; + int p_error; + int a_error; + int ret = 0; + + for (i = 0; i < 32767 + STEP; i += STEP) { + if (i > 32767) + i = 32767; + p_to_a = ao_pres_to_altitude(i); + p_to_a_to_p = ao_altitude_to_pres(p_to_a); + p_error = i_abs(p_to_a_to_p - i); + if (p_error > max_p_error) { + max_p_error = p_error; + max_p_error_p = i; + } +// printf ("pres %d alt %d pres %d\n", +// i, p_to_a, p_to_a_to_p); + } + for (i = -1578; i < 15835 + STEP; i += STEP) { + if (i > 15835) + i = 15835; + a_to_p = ao_altitude_to_pres(i); + a_to_p_to_a = ao_pres_to_altitude(a_to_p); + a_error = i_abs(a_to_p_to_a - i); + if (a_error > max_a_error) { + max_a_error = a_error; + max_a_error_a = i; + } +// printf ("alt %d pres %d alt %d\n", +// i, a_to_p, a_to_p_to_a); + } + if (max_p_error > 2) { + printf ("max p error %d at %d\n", max_p_error, + max_p_error_p); + ret++; + } + if (max_a_error > 1) { + printf ("max a error %d at %d\n", max_a_error, + max_a_error_a); + ret++; + } + return ret; +} diff --git a/src/core/ao_data.h b/src/core/ao_data.h new file mode 100644 index 00000000..2b9ef5ac --- /dev/null +++ b/src/core/ao_data.h @@ -0,0 +1,282 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_DATA_H_ +#define _AO_DATA_H_ + +#if HAS_ADC +#define AO_DATA_ADC (1 << 0) +#else +#define AO_DATA_ADC 0 +#endif + +#if HAS_MS5607 +#include <ao_ms5607.h> +#define AO_DATA_MS5607 (1 << 1) +#else +#define AO_DATA_MS5607 0 +#endif + +#if HAS_MPU6000 +#include <ao_mpu6000.h> +#define AO_DATA_MPU6000 (1 << 2) +#else +#define AO_DATA_MPU6000 0 +#endif + +#if HAS_HMC5883 +#include <ao_hmc5883.h> +#define AO_DATA_HMC5883 (1 << 3) +#else +#define AO_DATA_HMC5883 0 +#endif + +#if HAS_MMA655X +#include <ao_mma655x.h> +#define AO_DATA_MMA655X (1 << 4) +#else +#define AO_DATA_MMA655X 0 +#endif + +#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X) + +struct ao_data { + uint16_t tick; +#if HAS_ADC + struct ao_adc adc; +#endif +#if HAS_MS5607 + struct ao_ms5607_sample ms5607_raw; + struct ao_ms5607_value ms5607_cooked; +#endif +#if HAS_MPU6000 + struct ao_mpu6000_sample mpu6000; +#endif +#if HAS_HMC5883 + struct ao_hmc5883_sample hmc5883; +#endif +#if HAS_MMA655X + uint16_t mma655x; +#endif +}; + +#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) +#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) + +extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; +extern volatile __data uint8_t ao_data_head; +extern volatile __data uint8_t ao_data_present; +extern volatile __data uint8_t ao_data_count; + +/* + * Mark a section of data as ready, check for data complete + */ +#define AO_DATA_PRESENT(bit) do { \ + if ((ao_data_present |= (bit)) == AO_DATA_ALL) { \ + ao_data_ring[ao_data_head].tick = ao_tick_count; \ + ao_data_head = ao_data_ring_next(ao_data_head); \ + ao_data_present = 0; \ + ao_wakeup((void *) &ao_data_head); \ + } \ + } while (0); + +/* + * Wait until it is time to write a sensor sample; this is + * signaled by the timer tick + */ +#define AO_DATA_WAIT() do { \ + ao_sleep((void *) &ao_data_count); \ + } while (0) + +#if !HAS_BARO && HAS_MS5607 + +/* Either an MS5607 or an MS5611 hooked to a SPI port + */ + +#define HAS_BARO 1 + +typedef int32_t pres_t; +typedef int32_t alt_t; + +#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked) + +#define ao_data_pres(packet) ((packet)->ms5607_cooked.pres) +#define ao_data_temp(packet) ((packet)->ms5607_cooked.temp) + +#define pres_to_altitude(p) ao_pa_to_altitude(p) + +#endif + +#if !HAS_BARO && HAS_ADC + +#define HAS_BARO 1 + +typedef int16_t pres_t; +typedef int16_t alt_t; + +#define ao_data_pres(packet) ((packet)->adc.pres) +#define ao_data_temp(packet) ((packet)->adc.temp) +#define pres_to_altitude(p) ao_pres_to_altitude(p) +#define ao_data_pres_cook(p) + +#endif + +/* + * Need a few macros to pull data from the sensors: + * + * ao_data_accel_sample - pull raw sensor and convert to normalized values + * ao_data_accel - pull normalized value (lives in the same memory) + * ao_data_set_accel - store normalized value back in the sensor location + * ao_data_accel_invert - flip rocket ends for positive acceleration + */ + +#if HAS_ACCEL + +/* This section is for an analog accelerometer hooked to one of the ADC pins. As + * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC + * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails + */ + +typedef int16_t accel_t; +#define ao_data_accel(packet) ((packet)->adc.accel) +#define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a)) +#define ao_data_accel_invert(a) (0x7fff -(a)) + +/* + * Ok, the math here is a bit tricky. + * + * ao_sample_accel: ADC output for acceleration + * ao_accel_ref: ADC output for the 5V reference. + * ao_cook_accel: Corrected acceleration value + * Vcc: 3.3V supply to the CC1111 + * Vac: 5V supply to the accelerometer + * accel: input voltage to accelerometer ADC pin + * ref: input voltage to 5V reference ADC pin + * + * + * Measured acceleration is ratiometric to Vcc: + * + * ao_sample_accel accel + * ------------ = ----- + * 32767 Vcc + * + * Measured 5v reference is also ratiometric to Vcc: + * + * ao_accel_ref ref + * ------------ = ----- + * 32767 Vcc + * + * + * ao_accel_ref = 32767 * (ref / Vcc) + * + * Acceleration is measured ratiometric to the 5V supply, + * so what we want is: + * + * ao_cook_accel accel + * ------------- = ----- + * 32767 ref + * + * + * accel Vcc + * = ----- * --- + * Vcc ref + * + * ao_sample_accel 32767 + * = ------------ * ------------ + * 32767 ao_accel_ref + * + * Multiply through by 32767: + * + * ao_sample_accel * 32767 + * ao_cook_accel = -------------------- + * ao_accel_ref + * + * Now, the tricky part. Getting this to compile efficiently + * and keeping all of the values in-range. + * + * First off, we need to use a shift of 16 instead of * 32767 as SDCC + * does the obvious optimizations for byte-granularity shifts: + * + * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref + * + * Next, lets check our input ranges: + * + * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion) + * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff) + * + * Plugging in our input ranges, we get an output range of 0 - 0x12490, + * which is 17 bits. That won't work. If we take the accel ref and shift + * by a bit, we'll change its range: + * + * 0xe000 <= ao_accel_ref<<1 <= 0xfffe + * + * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1) + * + * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It + * is, however, one bit too large for our signed computations. So, we + * take the result and shift that by a bit: + * + * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1 + * + * This finally creates an output range of 0 - 0x4924. As the ADC only + * provides 11 bits of data, we haven't actually lost any precision, + * just dropped a bit of noise off the low end. + */ + +#if HAS_ACCEL_REF + +#define ao_data_accel_cook(packet) \ + ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1) + +#else + +#define ao_data_accel_cook(packet) ((packet)->adc.accel) + +#endif /* HAS_ACCEL_REF */ + +#endif /* HAS_ACCEL */ + +#if !HAS_ACCEL && HAS_MMA655X + +#define HAS_ACCEL 1 + +typedef int16_t accel_t; + +/* MMA655X is hooked up so that positive values represent negative acceleration */ + +#define ao_data_accel(packet) ((packet)->mma655x) +#define ao_data_accel_cook(packet) ((packet)->mma655x) +#define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel)) +#define ao_data_accel_invert(accel) (4095 - (accel)) + +#endif + +#if !HAS_ACCEL && HAS_MPU6000 + +#define HAS_ACCEL 1 + +typedef int16_t accel_t; + +/* MPU6000 is hooked up so that positive y is positive acceleration */ +#define ao_data_accel(packet) ((packet)->mpu6000.accel_y) +#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y) +#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel)) +#define ao_data_accel_invert(a) (-(a)) + +#endif + +#endif /* _AO_DATA_H_ */ diff --git a/src/core/ao_dbg.h b/src/core/ao_dbg.h new file mode 100644 index 00000000..181e6ec2 --- /dev/null +++ b/src/core/ao_dbg.h @@ -0,0 +1,62 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_DBG_H_ +#define _AO_DBG_H_ + +/* + * ao_dbg.c + * + * debug another telemetrum board + */ + +/* Send a byte to the dbg target */ +void +ao_dbg_send_byte(uint8_t byte); + +/* Receive a byte from the dbg target */ +uint8_t +ao_dbg_recv_byte(void); + +/* Start a bulk transfer to/from dbg target memory */ +void +ao_dbg_start_transfer(uint16_t addr); + +/* End a bulk transfer to/from dbg target memory */ +void +ao_dbg_end_transfer(void); + +/* Write a byte to dbg target memory */ +void +ao_dbg_write_byte(uint8_t byte); + +/* Read a byte from dbg target memory */ +uint8_t +ao_dbg_read_byte(void); + +/* Enable dbg mode, switching use of the pins */ +void +ao_dbg_debug_mode(void); + +/* Reset the dbg target */ +void +ao_dbg_reset(void); + +void +ao_dbg_init(void); + +#endif /* _AO_DBG_H_ */ diff --git a/src/ao_ee_fake.c b/src/core/ao_ee_fake.c index b0c1d61e..7fcfcab0 100644 --- a/src/ao_ee_fake.c +++ b/src/core/ao_ee_fake.c @@ -32,6 +32,6 @@ ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant uint8_t ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant { - memset(buf, '\0', len); + ao_xmemset(buf, '\0', len); return 1; } diff --git a/src/core/ao_fec.h b/src/core/ao_fec.h new file mode 100644 index 00000000..eedea8f4 --- /dev/null +++ b/src/core/ao_fec.h @@ -0,0 +1,84 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_FEC_H_ +#define _AO_FEC_H_ + +#include <stdint.h> + +#define AO_FEC_CRC_INIT 0xffff +#define AO_FEC_TRELLIS_TERMINATOR 0x0b +#define AO_FEC_PREPARE_EXTRA 4 + +extern const uint8_t ao_fec_whiten_table[]; + +#if AO_FEC_DEBUG +void +ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name); +#endif + +static uint16_t inline +ao_fec_crc_byte(uint8_t byte, uint16_t crc) +{ + uint8_t bit; + + for (bit = 0; bit < 8; bit++) { + if (((crc & 0x8000) >> 8) ^ (byte & 0x80)) + crc = (crc << 1) ^ 0x8005; + else + crc = (crc << 1); + byte <<= 1; + } + return crc; +} + +uint16_t +ao_fec_crc(const uint8_t *bytes, uint8_t len); + +/* + * 'len' is the length of the original data; 'bytes' + * must be four bytes longer than that, and the first + * two after 'len' must be the received crc + */ +uint8_t +ao_fec_check_crc(const uint8_t *bytes, uint8_t len); + +/* + * Compute CRC, whiten, convolve and interleave data. 'out' must be (len + 4) * 2 bytes long + */ +uint8_t +ao_fec_encode(const uint8_t *in, uint8_t len, uint8_t *out); + +/* + * Decode data. 'in' is one byte per bit, soft decision + * 'out' must be len/8 bytes long + */ + +#define AO_FEC_DECODE_BLOCK (32) /* callback must return multiples of this many bits */ + +#define AO_FEC_DECODE_CRC_OK 0x80 /* stored in out[out_len-1] */ + +uint8_t +ao_fec_decode(const uint8_t *in, uint16_t in_len, uint8_t *out, uint8_t out_len, uint16_t (*callback)(void)); + +/* + * Interleave data packed in bytes. 'out' must be 'len' bytes long. + */ +uint16_t +ao_fec_interleave_bytes(uint8_t *in, uint16_t len, uint8_t *out); + +#endif /* _AO_FEC_H_ */ diff --git a/src/core/ao_fec_rx.c b/src/core/ao_fec_rx.c new file mode 100644 index 00000000..072a9e90 --- /dev/null +++ b/src/core/ao_fec_rx.c @@ -0,0 +1,318 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao_fec.h> +#include <stdio.h> + +#ifdef MEGAMETRUM +#include <ao.h> +#endif + +#if AO_PROFILE +#include <ao_profile.h> + +uint32_t ao_fec_decode_start, ao_fec_decode_end; +#endif + +/* + * byte order repeats through 3 2 1 0 + * + * bit-pair order repeats through + * + * 1/0 3/2 5/4 7/6 + * + * So, the over all order is: + * + * 3,1/0 2,1/0 1,1/0 0,1/0 + * 3,3/2 2,3/2 1,3/2 0,3/2 + * 3,5/4 2,5/4 1,5/4 0,5/4 + * 3,7/6 2,7/6 1,7/6 0,7/6 + * + * The raw bit order is thus + * + * 1e/1f 16/17 0e/0f 06/07 + * 1c/1d 14/15 0c/0d 04/05 + * 1a/1b 12/13 0a/0b 02/03 + * 18/19 10/11 08/09 00/01 + */ + +static const uint8_t ao_interleave_order[] = { + 0x1e, 0x16, 0x0e, 0x06, + 0x1c, 0x14, 0x0c, 0x04, + 0x1a, 0x12, 0x0a, 0x02, + 0x18, 0x10, 0x08, 0x00 +}; + +static inline uint16_t ao_interleave_index(uint16_t i) { + return (i & ~0x1e) | ao_interleave_order[(i & 0x1e) >> 1]; +} + +#define NUM_STATE 8 +#define NUM_HIST 24 + +typedef uint32_t bits_t; + +#define V_0 0xff +#define V_1 0x00 + +/* + * These are just the 'zero' states; the 'one' states mirror them + */ +static const uint8_t ao_fec_decode_table[NUM_STATE*2] = { + V_0, V_0, /* 000 */ + V_0, V_1, /* 001 */ + V_1, V_1, /* 010 */ + V_1, V_0, /* 011 */ + V_1, V_1, /* 100 */ + V_1, V_0, /* 101 */ + V_0, V_0, /* 110 */ + V_0, V_1 /* 111 */ +}; + +static inline uint8_t +ao_next_state(uint8_t state, uint8_t bit) +{ + return ((state << 1) | bit) & 0x7; +} + +/* + * 'in' is 8-bits per symbol soft decision data + * 'len' is input byte length. 'out' must be + * 'len'/16 bytes long + */ + +uint8_t +ao_fec_decode(const uint8_t *in, uint16_t len, uint8_t *out, uint8_t out_len, uint16_t (*callback)(void)) +{ + static uint32_t cost[2][NUM_STATE]; /* path cost */ + static bits_t bits[2][NUM_STATE]; /* save bits to quickly output them */ + + uint16_t i; /* input byte index */ + uint16_t b; /* encoded symbol index (bytes/2) */ + uint16_t o; /* output bit index */ + uint8_t p; /* previous cost/bits index */ + uint8_t n; /* next cost/bits index */ + uint8_t state; /* state index */ + const uint8_t *whiten = ao_fec_whiten_table; + uint16_t interleave; /* input byte array index */ + uint8_t s0, s1; + uint16_t avail; + uint16_t crc = AO_FEC_CRC_INIT; +#if AO_PROFILE + uint32_t start_tick; +#endif + + p = 0; + for (state = 0; state < NUM_STATE; state++) { + cost[0][state] = 0x7fffffff; + bits[0][state] = 0; + } + cost[0][0] = 0; + + if (callback) + avail = 0; + else + avail = len; + +#if AO_PROFILE + if (!avail) { + avail = callback(); + if (!avail) + return 0; + } + start_tick = ao_profile_tick(); +#endif + o = 0; + for (i = 0; i < len; i += 2) { + b = i/2; + n = p ^ 1; + + if (!avail) { + avail = callback(); + if (!avail) + return 0; + } + + /* Fetch one pair of input bytes, de-interleaving + * the input. + */ + interleave = ao_interleave_index(i); + s0 = in[interleave]; + s1 = in[interleave+1]; + + avail -= 2; + + /* Compute path costs and accumulate output bit path + * for each state and encoded bit value. Unrolling + * this loop is worth about > 30% performance boost. + * Decoding 76-byte remote access packets is reduced + * from 14.700ms to 9.3ms. Redoing the loop to + * directly compare the two pasts for each future state + * reduces this down to 5.7ms + */ + + /* Ok, of course this is tricky, it's optimized. + * + * First, it's important to realize that we have 8 + * states representing the combinations of the three + * most recent bits from the encoder. Flipping any + * of these three bits flips both output bits. + * + * 'state<<1' represents the target state for a new + * bit value of 0. '(state<<1)+1' represents the + * target state for a new bit value of 1. + * + * 'state' is the previous state with an oldest bit + * value of 0. 'state + 4' is the previous state with + * an oldest bit value of 1. These two states will + * either lead to 'state<<1' or '(state<<1)+1', depending + * on whether the next encoded bit was a zero or a one. + * + * m0 and m1 are the cost of coming to 'state<<1' from + * one of the two possible previous states 'state' and + * 'state + 4'. + * + * Because we know the expected values of each + * received bit are flipped between these two previous + * states: + * + * bitcost(state+4) = 510 - bitcost(state) + * + * With those two total costs in hand, we then pick + * the lower as the cost of the 'state<<1', and compute + * the path of bits leading to that state. + * + * Then, do the same for '(state<<1) + 1'. This time, + * instead of computing the m0 and m1 values from + * scratch, because the only difference is that we're + * expecting a one bit instead of a zero bit, we just + * flip the bitcost values around to match the + * expected transmitted bits with some tricky + * arithmetic which is equivalent to: + * + * m0 = cost[p][state] + (510 - bitcost); + * m1 = cost[p][state+4] + bitcost + * + * Then, the lowest cost and bit trace of the new state + * is saved. + */ + +#define DO_STATE(state) { \ + uint32_t bitcost; \ + \ + uint32_t m0; \ + uint32_t m1; \ + uint32_t bit; \ + \ + bitcost = ((uint32_t) (s0 ^ ao_fec_decode_table[(state<<1)]) + \ + (uint32_t) (s1 ^ ao_fec_decode_table[(state<<1)|1])); \ + \ + m0 = cost[p][state] + bitcost; \ + m1 = cost[p][state+4] + (510 - bitcost); \ + bit = m0 > m1; \ + cost[n][state<<1] = bit ? m1 : m0; \ + bits[n][state<<1] = (bits[p][state + (bit<<2)] << 1) | (state&1); \ + \ + m0 -= (bitcost+bitcost-510); \ + m1 += (bitcost+bitcost-510); \ + bit = m0 > m1; \ + cost[n][(state<<1)+1] = bit ? m1 : m0; \ + bits[n][(state<<1)+1] = (bits[p][state + (bit<<2)] << 1) | (state&1); \ + } + + DO_STATE(0); + DO_STATE(1); + DO_STATE(2); + DO_STATE(3); + +#if 0 + printf ("bit %3d symbol %2x %2x:", i/2, s0, s1); + for (state = 0; state < NUM_STATE; state++) { + printf (" %8u(%08x)", cost[n][state], bits[n][state]); + } + printf ("\n"); +#endif + p = n; + + /* A loop is needed to handle the last output byte. It + * won't have any bits of future data to perform full + * error correction, but we might as well give the + * best possible answer anyways. + */ + while ((b - o) >= (8 + NUM_HIST) || (i + 2 >= len && b > o)) { + + /* Compute number of bits to the end of the + * last full byte of data. This is generally + * NUM_HIST, unless we've reached + * the end of the input, in which case + * it will be seven. + */ + int8_t dist = b - (o + 8); /* distance to last ready-for-writing bit */ + uint32_t min_cost; /* lowest cost */ + uint8_t min_state; /* lowest cost state */ + uint8_t byte; + + /* Find the best fit at the current point + * of the decode. + */ + min_cost = cost[p][0]; + min_state = 0; + for (state = 1; state < NUM_STATE; state++) { + if (cost[p][state] < min_cost) { + min_cost = cost[p][state]; + min_state = state; + } + } + + /* The very last byte of data has the very last bit + * of data left in the state value; just smash the + * bits value in place and reset the 'dist' from + * -1 to 0 so that the full byte is read out + */ + if (dist < 0) { + bits[p][min_state] = (bits[p][min_state] << 1) | (min_state & 1); + dist = 0; + } + +#if 0 + printf ("\tbit %3d min_cost %5d old bit %3d old_state %x bits %02x whiten %0x\n", + i/2, min_cost, o + 8, min_state, (bits[p][min_state] >> dist) & 0xff, *whiten); +#endif + byte = (bits[p][min_state] >> dist) ^ *whiten++; + *out++ = byte; + if (out_len > 2) + crc = ao_fec_crc_byte(byte, crc); + + if (!--out_len) { + if ((out[-2] == (uint8_t) (crc >> 8)) && + out[-1] == (uint8_t) crc) + out[-1] = AO_FEC_DECODE_CRC_OK; + else + out[-1] = 0; + out[-2] = 0; + goto done; + } + o += 8; + } + } +done: +#if AO_PROFILE + ao_fec_decode_start = start_tick; + ao_fec_decode_end = ao_profile_tick(); +#endif + return 1; +} diff --git a/src/core/ao_fec_tx.c b/src/core/ao_fec_tx.c new file mode 100644 index 00000000..4941d745 --- /dev/null +++ b/src/core/ao_fec_tx.c @@ -0,0 +1,134 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao_fec.h> +#include <stdio.h> + +#if AO_FEC_DEBUG +void +ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name) +{ + uint16_t i; + + printf ("%s (%d):", name, len); + for (i = 0; i < len; i++) { + if ((i & 7) == 0) + printf ("\n\t%02x:", i); + printf(" %02x", bytes[i]); + } + printf ("\n"); +} +#endif + +uint16_t +ao_fec_crc(const uint8_t *bytes, uint8_t len) +{ + uint16_t crc = AO_FEC_CRC_INIT; + + while (len--) + crc = ao_fec_crc_byte(*bytes++, crc); + return crc; +} + +/* + * len is the length of the data; the crc will be + * the fist two bytes after that + */ + +uint8_t +ao_fec_check_crc(const uint8_t *bytes, uint8_t len) +{ + uint16_t computed_crc = ao_fec_crc(bytes, len); + uint16_t received_crc = (bytes[len] << 8) | (bytes[len+1]); + + return computed_crc == received_crc; +} + +/* + * Compute CRC and trellis-terminator/interleave-pad bytes + */ +static uint8_t +ao_fec_prepare(const uint8_t *in, uint8_t len, uint8_t *extra) +{ + uint16_t crc = ao_fec_crc (in, len); + uint8_t i = 0; + uint8_t num_fec; + + /* Append CRC */ + extra[i++] = crc >> 8; + extra[i++] = crc; + + /* Append FEC -- 1 byte if odd, two bytes if even */ + num_fec = 2 - (i & 1); + while (num_fec--) + extra[i++] = AO_FEC_TRELLIS_TERMINATOR; + return i; +} + +const uint8_t ao_fec_whiten_table[] = { +#include "ao_whiten.h" +}; + +static const uint8_t ao_fec_encode_table[16] = { +/* next 0 1 state */ + 0, 3, /* 000 */ + 1, 2, /* 001 */ + 3, 0, /* 010 */ + 2, 1, /* 011 */ + 3, 0, /* 100 */ + 2, 1, /* 101 */ + 0, 3, /* 110 */ + 1, 2 /* 111 */ +}; + +uint8_t +ao_fec_encode(const uint8_t *in, uint8_t len, uint8_t *out) +{ + uint8_t extra[AO_FEC_PREPARE_EXTRA]; + uint8_t extra_len; + uint32_t encode, interleave; + uint8_t pair, byte, bit; + uint16_t fec = 0; + const uint8_t *whiten = ao_fec_whiten_table; + + extra_len = ao_fec_prepare(in, len, extra); + for (pair = 0; pair < len + extra_len; pair += 2) { + encode = 0; + for (byte = 0; byte < 2; byte++) { + if (pair + byte == len) + in = extra; + fec |= *in++ ^ *whiten++; + for (bit = 0; bit < 8; bit++) { + encode = encode << 2 | ao_fec_encode_table[fec >> 7]; + fec = (fec << 1) & 0x7ff; + } + } + + interleave = 0; + for (bit = 0; bit < 4 * 4; bit++) { + uint8_t byte_shift = (bit & 0x3) << 3; + uint8_t bit_shift = (bit & 0xc) >> 1; + + interleave = (interleave << 2) | ((encode >> (byte_shift + bit_shift)) & 0x3); + } + *out++ = interleave >> 24; + *out++ = interleave >> 16; + *out++ = interleave >> 8; + *out++ = interleave >> 0; + } + return (len + extra_len) * 2; +} diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c new file mode 100644 index 00000000..aa4f6961 --- /dev/null +++ b/src/core/ao_flight.c @@ -0,0 +1,423 @@ +/* + * Copyright © 2009 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_FLIGHT_TEST +#include "ao.h" +#include <ao_log.h> +#endif + +#ifndef HAS_ACCEL +#error Please define HAS_ACCEL +#endif + +#ifndef HAS_GPS +#error Please define HAS_GPS +#endif + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +#ifndef HAS_TELEMETRY +#define HAS_TELEMETRY HAS_RADIO +#endif + +/* Main flight thread. */ + +__pdata enum ao_flight_state ao_flight_state; /* current flight state */ +__pdata uint16_t ao_boost_tick; /* time of launch detect */ +__pdata uint16_t ao_motor_number; /* number of motors burned so far */ + +/* + * track min/max data over a long interval to detect + * resting + */ +static __data uint16_t ao_interval_end; +static __data int16_t ao_interval_min_height; +static __data int16_t ao_interval_max_height; +#if HAS_ACCEL +static __data int16_t ao_coast_avg_accel; +#endif + +__pdata uint8_t ao_flight_force_idle; + +/* We also have a clock, which can be used to sanity check things in + * case of other failures + */ + +#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15) + +/* Landing is detected by getting constant readings from both pressure and accelerometer + * for a fairly long time (AO_INTERVAL_TICKS) + */ +#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10) + +#define abs(a) ((a) < 0 ? -(a) : (a)) + +void +ao_flight(void) +{ + ao_sample_init(); + ao_flight_state = ao_flight_startup; + for (;;) { + + /* + * Process ADC samples, just looping + * until the sensors are calibrated. + */ + if (!ao_sample()) + continue; + + switch (ao_flight_state) { + case ao_flight_startup: + + /* Check to see what mode we should go to. + * - Invalid mode if accel cal appears to be out + * - pad mode if we're upright, + * - idle mode otherwise + */ +#if HAS_ACCEL + if (ao_config.accel_plus_g == 0 || + ao_config.accel_minus_g == 0 || + ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || + ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP) + { + /* Detected an accel value outside -1.5g to 1.5g + * (or uncalibrated values), so we go into invalid mode + */ + ao_flight_state = ao_flight_invalid; + +#if HAS_RADIO && PACKET_HAS_SLAVE + /* Turn on packet system in invalid mode on TeleMetrum */ + ao_packet_slave_start(); +#endif + } else +#endif + if (!ao_flight_force_idle +#if HAS_ACCEL + && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP +#endif + ) + { + /* Set pad mode - we can fly! */ + ao_flight_state = ao_flight_pad; +#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG + /* Disable the USB controller in flight mode + * to save power + */ + ao_usb_disable(); +#endif + +#if !HAS_ACCEL + /* Disable packet mode in pad state on TeleMini */ + ao_packet_slave_stop(); +#endif + +#if HAS_TELEMETRY + /* Turn on telemetry system */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); +#endif + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } else { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + +#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE + /* Turn on packet system in idle mode on TeleMetrum */ + ao_packet_slave_start(); +#endif + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + + break; + case ao_flight_pad: + + /* pad to boost: + * + * barometer: > 20m vertical motion + * OR + * accelerometer: > 2g AND velocity > 5m/s + * + * The accelerometer should always detect motion before + * the barometer, but we use both to make sure this + * transition is detected. If the device + * doesn't have an accelerometer, then ignore the + * speed and acceleration as they are quite noisy + * on the pad. + */ + if (ao_height > AO_M_TO_HEIGHT(20) +#if HAS_ACCEL + || (ao_accel > AO_MSS_TO_ACCEL(20) && + ao_speed > AO_MS_TO_SPEED(5)) +#endif + ) + { + ao_flight_state = ao_flight_boost; + ao_boost_tick = ao_sample_tick; + + /* start logging data */ + ao_log_start(); + +#if HAS_TELEMETRY + /* Increase telemetry rate */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); + + /* disable RDF beacon */ + ao_rdf_set(0); +#endif + +#if HAS_GPS + /* Record current GPS position by waking up GPS log tasks */ + ao_wakeup(&ao_gps_data); + ao_wakeup(&ao_gps_tracking_data); +#endif + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_boost: + + /* boost to fast: + * + * accelerometer: start to fall at > 1/4 G + * OR + * time: boost for more than 15 seconds + * + * Detects motor burn out by the switch from acceleration to + * deceleration, or by waiting until the maximum burn duration + * (15 seconds) has past. + */ + if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) || + (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) + { +#if HAS_ACCEL + ao_flight_state = ao_flight_fast; + ao_coast_avg_accel = ao_accel; +#else + ao_flight_state = ao_flight_coast; +#endif + ++ao_motor_number; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; +#if HAS_ACCEL + case ao_flight_fast: + /* + * This is essentially the same as coast, + * but the barometer is being ignored as + * it may be unreliable. + */ + if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) + { + ao_flight_state = ao_flight_coast; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } else + goto check_re_boost; + break; +#endif + case ao_flight_coast: + + /* + * By customer request - allow the user + * to lock out apogee detection for a specified + * number of seconds. + */ + if (ao_config.apogee_lockout) { + if ((ao_sample_tick - ao_boost_tick) < + AO_SEC_TO_TICKS(ao_config.apogee_lockout)) + break; + } + + /* apogee detect: coast to drogue deploy: + * + * speed: < 0 + * + * Also make sure the model altitude is tracking + * the measured altitude reasonably closely; otherwise + * we're probably transsonic. + */ + if (ao_speed < 0 +#if !HAS_ACCEL + && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100) +#endif + ) + { +#if HAS_IGNITE + /* ignite the drogue charge */ + ao_ignite(ao_igniter_drogue); +#endif + +#if HAS_TELEMETRY + /* slow down the telemetry system */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); + + /* Turn the RDF beacon back on */ + ao_rdf_set(1); +#endif + + /* and enter drogue state */ + ao_flight_state = ao_flight_drogue; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } +#if HAS_ACCEL + else { + check_re_boost: + ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6); + if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) { + ao_boost_tick = ao_sample_tick; + ao_flight_state = ao_flight_boost; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + } +#endif + + break; + case ao_flight_drogue: + + /* drogue to main deploy: + * + * barometer: reach main deploy altitude + * + * Would like to use the accelerometer for this test, but + * the orientation of the flight computer is unknown after + * drogue deploy, so we ignore it. Could also detect + * high descent rate using the pressure sensor to + * recognize drogue deploy failure and eject the main + * at that point. Perhaps also use the drogue sense lines + * to notice continutity? + */ + if (ao_height <= ao_config.main_deploy) + { +#if HAS_IGNITE + ao_ignite(ao_igniter_main); +#endif + + /* + * Start recording min/max height + * to figure out when the rocket has landed + */ + + /* initialize interval values */ + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + + ao_interval_min_height = ao_interval_max_height = ao_avg_height; + + ao_flight_state = ao_flight_main; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + + /* fall through... */ + case ao_flight_main: + + /* main to land: + * + * barometer: altitude stable + */ + + if (ao_avg_height < ao_interval_min_height) + ao_interval_min_height = ao_avg_height; + if (ao_avg_height > ao_interval_max_height) + ao_interval_max_height = ao_avg_height; + + if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { + if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4)) + { + ao_flight_state = ao_flight_landed; + + /* turn off the ADC capture */ + ao_timer_set_adc_interval(0); + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + ao_interval_min_height = ao_interval_max_height = ao_avg_height; + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + } + break; + default: + break; + } + } +} + +#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 void +ao_flight_dump(void) +{ +#if HAS_ACCEL + int16_t accel; + + accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16; +#endif + + printf ("sample:\n"); + printf (" tick %d\n", ao_sample_tick); + printf (" raw pres %d\n", ao_sample_pres); +#if HAS_ACCEL + printf (" raw accel %d\n", ao_sample_accel); +#endif + printf (" ground pres %d\n", ao_ground_pres); + printf (" ground alt %d\n", ao_ground_height); +#if HAS_ACCEL + printf (" raw accel %d\n", ao_sample_accel); + printf (" groundaccel %d\n", ao_ground_accel); + printf (" accel_2g %d\n", ao_accel_2g); +#endif + + printf (" alt %d\n", ao_sample_alt); + printf (" height %d\n", ao_sample_height); +#if HAS_ACCEL + printf (" accel %d.%02d\n", int_part(accel), frac_part(accel)); +#endif + + + printf ("kalman:\n"); + printf (" height %d\n", ao_height); + printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed)); + printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel)); + printf (" max_height %d\n", ao_max_height); + printf (" avg_height %d\n", ao_avg_height); + printf (" error_h %d\n", ao_error_h); + printf (" error_avg %d\n", ao_error_h_sq_avg); +} + +__code struct ao_cmds ao_flight_cmds[] = { + { ao_flight_dump, "F\0Dump flight status" }, + { 0, NULL }, +}; +#endif + +static __xdata struct ao_task flight_task; + +void +ao_flight_init(void) +{ + ao_flight_state = ao_flight_startup; +#if HAS_FLIGHT_DEBUG + ao_cmd_register(&ao_flight_cmds[0]); +#endif + ao_add_task(&flight_task, ao_flight, "flight"); +} diff --git a/src/core/ao_flight.h b/src/core/ao_flight.h new file mode 100644 index 00000000..b80202f0 --- /dev/null +++ b/src/core/ao_flight.h @@ -0,0 +1,61 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_FLIGHT_H_ +#define _AO_FLIGHT_H_ + + +/* + * ao_flight.c + */ + +enum ao_flight_state { + ao_flight_startup = 0, + ao_flight_idle = 1, + ao_flight_pad = 2, + ao_flight_boost = 3, + ao_flight_fast = 4, + ao_flight_coast = 5, + ao_flight_drogue = 6, + ao_flight_main = 7, + ao_flight_landed = 8, + ao_flight_invalid = 9 +}; + +extern __pdata enum ao_flight_state ao_flight_state; +extern __pdata uint16_t ao_boost_tick; +extern __pdata uint16_t ao_motor_number; + +extern __pdata uint16_t ao_launch_time; +extern __pdata uint8_t ao_flight_force_idle; + +/* Flight thread */ +void +ao_flight(void); + +/* Initialize flight thread */ +void +ao_flight_init(void); + +/* + * ao_flight_nano.c + */ + +void +ao_flight_nano_init(void); + +#endif /* _AO_FLIGHT_H_ */ diff --git a/src/core/ao_flight_nano.c b/src/core/ao_flight_nano.c new file mode 100644 index 00000000..406d81ad --- /dev/null +++ b/src/core/ao_flight_nano.c @@ -0,0 +1,120 @@ +/* + * 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" + +/* Main flight thread. */ + +__pdata enum ao_flight_state ao_flight_state; /* current flight state */ +__pdata uint16_t ao_launch_tick; /* time of launch detect */ + +/* + * track min/max data over a long interval to detect + * resting + */ +__pdata uint16_t ao_interval_end; +__pdata alt_t ao_interval_min_height; +__pdata alt_t ao_interval_max_height; + +__pdata uint8_t ao_flight_force_idle; + +/* Landing is detected by getting constant readings from both pressure and accelerometer + * for a fairly long time (AO_INTERVAL_TICKS) + */ +#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5) + +static void +ao_flight_nano(void) +{ + ao_sample_init(); + ao_flight_state = ao_flight_startup; + + for (;;) { + /* + * Process ADC samples, just looping + * until the sensors are calibrated. + */ + if (!ao_sample()) + continue; + + switch (ao_flight_state) { + case ao_flight_startup: + if (ao_flight_force_idle) { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + } else { + ao_flight_state = ao_flight_pad; + /* Disable packet mode in pad state */ + ao_packet_slave_stop(); + + /* Turn on telemetry system */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); + } + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + break; + case ao_flight_pad: + if (ao_height> AO_M_TO_HEIGHT(20)) { + ao_flight_state = ao_flight_drogue; + ao_launch_tick = ao_sample_tick; + + /* start logging data */ + ao_log_start(); + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_drogue: + /* drogue/main to land: + * + * barometer: altitude stable + */ + + if (ao_height < ao_interval_min_height) + ao_interval_min_height = ao_height; + if (ao_height > ao_interval_max_height) + ao_interval_max_height = ao_height; + + if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { + if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5)) + { + ao_flight_state = ao_flight_landed; + + /* turn off the ADC capture */ + ao_timer_set_adc_interval(0); + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + ao_interval_min_height = ao_interval_max_height = ao_height; + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + } + break; + } + } +} + +static __xdata struct ao_task flight_task; + +void +ao_flight_nano_init(void) +{ + ao_flight_state = ao_flight_startup; + ao_add_task(&flight_task, ao_flight_nano, "flight"); +} diff --git a/src/core/ao_freq.c b/src/core/ao_freq.c new file mode 100644 index 00000000..12496f6f --- /dev/null +++ b/src/core/ao_freq.c @@ -0,0 +1,55 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> + +/* + * The provided 'calibration' value is + * that needed to tune the radio to precisely 434550kHz. + * Use that to 'walk' to the target frequency by following + * a 'bresenham' line from 434550kHz to the target + * frequency, and updating the radio setting along the way + */ + +int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant +{ + static __pdata int32_t set; + static __pdata uint8_t neg; + static __pdata int32_t error; + + set = 0; + neg = 0; + error = -434550 / 2; + + if ((freq -= 434550) < 0) { + neg = 1; + freq = -freq; + } + for (;;) { + if (error > 0) { + error -= 434550; + set++; + } else { + error += cal; + if (--freq < 0) + break; + } + } + if (neg) + set = -set; + return cal + set; +} diff --git a/src/core/ao_gps_print.c b/src/core/ao_gps_print.c new file mode 100644 index 00000000..47c945d7 --- /dev/null +++ b/src/core/ao_gps_print.c @@ -0,0 +1,112 @@ +/* + * Copyright © 2009 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_GPS_TEST +#include "ao.h" +#endif +#include "ao_telem.h" + +void +ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant +{ + char state; + + if (gps_data->flags & AO_GPS_VALID) + state = AO_TELEM_GPS_STATE_LOCKED; + else if (gps_data->flags & AO_GPS_RUNNING) + state = AO_TELEM_GPS_STATE_UNLOCKED; + else + state = AO_TELEM_GPS_STATE_ERROR; + printf(AO_TELEM_GPS_STATE " %c " + AO_TELEM_GPS_NUM_SAT " %d ", + state, + (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT); + if (!(gps_data->flags & AO_GPS_VALID)) + return; + printf(AO_TELEM_GPS_LATITUDE " %ld " + AO_TELEM_GPS_LONGITUDE " %ld " + AO_TELEM_GPS_ALTITUDE " %d ", + (long) gps_data->latitude, + (long) gps_data->longitude, + gps_data->altitude); + + if (gps_data->flags & AO_GPS_DATE_VALID) + printf(AO_TELEM_GPS_YEAR " %d " + AO_TELEM_GPS_MONTH " %d " + AO_TELEM_GPS_DAY " %d ", + gps_data->year, + gps_data->month, + gps_data->day); + + printf(AO_TELEM_GPS_HOUR " %d " + AO_TELEM_GPS_MINUTE " %d " + AO_TELEM_GPS_SECOND " %d ", + gps_data->hour, + gps_data->minute, + gps_data->second); + + printf(AO_TELEM_GPS_HDOP " %d ", + gps_data->hdop * 2); + + if (gps_data->flags & AO_GPS_COURSE_VALID) { + printf(AO_TELEM_GPS_HERROR " %d " + AO_TELEM_GPS_VERROR " %d " + AO_TELEM_GPS_VERTICAL_SPEED " %d " + AO_TELEM_GPS_HORIZONTAL_SPEED " %d " + AO_TELEM_GPS_COURSE " %d ", + gps_data->h_error, + gps_data->v_error, + gps_data->climb_rate, + gps_data->ground_speed, + (int) gps_data->course * 2); + } +} + +void +ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data) __reentrant +{ + uint8_t c, n, v; + __xdata struct ao_gps_sat_orig *sat; + + n = gps_tracking_data->channels; + if (n == 0) + return; + + sat = gps_tracking_data->sats; + v = 0; + for (c = 0; c < n; c++) { + if (sat->svid) + v++; + sat++; + } + + printf (AO_TELEM_SAT_NUM " %d ", + v); + + sat = gps_tracking_data->sats; + v = 0; + for (c = 0; c < n; c++) { + if (sat->svid) { + printf (AO_TELEM_SAT_SVID "%d %d " + AO_TELEM_SAT_C_N_0 "%d %d ", + v, sat->svid, + v, sat->c_n_1); + v++; + } + sat++; + } +} diff --git a/src/ao_gps_report.c b/src/core/ao_gps_report.c index dce12adb..c52ef621 100644 --- a/src/ao_gps_report.c +++ b/src/core/ao_gps_report.c @@ -20,19 +20,20 @@ void ao_gps_report(void) { - static __xdata struct ao_log_record gps_log; - static __xdata struct ao_gps_data gps_data; + static __xdata struct ao_log_record gps_log; + static __xdata struct ao_telemetry_location gps_data; + uint8_t date_reported = 0; for (;;) { ao_sleep(&ao_gps_data); ao_mutex_get(&ao_gps_mutex); - memcpy(&gps_data, &ao_gps_data, sizeof (struct ao_gps_data)); + ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data)); ao_mutex_put(&ao_gps_mutex); if (!(gps_data.flags & AO_GPS_VALID)) continue; - gps_log.tick = ao_time(); + gps_log.tick = ao_gps_tick; gps_log.type = AO_LOG_GPS_TIME; gps_log.u.gps_time.hour = gps_data.hour; gps_log.u.gps_time.minute = gps_data.minute; @@ -49,13 +50,50 @@ ao_gps_report(void) gps_log.u.gps_altitude.altitude = gps_data.altitude; gps_log.u.gps_altitude.unused = 0xffff; ao_log_data(&gps_log); + if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) { + gps_log.type = AO_LOG_GPS_DATE; + gps_log.u.gps_date.year = gps_data.year; + gps_log.u.gps_date.month = gps_data.month; + gps_log.u.gps_date.day = gps_data.day; + gps_log.u.gps_date.extra = 0; + date_reported = ao_log_data(&gps_log); + } + } +} + +void +ao_gps_tracking_report(void) +{ + static __xdata struct ao_log_record gps_log; + static __xdata struct ao_telemetry_satellite gps_tracking_data; + uint8_t c, n; + + for (;;) { + ao_sleep(&ao_gps_tracking_data); + ao_mutex_get(&ao_gps_mutex); + gps_log.tick = ao_gps_tick; + ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data)); + ao_mutex_put(&ao_gps_mutex); + + if (!(n = gps_tracking_data.channels)) + continue; + + gps_log.type = AO_LOG_GPS_SAT; + for (c = 0; c < n; c++) + if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid)) + { + gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1; + ao_log_data(&gps_log); + } } } __xdata struct ao_task ao_gps_report_task; +__xdata struct ao_task ao_gps_tracking_report_task; void ao_gps_report_init(void) { ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report"); + ao_add_task(&ao_gps_tracking_report_task, ao_gps_tracking_report, "gps_tracking_report"); } diff --git a/src/core/ao_gps_report_mega.c b/src/core/ao_gps_report_mega.c new file mode 100644 index 00000000..47891cab --- /dev/null +++ b/src/core/ao_gps_report_mega.c @@ -0,0 +1,95 @@ +/* + * Copyright © 2009 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" + +void +ao_gps_report_mega(void) +{ + static __xdata struct ao_log_mega gps_log; + static __xdata struct ao_telemetry_location gps_data; + uint8_t date_reported = 0; + + for (;;) { + ao_sleep(&ao_gps_data); + ao_mutex_get(&ao_gps_mutex); + ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data)); + ao_mutex_put(&ao_gps_mutex); + + if (!(gps_data.flags & AO_GPS_VALID)) + continue; + + gps_log.tick = ao_gps_tick; + 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.hour = gps_data.hour; + gps_log.u.gps.minute = gps_data.minute; + gps_log.u.gps.second = gps_data.second; + gps_log.u.gps.flags = gps_data.flags; + gps_log.u.gps.year = gps_data.year; + gps_log.u.gps.month = gps_data.month; + gps_log.u.gps.day = gps_data.day; + ao_log_mega(&gps_log); + } +} + +void +ao_gps_tracking_report_mega(void) +{ + static __xdata struct ao_log_mega gps_log; + static __xdata struct ao_telemetry_satellite gps_tracking_data; + uint8_t c, n, i; + + for (;;) { + ao_sleep(&ao_gps_tracking_data); + ao_mutex_get(&ao_gps_mutex); + ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data)); + ao_mutex_put(&ao_gps_mutex); + + if (!(n = gps_tracking_data.channels)) + continue; + + gps_log.type = AO_LOG_GPS_SAT; + gps_log.tick = ao_gps_tick; + i = 0; + for (c = 0; c < n; c++) + if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid)) + { + gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1; + i++; + } + gps_log.u.gps_sat.channels = i; + ao_log_mega(&gps_log); + } +} + +__xdata struct ao_task ao_gps_report_mega_task; +__xdata struct ao_task ao_gps_tracking_report_mega_task; + +void +ao_gps_report_mega_init(void) +{ + ao_add_task(&ao_gps_report_mega_task, + ao_gps_report_mega, + "gps_report"); + ao_add_task(&ao_gps_tracking_report_mega_task, + ao_gps_tracking_report_mega, + "gps_tracking_report"); +} diff --git a/src/ao_host.h b/src/core/ao_host.h index 38ff84ac..6eb752c9 100644 --- a/src/ao_host.h +++ b/src/core/ao_host.h @@ -46,6 +46,10 @@ struct ao_adc { #define __code #define __reentrant +#define DATA_TO_XDATA(a) (a) +#define PDATA_TO_XDATA(a) (a) +#define CODE_TO_XDATA(a) (a) + enum ao_flight_state { ao_flight_startup = 0, ao_flight_idle = 1, @@ -65,10 +69,11 @@ uint8_t ao_adc_head; #define ao_led_on(l) #define ao_led_off(l) #define ao_timer_set_adc_interval(i) -#define ao_wakeup(wchan) ao_dump_state() +#define ao_wakeup(wchan) ao_dump_state(wchan) #define ao_cmd_register(c) #define ao_usb_disable() #define ao_telemetry_set_interval(x) +#define ao_delay(x) enum ao_igniter { ao_igniter_drogue = 0, @@ -100,7 +105,7 @@ struct ao_adc ao_adc_static; FILE *emulator_in; void -ao_dump_state(void); +ao_dump_state(void *wchan); void ao_sleep(void *wchan); @@ -111,36 +116,11 @@ const char const * const ao_state_names[] = { }; struct ao_cmds { - char cmd; void (*func)(void); const char *help; }; -static int16_t altitude_table[2048] = { -#include "altitude.h" -}; - -int16_t -ao_pres_to_altitude(int16_t pres) __reentrant -{ - pres = pres >> 4; - if (pres < 0) pres = 0; - if (pres > 2047) pres = 2047; - return altitude_table[pres]; -} - -int16_t -ao_altitude_to_pres(int16_t alt) __reentrant -{ - int16_t pres; - - for (pres = 0; pres < 2047; pres++) - if (altitude_table[pres] <= alt) - break; - return pres << 4; -} - struct ao_config { uint16_t main_deploy; int16_t accel_zero_g; @@ -149,3 +129,7 @@ struct ao_config { #define ao_config_get() struct ao_config ao_config = { 250, 16000 }; + +#define ao_xmemcpy(d,s,c) memcpy(d,s,c) +#define ao_xmemset(d,v,c) memset(d,v,c) +#define ao_xmemcmp(d,s,c) memcmp(d,s,c) diff --git a/src/ao_ignite.c b/src/core/ao_ignite.c index be291523..c7829fc3 100644 --- a/src/ao_ignite.c +++ b/src/core/ao_ignite.c @@ -16,24 +16,7 @@ */ #include "ao.h" - -#define AO_IGNITER_DROGUE P2_3 -#define AO_IGNITER_MAIN P2_4 -#define AO_IGNITER_DIR P2DIR -#define AO_IGNITER_DROGUE_BIT (1 << 3) -#define AO_IGNITER_MAIN_BIT (1 << 4) - -/* test these values with real igniters */ -#define AO_IGNITER_OPEN 1000 -#define AO_IGNITER_CLOSED 7000 -#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(500) -#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) - -struct ao_ignition { - uint8_t request; - uint8_t fired; - uint8_t firing; -}; +#include <ao_data.h> __xdata struct ao_ignition ao_ignition[2]; @@ -41,19 +24,23 @@ void ao_ignite(enum ao_igniter igniter) __critical { ao_ignition[igniter].request = 1; - ao_wakeup(&ao_ignition[0]); + ao_wakeup(&ao_ignition); } +#ifndef AO_SENSE_DROGUE +#define AO_SENSE_DROGUE(p) ((p)->adc.sense_d) +#define AO_SENSE_MAIN(p) ((p)->adc.sense_m) +#endif + enum ao_igniter_status ao_igniter_status(enum ao_igniter igniter) { - __xdata struct ao_adc adc; - __xdata int16_t value; - __xdata uint8_t request, firing, fired; + __xdata struct ao_data packet; + __pdata int16_t value; + __pdata uint8_t request, firing, fired; __critical { - ao_adc_sleep(); - ao_adc_get(&adc); + ao_data_get(&packet); request = ao_ignition[igniter].request; fired = ao_ignition[igniter].fired; firing = ao_ignition[igniter].firing; @@ -64,10 +51,10 @@ ao_igniter_status(enum ao_igniter igniter) value = (AO_IGNITER_CLOSED>>1); switch (igniter) { case ao_igniter_drogue: - value = adc.sense_d; + value = AO_SENSE_DROGUE(&packet); break; case ao_igniter_main: - value = adc.sense_m; + value = AO_SENSE_MAIN(&packet); break; } if (value < AO_IGNITER_OPEN) @@ -78,20 +65,63 @@ ao_igniter_status(enum ao_igniter igniter) return ao_igniter_unknown; } +#ifndef AO_IGNITER_SET_DROGUE +#define AO_IGNITER_SET_DROGUE(v) AO_IGNITER_DROGUE = (v) +#define AO_IGNITER_SET_MAIN(v) AO_IGNITER_MAIN = (v) +#endif + +#ifndef AO_IGNITER_FIRE_TIME +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#endif + +#ifndef AO_IGNITER_CHARGE_TIME +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) +#endif + void ao_igniter_fire(enum ao_igniter igniter) __critical { ao_ignition[igniter].firing = 1; - switch (igniter) { - case ao_igniter_drogue: - AO_IGNITER_DROGUE = 1; - ao_delay(AO_IGNITER_FIRE_TIME); - AO_IGNITER_DROGUE = 0; + switch(ao_config.ignite_mode) { + case AO_IGNITE_MODE_DUAL: + switch (igniter) { + case ao_igniter_drogue: + AO_IGNITER_SET_DROGUE(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_DROGUE(0); + break; + case ao_igniter_main: + AO_IGNITER_SET_MAIN(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_MAIN(0); + break; + } break; - case ao_igniter_main: - AO_IGNITER_MAIN = 1; - ao_delay(AO_IGNITER_FIRE_TIME); - AO_IGNITER_MAIN = 0; + case AO_IGNITE_MODE_APOGEE: + switch (igniter) { + case ao_igniter_drogue: + AO_IGNITER_SET_DROGUE(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_DROGUE(0); + ao_delay(AO_IGNITER_CHARGE_TIME); + AO_IGNITER_SET_MAIN(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_MAIN(0); + break; + } + break; + case AO_IGNITE_MODE_MAIN: + switch (igniter) { + case ao_igniter_main: + AO_IGNITER_SET_DROGUE(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_DROGUE(0); + ao_delay(AO_IGNITER_CHARGE_TIME); + AO_IGNITER_SET_MAIN(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_MAIN(0); + break; + } break; } ao_ignition[igniter].firing = 0; @@ -100,37 +130,24 @@ ao_igniter_fire(enum ao_igniter igniter) __critical void ao_igniter(void) { - __xdata enum ao_ignter igniter; - __xdata enum ao_igniter_status status; + __xdata enum ao_igniter igniter; + ao_config_get(); for (;;) { ao_sleep(&ao_ignition); for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) { if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) { + if (igniter == ao_igniter_drogue && ao_config.apogee_delay) + ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay)); + ao_igniter_fire(igniter); ao_delay(AO_IGNITER_CHARGE_TIME); - status = ao_igniter_status(igniter); - if (status == ao_igniter_open) - ao_ignition[igniter].fired = 1; + ao_ignition[igniter].fired = 1; } } } } -static uint8_t -ao_match_word(__code char *word) -{ - while (*word) { - if (ao_cmd_lex_c != *word) { - ao_cmd_status = ao_cmd_syntax_error; - return 0; - } - word++; - ao_cmd_lex(); - } - return 1; -} - void ao_ignite_manual(void) { @@ -147,7 +164,7 @@ ao_ignite_manual(void) } } -static __code char *igniter_status_names[] = { +static __code char * __code igniter_status_names[] = { "unknown", "ready", "active", "open" }; @@ -168,19 +185,24 @@ ao_ignite_test(void) } __code struct ao_cmds ao_ignite_cmds[] = { - { 'i', ao_ignite_manual, "i <key> {main|drogue} Fire igniter. <key> is doit with D&I" }, - { 't', ao_ignite_test, "t Test igniter continuity" }, - { 0, ao_ignite_manual, NULL }, + { ao_ignite_manual, "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" }, + { ao_ignite_test, "t\0Test igniter" }, + { 0, NULL }, }; __xdata struct ao_task ao_igniter_task; void +ao_ignite_set_pins(void) +{ + ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0); + ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0); +} + +void ao_igniter_init(void) { - AO_IGNITER_DROGUE = 0; - AO_IGNITER_MAIN = 0; - AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT; + ao_ignite_set_pins(); ao_cmd_register(&ao_ignite_cmds[0]); ao_add_task(&ao_igniter_task, ao_igniter, "igniter"); } diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c new file mode 100644 index 00000000..59ffd8b2 --- /dev/null +++ b/src/core/ao_kalman.c @@ -0,0 +1,298 @@ +/* + * 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_FLIGHT_TEST +#include "ao.h" +#include "ao_flight.h" +#endif + +#include "ao_sample.h" +#include "ao_kalman.h" + + +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_fix16(0.01) +#define AO_K_STEP_2_2_100 to_fix16(0.00005) + +#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_fix16(1) +#define AO_K_STEP_2_2_1 to_fix16(0.5) + +__pdata int16_t ao_height; +__pdata int16_t ao_speed; +__pdata int16_t ao_accel; +__pdata int16_t ao_max_height; +static __pdata int32_t ao_avg_height_scaled; +__pdata int16_t ao_avg_height; + +__pdata int16_t ao_error_h; +__pdata int16_t ao_error_h_sq_avg; + +#if HAS_ACCEL +__pdata int16_t ao_error_a; +#endif + +static void +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; + + 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; + + 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)); + } +#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; +} + +static void +ao_kalman_err_height(void) +{ + int16_t e; + int16_t height_distrust; +#if HAS_ACCEL + int16_t speed_distrust; +#endif + + ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16); + + e = ao_error_h; + if (e < 0) + e = -e; + if (e > 127) + e = 127; +#if HAS_ACCEL + ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2; + ao_error_h_sq_avg += (e * e) >> 2; +#else + ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4; + ao_error_h_sq_avg += (e * e) >> 4; +#endif + + if (ao_flight_state >= ao_flight_drogue) + return; + height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT; +#if HAS_ACCEL + /* speed is stored * 16, but we need to ramp between 200 and 328, so + * we want to multiply by 2. The result is a shift by 3. + */ + speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1); + if (speed_distrust <= 0) + speed_distrust = 0; + else if (speed_distrust > height_distrust) + height_distrust = speed_distrust; +#endif + if (height_distrust > 0) { +#ifdef AO_FLIGHT_TEST + int old_ao_error_h = ao_error_h; +#endif + if (height_distrust > 0x100) + height_distrust = 0x100; + ao_error_h = (int16_t) (((int32_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", + (double) (ao_sample_alt - AO_MAX_BARO_HEIGHT), + (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0, + height_distrust / 256.0, + old_ao_error_h, ao_error_h); + } +#endif + } +} + +static void +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; + 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; + 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; +} + +#if HAS_ACCEL + +static void +ao_kalman_err_accel(void) +{ + int32_t accel; + + accel = (ao_ground_accel - ao_sample_accel) * ao_accel_scale; + + /* Can't use ao_accel here as it is the pre-prediction value still */ + ao_error_a = (accel - ao_k_accel) >> 16; +} + +#ifndef FORCE_ACCEL +static void +ao_kalman_correct_both(void) +{ + ao_kalman_err_height(); + ao_kalman_err_accel(); + +#ifdef AO_FLIGHT_TEST + if (ao_sample_tick - ao_sample_prev_tick > 50) { + if (ao_flight_debug) { + printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n", + ao_k_speed / (65536.0 * 16.0), + (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_height += + (int32_t) AO_BOTH_K00_1 * ao_error_h + + (int32_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_accel += + (int32_t) AO_BOTH_K20_1 * ao_error_h + + (int32_t) AO_BOTH_K21_1 * ao_error_a; + return; + } + if (ao_sample_tick - ao_sample_prev_tick > 5) { + if (ao_flight_debug) { + printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n", + ao_k_speed / (65536.0 * 16.0), + (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_height += + (int32_t) AO_BOTH_K00_10 * ao_error_h + + (int32_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_accel += + (int32_t) AO_BOTH_K20_10 * ao_error_h + + (int32_t) AO_BOTH_K21_10 * ao_error_a; + return; + } + if (ao_flight_debug) { + printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n", + ao_k_speed / (65536.0 * 16.0), + (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)); + } +#endif + ao_k_height += + (int32_t) AO_BOTH_K00_100 * ao_error_h + + (int32_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_accel += + (int32_t) AO_BOTH_K20_100 * ao_error_h + + (int32_t) AO_BOTH_K21_100 * ao_error_a; +} + +#else + +static void +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; + 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; +} + +#endif /* else FORCE_ACCEL */ +#endif /* HAS_ACCEL */ + +void +ao_kalman(void) +{ + ao_kalman_predict(); +#if HAS_ACCEL + if (ao_flight_state <= ao_flight_coast) { +#ifdef FORCE_ACCEL + ao_kalman_correct_accel(); +#else + ao_kalman_correct_both(); +#endif + } else +#endif + ao_kalman_correct_baro(); + ao_height = from_fix(ao_k_height); + ao_speed = from_fix(ao_k_speed); + ao_accel = from_fix(ao_k_accel); + if (ao_height > ao_max_height) + ao_max_height = ao_height; + ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height; +#ifdef AO_FLIGHT_TEST + if (ao_sample_tick - ao_sample_prev_tick > 50) + ao_avg_height = (ao_avg_height_scaled + 1) >> 1; + else if (ao_sample_tick - ao_sample_prev_tick > 5) + ao_avg_height = (ao_avg_height_scaled + 7) >> 4; + else +#endif + ao_avg_height = (ao_avg_height_scaled + 63) >> 7; +#ifdef AO_FLIGHT_TEST + ao_sample_prev_tick = ao_sample_tick; +#endif +} diff --git a/src/core/ao_lcd.h b/src/core/ao_lcd.h new file mode 100644 index 00000000..f7e1391a --- /dev/null +++ b/src/core/ao_lcd.h @@ -0,0 +1,60 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_LCD_H_ +#define _AO_LCD_H_ + +/* ao_lcd.c */ + +void +ao_lcd_putchar(uint8_t d); + +void +ao_lcd_putstring(char *string); + +void +ao_lcd_contrast_set(uint8_t contrast); + +void +ao_lcd_clear(void); + +void +ao_lcd_cursor_on(void); + +void +ao_lcd_cursor_off(void); + +#define AO_LCD_ADDR(row,col) ((row << 6) | (col)) + +void +ao_lcd_goto(uint8_t addr); + +void +ao_lcd_start(void); + +void +ao_lcd_init(void); + +/* ao_lcd_port.c */ + +void +ao_lcd_port_put_nibble(uint8_t rs, uint8_t d); + +void +ao_lcd_port_init(void); + +#endif /* _AO_LCD_H_ */ diff --git a/src/core/ao_led.h b/src/core/ao_led.h new file mode 100644 index 00000000..d9a0914a --- /dev/null +++ b/src/core/ao_led.h @@ -0,0 +1,59 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_LED_H_ +#define _AO_LED_H_ + +/* + * ao_led.c + */ + +#define AO_LED_NONE 0 + +#ifndef AO_LED_TYPE +#define AO_LED_TYPE uint8_t +#endif + +/* Turn on the specified LEDs */ +void +ao_led_on(AO_LED_TYPE colors); + +/* Turn off the specified LEDs */ +void +ao_led_off(AO_LED_TYPE colors); + +/* Set all of the LEDs to the specified state */ +void +ao_led_set(AO_LED_TYPE colors); + +/* Set all LEDs in 'mask' to the specified state */ +void +ao_led_set_mask(uint8_t colors, uint8_t mask); + +/* Toggle the specified LEDs */ +void +ao_led_toggle(AO_LED_TYPE colors); + +/* Turn on the specified LEDs for the indicated interval */ +void +ao_led_for(AO_LED_TYPE colors, uint16_t ticks) __reentrant; + +/* Initialize the LEDs */ +void +ao_led_init(AO_LED_TYPE enable); + +#endif /* _AO_LED_H_ */ diff --git a/src/core/ao_log.c b/src/core/ao_log.c new file mode 100644 index 00000000..7884ec3c --- /dev/null +++ b/src/core/ao_log.c @@ -0,0 +1,283 @@ +/* + * Copyright © 2009 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_log.h> + +__pdata uint32_t ao_log_current_pos; +__pdata uint32_t ao_log_end_pos; +__pdata uint32_t ao_log_start_pos; +__xdata uint8_t ao_log_running; +__pdata enum ao_flight_state ao_log_state; +__xdata uint16_t ao_flight_number; + +void +ao_log_flush(void) +{ + ao_storage_flush(); +} + +/* + * When erasing a flight log, make sure the config block + * has an up-to-date version of the current flight number + */ + +struct ao_log_erase { + uint8_t unused; + uint16_t flight; +}; + +static __xdata struct ao_log_erase erase; + +#define LOG_MAX_ERASE 16 + +static uint32_t +ao_log_erase_pos(uint8_t i) +{ + return i * sizeof (struct ao_log_erase) + AO_STORAGE_ERASE_LOG; +} + +void +ao_log_write_erase(uint8_t pos) +{ + erase.unused = 0x00; + erase.flight = ao_flight_number; + ao_storage_write(ao_log_erase_pos(pos), &erase, sizeof (erase)); + ao_storage_flush(); +} + +static void +ao_log_read_erase(uint8_t pos) +{ + ao_storage_read(ao_log_erase_pos(pos), &erase, sizeof (erase)); +} + + +static void +ao_log_erase_mark(void) +{ + uint8_t i; + + for (i = 0; i < LOG_MAX_ERASE; i++) { + ao_log_read_erase(i); + if (erase.unused == 0 && erase.flight == ao_flight_number) + return; + if (erase.unused == 0xff) { + ao_log_write_erase(i); + return; + } + } + ao_config_put(); +} + +static uint8_t +ao_log_slots() +{ + return (uint8_t) (ao_storage_config / ao_config.flight_log_max); +} + +uint32_t +ao_log_pos(uint8_t slot) +{ + return ((slot) * ao_config.flight_log_max); +} + +static uint16_t +ao_log_max_flight(void) +{ + uint8_t log_slot; + uint8_t log_slots; + uint16_t log_flight; + uint16_t max_flight = 0; + + /* Scan the log space looking for the biggest flight number */ + log_slots = ao_log_slots(); + for (log_slot = 0; log_slot < log_slots; log_slot++) { + log_flight = ao_log_flight(log_slot); + if (!log_flight) + continue; + if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0) + max_flight = log_flight; + } + return max_flight; +} + +void +ao_log_scan(void) __reentrant +{ + uint8_t log_slot; + uint8_t log_slots; + uint8_t log_want; + + ao_config_get(); + + ao_flight_number = ao_log_max_flight(); + if (ao_flight_number) + if (++ao_flight_number == 0) + ao_flight_number = 1; + + /* Now look through the log of flight numbers from erase operations and + * see if the last one is bigger than what we found above + */ + for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) { + ao_log_read_erase(log_slot); + if (erase.unused == 0) { + if (ao_flight_number == 0 || + (int16_t) (erase.flight - ao_flight_number) > 0) + ao_flight_number = erase.flight; + break; + } + } + if (ao_flight_number == 0) + ao_flight_number = 1; + + /* 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 + * that we write logs to each spot about the same number of times. + */ + + /* Find a log slot for the next flight, if available */ + ao_log_current_pos = ao_log_end_pos = 0; + log_slots = ao_log_slots(); + log_want = (ao_flight_number - 1) % log_slots; + log_slot = log_want; + do { + if (ao_log_flight(log_slot) == 0) { + ao_log_current_pos = ao_log_pos(log_slot); + ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max; + break; + } + if (++log_slot >= log_slots) + log_slot = 0; + } while (log_slot != log_want); + + ao_wakeup(&ao_flight_number); +} + +void +ao_log_start(void) +{ + /* start logging */ + ao_log_running = 1; + ao_wakeup(&ao_log_running); +} + +void +ao_log_stop(void) +{ + ao_log_running = 0; + ao_log_flush(); +} + +uint8_t +ao_log_present(void) +{ + return ao_log_max_flight() != 0; +} + +uint8_t +ao_log_full(void) +{ + return ao_log_current_pos == ao_log_end_pos; +} + +static __xdata struct ao_task ao_log_task; + +void +ao_log_list(void) __reentrant +{ + uint8_t slot; + uint8_t slots; + uint16_t flight; + + slots = ao_log_slots(); + for (slot = 0; slot < slots; slot++) + { + flight = ao_log_flight(slot); + if (flight) + printf ("flight %d start %x end %x\n", + flight, + (uint16_t) (ao_log_pos(slot) >> 8), + (uint16_t) (ao_log_pos(slot+1) >> 8)); + } + printf ("done\n"); +} + +void +ao_log_delete(void) __reentrant +{ + uint8_t slot; + uint8_t slots; + + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + + slots = ao_log_slots(); + /* Look for the flight log matching the requested flight */ + if (ao_cmd_lex_i) { + for (slot = 0; slot < slots; slot++) { + if (ao_log_flight(slot) == ao_cmd_lex_i) { + ao_log_erase_mark(); + ao_log_current_pos = ao_log_pos(slot); + ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max; + while (ao_log_current_pos < ao_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(ao_log_current_pos + i, &b, 1)) + if (b != 0xff) + break; + } + if (i == 16) + break; + ao_storage_erase(ao_log_current_pos); + ao_log_current_pos += ao_storage_block; + } + puts("Erased"); + return; + } + } + } + printf("No such flight: %d\n", ao_cmd_lex_i); +} + +__code struct ao_cmds ao_log_cmds[] = { + { ao_log_list, "l\0List logs" }, + { ao_log_delete, "d <flight-number>\0Delete flight" }, + { 0, NULL }, +}; + +void +ao_log_init(void) +{ + ao_log_running = 0; + + /* For now, just log the flight starting at the begining of eeprom */ + ao_log_state = ao_flight_invalid; + + ao_cmd_register(&ao_log_cmds[0]); + + /* Create a task to log events to eeprom */ + ao_add_task(&ao_log_task, ao_log, "log"); +} diff --git a/src/core/ao_log.h b/src/core/ao_log.h new file mode 100644 index 00000000..04abeb7e --- /dev/null +++ b/src/core/ao_log.h @@ -0,0 +1,260 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_LOG_H_ +#define _AO_LOG_H_ + +#include <ao_flight.h> + +/* + * ao_log.c + */ + +/* We record flight numbers in the first record of + * the log. Tasks may wait for this to be initialized + * by sleeping on this variable. + */ +extern __xdata uint16_t ao_flight_number; + +extern __pdata uint32_t ao_log_current_pos; +extern __pdata uint32_t ao_log_end_pos; +extern __pdata uint32_t ao_log_start_pos; +extern __xdata uint8_t ao_log_running; +extern __pdata enum ao_flight_state ao_log_state; + +/* required functions from the underlying log system */ + +#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ +#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */ +#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */ +#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ +#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ +#define AO_LOG_FORMAT_MEGAMETRUM 5 /* 32 byte typed megametrum records */ +#define AO_LOG_FORMAT_NONE 127 /* No log at all */ + +extern __code uint8_t ao_log_format; + +/* Return the flight number from the given log slot, 0 if none */ +uint16_t +ao_log_flight(uint8_t slot); + +/* Flush the log */ +void +ao_log_flush(void); + +/* Logging thread main routine */ +void +ao_log(void); + +/* functions provided in ao_log.c */ + +/* Figure out the current flight number */ +void +ao_log_scan(void) __reentrant; + +/* Return the position of the start of the given log slot */ +uint32_t +ao_log_pos(uint8_t slot); + +/* Start logging to eeprom */ +void +ao_log_start(void); + +/* Stop logging */ +void +ao_log_stop(void); + +/* Initialize the logging system */ +void +ao_log_init(void); + +/* Write out the current flight number to the erase log */ +void +ao_log_write_erase(uint8_t pos); + +/* Returns true if there are any logs stored in eeprom */ +uint8_t +ao_log_present(void); + +/* Returns true if there is no more storage space available */ +uint8_t +ao_log_full(void); + +/* + * ao_log_big.c + */ + +/* + * The data log is recorded in the eeprom as a sequence + * of data packets. + * + * Each packet starts with a 4-byte header that has the + * packet type, the packet checksum and the tick count. Then + * they all contain 2 16 bit values which hold packet-specific + * data. + * + * For each flight, the first packet + * is FLIGHT packet, indicating the serial number of the + * device and a unique number marking the number of flights + * recorded by this device. + * + * During flight, data from the accelerometer and barometer + * are recorded in SENSOR packets, using the raw 16-bit values + * read from the A/D converter. + * + * Also during flight, but at a lower rate, the deployment + * sensors are recorded in DEPLOY packets. The goal here is to + * detect failure in the deployment circuits. + * + * STATE packets hold state transitions as the flight computer + * transitions through different stages of the flight. + */ +#define AO_LOG_FLIGHT 'F' +#define AO_LOG_SENSOR 'A' +#define AO_LOG_TEMP_VOLT 'T' +#define AO_LOG_DEPLOY 'D' +#define AO_LOG_STATE 'S' +#define AO_LOG_GPS_TIME 'G' +#define AO_LOG_GPS_LAT 'N' +#define AO_LOG_GPS_LON 'W' +#define AO_LOG_GPS_ALT 'H' +#define AO_LOG_GPS_SAT 'V' +#define AO_LOG_GPS_DATE 'Y' + +#define AO_LOG_POS_NONE (~0UL) + +struct ao_log_record { + char type; + uint8_t csum; + uint16_t tick; + union { + struct { + int16_t ground_accel; + uint16_t flight; + } flight; + struct { + int16_t accel; + int16_t pres; + } sensor; + struct { + int16_t temp; + int16_t v_batt; + } temp_volt; + struct { + int16_t drogue; + int16_t main; + } deploy; + struct { + uint16_t state; + uint16_t reason; + } state; + struct { + uint8_t hour; + uint8_t minute; + uint8_t second; + uint8_t flags; + } gps_time; + int32_t gps_latitude; + int32_t gps_longitude; + struct { + int16_t altitude; + uint16_t unused; + } gps_altitude; + struct { + uint16_t svid; + uint8_t unused; + uint8_t c_n; + } gps_sat; + struct { + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t extra; + } gps_date; + struct { + uint16_t d0; + uint16_t d1; + } anon; + } u; +}; + +struct ao_log_mega { + char type; /* 0 */ + uint8_t csum; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + struct { + uint16_t flight; /* 4 */ + int16_t ground_accel; /* 6 */ + uint32_t ground_pres; /* 8 */ + uint32_t ground_temp; /* 12 */ + } flight; /* 16 */ + struct { + uint16_t state; + uint16_t reason; + } state; + struct { + uint32_t pres; /* 4 */ + uint32_t temp; /* 8 */ + int16_t accel_x; /* 12 */ + int16_t accel_y; /* 14 */ + int16_t accel_z; /* 16 */ + int16_t gyro_x; /* 18 */ + int16_t gyro_y; /* 20 */ + int16_t gyro_z; /* 22 */ + int16_t mag_x; /* 24 */ + int16_t mag_y; /* 26 */ + int16_t mag_z; /* 28 */ + int16_t accel; /* 30 */ + } sensor; /* 32 */ + struct { + int16_t v_batt; /* 4 */ + int16_t v_pbatt; /* 6 */ + int16_t n_sense; /* 8 */ + int16_t sense[10]; /* 10 */ + } volt; /* 30 */ + struct { + int32_t latitude; /* 4 */ + int32_t longitude; /* 8 */ + int16_t altitude; /* 12 */ + uint8_t hour; /* 14 */ + uint8_t minute; /* 15 */ + uint8_t second; /* 16 */ + uint8_t flags; /* 17 */ + uint8_t year; /* 18 */ + uint8_t month; /* 19 */ + uint8_t day; /* 20 */ + uint8_t pad; /* 21 */ + } gps; /* 22 */ + struct { + uint16_t channels; /* 4 */ + struct { + uint8_t svid; + uint8_t c_n; + } sats[12]; /* 6 */ + } gps_sat; /* 30 */ + } u; +}; + +/* Write a record to the eeprom log */ +uint8_t +ao_log_data(__xdata struct ao_log_record *log) __reentrant; + +uint8_t +ao_log_mega(__xdata struct ao_log_mega *log) __reentrant; + +#endif /* _AO_LOG_H_ */ diff --git a/src/core/ao_log_big.c b/src/core/ao_log_big.c new file mode 100644 index 00000000..db01f46c --- /dev/null +++ b/src/core/ao_log_big.c @@ -0,0 +1,162 @@ +/* + * 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" + +static __xdata uint8_t ao_log_mutex; +static __xdata struct ao_log_record log; + +__code uint8_t ao_log_format = AO_LOG_FORMAT_FULL; + +static uint8_t +ao_log_csum(__xdata uint8_t *b) __reentrant +{ + uint8_t sum = 0x5a; + uint8_t i; + + for (i = 0; i < sizeof (struct ao_log_record); i++) + sum += *b++; + return -sum; +} + +uint8_t +ao_log_data(__xdata struct ao_log_record *log) __reentrant +{ + uint8_t wrote = 0; + /* set checksum */ + log->csum = 0; + log->csum = ao_log_csum((__xdata uint8_t *) log); + ao_mutex_get(&ao_log_mutex); { + if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) + ao_log_stop(); + if (ao_log_running) { + wrote = 1; + ao_storage_write(ao_log_current_pos, + log, + sizeof (struct ao_log_record)); + ao_log_current_pos += sizeof (struct ao_log_record); + } + } ao_mutex_put(&ao_log_mutex); + return wrote; +} + +static uint8_t +ao_log_dump_check_data(void) +{ + if (ao_log_csum((uint8_t *) &log) != 0) + return 0; + return 1; +} + +static __data uint8_t ao_log_data_pos; + +/* a hack to make sure that ao_log_records fill the eeprom block in even units */ +typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ; + +#ifndef AO_SENSOR_INTERVAL_ASCENT +#define AO_SENSOR_INTERVAL_ASCENT 1 +#define AO_SENSOR_INTERVAL_DESCENT 10 +#define AO_OTHER_INTERVAL 32 +#endif + +void +ao_log(void) +{ + __pdata uint16_t next_sensor, next_other; + + ao_storage_setup(); + + ao_log_scan(); + + while (!ao_log_running) + ao_sleep(&ao_log_running); + + log.type = AO_LOG_FLIGHT; + log.tick = ao_sample_tick; +#if HAS_ACCEL + log.u.flight.ground_accel = ao_ground_accel; +#endif + log.u.flight.flight = ao_flight_number; + ao_log_data(&log); + + /* Write the whole contents of the ring to the log + * when starting up. + */ + ao_log_data_pos = ao_data_ring_next(ao_sample_data); + next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick; + ao_log_state = ao_flight_startup; + for (;;) { + /* Write samples to EEPROM */ + while (ao_log_data_pos != ao_sample_data) { + log.tick = ao_data_ring[ao_log_data_pos].tick; + if ((int16_t) (log.tick - next_sensor) >= 0) { + log.type = AO_LOG_SENSOR; + log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel; + log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres; + ao_log_data(&log); + if (ao_log_state <= ao_flight_coast) + next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT; + else + next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT; + } + if ((int16_t) (log.tick - next_other) >= 0) { + log.type = AO_LOG_TEMP_VOLT; + log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp; + log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt; + ao_log_data(&log); + log.type = AO_LOG_DEPLOY; + log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d; + log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m; + ao_log_data(&log); + next_other = log.tick + AO_OTHER_INTERVAL; + } + ao_log_data_pos = ao_data_ring_next(ao_log_data_pos); + } + /* Write state change to EEPROM */ + if (ao_flight_state != ao_log_state) { + ao_log_state = ao_flight_state; + log.type = AO_LOG_STATE; + log.tick = ao_sample_tick; + log.u.state.state = ao_log_state; + log.u.state.reason = 0; + ao_log_data(&log); + + if (ao_log_state == ao_flight_landed) + ao_log_stop(); + } + + /* Wait for a while */ + ao_delay(AO_MS_TO_TICKS(100)); + + /* Stop logging when told to */ + while (!ao_log_running) + ao_sleep(&ao_log_running); + } +} + +uint16_t +ao_log_flight(uint8_t slot) +{ + if (!ao_storage_read(ao_log_pos(slot), + &log, + sizeof (struct ao_log_record))) + return 0; + + if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) + return log.u.flight.flight; + return 0; +} diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c new file mode 100644 index 00000000..ac1590db --- /dev/null +++ b/src/core/ao_log_mega.c @@ -0,0 +1,186 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" +#include <ao_log.h> +#include <ao_data.h> +#include <ao_flight.h> + +static __xdata uint8_t ao_log_mutex; +static __xdata struct ao_log_mega log; + +__code uint8_t ao_log_format = AO_LOG_FORMAT_MEGAMETRUM; + +static uint8_t +ao_log_csum(__xdata uint8_t *b) __reentrant +{ + uint8_t sum = 0x5a; + uint8_t i; + + for (i = 0; i < sizeof (struct ao_log_mega); i++) + sum += *b++; + return -sum; +} + +uint8_t +ao_log_mega(__xdata struct ao_log_mega *log) __reentrant +{ + uint8_t wrote = 0; + /* set checksum */ + log->csum = 0; + log->csum = ao_log_csum((__xdata uint8_t *) log); + ao_mutex_get(&ao_log_mutex); { + if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) + ao_log_stop(); + if (ao_log_running) { + wrote = 1; + ao_storage_write(ao_log_current_pos, + log, + sizeof (struct ao_log_mega)); + ao_log_current_pos += sizeof (struct ao_log_mega); + } + } ao_mutex_put(&ao_log_mutex); + return wrote; +} + +static uint8_t +ao_log_dump_check_data(void) +{ + if (ao_log_csum((uint8_t *) &log) != 0) + return 0; + return 1; +} + +static __data uint8_t ao_log_data_pos; + +/* a hack to make sure that ao_log_megas fill the eeprom block in even units */ +typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ; + +#ifndef AO_SENSOR_INTERVAL_ASCENT +#define AO_SENSOR_INTERVAL_ASCENT 1 +#define AO_SENSOR_INTERVAL_DESCENT 10 +#define AO_OTHER_INTERVAL 32 +#endif + +void +ao_log(void) +{ + __pdata uint16_t next_sensor, next_other; + uint8_t i; + + ao_storage_setup(); + + ao_log_scan(); + + while (!ao_log_running) + ao_sleep(&ao_log_running); + +#if HAS_FLIGHT + log.type = AO_LOG_FLIGHT; + log.tick = ao_sample_tick; +#if HAS_ACCEL + log.u.flight.ground_accel = ao_ground_accel; +#endif + log.u.flight.ground_pres = ao_ground_pres; + log.u.flight.flight = ao_flight_number; + ao_log_mega(&log); +#endif + + /* Write the whole contents of the ring to the log + * when starting up. + */ + ao_log_data_pos = ao_data_ring_next(ao_data_head); + next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick; + ao_log_state = ao_flight_startup; + for (;;) { + /* Write samples to EEPROM */ + while (ao_log_data_pos != ao_data_head) { + log.tick = ao_data_ring[ao_log_data_pos].tick; + if ((int16_t) (log.tick - next_sensor) >= 0) { + log.type = AO_LOG_SENSOR; +#if HAS_MS5607 + log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres; + log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp; +#endif +#if HAS_MPU6000 + log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x; + log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y; + log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z; + log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x; + log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y; + log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z; +#endif +#if HAS_HMC5883 + log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x; + log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y; + log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z; +#endif + log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]); + ao_log_mega(&log); + if (ao_log_state <= ao_flight_coast) + next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT; + else + next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT; + } + if ((int16_t) (log.tick - next_other) >= 0) { + log.type = AO_LOG_TEMP_VOLT; + log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt; + log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt; + log.u.volt.n_sense = AO_ADC_NUM_SENSE; + for (i = 0; i < AO_ADC_NUM_SENSE; i++) + log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i]; + ao_log_mega(&log); + next_other = log.tick + AO_OTHER_INTERVAL; + } + ao_log_data_pos = ao_data_ring_next(ao_log_data_pos); + } +#if HAS_FLIGHT + /* Write state change to EEPROM */ + if (ao_flight_state != ao_log_state) { + ao_log_state = ao_flight_state; + log.type = AO_LOG_STATE; + log.tick = ao_time(); + log.u.state.state = ao_log_state; + log.u.state.reason = 0; + ao_log_mega(&log); + + if (ao_log_state == ao_flight_landed) + ao_log_stop(); + } +#endif + + /* Wait for a while */ + ao_delay(AO_MS_TO_TICKS(100)); + + /* Stop logging when told to */ + while (!ao_log_running) + ao_sleep(&ao_log_running); + } +} + +uint16_t +ao_log_flight(uint8_t slot) +{ + if (!ao_storage_read(ao_log_pos(slot), + &log, + sizeof (struct ao_log_mega))) + return 0; + + if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) + return log.u.flight.flight; + return 0; +} diff --git a/src/core/ao_log_single.c b/src/core/ao_log_single.c new file mode 100644 index 00000000..3f6235a6 --- /dev/null +++ b/src/core/ao_log_single.c @@ -0,0 +1,198 @@ +/* + * 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. + */ + +/* + * ao_log_single.c + * + * Stores a sequence of fixed-size (32 byte) chunks + * without splitting memory up into separate flights + */ + +#include "ao.h" +#include "ao_product.h" + +static __xdata struct ao_task ao_log_single_task; + +__xdata uint8_t ao_log_running; +__xdata uint8_t ao_log_mutex; +__pdata uint32_t ao_log_start_pos; +__pdata uint32_t ao_log_end_pos; +__pdata uint32_t ao_log_current_pos; + +__xdata union ao_log_single ao_log_single_write_data; +__xdata union ao_log_single ao_log_single_read_data; + +uint8_t +ao_log_single_write(void) +{ + uint8_t wrote = 0; + + ao_mutex_get(&ao_log_mutex); { + if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) + ao_log_single_stop(); + if (ao_log_running) { + wrote = 1; + ao_storage_write(ao_log_current_pos, + &ao_log_single_write_data, + AO_LOG_SINGLE_SIZE); + ao_log_current_pos += AO_LOG_SINGLE_SIZE; + } + } ao_mutex_put(&ao_log_mutex); + return wrote; +} + +static uint8_t +ao_log_single_valid(void) +{ + __xdata uint8_t *d = ao_log_single_read_data.bytes; + uint8_t i; + for (i = 0; i < AO_LOG_SINGLE_SIZE; i++) + if (*d++ != 0xff) + return 1; + return 0; +} + +uint8_t +ao_log_single_read(uint32_t pos) +{ + if (!ao_storage_read(pos, &ao_log_single_read_data, AO_LOG_SINGLE_SIZE)) + return 0; + return ao_log_single_valid(); +} + +void +ao_log_single_start(void) +{ + if (!ao_log_running) { + ao_log_running = 1; + ao_wakeup(&ao_log_running); + } +} + +void +ao_log_single_stop(void) +{ + if (ao_log_running) { + ao_log_running = 0; + } +} + +void +ao_log_single_restart(void) +{ + /* Find end of data */ + ao_log_end_pos = ao_storage_config; + for (ao_log_current_pos = 0; + ao_log_current_pos < ao_storage_config; + ao_log_current_pos += ao_storage_block) + { + if (!ao_log_single_read(ao_log_current_pos)) + break; + } + if (ao_log_current_pos > 0) { + ao_log_current_pos -= ao_storage_block; + for (; ao_log_current_pos < ao_storage_config; + ao_log_current_pos += sizeof (struct ao_log_telescience)) + { + if (!ao_log_single_read(ao_log_current_pos)) + break; + } + } +} + +void +ao_log_single_set(void) +{ + printf("Logging currently %s\n", ao_log_running ? "on" : "off"); + ao_cmd_hex(); + if (ao_cmd_status == ao_cmd_success) { + if (ao_cmd_lex_i) { + printf("Logging from %ld to %ld\n", ao_log_current_pos, ao_log_end_pos); + ao_log_single_start(); + } else { + printf ("Log stopped at %ld\n", ao_log_current_pos); + ao_log_single_stop(); + } + } + ao_cmd_status = ao_cmd_success; +} + +void +ao_log_single_delete(void) +{ + uint32_t pos; + + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + if (ao_cmd_lex_i != 1) { + ao_cmd_status = ao_cmd_syntax_error; + printf("No such flight: %d\n", ao_cmd_lex_i); + return; + } + ao_log_single_stop(); + for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) { + if (!ao_log_single_read(pos)) + break; + ao_storage_erase(pos); + } + ao_log_current_pos = ao_log_start_pos = 0; + if (pos == 0) + printf("No such flight: %d\n", ao_cmd_lex_i); + else + printf ("Erased\n"); +} + +uint8_t +ao_log_full(void) +{ + return ao_log_current_pos >= ao_log_end_pos; +} + +uint8_t +ao_log_present(void) +{ + return ao_log_single_read(0); +} + +static void +ao_log_single_query(void) +{ + printf("Logging enabled: %d\n", ao_log_running); + printf("Log start: %ld\n", ao_log_start_pos); + printf("Log cur: %ld\n", ao_log_current_pos); + printf("Log end: %ld\n", ao_log_end_pos); + ao_log_single_extra_query(); +} + +const struct ao_cmds ao_log_single_cmds[] = { + { ao_log_single_set, "L <0 off, 1 on>\0Set logging" }, + { ao_log_single_list, "l\0List stored logs" }, + { ao_log_single_delete, "d 1\0Delete all stored logs" }, + { ao_log_single_query, "q\0Query log status" }, + { 0, NULL }, +}; + +void +ao_log_single_init(void) +{ + ao_log_running = 0; + + ao_cmd_register(&ao_log_single_cmds[0]); + + ao_add_task(&ao_log_single_task, ao_log_single, "log"); +} diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c new file mode 100644 index 00000000..18ab85dd --- /dev/null +++ b/src/core/ao_log_telem.c @@ -0,0 +1,131 @@ +/* + * 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_flight.h> +#include <ao_sample.h> + +__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRY; + +static __data uint8_t ao_log_monitor_pos; +__pdata enum ao_flight_state ao_flight_state; +__pdata int16_t ao_max_height; /* max of ao_height */ +__pdata int16_t sense_d, sense_m; +__pdata uint8_t ao_igniter_present; + +static void +ao_log_telem_track() { + if (ao_monitoring == sizeof (union ao_telemetry_all)) { + switch (ao_log_single_write_data.telemetry.generic.type) { + case AO_TELEMETRY_SENSOR_TELEMETRUM: + case AO_TELEMETRY_SENSOR_TELEMINI: + /* fall through ... */ + case AO_TELEMETRY_SENSOR_TELENANO: + if (ao_log_single_write_data.telemetry.generic.type == AO_TELEMETRY_SENSOR_TELENANO) { + ao_igniter_present = 0; + } else { + sense_d = ao_log_single_write_data.telemetry.sensor.sense_d; + sense_m = ao_log_single_write_data.telemetry.sensor.sense_m; + ao_igniter_present = 1; + } + if (ao_log_single_write_data.telemetry.sensor.height > ao_max_height) { + ao_max_height = ao_log_single_write_data.telemetry.sensor.height; + } + if (ao_log_single_write_data.telemetry.sensor.state != ao_flight_state) { + ao_flight_state = ao_log_single_write_data.telemetry.sensor.state; + if (ao_flight_state == ao_flight_pad) + ao_max_height = 0; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + } + } +} + +enum ao_igniter_status +ao_igniter_status(enum ao_igniter igniter) +{ + int16_t value; + + switch (igniter) { + case ao_igniter_drogue: + value = sense_d; + break; + case ao_igniter_main: + value = sense_m; + break; + default: + value = 0; + break; + } + if (value < AO_IGNITER_OPEN) + return ao_igniter_open; + else if (value > AO_IGNITER_CLOSED) + return ao_igniter_ready; + else + return ao_igniter_unknown; +} + +void +ao_log_single(void) +{ + ao_storage_setup(); + + /* This can take a while, so let the rest + * of the system finish booting before we start + */ + ao_delay(AO_SEC_TO_TICKS(2)); + + ao_log_running = 1; + ao_log_single_restart(); + ao_flight_state = ao_flight_startup; + ao_monitor_set(sizeof(struct ao_telemetry_generic)); + + for (;;) { + while (!ao_log_running) + ao_sleep(&ao_log_running); + + ao_log_monitor_pos = ao_monitor_head; + while (ao_log_running) { + /* Write samples to EEPROM */ + while (ao_log_monitor_pos != ao_monitor_head) { + memcpy(&ao_log_single_write_data.telemetry, + &ao_monitor_ring[ao_log_monitor_pos], + AO_LOG_SINGLE_SIZE); + ao_log_single_write(); + ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos); + ao_log_telem_track(); + } + /* Wait for more telemetry data to arrive */ + ao_sleep(DATA_TO_XDATA(&ao_monitor_head)); + } + } +} + +void +ao_log_single_list(void) +{ + if (ao_log_current_pos != 0) + printf("flight 1 start %x end %x\n", + 0, + (uint16_t) ((ao_log_current_pos + 0xff) >> 8)); + printf ("done\n"); +} + +void +ao_log_single_extra_query(void) +{ +} diff --git a/src/core/ao_log_telescience.c b/src/core/ao_log_telescience.c new file mode 100644 index 00000000..002a10bd --- /dev/null +++ b/src/core/ao_log_telescience.c @@ -0,0 +1,119 @@ +/* + * 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_product.h" +#include "ao_log.h" +#include "ao_companion.h" + +static uint8_t ao_log_data_pos; + +__code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE; + +static void +ao_log_telescience_csum(void) __reentrant +{ + __xdata uint8_t *b = ao_log_single_write_data.bytes; + uint8_t sum = 0x5a; + uint8_t i; + + ao_log_single_write_data.telescience.csum = 0; + for (i = 0; i < sizeof (struct ao_log_telescience); i++) + sum += *b++; + ao_log_single_write_data.telescience.csum = -sum; +} + +void +ao_log_single(void) +{ + ao_storage_setup(); + + /* This can take a while, so let the rest + * of the system finish booting before we start + */ + ao_delay(AO_SEC_TO_TICKS(10)); + + ao_log_single_restart(); + for (;;) { + while (!ao_log_running) + ao_sleep(&ao_log_running); + + ao_log_start_pos = ao_log_current_pos; + ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_START; + ao_log_single_write_data.telescience.tick = ao_time(); + ao_log_single_write_data.telescience.adc[0] = ao_companion_command.serial; + ao_log_single_write_data.telescience.adc[1] = ao_companion_command.flight; + ao_log_telescience_csum(); + ao_log_single_write(); + /* Write the whole contents of the ring to the log + * when starting up. + */ + ao_log_data_pos = ao_data_ring_next(ao_data_head); + ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_DATA; + while (ao_log_running) { + /* Write samples to EEPROM */ + while (ao_log_data_pos != ao_data_head) { + ao_log_single_write_data.telescience.tick = ao_data_ring[ao_log_data_pos].tick; + memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_data_ring[ao_log_data_pos].adc.adc, + AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); + ao_log_telescience_csum(); + ao_log_single_write(); + ao_log_data_pos = ao_data_ring_next(ao_log_data_pos); + } + /* Wait for more ADC data to arrive */ + ao_sleep((void *) &ao_data_head); + } + memset(&ao_log_single_write_data.telescience.adc, '\0', sizeof (ao_log_single_write_data.telescience.adc)); + } +} + +void +ao_log_single_list(void) +{ + uint32_t pos; + uint32_t start = 0; + uint8_t flight = 0; + + for (pos = 0; ; pos += sizeof (struct ao_log_telescience)) { + if (pos >= ao_storage_config || + !ao_log_single_read(pos) || + ao_log_single_read_data.telescience.type == AO_LOG_TELESCIENCE_START) + { + if (pos != start) { + printf("flight %d start %x end %x\n", + flight, + (uint16_t) (start >> 8), + (uint16_t) ((pos + 0xff) >> 8)); flush(); + } + if (ao_log_single_read_data.telescience.type != AO_LOG_TELESCIENCE_START) + break; + start = pos; + flight++; + } + } + printf ("done\n"); +} + +void +ao_log_single_extra_query(void) +{ + printf("log data tick: %04x\n", ao_log_single_write_data.telescience.tick); + printf("TM data tick: %04x\n", ao_log_single_write_data.telescience.tm_tick); + printf("TM state: %d\n", ao_log_single_write_data.telescience.tm_state); + printf("TM serial: %d\n", ao_companion_command.serial); + printf("TM flight: %d\n", ao_companion_command.flight); +} diff --git a/src/core/ao_log_tiny.c b/src/core/ao_log_tiny.c new file mode 100644 index 00000000..492658ea --- /dev/null +++ b/src/core/ao_log_tiny.c @@ -0,0 +1,161 @@ +/* + * 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" + +static __data uint16_t ao_log_tiny_interval; + +#define AO_LOG_TINY_INTERVAL_DEFAULT AO_MS_TO_TICKS(1000) +#if USE_FAST_ASCENT_LOG +#define AO_LOG_TINY_INTERVAL_ASCENT AO_MS_TO_TICKS(100) +#define AO_PAD_RING 8 +#else +#define AO_LOG_TINY_INTERVAL_ASCENT AO_LOG_TINY_INTERVAL_DEFAULT +#define AO_PAD_RING 2 +#endif + +__code uint8_t ao_log_format = AO_LOG_FORMAT_TINY; + +void +ao_log_tiny_set_interval(uint16_t ticks) +{ + ao_log_tiny_interval = ticks; +} + + +static void ao_log_tiny_data(uint16_t d) +{ + if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) + ao_log_stop(); + if (ao_log_running) { + ao_storage_write(ao_log_current_pos, DATA_TO_XDATA(&d), 2); + ao_log_current_pos += 2; + } +} + +static __xdata uint16_t ao_log_pad_ring[AO_PAD_RING]; +static __pdata uint8_t ao_log_pad_ring_pos; + +#define ao_pad_ring_next(n) (((n) + 1) & (AO_PAD_RING - 1)) + +static void ao_log_tiny_queue(uint16_t d) +{ + ao_log_pad_ring[ao_log_pad_ring_pos] = d; + ao_log_pad_ring_pos = ao_pad_ring_next(ao_log_pad_ring_pos); +} + +static void ao_log_tiny_start(void) +{ + uint8_t p; + uint16_t d; + + ao_log_tiny_data(ao_flight_number); + ao_log_tiny_data(ao_ground_pres); + p = ao_log_pad_ring_pos; + do { + d = ao_log_pad_ring[p]; + /* + * ignore unwritten slots + */ + if (d) + ao_log_tiny_data(d); + p = ao_pad_ring_next(p); + } while (p != ao_log_pad_ring_pos); +} + +void +ao_log(void) +{ + uint16_t last_time; + uint16_t now; + enum ao_flight_state ao_log_tiny_state; + int32_t sum; + int16_t count; + uint8_t ao_log_data; + uint8_t ao_log_started = 0; + + ao_storage_setup(); + + ao_log_scan(); + + ao_log_tiny_state = ao_flight_invalid; + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT; + sum = 0; + count = 0; + ao_log_data = ao_sample_data; + last_time = ao_time(); + for (;;) { + + /* + * Add in pending sample data + */ + ao_sleep(DATA_TO_XDATA(&ao_sample_data)); + while (ao_log_data != ao_sample_data) { + sum += ao_data_ring[ao_log_data].adc.pres; + count++; + ao_log_data = ao_data_ring_next(ao_log_data); + } + if (ao_log_running) { + if (!ao_log_started) { + ao_log_tiny_start(); + ao_log_started = 1; + } + if (ao_flight_state != ao_log_tiny_state) { + ao_log_tiny_data(ao_flight_state | 0x8000); + ao_log_tiny_state = ao_flight_state; + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT; +#if AO_LOG_TINY_INTERVAL_ASCENT != AO_LOG_TINY_INTERVAL_DEFAULT + if (ao_log_tiny_state <= ao_flight_coast) + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT; +#endif + if (ao_log_tiny_state == ao_flight_landed) + ao_log_stop(); + } + } + + /* Stop logging when told to */ + if (!ao_log_running && ao_log_started) + ao_exit(); + + /* + * Write out the sample when finished + */ + now = ao_time(); + if ((int16_t) (now - (last_time + ao_log_tiny_interval)) >= 0 && count) { + count = sum / count; + if (ao_log_started) + ao_log_tiny_data(count); + else + ao_log_tiny_queue(count); + sum = 0; + count = 0; + last_time = now; + } + } +} + +uint16_t +ao_log_flight(uint8_t slot) +{ + static __xdata uint16_t flight; + + (void) slot; + ao_storage_read(0, &flight, 2); + if (flight == 0xffff) + flight = 0; + return flight; +} diff --git a/src/core/ao_monitor.c b/src/core/ao_monitor.c new file mode 100644 index 00000000..5876bef7 --- /dev/null +++ b/src/core/ao_monitor.c @@ -0,0 +1,308 @@ +/* + * Copyright © 2009 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" +#include "ao_flight.h" + +#if !HAS_MONITOR +#error Must define HAS_MONITOR to 1 +#endif + +#ifndef LEGACY_MONITOR +#error Must define LEGACY_MONITOR +#endif + +#ifndef HAS_MONITOR_PUT +#define HAS_MONITOR_PUT 1 +#endif + +#ifndef AO_MONITOR_LED +#error Must define AO_MONITOR_LED +#endif + +__data uint8_t ao_monitoring; +static __data uint8_t ao_monitor_disabled; +static __data uint8_t ao_internal_monitoring; +static __data uint8_t ao_external_monitoring; + +__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; + +__data uint8_t ao_monitor_head; + +static void +_ao_monitor_adjust(void) +{ + if (ao_monitoring) + ao_radio_recv_abort(); + if (ao_monitor_disabled) + ao_monitoring = 0; + else { + if (ao_external_monitoring) + ao_monitoring = ao_external_monitoring; + else + ao_monitoring = ao_internal_monitoring; + } + ao_wakeup(DATA_TO_XDATA(&ao_monitoring)); +} + +void +ao_monitor_get(void) +{ + uint8_t size; + + for (;;) { + switch (ao_monitoring) { + case 0: + ao_sleep(DATA_TO_XDATA(&ao_monitoring)); + continue; +#if LEGACY_MONITOR + case AO_MONITORING_ORIG: + size = sizeof (struct ao_telemetry_orig_recv); + break; +#endif + default: + if (ao_monitoring > AO_MAX_TELEMETRY) + ao_monitoring = AO_MAX_TELEMETRY; + size = ao_monitoring; + break; + } + if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2)) + continue; + ao_monitor_head = ao_monitor_ring_next(ao_monitor_head); + ao_wakeup(DATA_TO_XDATA(&ao_monitor_head)); + } +} + +#if AO_MONITOR_LED +__xdata struct ao_task ao_monitor_blink_task; + +void +ao_monitor_blink(void) +{ + for (;;) { + ao_sleep(DATA_TO_XDATA(&ao_monitor_head)); + ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100)); + } +} +#endif + +#if HAS_MONITOR_PUT + +static const char xdigit[16] = { + '0', '1', '2', '3', '4', '5', '6', '7', + '8', '9', 'a', 'b', 'c', 'd', 'e', 'f' +}; + +#define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0) + +void +ao_monitor_put(void) +{ +#if LEGACY_MONITOR + __xdata char callsign[AO_MAX_CALLSIGN+1]; + int16_t rssi; +#endif + uint8_t ao_monitor_tail; + uint8_t state; + uint8_t sum, byte; + __xdata union ao_monitor *m; + +#define recv_raw ((m->raw)) +#define recv_orig ((m->orig)) +#define recv_tiny ((m->tiny)) + + ao_monitor_tail = ao_monitor_head; + for (;;) { + while (!ao_external_monitoring) + ao_sleep(DATA_TO_XDATA(&ao_external_monitoring)); + while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring) + ao_sleep(DATA_TO_XDATA(&ao_monitor_head)); + if (!ao_external_monitoring) + continue; + m = &ao_monitor_ring[ao_monitor_tail]; + ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail); + switch (ao_monitoring) { + case 0: + break; +#if LEGACY_MONITOR + case AO_MONITORING_ORIG: + state = recv_orig.telemetry_orig.flight_state; + + rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi); + ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN); + if (state > ao_flight_invalid) + state = ao_flight_invalid; + if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) { + + /* General header fields */ + printf(AO_TELEM_VERSION " %d " + AO_TELEM_CALL " %s " + AO_TELEM_SERIAL " %d " + AO_TELEM_FLIGHT " %d " + AO_TELEM_RSSI " %d " + AO_TELEM_STATE " %s " + AO_TELEM_TICK " %d ", + AO_TELEMETRY_VERSION, + callsign, + recv_orig.telemetry_orig.serial, + recv_orig.telemetry_orig.flight, + rssi, + ao_state_names[state], + recv_orig.telemetry_orig.adc.tick); + + /* Raw sensor values */ + printf(AO_TELEM_RAW_ACCEL " %d " + AO_TELEM_RAW_BARO " %d " + AO_TELEM_RAW_THERMO " %d " + AO_TELEM_RAW_BATT " %d " + AO_TELEM_RAW_DROGUE " %d " + AO_TELEM_RAW_MAIN " %d ", + recv_orig.telemetry_orig.adc.accel, + recv_orig.telemetry_orig.adc.pres, + recv_orig.telemetry_orig.adc.temp, + recv_orig.telemetry_orig.adc.v_batt, + recv_orig.telemetry_orig.adc.sense_d, + recv_orig.telemetry_orig.adc.sense_m); + + /* Sensor calibration values */ + printf(AO_TELEM_CAL_ACCEL_GROUND " %d " + AO_TELEM_CAL_BARO_GROUND " %d " + AO_TELEM_CAL_ACCEL_PLUS " %d " + AO_TELEM_CAL_ACCEL_MINUS " %d ", + recv_orig.telemetry_orig.ground_accel, + recv_orig.telemetry_orig.ground_pres, + recv_orig.telemetry_orig.accel_plus_g, + recv_orig.telemetry_orig.accel_minus_g); + + if (recv_orig.telemetry_orig.u.k.unused == 0x8000) { + /* Kalman state values */ + printf(AO_TELEM_KALMAN_HEIGHT " %d " + AO_TELEM_KALMAN_SPEED " %d " + AO_TELEM_KALMAN_ACCEL " %d ", + recv_orig.telemetry_orig.height, + recv_orig.telemetry_orig.u.k.speed, + recv_orig.telemetry_orig.accel); + } else { + /* Ad-hoc flight values */ + printf(AO_TELEM_ADHOC_ACCEL " %d " + AO_TELEM_ADHOC_SPEED " %ld " + AO_TELEM_ADHOC_BARO " %d ", + recv_orig.telemetry_orig.accel, + recv_orig.telemetry_orig.u.flight_vel, + recv_orig.telemetry_orig.height); + } + ao_gps_print(&recv_orig.telemetry_orig.gps); + ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking); + putchar('\n'); +#if HAS_RSSI + ao_rssi_set(rssi); +#endif + } else { + printf("CRC INVALID RSSI %3d\n", rssi); + } + break; +#endif /* LEGACY_MONITOR */ + default: +#if AO_PROFILE + { + extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick; + extern uint32_t ao_fec_decode_start, ao_fec_decode_end; + + printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick); + printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick); + printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start); + printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end); + } +#endif + printf("TELEM "); + hex((uint8_t) (ao_monitoring + 2)); + sum = 0x5a; + for (state = 0; state < ao_monitoring + 2; state++) { + byte = recv_raw.packet[state]; + sum += byte; + hex(byte); + } + hex(sum); + putchar ('\n'); +#if HAS_RSSI + if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) { + rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]); + ao_rssi_set(rssi); + } +#endif + break; + } + ao_usb_flush(); + } +} + +__xdata struct ao_task ao_monitor_put_task; +#endif + +__xdata struct ao_task ao_monitor_get_task; + +void +ao_monitor_set(uint8_t monitoring) +{ + ao_internal_monitoring = monitoring; + _ao_monitor_adjust(); +} + +void +ao_monitor_disable(void) +{ + ++ao_monitor_disabled; + _ao_monitor_adjust(); +} + +void +ao_monitor_enable(void) +{ + --ao_monitor_disabled; + _ao_monitor_adjust(); +} + +#if HAS_MONITOR_PUT +static void +set_monitor(void) +{ + ao_cmd_hex(); + ao_external_monitoring = ao_cmd_lex_i; + ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring)); + ao_wakeup(DATA_TO_XDATA(&ao_monitor_head)); + _ao_monitor_adjust(); +} + +__code struct ao_cmds ao_monitor_cmds[] = { + { set_monitor, "m <0 off, 1 old, 20 std>\0Set radio monitoring" }, + { 0, NULL }, +}; +#endif + +void +ao_monitor_init(void) __reentrant +{ +#if HAS_MONITOR_PUT + ao_cmd_register(&ao_monitor_cmds[0]); + ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put"); +#endif + ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get"); +#if AO_MONITOR_LED + ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink"); +#endif +} diff --git a/src/ao_mutex.c b/src/core/ao_mutex.c index c82a7d57..c82a7d57 100644 --- a/src/ao_mutex.c +++ b/src/core/ao_mutex.c diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h new file mode 100644 index 00000000..f232a878 --- /dev/null +++ b/src/core/ao_packet.h @@ -0,0 +1,90 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PACKET_H_ +#define _AO_PACKET_H_ + +/* + * ao_packet.c + * + * Packet-based command interface + */ + +#define AO_PACKET_MAX 64 +#define AO_PACKET_SYN (uint8_t) 0xff + +struct ao_packet { + uint8_t addr; + uint8_t len; + uint8_t seq; + uint8_t ack; + uint8_t d[AO_PACKET_MAX]; + uint8_t callsign[AO_MAX_CALLSIGN]; +}; + +struct ao_packet_recv { + struct ao_packet packet; + int8_t rssi; + uint8_t status; +}; + +extern __xdata struct ao_packet_recv ao_rx_packet; +extern __xdata struct ao_packet ao_tx_packet; +extern __xdata struct ao_task ao_packet_task; +extern __xdata uint8_t ao_packet_enable; +extern __xdata uint8_t ao_packet_master_sleeping; +extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; + +void +ao_packet_send(void); + +uint8_t +ao_packet_recv(void); + +void +ao_packet_flush(void); + +void +ao_packet_putchar(char c) __reentrant; + +char +ao_packet_pollchar(void) __critical; + +#if PACKET_HAS_MASTER +/* ao_packet_master.c */ + +extern __xdata uint8_t ao_packet_last_rssi; + +void +ao_packet_master_init(void); +#endif + +#if PACKET_HAS_SLAVE +/* ao_packet_slave.c */ + +void +ao_packet_slave_start(void); + +void +ao_packet_slave_stop(void); + +void +ao_packet_slave_init(uint8_t enable); + +#endif + +#endif /* _AO_PACKET_H_ */ diff --git a/src/ao_panic.c b/src/core/ao_panic.c index e996371e..52433044 100644 --- a/src/ao_panic.c +++ b/src/core/ao_panic.c @@ -17,6 +17,18 @@ #include "ao.h" +#ifndef HAS_BEEP +#error Please define HAS_BEEP +#endif + +#if !HAS_BEEP +#define ao_beep(x) +#endif +#if !LEDS_AVAILABLE +#define ao_led_on(x) +#define ao_led_off(x) +#endif + static void ao_panic_delay(uint8_t n) { @@ -25,7 +37,7 @@ ao_panic_delay(uint8_t n) while (n--) while (--j) while (--i) - _asm nop _endasm; + ao_arch_nop(); } void @@ -33,6 +45,10 @@ ao_panic(uint8_t reason) { uint8_t n; +#if LOW_LEVEL_DEBUG + ao_cur_task = NULL; + printf ("panic %d\n", reason); +#endif __critical for (;;) { ao_panic_delay(20); for (n = 0; n < 5; n++) { @@ -45,8 +61,19 @@ ao_panic(uint8_t reason) } ao_beep(AO_BEEP_OFF); ao_panic_delay(2); + +#ifdef SDCC #pragma disable_warning 126 - for (n = 0; n < reason; n++) { +#endif + if (reason & 0x40) { + ao_led_on(AO_LED_RED); + ao_beep(AO_BEEP_HIGH); + ao_panic_delay(40); + ao_led_off(AO_LED_RED); + ao_beep(AO_BEEP_OFF); + ao_panic_delay(10); + } + for (n = 0; n < (reason & 0x3f); n++) { ao_led_on(AO_LED_RED); ao_beep(AO_BEEP_MID); ao_panic_delay(10); diff --git a/src/ao_product.c b/src/core/ao_product.c index b42e62c0..ec91b978 100644 --- a/src/ao_product.c +++ b/src/core/ao_product.c @@ -16,20 +16,20 @@ */ #include "ao.h" -#include "ao_usb.h" -#include PRODUCT_DEFS +#include "ao_product.h" /* Defines which mark this particular AltOS product */ -const uint16_t ao_serial_number = AO_iSerial_NUMBER; -const char ao_version[] = AO_iVersion_STRING; +const char ao_version[AO_MAX_VERSION] = AO_iVersion_STRING; const char ao_manufacturer[] = AO_iManufacturer_STRING; const char ao_product[] = AO_iProduct_STRING; #define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8)) +#if HAS_USB +#include "ao_usb.h" /* USB descriptors in one giant block of bytes */ -const uint8_t ao_usb_descriptors [] = +AO_ROMCONFIG_SYMBOL(0x00aa) uint8_t ao_usb_descriptors [] = { /* Device descriptor */ 0x12, @@ -40,7 +40,7 @@ const uint8_t ao_usb_descriptors [] = 0x00, /* bDeviceProtocol */ AO_USB_CONTROL_SIZE, /* bMaxPacketSize */ LE_WORD(0xFFFE), /* idVendor */ - LE_WORD(0x000A), /* idProduct */ + LE_WORD(AO_idProduct_NUMBER), /* idProduct */ LE_WORD(0x0100), /* bcdDevice */ 0x01, /* iManufacturer */ 0x02, /* iProduct */ @@ -70,26 +70,26 @@ const uint8_t ao_usb_descriptors [] = /* Header functional descriptor */ 0x05, - CS_INTERFACE, + AO_USB_CS_INTERFACE, 0x00, /* bDescriptor SubType Header */ LE_WORD(0x0110), /* CDC version 1.1 */ /* Call management functional descriptor */ 0x05, - CS_INTERFACE, + AO_USB_CS_INTERFACE, 0x01, /* bDescriptor SubType Call Management */ 0x01, /* bmCapabilities = device handles call management */ 0x01, /* bDataInterface call management interface number */ /* ACM functional descriptor */ 0x04, - CS_INTERFACE, + AO_USB_CS_INTERFACE, 0x02, /* bDescriptor SubType Abstract Control Management */ 0x02, /* bmCapabilities = D1 (Set_line_Coding, Set_Control_Line_State, Get_Line_Coding and Serial_State) */ /* Union functional descriptor */ 0x05, - CS_INTERFACE, + AO_USB_CS_INTERFACE, 0x06, /* bDescriptor SubType Union Functional descriptor */ 0x00, /* bMasterInterface */ 0x01, /* bSlaveInterface0 */ @@ -100,7 +100,7 @@ const uint8_t ao_usb_descriptors [] = AO_USB_INT_EP|0x80, /* bEndpointAddress */ 0x03, /* bmAttributes = intr */ LE_WORD(8), /* wMaxPacketSize */ - 0x0A, /* bInterval */ + 0xff, /* bInterval */ /* Data class interface descriptor */ 0x09, @@ -152,3 +152,4 @@ const uint8_t ao_usb_descriptors [] = /* Terminating zero */ 0 }; +#endif diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c new file mode 100644 index 00000000..4f37e979 --- /dev/null +++ b/src/core/ao_pyro.c @@ -0,0 +1,434 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_pyro.h> +#include <ao_sample.h> +#include <ao_flight.h> + +#if IS_COMPANION +#include <ao_companion.h> +#define ao_accel ao_companion_command.accel +#define ao_speed ao_companion_command.speed +#define ao_height ao_companion_command.height +#define ao_flight_state ao_companion_command.flight_state +#define ao_motor_number ao_companion_command.motor_number +#endif + +#define ao_lowbit(x) ((x) & (-x)) + +/* + * Given a pyro structure, figure out + * if the current flight state satisfies all + * of the requirements + */ +static uint8_t +ao_pyro_ready(struct ao_pyro *pyro) +{ + enum ao_pyro_flag flag, flags; + + flags = pyro->flags; + while (flags != ao_pyro_none) { + flag = ao_lowbit(flags); + flags &= ~flag; + switch (flag) { + + case ao_pyro_accel_less: + if (ao_accel <= pyro->accel_less) + continue; + break; + case ao_pyro_accel_greater: + if (ao_accel >= pyro->accel_greater) + continue; + break; + + + case ao_pyro_speed_less: + if (ao_speed <= pyro->speed_less) + continue; + break; + case ao_pyro_speed_greater: + if (ao_speed >= pyro->speed_greater) + continue; + break; + + case ao_pyro_height_less: + if (ao_height <= pyro->height_less) + continue; + break; + case ao_pyro_height_greater: + if (ao_height >= pyro->height_greater) + continue; + break; + +#if HAS_ORIENT + case ao_pyro_orient_less: + if (ao_orient <= pyro->orient_less) + continue; + break; + case ao_pyro_orient_greater: + if (ao_orient >= pyro->orient_greater) + continue; + break; +#endif + + case ao_pyro_time_less: + if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less) + continue; + break; + case ao_pyro_time_greater: + if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater) + continue; + break; + + case ao_pyro_ascending: + if (ao_speed > 0) + continue; + break; + case ao_pyro_descending: + if (ao_speed < 0) + continue; + break; + + case ao_pyro_after_motor: + if (ao_motor_number == pyro->motor) + continue; + break; + + case ao_pyro_delay: + /* handled separately */ + continue; + + default: + continue; + } + return FALSE; + } + return TRUE; +} + +#define ao_pyro_fire_port(port, bit, pin) do { \ + ao_gpio_set(port, bit, pin, 1); \ + ao_delay(AO_MS_TO_TICKS(50)); \ + ao_gpio_set(port, bit, pin, 0); \ + } while (0) + + +static void +ao_pyro_fire(uint8_t p) +{ + switch (p) { +#if AO_PYRO_NUM > 0 + case 0: ao_pyro_fire_port(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0); break; +#endif +#if AO_PYRO_NUM > 1 + case 1: ao_pyro_fire_port(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1); break; +#endif +#if AO_PYRO_NUM > 2 + case 2: ao_pyro_fire_port(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2); break; +#endif +#if AO_PYRO_NUM > 3 + case 3: ao_pyro_fire_port(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3); break; +#endif +#if AO_PYRO_NUM > 4 + case 4: ao_pyro_fire_port(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4); break; +#endif +#if AO_PYRO_NUM > 5 + case 5: ao_pyro_fire_port(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5); break; +#endif +#if AO_PYRO_NUM > 6 + case 6: ao_pyro_fire_port(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6); break; +#endif +#if AO_PYRO_NUM > 7 + case 7: ao_pyro_fire_port(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7); break; +#endif + default: break; + } + ao_delay(AO_MS_TO_TICKS(50)); +} + +uint8_t ao_pyro_wakeup; + +static void +ao_pyro(void) +{ + uint8_t p; + struct ao_pyro *pyro; + + ao_config_get(); + while (ao_flight_state < ao_flight_boost) + ao_sleep(&ao_flight_state); + + for (;;) { + ao_alarm(AO_MS_TO_TICKS(100)); + ao_sleep(&ao_pyro_wakeup); + ao_clear_alarm(); + for (p = 0; p < AO_PYRO_NUM; p++) { + pyro = &ao_config.pyro[p]; + + /* Ignore igniters which have already fired + */ + if (pyro->fired) + continue; + + /* Ignore disabled igniters + */ + if (!pyro->flags) + continue; + + /* Check pyro state to see if it shoule fire + */ + if (!pyro->delay_done) { + if (!ao_pyro_ready(pyro)) + continue; + + /* If there's a delay set, then remember when + * it expires + */ + if (pyro->flags & ao_pyro_delay) + pyro->delay_done = ao_time() + pyro->delay; + } + + /* Check to see if we're just waiting for + * the delay to expire + */ + if (pyro->delay_done) { + if ((int16_t) (ao_time() - pyro->delay_done) < 0) + continue; + } + + ao_pyro_fire(p); + } + } +} + +__xdata struct ao_task ao_pyro_task; + +#define NO_VALUE 0xff + +#define AO_PYRO_NAME_LEN 3 + +#if !DISABLE_HELP +#define ENABLE_HELP 1 +#endif + +#if ENABLE_HELP +#define HELP(s) (s) +#else +#define HELP(s) +#endif + +const struct { + char name[AO_PYRO_NAME_LEN]; + enum ao_pyro_flag flag; + uint8_t offset; +#if ENABLE_HELP + char *help; +#endif +} ao_pyro_values[] = { + { "a<", ao_pyro_accel_less, offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") }, + { "a>", ao_pyro_accel_greater, offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") }, + + { "s<", ao_pyro_speed_less, offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") }, + { "s>", ao_pyro_speed_greater, offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") }, + + { "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), HELP("height less (m)") }, + { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") }, + +#if HAS_ORIENT + { "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") }, + { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)") }, +#endif + + { "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") }, + { "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)") }, + + { "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") }, + { "D", ao_pyro_descending, NO_VALUE, HELP("descending") }, + + { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), HELP("after motor") }, + + { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") }, + { "", ao_pyro_none, NO_VALUE, HELP(NULL) }, +}; + +static void +ao_pyro_print_name(uint8_t v) +{ + const char *s = ao_pyro_values[v].name; + printf ("%s%s", s, " " + strlen(s)); +} + +#if ENABLE_HELP +static void +ao_pyro_help(void) +{ + uint8_t v; + for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) { + ao_pyro_print_name(v); + if (ao_pyro_values[v].offset != NO_VALUE) + printf ("<n> "); + else + printf (" "); + printf ("%s\n", ao_pyro_values[v].help); + } +} +#endif + +void +ao_pyro_show(void) +{ + uint8_t p; + uint8_t v; + struct ao_pyro *pyro; + + printf ("Pyro-count: %d\n", AO_PYRO_NUM); + for (p = 0; p < AO_PYRO_NUM; p++) { + printf ("Pyro %2d: ", p); + pyro = &ao_config.pyro[p]; + if (!pyro->flags) { + printf ("<disabled>\n"); + continue; + } + for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) { + if (!(pyro->flags & ao_pyro_values[v].flag)) + continue; + ao_pyro_print_name(v); + if (ao_pyro_values[v].offset != NO_VALUE) { + int16_t value; + + value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset)); + printf ("%6d ", value); + } else { + printf (" "); + } + } + printf ("\n"); + } +} + +void +ao_pyro_set(void) +{ + uint8_t p; + struct ao_pyro pyro_tmp; + char name[AO_PYRO_NAME_LEN]; + uint8_t c; + uint8_t v; + + ao_cmd_white(); + +#if ENABLE_HELP + switch (ao_cmd_lex_c) { + case '?': + ao_pyro_help(); + return; + } +#endif + + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + p = ao_cmd_lex_i; + if (p < 0 || AO_PYRO_NUM <= p) { + printf ("invalid pyro channel %d\n", p); + return; + } + pyro_tmp.flags = 0; + for (;;) { + ao_cmd_white(); + if (ao_cmd_lex_c == '\n') + break; + + for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) { + if (ao_cmd_is_white()) + break; + name[c] = ao_cmd_lex_c; + ao_cmd_lex(); + } + name[c] = '\0'; + for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) { + if (!strcmp (ao_pyro_values[v].name, name)) + break; + } + if (ao_pyro_values[v].flag == ao_pyro_none) { + printf ("invalid pyro field %s\n", name); + ao_cmd_status = ao_cmd_syntax_error; + return; + } + pyro_tmp.flags |= ao_pyro_values[v].flag; + if (ao_pyro_values[v].offset != NO_VALUE) { + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i; + } + } + _ao_config_edit_start(); + ao_config.pyro[p] = pyro_tmp; + _ao_config_edit_finish(); +} + +static void +ao_pyro_manual(void) +{ + ao_cmd_white(); + if (!ao_match_word("DoIt")) + return; + ao_cmd_white(); + ao_cmd_decimal(); + if (ao_cmd_lex_i < 0 || AO_PYRO_NUM <= ao_cmd_lex_i) + return; + ao_pyro_fire(ao_cmd_lex_i); + +} + +const struct ao_cmds ao_pyro_cmds[] = { + { ao_pyro_manual, "P DoIt <n>\0Fire igniter" }, + { 0, NULL } +}; + +void +ao_pyro_init(void) +{ +#if AO_PYRO_NUM > 0 + ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, 0); +#endif +#if AO_PYRO_NUM > 1 + ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, 0); +#endif +#if AO_PYRO_NUM > 2 + ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, 0); +#endif +#if AO_PYRO_NUM > 3 + ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, 0); +#endif +#if AO_PYRO_NUM > 4 + ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, 0); +#endif +#if AO_PYRO_NUM > 5 + ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, 0); +#endif +#if AO_PYRO_NUM > 6 + ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, 0); +#endif +#if AO_PYRO_NUM > 7 + ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0); +#endif + ao_cmd_register(&ao_pyro_cmds[0]); + ao_add_task(&ao_pyro_task, ao_pyro, "pyro"); +} diff --git a/src/core/ao_pyro.h b/src/core/ao_pyro.h new file mode 100644 index 00000000..5deb69d0 --- /dev/null +++ b/src/core/ao_pyro.h @@ -0,0 +1,71 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PYRO_H_ +#define _AO_PYRO_H_ + +enum ao_pyro_flag { + ao_pyro_none = 0x00000000, + + ao_pyro_accel_less = 0x00000001, + ao_pyro_accel_greater = 0x00000002, + + ao_pyro_speed_less = 0x00000004, + ao_pyro_speed_greater = 0x00000008, + + ao_pyro_height_less = 0x00000010, + ao_pyro_height_greater = 0x00000020, + + ao_pyro_orient_less = 0x00000040, + ao_pyro_orient_greater = 0x00000080, + + ao_pyro_time_less = 0x00000100, + ao_pyro_time_greater = 0x00000200, + + ao_pyro_ascending = 0x00000400, + ao_pyro_descending = 0x00000800, + + ao_pyro_after_motor = 0x00001000, + + ao_pyro_delay = 0x00002000, +}; + +struct ao_pyro { + enum ao_pyro_flag flags; + int16_t accel_less, accel_greater; + int16_t speed_less, speed_greater; + int16_t height_less, height_greater; + int16_t orient_less, orient_greater; + int16_t time_less, time_greater; + int16_t delay; + int16_t motor; + uint16_t delay_done; + uint8_t fired; +}; + +extern uint8_t ao_pyro_wakeup; + +void +ao_pyro_set(void); + +void +ao_pyro_show(void); + +void +ao_pyro_init(void); + +#endif diff --git a/src/core/ao_radio_cmac.c b/src/core/ao_radio_cmac.c new file mode 100644 index 00000000..fc0ca8b1 --- /dev/null +++ b/src/core/ao_radio_cmac.c @@ -0,0 +1,169 @@ +/* + * 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_radio_cmac.h> + +static __xdata uint8_t ao_radio_cmac_mutex; +__pdata int8_t ao_radio_cmac_rssi; +static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN + AO_CMAC_KEY_LEN + 2 + AO_CMAC_KEY_LEN]; +static __pdata uint8_t ao_radio_cmac_len; + +static uint8_t +round_len(uint8_t len) +{ + uint8_t rem; + + /* Make sure we transfer at least one packet, and + * then make sure every packet is full. Note that + * there is no length encoded, and that the receiver + * must deal with any extra bytes in the packet + */ + if (len < AO_CMAC_KEY_LEN) + len = AO_CMAC_KEY_LEN; + rem = len % AO_CMAC_KEY_LEN; + if (rem != 0) + len += (AO_CMAC_KEY_LEN - rem); + return len; +} + +/* + * Sign and deliver the data sitting in the cmac buffer + */ +static void +radio_cmac_send(uint8_t len) __reentrant +{ + uint8_t i; + + len = round_len(len); + /* Make sure the AES key is loaded */ + ao_config_get(); + +#if HAS_MONITOR + ao_monitor_set(0); +#endif + + ao_mutex_get(&ao_aes_mutex); + ao_aes_set_mode(ao_aes_mode_cbc_mac); + ao_aes_set_key(ao_config.aes_key); + ao_aes_zero_iv(); + for (i = 0; i < len; i += AO_CMAC_KEY_LEN) { + if (i + AO_CMAC_KEY_LEN < len) + ao_aes_run(&cmac_data[i], NULL); + else + ao_aes_run(&cmac_data[i], &cmac_data[len]); + } + ao_mutex_put(&ao_aes_mutex); + + ao_radio_send(cmac_data, len + AO_CMAC_KEY_LEN); +} + +/* + * Receive and validate an incoming packet + */ + +static int8_t +radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant +{ + uint8_t i; + + len = round_len(len); +#if HAS_MONITOR + ao_monitor_set(0); +#endif + if (timeout) + ao_alarm(timeout); + + i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2); + ao_clear_alarm(); + + if (!i) { + ao_radio_cmac_rssi = 0; + return AO_RADIO_CMAC_TIMEOUT; + } + + ao_radio_cmac_rssi = (int8_t) (((int8_t) cmac_data[len + AO_CMAC_KEY_LEN]) >> 1) - 74; + if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & AO_RADIO_STATUS_CRC_OK)) + return AO_RADIO_CMAC_CRC_ERROR; + + ao_config_get(); + + /* Compute the packet signature + */ + ao_mutex_get(&ao_aes_mutex); + ao_aes_set_mode(ao_aes_mode_cbc_mac); + ao_aes_set_key(ao_config.aes_key); + ao_aes_zero_iv(); + for (i = 0; i < len; i += AO_CMAC_KEY_LEN) { + if (i + AO_CMAC_KEY_LEN < len) + ao_aes_run(&cmac_data[i], NULL); + else + ao_aes_run(&cmac_data[i], &cmac_data[len + AO_CMAC_KEY_LEN + 2]); + } + ao_mutex_put(&ao_aes_mutex); + + /* Check the packet signature against the signature provided + * over the link + */ + + if (memcmp(&cmac_data[len], + &cmac_data[len + AO_CMAC_KEY_LEN + 2], + AO_CMAC_KEY_LEN) != 0) { + return AO_RADIO_CMAC_MAC_ERROR; + } + + return AO_RADIO_CMAC_OK; +} + +int8_t +ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant +{ + if (len > AO_CMAC_MAX_LEN) + return AO_RADIO_CMAC_LEN_ERROR; + ao_mutex_get(&ao_radio_cmac_mutex); + ao_xmemcpy(cmac_data, packet, len); +#if AO_LED_TX + ao_led_on(AO_LED_TX); +#endif + radio_cmac_send(len); +#if AO_LED_TX + ao_led_off(AO_LED_TX); +#endif + ao_mutex_put(&ao_radio_cmac_mutex); + return AO_RADIO_CMAC_OK; +} + +int8_t +ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant +{ + uint8_t i; + if (len > AO_CMAC_MAX_LEN) + return AO_RADIO_CMAC_LEN_ERROR; + ao_mutex_get(&ao_radio_cmac_mutex); +#if AO_LED_RX + ao_led_on(AO_LED_RX); +#endif + i = radio_cmac_recv(len, timeout); +#if AO_LED_RX + ao_led_off(AO_LED_RX); +#endif + if (i == AO_RADIO_CMAC_OK) + ao_xmemcpy(packet, cmac_data, len); + ao_mutex_put(&ao_radio_cmac_mutex); + return i; +} + diff --git a/src/core/ao_radio_cmac.h b/src/core/ao_radio_cmac.h new file mode 100644 index 00000000..e86f31e9 --- /dev/null +++ b/src/core/ao_radio_cmac.h @@ -0,0 +1,43 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_RADIO_CMAC_H_ +#define _AO_RADIO_CMAC_H_ + +#include <ao_aes.h> + +#define AO_CMAC_KEY_LEN AO_AES_LEN +#define AO_CMAC_MAX_LEN (128 - AO_CMAC_KEY_LEN) + +extern __pdata int8_t ao_radio_cmac_rssi; + +int8_t +ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant; + +#define AO_RADIO_CMAC_OK 0 +#define AO_RADIO_CMAC_LEN_ERROR -1 +#define AO_RADIO_CMAC_CRC_ERROR -2 +#define AO_RADIO_CMAC_MAC_ERROR -3 +#define AO_RADIO_CMAC_TIMEOUT -4 + +int8_t +ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant; + +void +ao_radio_cmac_init(void); + +#endif /* _AO_RADIO_CMAC_H_ */ diff --git a/src/core/ao_radio_cmac_cmd.c b/src/core/ao_radio_cmac_cmd.c new file mode 100644 index 00000000..64410921 --- /dev/null +++ b/src/core/ao_radio_cmac_cmd.c @@ -0,0 +1,104 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_radio_cmac_cmd.h> +#include <ao_radio_cmac.h> + +static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN]; + +static uint8_t +getnibble(void) +{ + int8_t b; + + b = ao_cmd_hexchar(getchar()); + if (b < 0) { + ao_cmd_status = ao_cmd_lex_error; + return 0; + } + return (uint8_t) b; +} + +static uint8_t +getbyte(void) +{ + uint8_t b; + b = getnibble() << 4; + b |= getnibble(); + return b; +} + +static void +radio_cmac_send_cmd(void) __reentrant +{ + uint8_t i; + uint8_t len; + + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + len = ao_cmd_lex_i; + if (len > AO_CMAC_MAX_LEN) { + ao_cmd_status = ao_cmd_syntax_error; + return; + } + flush(); + len = ao_cmd_lex_i; + for (i = 0; i < len; i++) { + cmac_data[i] = getbyte(); + if (ao_cmd_status != ao_cmd_success) + return; + } + ao_radio_cmac_send(cmac_data, len); +} + +static void +radio_cmac_recv_cmd(void) __reentrant +{ + uint8_t len, i; + uint16_t timeout; + + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + len = ao_cmd_lex_i; + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + timeout = AO_MS_TO_TICKS(ao_cmd_lex_i); + i = ao_radio_cmac_recv(cmac_data, len, timeout); + if (i == AO_RADIO_CMAC_OK) { + printf ("PACKET "); + for (i = 0; i < len; i++) + printf("%02x", cmac_data[i]); + printf (" %d\n", ao_radio_cmac_rssi); + } else + printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi); +} + +static __code struct ao_cmds ao_radio_cmac_cmds[] = { + { radio_cmac_send_cmd, "s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" }, + { radio_cmac_recv_cmd, "S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" }, + { 0, NULL }, +}; + +void +ao_radio_cmac_cmd_init(void) +{ + ao_cmd_register(&ao_radio_cmac_cmds[0]); +} diff --git a/src/core/ao_radio_cmac_cmd.h b/src/core/ao_radio_cmac_cmd.h new file mode 100644 index 00000000..6b8782de --- /dev/null +++ b/src/core/ao_radio_cmac_cmd.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_RADIO_CMAC_CMD_H_ +#define _AO_RADIO_CMAC_CMD_H_ + +void +ao_radio_cmac_cmd_init(void); + +#endif /* _AO_RADIO_CMAC_CMD_H_ */ diff --git a/src/core/ao_report.c b/src/core/ao_report.c new file mode 100644 index 00000000..1104cd82 --- /dev/null +++ b/src/core/ao_report.c @@ -0,0 +1,198 @@ +/* + * Copyright © 2009 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_flight.h> +#include <ao_sample.h> + +#define BIT(i,x) ((x) ? (1 << (i)) : 0) +#define MORSE1(a) (1 | BIT(3,a)) +#define MORSE2(a,b) (2 | BIT(3,a) | BIT(4,b)) +#define MORSE3(a,b,c) (3 | BIT(3,a) | BIT(4,b) | BIT(5,c)) +#define MORSE4(a,b,c,d) (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d)) +#define MORSE5(a,b,c,d,e) (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e)) + +static const uint8_t flight_reports[] = { + MORSE3(0,0,0), /* startup, 'S' */ + MORSE2(0,0), /* idle 'I' */ + MORSE4(0,1,1,0), /* pad 'P' */ + MORSE4(1,0,0,0), /* boost 'B' */ + MORSE4(0,0,1,0), /* fast 'F' */ + MORSE4(1,0,1,0), /* coast 'C' */ + MORSE3(1,0,0), /* drogue 'D' */ + MORSE2(1,1), /* main 'M' */ + MORSE4(0,1,0,0), /* landed 'L' */ + MORSE4(1,0,0,1), /* invalid 'X' */ +}; + +#if HAS_BEEP +#define low(time) ao_beep_for(AO_BEEP_LOW, time) +#define mid(time) ao_beep_for(AO_BEEP_MID, time) +#define high(time) ao_beep_for(AO_BEEP_HIGH, time) +#else +#define low(time) ao_led_for(AO_LED_GREEN, time) +#define mid(time) ao_led_for(AO_LED_RED, time) +#define high(time) ao_led_for(AO_LED_GREEN|AO_LED_RED, time) +#endif +#define pause(time) ao_delay(time) + +static __pdata enum ao_flight_state ao_report_state; + +static void +ao_report_beep(void) __reentrant +{ + uint8_t r = flight_reports[ao_flight_state]; + uint8_t l = r & 7; + + if (!r) + return; + while (l--) { + if (r & 8) + mid(AO_MS_TO_TICKS(600)); + else + mid(AO_MS_TO_TICKS(200)); + pause(AO_MS_TO_TICKS(200)); + r >>= 1; + } + pause(AO_MS_TO_TICKS(400)); +} + +static void +ao_report_digit(uint8_t digit) __reentrant +{ + if (!digit) { + mid(AO_MS_TO_TICKS(500)); + pause(AO_MS_TO_TICKS(200)); + } else { + while (digit--) { + mid(AO_MS_TO_TICKS(200)); + pause(AO_MS_TO_TICKS(200)); + } + } + pause(AO_MS_TO_TICKS(300)); +} + +static void +ao_report_altitude(void) +{ + __pdata int16_t agl = ao_max_height; + __xdata uint8_t digits[10]; + __pdata uint8_t ndigits, i; + + if (agl < 0) + agl = 0; + ndigits = 0; + do { + digits[ndigits++] = agl % 10; + agl /= 10; + } while (agl); + + i = ndigits; + do + ao_report_digit(digits[--i]); + while (i != 0); +} + +#if HAS_IGNITE_REPORT +static uint8_t +ao_report_igniter_ready(enum ao_igniter igniter) +{ + return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0; +} + +uint8_t +ao_report_igniter(void) +{ + return (ao_report_igniter_ready(ao_igniter_drogue) | + (ao_report_igniter_ready(ao_igniter_main) << 1)); +} + +static void +ao_report_continuity(void) __reentrant +{ + uint8_t c; + +#if !HAS_IGNITE + if (!ao_igniter_present) + return; +#endif + c = ao_report_igniter(); + if (c) { + while (c--) { + high(AO_MS_TO_TICKS(25)); + pause(AO_MS_TO_TICKS(100)); + } + } else { + c = 10; + while (c--) { + high(AO_MS_TO_TICKS(20)); + low(AO_MS_TO_TICKS(20)); + } + } +#if HAS_LOG + if (ao_log_full()) { + pause(AO_MS_TO_TICKS(100)); + c = 2; + while (c--) { + low(AO_MS_TO_TICKS(100)); + mid(AO_MS_TO_TICKS(100)); + high(AO_MS_TO_TICKS(100)); + mid(AO_MS_TO_TICKS(100)); + } + } +#endif +} +#endif + +void +ao_report(void) +{ + ao_report_state = ao_flight_state; + for(;;) { + ao_report_beep(); + if (ao_flight_state == ao_flight_landed) { + ao_report_altitude(); +#if HAS_FLIGHT + ao_delay(AO_SEC_TO_TICKS(5)); + continue; +#endif + } +#if HAS_IGNITE_REPORT + if (ao_flight_state == ao_flight_idle) + ao_report_continuity(); + while (ao_flight_state == ao_flight_pad) { + uint8_t c; + ao_report_continuity(); + c = 50; + while (c-- && ao_flight_state == ao_flight_pad) + pause(AO_MS_TO_TICKS(100)); + } +#endif + + while (ao_report_state == ao_flight_state) + ao_sleep(DATA_TO_XDATA(&ao_flight_state)); + ao_report_state = ao_flight_state; + } +} + +static __xdata struct ao_task ao_report_task; + +void +ao_report_init(void) +{ + ao_add_task(&ao_report_task, ao_report, "report"); +} diff --git a/src/ao_rssi.c b/src/core/ao_rssi.c index 6912b9a2..e3964d2d 100644 --- a/src/ao_rssi.c +++ b/src/core/ao_rssi.c @@ -18,8 +18,8 @@ #include "ao.h" static __xdata volatile uint16_t ao_rssi_time; -static __xdata volatile uint16_t ao_rssi_delay; -static __xdata uint8_t ao_rssi_led; +static __pdata volatile uint16_t ao_rssi_delay; +static __pdata uint8_t ao_rssi_led; void ao_rssi(void) diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c new file mode 100644 index 00000000..985c0940 --- /dev/null +++ b/src/core/ao_sample.c @@ -0,0 +1,176 @@ +/* + * 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_FLIGHT_TEST +#include "ao.h" +#include <ao_data.h> +#endif + +/* + * Current sensor values + */ + +#ifndef PRES_TYPE +#define PRES_TYPE int32_t +#define ALT_TYPE int32_t +#define ACCEL_TYPE int16_t +#endif + +__pdata uint16_t ao_sample_tick; /* time of last data */ +__pdata pres_t ao_sample_pres; +__pdata alt_t ao_sample_alt; +__pdata alt_t ao_sample_height; +#if HAS_ACCEL +__pdata accel_t ao_sample_accel; +#endif + +__data uint8_t ao_sample_data; + +/* + * Sensor calibration values + */ + +__pdata pres_t ao_ground_pres; /* startup pressure */ +__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */ + +#if HAS_ACCEL +__pdata accel_t ao_ground_accel; /* startup acceleration */ +__pdata accel_t ao_accel_2g; /* factory accel calibration */ +__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ +#endif + +static __pdata uint8_t ao_preflight; /* in preflight mode */ + +static __pdata uint16_t nsamples; +__pdata int32_t ao_sample_pres_sum; +#if HAS_ACCEL +__pdata int32_t ao_sample_accel_sum; +#endif + +static void +ao_sample_preflight_add(void) +{ +#if HAS_ACCEL + ao_sample_accel_sum += ao_sample_accel; +#endif + ao_sample_pres_sum += ao_sample_pres; + ++nsamples; +} + +static void +ao_sample_preflight_set(void) +{ +#if HAS_ACCEL + ao_ground_accel = ao_sample_accel_sum >> 9; + ao_sample_accel_sum = 0; +#endif + ao_ground_pres = ao_sample_pres_sum >> 9; + ao_ground_height = pres_to_altitude(ao_ground_pres); + nsamples = 0; + ao_sample_pres_sum = 0; +} + +static void +ao_sample_preflight(void) +{ + /* startup state: + * + * Collect 512 samples of acceleration and pressure + * data and average them to find the resting values + */ + if (nsamples < 512) { + ao_sample_preflight_add(); + } 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; +#endif + ao_sample_preflight_set(); + ao_preflight = FALSE; + } +} + +/* + * While in pad mode, constantly update the ground state by + * re-averaging the data. This tracks changes in orientation, which + * might be caused by adjustments to the rocket on the pad and + * pressure, which might be caused by changes in the weather. + */ + +static void +ao_sample_preflight_update(void) +{ + if (nsamples < 512) + ao_sample_preflight_add(); + else if (nsamples < 1024) + ++nsamples; + else + ao_sample_preflight_set(); +} + +uint8_t +ao_sample(void) +{ + ao_wakeup(DATA_TO_XDATA(&ao_sample_data)); + ao_sleep((void *) DATA_TO_XDATA(&ao_data_head)); + while (ao_sample_data != ao_data_head) { + __xdata struct ao_data *ao_data; + + /* Capture a sample */ + ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data]; + ao_sample_tick = ao_data->tick; + +#if HAS_BARO + ao_data_pres_cook(ao_data); + ao_sample_pres = ao_data_pres(ao_data); + ao_sample_alt = pres_to_altitude(ao_sample_pres); + ao_sample_height = ao_sample_alt - ao_ground_height; +#endif + +#if HAS_ACCEL + ao_sample_accel = ao_data_accel_cook(ao_data); + if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP) + ao_sample_accel = ao_data_accel_invert(ao_sample_accel); + ao_data_set_accel(ao_data, ao_sample_accel); +#endif + + if (ao_preflight) + ao_sample_preflight(); + else { + if (ao_flight_state < ao_flight_boost) + ao_sample_preflight_update(); + ao_kalman(); + } + ao_sample_data = ao_data_ring_next(ao_sample_data); + } + return !ao_preflight; +} + +void +ao_sample_init(void) +{ + ao_config_get(); + nsamples = 0; + ao_sample_pres_sum = 0; + ao_sample_pres = 0; +#if HAS_ACCEL + ao_sample_accel_sum = 0; + ao_sample_accel = 0; +#endif + ao_sample_data = ao_data_head; + ao_preflight = TRUE; +} diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h new file mode 100644 index 00000000..9336bdf9 --- /dev/null +++ b/src/core/ao_sample.h @@ -0,0 +1,143 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_SAMPLE_H_ +#define _AO_SAMPLE_H_ + +#include <ao_data.h> + +/* + * ao_sample.c + */ + +/* + * Barometer calibration + * + * We directly sample the barometer. The specs say: + * + * Pressure range: 15-115 kPa + * Voltage at 115kPa: 2.82 + * Output scale: 27mV/kPa + * + * If we want to detect launch with the barometer, we need + * a large enough bump to not be fooled by noise. At typical + * launch elevations (0-2000m), a 200Pa pressure change cooresponds + * to about a 20m elevation change. This is 5.4mV, or about 3LSB. + * As all of our calculations are done in 16 bits, we'll actually see a change + * of 16 times this though + * + * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa + */ + +/* Accelerometer calibration + * + * We're sampling the accelerometer through a resistor divider which + * consists of 5k and 10k resistors. This multiplies the values by 2/3. + * That goes into the cc1111 A/D converter, which is running at 11 bits + * of precision with the bits in the MSB of the 16 bit value. Only positive + * values are used, so values should range from 0-32752 for 0-3.3V. The + * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what + * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV, + * for a final computation of: + * + * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g + * + * Zero g was measured at 16000 (we would expect 16384). + * Note that this value is only require to tell if the + * rocket is standing upright. Once that is determined, + * the value of the accelerometer is averaged for 100 samples + * to find the resting accelerometer value, which is used + * for all further flight computations + */ + +#define GRAVITY 9.80665 + +/* + * Above this height, the baro sensor doesn't work + */ +#if HAS_MS5607 +#define AO_MAX_BARO_HEIGHT 30000 +#else +#define AO_MAX_BARO_HEIGHT 12000 +#endif + +/* + * Above this speed, baro measurements are unreliable + */ +#define AO_MAX_BARO_SPEED 200 + +#define ACCEL_NOSE_UP (ao_accel_2g >> 2) + +/* + * Speed and acceleration are scaled by 16 to provide a bit more + * resolution while still having reasonable range. Note that this + * limits speed to 2047m/s (around mach 6) and acceleration to + * 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)) + +extern __pdata uint16_t ao_sample_tick; /* time of last data */ +extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ +extern __data uint8_t ao_sample_data; /* Ring position of last processed sample */ + +#if HAS_BARO +extern __pdata pres_t ao_sample_pres; /* most recent pressure sensor reading */ +extern __pdata alt_t ao_sample_alt; /* MSL of ao_sample_pres */ +extern __pdata alt_t ao_sample_height; /* AGL of ao_sample_pres */ +extern __pdata pres_t ao_ground_pres; /* startup pressure */ +extern __pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */ +#endif + +#if HAS_ACCEL +extern __pdata accel_t ao_sample_accel; /* most recent accel sensor reading */ +extern __pdata accel_t ao_ground_accel; /* startup acceleration */ +extern __pdata accel_t ao_accel_2g; /* factory accel calibration */ +extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ +#endif + +void ao_sample_init(void); + +/* returns FALSE in preflight mode, TRUE in flight mode */ +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 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 __pdata int16_t ao_max_height; /* max of ao_height */ +extern __pdata int16_t ao_avg_height; /* running average of height */ + +extern __pdata int16_t ao_error_h; +extern __pdata int16_t ao_error_h_sq_avg; + +#if HAS_ACCEL +extern __pdata int16_t ao_error_a; +#endif + +void ao_kalman(void); + +#endif /* _AO_SAMPLE_H_ */ diff --git a/src/core/ao_send_packet.c b/src/core/ao_send_packet.c new file mode 100644 index 00000000..1a8e74de --- /dev/null +++ b/src/core/ao_send_packet.c @@ -0,0 +1,74 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +#define AO_MAX_SEND 128 + +static __xdata uint8_t ao_send[AO_MAX_SEND]; + +static uint8_t +getnibble(void) +{ + char c; + + c = getchar(); + if ('0' <= c && c <= '9') + return c - '0'; + if ('a' <= c && c <= 'f') + return c - ('a' - 10); + if ('A' <= c && c <= 'F') + return c - ('A' - 10); + ao_cmd_status = ao_cmd_lex_error; + return 0; +} + +static void +ao_send_packet(void) +{ + __pdata uint16_t count; + uint8_t b; + __pdata uint8_t i; + + ao_cmd_hex(); + count = ao_cmd_lex_i; + if (ao_cmd_status != ao_cmd_success) + return; + if (count > AO_MAX_SEND - 2) { + ao_cmd_status = ao_cmd_syntax_error; + return; + } + for (i = 0; i < count; i++) { + b = getnibble() << 4; + b |= getnibble(); + if (ao_cmd_status != ao_cmd_success) + return; + ao_send[i] = b; + } + ao_radio_send(ao_send, count); +} + +static __code struct ao_cmds ao_send_packet_cmds[] = { + { ao_send_packet, "S <len>\0Send packet. Data on next line" }, + { 0, NULL } +}; + +void +ao_send_packet_init(void) +{ + ao_cmd_register(&ao_send_packet_cmds[0]); +} diff --git a/src/core/ao_send_packet.h b/src/core/ao_send_packet.h new file mode 100644 index 00000000..526f7b55 --- /dev/null +++ b/src/core/ao_send_packet.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_SEND_PACKET_H_ +#define _AO_SEND_PACKET_H_ + +void +ao_send_packet_init(void); + +#endif /* _AO_SEND_PACKET_H_ */ diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h new file mode 100644 index 00000000..53aa8a89 --- /dev/null +++ b/src/core/ao_serial.h @@ -0,0 +1,86 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_SERIAL_H_ +#define _AO_SERIAL_H_ + +#define AO_SERIAL_SPEED_4800 0 +#define AO_SERIAL_SPEED_9600 1 +#define AO_SERIAL_SPEED_19200 2 +#define AO_SERIAL_SPEED_57600 3 + +#if HAS_SERIAL_0 +extern volatile __xdata struct ao_fifo ao_serial0_rx_fifo; +extern volatile __xdata struct ao_fifo ao_serial0_tx_fifo; + +char +ao_serial0_getchar(void); + +void +ao_serial0_putchar(char c); + +void +ao_serial0_drain(void); + +void +ao_serial0_set_speed(uint8_t speed); +#endif + +#if HAS_SERIAL_1 +extern volatile __xdata struct ao_fifo ao_serial1_rx_fifo; +extern volatile __xdata struct ao_fifo ao_serial1_tx_fifo; + +char +ao_serial1_getchar(void); + +char +ao_serial1_pollchar(void); + +void +ao_serial1_putchar(char c); + +void +ao_serial1_drain(void); + +void +ao_serial1_set_speed(uint8_t speed); +#endif + +#if HAS_SERIAL_2 +extern volatile __xdata struct ao_fifo ao_serial2_rx_fifo; +extern volatile __xdata struct ao_fifo ao_serial2_tx_fifo; + +char +ao_serial2_getchar(void); + +char +ao_serial2_pollchar(void); + +void +ao_serial2_putchar(char c); + +void +ao_serial2_drain(void); + +void +ao_serial2_set_speed(uint8_t speed); +#endif + +void +ao_serial_init(void); + +#endif /* _AO_SERIAL_H_ */ diff --git a/src/core/ao_sqrt.c b/src/core/ao_sqrt.c new file mode 100644 index 00000000..09c2e319 --- /dev/null +++ b/src/core/ao_sqrt.c @@ -0,0 +1,46 @@ +/* + * 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" + +/* Adapted from int_sqrt.c in the linux kernel, which is licensed GPLv2 */ +/** + * int_sqrt - rough approximation to sqrt + * @x: integer of which to calculate the sqrt + * + * A very rough approximation to the sqrt() function. + */ + +uint32_t +ao_sqrt(uint32_t op) +{ + uint32_t res = 0; + uint32_t one = 1UL << (sizeof (one) * 8 - 2); + + while (one > op) + one >>= 2; + + while (one != 0) { + if (op >= res + one) { + op = op - (res + one); + res = res + 2 * one; + } + res /= 2; + one /= 4; + } + return res; +} diff --git a/src/ao_state.c b/src/core/ao_state.c index ed197aa5..ed197aa5 100644 --- a/src/ao_state.c +++ b/src/core/ao_state.c diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c new file mode 100644 index 00000000..656b23c9 --- /dev/null +++ b/src/core/ao_stdio.c @@ -0,0 +1,135 @@ +/* + * Copyright © 2009 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" + +/* + * Basic I/O functions to support SDCC stdio package + */ + +#ifndef USE_SERIAL_0_STDIN +#define USE_SERIAL_0_STDIN 0 +#endif +#ifndef USE_SERIAL_1_STDIN +#define USE_SERIAL_1_STDIN 0 +#endif +#ifndef USE_SERIAL_2_STDIN +#define USE_SERIAL_2_STDIN 0 +#endif +#ifndef USE_SERIAL_3_STDIN +#define USE_SERIAL_3_STDIN 0 +#endif +#ifndef USE_SERIAL_4_STDIN +#define USE_SERIAL_4_STDIN 0 +#endif +#ifndef USE_SERIAL_5_STDIN +#define USE_SERIAL_5_STDIN 0 +#endif +#ifndef USE_SERIAL_6_STDIN +#define USE_SERIAL_6_STDIN 0 +#endif +#ifndef USE_SERIAL_7_STDIN +#define USE_SERIAL_7_STDIN 0 +#endif +#ifndef USE_SERIAL_8_STDIN +#define USE_SERIAL_8_STDIN 0 +#endif +#ifndef USE_SERIAL_9_STDIN +#define USE_SERIAL_9_STDIN 0 +#endif + +#define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN + \ + USE_SERIAL_1_STDIN + \ + USE_SERIAL_2_STDIN + \ + USE_SERIAL_3_STDIN + \ + USE_SERIAL_4_STDIN + \ + USE_SERIAL_5_STDIN + \ + USE_SERIAL_6_STDIN + \ + USE_SERIAL_7_STDIN + \ + USE_SERIAL_8_STDIN + \ + USE_SERIAL_9_STDIN) + +#define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN) + +__xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS]; +__pdata int8_t ao_cur_stdio; +__pdata int8_t ao_num_stdios; + +void +putchar(char c) +{ +#if LOW_LEVEL_DEBUG + if (!ao_cur_task) { + extern void ao_debug_out(char c); + if (c == '\n') + ao_debug_out('\r'); + ao_debug_out(c); + return; + } +#endif + if (c == '\n') + (*ao_stdios[ao_cur_stdio].putchar)('\r'); + (*ao_stdios[ao_cur_stdio].putchar)(c); +} + +void +flush(void) +{ + if (ao_stdios[ao_cur_stdio].flush) + ao_stdios[ao_cur_stdio].flush(); +} + +__xdata uint8_t ao_stdin_ready; + +char +getchar(void) __reentrant __critical +{ + char c; + int8_t stdio = ao_cur_stdio; + + for (;;) { + c = ao_stdios[stdio].pollchar(); + if (c != AO_READ_AGAIN) + break; + if (++stdio == ao_num_stdios) + stdio = 0; + if (stdio == ao_cur_stdio) + ao_sleep(&ao_stdin_ready); + } + ao_cur_stdio = stdio; + return c; +} + +uint8_t +ao_echo(void) +{ + return ao_stdios[ao_cur_stdio].echo; +} + +int8_t +ao_add_stdio(char (*pollchar)(void), + void (*putchar)(char), + void (*flush)(void)) __reentrant +{ + if (ao_num_stdios == AO_NUM_STDIOS) + ao_panic(AO_PANIC_STDIO); + ao_stdios[ao_num_stdios].pollchar = pollchar; + ao_stdios[ao_num_stdios].putchar = putchar; + ao_stdios[ao_num_stdios].flush = flush; + ao_stdios[ao_num_stdios].echo = 1; + return ao_num_stdios++; +} diff --git a/src/core/ao_storage.c b/src/core/ao_storage.c new file mode 100644 index 00000000..adf7e4d4 --- /dev/null +++ b/src/core/ao_storage.c @@ -0,0 +1,186 @@ +/* + * 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_storage.h> + +uint8_t +ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant +{ + uint16_t this_len; + uint16_t this_off; + + ao_storage_setup(); + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + while (len) { + + /* Compute portion of transfer within + * a single block + */ + this_off = (uint16_t) pos & (ao_storage_unit - 1); + this_len = ao_storage_unit - this_off; + if (this_len > len) + this_len = len; + + if (!ao_storage_device_read(pos, buf, this_len)) + return 0; + + /* See how much is left */ + buf += this_len; + len -= this_len; + pos += this_len; + } + return 1; +} + +uint8_t +ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant +{ + uint16_t this_len; + uint16_t this_off; + + ao_storage_setup(); + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + while (len) { + + /* Compute portion of transfer within + * a single block + */ + this_off = (uint16_t) pos & (ao_storage_unit - 1); + this_len = ao_storage_unit - this_off; + if (this_len > len) + this_len = len; + + if (!ao_storage_device_write(pos, buf, this_len)) + return 0; + + /* See how much is left */ + buf += this_len; + len -= this_len; + pos += this_len; + } + return 1; +} + +static __xdata uint8_t storage_data[8]; + +static void +ao_storage_dump(void) __reentrant +{ + uint8_t i, j; + + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + for (i = 0; ; i += 8) { + if (ao_storage_read(((uint32_t) (ao_cmd_lex_i) << 8) + i, + storage_data, + 8)) { + ao_cmd_put16((uint16_t) i); + for (j = 0; j < 8; j++) { + putchar(' '); + ao_cmd_put8(storage_data[j]); + } + putchar ('\n'); + } + if (i == 248) + break; + } +} + +#if HAS_STORAGE_DEBUG + +/* not enough space for this today + */ +static void +ao_storage_store(void) __reentrant +{ + uint16_t block; + uint8_t i; + uint16_t len; + static __xdata uint8_t b; + uint32_t addr; + + ao_cmd_hex(); + block = ao_cmd_lex_i; + ao_cmd_hex(); + i = ao_cmd_lex_i; + addr = ((uint32_t) block << 8) | i; + ao_cmd_hex(); + len = ao_cmd_lex_i; + if (ao_cmd_status != ao_cmd_success) + return; + while (len--) { + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + b = ao_cmd_lex_i; + ao_storage_write(addr, &b, 1); + addr++; + } +} +#endif + +void +ao_storage_zap(void) __reentrant +{ + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + ao_storage_erase((uint32_t) ao_cmd_lex_i << 8); +} + +void +ao_storage_zapall(void) __reentrant +{ + uint32_t pos; + + ao_cmd_white(); + if (!ao_match_word("DoIt")) + return; + for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) + ao_storage_erase(pos); +} + +void +ao_storage_info(void) __reentrant +{ + ao_storage_setup(); + printf("Storage size: %ld\n", (long) ao_storage_total); + printf("Storage erase unit: %ld\n", (long) ao_storage_block); + ao_storage_device_info(); +} + +__code struct ao_cmds ao_storage_cmds[] = { + { ao_storage_info, "f\0Show storage" }, + { ao_storage_dump, "e <block>\0Dump flash" }, +#if HAS_STORAGE_DEBUG + { ao_storage_store, "w <block> <start> <len> <data> ...\0Write data to flash" }, +#endif + { ao_storage_zap, "z <block>\0Erase <block>" }, + { ao_storage_zapall,"Z <key>\0Erase all. <key> is doit with D&I" }, + { 0, NULL }, +}; + +void +ao_storage_init(void) +{ + ao_storage_device_init(); + ao_cmd_register(&ao_storage_cmds[0]); +} diff --git a/src/core/ao_storage.h b/src/core/ao_storage.h new file mode 100644 index 00000000..ea946399 --- /dev/null +++ b/src/core/ao_storage.h @@ -0,0 +1,90 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_STORAGE_H_ +#define _AO_STORAGE_H_ + +/* + * Storage interface, provided by one of the eeprom or flash + * drivers + */ + +#ifndef ao_storage_pos_t +#define ao_storage_pos_t uint32_t +#endif + +typedef ao_storage_pos_t ao_pos_t; + +/* Total bytes of available storage */ +extern __pdata ao_pos_t ao_storage_total; + +/* Block size - device is erased in these units. At least 256 bytes */ +extern __pdata ao_pos_t ao_storage_block; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +extern __pdata ao_pos_t ao_storage_config; + +/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ +extern __pdata uint16_t ao_storage_unit; + +#define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE) + +/* Initialize above values. Can only be called once the OS is running */ +void +ao_storage_setup(void) __reentrant; + +/* Write data. Returns 0 on failure, 1 on success */ +uint8_t +ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* Read data. Returns 0 on failure, 1 on success */ +uint8_t +ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* Erase a block of storage. This always clears ao_storage_block bytes */ +uint8_t +ao_storage_erase(ao_pos_t pos) __reentrant; + +/* Flush any pending writes to stable storage */ +void +ao_storage_flush(void) __reentrant; + +/* Initialize the storage code */ +void +ao_storage_init(void); + +/* + * Low-level functions wrapped by ao_storage.c + */ + +/* Read data within a storage unit */ +uint8_t +ao_storage_device_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* Write data within a storage unit */ +uint8_t +ao_storage_device_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* Initialize low-level device bits */ +void +ao_storage_device_init(void); + +/* Print out information about flash chips */ +void +ao_storage_device_info(void) __reentrant; + +#endif /* _AO_STORAGE_H_ */ diff --git a/src/core/ao_task.c b/src/core/ao_task.c new file mode 100644 index 00000000..65654731 --- /dev/null +++ b/src/core/ao_task.c @@ -0,0 +1,205 @@ +/* + * Copyright © 2009 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> + +#define AO_NO_TASK_INDEX 0xff + +__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS]; +__data uint8_t ao_num_tasks; +__data uint8_t ao_cur_task_index; +__xdata struct ao_task *__data ao_cur_task; + +#ifdef ao_arch_task_globals +ao_arch_task_globals +#endif + +#define AO_CHECK_STACK 0 + +#if AO_CHECK_STACK +static uint8_t in_yield; + +static inline void ao_check_stack(void) { + uint8_t q; + if (!in_yield && ao_cur_task && &q < &ao_cur_task->stack[0]) + ao_panic(AO_PANIC_STACK); +} +#else +#define ao_check_stack() +#endif + +void +ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant +{ + uint8_t task_id; + uint8_t t; + if (ao_num_tasks == AO_NUM_TASKS) + ao_panic(AO_PANIC_NO_TASK); + for (task_id = 1; task_id != 0; task_id++) { + for (t = 0; t < ao_num_tasks; t++) + if (ao_tasks[t]->task_id == task_id) + break; + if (t == ao_num_tasks) + break; + } + ao_tasks[ao_num_tasks++] = task; + task->task_id = task_id; + task->name = name; + task->wchan = NULL; + /* + * Construct a stack frame so that it will 'return' + * to the start of the task + */ + ao_arch_init_stack(task, start); +} + +/* Task switching function. This must not use any stack variables */ +void +ao_yield(void) ao_arch_naked_define +{ + ao_arch_save_regs(); + + if (ao_cur_task_index == AO_NO_TASK_INDEX) + ao_cur_task_index = ao_num_tasks-1; + else + { + ao_arch_save_stack(); + } + + ao_arch_isr_stack(); + +#if AO_CHECK_STACK + in_yield = 1; +#endif + /* Find a task to run. If there isn't any runnable task, + * this loop will run forever, which is just fine + */ + { + __pdata uint8_t ao_last_task_index = ao_cur_task_index; + for (;;) { + ++ao_cur_task_index; + if (ao_cur_task_index == ao_num_tasks) + ao_cur_task_index = 0; + + ao_cur_task = ao_tasks[ao_cur_task_index]; + + /* Check for ready task */ + if (ao_cur_task->wchan == NULL) + break; + + /* Check if the alarm is set for a time which has passed */ + if (ao_cur_task->alarm && + (int16_t) (ao_time() - ao_cur_task->alarm) >= 0) + break; + + /* Enter lower power mode when there isn't anything to do */ + if (ao_cur_task_index == ao_last_task_index) + ao_arch_cpu_idle(); + } + } +#if AO_CHECK_STACK + cli(); + in_yield = 0; +#endif + ao_arch_restore_stack(); +} + +uint8_t +ao_sleep(__xdata void *wchan) +{ + ao_cur_task->wchan = wchan; + ao_yield(); + if (ao_cur_task->wchan) { + ao_cur_task->wchan = NULL; + ao_cur_task->alarm = 0; + return 1; + } + return 0; +} + +void +ao_wakeup(__xdata void *wchan) +{ + uint8_t i; + + ao_check_stack(); + for (i = 0; i < ao_num_tasks; i++) + if (ao_tasks[i]->wchan == wchan) + ao_tasks[i]->wchan = NULL; +} + +void +ao_alarm(uint16_t delay) +{ + /* Make sure we sleep *at least* delay ticks, which means adding + * one to account for the fact that we may be close to the next tick + */ + if (!(ao_cur_task->alarm = ao_time() + delay + 1)) + ao_cur_task->alarm = 1; +} + +void +ao_clear_alarm(void) +{ + ao_cur_task->alarm = 0; +} + +static __xdata uint8_t ao_forever; + +void +ao_delay(uint16_t ticks) +{ + ao_alarm(ticks); + ao_sleep(&ao_forever); + ao_clear_alarm(); +} + +void +ao_exit(void) +{ + ao_arch_critical( + uint8_t i; + ao_num_tasks--; + for (i = ao_cur_task_index; i < ao_num_tasks; i++) + ao_tasks[i] = ao_tasks[i+1]; + ao_cur_task_index = AO_NO_TASK_INDEX; + ao_yield(); + ); + /* we'll never get back here */ +} + +void +ao_task_info(void) +{ + uint8_t i; + __xdata struct ao_task *task; + + for (i = 0; i < ao_num_tasks; i++) { + task = ao_tasks[i]; + printf("%12s: wchan %04x\n", + task->name, + (int) task->wchan); + } +} + +void +ao_start_scheduler(void) +{ + ao_cur_task_index = AO_NO_TASK_INDEX; + ao_cur_task = NULL; + ao_yield(); +} diff --git a/src/core/ao_telem.h b/src/core/ao_telem.h new file mode 100644 index 00000000..1a8da291 --- /dev/null +++ b/src/core/ao_telem.h @@ -0,0 +1,172 @@ +/* + * 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_TELEM_H_ +#define _AO_TELEM_H_ + +#define AO_TELEMETRY_VERSION 4 + +/* + * Telemetry version 4 and higher format: + * + * General header fields + * + * Name Value + * + * VERSION Telemetry version number (4 or more). Must be first. + * c Callsign (string, no spaces allowed) + * n Flight unit serial number (integer) + * f Flight number (integer) + * r Packet RSSI value (integer) + * s Flight computer state (string, no spaces allowed) + * t Flight computer clock (integer in centiseconds) + */ + +#define AO_TELEM_VERSION "VERSION" +#define AO_TELEM_CALL "c" +#define AO_TELEM_SERIAL "n" +#define AO_TELEM_FLIGHT "f" +#define AO_TELEM_RSSI "r" +#define AO_TELEM_STATE "s" +#define AO_TELEM_TICK "t" + +/* + * Raw sensor values + * + * Name Value + * r_a Accelerometer reading (integer) + * r_b Barometer reading (integer) + * r_t Thermometer reading (integer) + * r_v Battery reading (integer) + * r_d Drogue continuity (integer) + * r_m Main continuity (integer) + */ + +#define AO_TELEM_RAW_ACCEL "r_a" +#define AO_TELEM_RAW_BARO "r_b" +#define AO_TELEM_RAW_THERMO "r_t" +#define AO_TELEM_RAW_BATT "r_v" +#define AO_TELEM_RAW_DROGUE "r_d" +#define AO_TELEM_RAW_MAIN "r_m" + +/* + * Sensor calibration values + * + * Name Value + * c_a Ground accelerometer reading (integer) + * c_b Ground barometer reading (integer) + * c_p Accelerometer reading for +1g + * c_m Accelerometer reading for -1g + */ + +#define AO_TELEM_CAL_ACCEL_GROUND "c_a" +#define AO_TELEM_CAL_BARO_GROUND "c_b" +#define AO_TELEM_CAL_ACCEL_PLUS "c_p" +#define AO_TELEM_CAL_ACCEL_MINUS "c_m" + +/* + * Kalman state values + * + * Name Value + * k_h Height above pad (integer, meters) + * k_s Vertical speeed (integer, m/s * 16) + * k_a Vertical acceleration (integer, m/s² * 16) + */ + +#define AO_TELEM_KALMAN_HEIGHT "k_h" +#define AO_TELEM_KALMAN_SPEED "k_s" +#define AO_TELEM_KALMAN_ACCEL "k_a" + +/* + * Ad-hoc flight values + * + * Name Value + * a_a Acceleration (integer, sensor units) + * a_s Speed (integer, integrated acceleration value) + * a_b Barometer reading (integer, sensor units) + */ + +#define AO_TELEM_ADHOC_ACCEL "a_a" +#define AO_TELEM_ADHOC_SPEED "a_s" +#define AO_TELEM_ADHOC_BARO "a_b" + +/* + * GPS values + * + * Name Value + * g GPS state (string): + * l locked + * u unlocked + * e error (missing or broken) + * g_n Number of sats used in solution + * g_ns Latitude (degrees * 10e7) + * g_ew Longitude (degrees * 10e7) + * g_a Altitude (integer meters) + * g_Y GPS year (integer) + * g_M GPS month (integer - 1-12) + * g_D GPS day (integer - 1-31) + * g_h GPS hour (integer - 0-23) + * g_m GPS minute (integer - 0-59) + * g_s GPS second (integer - 0-59) + * g_v GPS vertical speed (integer, cm/sec) + * g_g GPS horizontal speed (integer, cm/sec) + * g_c GPS course (integer, 0-359) + * g_hd GPS hdop (integer * 10) + * g_vd GPS vdop (integer * 10) + * g_he GPS h error (integer) + * g_ve GPS v error (integer) + */ + +#define AO_TELEM_GPS_STATE "g" +#define AO_TELEM_GPS_STATE_LOCKED 'l' +#define AO_TELEM_GPS_STATE_UNLOCKED 'u' +#define AO_TELEM_GPS_STATE_ERROR 'e' +#define AO_TELEM_GPS_NUM_SAT "g_n" +#define AO_TELEM_GPS_LATITUDE "g_ns" +#define AO_TELEM_GPS_LONGITUDE "g_ew" +#define AO_TELEM_GPS_ALTITUDE "g_a" +#define AO_TELEM_GPS_YEAR "g_Y" +#define AO_TELEM_GPS_MONTH "g_M" +#define AO_TELEM_GPS_DAY "g_D" +#define AO_TELEM_GPS_HOUR "g_h" +#define AO_TELEM_GPS_MINUTE "g_m" +#define AO_TELEM_GPS_SECOND "g_s" +#define AO_TELEM_GPS_VERTICAL_SPEED "g_v" +#define AO_TELEM_GPS_HORIZONTAL_SPEED "g_g" +#define AO_TELEM_GPS_COURSE "g_c" +#define AO_TELEM_GPS_HDOP "g_hd" +#define AO_TELEM_GPS_VDOP "g_vd" +#define AO_TELEM_GPS_HERROR "g_he" +#define AO_TELEM_GPS_VERROR "g_ve" + +/* + * GPS satellite values + * + * Name Value + * s_n Number of satellites reported (integer) + * s_v0 Space vehicle ID (integer) for report 0 + * s_c0 C/N0 number (integer) for report 0 + * s_v1 Space vehicle ID (integer) for report 1 + * s_c1 C/N0 number (integer) for report 1 + * ... + */ + +#define AO_TELEM_SAT_NUM "s_n" +#define AO_TELEM_SAT_SVID "s_v" +#define AO_TELEM_SAT_C_N_0 "s_c" + +#endif /* _AO_TELEM_H_ */ diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c new file mode 100644 index 00000000..52ac9489 --- /dev/null +++ b/src/core/ao_telemetry.c @@ -0,0 +1,402 @@ +/* + * 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_product.h" + +static __pdata uint16_t ao_telemetry_interval; +static __pdata uint8_t ao_rdf = 0; +static __pdata uint16_t ao_rdf_time; + +#if defined(MEGAMETRUM) +#define AO_SEND_MEGA 1 +#endif + +#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2) +#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM +#endif + +#if defined(TELEMINI_V_1_0) +#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI +#endif + +#if defined(TELENANO_V_0_1) +#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO +#endif + +static __xdata union ao_telemetry_all telemetry; + +#if defined AO_TELEMETRY_SENSOR +/* Send sensor packet */ +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; + + telemetry.sensor.state = ao_flight_state; +#if HAS_ACCEL + telemetry.sensor.accel = packet->adc.accel; +#else + telemetry.sensor.accel = 0; +#endif + telemetry.sensor.pres = ao_data_pres(packet); + telemetry.sensor.temp = packet->adc.temp; + telemetry.sensor.v_batt = packet->adc.v_batt; +#if HAS_IGNITE + telemetry.sensor.sense_d = packet->adc.sense_d; + telemetry.sensor.sense_m = packet->adc.sense_m; +#else + telemetry.sensor.sense_d = 0; + telemetry.sensor.sense_m = 0; +#endif + + telemetry.sensor.acceleration = ao_accel; + telemetry.sensor.speed = ao_speed; + telemetry.sensor.height = ao_height; + + telemetry.sensor.ground_pres = ao_ground_pres; +#if HAS_ACCEL + telemetry.sensor.ground_accel = ao_ground_accel; + telemetry.sensor.accel_plus_g = ao_config.accel_plus_g; + telemetry.sensor.accel_minus_g = ao_config.accel_minus_g; +#else + telemetry.sensor.ground_accel = 0; + telemetry.sensor.accel_plus_g = 0; + telemetry.sensor.accel_minus_g = 0; +#endif + + ao_radio_send(&telemetry, sizeof (telemetry)); +} +#endif + + +#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; + + telemetry.mega_sensor.accel = ao_data_accel(packet); + telemetry.mega_sensor.pres = ao_data_pres(packet); + telemetry.mega_sensor.temp = ao_data_temp(packet); + +#if HAS_MPU6000 + telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x; + telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y; + telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z; + + telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x; + telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y; + telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z; +#endif + +#if HAS_HMC5883 + telemetry.mega_sensor.mag_x = packet->hmc5883.x; + telemetry.mega_sensor.mag_y = packet->hmc5883.y; + telemetry.mega_sensor.mag_z = packet->hmc5883.z; +#endif + + ao_radio_send(&telemetry, sizeof (telemetry)); +} + +static __pdata int8_t ao_telemetry_mega_data_max; +static __pdata int8_t ao_telemetry_mega_data_cur; + +/* Send mega data packet */ +static void +ao_send_mega_data(void) +{ + if (--ao_telemetry_mega_data_cur <= 0) { + __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)]; + uint8_t i; + + telemetry.generic.tick = packet->tick; + telemetry.generic.type = AO_TELEMETRY_MEGA_DATA; + + telemetry.mega_data.state = ao_flight_state; + telemetry.mega_data.v_batt = packet->adc.v_batt; + telemetry.mega_data.v_pyro = packet->adc.v_pbatt; + + /* ADC range is 0-4095, so shift by four to save the high 8 bits */ + for (i = 0; i < AO_ADC_NUM_SENSE; i++) + telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4; + + telemetry.mega_data.ground_pres = ao_ground_pres; + telemetry.mega_data.ground_accel = ao_ground_accel; + telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g; + telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g; + + telemetry.mega_data.acceleration = ao_accel; + telemetry.mega_data.speed = ao_speed; + telemetry.mega_data.height = ao_height; + + ao_radio_send(&telemetry, sizeof (telemetry)); + ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max; + } +} +#endif /* AO_SEND_MEGA */ + +#ifdef AO_SEND_ALL_BARO +static uint8_t ao_baro_sample; + +static void +ao_send_baro(void) +{ + uint8_t sample = ao_sample_data; + uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1); + + if (samples > 12) { + ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1); + samples = 12; + } + telemetry.generic.tick = ao_data_ring[sample].tick; + telemetry.generic.type = AO_TELEMETRY_BARO; + telemetry.baro.samples = samples; + for (sample = 0; sample < samples; sample++) { + telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres; + ao_baro_sample = ao_data_ring_next(ao_baro_sample); + } + ao_radio_send(&telemetry, sizeof (telemetry)); +} +#endif + +static __pdata int8_t ao_telemetry_config_max; +static __pdata int8_t ao_telemetry_config_cur; + +static void +ao_send_configuration(void) +{ + if (--ao_telemetry_config_cur <= 0) + { + telemetry.generic.type = AO_TELEMETRY_CONFIGURATION; + telemetry.configuration.device = AO_idProduct_NUMBER; + telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number; + telemetry.configuration.config_major = AO_CONFIG_MAJOR; + telemetry.configuration.config_minor = AO_CONFIG_MINOR; + telemetry.configuration.apogee_delay = ao_config.apogee_delay; + telemetry.configuration.main_deploy = ao_config.main_deploy; + telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10; + ao_xmemcpy (telemetry.configuration.callsign, + ao_config.callsign, + AO_MAX_CALLSIGN); + ao_xmemcpy (telemetry.configuration.version, + CODE_TO_XDATA(ao_version), + AO_MAX_VERSION); + ao_radio_send(&telemetry, sizeof (telemetry)); + ao_telemetry_config_cur = ao_telemetry_config_max; + } +} + +#if HAS_GPS + +static __pdata int8_t ao_telemetry_loc_cur; +static __pdata int8_t ao_telemetry_sat_cur; + +static void +ao_send_location(void) +{ + if (--ao_telemetry_loc_cur <= 0) + { + telemetry.generic.type = AO_TELEMETRY_LOCATION; + ao_mutex_get(&ao_gps_mutex); + ao_xmemcpy(&telemetry.location.flags, + &ao_gps_data.flags, + 26); + ao_mutex_put(&ao_gps_mutex); + ao_radio_send(&telemetry, sizeof (telemetry)); + ao_telemetry_loc_cur = ao_telemetry_config_max; + } +} + +static void +ao_send_satellite(void) +{ + if (--ao_telemetry_sat_cur <= 0) + { + telemetry.generic.type = AO_TELEMETRY_SATELLITE; + ao_mutex_get(&ao_gps_mutex); + telemetry.satellite.channels = ao_gps_tracking_data.channels; + ao_xmemcpy(&telemetry.satellite.sats, + &ao_gps_tracking_data.sats, + AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info)); + ao_mutex_put(&ao_gps_mutex); + ao_radio_send(&telemetry, sizeof (telemetry)); + ao_telemetry_sat_cur = ao_telemetry_config_max; + } +} +#endif + +#if HAS_COMPANION + +static __pdata int8_t ao_telemetry_companion_max; +static __pdata int8_t ao_telemetry_companion_cur; + +static void +ao_send_companion(void) +{ + if (--ao_telemetry_companion_cur <= 0) { + telemetry.generic.type = AO_TELEMETRY_COMPANION; + telemetry.companion.board_id = ao_companion_setup.board_id; + telemetry.companion.update_period = ao_companion_setup.update_period; + telemetry.companion.channels = ao_companion_setup.channels; + ao_mutex_get(&ao_companion_mutex); + ao_xmemcpy(&telemetry.companion.companion_data, + ao_companion_data, + ao_companion_setup.channels * 2); + ao_mutex_put(&ao_companion_mutex); + ao_radio_send(&telemetry, sizeof (telemetry)); + ao_telemetry_companion_cur = ao_telemetry_companion_max; + } +} +#endif + +void +ao_telemetry(void) +{ + uint16_t time; + int16_t delay; + + ao_config_get(); + if (!ao_config.radio_enable) + ao_exit(); + while (!ao_flight_number) + ao_sleep(&ao_flight_number); + + telemetry.generic.serial = ao_serial_number; + for (;;) { + while (ao_telemetry_interval == 0) + ao_sleep(&telemetry); + time = ao_rdf_time = ao_time(); + while (ao_telemetry_interval) { + + +#ifdef AO_SEND_ALL_BARO + ao_send_baro(); +#endif +#ifdef AO_SEND_MEGA + ao_send_mega_sensor(); + ao_send_mega_data(); +#else + ao_send_sensor(); +#endif + +#if HAS_COMPANION + if (ao_companion_running) + ao_send_companion(); +#endif + ao_send_configuration(); +#if HAS_GPS + ao_send_location(); + ao_send_satellite(); +#endif +#ifndef AO_SEND_ALL_BARO + if (ao_rdf && + (int16_t) (ao_time() - ao_rdf_time) >= 0) + { +#if HAS_IGNITE_REPORT + uint8_t c; +#endif + ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS; +#if HAS_IGNITE_REPORT + if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter())) + ao_radio_continuity(c); + else +#endif + ao_radio_rdf(); + } +#endif + time += ao_telemetry_interval; + delay = time - ao_time(); + if (delay > 0) { + ao_alarm(delay); + ao_sleep(&telemetry); + ao_clear_alarm(); + } + else + time = ao_time(); + bottom: ; + } + } +} + +void +ao_telemetry_set_interval(uint16_t interval) +{ + int8_t cur = 0; + ao_telemetry_interval = interval; + +#if AO_SEND_MEGA + if (interval > 1) + ao_telemetry_mega_data_max = 1; + else + ao_telemetry_mega_data_max = 2; + if (ao_telemetry_mega_data_max > cur) + cur++; + ao_telemetry_mega_data_cur = cur; +#endif + +#if HAS_COMPANION + if (!ao_companion_setup.update_period) + ao_companion_setup.update_period = AO_SEC_TO_TICKS(1); + ao_telemetry_companion_max = ao_companion_setup.update_period / interval; + if (ao_telemetry_companion_max > cur) + cur++; + ao_telemetry_companion_cur = cur; +#endif + + ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval; +#if HAS_COMPANION + if (ao_telemetry_config_max > cur) + cur++; + ao_telemetry_config_cur = cur; +#endif + +#if HAS_GPS + if (ao_telemetry_config_max > cur) + cur++; + ao_telemetry_loc_cur = cur; + if (ao_telemetry_config_max > cur) + cur++; + ao_telemetry_sat_cur = cur; +#endif + ao_wakeup(&telemetry); +} + +void +ao_rdf_set(uint8_t rdf) +{ + ao_rdf = rdf; + if (rdf == 0) + ao_radio_rdf_abort(); + else + ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS; +} + +__xdata struct ao_task ao_telemetry_task; + +void +ao_telemetry_init() +{ + ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry"); +} diff --git a/src/core/ao_telemetry.h b/src/core/ao_telemetry.h new file mode 100644 index 00000000..32a1668c --- /dev/null +++ b/src/core/ao_telemetry.h @@ -0,0 +1,250 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_TELEMETRY_H_ +#define _AO_TELEMETRY_H_ + +/* + * ao_telemetry.c + */ +#define AO_MAX_CALLSIGN 8 +#define AO_MAX_VERSION 8 +#if LEGACY_MONITOR +#define AO_MAX_TELEMETRY 128 +#else +#define AO_MAX_TELEMETRY 32 +#endif + +struct ao_telemetry_generic { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t payload[27]; /* 5 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01 +#define AO_TELEMETRY_SENSOR_TELEMINI 0x02 +#define AO_TELEMETRY_SENSOR_TELENANO 0x03 + +struct ao_telemetry_sensor { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + int16_t accel; /* 6 accelerometer (TM only) */ + int16_t pres; /* 8 pressure sensor */ + int16_t temp; /* 10 temperature sensor */ + int16_t v_batt; /* 12 battery voltage */ + int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */ + int16_t sense_m; /* 16 main continuity sense (TM/Tm) */ + + int16_t acceleration; /* 18 m/s² * 16 */ + int16_t speed; /* 20 m/s * 16 */ + int16_t height; /* 22 m */ + + int16_t ground_pres; /* 24 average pres on pad */ + int16_t ground_accel; /* 26 average accel on pad */ + int16_t accel_plus_g; /* 28 accel calibration at +1g */ + int16_t accel_minus_g; /* 30 accel calibration at -1g */ + /* 32 */ +}; + +#define AO_TELEMETRY_CONFIGURATION 0x04 + +struct ao_telemetry_configuration { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t device; /* 5 device type */ + uint16_t flight; /* 6 flight number */ + uint8_t config_major; /* 8 Config major version */ + uint8_t config_minor; /* 9 Config minor version */ + uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */ + uint16_t main_deploy; /* 12 Main deploy alt in meters */ + uint16_t flight_log_max; /* 14 Maximum flight log size in kB */ + char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */ + char version[AO_MAX_VERSION]; /* 24 Software version */ + /* 32 */ +}; + +#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' + +struct ao_telemetry_location { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t flags; /* 5 Number of sats and other flags */ + int16_t altitude; /* 6 GPS reported altitude (m) */ + int32_t latitude; /* 8 latitude (degrees * 10⁷) */ + int32_t longitude; /* 12 longitude (degrees * 10⁷) */ + uint8_t year; /* 16 (- 2000) */ + uint8_t month; /* 17 (1-12) */ + uint8_t day; /* 18 (1-31) */ + uint8_t hour; /* 19 (0-23) */ + uint8_t minute; /* 20 (0-59) */ + uint8_t second; /* 21 (0-59) */ + uint8_t pdop; /* 22 (m * 5) */ + uint8_t hdop; /* 23 (m * 5) */ + uint8_t vdop; /* 24 (m * 5) */ + uint8_t mode; /* 25 */ + uint16_t ground_speed; /* 26 cm/s */ + int16_t climb_rate; /* 28 cm/s */ + uint8_t course; /* 30 degrees / 2 */ + uint8_t unused[1]; /* 31 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SATELLITE 0x06 + +struct ao_telemetry_satellite_info { + uint8_t svid; + uint8_t c_n_1; +}; + +struct ao_telemetry_satellite { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t channels; /* 5 number of reported sats */ + + struct ao_telemetry_satellite_info sats[12]; /* 6 */ + uint8_t unused[2]; /* 30 */ + /* 32 */ +}; + +#define AO_TELEMETRY_COMPANION 0x07 + +#define AO_COMPANION_MAX_CHANNELS 12 + +struct ao_telemetry_companion { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t board_id; /* 5 */ + + uint8_t update_period; /* 6 */ + uint8_t channels; /* 7 */ + uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */ + /* 32 */ +}; + +#define AO_TELEMETRY_MEGA_SENSOR 0x08 + +struct ao_telemetry_mega_sensor { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t pad5; /* 5 */ + int16_t accel; /* 6 Z axis */ + + int32_t pres; /* 8 Pa * 10 */ + int16_t temp; /* 12 °C * 100 */ + + int16_t accel_x; /* 14 */ + int16_t accel_y; /* 16 */ + int16_t accel_z; /* 18 */ + + int16_t gyro_x; /* 20 */ + int16_t gyro_y; /* 22 */ + int16_t gyro_z; /* 24 */ + + int16_t mag_x; /* 26 */ + int16_t mag_y; /* 28 */ + int16_t mag_z; /* 30 */ + /* 32 */ +}; + +#define AO_TELEMETRY_MEGA_DATA 0x09 + +struct ao_telemetry_mega_data { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + + int16_t v_batt; /* 6 battery voltage */ + int16_t v_pyro; /* 8 pyro battery voltage */ + int8_t sense[6]; /* 10 continuity sense */ + + int32_t ground_pres; /* 16 average pres on pad */ + int16_t ground_accel; /* 20 average accel on pad */ + int16_t accel_plus_g; /* 22 accel calibration at +1g */ + int16_t accel_minus_g; /* 24 accel calibration at -1g */ + + int16_t acceleration; /* 26 m/s² * 16 */ + int16_t speed; /* 28 m/s * 16 */ + int16_t height; /* 30 m */ + /* 32 */ +}; + + +/* #define AO_SEND_ALL_BARO */ + +#define AO_TELEMETRY_BARO 0x80 + +/* + * This packet allows the full sampling rate baro + * data to be captured over the RF link so that the + * flight software can be tested using 'real' data. + * + * Along with this telemetry packet, the flight + * code is modified to send full-rate telemetry all the time + * and never send an RDF tone; this ensure that the full radio + * link is available. + */ +struct ao_telemetry_baro { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t samples; /* 5 number samples */ + + int16_t baro[12]; /* 6 samples */ + /* 32 */ +}; + +union ao_telemetry_all { + struct ao_telemetry_generic generic; + struct ao_telemetry_sensor sensor; + struct ao_telemetry_configuration configuration; + struct ao_telemetry_location location; + struct ao_telemetry_satellite satellite; + struct ao_telemetry_companion companion; + struct ao_telemetry_mega_sensor mega_sensor; + struct ao_telemetry_mega_data mega_data; + struct ao_telemetry_baro baro; +}; + +struct ao_telemetry_all_recv { + union ao_telemetry_all telemetry; + int8_t rssi; + uint8_t status; +}; + +#endif /* _AO_TELEMETRY_H_ */ diff --git a/src/ao_usb.h b/src/core/ao_usb.h index 6633dafc..e051db93 100644 --- a/src/ao_usb.h +++ b/src/core/ao_usb.h @@ -1,5 +1,5 @@ /* - * Copyright © 2009 Keith Packard <keithp@keithp.com> + * Copyright © 2012 Keith Packard <keithp@keithp.com> * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +18,42 @@ #ifndef _AO_USB_H_ #define _AO_USB_H_ +/* + * ao_usb.c + */ + +/* Put one character to the USB output queue */ +void +ao_usb_putchar(char c); + +/* Get one character from the USB input queue */ +char +ao_usb_getchar(void); + +/* Poll for a charcter on the USB input queue. + * returns AO_READ_AGAIN if none are available + */ +char +ao_usb_pollchar(void); + +/* Flush the USB output queue */ +void +ao_usb_flush(void); + +/* Enable the USB controller */ +void +ao_usb_enable(void); + +/* Disable the USB controller */ +void +ao_usb_disable(void); + +/* Initialize the USB system */ +void +ao_usb_init(void); + +extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; + #define AO_USB_SETUP_DIR_MASK (0x01 << 7) #define AO_USB_SETUP_TYPE_MASK (0x03 << 5) #define AO_USB_SETUP_RECIP_MASK (0x1f) @@ -61,15 +97,15 @@ #define AO_USB_GET_DESC_INDEX(x) ((x)&0xFF) #define AO_USB_CONTROL_EP 0 +#define AO_USB_CONTROL_SIZE 32 + #define AO_USB_INT_EP 1 +#define AO_USB_INT_SIZE 8 + #define AO_USB_OUT_EP 4 #define AO_USB_IN_EP 5 -#define AO_USB_CONTROL_SIZE 32 /* - * Double buffer IN and OUT EPs, so each - * gets half of the available space - * - * Ah, but USB bulk packets can only come in 8, 16, 32 and 64 + * USB bulk packets can only come in 8, 16, 32 and 64 * byte sizes, so we'll use 64 for everything */ #define AO_USB_IN_SIZE 64 @@ -82,12 +118,12 @@ #define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8)) /* CDC definitions */ -#define CS_INTERFACE 0x24 -#define CS_ENDPOINT 0x25 +#define AO_USB_CS_INTERFACE 0x24 +#define AO_USB_CS_ENDPOINT 0x25 -#define SET_LINE_CODING 0x20 -#define GET_LINE_CODING 0x21 -#define SET_CONTROL_LINE_STATE 0x22 +#define AO_USB_SET_LINE_CODING 0x20 +#define AO_USB_GET_LINE_CODING 0x21 +#define AO_USB_SET_CONTROL_LINE_STATE 0x22 /* Data structure for GET_LINE_CODING / SET_LINE_CODING class requests */ struct ao_usb_line_coding { diff --git a/src/drivers/ao_25lc1024.c b/src/drivers/ao_25lc1024.c new file mode 100644 index 00000000..fac0a430 --- /dev/null +++ b/src/drivers/ao_25lc1024.c @@ -0,0 +1,240 @@ +/* + * Copyright © 2009 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_25lc1024.h" + +#define EE_BLOCK_SIZE ((uint16_t) (256)) +#define EE_BLOCK_SHIFT 8 +#define EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024) + +/* Total bytes of available storage */ +__pdata uint32_t ao_storage_total; + +/* Block size - device is erased in these units. At least 256 bytes */ +__pdata uint32_t ao_storage_block; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +__pdata uint32_t ao_storage_config; + +/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ +__pdata uint16_t ao_storage_unit; + +/* + * Using SPI on USART 0, with P1_2 as the chip select + */ + +#define EE_CS_PORT P1 +#define EE_CS P1_2 +#define EE_CS_PIN 2 + +static __xdata uint8_t ao_ee_mutex; + +#define ao_ee_delay() do { \ + _asm nop _endasm; \ + _asm nop _endasm; \ + _asm nop _endasm; \ +} while(0) + +#define ao_ee_cs_low() ao_spi_get_bit(EE_CS_PORT, EE_CS_PIN, EE_CS, AO_EE_SPI_BUS, AO_SPI_SPEED_FAST) + +#define ao_ee_cs_high() ao_spi_put_bit(EE_CS_PORT, EE_CS_PIN, EE_CS, AO_EE_SPI_BUS) + +struct ao_ee_instruction { + uint8_t instruction; + uint8_t address[3]; +} __xdata ao_ee_instruction; + +static void +ao_ee_write_enable(void) +{ + ao_ee_cs_low(); + ao_ee_instruction.instruction = EE_WREN; + ao_spi_send(&ao_ee_instruction, 1, AO_EE_SPI_BUS); + ao_ee_cs_high(); +} + +static uint8_t +ao_ee_rdsr(void) +{ + ao_ee_cs_low(); + ao_ee_instruction.instruction = EE_RDSR; + ao_spi_send(&ao_ee_instruction, 1, AO_EE_SPI_BUS); + ao_spi_recv(&ao_ee_instruction, 1, AO_EE_SPI_BUS); + ao_ee_cs_high(); + return ao_ee_instruction.instruction; +} + +static void +ao_ee_wrsr(uint8_t status) +{ + ao_ee_cs_low(); + ao_ee_instruction.instruction = EE_WRSR; + ao_ee_instruction.address[0] = status; + ao_spi_send(&ao_ee_instruction, 2, AO_EE_SPI_BUS); + ao_ee_cs_high(); +} + +#define EE_BLOCK_NONE 0xffff + +static __xdata uint8_t ao_ee_data[EE_BLOCK_SIZE]; +static __pdata uint16_t ao_ee_block = EE_BLOCK_NONE; +static __pdata uint8_t ao_ee_block_dirty; + +/* Write the current block to the EEPROM */ +static void +ao_ee_write_block(void) +{ + uint8_t status; + + status = ao_ee_rdsr(); + if (status & (EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN)) { + status &= ~(EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN); + ao_ee_wrsr(status); + } + ao_ee_write_enable(); + ao_ee_cs_low(); + ao_ee_instruction.instruction = EE_WRITE; + ao_ee_instruction.address[0] = ao_ee_block >> 8; + ao_ee_instruction.address[1] = ao_ee_block; + ao_ee_instruction.address[2] = 0; + ao_spi_send(&ao_ee_instruction, 4, AO_EE_SPI_BUS); + ao_spi_send(ao_ee_data, EE_BLOCK_SIZE, AO_EE_SPI_BUS); + ao_ee_cs_high(); + for (;;) { + uint8_t status = ao_ee_rdsr(); + if ((status & EE_STATUS_WIP) == 0) + break; + } +} + +/* Read the current block from the EEPROM */ +static void +ao_ee_read_block(void) +{ + ao_ee_cs_low(); + ao_ee_instruction.instruction = EE_READ; + ao_ee_instruction.address[0] = ao_ee_block >> 8; + ao_ee_instruction.address[1] = ao_ee_block; + ao_ee_instruction.address[2] = 0; + ao_spi_send(&ao_ee_instruction, 4, AO_EE_SPI_BUS); + ao_spi_recv(ao_ee_data, EE_BLOCK_SIZE, AO_EE_SPI_BUS); + ao_ee_cs_high(); +} + +static void +ao_ee_flush_internal(void) +{ + if (ao_ee_block_dirty) { + ao_ee_write_block(); + ao_ee_block_dirty = 0; + } +} + +static void +ao_ee_fill(uint16_t block) +{ + if (block != ao_ee_block) { + ao_ee_flush_internal(); + ao_ee_block = block; + ao_ee_read_block(); + } +} + +uint8_t +ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant +{ + uint16_t block = (uint16_t) (pos >> EE_BLOCK_SHIFT); + + /* Transfer the data */ + ao_mutex_get(&ao_ee_mutex); { + if (len != EE_BLOCK_SIZE) + ao_ee_fill(block); + else { + ao_ee_flush_internal(); + ao_ee_block = block; + } + ao_xmemcpy(ao_ee_data + (uint16_t) (pos & 0xff), buf, len); + ao_ee_block_dirty = 1; + } ao_mutex_put(&ao_ee_mutex); + return 1; +} + +uint8_t +ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant +{ + uint16_t block = (uint16_t) (pos >> EE_BLOCK_SHIFT); + + /* Transfer the data */ + ao_mutex_get(&ao_ee_mutex); { + ao_ee_fill(block); + ao_xmemcpy(buf, ao_ee_data + (uint16_t) (pos & 0xff), len); + } ao_mutex_put(&ao_ee_mutex); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ + ao_mutex_get(&ao_ee_mutex); { + ao_ee_flush_internal(); + } ao_mutex_put(&ao_ee_mutex); +} + +uint8_t +ao_storage_erase(uint32_t pos) __reentrant +{ + ao_mutex_get(&ao_ee_mutex); { + ao_ee_flush_internal(); + ao_ee_block = (uint16_t) (pos >> EE_BLOCK_SHIFT); + ao_xmemset(ao_ee_data, 0xff, EE_BLOCK_SIZE); + ao_ee_block_dirty = 1; + } ao_mutex_put(&ao_ee_mutex); + return 1; +} + +static void +ee_store(void) __reentrant +{ +} + +void +ao_storage_setup(void) +{ + if (ao_storage_total == 0) { + ao_storage_total = EE_DEVICE_SIZE; + ao_storage_block = EE_BLOCK_SIZE; + ao_storage_config = EE_DEVICE_SIZE - EE_BLOCK_SIZE; + ao_storage_unit = EE_BLOCK_SIZE; + } +} + +void +ao_storage_device_info(void) __reentrant +{ +} + +/* + * To initialize the chip, set up the CS line and + * the SPI interface + */ +void +ao_storage_device_init(void) +{ + /* set up CS */ + ao_enable_output(EE_CS_PORT, EE_CS_PIN, EE_CS, 1); +} diff --git a/src/25lc1024.h b/src/drivers/ao_25lc1024.h index 44e52387..44e52387 100644 --- a/src/25lc1024.h +++ b/src/drivers/ao_25lc1024.h diff --git a/src/drivers/ao_74hc497.c b/src/drivers/ao_74hc497.c new file mode 100644 index 00000000..4c13ee71 --- /dev/null +++ b/src/drivers/ao_74hc497.c @@ -0,0 +1,55 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* + * 74HC597 driver. + * Reads a single byte from the shift register + */ + +#include <ao.h> +#include <ao_74hc497.h> + +uint8_t +ao_74hc497_read(void) +{ + static __xdata state; + ao_spi_get_bit(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, AO_74HC497_SPI_BUS, AO_SPI_SPEED_FAST); + ao_spi_recv(&state, 1, AO_74HC497_SPI_BUS); + ao_spi_put_bit(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, AO_74HC497_SPI_BUS); + return state; +} + +static void +ao_74hc497_cmd(void) +{ + uint8_t v; + + v = ao_74hc497_read(); + printf ("Switches: 0x%02x\n", v); +} + +static const struct ao_cmds ao_74hc497_cmds[] = { + { ao_74hc497_cmd, "L\0Show 74hc497" }, + { 0, NULL } +}; + +void +ao_74hc497_init(void) +{ + ao_enable_output(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, 1); + ao_cmd_register(&ao_74hc497_cmds[0]); +} diff --git a/src/drivers/ao_74hc497.h b/src/drivers/ao_74hc497.h new file mode 100644 index 00000000..6df7bcae --- /dev/null +++ b/src/drivers/ao_74hc497.h @@ -0,0 +1,27 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_74HC497_H_ +#define _AO_74HC497_H_ + +uint8_t +ao_74hc497_read(void); + +void +ao_74hc497_init(void); + +#endif /* _AO_74HC497_H_ */ diff --git a/src/drivers/ao_at45db161d.c b/src/drivers/ao_at45db161d.c new file mode 100644 index 00000000..e7e74153 --- /dev/null +++ b/src/drivers/ao_at45db161d.c @@ -0,0 +1,318 @@ +/* + * Copyright © 2009 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_at45db161d.h" + +/* Total bytes of available storage */ +__pdata uint32_t ao_storage_total; + +/* Block size - device is erased in these units. At least 256 bytes */ +__pdata uint32_t ao_storage_block; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +__pdata uint32_t ao_storage_config; + +/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ +__pdata uint16_t ao_storage_unit; + +#define FLASH_CS P1_1 +#define FLASH_CS_INDEX 1 + +#define FLASH_BLOCK_SIZE_MAX 512 + +__xdata uint8_t ao_flash_mutex; + +#define ao_flash_delay() do { \ + _asm nop _endasm; \ + _asm nop _endasm; \ + _asm nop _endasm; \ +} while(0) + +#define ao_flash_cs_low() ao_spi_get_bit(FLASH_CS_PORT, FLASH_CS_PIN, FLASH_CS, AO_FLASH_SPI_BUS, AO_SPI_SPEED_FAST) + +#define ao_flash_cs_high() ao_spi_put_bit(FLASH_CS_PORT, FLASH_CS_PIN, FLASH_CS, AO_FLASH_SPI_BUS) + +struct ao_flash_instruction { + uint8_t instruction; + uint8_t address[3]; +} __xdata ao_flash_instruction; + +static void +ao_flash_set_pagesize_512(void) +{ + ao_flash_cs_low(); + ao_flash_instruction.instruction = FLASH_SET_CONFIG; + ao_flash_instruction.address[0] = FLASH_SET_512_BYTE_0; + ao_flash_instruction.address[1] = FLASH_SET_512_BYTE_1; + ao_flash_instruction.address[2] = FLASH_SET_512_BYTE_2; + ao_spi_send(&ao_flash_instruction, 4, AO_FLASH_SPI_BUS); + ao_flash_cs_high(); +} + + +static uint8_t +ao_flash_read_status(void) +{ + ao_flash_cs_low(); + ao_flash_instruction.instruction = FLASH_READ_STATUS; + ao_spi_send(&ao_flash_instruction, 1, AO_FLASH_SPI_BUS); + ao_spi_recv(&ao_flash_instruction, 1, AO_FLASH_SPI_BUS); + ao_flash_cs_high(); + return ao_flash_instruction.instruction; +} + +#define FLASH_BLOCK_NONE 0xffff + +static __xdata uint8_t ao_flash_data[FLASH_BLOCK_SIZE_MAX]; +static __pdata uint16_t ao_flash_block = FLASH_BLOCK_NONE; +static __pdata uint8_t ao_flash_block_dirty; +static __pdata uint8_t ao_flash_write_pending; +static __pdata uint8_t ao_flash_setup_done; +static __pdata uint8_t ao_flash_block_shift; +static __pdata uint16_t ao_flash_block_size; +static __pdata uint16_t ao_flash_block_mask; + +void +ao_storage_setup(void) __reentrant +{ + uint8_t status; + + if (ao_flash_setup_done) + return; + + ao_mutex_get(&ao_flash_mutex); + if (ao_flash_setup_done) { + ao_mutex_put(&ao_flash_mutex); + return; + } + + /* On first use, check to see if the flash chip has + * been programmed to use 512 byte pages. If not, do so. + * And then, because the flash part must be power cycled + * for that change to take effect, panic. + */ + status = ao_flash_read_status(); + + if (!(status & FLASH_STATUS_PAGESIZE_512)) { + ao_flash_set_pagesize_512(); + ao_panic(AO_PANIC_FLASH); + } + + switch (status & 0x3c) { + + /* AT45DB321D */ + case 0x34: + ao_flash_block_shift = 9; + ao_storage_total = ((uint32_t) 4 * (uint32_t) 1024 * (uint32_t) 1024); + break; + + /* AT45DB161D */ + case 0x2c: + ao_flash_block_shift = 9; + ao_storage_total = ((uint32_t) 2 * (uint32_t) 1024 * (uint32_t) 1024); + break; + + /* AT45DB081D */ + case 0x24: + ao_flash_block_shift = 8; + ao_storage_total = ((uint32_t) 1024 * (uint32_t) 1024); + break; + + /* AT45DB041D */ + case 0x1c: + ao_flash_block_shift = 8; + ao_storage_total = ((uint32_t) 512 * (uint32_t) 1024); + break; + + /* AT45DB021D */ + case 0x14: + ao_flash_block_shift = 8; + ao_storage_total = ((uint32_t) 256 * (uint32_t) 1024); + break; + + /* AT45DB011D */ + case 0x0c: + ao_flash_block_shift = 8; + ao_storage_total = ((uint32_t) 128 * (uint32_t) 1024); + break; + + default: + ao_panic(AO_PANIC_FLASH); + } + ao_flash_block_size = 1 << ao_flash_block_shift; + ao_flash_block_mask = ao_flash_block_size - 1; + + ao_storage_block = ao_flash_block_size; + ao_storage_config = ao_storage_total - ao_storage_block; + ao_storage_unit = ao_flash_block_size; + + ao_flash_setup_done = 1; + ao_mutex_put(&ao_flash_mutex); +} + +static void +ao_flash_wait_write(void) +{ + if (ao_flash_write_pending) { + for (;;) { + uint8_t status = ao_flash_read_status(); + if ((status & FLASH_STATUS_RDY)) + break; + } + ao_flash_write_pending = 0; + } +} + +/* Write the current block to the FLASHPROM */ +static void +ao_flash_write_block(void) +{ + ao_flash_wait_write(); + ao_flash_cs_low(); + ao_flash_instruction.instruction = FLASH_WRITE; + + /* 13/14 block bits + 9/8 byte bits (always 0) */ + ao_flash_instruction.address[0] = ao_flash_block >> (16 - ao_flash_block_shift); + ao_flash_instruction.address[1] = ao_flash_block << (ao_flash_block_shift - 8); + ao_flash_instruction.address[2] = 0; + ao_spi_send(&ao_flash_instruction, 4, AO_FLASH_SPI_BUS); + ao_spi_send(ao_flash_data, ao_storage_block, AO_FLASH_SPI_BUS); + ao_flash_cs_high(); + ao_flash_write_pending = 1; +} + +/* Read the current block from the FLASHPROM */ +static void +ao_flash_read_block(void) +{ + ao_flash_wait_write(); + ao_flash_cs_low(); + ao_flash_instruction.instruction = FLASH_READ; + + /* 13/14 block bits + 9/8 byte bits (always 0) */ + ao_flash_instruction.address[0] = ao_flash_block >> (16 - ao_flash_block_shift); + ao_flash_instruction.address[1] = ao_flash_block << (ao_flash_block_shift - 8); + ao_flash_instruction.address[2] = 0; + ao_spi_send(&ao_flash_instruction, 4, AO_FLASH_SPI_BUS); + ao_spi_recv(ao_flash_data, ao_flash_block_size, AO_FLASH_SPI_BUS); + ao_flash_cs_high(); +} + +static void +ao_flash_flush_internal(void) +{ + if (ao_flash_block_dirty) { + ao_flash_write_block(); + ao_flash_block_dirty = 0; + } +} + +static void +ao_flash_fill(uint16_t block) +{ + if (block != ao_flash_block) { + ao_flash_flush_internal(); + ao_flash_block = block; + ao_flash_read_block(); + } +} + +uint8_t +ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant +{ + uint16_t block = (uint16_t) (pos >> ao_flash_block_shift); + + /* Transfer the data */ + ao_mutex_get(&ao_flash_mutex); { + if (len != ao_flash_block_size) + ao_flash_fill(block); + else { + ao_flash_flush_internal(); + ao_flash_block = block; + } + ao_xmemcpy(ao_flash_data + (uint16_t) (pos & ao_flash_block_mask), + buf, + len); + ao_flash_block_dirty = 1; + } ao_mutex_put(&ao_flash_mutex); + return 1; +} + +uint8_t +ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant +{ + uint16_t block = (uint16_t) (pos >> ao_flash_block_shift); + + /* Transfer the data */ + ao_mutex_get(&ao_flash_mutex); { + ao_flash_fill(block); + ao_xmemcpy(buf, + ao_flash_data + (uint16_t) (pos & ao_flash_block_mask), + len); + } ao_mutex_put(&ao_flash_mutex); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ + ao_mutex_get(&ao_flash_mutex); { + ao_flash_flush_internal(); + } ao_mutex_put(&ao_flash_mutex); +} + +uint8_t +ao_storage_erase(uint32_t pos) __reentrant +{ + ao_mutex_get(&ao_flash_mutex); { + ao_flash_flush_internal(); + ao_flash_block = (uint16_t) (pos >> ao_flash_block_shift); + ao_xmemset(ao_flash_data, 0xff, ao_flash_block_size); + ao_flash_block_dirty = 1; + } ao_mutex_put(&ao_flash_mutex); + return 1; +} + +void +ao_storage_device_info(void) __reentrant +{ + uint8_t status; + + ao_storage_setup(); + ao_mutex_get(&ao_flash_mutex); { + status = ao_flash_read_status(); + printf ("Flash status: 0x%02x\n", status); + printf ("Flash block shift: %d\n", ao_flash_block_shift); + printf ("Flash block size: %d\n", ao_flash_block_size); + printf ("Flash block mask: %d\n", ao_flash_block_mask); + printf ("Flash device size: %ld\n", ao_storage_total); + } ao_mutex_put(&ao_flash_mutex); +} + +/* + * To initialize the chip, set up the CS line and + * the SPI interface + */ +void +ao_storage_device_init(void) +{ + /* set up CS */ + FLASH_CS = 1; + P1DIR |= (1 << FLASH_CS_INDEX); + P1SEL &= ~(1 << FLASH_CS_INDEX); +} diff --git a/src/drivers/ao_at45db161d.h b/src/drivers/ao_at45db161d.h new file mode 100644 index 00000000..9ee6f1b6 --- /dev/null +++ b/src/drivers/ao_at45db161d.h @@ -0,0 +1,45 @@ +/* + * 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. + */ + +/* Defines for the Atmel AT45DB161D 16Mbit SPI Bus DataFlash® */ + +#ifndef _AT45DB161D_H_ +#define _AT45DB161D_H_ + +/* + * We reserve the last block on the device for + * configuration space. Writes and reads in this + * area return errors. + */ + + +#define FLASH_READ 0x03 +#define FLASH_WRITE 0x82 +#define FLASH_PAGE_ERASE 0x81 +#define FLASH_READ_STATUS 0xd7 +#define FLASH_SET_CONFIG 0x3d + +#define FLASH_SET_512_BYTE_0 0x2a +#define FLASH_SET_512_BYTE_1 0x80 +#define FLASH_SET_512_BYTE_2 0xa6 + +#define FLASH_STATUS_RDY (1 << 7) +#define FLASH_STATUS_COMP (1 << 6) +#define FLASH_STATUS_PROTECT (1 << 1) +#define FLASH_STATUS_PAGESIZE_512 (1 << 0) + +#endif /* _AT45DB161D_H_ */ diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c new file mode 100644 index 00000000..f193ac8e --- /dev/null +++ b/src/drivers/ao_btm.c @@ -0,0 +1,388 @@ +/* + * 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" + +#ifndef ao_serial_btm_getchar +#define ao_serial_btm_putchar ao_serial1_putchar +#define ao_serial_btm_pollchar ao_serial1_pollchar +#define ao_serial_btm_set_speed ao_serial1_set_speed +#define ao_serial_btm_drain ao_serial1_drain +#endif + +int8_t ao_btm_stdio; +__xdata uint8_t ao_btm_connected; + +#define BT_DEBUG 0 + +#if BT_DEBUG +__xdata char ao_btm_buffer[256]; +int ao_btm_ptr; +char ao_btm_dir; + +static void +ao_btm_add_char(char c) +{ + if (ao_btm_ptr < sizeof (ao_btm_buffer)) + ao_btm_buffer[ao_btm_ptr++] = c; +} + +static void +ao_btm_log_char(char c, char dir) +{ + if (dir != ao_btm_dir) { + ao_btm_add_char(dir); + ao_btm_dir = dir; + } + ao_btm_add_char(c); +} + +static void +ao_btm_log_out_char(char c) +{ + ao_btm_log_char(c, '>'); +} + +static void +ao_btm_log_in_char(char c) +{ + ao_btm_log_char(c, '<'); +} + +/* + * Dump everything received from the bluetooth device during startup + */ +static void +ao_btm_dump(void) +{ + int i; + char c; + + for (i = 0; i < ao_btm_ptr; i++) { + c = ao_btm_buffer[i]; + if (c < ' ' && c != '\n') + printf("\\%03o", ((int) c) & 0xff); + else + putchar(ao_btm_buffer[i]); + } + putchar('\n'); +} + +static void +ao_btm_speed(void) +{ + ao_cmd_decimal(); + if (ao_cmd_lex_u32 == 57600) + ao_serial_btm_set_speed(AO_SERIAL_SPEED_57600); + else if (ao_cmd_lex_u32 == 19200) + ao_serial_btm_set_speed(AO_SERIAL_SPEED_19200); + else + ao_cmd_status = ao_cmd_syntax_error; +} + +__code struct ao_cmds ao_btm_cmds[] = { + { ao_btm_dump, "d\0Dump btm buffer." }, + { ao_btm_speed, "s <19200,57600>\0Set btm serial speed." }, + { 0, NULL }, +}; + +#define ao_btm_log_init() ao_cmd_register(&ao_btm_cmds[0]) + +#else +#define ao_btm_log_in_char(c) +#define ao_btm_log_out_char(c) +#define ao_btm_log_init() +#endif + +#define AO_BTM_MAX_REPLY 16 +__xdata char ao_btm_reply[AO_BTM_MAX_REPLY]; + +/* + * Read a line of data from the serial port, truncating + * it after a few characters. + */ + +uint8_t +ao_btm_get_line(void) +{ + uint8_t ao_btm_reply_len = 0; + char c; + + for (;;) { + + while ((c = ao_serial_btm_pollchar()) != AO_READ_AGAIN) { + ao_btm_log_in_char(c); + if (ao_btm_reply_len < sizeof (ao_btm_reply)) + ao_btm_reply[ao_btm_reply_len++] = c; + if (c == '\r' || c == '\n') + goto done; + } + for (c = 0; c < 10; c++) { + ao_delay(AO_MS_TO_TICKS(10)); + if (!ao_fifo_empty(ao_serial1_rx_fifo)) + break; + } + if (c == 10) + goto done; + } +done: + for (c = ao_btm_reply_len; c < sizeof (ao_btm_reply);) + ao_btm_reply[c++] = '\0'; + return ao_btm_reply_len; +} + +/* + * Drain the serial port completely + */ +void +ao_btm_drain() +{ + while (ao_btm_get_line()) + ; +} + +/* + * Set the stdio echo for the bluetooth link + */ +void +ao_btm_echo(uint8_t echo) +{ + ao_stdios[ao_btm_stdio].echo = echo; +} + +/* + * Delay between command charaters; the BT module + * can't keep up with 57600 baud + */ + +void +ao_btm_putchar(char c) +{ + ao_btm_log_out_char(c); + ao_serial_btm_putchar(c); + ao_delay(1); +} + +/* + * Wait for the bluetooth device to return + * status from the previously executed command + */ +uint8_t +ao_btm_wait_reply(void) +{ + for (;;) { + ao_btm_get_line(); + if (!strncmp(ao_btm_reply, "OK", 2)) + return 1; + if (!strncmp(ao_btm_reply, "ERROR", 5)) + return -1; + if (ao_btm_reply[0] == '\0') + return 0; + } +} + +void +ao_btm_string(__code char *cmd) +{ + char c; + + while (c = *cmd++) + ao_btm_putchar(c); +} + +uint8_t +ao_btm_cmd(__code char *cmd) +{ + ao_btm_drain(); + ao_btm_string(cmd); + return ao_btm_wait_reply(); +} + +uint8_t +ao_btm_set_name(void) +{ + char sn[8]; + char *s = sn + 8; + char c; + int n; + ao_btm_string("ATN=TeleBT-"); + *--s = '\0'; + *--s = '\r'; + n = ao_serial_number; + do { + *--s = '0' + n % 10; + } while (n /= 10); + while ((c = *s++)) + ao_btm_putchar(c); + return ao_btm_wait_reply(); +} + +uint8_t +ao_btm_try_speed(uint8_t speed) +{ + ao_serial_btm_set_speed(speed); + ao_serial_btm_drain(); + (void) ao_btm_cmd("\rATE0\rATQ0\r"); + if (ao_btm_cmd("AT\r") == 1) + return 1; + return 0; +} + +/* + * A thread to initialize the bluetooth device and + * hang around to blink the LED when connected + */ +void +ao_btm(void) +{ + /* + * Wait for the bluetooth device to boot + */ + ao_delay(AO_SEC_TO_TICKS(3)); + + /* + * The first time we connect, the BTM-180 comes up at 19200 baud. + * After that, it will remember and come up at 57600 baud. So, see + * if it is already running at 57600 baud, and if that doesn't work + * then tell it to switch to 57600 from 19200 baud. + */ + while (!ao_btm_try_speed(AO_SERIAL_SPEED_57600)) { + ao_delay(AO_SEC_TO_TICKS(1)); + if (ao_btm_try_speed(AO_SERIAL_SPEED_19200)) + ao_btm_cmd("ATL4\r"); + ao_delay(AO_SEC_TO_TICKS(1)); + } + + /* Disable echo */ + ao_btm_cmd("ATE0\r"); + + /* Enable flow control */ + ao_btm_cmd("ATC1\r"); + + /* Set the reported name to something we can find on the host */ + ao_btm_set_name(); + + /* Turn off status reporting */ + ao_btm_cmd("ATQ1\r"); + + ao_btm_stdio = ao_add_stdio(ao_serial_btm_pollchar, + ao_serial_btm_putchar, + NULL); + ao_btm_echo(0); + + for (;;) { + while (!ao_btm_connected) + ao_sleep(&ao_btm_connected); + while (ao_btm_connected) { + ao_led_for(AO_LED_GREEN, AO_MS_TO_TICKS(20)); + ao_delay(AO_SEC_TO_TICKS(3)); + } + } +} + +__xdata struct ao_task ao_btm_task; + +#if BT_LINK_ON_P2 +#define BT_PICTL_ICON PICTL_P2ICON +#define BT_PIFG P2IFG +#define BT_PDIR P2DIR +#define BT_PINP P2INP +#define BT_IEN2_PIE IEN2_P2IE +#endif +#if BT_LINK_ON_P1 +#define BT_PICTL_ICON PICTL_P1ICON +#define BT_PIFG P1IFG +#define BT_PDIR P1DIR +#define BT_PINP P1INP +#define BT_IEN2_PIE IEN2_P1IE +#endif + +void +ao_btm_check_link() __critical +{ + /* Check the pin and configure the interrupt detector to wait for the + * pin to flip the other way + */ + if (BT_LINK_PIN) { + ao_btm_connected = 0; + PICTL |= BT_PICTL_ICON; + } else { + ao_btm_connected = 1; + PICTL &= ~BT_PICTL_ICON; + } +} + +void +ao_btm_isr(void) +#if BT_LINK_ON_P1 + __interrupt 15 +#endif +{ +#if BT_LINK_ON_P1 + P1IF = 0; +#endif + if (BT_PIFG & (1 << BT_LINK_PIN_INDEX)) { + ao_btm_check_link(); + ao_wakeup(&ao_btm_connected); + } + BT_PIFG = 0; +} + +void +ao_btm_init (void) +{ + ao_serial_init(); + + ao_serial_btm_set_speed(AO_SERIAL_SPEED_19200); + +#if BT_LINK_ON_P1 + /* + * Configure ser reset line + */ + + P1_6 = 0; + P1DIR |= (1 << 6); +#endif + + /* + * Configure link status line + */ + + /* Set pin to input */ + BT_PDIR &= ~(1 << BT_LINK_PIN_INDEX); + + /* Set pin to tri-state */ + BT_PINP |= (1 << BT_LINK_PIN_INDEX); + + /* Enable interrupts */ + IEN2 |= BT_IEN2_PIE; + + /* Check current pin state */ + ao_btm_check_link(); + +#if BT_LINK_ON_P2 + /* Eable the pin interrupt */ + PICTL |= PICTL_P2IEN; +#endif +#if BT_LINK_ON_P1 + /* Enable pin interrupt */ + P1IEN |= (1 << BT_LINK_PIN_INDEX); +#endif + + ao_add_task(&ao_btm_task, ao_btm, "bt"); + ao_btm_log_init(); +} diff --git a/src/drivers/ao_button.c b/src/drivers/ao_button.c new file mode 100644 index 00000000..a507c909 --- /dev/null +++ b/src/drivers/ao_button.c @@ -0,0 +1,94 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_button.h> +#include <ao_exti.h> +#if AO_EVENT +#include <ao_event.h> +#define ao_button_queue(b,v) ao_event_put_isr(AO_EVENT_BUTTON, b, v) +#else +#define ao_button_queue(b,v) +#endif + +static uint8_t ao_button[AO_BUTTON_COUNT]; +static AO_TICK_TYPE ao_button_time[AO_BUTTON_COUNT]; + +#define AO_DEBOUNCE AO_MS_TO_TICKS(20) + +#define port(q) AO_BUTTON_ ## q ## _PORT +#define bit(q) AO_BUTTON_ ## q +#define pin(q) AO_BUTTON_ ## q ## _PIN + +static void +ao_button_do(uint8_t b, uint8_t v) +{ + /* Debounce */ + if ((AO_TICK_SIGNED) (ao_tick_count - ao_button_time[b]) < AO_DEBOUNCE) + return; + + /* pins are inverted */ + v = !v; + if (ao_button[b] != v) { + ao_button[b] = v; + ao_button_time[b] = ao_tick_count; + ao_button_queue(b, v); + ao_wakeup(&ao_button[b]); + } +} + +#define ao_button_update(b) ao_button_do(b, ao_gpio_get(port(b), bit(b), pin(b))) + +static void +ao_button_isr(void) +{ +#if AO_BUTTON_COUNT > 0 + ao_button_update(0); +#endif +#if AO_BUTTON_COUNT > 1 + ao_button_update(1); +#endif +#if AO_BUTTON_COUNT > 2 + ao_button_update(2); +#endif +#if AO_BUTTON_COUNT > 3 + ao_button_update(3); +#endif +#if AO_BUTTON_COUNT > 4 + ao_button_update(4); +#endif +} + +#define init(b) do { \ + ao_enable_port(port(b)); \ + \ + ao_exti_setup(port(b), bit(b), \ + AO_BUTTON_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \ + ao_button_isr); \ + ao_exti_enable(port(b), bit(b)); \ + } while (0) + +void +ao_button_init(void) +{ +#if AO_BUTTON_COUNT > 0 + init(0); +#endif +#if AO_BUTTON_COUNT > 1 + init(1); +#endif +} diff --git a/src/drivers/ao_button.h b/src/drivers/ao_button.h new file mode 100644 index 00000000..ce349d65 --- /dev/null +++ b/src/drivers/ao_button.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_BUTTON_H_ +#define _AO_BUTTON_H_ + +void +ao_button_init(void); + +#endif /* _AO_BUTTON_H_ */ diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c new file mode 100644 index 00000000..2f9c296f --- /dev/null +++ b/src/drivers/ao_cc1120.c @@ -0,0 +1,1045 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_cc1120.h> +#include <ao_exti.h> +#include <ao_fec.h> +#include <ao_packet.h> + +uint8_t ao_radio_wake; +uint8_t ao_radio_mutex; +uint8_t ao_radio_abort; +uint8_t ao_radio_in_recv; + +#define CC1120_DEBUG AO_FEC_DEBUG +#define CC1120_TRACE 0 + +extern const uint32_t ao_radio_cal; + +#define FOSC 32000000 + +#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_1MHz) +#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(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) +#define ao_radio_duplex(o,i,l) ao_spi_duplex((o), (i), (l), AO_CC1120_SPI_BUS) + +static uint8_t +ao_radio_reg_read(uint16_t addr) +{ + uint8_t data[2]; + uint8_t d; + +#if CC1120_TRACE + printf("\t\tao_radio_reg_read (%04x): ", addr); flush(); +#endif + if (CC1120_IS_EXTENDED(addr)) { + data[0] = ((1 << CC1120_READ) | + (0 << CC1120_BURST) | + CC1120_EXTENDED); + data[1] = addr; + d = 2; + } else { + data[0] = ((1 << CC1120_READ) | + (0 << CC1120_BURST) | + addr); + d = 1; + } + ao_radio_select(); + ao_radio_spi_send(data, d); + ao_radio_spi_recv(data, 1); + ao_radio_deselect(); +#if CC1120_TRACE + printf (" %02x\n", data[0]); +#endif + return data[0]; +} + +static void +ao_radio_reg_write(uint16_t addr, uint8_t value) +{ + uint8_t data[3]; + uint8_t d; + +#if CC1120_TRACE + printf("\t\tao_radio_reg_write (%04x): %02x\n", addr, value); +#endif + if (CC1120_IS_EXTENDED(addr)) { + data[0] = ((0 << CC1120_READ) | + (0 << CC1120_BURST) | + CC1120_EXTENDED); + data[1] = addr; + d = 2; + } else { + data[0] = ((0 << CC1120_READ) | + (0 << CC1120_BURST) | + addr); + d = 1; + } + data[d] = value; + ao_radio_select(); + ao_radio_spi_send(data, d+1); + ao_radio_deselect(); +} + +static void +ao_radio_burst_read_start (uint16_t addr) +{ + uint8_t data[2]; + uint8_t d; + + if (CC1120_IS_EXTENDED(addr)) { + data[0] = ((1 << CC1120_READ) | + (1 << CC1120_BURST) | + CC1120_EXTENDED); + data[1] = addr; + d = 2; + } else { + data[0] = ((1 << CC1120_READ) | + (1 << CC1120_BURST) | + addr); + d = 1; + } + ao_radio_select(); + ao_radio_spi_send(data, d); +} + +static void +ao_radio_burst_read_stop (void) +{ + ao_radio_deselect(); +} + + +static uint8_t +ao_radio_strobe(uint8_t addr) +{ + uint8_t in; + +#if CC1120_TRACE + printf("\t\tao_radio_strobe (%02x): ", addr); flush(); +#endif + ao_radio_select(); + ao_radio_duplex(&addr, &in, 1); + ao_radio_deselect(); +#if CC1120_TRACE + printf("%02x\n", in); flush(); +#endif + return in; +} + +static uint8_t +ao_radio_fifo_read(uint8_t *data, uint8_t len) +{ + uint8_t addr = ((1 << CC1120_READ) | + (1 << CC1120_BURST) | + CC1120_FIFO); + uint8_t status; + + ao_radio_select(); + ao_radio_duplex(&addr, &status, 1); + ao_radio_spi_recv(data, len); + ao_radio_deselect(); + return status; +} + +static uint8_t +ao_radio_fifo_write_start(void) +{ + uint8_t addr = ((0 << CC1120_READ) | + (1 << CC1120_BURST) | + CC1120_FIFO); + uint8_t status; + + ao_radio_select(); + ao_radio_duplex(&addr, &status, 1); + return status; +} + +static inline uint8_t ao_radio_fifo_write_stop(uint8_t status) { + ao_radio_deselect(); + return status; +} + +static uint8_t +ao_radio_fifo_write(uint8_t *data, uint8_t len) +{ + uint8_t status = ao_radio_fifo_write_start(); + ao_radio_spi_send(data, len); + return ao_radio_fifo_write_stop(status); +} + +static uint8_t +ao_radio_fifo_write_fixed(uint8_t data, uint8_t len) +{ + uint8_t status = ao_radio_fifo_write_start(); + ao_radio_spi_send_fixed(data, len); + return ao_radio_fifo_write_stop(status); +} + +static uint8_t +ao_radio_tx_fifo_space(void) +{ + return CC1120_FIFO_SIZE - ao_radio_reg_read(CC1120_NUM_TXBYTES); +} + +static uint8_t +ao_radio_status(void) +{ + return ao_radio_strobe (CC1120_SNOP); +} + +void +ao_radio_recv_abort(void) +{ + ao_radio_abort = 1; + ao_wakeup(&ao_radio_wake); +} + +#define ao_radio_rdf_value 0x55 + +static uint8_t +ao_radio_marc_status(void) +{ + return ao_radio_reg_read(CC1120_MARC_STATUS1); +} + +static void +ao_radio_tx_isr(void) +{ + ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + ao_radio_wake = 1; + ao_wakeup(&ao_radio_wake); +} + +static void +ao_radio_start_tx(void) +{ + ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_tx_isr); + ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + ao_radio_strobe(CC1120_STX); +} + +static void +ao_radio_idle(void) +{ + for (;;) { + uint8_t state = ao_radio_strobe(CC1120_SIDLE); + if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_IDLE) + break; + } +} + +/* + * Packet deviation is 20.5kHz + * + * fdev = fosc >> 24 * (256 + dev_m) << dev_e + * + * 32e6Hz / (2 ** 24) * (256 + 80) * (2 ** 5) = 20508Hz + */ + +#define PACKET_DEV_E 5 +#define PACKET_DEV_M 80 + +/* + * For our packet data, set the symbol rate to 38360 Baud + * + * (2**20 + DATARATE_M) * 2 ** DATARATE_E + * Rdata = -------------------------------------- * fosc + * 2 ** 39 + * + * + * DATARATE_M = 239914 + * DATARATE_E = 9 + */ +#define PACKET_DRATE_E 9 +#define PACKET_DRATE_M 239914 + +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) | + (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)), + CC1120_PKT_CFG1, ((0 << CC1120_PKT_CFG1_WHITE_DATA) | + (CC1120_PKT_CFG1_ADDR_CHECK_CFG_NONE << CC1120_PKT_CFG1_ADDR_CHECK_CFG) | + (CC1120_PKT_CFG1_CRC_CFG_DISABLED << CC1120_PKT_CFG1_CRC_CFG) | + (0 << CC1120_PKT_CFG1_APPEND_STATUS)), + CC1120_PKT_CFG0, ((0 << CC1120_PKT_CFG0_RESERVED7) | + (CC1120_PKT_CFG0_LENGTH_CONFIG_FIXED << CC1120_PKT_CFG0_LENGTH_CONFIG) | + (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) | + (0 << CC1120_PKT_CFG0_UART_MODE_EN) | + (0 << CC1120_PKT_CFG0_UART_SWAP_EN)), +}; + +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)), + CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG, +}; + +static const uint16_t packet_rx_setup[] = { + CC1120_PKT_CFG2, ((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) | + (CC1120_PKT_CFG2_PKT_FORMAT_SYNCHRONOUS_SERIAL << CC1120_PKT_CFG2_PKT_FORMAT)), + CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT, +}; + +/* + * RDF deviation is 5kHz + * + * fdev = fosc >> 24 * (256 + dev_m) << dev_e + * + * 32e6Hz / (2 ** 24) * (256 + 71) * (2 ** 3) = 4989 + */ + +#define RDF_DEV_E 3 +#define RDF_DEV_M 71 +#define RDF_PACKET_LEN 50 + +/* + * For our RDF beacon, set the symbol rate to 2kBaud (for a 1kHz tone) + * + * (2**20 - DATARATE_M) * 2 ** DATARATE_E + * Rdata = -------------------------------------- * fosc + * 2 ** 39 + * + * DATARATE_M = 511705 + * DATARATE_E = 6 + * + * To make the tone last for 200ms, we need 2000 * .2 = 400 bits or 50 bytes + */ +#define RDF_DRATE_E 5 +#define RDF_DRATE_M 25166 +#define RDF_PACKET_LEN 50 + +static const uint16_t rdf_setup[] = { + CC1120_DEVIATION_M, RDF_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) | + (RDF_DEV_E << CC1120_MODCFG_DEV_E_DEV_E)), + CC1120_DRATE2, ((RDF_DRATE_E << CC1120_DRATE2_DATARATE_E) | + (((RDF_DRATE_M >> 16) & CC1120_DRATE2_DATARATE_M_19_16_MASK) << CC1120_DRATE2_DATARATE_M_19_16)), + CC1120_DRATE1, ((RDF_DRATE_M >> 8) & 0xff), + CC1120_DRATE0, ((RDF_DRATE_M >> 0) & 0xff), + 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)), + CC1120_PKT_CFG1, ((0 << CC1120_PKT_CFG1_WHITE_DATA) | + (CC1120_PKT_CFG1_ADDR_CHECK_CFG_NONE << CC1120_PKT_CFG1_ADDR_CHECK_CFG) | + (CC1120_PKT_CFG1_CRC_CFG_DISABLED << CC1120_PKT_CFG1_CRC_CFG) | + (0 << CC1120_PKT_CFG1_APPEND_STATUS)), + CC1120_PKT_CFG0, ((0 << CC1120_PKT_CFG0_RESERVED7) | + (CC1120_PKT_CFG0_LENGTH_CONFIG_FIXED << CC1120_PKT_CFG0_LENGTH_CONFIG) | + (0 << CC1120_PKT_CFG0_PKG_BIT_LEN) | + (0 << CC1120_PKT_CFG0_UART_MODE_EN) | + (0 << CC1120_PKT_CFG0_UART_SWAP_EN)), +}; + +static uint8_t ao_radio_mode; + +#define AO_RADIO_MODE_BITS_PACKET 1 +#define AO_RADIO_MODE_BITS_PACKET_TX 2 +#define AO_RADIO_MODE_BITS_TX_BUF 4 +#define AO_RADIO_MODE_BITS_TX_FINISH 8 +#define AO_RADIO_MODE_BITS_PACKET_RX 16 +#define AO_RADIO_MODE_BITS_RDF 32 + +#define AO_RADIO_MODE_NONE 0 +#define AO_RADIO_MODE_PACKET_TX_BUF (AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_BUF) +#define AO_RADIO_MODE_PACKET_TX_FINISH (AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_TX | AO_RADIO_MODE_BITS_TX_FINISH) +#define AO_RADIO_MODE_PACKET_RX (AO_RADIO_MODE_BITS_PACKET | AO_RADIO_MODE_BITS_PACKET_RX) +#define AO_RADIO_MODE_RDF (AO_RADIO_MODE_BITS_RDF | AO_RADIO_MODE_BITS_TX_FINISH) + +static void +ao_radio_set_mode(uint8_t new_mode) +{ + uint8_t changes; + 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_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]); + + if (changes & AO_RADIO_MODE_BITS_TX_BUF) + ao_radio_reg_write(CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_TXFIFO_THR); + + if (changes & AO_RADIO_MODE_BITS_TX_FINISH) + ao_radio_reg_write(CC1120_IOCFG2, 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]); + + 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_mode = new_mode; +} + +static const uint16_t radio_setup[] = { +#include "ao_cc1120_CC1120.h" +}; + +static uint8_t ao_radio_configured = 0; + +static void +ao_radio_setup(void) +{ + 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_mode = 0; + + ao_config_get(); + + ao_radio_configured = 1; +} + +static void +ao_radio_get(uint8_t len) +{ + static uint32_t last_radio_setting; + static uint8_t last_len; + + ao_mutex_get(&ao_radio_mutex); + if (!ao_radio_configured) + ao_radio_setup(); + if (ao_config.radio_setting != last_radio_setting) { + ao_radio_reg_write(CC1120_FREQ2, ao_config.radio_setting >> 16); + ao_radio_reg_write(CC1120_FREQ1, ao_config.radio_setting >> 8); + ao_radio_reg_write(CC1120_FREQ0, ao_config.radio_setting); + last_radio_setting = ao_config.radio_setting; + } + if (len != last_len) { + ao_radio_reg_write(CC1120_PKT_LEN, len); + last_len = len; + } +} + +#define ao_radio_put() ao_mutex_put(&ao_radio_mutex) + +static void +ao_rdf_start(uint8_t len) +{ + ao_radio_abort = 0; + ao_radio_get(len); + + ao_radio_set_mode(AO_RADIO_MODE_RDF); + ao_radio_wake = 0; + +} + +static void +ao_rdf_run(void) +{ + ao_radio_start_tx(); + + cli(); + while (!ao_radio_wake && !ao_radio_abort) + ao_sleep(&ao_radio_wake); + sei(); + if (!ao_radio_wake) + ao_radio_idle(); + ao_radio_put(); +} + +void +ao_radio_rdf(void) +{ + ao_rdf_start(AO_RADIO_RDF_LEN); + + ao_radio_fifo_write_fixed(ao_radio_rdf_value, AO_RADIO_RDF_LEN); + + ao_rdf_run(); +} + +void +ao_radio_continuity(uint8_t c) +{ + uint8_t i; + uint8_t status; + + ao_rdf_start(AO_RADIO_CONT_TOTAL_LEN); + + status = ao_radio_fifo_write_start(); + for (i = 0; i < 3; i++) { + ao_radio_spi_send_fixed(0x00, AO_RADIO_CONT_PAUSE_LEN); + if (i < c) + ao_radio_spi_send_fixed(ao_radio_rdf_value, AO_RADIO_CONT_TONE_LEN); + else + ao_radio_spi_send_fixed(0x00, AO_RADIO_CONT_TONE_LEN); + } + ao_radio_spi_send_fixed(0x00, AO_RADIO_CONT_PAUSE_LEN); + status = ao_radio_fifo_write_stop(status); + (void) status; + ao_rdf_run(); +} + +void +ao_radio_rdf_abort(void) +{ + ao_radio_abort = 1; + ao_wakeup(&ao_radio_wake); +} + +static void +ao_radio_test_cmd(void) +{ + uint8_t mode = 2; + uint8_t radio_on; + ao_cmd_white(); + if (ao_cmd_lex_c != '\n') { + ao_cmd_decimal(); + mode = (uint8_t) ao_cmd_lex_u32; + } + mode++; + if ((mode & 2) && !radio_on) { +#if HAS_MONITOR + ao_monitor_disable(); +#endif +#if PACKET_HAS_SLAVE + ao_packet_slave_stop(); +#endif + ao_radio_get(0xff); + ao_radio_strobe(CC1120_STX); +#if CC1120_TRACE + { int t; + for (t = 0; t < 10; t++) { + printf ("status: %02x\n", ao_radio_status()); + ao_delay(AO_MS_TO_TICKS(100)); + } + } +#endif + radio_on = 1; + } + if (mode == 3) { + printf ("Hit a character to stop..."); flush(); + getchar(); + putchar('\n'); + } + if ((mode & 1) && radio_on) { + ao_radio_idle(); + ao_radio_put(); + radio_on = 0; +#if HAS_MONITOR + ao_monitor_enable(); +#endif + } +} + +void +ao_radio_send(const void *d, uint8_t size) +{ + uint8_t marc_status; + static uint8_t encode[256]; + uint8_t *e = encode; + uint8_t encode_len; + uint8_t this_len; + uint8_t started = 0; + uint8_t fifo_space; + + encode_len = ao_fec_encode(d, size, encode); + + ao_radio_get(encode_len); + + started = 0; + fifo_space = CC1120_FIFO_SIZE; + while (encode_len) { + this_len = encode_len; + + if (this_len > fifo_space) { + this_len = fifo_space; + ao_radio_set_mode(AO_RADIO_MODE_PACKET_TX_BUF); + } else { + ao_radio_set_mode(AO_RADIO_MODE_PACKET_TX_FINISH); + } + + ao_radio_fifo_write(e, this_len); + e += this_len; + encode_len -= this_len; + + if (!started) { + ao_radio_start_tx(); + started = 1; + } else { + ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + } + + do { + ao_radio_wake = 0; + cli(); + while (!ao_radio_wake) + ao_sleep(&ao_radio_wake); + sei(); + if (!encode_len) + break; + fifo_space = ao_radio_tx_fifo_space(); + } while (!fifo_space); + } + ao_radio_put(); +} + +#define AO_RADIO_MAX_RECV 90 + +static uint8_t rx_data[(AO_RADIO_MAX_RECV + 4) * 2 * 8]; +static uint16_t rx_data_count; +static uint16_t rx_data_consumed; +static uint16_t rx_data_cur; +static uint8_t rx_ignore; +static uint8_t rx_waiting; + +#if AO_PROFILE +static uint32_t rx_start_tick, rx_packet_tick, rx_done_tick, rx_last_done_tick; + +uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick; + +#include <ao_profile.h> +#endif + +static void +ao_radio_rx_isr(void) +{ + uint8_t d; + + d = stm_spi2.dr; + stm_spi2.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 + rx_data[rx_data_cur++] = d; + if (rx_waiting && rx_data_cur - rx_data_consumed >= AO_FEC_DECODE_BLOCK) { +#if AO_PROFILE + if (!rx_packet_tick) + rx_packet_tick = ao_profile_tick(); + if (rx_data_cur < rx_data_count) + return; +#endif + rx_waiting = 0; + ao_wakeup(&ao_radio_wake); + } + } else { + --rx_ignore; + } +} + +static uint16_t +ao_radio_rx_wait(void) +{ + cli(); + rx_waiting = 1; + while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK && + !ao_radio_abort) { + ao_sleep(&ao_radio_wake); + } + rx_waiting = 0; + sei(); + if (ao_radio_abort) + return 0; + rx_data_consumed += AO_FEC_DECODE_BLOCK; +#if AO_PROFILE + return rx_data_cur - rx_data_consumed; +#endif + return AO_FEC_DECODE_BLOCK; +} + +uint8_t +ao_radio_recv(__xdata void *d, uint8_t size) +{ + uint8_t len; + uint16_t i; + uint8_t rssi; + uint8_t ret; + static int been_here = 0; + + size -= 2; /* status bytes */ + if (size > AO_RADIO_MAX_RECV) { + ao_delay(AO_SEC_TO_TICKS(1)); + return 0; + } +#if AO_PROFILE + rx_start_tick = ao_profile_tick(); + rx_packet_tick = 0; +#endif + len = size + 2; /* CRC bytes */ + len += 1 + ~(len & 1); /* 1 or two pad bytes */ + len *= 2; /* 1/2 rate convolution */ + rx_data_count = len * 8; /* bytes to bits */ + rx_data_cur = 0; + rx_data_consumed = 0; + rx_ignore = 2; + + ao_radio_abort = 0; + ao_radio_in_recv = 1; + /* configure interrupt pin */ + ao_radio_get(len); + ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX); + + ao_radio_wake = 0; + + stm_spi2.cr2 = 0; + + /* clear any RXNE */ + (void) stm_spi2.dr; + + 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_strobe(CC1120_SRX); + + ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT); + + ret = ao_fec_decode(rx_data, rx_data_count, d, size + 2, ao_radio_rx_wait); + + ao_radio_burst_read_stop(); + + ao_radio_strobe(CC1120_SIDLE); + + /* Convert from 'real' rssi to cc1111-style values */ + + rssi = AO_RADIO_FROM_RSSI(ao_radio_reg_read(CC1120_RSSI1)); + + ao_radio_put(); + + /* Store the received RSSI value; the crc-OK byte is already done */ + + ((uint8_t *) d)[size] = (uint8_t) rssi; + + ao_radio_in_recv = 0; + + if (ao_radio_abort) + ao_delay(1); + +#if AO_PROFILE + rx_last_done_tick = rx_done_tick; + rx_done_tick = ao_profile_tick(); + + ao_rx_start_tick = rx_start_tick; + ao_rx_packet_tick = rx_packet_tick; + ao_rx_done_tick = rx_done_tick; + ao_rx_last_done_tick = rx_last_done_tick; +#endif + + return ret; +} + + +#if CC1120_DEBUG +static char *cc1120_state_name[] = { + [CC1120_STATUS_STATE_IDLE] = "IDLE", + [CC1120_STATUS_STATE_RX] = "RX", + [CC1120_STATUS_STATE_TX] = "TX", + [CC1120_STATUS_STATE_FSTXON] = "FSTXON", + [CC1120_STATUS_STATE_CALIBRATE] = "CALIBRATE", + [CC1120_STATUS_STATE_SETTLING] = "SETTLING", + [CC1120_STATUS_STATE_RX_FIFO_ERROR] = "RX_FIFO_ERROR", + [CC1120_STATUS_STATE_TX_FIFO_ERROR] = "TX_FIFO_ERROR", +}; + +struct ao_cc1120_reg { + uint16_t addr; + char *name; +}; + +const static struct ao_cc1120_reg ao_cc1120_reg[] = { + { .addr = CC1120_IOCFG3, .name = "IOCFG3" }, + { .addr = CC1120_IOCFG2, .name = "IOCFG2" }, + { .addr = CC1120_IOCFG1, .name = "IOCFG1" }, + { .addr = CC1120_IOCFG0, .name = "IOCFG0" }, + { .addr = CC1120_SYNC3, .name = "SYNC3" }, + { .addr = CC1120_SYNC2, .name = "SYNC2" }, + { .addr = CC1120_SYNC1, .name = "SYNC1" }, + { .addr = CC1120_SYNC0, .name = "SYNC0" }, + { .addr = CC1120_SYNC_CFG1, .name = "SYNC_CFG1" }, + { .addr = CC1120_SYNC_CFG0, .name = "SYNC_CFG0" }, + { .addr = CC1120_DEVIATION_M, .name = "DEVIATION_M" }, + { .addr = CC1120_MODCFG_DEV_E, .name = "MODCFG_DEV_E" }, + { .addr = CC1120_DCFILT_CFG, .name = "DCFILT_CFG" }, + { .addr = CC1120_PREAMBLE_CFG1, .name = "PREAMBLE_CFG1" }, + { .addr = CC1120_PREAMBLE_CFG0, .name = "PREAMBLE_CFG0" }, + { .addr = CC1120_FREQ_IF_CFG, .name = "FREQ_IF_CFG" }, + { .addr = CC1120_IQIC, .name = "IQIC" }, + { .addr = CC1120_CHAN_BW, .name = "CHAN_BW" }, + { .addr = CC1120_MDMCFG1, .name = "MDMCFG1" }, + { .addr = CC1120_MDMCFG0, .name = "MDMCFG0" }, + { .addr = CC1120_DRATE2, .name = "DRATE2" }, + { .addr = CC1120_DRATE1, .name = "DRATE1" }, + { .addr = CC1120_DRATE0, .name = "DRATE0" }, + { .addr = CC1120_AGC_REF, .name = "AGC_REF" }, + { .addr = CC1120_AGC_CS_THR, .name = "AGC_CS_THR" }, + { .addr = CC1120_AGC_GAIN_ADJUST, .name = "AGC_GAIN_ADJUST" }, + { .addr = CC1120_AGC_CFG3, .name = "AGC_CFG3" }, + { .addr = CC1120_AGC_CFG2, .name = "AGC_CFG2" }, + { .addr = CC1120_AGC_CFG1, .name = "AGC_CFG1" }, + { .addr = CC1120_AGC_CFG0, .name = "AGC_CFG0" }, + { .addr = CC1120_FIFO_CFG, .name = "FIFO_CFG" }, + { .addr = CC1120_DEV_ADDR, .name = "DEV_ADDR" }, + { .addr = CC1120_SETTLING_CFG, .name = "SETTLING_CFG" }, + { .addr = CC1120_FS_CFG, .name = "FS_CFG" }, + { .addr = CC1120_WOR_CFG1, .name = "WOR_CFG1" }, + { .addr = CC1120_WOR_CFG0, .name = "WOR_CFG0" }, + { .addr = CC1120_WOR_EVENT0_MSB, .name = "WOR_EVENT0_MSB" }, + { .addr = CC1120_WOR_EVENT0_LSB, .name = "WOR_EVENT0_LSB" }, + { .addr = CC1120_PKT_CFG2, .name = "PKT_CFG2" }, + { .addr = CC1120_PKT_CFG1, .name = "PKT_CFG1" }, + { .addr = CC1120_PKT_CFG0, .name = "PKT_CFG0" }, + { .addr = CC1120_RFEND_CFG1, .name = "RFEND_CFG1" }, + { .addr = CC1120_RFEND_CFG0, .name = "RFEND_CFG0" }, + { .addr = CC1120_PA_CFG2, .name = "PA_CFG2" }, + { .addr = CC1120_PA_CFG1, .name = "PA_CFG1" }, + { .addr = CC1120_PA_CFG0, .name = "PA_CFG0" }, + { .addr = CC1120_PKT_LEN, .name = "PKT_LEN" }, + { .addr = CC1120_IF_MIX_CFG, .name = "IF_MIX_CFG" }, + { .addr = CC1120_FREQOFF_CFG, .name = "FREQOFF_CFG" }, + { .addr = CC1120_TOC_CFG, .name = "TOC_CFG" }, + { .addr = CC1120_MARC_SPARE, .name = "MARC_SPARE" }, + { .addr = CC1120_ECG_CFG, .name = "ECG_CFG" }, + { .addr = CC1120_SOFT_TX_DATA_CFG, .name = "SOFT_TX_DATA_CFG" }, + { .addr = CC1120_EXT_CTRL, .name = "EXT_CTRL" }, + { .addr = CC1120_RCCAL_FINE, .name = "RCCAL_FINE" }, + { .addr = CC1120_RCCAL_COARSE, .name = "RCCAL_COARSE" }, + { .addr = CC1120_RCCAL_OFFSET, .name = "RCCAL_OFFSET" }, + { .addr = CC1120_FREQOFF1, .name = "FREQOFF1" }, + { .addr = CC1120_FREQOFF0, .name = "FREQOFF0" }, + { .addr = CC1120_FREQ2, .name = "FREQ2" }, + { .addr = CC1120_FREQ1, .name = "FREQ1" }, + { .addr = CC1120_FREQ0, .name = "FREQ0" }, + { .addr = CC1120_IF_ADC2, .name = "IF_ADC2" }, + { .addr = CC1120_IF_ADC1, .name = "IF_ADC1" }, + { .addr = CC1120_IF_ADC0, .name = "IF_ADC0" }, + { .addr = CC1120_FS_DIG1, .name = "FS_DIG1" }, + { .addr = CC1120_FS_DIG0, .name = "FS_DIG0" }, + { .addr = CC1120_FS_CAL3, .name = "FS_CAL3" }, + { .addr = CC1120_FS_CAL2, .name = "FS_CAL2" }, + { .addr = CC1120_FS_CAL1, .name = "FS_CAL1" }, + { .addr = CC1120_FS_CAL0, .name = "FS_CAL0" }, + { .addr = CC1120_FS_CHP, .name = "FS_CHP" }, + { .addr = CC1120_FS_DIVTWO, .name = "FS_DIVTWO" }, + { .addr = CC1120_FS_DSM1, .name = "FS_DSM1" }, + { .addr = CC1120_FS_DSM0, .name = "FS_DSM0" }, + { .addr = CC1120_FS_DVC1, .name = "FS_DVC1" }, + { .addr = CC1120_FS_DVC0, .name = "FS_DVC0" }, + { .addr = CC1120_FS_LBI, .name = "FS_LBI" }, + { .addr = CC1120_FS_PFD, .name = "FS_PFD" }, + { .addr = CC1120_FS_PRE, .name = "FS_PRE" }, + { .addr = CC1120_FS_REG_DIV_CML, .name = "FS_REG_DIV_CML" }, + { .addr = CC1120_FS_SPARE, .name = "FS_SPARE" }, + { .addr = CC1120_FS_VCO4, .name = "FS_VCO4" }, + { .addr = CC1120_FS_VCO3, .name = "FS_VCO3" }, + { .addr = CC1120_FS_VCO2, .name = "FS_VCO2" }, + { .addr = CC1120_FS_VCO1, .name = "FS_VCO1" }, + { .addr = CC1120_FS_VCO0, .name = "FS_VCO0" }, + { .addr = CC1120_GBIAS6, .name = "GBIAS6" }, + { .addr = CC1120_GBIAS5, .name = "GBIAS5" }, + { .addr = CC1120_GBIAS4, .name = "GBIAS4" }, + { .addr = CC1120_GBIAS3, .name = "GBIAS3" }, + { .addr = CC1120_GBIAS2, .name = "GBIAS2" }, + { .addr = CC1120_GBIAS1, .name = "GBIAS1" }, + { .addr = CC1120_GBIAS0, .name = "GBIAS0" }, + { .addr = CC1120_IFAMP, .name = "IFAMP" }, + { .addr = CC1120_LNA, .name = "LNA" }, + { .addr = CC1120_RXMIX, .name = "RXMIX" }, + { .addr = CC1120_XOSC5, .name = "XOSC5" }, + { .addr = CC1120_XOSC4, .name = "XOSC4" }, + { .addr = CC1120_XOSC3, .name = "XOSC3" }, + { .addr = CC1120_XOSC2, .name = "XOSC2" }, + { .addr = CC1120_XOSC1, .name = "XOSC1" }, + { .addr = CC1120_XOSC0, .name = "XOSC0" }, + { .addr = CC1120_ANALOG_SPARE, .name = "ANALOG_SPARE" }, + { .addr = CC1120_PA_CFG3, .name = "PA_CFG3" }, + { .addr = CC1120_WOR_TIME1, .name = "WOR_TIME1" }, + { .addr = CC1120_WOR_TIME0, .name = "WOR_TIME0" }, + { .addr = CC1120_WOR_CAPTURE1, .name = "WOR_CAPTURE1" }, + { .addr = CC1120_WOR_CAPTURE0, .name = "WOR_CAPTURE0" }, + { .addr = CC1120_BIST, .name = "BIST" }, + { .addr = CC1120_DCFILTOFFSET_I1, .name = "DCFILTOFFSET_I1" }, + { .addr = CC1120_DCFILTOFFSET_I0, .name = "DCFILTOFFSET_I0" }, + { .addr = CC1120_DCFILTOFFSET_Q1, .name = "DCFILTOFFSET_Q1" }, + { .addr = CC1120_DCFILTOFFSET_Q0, .name = "DCFILTOFFSET_Q0" }, + { .addr = CC1120_IQIE_I1, .name = "IQIE_I1" }, + { .addr = CC1120_IQIE_I0, .name = "IQIE_I0" }, + { .addr = CC1120_IQIE_Q1, .name = "IQIE_Q1" }, + { .addr = CC1120_IQIE_Q0, .name = "IQIE_Q0" }, + { .addr = CC1120_RSSI1, .name = "RSSI1" }, + { .addr = CC1120_RSSI0, .name = "RSSI0" }, + { .addr = CC1120_MARCSTATE, .name = "MARCSTATE" }, + { .addr = CC1120_LQI_VAL, .name = "LQI_VAL" }, + { .addr = CC1120_PQT_SYNC_ERR, .name = "PQT_SYNC_ERR" }, + { .addr = CC1120_DEM_STATUS, .name = "DEM_STATUS" }, + { .addr = CC1120_FREQOFF_EST1, .name = "FREQOFF_EST1" }, + { .addr = CC1120_FREQOFF_EST0, .name = "FREQOFF_EST0" }, + { .addr = CC1120_AGC_GAIN3, .name = "AGC_GAIN3" }, + { .addr = CC1120_AGC_GAIN2, .name = "AGC_GAIN2" }, + { .addr = CC1120_AGC_GAIN1, .name = "AGC_GAIN1" }, + { .addr = CC1120_AGC_GAIN0, .name = "AGC_GAIN0" }, + { .addr = CC1120_SOFT_RX_DATA_OUT, .name = "SOFT_RX_DATA_OUT" }, + { .addr = CC1120_SOFT_TX_DATA_IN, .name = "SOFT_TX_DATA_IN" }, + { .addr = CC1120_ASK_SOFT_RX_DATA, .name = "ASK_SOFT_RX_DATA" }, + { .addr = CC1120_RNDGEN, .name = "RNDGEN" }, + { .addr = CC1120_MAGN2, .name = "MAGN2" }, + { .addr = CC1120_MAGN1, .name = "MAGN1" }, + { .addr = CC1120_MAGN0, .name = "MAGN0" }, + { .addr = CC1120_ANG1, .name = "ANG1" }, + { .addr = CC1120_ANG0, .name = "ANG0" }, + { .addr = CC1120_CHFILT_I2, .name = "CHFILT_I2" }, + { .addr = CC1120_CHFILT_I1, .name = "CHFILT_I1" }, + { .addr = CC1120_CHFILT_I0, .name = "CHFILT_I0" }, + { .addr = CC1120_CHFILT_Q2, .name = "CHFILT_Q2" }, + { .addr = CC1120_CHFILT_Q1, .name = "CHFILT_Q1" }, + { .addr = CC1120_CHFILT_Q0, .name = "CHFILT_Q0" }, + { .addr = CC1120_GPIO_STATUS, .name = "GPIO_STATUS" }, + { .addr = CC1120_FSCAL_CTRL, .name = "FSCAL_CTRL" }, + { .addr = CC1120_PHASE_ADJUST, .name = "PHASE_ADJUST" }, + { .addr = CC1120_PARTNUMBER, .name = "PARTNUMBER" }, + { .addr = CC1120_PARTVERSION, .name = "PARTVERSION" }, + { .addr = CC1120_SERIAL_STATUS, .name = "SERIAL_STATUS" }, + { .addr = CC1120_RX_STATUS, .name = "RX_STATUS" }, + { .addr = CC1120_TX_STATUS, .name = "TX_STATUS" }, + { .addr = CC1120_MARC_STATUS1, .name = "MARC_STATUS1" }, + { .addr = CC1120_MARC_STATUS0, .name = "MARC_STATUS0" }, + { .addr = CC1120_PA_IFAMP_TEST, .name = "PA_IFAMP_TEST" }, + { .addr = CC1120_FSRF_TEST, .name = "FSRF_TEST" }, + { .addr = CC1120_PRE_TEST, .name = "PRE_TEST" }, + { .addr = CC1120_PRE_OVR, .name = "PRE_OVR" }, + { .addr = CC1120_ADC_TEST, .name = "ADC_TEST" }, + { .addr = CC1120_DVC_TEST, .name = "DVC_TEST" }, + { .addr = CC1120_ATEST, .name = "ATEST" }, + { .addr = CC1120_ATEST_LVDS, .name = "ATEST_LVDS" }, + { .addr = CC1120_ATEST_MODE, .name = "ATEST_MODE" }, + { .addr = CC1120_XOSC_TEST1, .name = "XOSC_TEST1" }, + { .addr = CC1120_XOSC_TEST0, .name = "XOSC_TEST0" }, + { .addr = CC1120_RXFIRST, .name = "RXFIRST" }, + { .addr = CC1120_TXFIRST, .name = "TXFIRST" }, + { .addr = CC1120_RXLAST, .name = "RXLAST" }, + { .addr = CC1120_TXLAST, .name = "TXLAST" }, + { .addr = CC1120_NUM_TXBYTES, .name = "NUM_TXBYTES" }, + { .addr = CC1120_NUM_RXBYTES, .name = "NUM_RXBYTES" }, + { .addr = CC1120_FIFO_NUM_TXBYTES, .name = "FIFO_NUM_TXBYTES" }, + { .addr = CC1120_FIFO_NUM_RXBYTES, .name = "FIFO_NUM_RXBYTES" }, +}; + +#define AO_NUM_CC1120_REG (sizeof ao_cc1120_reg / sizeof ao_cc1120_reg[0]) + +static void ao_radio_show(void) { + uint8_t status = ao_radio_status(); + int i; + + ao_radio_get(0xff); + status = ao_radio_status(); + printf ("Status: %02x\n", status); + printf ("CHIP_RDY: %d\n", (status >> CC1120_STATUS_CHIP_RDY) & 1); + printf ("STATE: %s\n", cc1120_state_name[(status >> CC1120_STATUS_STATE) & CC1120_STATUS_STATE_MASK]); + printf ("MARC: %02x\n", ao_radio_marc_status()); + + 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); + ao_radio_put(); +} + +static void ao_radio_beep(void) { + ao_radio_rdf(RDF_PACKET_LEN); +} + +static void ao_radio_packet(void) { + static const uint8_t packet[] = { +#if 1 + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, +#else + 3, 1, 2, 3 +#endif + }; + + ao_radio_send(packet, sizeof (packet)); +} + +void +ao_radio_test_recv() +{ + uint8_t bytes[34]; + uint8_t b; + + if (ao_radio_recv(bytes, 34)) { + if (bytes[33] & 0x80) + printf ("CRC OK"); + else + printf ("CRC BAD"); + printf (" RSSI %d", AO_RSSI_FROM_RADIO(bytes[32])); + for (b = 0; b < 32; b++) + printf (" %02x", bytes[b]); + printf ("\n"); + } +} + +#endif + +static const struct ao_cmds ao_radio_cmds[] = { + { ao_radio_test_cmd, "C <1 start, 0 stop, none both>\0Radio carrier test" }, +#if CC1120_DEBUG + { ao_radio_show, "R\0Show CC1120 status" }, + { ao_radio_beep, "b\0Emit an RDF beacon" }, + { ao_radio_packet, "p\0Send a test packet" }, + { ao_radio_test_recv, "q\0Recv a test packet" }, +#endif + { 0, NULL } +}; + +void +ao_radio_init(void) +{ + int i; + + ao_radio_configured = 0; + ao_spi_init_cs (AO_CC1120_SPI_CS_PORT, (1 << AO_CC1120_SPI_CS_PIN)); + + AO_CC1120_SPI_CS_PORT->bsrr = ((uint32_t) (1 << AO_CC1120_SPI_CS_PIN)); + for (i = 0; i < 10000; i++) { + if ((SPI_2_PORT->idr & (1 << SPI_2_MISO_PIN)) == 0) + break; + } + AO_CC1120_SPI_CS_PORT->bsrr = (1 << AO_CC1120_SPI_CS_PIN); + if (i == 10000) + ao_panic(AO_PANIC_SELF_TEST_CC1120); + + /* Enable the EXTI interrupt for the appropriate pin */ + ao_enable_port(AO_CC1120_INT_PORT); + ao_exti_setup(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, + AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH, + ao_radio_tx_isr); + + ao_cmd_register(&ao_radio_cmds[0]); +} diff --git a/src/drivers/ao_cc1120.h b/src/drivers/ao_cc1120.h new file mode 100644 index 00000000..60b9621e --- /dev/null +++ b/src/drivers/ao_cc1120.h @@ -0,0 +1,494 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_CC1120_H_ +#define _AO_CC1120_H_ + +#define CC1120_READ (7) +#define CC1120_BURST (6) + +/* Register space */ +#define CC1120_IOCFG3 0x00 +#define CC1120_IOCFG_GPIO_ATRAN 7 +#define CC1120_IOCFG_GPIO_INV 6 +#define CC1120_IOCFG_GPIO_CFG 0 +#define CC1120_IOCFG_GPIO_CFG_RXFIFO_THR 0 +#define CC1120_IOCFG_GPIO_CFG_RXFIFO_THR_PKT 1 +#define CC1120_IOCFG_GPIO_CFG_TXFIFO_THR 2 +#define CC1120_IOCFG_GPIO_CFG_TXFIFO_THR_PKT 3 +#define CC1120_IOCFG_GPIO_CFG_RXFIFO_OVERFLOW 4 +#define CC1120_IOCFG_GPIO_CFG_TXFIFO_UNDERFLOW 5 +#define CC1120_IOCFG_GPIO_CFG_PKT_SYNC_RXTX 6 +#define CC1120_IOCFG_GPIO_CFG_CRC_OK 7 +#define CC1120_IOCFG_GPIO_CFG_SERIAL_CLK 8 +#define CC1120_IOCFG_GPIO_CFG_SERIAL_RX 9 +#define CC1120_IOCFG_GPIO_CFG_PQT_REACHED 11 +#define CC1120_IOCFG_GPIO_CFG_PQT_VALID 12 +#define CC1120_IOCFG_GPIO_CFG_RSSI_VALID 13 +#define CC1120_IOCFG_GPIO3_CFG_RSSI_UPDATE 14 +#define CC1120_IOCFG_GPIO2_CFG_RSSI_UPDATE 14 +#define CC1120_IOCFG_GPIO1_CFG_AGC_HOLD 14 +#define CC1120_IOCFG_GPIO0_CFG_AGC_UPDATE 14 +#define CC1120_IOCFG_GPIO3_CFG_CGA_STATUS 15 +#define CC1120_IOCFG_GPIO2_CFG_TXONCCA_DONE 15 +#define CC1120_IOCFG_GPIO1_CFG_CCA_STATUS 15 +#define CC1120_IOCFG_GPIO0_CFG_TXONCCA_FAILED 15 +#define CC1120_IOCFG_GPIO_CFG_CARRIER_SENSE_VALID 16 +#define CC1120_IOCFG_GPIO_CFG_CARRIER_SENSE 17 +#define CC1120_IOCFG_GPIO3_CFG_DSSS_CLK 18 +#define CC1120_IOCFG_GPIO2_CFG_DSSS_DATA0 18 +#define CC1120_IOCFG_GPIO1_CFG_DSSS_CLK 18 +#define CC1120_IOCFG_GPIO0_CFG_DSSS_DATA1 18 +#define CC1120_IOCFG_GPIO_CFG_PKT_CRC_OK 19 +#define CC1120_IOCFG_GPIO_CFG_MARC_MCU_WAKEUP 20 +#define CC1120_IOCFG_GPIO_CFG_SYNC_LOW0_HIGH1 21 +#define CC1120_IOCFG_GPIO_CFG_LNA_PA_REG_PD 23 +#define CC1120_IOCFG_GPIO_CFG_LNA_PD 24 +#define CC1120_IOCFG_GPIO_CFG_PA_RD 25 +#define CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG 26 +#define CC1120_IOCFG_GPIO_CFG_IMAGE_FOUND 28 +#define CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT 29 +#define CC1120_IOCFG_GPIO_CFG_SOFT_TX_DATA_CLK 30 +#define CC1120_IOCFG_GPIO_CFG_RSSI_STEP_FOUND 33 +#define CC1120_IOCFG_GPIO_CFG_RSSI_STEP_EVENT 34 +#define CC1120_IOCFG_GPIO_CFG_ANTENNA_SELECT 36 +#define CC1120_IOCFG_GPIO_CFG_MARC_2PIN_STATUS1 37 +#define CC1120_IOCFG_GPIO_CFG_MARC_2PIN_STATUS0 38 +#define CC1120_IOCFG_GPIO2_CFG_TXFIFO_OVERFLOW 39 +#define CC1120_IOCFG_GPIO0_CFG_RXFIFO_UNDERFLOW 39 +#define CC1120_IOCFG_GPIO3_CFG_MAGN_VALID 40 +#define CC1120_IOCFG_GPIO2_CFG_CHFILT_VALID 40 +#define CC1120_IOCFG_GPIO1_CFG_RCC_CAL_VALID 40 +#define CC1120_IOCFG_GPIO0_CFG_CHFILTER_STARTUP_VALID 40 +#define CC1120_IOCFG_GPIO3_CFG_COLLISION_FOUND 41 +#define CC1120_IOCFG_GPIO2_CFG_SYNC_EVENT 41 +#define CC1120_IOCFG_GPIO1_CFG_COLLISION_FOUND 41 +#define CC1120_IOCFG_GPIO0_CFG_COLLISION_EVENT 41 +#define CC1120_IOCFG_GPIO_CFG_PA_RAMP_UP 42 +#define CC1120_IOCFG_GPIO3_CFG_CRC_FAILED 43 +#define CC1120_IOCFG_GPIO2_CFG_LENGTH_FAILED 43 +#define CC1120_IOCFG_GPIO1_CFG_ADDR_FAILED 43 +#define CC1120_IOCFG_GPIO0_CFG_UART_FRAMING_ERROR 43 +#define CC1120_IOCFG_GPIO_CFG_AGC_STABLE_GAIN 44 +#define CC1120_IOCFG_GPIO_CFG_AGC_UPDATE 45 +#define CC1120_IOCFG_GPIO3_CFG_ADC_CLOCK 46 +#define CC1120_IOCFG_GPIO2_CFG_ADC_Q_DATA_SAMPLE 46 +#define CC1120_IOCFG_GPIO1_CFG_ADC_CLOCK 46 +#define CC1120_IOCFG_GPIO0_CFG_ADC_I_DATA_SAMPLE 46 +#define CC1120_IOCFG_GPIO_CFG_HIGHZ 48 +#define CC1120_IOCFG_GPIO_CFG_EXT_CLOCK 49 +#define CC1120_IOCFG_GPIO_CFG_CHIP_RDY 50 +#define CC1120_IOCFG_GPIO_CFG_HW0 51 +#define CC1120_IOCFG_GPIO_CFG_CLOCK_32K 54 +#define CC1120_IOCFG_GPIO_CFG_WOR_EVENT0 55 +#define CC1120_IOCFG_GPIO_CFG_WOR_EVENT1 56 +#define CC1120_IOCFG_GPIO_CFG_WOR_EVENT2 57 +#define CC1120_IOCFG_GPIO_CFG_XOSC_STABLE 59 +#define CC1120_IOCFG_GPIO_CFG_EXT_OSC_EN 60 +#define CC1120_IOCFG_GPIO_CFG_MASK 0x3f + +#define CC1120_IOCFG3 0x00 +#define CC1120_IOCFG2 0x01 +#define CC1120_IOCFG1 0x02 +#define CC1120_IOCFG0 0x03 +#define CC1120_SYNC3 0x04 +#define CC1120_SYNC2 0x05 +#define CC1120_SYNC1 0x06 +#define CC1120_SYNC0 0x07 +#define CC1120_SYNC_CFG1 0x08 +#define CC1120_SYNC_CFG1_DEM_CFG 5 +#define CC1120_SYNC_CFG1_DEM_CFG_PQT_GATING_DISABLED 0 +#define CC1120_SYNC_CFG1_DEM_CFG_PQT_GATING_ENABLED 2 +#define CC1120_SYNC_CFG1_DEM_CFG_MASK 0x7 + +#define CC1120_SYNC_CFG1_SYNC_THR 0 +#define CC1120_SYNC_CFG1_SYNC_MASK 0x1f + +#define CC1120_SYNC_CFG0 0x09 +#define CC1120_SYNC_CFG0_SYNC_MODE 2 +#define CC1120_SYNC_CFG0_SYNC_MODE_NONE 0 +#define CC1120_SYNC_CFG0_SYNC_MODE_11_BITS 1 +#define CC1120_SYNC_CFG0_SYNC_MODE_16_BITS 2 +#define CC1120_SYNC_CFG0_SYNC_MODE_18_BITS 3 +#define CC1120_SYNC_CFG0_SYNC_MODE_24_BITS 4 +#define CC1120_SYNC_CFG0_SYNC_MODE_32_BITS 5 +#define CC1120_SYNC_CFG0_SYNC_MODE_16H_BITS 6 +#define CC1120_SYNC_CFG0_SYNC_MODE_16D_BITS 7 +#define CC1120_SYNC_CFG0_SYNC_MODE_MASK 7 +#define CC1120_SYNC_CFG0_SYNC_NUM_ERROR 0 +#define CC1120_SYNC_CFG0_SYNC_NUM_ERROR_0 0 +#define CC1120_SYNC_CFG0_SYNC_NUM_ERROR_2 1 +#define CC1120_SYNC_CFG0_SYNC_NUM_ERROR_DISABLED 3 +#define CC1120_SYNC_CFG0_SYNC_NUM_ERROR_MASK 3 + +#define CC1120_DEVIATION_M 0x0a +#define CC1120_MODCFG_DEV_E 0x0b +#define CC1120_MODCFG_DEV_E_MODEM_MODE 6 +#define CC1120_MODCFG_DEV_E_MODEM_MODE_NORMAL 0 +#define CC1120_MODCFG_DEV_E_MODEM_MODE_DSSS_REPEAT 1 +#define CC1120_MODCFG_DEV_E_MODEM_MODE_DSSS_PN 2 +#define CC1120_MODCFG_DEV_E_MODEM_MODE_MASK 3 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT 3 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT_2_FSK 0 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT_2_GFSK 1 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT_ASK_OOK 3 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT_4_FSK 4 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT_4_GFSK 5 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT_SC_MSK_UNSHAPED 6 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT_SC_MSK_SHAPED 7 +#define CC1120_MODCFG_DEV_E_MOD_FORMAT_MASK 7 +#define CC1120_MODCFG_DEV_E_DEV_E 0 +#define CC1120_MODCFG_DEV_E_DEV_E_MASK 7 + +#define CC1120_DCFILT_CFG 0x0c +#define CC1120_PREAMBLE_CFG1 0x0d +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE 2 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_NONE 0 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_0_5_BYTE 1 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_1_BYTE 2 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_1_5_BYTE 3 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_2_BYTES 4 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_3_BYTES 5 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_4_BYTES 6 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_5_BYTES 7 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_6_BYTES 8 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_7_BYTES 9 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_8_BYTES 10 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_12_BYTES 11 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_24_BYTES 12 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_30_BYTES 13 +#define CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_MASK 0xf + +#define CC1120_PREAMBLE_CFG1_PREAMBLE_WORD 0 +#define CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_AA 0 +#define CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_55 1 +#define CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_33 2 +#define CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_CC 3 +#define CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_MASK 3 + +#define CC1120_PREAMBLE_CFG0 0x0e +#define CC1120_PREAMBLE_CFG0_PQT_EN 5 +#define CC1120_PREAMBLE_CFG0_PQT_VALID_TIMEOUT 4 +#define CC1120_PREAMBLE_CFG0_PQT 0 +#define CC1120_PREAMBLE_CFG0_PQT_MASK 0xf + +#define CC1120_FREQ_IF_CFG 0x0f +#define CC1120_IQIC 0x10 +#define CC1120_CHAN_BW 0x11 +#define CC1120_MDMCFG1 0x12 +#define CC1120_MDMCFG1_CARRIER_SENSE_GATE 7 +#define CC1120_MDMCFG1_FIFO_EN 6 +#define CC1120_MDMCFG1_MANCHESTER_EN 5 +#define CC1120_MDMCFG1_INVERT_DATA_EN 4 +#define CC1120_MDMCFG1_COLLISION_DETECT_EN 3 +#define CC1120_MDMCFG1_DVGA_GAIN 1 +#define CC1120_MDMCFG1_DVGA_GAIN_0 0 +#define CC1120_MDMCFG1_DVGA_GAIN_3 1 +#define CC1120_MDMCFG1_DVGA_GAIN_6 2 +#define CC1120_MDMCFG1_DVGA_GAIN_9 3 +#define CC1120_MDMCFG1_DVGA_GAIN_MASK 3 +#define CC1120_MDMCFG1_SINGLE_ADC_EN 0 + +#define CC1120_MDMCFG0 0x13 +#define CC1120_DRATE2 0x14 +#define CC1120_DRATE2_DATARATE_E 4 +#define CC1120_DRATE2_DATARATE_E_MASK 0xf +#define CC1120_DRATE2_DATARATE_M_19_16 0 +#define CC1120_DRATE2_DATARATE_M_19_16_MASK 0xf + +#define CC1120_DRATE1 0x15 +#define CC1120_DRATE0 0x16 +#define CC1120_AGC_REF 0x17 +#define CC1120_AGC_CS_THR 0x18 +#define CC1120_AGC_GAIN_ADJUST 0x19 +#define CC1120_AGC_CFG3 0x1a +#define CC1120_AGC_CFG2 0x1b +#define CC1120_AGC_CFG1 0x1c +#define CC1120_AGC_CFG0 0x1d +#define CC1120_FIFO_CFG 0x1e +#define CC1120_FIFO_CFG_CRC_AUTOFLUSH 7 +#define CC1120_FIFO_CFG_FIFO_THR 0 +#define CC1120_DEV_ADDR 0x1f +#define CC1120_SETTLING_CFG 0x20 +#define CC1120_SETTLING_CFG_FS_AUTOCAL 3 +#define CC1120_SETTLING_CFG_FS_AUTOCAL_NEVER 0 +#define CC1120_SETTLING_CFG_FS_AUTOCAL_IDLE_TO_ON 1 +#define CC1120_SETTLING_CFG_FS_AUTOCAL_ON_TO_IDLE 2 +#define CC1120_SETTLING_CFG_FS_AUTOCAL_EVERY_4TH_TIME 3 +#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_100_40 2 +#define CC1120_SETTLING_CFG_LOCK_TIME_150_60 3 +#define CC1120_SETTLING_CFG_LOCK_TIME_MASK 3 +#define CC1120_SETTLING_CFG_FSREG_TIME 0 +#define CC1120_SETTLING_CFG_FSREG_TIME_30 0 +#define CC1120_SETTLING_CFG_FSREG_TIME_60 1 +#define CC1120_SETTLING_CFG_FSREG_TIME_MASK 1 + +#define CC1120_FS_CFG 0x21 +#define CC1120_FS_CFG_LOCK_EN 4 +#define CC1120_FS_CFG_FSD_BANDSELECT 0 +#define CC1120_FS_CFG_FSD_BANDSELECT_820_960 2 +#define CC1120_FS_CFG_FSD_BANDSELECT_410_480 4 +#define CC1120_FS_CFG_FSD_BANDSELECT_273_320 6 +#define CC1120_FS_CFG_FSD_BANDSELECT_205_240 8 +#define CC1120_FS_CFG_FSD_BANDSELECT_164_192 10 +#define CC1120_FS_CFG_FSD_BANDSELECT_136_160 11 +#define CC1120_FS_CFG_FSD_BANDSELECT_MASK 0xf + +#define CC1120_WOR_CFG1 0x22 +#define CC1120_WOR_CFG0 0x23 +#define CC1120_WOR_EVENT0_MSB 0x24 +#define CC1120_WOR_EVENT0_LSB 0x25 +#define CC1120_PKT_CFG2 0x26 +#define CC1120_PKT_CFG2_CCA_MODE 2 +#define CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR 0 +#define CC1120_PKT_CFG2_CCA_MODE_RSSI_THRESHOLD 1 +#define CC1120_PKT_CFG2_CCA_MODE_NOT_RECEIVING 2 +#define CC1120_PKT_CFG2_CCA_MODE_RSSI_OR_NOT 3 +#define CC1120_PKT_CFG2_CCA_MODE_RSSI_AND_ETSI_LBT 4 +#define CC1120_PKT_CFG2_CCA_MODE_MASK 7 +#define CC1120_PKT_CFG2_PKT_FORMAT 0 +#define CC1120_PKT_CFG2_PKT_FORMAT_NORMAL 0 +#define CC1120_PKT_CFG2_PKT_FORMAT_SYNCHRONOUS_SERIAL 1 +#define CC1120_PKT_CFG2_PKT_FORMAT_RANDOM 2 +#define CC1120_PKT_CFG2_PKT_FORMAT_TRANSPARENT_SERIAL 3 +#define CC1120_PKT_CFG2_PKT_FORMAT_MASK 3 + +#define CC1120_PKT_CFG1 0x27 +#define CC1120_PKT_CFG1_WHITE_DATA 6 +#define CC1120_PKT_CFG1_ADDR_CHECK_CFG 4 +#define CC1120_PKT_CFG1_ADDR_CHECK_CFG_NONE 0 +#define CC1120_PKT_CFG1_ADDR_CHECK_CFG_CHECK 1 +#define CC1120_PKT_CFG1_ADDR_CHECK_CFG_00_BROADCAST 2 +#define CC1120_PKT_CFG1_ADDR_CHECK_CFG_00_FF_BROADCAST 3 +#define CC1120_PKT_CFG1_ADDR_CHECK_CFG_MASK 3 +#define CC1120_PKT_CFG1_CRC_CFG 2 +#define CC1120_PKT_CFG1_CRC_CFG_DISABLED 0 +#define CC1120_PKT_CFG1_CRC_CFG_CRC16_INIT_ONES 1 +#define CC1120_PKT_CFG1_CRC_CFG_CRC16_INIT_ZEROS 2 +#define CC1120_PKT_CFG1_CRC_CFG_MASK 3 +#define CC1120_PKT_CFG1_BYTE_SWAP_EN 1 +#define CC1120_PKT_CFG1_APPEND_STATUS 0 + +#define CC1120_PKT_CFG0 0x28 +#define CC1120_PKT_CFG0_RESERVED7 7 +#define CC1120_PKT_CFG0_LENGTH_CONFIG 5 +#define CC1120_PKT_CFG0_LENGTH_CONFIG_FIXED 0 +#define CC1120_PKT_CFG0_LENGTH_CONFIG_VARIABLE 1 +#define CC1120_PKT_CFG0_LENGTH_CONFIG_INFINITE 2 +#define CC1120_PKT_CFG0_LENGTH_CONFIG_VARIABLE_5LSB 3 +#define CC1120_PKT_CFG0_LENGTH_CONFIG_MASK 3 +#define CC1120_PKT_CFG0_PKG_BIT_LEN 2 +#define CC1120_PKT_CFG0_PKG_BIT_LEN_MASK 7 +#define CC1120_PKT_CFG0_UART_MODE_EN 1 +#define CC1120_PKT_CFG0_UART_SWAP_EN 0 + +#define CC1120_RFEND_CFG1 0x29 +#define CC1120_RFEND_CFG0 0x2a +#define CC1120_PA_CFG2 0x2b +#define CC1120_PA_CFG1 0x2c +#define CC1120_PA_CFG0 0x2d +#define CC1120_PKT_LEN 0x2e + +#define CC1120_EXTENDED 0x2f + +/* Command strobes */ +#define CC1120_SRES 0x30 +#define CC1120_SFSTXON 0x31 +#define CC1120_SXOFF 0x32 +#define CC1120_SCAL 0x33 +#define CC1120_SRX 0x34 +#define CC1120_STX 0x35 +#define CC1120_SIDLE 0x36 +#define CC1120_SAFC 0x37 +#define CC1120_SWOR 0x38 +#define CC1120_SPWD 0x39 +#define CC1120_SFRX 0x3a +#define CC1120_SFTX 0x3b +#define CC1120_SWORRST 0x3c +#define CC1120_SNOP 0x3d + +#define CC1120_DIRECT_FIFO 0x3e +#define CC1120_FIFO 0x3f + +#define CC1120_FIFO_SIZE 128 + +/* Extended register space */ + +#define CC1120_EXTENDED_BIT 0x8000 + +#define CC1120_IS_EXTENDED(r) ((r) & CC1120_EXTENDED_BIT) + +#define CC1120_IF_MIX_CFG (CC1120_EXTENDED_BIT | 0x00) +#define CC1120_FREQOFF_CFG (CC1120_EXTENDED_BIT | 0x01) +#define CC1120_TOC_CFG (CC1120_EXTENDED_BIT | 0x02) +#define CC1120_MARC_SPARE (CC1120_EXTENDED_BIT | 0x03) +#define CC1120_ECG_CFG (CC1120_EXTENDED_BIT | 0x04) +#define CC1120_SOFT_TX_DATA_CFG (CC1120_EXTENDED_BIT | 0x05) +#define CC1120_EXT_CTRL (CC1120_EXTENDED_BIT | 0x06) +#define CC1120_RCCAL_FINE (CC1120_EXTENDED_BIT | 0x07) +#define CC1120_RCCAL_COARSE (CC1120_EXTENDED_BIT | 0x08) +#define CC1120_RCCAL_OFFSET (CC1120_EXTENDED_BIT | 0x09) +#define CC1120_FREQOFF1 (CC1120_EXTENDED_BIT | 0x0A) +#define CC1120_FREQOFF0 (CC1120_EXTENDED_BIT | 0x0B) +#define CC1120_FREQ2 (CC1120_EXTENDED_BIT | 0x0C) +#define CC1120_FREQ1 (CC1120_EXTENDED_BIT | 0x0D) +#define CC1120_FREQ0 (CC1120_EXTENDED_BIT | 0x0E) +#define CC1120_IF_ADC2 (CC1120_EXTENDED_BIT | 0x0F) +#define CC1120_IF_ADC1 (CC1120_EXTENDED_BIT | 0x10) +#define CC1120_IF_ADC0 (CC1120_EXTENDED_BIT | 0x11) +#define CC1120_FS_DIG1 (CC1120_EXTENDED_BIT | 0x12) +#define CC1120_FS_DIG0 (CC1120_EXTENDED_BIT | 0x13) +#define CC1120_FS_CAL3 (CC1120_EXTENDED_BIT | 0x14) +#define CC1120_FS_CAL2 (CC1120_EXTENDED_BIT | 0x15) +#define CC1120_FS_CAL1 (CC1120_EXTENDED_BIT | 0x16) +#define CC1120_FS_CAL0 (CC1120_EXTENDED_BIT | 0x17) +#define CC1120_FS_CHP (CC1120_EXTENDED_BIT | 0x18) +#define CC1120_FS_DIVTWO (CC1120_EXTENDED_BIT | 0x19) +#define CC1120_FS_DSM1 (CC1120_EXTENDED_BIT | 0x1A) +#define CC1120_FS_DSM0 (CC1120_EXTENDED_BIT | 0x1B) +#define CC1120_FS_DVC1 (CC1120_EXTENDED_BIT | 0x1C) +#define CC1120_FS_DVC0 (CC1120_EXTENDED_BIT | 0x1D) +#define CC1120_FS_LBI (CC1120_EXTENDED_BIT | 0x1E) +#define CC1120_FS_PFD (CC1120_EXTENDED_BIT | 0x1F) +#define CC1120_FS_PRE (CC1120_EXTENDED_BIT | 0x20) +#define CC1120_FS_REG_DIV_CML (CC1120_EXTENDED_BIT | 0x21) +#define CC1120_FS_SPARE (CC1120_EXTENDED_BIT | 0x22) +#define CC1120_FS_VCO4 (CC1120_EXTENDED_BIT | 0x23) +#define CC1120_FS_VCO3 (CC1120_EXTENDED_BIT | 0x24) +#define CC1120_FS_VCO2 (CC1120_EXTENDED_BIT | 0x25) +#define CC1120_FS_VCO1 (CC1120_EXTENDED_BIT | 0x26) +#define CC1120_FS_VCO0 (CC1120_EXTENDED_BIT | 0x27) +#define CC1120_GBIAS6 (CC1120_EXTENDED_BIT | 0x28) +#define CC1120_GBIAS5 (CC1120_EXTENDED_BIT | 0x29) +#define CC1120_GBIAS4 (CC1120_EXTENDED_BIT | 0x2A) +#define CC1120_GBIAS3 (CC1120_EXTENDED_BIT | 0x2B) +#define CC1120_GBIAS2 (CC1120_EXTENDED_BIT | 0x2C) +#define CC1120_GBIAS1 (CC1120_EXTENDED_BIT | 0x2D) +#define CC1120_GBIAS0 (CC1120_EXTENDED_BIT | 0x2E) +#define CC1120_IFAMP (CC1120_EXTENDED_BIT | 0x2F) +#define CC1120_LNA (CC1120_EXTENDED_BIT | 0x30) +#define CC1120_RXMIX (CC1120_EXTENDED_BIT | 0x31) +#define CC1120_XOSC5 (CC1120_EXTENDED_BIT | 0x32) +#define CC1120_XOSC4 (CC1120_EXTENDED_BIT | 0x33) +#define CC1120_XOSC3 (CC1120_EXTENDED_BIT | 0x34) +#define CC1120_XOSC2 (CC1120_EXTENDED_BIT | 0x35) +#define CC1120_XOSC1 (CC1120_EXTENDED_BIT | 0x36) +#define CC1120_XOSC0 (CC1120_EXTENDED_BIT | 0x37) +#define CC1120_ANALOG_SPARE (CC1120_EXTENDED_BIT | 0x38) +#define CC1120_PA_CFG3 (CC1120_EXTENDED_BIT | 0x39) +#define CC1120_WOR_TIME1 (CC1120_EXTENDED_BIT | 0x64) +#define CC1120_WOR_TIME0 (CC1120_EXTENDED_BIT | 0x65) +#define CC1120_WOR_CAPTURE1 (CC1120_EXTENDED_BIT | 0x66) +#define CC1120_WOR_CAPTURE0 (CC1120_EXTENDED_BIT | 0x67) +#define CC1120_BIST (CC1120_EXTENDED_BIT | 0x68) +#define CC1120_DCFILTOFFSET_I1 (CC1120_EXTENDED_BIT | 0x69) +#define CC1120_DCFILTOFFSET_I0 (CC1120_EXTENDED_BIT | 0x6A) +#define CC1120_DCFILTOFFSET_Q1 (CC1120_EXTENDED_BIT | 0x6B) +#define CC1120_DCFILTOFFSET_Q0 (CC1120_EXTENDED_BIT | 0x6C) +#define CC1120_IQIE_I1 (CC1120_EXTENDED_BIT | 0x6D) +#define CC1120_IQIE_I0 (CC1120_EXTENDED_BIT | 0x6E) +#define CC1120_IQIE_Q1 (CC1120_EXTENDED_BIT | 0x6f) +#define CC1120_IQIE_Q0 (CC1120_EXTENDED_BIT | 0x70) +#define CC1120_RSSI1 (CC1120_EXTENDED_BIT | 0x71) +#define CC1120_RSSI0 (CC1120_EXTENDED_BIT | 0x72) +#define CC1120_MARCSTATE (CC1120_EXTENDED_BIT | 0x73) +#define CC1120_LQI_VAL (CC1120_EXTENDED_BIT | 0x74) +#define CC1120_PQT_SYNC_ERR (CC1120_EXTENDED_BIT | 0x75) +#define CC1120_DEM_STATUS (CC1120_EXTENDED_BIT | 0x76) +#define CC1120_FREQOFF_EST1 (CC1120_EXTENDED_BIT | 0x77) +#define CC1120_FREQOFF_EST0 (CC1120_EXTENDED_BIT | 0x78) +#define CC1120_AGC_GAIN3 (CC1120_EXTENDED_BIT | 0x79) +#define CC1120_AGC_GAIN2 (CC1120_EXTENDED_BIT | 0x7a) +#define CC1120_AGC_GAIN1 (CC1120_EXTENDED_BIT | 0x7b) +#define CC1120_AGC_GAIN0 (CC1120_EXTENDED_BIT | 0x7c) +#define CC1120_SOFT_RX_DATA_OUT (CC1120_EXTENDED_BIT | 0x7d) +#define CC1120_SOFT_TX_DATA_IN (CC1120_EXTENDED_BIT | 0x7e) +#define CC1120_ASK_SOFT_RX_DATA (CC1120_EXTENDED_BIT | 0x7f) +#define CC1120_RNDGEN (CC1120_EXTENDED_BIT | 0x80) +#define CC1120_MAGN2 (CC1120_EXTENDED_BIT | 0x81) +#define CC1120_MAGN1 (CC1120_EXTENDED_BIT | 0x82) +#define CC1120_MAGN0 (CC1120_EXTENDED_BIT | 0x83) +#define CC1120_ANG1 (CC1120_EXTENDED_BIT | 0x84) +#define CC1120_ANG0 (CC1120_EXTENDED_BIT | 0x85) +#define CC1120_CHFILT_I2 (CC1120_EXTENDED_BIT | 0x86) +#define CC1120_CHFILT_I1 (CC1120_EXTENDED_BIT | 0x87) +#define CC1120_CHFILT_I0 (CC1120_EXTENDED_BIT | 0x88) +#define CC1120_CHFILT_Q2 (CC1120_EXTENDED_BIT | 0x89) +#define CC1120_CHFILT_Q1 (CC1120_EXTENDED_BIT | 0x8a) +#define CC1120_CHFILT_Q0 (CC1120_EXTENDED_BIT | 0x8b) +#define CC1120_GPIO_STATUS (CC1120_EXTENDED_BIT | 0x8c) +#define CC1120_FSCAL_CTRL (CC1120_EXTENDED_BIT | 0x8d) +#define CC1120_PHASE_ADJUST (CC1120_EXTENDED_BIT | 0x8e) +#define CC1120_PARTNUMBER (CC1120_EXTENDED_BIT | 0x8f) +#define CC1120_PARTVERSION (CC1120_EXTENDED_BIT | 0x90) +#define CC1120_SERIAL_STATUS (CC1120_EXTENDED_BIT | 0x91) +#define CC1120_RX_STATUS (CC1120_EXTENDED_BIT | 0x92) +#define CC1120_TX_STATUS (CC1120_EXTENDED_BIT | 0x93) +#define CC1120_MARC_STATUS1 (CC1120_EXTENDED_BIT | 0x94) +# define CC1120_MARC_STATUS1_NO_FAILURE 0 +# define CC1120_MARC_STATUS1_RX_TIMEOUT 1 +# define CC1120_MARC_STATUS1_RX_TERMINATION 2 +# define CC1120_MARC_STATUS1_EWOR_SYNC_LOST 3 +# define CC1120_MARC_STATUS1_MAXIMUM_LENGTH 4 +# define CC1120_MARC_STATUS1_ADDRESS 5 +# define CC1120_MARC_STATUS1_CRC 6 +# define CC1120_MARC_STATUS1_TX_FIFO_OVERFLOW 7 +# define CC1120_MARC_STATUS1_TX_FIFO_UNDERFLOW 8 +# define CC1120_MARC_STATUS1_RX_FIFO_OVERFLOW 9 +# define CC1120_MARC_STATUS1_RX_FIFO_UNDERFLOW 10 +# define CC1120_MARC_STATUS1_TX_ON_CCA_FAILED 11 +# define CC1120_MARC_STATUS1_TX_FINISHED 0x40 +# define CC1120_MARC_STATUS1_RX_FINISHED 0x80 +#define CC1120_MARC_STATUS0 (CC1120_EXTENDED_BIT | 0x95) +#define CC1120_PA_IFAMP_TEST (CC1120_EXTENDED_BIT | 0x96) +#define CC1120_FSRF_TEST (CC1120_EXTENDED_BIT | 0x97) +#define CC1120_PRE_TEST (CC1120_EXTENDED_BIT | 0x98) +#define CC1120_PRE_OVR (CC1120_EXTENDED_BIT | 0x99) +#define CC1120_ADC_TEST (CC1120_EXTENDED_BIT | 0x9a) +#define CC1120_DVC_TEST (CC1120_EXTENDED_BIT | 0x9b) +#define CC1120_ATEST (CC1120_EXTENDED_BIT | 0x9c) +#define CC1120_ATEST_LVDS (CC1120_EXTENDED_BIT | 0x9d) +#define CC1120_ATEST_MODE (CC1120_EXTENDED_BIT | 0x9e) +#define CC1120_XOSC_TEST1 (CC1120_EXTENDED_BIT | 0x9f) +#define CC1120_XOSC_TEST0 (CC1120_EXTENDED_BIT | 0xa0) +#define CC1120_RXFIRST (CC1120_EXTENDED_BIT | 0xd2) +#define CC1120_TXFIRST (CC1120_EXTENDED_BIT | 0xd3) +#define CC1120_RXLAST (CC1120_EXTENDED_BIT | 0xd4) +#define CC1120_TXLAST (CC1120_EXTENDED_BIT | 0xd5) +#define CC1120_NUM_TXBYTES (CC1120_EXTENDED_BIT | 0xd6) +#define CC1120_NUM_RXBYTES (CC1120_EXTENDED_BIT | 0xd7) +#define CC1120_FIFO_NUM_TXBYTES (CC1120_EXTENDED_BIT | 0xd8) +#define CC1120_FIFO_NUM_RXBYTES (CC1120_EXTENDED_BIT | 0xd9) + +/* Status byte */ +#define CC1120_STATUS_CHIP_RDY 7 +#define CC1120_STATUS_STATE 4 +#define CC1120_STATUS_STATE_IDLE 0 +#define CC1120_STATUS_STATE_RX 1 +#define CC1120_STATUS_STATE_TX 2 +#define CC1120_STATUS_STATE_FSTXON 3 +#define CC1120_STATUS_STATE_CALIBRATE 4 +#define CC1120_STATUS_STATE_SETTLING 5 +#define CC1120_STATUS_STATE_RX_FIFO_ERROR 6 +#define CC1120_STATUS_STATE_TX_FIFO_ERROR 7 +#define CC1120_STATUS_STATE_MASK 7 + +#endif /* _AO_CC1120_H_ */ diff --git a/src/drivers/ao_cc1120_CC1120.h b/src/drivers/ao_cc1120_CC1120.h new file mode 100644 index 00000000..44cca938 --- /dev/null +++ b/src/drivers/ao_cc1120_CC1120.h @@ -0,0 +1,210 @@ +/* RX filter BW = 100.000000 */
+/* Address config = No address check */
+/* Packet length = 255 */
+/* Symbol rate = 38.3606 */
+/* PA ramping = false */
+/* Carrier frequency = 434.549988 */
+/* Bit rate = 38.3606 */
+/* Whitening = true */
+/* Manchester enable = false */
+/* Modulation format = 2-GFSK */
+/* Packet length mode = Variable */
+/* Device address = 0 */
+/* TX power = 15 */
+/* Deviation = 20.507812 */
+/***************************************************************
+ * SmartRF Studio(tm) Export
+ *
+ * Radio register settings specifed with address, value
+ *
+ * RF device: CC1120
+ *
+ ***************************************************************/
+
+ CC1120_SYNC3, 0xD3, /* Sync Word Configuration [31:24] */
+ CC1120_SYNC2, 0x91, /* Sync Word Configuration [23:16] */
+ CC1120_SYNC1, 0xD3, /* Sync Word Configuration [15:8] */
+ 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_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_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 */
+ CC1120_CHAN_BW, 0x02, /* Channel Filter Configuration */
+
+ CC1120_MDMCFG1, /* General Modem Parameter Configuration */
+ (0 << CC1120_MDMCFG1_CARRIER_SENSE_GATE) |
+ (1 << CC1120_MDMCFG1_FIFO_EN) |
+ (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) |
+ (0 << CC1120_MDMCFG1_SINGLE_ADC_EN),
+ CC1120_MDMCFG0, 0x05, /* General Modem Parameter Configuration */
+
+ CC1120_AGC_REF, 0x20, /* AGC Reference Level Configuration */
+ CC1120_AGC_CS_THR, 0x19, /* Carrier Sense Threshold Configuration */
+ CC1120_AGC_GAIN_ADJUST, 0x00, /* RSSI Offset Configuration */
+ CC1120_AGC_CFG3, 0x91, /* AGC Configuration */
+ CC1120_AGC_CFG2, 0x20, /* AGC Configuration */
+ CC1120_AGC_CFG1, 0xa9, /* AGC Configuration */
+ CC1120_AGC_CFG0, 0xcf, /* AGC Configuration */
+ CC1120_FIFO_CFG, /* FIFO Configuration */
+ (0 << CC1120_FIFO_CFG_CRC_AUTOFLUSH) |
+ (0x40 << CC1120_FIFO_CFG_FIFO_THR),
+ CC1120_DEV_ADDR, 0x00, /* Device Address Configuration */
+ 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_FSREG_TIME_60 << CC1120_SETTLING_CFG_FSREG_TIME),
+ CC1120_FS_CFG, /* Frequency Synthesizer Configuration */
+ (1 << CC1120_FS_CFG_LOCK_EN) |
+ (CC1120_FS_CFG_FSD_BANDSELECT_410_480 << CC1120_FS_CFG_FSD_BANDSELECT),
+ CC1120_WOR_CFG1, 0x08, /* eWOR Configuration, Reg 1 */
+ CC1120_WOR_CFG0, 0x21, /* eWOR Configuration, Reg 0 */
+ CC1120_WOR_EVENT0_MSB, 0x00, /* Event 0 Configuration */
+ CC1120_WOR_EVENT0_LSB, 0x00, /* Event 0 Configuration */
+#if 0
+ CC1120_PKT_CFG2, 0x04, /* Packet Configuration, Reg 2 */
+ 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_CFG0, 0x00, /* RFEND Configuration, Reg 0 */
+ // CC1120_PA_CFG2, 0x3f, /* Power Amplifier Configuration, Reg 2 */
+ CC1120_PA_CFG2, 0x3f, /* Power Amplifier Configuration, Reg 2 */
+ CC1120_PA_CFG1, 0x56, /* Power Amplifier Configuration, Reg 1 */
+ 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_MARC_SPARE, 0x00, /* MARC Spare */
+ CC1120_ECG_CFG, 0x00, /* External Clock Frequency Configuration */
+ CC1120_SOFT_TX_DATA_CFG, 0x00, /* Soft TX Data Configuration */
+ CC1120_EXT_CTRL, 0x00, /* External Control Configuration */
+ CC1120_RCCAL_FINE, 0x00, /* RC Oscillator Calibration (fine) */
+ CC1120_RCCAL_COARSE, 0x00, /* RC Oscillator Calibration (coarse) */
+ CC1120_RCCAL_OFFSET, 0x00, /* RC Oscillator Calibration Clock Offset */
+ CC1120_FREQOFF1, 0x00, /* Frequency Offset (MSB) */
+ CC1120_FREQOFF0, 0x00, /* Frequency Offset (LSB) */
+ CC1120_IF_ADC2, 0x02, /* Analog to Digital Converter Configuration, Reg 2 */
+ CC1120_IF_ADC1, 0xa6, /* Analog to Digital Converter Configuration, Reg 1 */
+ CC1120_IF_ADC0, 0x04, /* Analog to Digital Converter Configuration, Reg 0 */
+ CC1120_FS_DIG1, 0x00, /* */
+ CC1120_FS_DIG0, 0x5f, /* */
+ CC1120_FS_CAL3, 0x00, /* */
+ CC1120_FS_CAL2, 0x20, /* */
+ CC1120_FS_CAL1, 0x40, /* */
+ CC1120_FS_CAL0, 0x0e, /* */
+ CC1120_FS_CHP, 0x28, /* Charge Pump Configuration */
+ CC1120_FS_DIVTWO, 0x03, /* Divide by 2 */
+ CC1120_FS_DSM1, 0x00, /* Digital Synthesizer Module Configuration, Reg 1 */
+ CC1120_FS_DSM0, 0x33, /* Digital Synthesizer Module Configuration, Reg 0 */
+ CC1120_FS_DVC1, 0xff, /* Divider Chain Configuration, Reg 1 */
+ CC1120_FS_DVC0, 0x17, /* Divider Chain Configuration, Reg 0 */
+ CC1120_FS_LBI, 0x00, /* Local Bias Configuration */
+ CC1120_FS_PFD, 0x50, /* Phase Frequency Detector Configuration */
+ CC1120_FS_PRE, 0x6e, /* Prescaler Configuration */
+ CC1120_FS_REG_DIV_CML, 0x14, /* */
+ CC1120_FS_SPARE, 0xac, /* */
+ CC1120_FS_VCO4, 0x14, /* VCO Configuration, Reg 4 */
+ CC1120_FS_VCO3, 0x00, /* VCO Configuration, Reg 3 */
+ CC1120_FS_VCO2, 0x00, /* VCO Configuration, Reg 2 */
+ CC1120_FS_VCO1, 0x00, /* VCO Configuration, Reg 1 */
+ CC1120_FS_VCO0, 0xb4, /* VCO Configuration, Reg 0 */
+ CC1120_GBIAS6, 0x00, /* Global Bias Configuration, Reg 6 */
+ CC1120_GBIAS5, 0x02, /* Global Bias Configuration, Reg 5 */
+ CC1120_GBIAS4, 0x00, /* Global Bias Configuration, Reg 4 */
+ CC1120_GBIAS3, 0x00, /* Global Bias Configuration, Reg 3 */
+ CC1120_GBIAS2, 0x10, /* Global Bias Configuration, Reg 2 */
+ CC1120_GBIAS1, 0x00, /* Global Bias Configuration, Reg 1 */
+ CC1120_GBIAS0, 0x00, /* Global Bias Configuration, Reg 0 */
+ CC1120_IFAMP, 0x01, /* Intermediate Frequency Amplifier Configuration */
+ CC1120_LNA, 0x01, /* Low Noise Amplifier Configuration */
+ CC1120_RXMIX, 0x01, /* RX Mixer Configuration */
+ CC1120_XOSC5, 0x0e, /* Crystal Oscillator Configuration, Reg 5 */
+ 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_XOSC0, 0x00, /* Crystal Oscillator Configuration, Reg 0 */
+ CC1120_ANALOG_SPARE, 0x00, /* */
+ CC1120_PA_CFG3, 0x00, /* Power Amplifier Configuration, Reg 3 */
+ CC1120_WOR_TIME1, 0x00, /* eWOR Timer Status (MSB) */
+ CC1120_WOR_TIME0, 0x00, /* eWOR Timer Status (LSB) */
+ CC1120_WOR_CAPTURE1, 0x00, /* eWOR Timer Capture (MSB) */
+ CC1120_WOR_CAPTURE0, 0x00, /* eWOR Timer Capture (LSB) */
+ CC1120_BIST, 0x00, /* MARC BIST */
+ CC1120_DCFILTOFFSET_I1, 0x00, /* DC Filter Offset I (MSB) */
+ CC1120_DCFILTOFFSET_I0, 0x00, /* DC Filter Offset I (LSB) */
+ CC1120_DCFILTOFFSET_Q1, 0x00, /* DC Filter Offset Q (MSB) */
+ CC1120_DCFILTOFFSET_Q0, 0x00, /* DC Filter Offset Q (LSB) */
+ CC1120_IQIE_I1, 0x00, /* IQ Imbalance Value I (MSB) */
+ CC1120_IQIE_I0, 0x00, /* IQ Imbalance Value I (LSB) */
+ CC1120_IQIE_Q1, 0x00, /* IQ Imbalance Value Q (MSB) */
+ CC1120_IQIE_Q0, 0x00, /* IQ Imbalance Value Q (LSB) */
+ CC1120_RSSI1, 0x80, /* Received Signal Strength Indicator (MSB) */
+ CC1120_RSSI0, 0x00, /* Received Signal Strength Indicator (LSB) */
+ CC1120_MARCSTATE, 0x41, /* MARC State */
+ CC1120_LQI_VAL, 0x00, /* Link Quality Indicator Value */
+ CC1120_PQT_SYNC_ERR, 0xff, /* Preamble and Sync Word Error */
+ CC1120_DEM_STATUS, 0x00, /* Demodulator Status */
+ CC1120_FREQOFF_EST1, 0x00, /* Frequency Offset Estimate (MSB) */
+ CC1120_FREQOFF_EST0, 0x00, /* Frequency Offset Estimate (LSB) */
+ CC1120_AGC_GAIN3, 0x00, /* AGC Gain, Reg 3 */
+ 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, /* */
+ CC1120_PRE_OVR, 0x00, /* */
+ CC1120_ADC_TEST, 0x00, /* ADC Test */
+ CC1120_DVC_TEST, 0x0b, /* DVC Test */
+ CC1120_ATEST, 0x40, /* */
+ CC1120_ATEST_LVDS, 0x00, /* */
+ CC1120_ATEST_MODE, 0x00, /* */
+ CC1120_XOSC_TEST1, 0x3c, /* */
+ CC1120_XOSC_TEST0, 0x00, /* */
+ CC1120_RXFIRST, 0x00, /* RX FIFO Pointer (first entry) */
+ CC1120_TXFIRST, 0x00, /* TX FIFO Pointer (first entry) */
+ CC1120_RXLAST, 0x00, /* RX FIFO Pointer (last entry) */
+ CC1120_TXLAST, 0x00, /* TX FIFO Pointer (last entry) */
+
diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c new file mode 100644 index 00000000..c749adea --- /dev/null +++ b/src/drivers/ao_companion.c @@ -0,0 +1,143 @@ +/* + * 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_companion.h> + +#ifdef MEGAMETRUM +#define ao_spi_slow(b) +#define ao_spi_fast(b) +#endif + +#define COMPANION_SELECT() do { \ + ao_spi_get_bit(AO_COMPANION_CS_PORT, \ + AO_COMPANION_CS_PIN, \ + AO_COMPANION_CS, \ + AO_COMPANION_SPI_BUS, \ + AO_SPI_SPEED_200kHz); \ + } while (0) + +#define COMPANION_DESELECT() do { \ + ao_spi_put_bit(AO_COMPANION_CS_PORT, \ + AO_COMPANION_CS_PIN, \ + AO_COMPANION_CS, \ + AO_COMPANION_SPI_BUS); \ + } while (0) + +__xdata struct ao_companion_command ao_companion_command; +__xdata struct ao_companion_setup ao_companion_setup; + +__xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; +__pdata uint8_t ao_companion_running; +__xdata uint8_t ao_companion_mutex; + +static void +ao_companion_send_command(uint8_t command) +{ + ao_companion_command.command = command; + ao_companion_command.flight_state = ao_flight_state; + ao_companion_command.tick = ao_time(); + ao_companion_command.serial = ao_serial_number; + ao_companion_command.flight = ao_flight_number; + ao_companion_command.accel = ao_accel; + ao_companion_command.speed = ao_speed; + ao_companion_command.height = ao_height; + ao_companion_command.motor_number = ao_motor_number; + ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS); +} + +static uint8_t +ao_companion_get_setup(void) +{ + COMPANION_SELECT(); + ao_companion_send_command(AO_COMPANION_SETUP); + ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS); + COMPANION_DESELECT(); + return (ao_companion_setup.board_id == + (uint16_t) ~ao_companion_setup.board_id_inverse); +} + +static void +ao_companion_get_data(void) +{ + COMPANION_SELECT(); + ao_companion_send_command(AO_COMPANION_FETCH); + ao_mutex_get(&ao_companion_mutex); + ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS); + ao_mutex_put(&ao_companion_mutex); + COMPANION_DESELECT(); +} + +static void +ao_companion_notify(void) +{ + COMPANION_SELECT(); + ao_companion_send_command(AO_COMPANION_NOTIFY); + COMPANION_DESELECT(); +} + +void +ao_companion(void) +{ + uint8_t i; + while (!ao_flight_number) + ao_sleep(&ao_flight_number); + for (i = 0; i < 10; i++) { + ao_delay(AO_SEC_TO_TICKS(1)); + if ((ao_companion_running = ao_companion_get_setup())) + break; + } + while (ao_companion_running) { + ao_alarm(ao_companion_setup.update_period); + if (ao_sleep(DATA_TO_XDATA(&ao_flight_state))) + ao_companion_get_data(); + else + ao_companion_notify(); + } + ao_exit(); +} + +void +ao_companion_status(void) __reentrant +{ + uint8_t i; + printf("Companion running: %d\n", ao_companion_running); + if (!ao_companion_running) + return; + printf("device: %d\n", ao_companion_setup.board_id); + printf("update period: %d\n", ao_companion_setup.update_period); + printf("channels: %d\n", ao_companion_setup.channels); + printf("data:"); + for(i = 0; i < ao_companion_setup.channels; i++) + printf(" %5u", ao_companion_data[i]); + printf("\n"); +} + +__code struct ao_cmds ao_companion_cmds[] = { + { ao_companion_status, "L\0Companion link status" }, + { 0, NULL }, +}; + +static __xdata struct ao_task ao_companion_task; + +void +ao_companion_init(void) +{ + ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1); + ao_cmd_register(&ao_companion_cmds[0]); + ao_add_task(&ao_companion_task, ao_companion, "companion"); +} diff --git a/src/drivers/ao_event.c b/src/drivers/ao_event.c new file mode 100644 index 00000000..440ef2de --- /dev/null +++ b/src/drivers/ao_event.c @@ -0,0 +1,77 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_event.h> + +#define AO_EVENT_QUEUE 64 + +#define ao_event_queue_next(n) (((n) + 1) & (AO_EVENT_QUEUE - 1)) +#define ao_event_queue_prev(n) (((n) - 1) & (AO_EVENT_QUEUE - 1)) +#define ao_event_queue_empty() (ao_event_queue_insert == ao_event_queue_remove) +#define ao_event_queue_full() (ao_event_queue_next(ao_event_queue_insert) == ao_event_queue_remove) + +/* + * Whether a sequence of events from the same device should be collapsed + */ +#define ao_event_can_collapse(type) ((type) == AO_EVENT_QUADRATURE) + +struct ao_event ao_event_queue[AO_EVENT_QUEUE]; +uint8_t ao_event_queue_insert; +uint8_t ao_event_queue_remove; + + +uint8_t +ao_event_get(struct ao_event *ev) +{ + ao_arch_critical( + while (ao_event_queue_empty()) + ao_sleep(&ao_event_queue); + *ev = ao_event_queue[ao_event_queue_remove]; + ao_event_queue_remove = ao_event_queue_next(ao_event_queue_remove); + ); +} + +/* called with interrupts disabled */ +void +ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value) +{ + if (!ao_event_queue_full()) { + + if (ao_event_can_collapse(type) && !ao_event_queue_empty()) { + uint8_t prev = ao_event_queue_prev(ao_event_queue_insert); + + if (ao_event_queue[prev].type == type && + ao_event_queue[prev].unit == unit) + ao_event_queue_insert = prev; + } + ao_event_queue[ao_event_queue_insert] = (struct ao_event) { + .type = type, + .unit = unit, + .tick = ao_tick_count, + .value = value + }; + ao_event_queue_insert = ao_event_queue_next(ao_event_queue_insert); + ao_wakeup(&ao_event_queue); + } +} + +void +ao_event_put(uint8_t type, uint8_t unit, uint32_t value) +{ + ao_arch_critical(ao_event_put_isr(type, unit, value);); +} diff --git a/src/drivers/ao_event.h b/src/drivers/ao_event.h new file mode 100644 index 00000000..25c49c35 --- /dev/null +++ b/src/drivers/ao_event.h @@ -0,0 +1,41 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_EVENT_H_ +#define _AO_EVENT_H_ + +#define AO_EVENT_NONE 0 +#define AO_EVENT_QUADRATURE 1 +#define AO_EVENT_BUTTON 2 + +struct ao_event { + uint8_t type; + uint8_t unit; + uint16_t tick; + uint32_t value; +}; + +uint8_t +ao_event_get(struct ao_event *ev); + +void +ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value); + +void +ao_event_put(uint8_t type, uint8_t unit, uint32_t value); + +#endif /* _AO_EVENT_H_ */ diff --git a/src/ao_gps.c b/src/drivers/ao_gps_sirf.c index c4c434fd..91fc948b 100644 --- a/src/ao_gps.c +++ b/src/drivers/ao_gps_sirf.c @@ -20,7 +20,9 @@ #endif __xdata uint8_t ao_gps_mutex; -__xdata struct ao_gps_data ao_gps_data; +__pdata uint16_t ao_gps_tick; +__xdata struct ao_telemetry_location ao_gps_data; +__xdata struct ao_telemetry_satellite ao_gps_tracking_data; static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,57600,8,1,0*37\r\n"; @@ -29,14 +31,14 @@ const char ao_gps_config[] = { 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */ 136, /* mode control */ 0, 0, /* reserved */ - 4, /* degraded mode (disabled) */ + 0, /* degraded mode (allow 1-SV navigation) */ 0, 0, /* reserved */ 0, 0, /* user specified altitude */ 2, /* alt hold mode (disabled, require 3d fixes) */ 0, /* alt hold source (use last computed altitude) */ 0, /* reserved */ - 0, /* Degraded time out (disabled) */ - 0, /* Dead Reckoning time out (disabled) */ + 10, /* Degraded time out (10 sec) */ + 10, /* Dead Reckoning time out (10 sec) */ 0, /* Track smoothing (disabled) */ 0x00, 0x8e, 0xb0, 0xb3, @@ -105,10 +107,30 @@ struct sirf_geodetic_nav_data { static __xdata struct sirf_geodetic_nav_data ao_sirf_data; +struct sirf_measured_sat_data { + uint8_t svid; + uint8_t c_n_1; +}; + +struct sirf_measured_tracker_data { + int16_t gps_week; + uint32_t gps_tow; + uint8_t channels; + struct sirf_measured_sat_data sats[12]; +}; + +static __xdata struct sirf_measured_tracker_data ao_sirf_tracker_data; + static __pdata uint16_t ao_sirf_cksum; static __pdata uint16_t ao_sirf_len; -#define ao_sirf_byte() ((uint8_t) ao_serial_getchar()) +#ifndef ao_sirf_getchar +#define ao_sirf_getchar ao_serial1_getchar +#define ao_sirf_putchar ao_serial1_putchar +#define ao_sirf_set_speed ao_serial1_set_speed +#endif + +#define ao_sirf_byte() ((uint8_t) ao_sirf_getchar()) static uint8_t data_byte(void) { @@ -118,9 +140,11 @@ static uint8_t data_byte(void) return c; } +static char __xdata *sirf_target; + static void sirf_u16(uint8_t offset) { - uint16_t __xdata *ptr = (uint16_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset); + uint16_t __xdata *ptr = (uint16_t __xdata *) (sirf_target + offset); uint16_t val; val = data_byte() << 8; @@ -130,16 +154,16 @@ static void sirf_u16(uint8_t offset) static void sirf_u8(uint8_t offset) { - uint8_t __xdata *ptr = (uint8_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset); + uint8_t __xdata *ptr = (uint8_t __xdata *) (sirf_target + offset); uint8_t val; val = data_byte (); *ptr = val; } -static void sirf_u32(uint8_t offset) +static void sirf_u32(uint8_t offset) __reentrant { - uint32_t __xdata *ptr = (uint32_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset); + uint32_t __xdata *ptr = (uint32_t __xdata *) (sirf_target + offset); uint32_t val; val = ((uint32_t) data_byte ()) << 24; @@ -160,12 +184,44 @@ static void sirf_discard(uint8_t len) #define SIRF_U8 2 #define SIRF_U16 3 #define SIRF_U32 4 +#define SIRF_U8X10 5 struct sirf_packet_parse { uint8_t type; uint8_t offset; }; +static void +ao_sirf_parse(void __xdata *target, const struct sirf_packet_parse *parse) __reentrant +{ + uint8_t i, offset, j; + + sirf_target = target; + for (i = 0; ; i++) { + offset = parse[i].offset; + switch (parse[i].type) { + case SIRF_END: + return; + case SIRF_DISCARD: + sirf_discard(offset); + break; + case SIRF_U8: + sirf_u8(offset); + break; + case SIRF_U16: + sirf_u16(offset); + break; + case SIRF_U32: + sirf_u32(offset); + break; + case SIRF_U8X10: + for (j = 10; j--;) + sirf_u8(offset++); + break; + } + } +} + static const struct sirf_packet_parse geodetic_nav_data_packet[] = { { SIRF_DISCARD, 2 }, /* 1 nav valid */ { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, nav_type) }, /* 3 */ @@ -200,44 +256,48 @@ static const struct sirf_packet_parse geodetic_nav_data_packet[] = { }; static void -ao_sirf_parse_41(void) +ao_sirf_parse_41(void) __reentrant { - uint8_t i, offset; + ao_sirf_parse(&ao_sirf_data, geodetic_nav_data_packet); +} - for (i = 0; ; i++) { - offset = geodetic_nav_data_packet[i].offset; - switch (geodetic_nav_data_packet[i].type) { - case SIRF_END: - return; - case SIRF_DISCARD: - sirf_discard(offset); - break; - case SIRF_U8: - sirf_u8(offset); - break; - case SIRF_U16: - sirf_u16(offset); - break; - case SIRF_U32: - sirf_u32(offset); - break; - } - } +static const struct sirf_packet_parse measured_tracker_data_packet[] = { + { SIRF_U16, offsetof (struct sirf_measured_tracker_data, gps_week) }, /* 1 week */ + { SIRF_U32, offsetof (struct sirf_measured_tracker_data, gps_tow) }, /* 3 time of week */ + { SIRF_U8, offsetof (struct sirf_measured_tracker_data, channels) }, /* 7 channels */ + { SIRF_END, 0 }, +}; + +static const struct sirf_packet_parse measured_sat_data_packet[] = { + { SIRF_U8, offsetof (struct sirf_measured_sat_data, svid) }, /* 0 SV id */ + { SIRF_DISCARD, 4 }, /* 1 azimuth, 2 elevation, 3 state */ + { SIRF_U8, offsetof (struct sirf_measured_sat_data, c_n_1) }, /* C/N0 1 */ + { SIRF_DISCARD, 9 }, /* C/N0 2-10 */ + { SIRF_END, 0 }, +}; + +static void +ao_sirf_parse_4(void) __reentrant +{ + uint8_t i; + ao_sirf_parse(&ao_sirf_tracker_data, measured_tracker_data_packet); + for (i = 0; i < 12; i++) + ao_sirf_parse(&ao_sirf_tracker_data.sats[i], measured_sat_data_packet); } static void ao_gps_setup(void) __reentrant { uint8_t i, k; - ao_serial_set_speed(AO_SERIAL_SPEED_4800); + ao_sirf_set_speed(AO_SERIAL_SPEED_4800); for (i = 0; i < 64; i++) - ao_serial_putchar(0x00); + ao_sirf_putchar(0x00); for (k = 0; k < 3; k++) for (i = 0; i < sizeof (ao_gps_set_nmea); i++) - ao_serial_putchar(ao_gps_set_nmea[i]); - ao_serial_set_speed(AO_SERIAL_SPEED_57600); + ao_sirf_putchar(ao_gps_set_nmea[i]); + ao_sirf_set_speed(AO_SERIAL_SPEED_57600); for (i = 0; i < 64; i++) - ao_serial_putchar(0x00); + ao_sirf_putchar(0x00); } static const char ao_gps_set_message_rate[] = { @@ -247,27 +307,26 @@ static const char ao_gps_set_message_rate[] = { }; void -ao_sirf_set_message_rate(uint8_t msg, uint8_t rate) +ao_sirf_set_message_rate(uint8_t msg, uint8_t rate) __reentrant { uint16_t cksum = 0x00a6; uint8_t i; for (i = 0; i < sizeof (ao_gps_set_message_rate); i++) - ao_serial_putchar(ao_gps_set_message_rate[i]); - ao_serial_putchar(msg); - ao_serial_putchar(rate); + ao_sirf_putchar(ao_gps_set_message_rate[i]); + ao_sirf_putchar(msg); + ao_sirf_putchar(rate); cksum = 0xa6 + msg + rate; for (i = 0; i < 4; i++) - ao_serial_putchar(0); - ao_serial_putchar((cksum >> 8) & 0x7f); - ao_serial_putchar(cksum & 0xff); - ao_serial_putchar(0xb0); - ao_serial_putchar(0xb3); + ao_sirf_putchar(0); + ao_sirf_putchar((cksum >> 8) & 0x7f); + ao_sirf_putchar(cksum & 0xff); + ao_sirf_putchar(0xb0); + ao_sirf_putchar(0xb3); } static const uint8_t sirf_disable[] = { 2, - 4, 9, 10, 27, @@ -285,10 +344,11 @@ ao_gps(void) __reentrant for (k = 0; k < 5; k++) { for (i = 0; i < sizeof (ao_gps_config); i++) - ao_serial_putchar(ao_gps_config[i]); + ao_sirf_putchar(ao_gps_config[i]); for (i = 0; i < sizeof (sirf_disable); i++) ao_sirf_set_message_rate(sirf_disable[i], 0); ao_sirf_set_message_rate(41, 1); + ao_sirf_set_message_rate(4, 1); } for (;;) { /* Locate the begining of the next record */ @@ -314,6 +374,11 @@ ao_gps(void) __reentrant break; ao_sirf_parse_41(); break; + case 4: + if (ao_sirf_len < 187) + break; + ao_sirf_parse_4(); + break; } if (ao_sirf_len != 0) continue; @@ -332,6 +397,7 @@ ao_gps(void) __reentrant switch (i) { case 41: ao_mutex_get(&ao_gps_mutex); + ao_gps_tick = ao_time(); ao_gps_data.hour = ao_sirf_data.utc_hour; ao_gps_data.minute = ao_sirf_data.utc_minute; ao_gps_data.second = ao_sirf_data.utc_second / 1000; @@ -345,6 +411,8 @@ ao_gps(void) __reentrant ao_gps_data.course = ao_sirf_data.course / 200; ao_gps_data.hdop = ao_sirf_data.hdop; ao_gps_data.climb_rate = ao_sirf_data.climb_rate; + ao_gps_data.flags |= AO_GPS_COURSE_VALID; +#if 0 if (ao_sirf_data.h_error > 6553500) ao_gps_data.h_error = 65535; else @@ -353,31 +421,28 @@ ao_gps(void) __reentrant ao_gps_data.v_error = 65535; else ao_gps_data.v_error = ao_sirf_data.v_error / 100; +#endif ao_mutex_put(&ao_gps_mutex); ao_wakeup(&ao_gps_data); break; + case 4: + ao_mutex_get(&ao_gps_mutex); + ao_gps_tracking_data.channels = ao_sirf_tracker_data.channels; + for (i = 0; i < 12; i++) { + ao_gps_tracking_data.sats[i].svid = ao_sirf_tracker_data.sats[i].svid; + ao_gps_tracking_data.sats[i].c_n_1 = ao_sirf_tracker_data.sats[i].c_n_1; + } + ao_mutex_put(&ao_gps_mutex); + ao_wakeup(&ao_gps_tracking_data); + break; } } } __xdata struct ao_task ao_gps_task; -static void -gps_dump(void) __reentrant -{ - ao_mutex_get(&ao_gps_mutex); - ao_gps_print(&ao_gps_data); - ao_mutex_put(&ao_gps_mutex); -} - -__code struct ao_cmds ao_gps_cmds[] = { - { 'g', gps_dump, "g Display current GPS values" }, - { 0, gps_dump, NULL }, -}; - void ao_gps_init(void) { ao_add_task(&ao_gps_task, ao_gps, "gps"); - ao_cmd_register(&ao_gps_cmds[0]); } diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c new file mode 100644 index 00000000..d80da97c --- /dev/null +++ b/src/drivers/ao_gps_skytraq.c @@ -0,0 +1,505 @@ +/* + * Copyright © 2009 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_GPS_TEST +#include "ao.h" +#endif + +#ifndef ao_gps_getchar +#define ao_gps_getchar ao_serial1_getchar +#endif + +#ifndef ao_gps_putchar +#define ao_gps_putchar ao_serial1_putchar +#endif + +#ifndef ao_gps_set_speed +#define ao_gps_set_speed ao_serial1_set_speed +#endif + +__xdata uint8_t ao_gps_mutex; +static __data char ao_gps_char; +static __data uint8_t ao_gps_cksum; +static __data uint8_t ao_gps_error; + +__pdata uint16_t ao_gps_tick; +__xdata struct ao_telemetry_location ao_gps_data; +__xdata struct ao_telemetry_satellite ao_gps_tracking_data; + +static __pdata uint16_t ao_gps_next_tick; +static __pdata struct ao_telemetry_location ao_gps_next; +static __pdata uint8_t ao_gps_date_flags; +static __pdata struct ao_telemetry_satellite ao_gps_tracking_next; + +#define STQ_S 0xa0, 0xa1 +#define STQ_E 0x0d, 0x0a +#define SKYTRAQ_MSG_2(id,a,b) \ + STQ_S, 0, 3, id, a,b, (id^a^b), STQ_E +#define SKYTRAQ_MSG_3(id,a,b,c) \ + STQ_S, 0, 4, id, a,b,c, (id^a^b^c), STQ_E +#define SKYTRAQ_MSG_8(id,a,b,c,d,e,f,g,h) \ + STQ_S, 0, 9, id, a,b,c,d,e,f,g,h, (id^a^b^c^d^e^f^g^h), STQ_E +#define SKYTRAQ_MSG_14(id,a,b,c,d,e,f,g,h,i,j,k,l,m,n) \ + STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \ + (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E + +static __code uint8_t ao_gps_config[] = { + SKYTRAQ_MSG_8(0x08, 1, 0, 1, 0, 1, 0, 0, 0), /* configure nmea */ + /* gga interval */ + /* gsa interval */ + /* gsv interval */ + /* gll interval */ + /* rmc interval */ + /* vtg interval */ + /* zda interval */ + /* attributes (0 = update to sram, 1 = update flash too) */ + + SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */ + /* 0 = car, 1 = pedestrian */ + /* 0 = update to sram, 1 = update sram + flash */ +}; + +static void +ao_gps_lexchar(void) +{ + char c; + if (ao_gps_error) + c = '\n'; + else + c = ao_gps_getchar(); + ao_gps_cksum ^= c; + ao_gps_char = c; +} + +void +ao_gps_skip_field(void) +{ + for (;;) { + char c = ao_gps_char; + if (c == ',' || c == '*' || c == '\n') + break; + ao_gps_lexchar(); + } +} + +void +ao_gps_skip_sep(void) +{ + char c = ao_gps_char; + if (c == ',' || c == '.' || c == '*') + ao_gps_lexchar(); +} + +__data static uint8_t ao_gps_num_width; + +static int16_t +ao_gps_decimal(uint8_t max_width) +{ + int16_t v; + uint8_t neg = 0; + + ao_gps_skip_sep(); + if (ao_gps_char == '-') { + neg = 1; + ao_gps_lexchar(); + } + v = 0; + ao_gps_num_width = 0; + while (ao_gps_num_width < max_width) { + uint8_t c = ao_gps_char; + if (c < (uint8_t) '0' || (uint8_t) '9' < c) + break; + v = v * 10 + (uint8_t) (c - (uint8_t) '0'); + ao_gps_num_width++; + ao_gps_lexchar(); + } + if (neg) + v = -v; + return v; +} + +static uint8_t +ao_gps_hex(void) +{ + uint8_t v; + + ao_gps_skip_sep(); + v = 0; + ao_gps_num_width = 0; + while (ao_gps_num_width < 2) { + uint8_t c = ao_gps_char; + uint8_t d; + if ((uint8_t) '0' <= c && c <= (uint8_t) '9') + d = - '0'; + else if ((uint8_t) 'A' <= c && c <= (uint8_t) 'F') + d = - 'A' + 10; + else if ((uint8_t) 'a' <= c && c <= (uint8_t) 'f') + d = - 'a' + 10; + else + break; + v = (v << 4) | (c + d); + ao_gps_num_width++; + ao_gps_lexchar(); + } + return v; +} + +static int32_t +ao_gps_parse_pos(uint8_t deg_width) __reentrant +{ + static __pdata uint16_t d; + static __pdata uint8_t m; + static __pdata uint16_t f; + char c; + + d = ao_gps_decimal(deg_width); + m = ao_gps_decimal(2); + c = ao_gps_char; + if (c == '.') { + f = ao_gps_decimal(4); + while (ao_gps_num_width < 4) { + f *= 10; + ao_gps_num_width++; + } + } else { + f = 0; + if (c != ',') + ao_gps_error = 1; + } + return d * 10000000l + (m * 10000l + f) * 50 / 3; +} + +static uint8_t +ao_gps_parse_flag(char no_c, char yes_c) +{ + uint8_t ret = 0; + ao_gps_skip_sep(); + if (ao_gps_char == yes_c) + ret = 1; + else if (ao_gps_char == no_c) + ret = 0; + else + ao_gps_error = 1; + ao_gps_lexchar(); + return ret; +} + +static void +ao_nmea_finish(void) +{ + char c; + /* Skip remaining fields */ + for (;;) { + c = ao_gps_char; + if (c == '*' || c == '\n' || c == '\r') + break; + ao_gps_lexchar(); + ao_gps_skip_field(); + } + if (c == '*') { + uint8_t cksum = ao_gps_cksum ^ '*'; + if (cksum != ao_gps_hex()) + ao_gps_error = 1; + } else + ao_gps_error = 1; +} + +static void +ao_nmea_gga(void) +{ + uint8_t i; + + /* Now read the data into the gps data record + * + * $GPGGA,025149.000,4528.1723,N,12244.2480,W,1,05,2.0,103.5,M,-19.5,M,,0000*66 + * + * Essential fix data + * + * 025149.000 time (02:51:49.000 GMT) + * 4528.1723,N Latitude 45°28.1723' N + * 12244.2480,W Longitude 122°44.2480' W + * 1 Fix quality: + * 0 = invalid + * 1 = GPS fix (SPS) + * 2 = DGPS fix + * 3 = PPS fix + * 4 = Real Time Kinematic + * 5 = Float RTK + * 6 = estimated (dead reckoning) + * 7 = Manual input mode + * 8 = Simulation mode + * 05 Number of satellites (5) + * 2.0 Horizontal dilution + * 103.5,M Altitude, 103.5M above msl + * -19.5,M Height of geoid above WGS84 ellipsoid + * ? time in seconds since last DGPS update + * 0000 DGPS station ID + * *66 checksum + */ + + ao_gps_next_tick = ao_time(); + ao_gps_next.flags = AO_GPS_RUNNING | ao_gps_date_flags; + ao_gps_next.hour = ao_gps_decimal(2); + ao_gps_next.minute = ao_gps_decimal(2); + ao_gps_next.second = ao_gps_decimal(2); + ao_gps_skip_field(); /* skip seconds fraction */ + + ao_gps_next.latitude = ao_gps_parse_pos(2); + if (ao_gps_parse_flag('N', 'S')) + ao_gps_next.latitude = -ao_gps_next.latitude; + ao_gps_next.longitude = ao_gps_parse_pos(3); + if (ao_gps_parse_flag('E', 'W')) + ao_gps_next.longitude = -ao_gps_next.longitude; + + i = ao_gps_decimal(0xff); + if (i == 1) + ao_gps_next.flags |= AO_GPS_VALID; + + i = ao_gps_decimal(0xff) << AO_GPS_NUM_SAT_SHIFT; + if (i > AO_GPS_NUM_SAT_MASK) + i = AO_GPS_NUM_SAT_MASK; + ao_gps_next.flags |= i; + + ao_gps_lexchar(); + i = ao_gps_decimal(0xff); + if (i <= 50) { + i = (uint8_t) 5 * i; + if (ao_gps_char == '.') + i = (i + ((uint8_t) ao_gps_decimal(1) >> 1)); + } else + i = 255; + ao_gps_next.hdop = i; + ao_gps_skip_field(); + + ao_gps_next.altitude = ao_gps_decimal(0xff); + ao_gps_skip_field(); /* skip any fractional portion */ + + ao_nmea_finish(); + + if (!ao_gps_error) { + ao_mutex_get(&ao_gps_mutex); + ao_gps_tick = ao_gps_next_tick; + ao_xmemcpy(&ao_gps_data, PDATA_TO_XDATA(&ao_gps_next), sizeof (ao_gps_data)); + ao_mutex_put(&ao_gps_mutex); + ao_wakeup(&ao_gps_data); + } +} + +static void +ao_nmea_gsv(void) +{ + char c; + uint8_t i; + uint8_t done; + /* Now read the data into the GPS tracking data record + * + * $GPGSV,3,1,12,05,54,069,45,12,44,061,44,21,07,184,46,22,78,289,47*72<CR><LF> + * + * Satellites in view data + * + * 3 Total number of GSV messages + * 1 Sequence number of current GSV message + * 12 Total sats in view (0-12) + * 05 SVID + * 54 Elevation + * 069 Azimuth + * 45 C/N0 in dB + * ... other SVIDs + * 72 checksum + */ + c = ao_gps_decimal(1); /* total messages */ + i = ao_gps_decimal(1); /* message sequence */ + if (i == 1) { + ao_gps_tracking_next.channels = 0; + } + done = (uint8_t) c == i; + ao_gps_lexchar(); + ao_gps_skip_field(); /* sats in view */ + while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') { + i = ao_gps_tracking_next.channels; + c = ao_gps_decimal(2); /* SVID */ + if (i < AO_MAX_GPS_TRACKING) + ao_gps_tracking_next.sats[i].svid = c; + ao_gps_lexchar(); + ao_gps_skip_field(); /* elevation */ + ao_gps_lexchar(); + ao_gps_skip_field(); /* azimuth */ + c = ao_gps_decimal(2); /* C/N0 */ + if (i < AO_MAX_GPS_TRACKING) { + if ((ao_gps_tracking_next.sats[i].c_n_1 = c) != 0) + ao_gps_tracking_next.channels = i + 1; + } + } + + ao_nmea_finish(); + + if (ao_gps_error) + ao_gps_tracking_next.channels = 0; + else if (done) { + ao_mutex_get(&ao_gps_mutex); + ao_xmemcpy(&ao_gps_tracking_data, PDATA_TO_XDATA(&ao_gps_tracking_next), sizeof(ao_gps_tracking_data)); + ao_mutex_put(&ao_gps_mutex); + ao_wakeup(&ao_gps_tracking_data); + } +} + +static void +ao_nmea_rmc(void) +{ + char a, c; + uint8_t i; + /* Parse the RMC record to read out the current date */ + + /* $GPRMC,111636.932,A,2447.0949,N,12100.5223,E,000.0,000.0,030407,,,A*61 + * + * Recommended Minimum Specific GNSS Data + * + * 111636.932 UTC time 11:16:36.932 + * A Data Valid (V = receiver warning) + * 2447.0949 Latitude + * N North/south indicator + * 12100.5223 Longitude + * E East/west indicator + * 000.0 Speed over ground + * 000.0 Course over ground + * 030407 UTC date (ddmmyy format) + * A Mode indicator: + * N = data not valid + * A = autonomous mode + * D = differential mode + * E = estimated (dead reckoning) mode + * M = manual input mode + * S = simulator mode + * 61 checksum + */ + ao_gps_skip_field(); + for (i = 0; i < 8; i++) { + ao_gps_lexchar(); + ao_gps_skip_field(); + } + a = ao_gps_decimal(2); + c = ao_gps_decimal(2); + i = ao_gps_decimal(2); + + ao_nmea_finish(); + + if (!ao_gps_error) { + ao_gps_next.year = i; + ao_gps_next.month = c; + ao_gps_next.day = a; + ao_gps_date_flags = AO_GPS_DATE_VALID; + } +} + +#define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), sizeof(s)) + +static void +ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l) +{ + while (l--) { + uint8_t c = *b++; + if (c == 0xa0) + ao_delay(AO_MS_TO_TICKS(500)); + ao_gps_putchar(c); + } +} + +static void +ao_gps_nmea_parse(void) +{ + uint8_t a, b, c; + + ao_gps_cksum = 0; + ao_gps_error = 0; + + ao_gps_lexchar(); + if (ao_gps_char != 'G') + return; + ao_gps_lexchar(); + if (ao_gps_char != 'P') + return; + + ao_gps_lexchar(); + a = ao_gps_char; + ao_gps_lexchar(); + b = ao_gps_char; + ao_gps_lexchar(); + c = ao_gps_char; + ao_gps_lexchar(); + + if (ao_gps_char != ',') + return; + + if (a == (uint8_t) 'G' && b == (uint8_t) 'G' && c == (uint8_t) 'A') { + ao_nmea_gga(); + } else if (a == (uint8_t) 'G' && b == (uint8_t) 'S' && c == (uint8_t) 'V') { + ao_nmea_gsv(); + } else if (a == (uint8_t) 'R' && b == (uint8_t) 'M' && c == (uint8_t) 'C') { + ao_nmea_rmc(); + } +} + +void +ao_gps(void) __reentrant +{ + ao_gps_set_speed(AO_SERIAL_SPEED_9600); + + /* give skytraq time to boot in case of cold start */ + ao_delay(AO_MS_TO_TICKS(2000)); + + ao_skytraq_sendstruct(ao_gps_config); + + for (;;) { + /* Locate the begining of the next record */ + if (ao_gps_getchar() == '$') { + ao_gps_nmea_parse(); + } + } +} + +__xdata struct ao_task ao_gps_task; + +static void +gps_dump(void) __reentrant +{ + uint8_t i; + ao_mutex_get(&ao_gps_mutex); + 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); + 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++) + printf (" %d %d", + ao_gps_tracking_data.sats[i].svid, + ao_gps_tracking_data.sats[i].c_n_1); + printf ("\ndone\n"); + ao_mutex_put(&ao_gps_mutex); +} + +__code struct ao_cmds ao_gps_cmds[] = { + { gps_dump, "g\0Display GPS" }, + { 0, NULL }, +}; + +void +ao_gps_init(void) +{ + ao_add_task(&ao_gps_task, ao_gps, "gps"); + ao_cmd_register(&ao_gps_cmds[0]); +} diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c new file mode 100644 index 00000000..ade6c263 --- /dev/null +++ b/src/drivers/ao_hmc5883.c @@ -0,0 +1,170 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_hmc5883.h> +#include <ao_exti.h> + +#if HAS_HMC5883 + +static uint8_t ao_hmc5883_configured; + +static uint8_t ao_hmc5883_addr; + +static void +ao_hmc5883_reg_write(uint8_t addr, uint8_t data) +{ + uint8_t d[2]; + + d[0] = addr; + d[1] = data; + ao_i2c_get(AO_HMC5883_I2C_INDEX); + ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE); + ao_i2c_send(d, 2, AO_HMC5883_I2C_INDEX, TRUE); + ao_i2c_put(AO_HMC5883_I2C_INDEX); + ao_hmc5883_addr = addr + 1; +} + +static void +ao_hmc5883_read(uint8_t addr, uint8_t *data, uint8_t len) +{ + ao_i2c_get(AO_HMC5883_I2C_INDEX); + if (addr != ao_hmc5883_addr) { + ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE); + ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, FALSE); + } + ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ); + ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX, TRUE); + ao_i2c_put(AO_HMC5883_I2C_INDEX); + ao_hmc5883_addr = 0xff; +} + +static uint8_t ao_hmc5883_done; + +static void +ao_hmc5883_isr(void) +{ + ao_exti_disable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN); + ao_hmc5883_done = 1; + ao_wakeup(&ao_hmc5883_done); +} + +static uint32_t ao_hmc5883_missed_irq; + +void +ao_hmc5883_sample(struct ao_hmc5883_sample *sample) +{ + uint16_t *d = (uint16_t *) sample; + int i = sizeof (*sample) / 2; + uint8_t single = HMC5883_MODE_SINGLE; + + ao_hmc5883_done = 0; + ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN); + ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE); + + ao_alarm(AO_MS_TO_TICKS(10)); + cli(); + while (!ao_hmc5883_done) + if (ao_sleep(&ao_hmc5883_done)) + ++ao_hmc5883_missed_irq; + sei(); + ao_clear_alarm(); + + ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample)); +#if __BYTE_ORDER == __LITTLE_ENDIAN + /* byte swap */ + while (i--) { + uint16_t t = *d; + *d++ = (t >> 8) | (t << 8); + } +#endif +} + +static uint8_t +ao_hmc5883_setup(void) +{ + uint8_t d; + uint8_t present; + + if (ao_hmc5883_configured) + return 1; + + ao_i2c_get(AO_HMC5883_I2C_INDEX); + present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ); + ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX, TRUE); + ao_i2c_put(AO_HMC5883_I2C_INDEX); + + if (!present) + ao_panic(AO_PANIC_SELF_TEST); + + ao_hmc5883_reg_write(HMC5883_CONFIG_A, + (HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) | + (HMC5883_CONFIG_A_DO_15 << HMC5883_CONFIG_A_DO) | + (HMC5883_CONFIG_A_MS_NORMAL << HMC5883_CONFIG_A_MS)); + + ao_hmc5883_reg_write(HMC5883_CONFIG_B, + (HMC5883_CONFIG_B_GN_1_3 << HMC5883_CONFIG_B_GN)); + + ao_hmc5883_configured = 1; + return 1; +} + +static void +ao_hmc5883(void) +{ + ao_hmc5883_setup(); + for (;;) { + ao_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883); + ao_arch_critical( + AO_DATA_PRESENT(AO_DATA_HMC5883); + AO_DATA_WAIT(); + ); + } +} + +static struct ao_task ao_hmc5883_task; + +static void +ao_hmc5883_show(void) +{ + struct ao_data sample; + ao_data_get(&sample); + printf ("X: %d Y: %d Z: %d missed irq: %lu\n", + sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq); +} + +static const struct ao_cmds ao_hmc5883_cmds[] = { + { ao_hmc5883_show, "M\0Show HMC5883 status" }, + { 0, NULL } +}; + +void +ao_hmc5883_init(void) +{ + ao_hmc5883_configured = 0; + + ao_enable_port(AO_HMC5883_INT_PORT); + ao_exti_setup(AO_HMC5883_INT_PORT, + AO_HMC5883_INT_PIN, + AO_EXTI_MODE_FALLING | AO_EXTI_MODE_PULL_UP, + ao_hmc5883_isr); + + ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883"); + ao_cmd_register(&ao_hmc5883_cmds[0]); +} + +#endif diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h new file mode 100644 index 00000000..55690978 --- /dev/null +++ b/src/drivers/ao_hmc5883.h @@ -0,0 +1,85 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_HMC5883_H_ +#define _AO_HMC5883_H_ + +#define HMC5883_ADDR_WRITE 0x3c +#define HMC5883_ADDR_READ 0x3d + +#define HMC5883_CONFIG_A 0 + +#define HMC5883_CONFIG_A_MA 5 +#define HMC5883_CONFIG_A_MA_1 0 +#define HMC5883_CONFIG_A_MA_2 1 +#define HMC5883_CONFIG_A_MA_4 2 +#define HMC5883_CONFIG_A_MA_8 3 +#define HMC5883_CONFIG_A_MA_MASK 3 + +#define HMC5883_CONFIG_A_DO 2 +#define HMC5883_CONFIG_A_DO_0_75 0 +#define HMC5883_CONFIG_A_DO_1_5 1 +#define HMC5883_CONFIG_A_DO_3 2 +#define HMC5883_CONFIG_A_DO_7_5 3 +#define HMC5883_CONFIG_A_DO_15 4 +#define HMC5883_CONFIG_A_DO_30 5 +#define HMC5883_CONFIG_A_DO_75 6 +#define HMC5883_CONFIG_A_DO_MASK 7 + +#define HMC5883_CONFIG_A_MS 0 +#define HMC5883_CONFIG_A_MS_NORMAL 0 +#define HMC5883_CONFIG_A_MS_POSITIVE_BIAS 1 +#define HMC5883_CONFIG_A_MS_NEGATIVE_BIAS 2 +#define HMC5883_CONFIG_A_MS_MASK 3 + +#define HMC5883_CONFIG_B 1 + +#define HMC5883_CONFIG_B_GN 5 +#define HMC5883_CONFIG_B_GN_0_88 0 +#define HMC5883_CONFIG_B_GN_1_3 1 +#define HMC5883_CONFIG_B_GN_1_9 2 +#define HMC5883_CONFIG_B_GN_2_5 3 +#define HMC5883_CONFIG_B_GN_4_0 4 +#define HMC5883_CONFIG_B_GN_4_7 5 +#define HMC5883_CONFIG_B_GN_5_6 6 +#define HMC5883_CONFIG_B_GN_8_1 7 +#define HMC5883_CONFIG_B_GN_MASK 7 + +#define HMC5883_MODE 2 +#define HMC5883_MODE_CONTINUOUS 0 +#define HMC5883_MODE_SINGLE 1 +#define HMC5883_MODE_IDLE 2 + +#define HMC5883_X_MSB 3 +#define HMC5883_X_LSB 4 +#define HMC5883_Y_MSB 5 +#define HMC5883_Y_LSB 6 +#define HMC5883_Z_MSB 7 +#define HMC5883_Z_LSB 8 +#define HMC5883_STATUS 9 +#define HMC5883_ID_A 10 +#define HMC5883_ID_B 11 +#define HMC5883_ID_C 12 + +struct ao_hmc5883_sample { + int16_t x, y, z; +}; + +void +ao_hmc5883_init(void); + +#endif /* _AO_HMC5883_H_ */ diff --git a/src/drivers/ao_lcd.c b/src/drivers/ao_lcd.c new file mode 100644 index 00000000..6def0c80 --- /dev/null +++ b/src/drivers/ao_lcd.c @@ -0,0 +1,150 @@ +/* + * 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" + +static uint16_t ao_lcd_time = 3; + +static __xdata uint8_t ao_lcd_mutex; + +static void +ao_lcd_delay(void) +{ + volatile uint16_t count; + + for (count = 0; count < ao_lcd_time; count++) + ; +} + +static void +ao_lcd_send_ins(uint8_t ins) +{ +// printf("send ins %02x\n", ins); +// ao_lcd_wait_idle(); +// ao_delay(1); + ao_lcd_delay(); + ao_lcd_port_put_nibble(0, ins >> 4); + ao_lcd_port_put_nibble(0, ins & 0xf); +} + +static void +ao_lcd_put_byte(uint8_t c) +{ +// printf ("send data %02x\n", c); +// ao_lcd_wait_idle(); + ao_lcd_delay(); + ao_lcd_port_put_nibble(1, c >> 4); + ao_lcd_port_put_nibble(1, c & 0x0f); +} + +void +ao_lcd_putstring(char *string) +{ + char c; + + ao_mutex_get(&ao_lcd_mutex); + while ((c = (uint8_t) *string++)) + ao_lcd_put_byte((uint8_t) c); + ao_mutex_put(&ao_lcd_mutex); +} + +#define AO_LCD_POWER_CONTROL 0x54 + +void +ao_lcd_contrast_set(uint8_t contrast) +{ + ao_mutex_get(&ao_lcd_mutex); + ao_lcd_send_ins(AO_LCD_POWER_CONTROL | ((contrast >> 4) & 0x3)); + ao_lcd_send_ins(0x70 | (contrast & 0xf)); + ao_mutex_put(&ao_lcd_mutex); +} + +void +ao_lcd_cursor_on(void) +{ + ao_mutex_get(&ao_lcd_mutex); + ao_lcd_send_ins(0x08 | 0x04 | 0x02 | 0x01); + ao_mutex_put(&ao_lcd_mutex); +} + +void +ao_lcd_cursor_off(void) +{ + ao_mutex_get(&ao_lcd_mutex); + ao_lcd_send_ins(0x08 | 0x04); + ao_mutex_put(&ao_lcd_mutex); +} + +void +ao_lcd_clear(void) +{ + ao_mutex_get(&ao_lcd_mutex); + ao_lcd_send_ins(0x01); + ao_delay(1); + /* Entry mode */ + ao_lcd_send_ins(0x04 | 0x02); + ao_mutex_put(&ao_lcd_mutex); +} + +void +ao_lcd_goto(uint8_t addr) +{ + ao_mutex_get(&ao_lcd_mutex); + ao_lcd_send_ins(0x80 | addr); + ao_lcd_send_ins(0x04 | 0x02); + ao_mutex_put(&ao_lcd_mutex); +} + +void +ao_lcd_start(void) +{ + /* get to 4bit mode */ + ao_lcd_port_put_nibble(0, 0x3); + ao_lcd_port_put_nibble(0, 0x3); + ao_lcd_port_put_nibble(0, 0x3); + ao_lcd_port_put_nibble(0, 0x2); + + /* function set */ + ao_lcd_send_ins(0x28); + /* function set, instruction table 1 */ + ao_lcd_send_ins(0x29); + + /* freq set */ + ao_lcd_send_ins(0x14); + + /* Power/icon/contrast control*/ + ao_lcd_send_ins(AO_LCD_POWER_CONTROL); + + /* Follower control */ + ao_lcd_send_ins(0x6d); + ao_delay(AO_MS_TO_TICKS(200)); + + /* contrast set */ + ao_lcd_contrast_set(0x18); + + /* Display on */ + ao_lcd_send_ins(0x08 | 0x04); + + /* Clear */ + ao_lcd_clear(); +} + +void +ao_lcd_init(void) +{ + ao_lcd_port_init(); +} diff --git a/src/drivers/ao_lco_cmd.c b/src/drivers/ao_lco_cmd.c new file mode 100644 index 00000000..9c35b324 --- /dev/null +++ b/src/drivers/ao_lco_cmd.c @@ -0,0 +1,189 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_pad.h> +#include <ao_lco_cmd.h> +#include <ao_lco_func.h> +#include <ao_radio_cmac.h> + +static __pdata uint16_t lco_box; +static __pdata uint8_t lco_channels; +static __pdata uint16_t tick_offset; + +static void +lco_args(void) __reentrant +{ + ao_cmd_decimal(); + lco_box = ao_cmd_lex_i; + ao_cmd_hex(); + lco_channels = ao_cmd_lex_i; +} + +static struct ao_pad_query ao_pad_query; +static uint16_t tick_offset; + +static int8_t +lco_query(void) +{ + uint8_t i; + int8_t r = AO_RADIO_CMAC_OK; + + for (i = 0; i < 10; i++) { + printf ("."); flush(); + r = ao_lco_query(lco_box, &ao_pad_query, &tick_offset); + if (r == AO_RADIO_CMAC_OK) + break; + } + printf("\n"); flush(); + return r; +} + +static void +lco_arm(void) +{ + ao_lco_arm(lco_box, lco_channels, tick_offset); +} + +static void +lco_ignite(void) +{ + ao_lco_ignite(lco_box, lco_channels, tick_offset); +} + +static void +lco_report_cmd(void) __reentrant +{ + int8_t r; + uint8_t c; + + lco_args(); + if (ao_cmd_status != ao_cmd_success) + return; + r = lco_query(); + switch (r) { + case AO_RADIO_CMAC_OK: + switch (ao_pad_query.arm_status) { + case AO_PAD_ARM_STATUS_ARMED: + printf ("Armed: "); + break; + case AO_PAD_ARM_STATUS_DISARMED: + printf("Disarmed: "); + break; + case AO_PAD_ARM_STATUS_UNKNOWN: + default: + printf("Unknown: "); + break; + } + for (c = 0; c < AO_PAD_MAX_CHANNELS; c++) { + if (ao_pad_query.channels & (1 << c)) { + printf (" pad %d ", c); + switch (ao_pad_query.igniter_status[c]) { + default: + printf("unknown, "); + break; + case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN: + printf("bad-open, "); + break; + case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN: + printf("good-igniter, "); + break; + case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED: + printf("bad-closed, "); + break; + } + } + } + printf("Rssi: %d\n", ao_radio_cmac_rssi); + break; + default: + printf("Error %d\n", r); + break; + } +} + +static void +lco_fire_cmd(void) __reentrant +{ + static __xdata struct ao_pad_command command; + uint8_t secs; + uint8_t i; + int8_t r; + + lco_args(); + ao_cmd_decimal(); + secs = ao_cmd_lex_i; + if (ao_cmd_status != ao_cmd_success) + return; + r = lco_query(); + if (r != AO_RADIO_CMAC_OK) { + printf("query failed %d\n", r); + return; + } + + for (i = 0; i < 4; i++) { + printf("arm %d\n", i); flush(); + lco_arm(); + } + + secs = secs * 10 - 5; + if (secs > 100) + secs = 100; + for (i = 0; i < secs; i++) { + printf("fire %d\n", i); flush(); + lco_ignite(); + ao_delay(AO_MS_TO_TICKS(100)); + } +} + +static void +lco_arm_cmd(void) __reentrant +{ + uint8_t i; + int8_t r; + lco_args(); + r = lco_query(); + if (r != AO_RADIO_CMAC_OK) { + printf("query failed %d\n", r); + return; + } + for (i = 0; i < 4; i++) + lco_arm(); +} + +static void +lco_ignite_cmd(void) __reentrant +{ + uint8_t i; + lco_args(); + for (i = 0; i < 4; i++) + lco_ignite(); +} + +static __code struct ao_cmds ao_lco_cmds[] = { + { lco_report_cmd, "l <box> <channel>\0Get remote status" }, + { lco_fire_cmd, "F <box> <channel> <secs>\0Fire remote igniters" }, + { lco_arm_cmd, "a <box> <channel>\0Arm remote igniter" }, + { lco_ignite_cmd, "i <box> <channel>\0Pulse remote igniter" }, + { 0, NULL }, +}; + +void +ao_lco_cmd_init(void) +{ + ao_cmd_register(&ao_lco_cmds[0]); +} diff --git a/src/drivers/ao_lco_cmd.h b/src/drivers/ao_lco_cmd.h new file mode 100644 index 00000000..c55448cd --- /dev/null +++ b/src/drivers/ao_lco_cmd.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_LCO_CMD_H_ +#define _AO_LCO_CMD_H_ + +void +ao_lco_cmd_init(void); + +#endif /* _AO_LCO_CMD_H_ */ diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c new file mode 100644 index 00000000..99e58b76 --- /dev/null +++ b/src/drivers/ao_lco_func.c @@ -0,0 +1,70 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_pad.h> +#include <ao_radio_cmac.h> +#include <ao_lco_func.h> + +static __xdata struct ao_pad_command command; +static __xdata uint8_t ao_lco_mutex; + +int8_t +ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset) +{ + uint8_t i; + int8_t r; + uint16_t sent_time; + + ao_mutex_get(&ao_lco_mutex); + command.tick = ao_time() - *tick_offset; + command.box = box; + command.cmd = AO_LAUNCH_QUERY; + 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(20)); + if (r == AO_RADIO_CMAC_OK) + *tick_offset = sent_time - query->tick; + ao_mutex_put(&ao_lco_mutex); + return r; +} + +void +ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset) +{ + ao_mutex_get(&ao_lco_mutex); + command.tick = ao_time() - tick_offset; + command.box = box; + command.cmd = AO_LAUNCH_ARM; + command.channels = channels; + ao_radio_cmac_send(&command, sizeof (command)); + ao_mutex_put(&ao_lco_mutex); +} + +void +ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset) +{ + ao_mutex_get(&ao_lco_mutex); + command.tick = ao_time() - tick_offset; + command.box = box; + command.cmd = AO_LAUNCH_FIRE; + command.channels = channels; + ao_radio_cmac_send(&command, sizeof (command)); + ao_mutex_put(&ao_lco_mutex); +} + diff --git a/src/drivers/ao_lco_func.h b/src/drivers/ao_lco_func.h new file mode 100644 index 00000000..dccf602a --- /dev/null +++ b/src/drivers/ao_lco_func.h @@ -0,0 +1,32 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_LCO_FUNC_H_ +#define _AO_LCO_FUNC_H_ + +#include <ao_pad.h> + +int8_t +ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset); + +void +ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset); + +void +ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset); + +#endif /* _AO_LCO_FUNC_H_ */ diff --git a/src/drivers/ao_m25.c b/src/drivers/ao_m25.c new file mode 100644 index 00000000..9603c1de --- /dev/null +++ b/src/drivers/ao_m25.c @@ -0,0 +1,388 @@ +/* + * 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. + */ + +#include "ao.h" + +/* Total bytes of available storage */ +__pdata uint32_t ao_storage_total; + +/* Block size - device is erased in these units. At least 256 bytes */ +__pdata uint32_t ao_storage_block; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +__pdata uint32_t ao_storage_config; + +/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ +__pdata uint16_t ao_storage_unit; + +/* + * Each flash chip is arranged in 64kB sectors; the + * chip cannot erase in units smaller than that. + * + * Writing happens in units of 256 byte pages and + * can only change bits from 1 to 0. So, you can rewrite + * the same contents, or append to an existing page easily enough + */ + +#define M25_WREN 0x06 /* Write Enable */ +#define M25_WRDI 0x04 /* Write Disable */ +#define M25_RDID 0x9f /* Read Identification */ +#define M25_RDSR 0x05 /* Read Status Register */ +#define M25_WRSR 0x01 /* Write Status Register */ +#define M25_READ 0x03 /* Read Data Bytes */ +#define M25_FAST_READ 0x0b /* Read Data Bytes at Higher Speed */ +#define M25_PP 0x02 /* Page Program */ +#define M25_SE 0xd8 /* Sector Erase */ +#define M25_BE 0xc7 /* Bulk Erase */ +#define M25_DP 0xb9 /* Deep Power-down */ + +/* RDID response */ +#define M25_MANUF_OFFSET 0 +#define M25_MEMORY_TYPE_OFFSET 1 +#define M25_CAPACITY_OFFSET 2 +#define M25_UID_OFFSET 3 +#define M25_CFI_OFFSET 4 +#define M25_RDID_LEN 4 /* that's all we need */ + +#define M25_CAPACITY_128KB 0x11 +#define M25_CAPACITY_256KB 0x12 +#define M25_CAPACITY_512KB 0x13 +#define M25_CAPACITY_1MB 0x14 +#define M25_CAPACITY_2MB 0x15 + +/* + * Status register bits + */ + +#define M25_STATUS_SRWD (1 << 7) /* Status register write disable */ +#define M25_STATUS_BP_MASK (7 << 2) /* Block protect bits */ +#define M25_STATUS_BP_SHIFT (2) +#define M25_STATUS_WEL (1 << 1) /* Write enable latch */ +#define M25_STATUS_WIP (1 << 0) /* Write in progress */ + +/* + * On teleterra, the m25 chip select pins are + * wired on P0_0 through P0_3. + */ + +#if M25_MAX_CHIPS > 1 +static uint8_t ao_m25_size[M25_MAX_CHIPS]; /* number of sectors in each chip */ +static uint8_t ao_m25_pin[M25_MAX_CHIPS]; /* chip select pin for each chip */ +static uint8_t ao_m25_numchips; /* number of chips detected */ +#endif +static uint8_t ao_m25_total; /* total sectors available */ +static uint8_t ao_m25_wip; /* write in progress */ + +static __xdata uint8_t ao_m25_mutex; + +/* + * This little array is abused to send and receive data. A particular + * caution -- the read and write addresses are written into the last + * three bytes of the array by ao_m25_set_page_address and then the + * first byte is used by ao_m25_wait_wip and ao_m25_write_enable, neither + * of which touch those last three bytes. + */ + +static __xdata uint8_t ao_m25_instruction[4]; + +#if HAS_BOOT_RADIO +extern uint8_t ao_radio_in_recv; + +static void ao_boot_radio(void) { + if (ao_radio_in_recv) + ao_radio_recv_abort(); +} +#else +#define ao_boot_radio() +#endif + +#define M25_SELECT(cs) do { ao_boot_radio(); ao_spi_get_mask(AO_M25_SPI_CS_PORT,cs,AO_M25_SPI_BUS, AO_SPI_SPEED_FAST); } while (0) +#define M25_DESELECT(cs) ao_spi_put_mask(AO_M25_SPI_CS_PORT,cs,AO_M25_SPI_BUS) + +#define M25_BLOCK_SHIFT 16 +#define M25_BLOCK 65536L +#define M25_POS_TO_SECTOR(pos) ((uint8_t) ((pos) >> M25_BLOCK_SHIFT)) +#define M25_SECTOR_TO_POS(sector) (((uint32_t) (sector)) << M25_BLOCK_SHIFT) + +/* + * Block until the specified chip is done writing + */ +static void +ao_m25_wait_wip(uint8_t cs) +{ + if (ao_m25_wip & cs) { + M25_SELECT(cs); + ao_m25_instruction[0] = M25_RDSR; + ao_spi_send(ao_m25_instruction, 1, AO_M25_SPI_BUS); + do { + ao_spi_recv(ao_m25_instruction, 1, AO_M25_SPI_BUS); + } while (ao_m25_instruction[0] & M25_STATUS_WIP); + M25_DESELECT(cs); + ao_m25_wip &= ~cs; + } +} + +/* + * Set the write enable latch so that page program and sector + * erase commands will work. Also mark the chip as busy writing + * so that future operations will block until the WIP bit goes off + */ +static void +ao_m25_write_enable(uint8_t cs) +{ + M25_SELECT(cs); + ao_m25_instruction[0] = M25_WREN; + ao_spi_send(&ao_m25_instruction, 1, AO_M25_SPI_BUS); + M25_DESELECT(cs); + ao_m25_wip |= cs; +} + + +/* + * Returns the number of 64kB sectors + */ +static uint8_t +ao_m25_read_capacity(uint8_t cs) +{ + uint8_t capacity; + M25_SELECT(cs); + ao_m25_instruction[0] = M25_RDID; + ao_spi_send(ao_m25_instruction, 1, AO_M25_SPI_BUS); + ao_spi_recv(ao_m25_instruction, M25_RDID_LEN, AO_M25_SPI_BUS); + M25_DESELECT(cs); + + /* Check to see if the chip is present */ + if (ao_m25_instruction[0] == 0xff) + return 0; + capacity = ao_m25_instruction[M25_CAPACITY_OFFSET]; + + /* Sanity check capacity number */ + if (capacity < 0x11 || 0x1f < capacity) + return 0; + return 1 << (capacity - 0x10); +} + +static uint8_t +ao_m25_set_address(uint32_t pos) +{ + uint8_t chip; +#if M25_MAX_CHIPS > 1 + uint8_t size; + + for (chip = 0; chip < ao_m25_numchips; chip++) { + size = ao_m25_size[chip]; + if (M25_POS_TO_SECTOR(pos) < size) + break; + pos -= M25_SECTOR_TO_POS(size); + } + if (chip == ao_m25_numchips) + return 0xff; + + chip = ao_m25_pin[chip]; +#else + chip = AO_M25_SPI_CS_MASK; +#endif + ao_m25_wait_wip(chip); + + ao_m25_instruction[1] = pos >> 16; + ao_m25_instruction[2] = pos >> 8; + ao_m25_instruction[3] = pos; + return chip; +} + +/* + * Scan the possible chip select lines + * to see which flash chips are connected + */ +static uint8_t +ao_m25_scan(void) +{ +#if M25_MAX_CHIPS > 1 + uint8_t pin, size; +#endif + + if (ao_m25_total) + return 1; + +#if M25_MAX_CHIPS > 1 + ao_m25_numchips = 0; + for (pin = 1; pin != 0; pin <<= 1) { + if (AO_M25_SPI_CS_MASK & pin) { + size = ao_m25_read_capacity(pin); + if (size != 0) { + ao_m25_size[ao_m25_numchips] = size; + ao_m25_pin[ao_m25_numchips] = pin; + ao_m25_total += size; + ao_m25_numchips++; + } + } + } +#else + ao_m25_total = ao_m25_read_capacity(AO_M25_SPI_CS_MASK); +#endif + if (!ao_m25_total) + return 0; + ao_storage_total = M25_SECTOR_TO_POS(ao_m25_total); + ao_storage_block = M25_BLOCK; + ao_storage_config = ao_storage_total - M25_BLOCK; + ao_storage_unit = 256; + return 1; +} + +/* + * Erase the specified sector + */ +uint8_t +ao_storage_erase(uint32_t pos) __reentrant +{ + uint8_t cs; + + if (pos >= ao_storage_total || pos + ao_storage_block > ao_storage_total) + return 0; + + ao_mutex_get(&ao_m25_mutex); + ao_m25_scan(); + + cs = ao_m25_set_address(pos); + + ao_m25_wait_wip(cs); + ao_m25_write_enable(cs); + + ao_m25_instruction[0] = M25_SE; + M25_SELECT(cs); + ao_spi_send(ao_m25_instruction, 4, AO_M25_SPI_BUS); + M25_DESELECT(cs); + ao_m25_wip |= cs; + + ao_mutex_put(&ao_m25_mutex); + return 1; +} + +/* + * Write to flash + */ +uint8_t +ao_storage_device_write(uint32_t pos, __xdata void *d, uint16_t len) __reentrant +{ + uint8_t cs; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + + ao_mutex_get(&ao_m25_mutex); + ao_m25_scan(); + + cs = ao_m25_set_address(pos); + ao_m25_write_enable(cs); + + ao_m25_instruction[0] = M25_PP; + M25_SELECT(cs); + ao_spi_send(ao_m25_instruction, 4, AO_M25_SPI_BUS); + ao_spi_send(d, len, AO_M25_SPI_BUS); + M25_DESELECT(cs); + + ao_mutex_put(&ao_m25_mutex); + return 1; +} + +/* + * Read from flash + */ +uint8_t +ao_storage_device_read(uint32_t pos, __xdata void *d, uint16_t len) __reentrant +{ + uint8_t cs; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + ao_mutex_get(&ao_m25_mutex); + ao_m25_scan(); + + cs = ao_m25_set_address(pos); + + /* No need to use the FAST_READ as we're running at only 8MHz */ + ao_m25_instruction[0] = M25_READ; + M25_SELECT(cs); + ao_spi_send(ao_m25_instruction, 4, AO_M25_SPI_BUS); + ao_spi_recv(d, len, AO_M25_SPI_BUS); + M25_DESELECT(cs); + + ao_mutex_put(&ao_m25_mutex); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ +} + +void +ao_storage_setup(void) +{ + ao_mutex_get(&ao_m25_mutex); + ao_m25_scan(); + ao_mutex_put(&ao_m25_mutex); +} + +void +ao_storage_device_info(void) __reentrant +{ + uint8_t cs; +#if M25_MAX_CHIPS > 1 + uint8_t chip; +#endif + + ao_mutex_get(&ao_m25_mutex); + ao_m25_scan(); + ao_mutex_put(&ao_m25_mutex); + +#if M25_MAX_CHIPS > 1 + printf ("Detected chips %d size %d\n", ao_m25_numchips, ao_m25_total); + for (chip = 0; chip < ao_m25_numchips; chip++) + printf ("Flash chip %d select %02x size %d\n", + chip, ao_m25_pin[chip], ao_m25_size[chip]); +#else + printf ("Detected chips 1 size %d\n", ao_m25_total); +#endif + + printf ("Available chips:\n"); + for (cs = 1; cs != 0; cs <<= 1) { + if ((AO_M25_SPI_CS_MASK & cs) == 0) + continue; + + ao_mutex_get(&ao_m25_mutex); + M25_SELECT(cs); + ao_m25_instruction[0] = M25_RDID; + ao_spi_send(ao_m25_instruction, 1, AO_M25_SPI_BUS); + ao_spi_recv(ao_m25_instruction, M25_RDID_LEN, AO_M25_SPI_BUS); + M25_DESELECT(cs); + + printf ("Select %02x manf %02x type %02x cap %02x uid %02x\n", + cs, + ao_m25_instruction[M25_MANUF_OFFSET], + ao_m25_instruction[M25_MEMORY_TYPE_OFFSET], + ao_m25_instruction[M25_CAPACITY_OFFSET], + ao_m25_instruction[M25_UID_OFFSET]); + ao_mutex_put(&ao_m25_mutex); + } +} + +void +ao_storage_device_init(void) +{ + ao_spi_init_cs (AO_M25_SPI_CS_PORT, AO_M25_SPI_CS_MASK); +} diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c new file mode 100644 index 00000000..06422206 --- /dev/null +++ b/src/drivers/ao_mma655x.c @@ -0,0 +1,279 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_mma655x.h> + +#if HAS_MMA655X + +#if 1 +#define PRINTD(...) do { printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); } while(0) +#else +#define PRINTD(...) +#endif + +static uint8_t mma655x_configured; + +uint8_t ao_mma655x_spi_index = AO_MMA655X_SPI_INDEX; + +static void +ao_mma655x_start(void) { + ao_spi_get_bit(AO_MMA655X_CS_PORT, + AO_MMA655X_CS_PIN, + AO_MMA655X_CS, + AO_MMA655X_SPI_INDEX, + AO_SPI_SPEED_FAST); +} + +static void +ao_mma655x_stop(void) { + ao_spi_put_bit(AO_MMA655X_CS_PORT, + AO_MMA655X_CS_PIN, + AO_MMA655X_CS, + AO_MMA655X_SPI_INDEX); +} + +static void +ao_mma655x_restart(void) { + uint8_t i; + ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, AO_MMA655X_CS, 1); + + /* Emperical testing on STM32L151 at 32MHz for this delay amount */ + for (i = 0; i < 9; i++) + ao_arch_nop(); + ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, AO_MMA655X_CS, 0); +} + +static uint8_t +ao_parity(uint8_t v) +{ + uint8_t p; + /* down to four bits */ + p = (v ^ (v >> 4)) & 0xf; + + /* Cute lookup hack -- 0x6996 encodes the sixteen + * even parity values in order. + */ + p = (~0x6996 >> p) & 1; + return p; +} + +static void +ao_mma655x_cmd(uint8_t d[2]) +{ + ao_mma655x_start(); + PRINTD("\tSEND %02x %02x\n", d[0], d[1]); + ao_spi_duplex(d, d, 2, AO_MMA655X_SPI_INDEX); + PRINTD("\t\tRECV %02x %02x\n", d[0], d[1]); + ao_mma655x_stop(); +} + +static uint8_t +ao_mma655x_reg_read(uint8_t addr) +{ + uint8_t d[2]; + ao_mma655x_start(); + d[0] = addr | (ao_parity(addr) << 7); + d[1] = 0; + ao_spi_send(&d, 2, AO_MMA655X_SPI_INDEX); + ao_mma655x_restart(); + + /* Send a dummy read of 00 to clock out the SPI data */ + d[0] = 0x80; + d[1] = 0x00; + ao_spi_duplex(&d, &d, 2, AO_MMA655X_SPI_INDEX); + ao_mma655x_stop(); + return d[1]; +} + +static void +ao_mma655x_reg_write(uint8_t addr, uint8_t value) +{ + uint8_t d[2]; + + addr |= (1 << 6); /* write mode */ + d[0] = addr | (ao_parity(addr^value) << 7); + d[1] = value; + ao_mma655x_start(); + ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX); + ao_mma655x_stop(); + + addr &= ~(1 << 6); + PRINTD("write %x %x = %x\n", + addr, value, ao_mma655x_reg_read(addr)); +} + +static uint16_t +ao_mma655x_value(void) +{ + uint8_t d[2]; + uint16_t v; + + d[0] = ((0 << 6) | /* Axis selection (X) */ + (1 << 5) | /* Acceleration operation */ + (1 << 4)); /* Raw data */ + d[1] = ((1 << 3) | /* must be one */ + (1 << 2) | /* Unsigned data */ + (0 << 1) | /* Arm disabled */ + (1 << 0)); /* Odd parity */ + ao_mma655x_start(); + PRINTD("value SEND %02x %02x\n", d[0], d[1]); + ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX); + ao_mma655x_restart(); + d[0] = 0x80; + d[1] = 0x00; + ao_spi_duplex(d, d, 2, AO_MMA655X_SPI_INDEX); + ao_mma655x_stop(); + PRINTD("value RECV %02x %02x\n", d[0], d[1]); + + v = (uint16_t) d[1] << 2; + v |= d[0] >> 6; + v |= (uint16_t) (d[0] & 3) << 10; + return v; +} + +static void +ao_mma655x_reset(void) { + ao_mma655x_reg_write(AO_MMA655X_DEVCTL, + (0 << AO_MMA655X_DEVCTL_RES_1) | + (0 << AO_MMA655X_DEVCTL_RES_1)); + ao_mma655x_reg_write(AO_MMA655X_DEVCTL, + (1 << AO_MMA655X_DEVCTL_RES_1) | + (1 << AO_MMA655X_DEVCTL_RES_1)); + ao_mma655x_reg_write(AO_MMA655X_DEVCTL, + (0 << AO_MMA655X_DEVCTL_RES_1) | + (1 << AO_MMA655X_DEVCTL_RES_1)); +} + +#define DEVCFG_VALUE (\ + (1 << AO_MMA655X_DEVCFG_OC) | /* Disable offset cancelation */ \ + (1 << AO_MMA655X_DEVCFG_SD) | /* Receive unsigned data */ \ + (0 << AO_MMA655X_DEVCFG_OFMON) | /* Disable offset monitor */ \ + (AO_MMA655X_DEVCFG_A_CFG_DISABLE << AO_MMA655X_DEVCFG_A_CFG)) + +#define AXISCFG_VALUE (\ + (0 << AO_MMA655X_AXISCFG_LPF)) /* 100Hz 4-pole filter */ + + +static void +ao_mma655x_setup(void) +{ + uint8_t v; + uint16_t a, a_st; + uint8_t stdefl; + uint8_t i; + uint8_t s0, s1, s2, s3; + uint8_t pn; + uint32_t lot; + uint16_t serial; + + + if (mma655x_configured) + return; + mma655x_configured = 1; + ao_delay(AO_MS_TO_TICKS(10)); /* Top */ + ao_mma655x_reset(); + ao_delay(AO_MS_TO_TICKS(10)); /* Top */ + (void) ao_mma655x_reg_read(AO_MMA655X_DEVSTAT); + v = ao_mma655x_reg_read(AO_MMA655X_DEVSTAT); + + /* Configure R/W register values. + * Most of them relate to the arming feature, which + * we don't use, so the only registers we need to + * write are DEVCFG and AXISCFG + */ + + ao_mma655x_reg_write(AO_MMA655X_DEVCFG, + DEVCFG_VALUE | (0 << AO_MMA655X_DEVCFG_ENDINIT)); + + /* Test X axis + */ + + ao_mma655x_reg_write(AO_MMA655X_AXISCFG, + AXISCFG_VALUE | + (1 << AO_MMA655X_AXISCFG_ST)); + for (i = 0; i < 10; i++) { + a_st = ao_mma655x_value(); + printf ("SELF-TEST %2d = %6d\n", i, a_st); + } + + stdefl = ao_mma655x_reg_read(AO_MMA655X_STDEFL); + + ao_mma655x_reg_write(AO_MMA655X_AXISCFG, + AXISCFG_VALUE | + (0 << AO_MMA655X_AXISCFG_ST)); + a = ao_mma655x_value(); + + for (i = 0; i < 10; i++) { + a = ao_mma655x_value(); + printf("NORMAL %2d = %6d\n", i, a); + } + + ao_mma655x_reg_write(AO_MMA655X_DEVCFG, + DEVCFG_VALUE | (1 << AO_MMA655X_DEVCFG_ENDINIT)); + s0 = ao_mma655x_reg_read(AO_MMA655X_SN0); + s1 = ao_mma655x_reg_read(AO_MMA655X_SN1); + s2 = ao_mma655x_reg_read(AO_MMA655X_SN2); + s3 = ao_mma655x_reg_read(AO_MMA655X_SN3); + lot = ((uint32_t) s3 << 24) | ((uint32_t) s2 << 16) | + ((uint32_t) s1 << 8) | ((uint32_t) s0); + serial = lot & 0x1fff; + lot >>= 12; + pn = ao_mma655x_reg_read(AO_MMA655X_PN); + printf ("MMA655X lot %d serial %d number %d\n", lot, serial, pn); + +} + +static void +ao_mma655x_dump(void) +{ + ao_mma655x_setup(); + printf ("MMA655X value %d\n", ao_mma655x_value()); +} + +__code struct ao_cmds ao_mma655x_cmds[] = { + { ao_mma655x_dump, "A\0Display MMA655X data" }, + { 0, NULL }, +}; + +static void +ao_mma655x(void) +{ + ao_mma655x_setup(); + for (;;) { + ao_data_ring[ao_data_head].mma655x = ao_mma655x_value(); + ao_arch_critical( + AO_DATA_PRESENT(AO_DATA_MMA655X); + AO_DATA_WAIT(); + ); + } +} + +static __xdata struct ao_task ao_mma655x_task; + +void +ao_mma655x_init(void) +{ + mma655x_configured = 0; + + ao_cmd_register(&ao_mma655x_cmds[0]); + ao_spi_init_cs(AO_MMA655X_CS_PORT, (1 << AO_MMA655X_CS_PIN)); + +// ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x"); +} + +#endif diff --git a/src/drivers/ao_mma655x.h b/src/drivers/ao_mma655x.h new file mode 100644 index 00000000..9c0c59dc --- /dev/null +++ b/src/drivers/ao_mma655x.h @@ -0,0 +1,85 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_MMA655X_H_ +#define _AO_MMA655X_H_ + + +#define AO_MMA655X_SN0 0x00 +#define AO_MMA655X_SN1 0x01 +#define AO_MMA655X_SN2 0x02 +#define AO_MMA655X_SN3 0x03 +#define AO_MMA655X_SN3 0x03 +#define AO_MMA655X_STDEFL 0x04 +#define AO_MMA655X_FCTCFG 0x06 +# define AO_MMA655X_FCTCFG_STMAG 7 + +#define AO_MMA655X_PN 0x08 +#define AO_MMA655X_DEVCTL 0x0a +#define AO_MMA655X_DEVCTL_RES_1 7 +#define AO_MMA655X_DEVCTL_RES_0 6 +#define AO_MMA655X_DEVCTL_OCPHASE 4 +#define AO_MMA655X_DEVCTL_OCPHASE_MASK 3 +#define AO_MMA655X_DEVCTL_OFFCFG_EN 3 + +#define AO_MMA655X_DEVCFG 0x0b +#define AO_MMA655X_DEVCFG_OC 7 +#define AO_MMA655X_DEVCFG_ENDINIT 5 +#define AO_MMA655X_DEVCFG_SD 4 +#define AO_MMA655X_DEVCFG_OFMON 3 +#define AO_MMA655X_DEVCFG_A_CFG 0 +#define AO_MMA655X_DEVCFG_A_CFG_DISABLE 0 +#define AO_MMA655X_DEVCFG_A_CFG_PCM 1 +#define AO_MMA655X_DEVCFG_A_CFG_MOVING_AVG_HIGH 2 +#define AO_MMA655X_DEVCFG_A_CFG_MOVING_AVG_LOW 3 +#define AO_MMA655X_DEVCFG_A_CFG_COUNT_HIGH 4 +#define AO_MMA655X_DEVCFG_A_CFG_COUNT_LOW 5 +#define AO_MMA655X_DEVCFG_A_CFG_UNFILTERED_HIGH 6 +#define AO_MMA655X_DEVCFG_A_CFG_UNFILTERED_LOW 7 +#define AO_MMA655X_DEVCFG_A_CFG_MASK 7 + +#define AO_MMA655X_AXISCFG 0x0c +#define AO_MMA655X_AXISCFG_ST 7 +#define AO_MMA655X_AXISCFG_LPF 0 +#define AO_MMA655X_AXISCFG_LPF_MASK 0xf + +#define AO_MMA655X_ARMCFG 0x0e +#define AO_MMA655X_ARMCFG_APS 4 +#define AO_MMA655X_ARMCFG_APS_MASK 3 +#define AO_MMA655X_ARMCFG_AWS_N 2 +#define AO_MMA655X_ARMCFG_AWS_N_MASK 3 +#define AO_MMA655X_ARMCFG_AWS_P 0 +#define AO_MMA655X_ARMCFG_AWS_P_MASK 3 + +#define AO_MMA655X_ARMT_P 0x10 +#define AO_MMA655X_ARMT_N 0x12 + +#define AO_MMA655X_DEVSTAT 0x14 +#define AO_MMA655X_DEVSTAT_IDE 6 +#define AO_MMA655X_DEVSTAT_DEVINIT 4 +#define AO_MMA655X_DEVSTAT_MISOERR 3 +#define AO_MMA655X_DEVSTAT_OFFSET 1 +#define AO_MMA655X_DEVSTAT_DEVRES 0 + +#define AO_MMA655X_COUNT 0x15 +#define AO_MMA655X_OFFCORR 0x16 + + +void +ao_mma655x_init(void); + +#endif /* _AO_MMA655X_H_ */ diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c new file mode 100644 index 00000000..b3e284e0 --- /dev/null +++ b/src/drivers/ao_mpu6000.c @@ -0,0 +1,286 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_mpu6000.h> +#include <ao_exti.h> + +static uint8_t ao_mpu6000_wake; +static uint8_t ao_mpu6000_configured; + +static void +ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len) +{ + ao_i2c_get(AO_MPU6000_I2C_INDEX); + ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE); + ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE); + ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX, TRUE); + ao_i2c_put(AO_MPU6000_I2C_INDEX); +} + +static void +ao_mpu6000_reg_write(uint8_t addr, uint8_t value) +{ + uint8_t d[2] = { addr, value }; + ao_i2c_get(AO_MPU6000_I2C_INDEX); + ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE); + ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE); + ao_i2c_put(AO_MPU6000_I2C_INDEX); +} + +static void +ao_mpu6000_read(uint8_t addr, void *data, uint8_t len) +{ + ao_i2c_get(AO_MPU6000_I2C_INDEX); + ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE); + ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE); + ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ); + ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE); + ao_i2c_put(AO_MPU6000_I2C_INDEX); +} + +static uint8_t +ao_mpu6000_reg_read(uint8_t addr) +{ + uint8_t value; + ao_i2c_get(AO_MPU6000_I2C_INDEX); + ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE); + ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE); + ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ); + ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE); + ao_i2c_put(AO_MPU6000_I2C_INDEX); + return value; +} + +static void +ao_mpu6000_sample(struct ao_mpu6000_sample *sample) +{ + uint16_t *d = (uint16_t *) sample; + int i = sizeof (*sample) / 2; + + ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample)); +#if __BYTE_ORDER == __LITTLE_ENDIAN + /* byte swap */ + while (i--) { + uint16_t t = *d; + *d++ = (t >> 8) | (t << 8); + } +#endif +} + +#define G 981 /* in cm/s² */ + +static int16_t /* cm/s² */ +ao_mpu6000_accel(int16_t v) +{ + return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767); +} + +static int16_t /* deg*10/s */ +ao_mpu6000_gyro(int16_t v) +{ + return (int16_t) ((v * (int32_t) 20000) / 32767); +} + +static uint8_t +ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which) +{ + int16_t diff = test - normal; + + if (diff < MPU6000_ST_ACCEL(16) / 2) { + return 1; + } + if (diff > MPU6000_ST_ACCEL(16) * 2) { + return 1; + } + return 0; +} + +static uint8_t +ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which) +{ + int16_t diff = test - normal; + + if (diff < 0) + diff = -diff; + if (diff < MPU6000_ST_GYRO(2000) / 2) { + return 1; + } + if (diff > MPU6000_ST_GYRO(2000) * 2) { + return 1; + } + return 0; +} + +static void +ao_mpu6000_setup(void) +{ + struct ao_mpu6000_sample normal_mode, test_mode; + int errors =0; + + if (ao_mpu6000_configured) + return; + + /* Reset the whole chip */ + + ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1, + (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET)); + + /* Wait for it to reset. If we talk too quickly, it appears to get confused */ + ao_delay(AO_MS_TO_TICKS(100)); + + /* Reset signal conditioning */ + ao_mpu6000_reg_write(MPU6000_USER_CONTROL, + (0 << MPU6000_USER_CONTROL_FIFO_EN) | + (0 << MPU6000_USER_CONTROL_I2C_MST_EN) | + (0 << MPU6000_USER_CONTROL_I2C_IF_DIS) | + (0 << MPU6000_USER_CONTROL_FIFO_RESET) | + (0 << MPU6000_USER_CONTROL_I2C_MST_RESET) | + (1 << MPU6000_USER_CONTROL_SIG_COND_RESET)); + + while (ao_mpu6000_reg_read(MPU6000_USER_CONTROL) & (1 << MPU6000_USER_CONTROL_SIG_COND_RESET)) + ao_yield(); + + /* Reset signal paths */ + ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET, + (1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) | + (1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) | + (1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET)); + + ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET, + (0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) | + (0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) | + (0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET)); + + /* Select clocks, disable sleep */ + ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1, + (0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) | + (0 << MPU6000_PWR_MGMT_1_SLEEP) | + (0 << MPU6000_PWR_MGMT_1_CYCLE) | + (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) | + (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL)); + + /* Set sample rate divider to sample at full speed + ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0); + + /* Disable filtering */ + ao_mpu6000_reg_write(MPU6000_CONFIG, + (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) | + (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG)); + + /* Configure accelerometer to +/-16G in self-test mode */ + ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG, + (1 << MPU600_ACCEL_CONFIG_XA_ST) | + (1 << MPU600_ACCEL_CONFIG_YA_ST) | + (1 << MPU600_ACCEL_CONFIG_ZA_ST) | + (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL)); + + /* Configure gyro to +/- 2000°/s in self-test mode */ + ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG, + (1 << MPU600_GYRO_CONFIG_XG_ST) | + (1 << MPU600_GYRO_CONFIG_YG_ST) | + (1 << MPU600_GYRO_CONFIG_ZG_ST) | + (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL)); + + ao_delay(AO_MS_TO_TICKS(200)); + ao_mpu6000_sample(&test_mode); + + /* Configure accelerometer to +/-16G */ + ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG, + (0 << MPU600_ACCEL_CONFIG_XA_ST) | + (0 << MPU600_ACCEL_CONFIG_YA_ST) | + (0 << MPU600_ACCEL_CONFIG_ZA_ST) | + (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL)); + + /* Configure gyro to +/- 2000°/s */ + ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG, + (0 << MPU600_GYRO_CONFIG_XG_ST) | + (0 << MPU600_GYRO_CONFIG_YG_ST) | + (0 << MPU600_GYRO_CONFIG_ZG_ST) | + (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL)); + + ao_delay(AO_MS_TO_TICKS(10)); + ao_mpu6000_sample(&normal_mode); + + errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x"); + errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y"); + errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z"); + + errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x"); + errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y"); + errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z"); + + if (errors) + ao_panic(AO_PANIC_SELF_TEST_MPU6000); + + /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */ + ao_mpu6000_reg_write(MPU6000_CONFIG, + (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) | + (MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG)); + + /* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */ + ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, + 1000 / 200 - 1); + + ao_delay(AO_MS_TO_TICKS(100)); + ao_mpu6000_configured = 1; +} + +static void +ao_mpu6000(void) +{ + ao_mpu6000_setup(); + for (;;) + { + ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000); + ao_arch_critical( + AO_DATA_PRESENT(AO_DATA_MPU6000); + AO_DATA_WAIT(); + ); + } +} + +static struct ao_task ao_mpu6000_task; + +static void +ao_mpu6000_show(void) +{ + struct ao_data sample; + + ao_data_get(&sample); + printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n", + sample.mpu6000.accel_x, + sample.mpu6000.accel_y, + sample.mpu6000.accel_z, + sample.mpu6000.gyro_x, + sample.mpu6000.gyro_y, + sample.mpu6000.gyro_z); +} + +static const struct ao_cmds ao_mpu6000_cmds[] = { + { ao_mpu6000_show, "I\0Show MPU6000 status" }, + { 0, NULL } +}; + +void +ao_mpu6000_init(void) +{ + ao_mpu6000_configured = 0; + + ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000"); + ao_cmd_register(&ao_mpu6000_cmds[0]); +} diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h new file mode 100644 index 00000000..ca76b081 --- /dev/null +++ b/src/drivers/ao_mpu6000.h @@ -0,0 +1,161 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_MPU6000_H_ +#define _AO_MPU6000_H_ + +#define MPU6000_ADDR_WRITE 0xd0 +#define MPU6000_ADDR_READ 0xd1 + +#define MPU6000_SMPRT_DIV 0x19 + +#define MPU6000_CONFIG 0x1a + +#define MPU6000_CONFIG_EXT_SYNC_SET 3 +#define MPU6000_CONFIG_EXT_SYNC_SET_DISABLED 0 +#define MPU6000_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 1 +#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 2 +#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 3 +#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 4 +#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_XOUT_L 5 +#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_YOUT_L 6 +#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_ZOUT_L 7 +#define MPU6000_CONFIG_EXT_SYNC_SET_MASK 7 + +#define MPU6000_CONFIG_DLPF_CFG 0 +#define MPU6000_CONFIG_DLPF_CFG_260_256 0 +#define MPU6000_CONFIG_DLPF_CFG_184_188 1 +#define MPU6000_CONFIG_DLPF_CFG_94_98 2 +#define MPU6000_CONFIG_DLPF_CFG_44_42 3 +#define MPU6000_CONFIG_DLPF_CFG_21_20 4 +#define MPU6000_CONFIG_DLPF_CFG_10_10 5 +#define MPU6000_CONFIG_DLPF_CFG_5_5 6 +#define MPU6000_CONFIG_DLPF_CFG_MASK 7 + +#define MPU6000_GYRO_CONFIG 0x1b +# define MPU600_GYRO_CONFIG_XG_ST 7 +# define MPU600_GYRO_CONFIG_YG_ST 6 +# define MPU600_GYRO_CONFIG_ZG_ST 5 +# define MPU600_GYRO_CONFIG_FS_SEL 3 +# define MPU600_GYRO_CONFIG_FS_SEL_250 0 +# define MPU600_GYRO_CONFIG_FS_SEL_500 1 +# define MPU600_GYRO_CONFIG_FS_SEL_1000 2 +# define MPU600_GYRO_CONFIG_FS_SEL_2000 3 +# define MPU600_GYRO_CONFIG_FS_SEL_MASK 3 + +#define MPU6000_ACCEL_CONFIG 0x1c +# define MPU600_ACCEL_CONFIG_XA_ST 7 +# define MPU600_ACCEL_CONFIG_YA_ST 6 +# define MPU600_ACCEL_CONFIG_ZA_ST 5 +# define MPU600_ACCEL_CONFIG_AFS_SEL 3 +# define MPU600_ACCEL_CONFIG_AFS_SEL_2G 0 +# define MPU600_ACCEL_CONFIG_AFS_SEL_4G 1 +# define MPU600_ACCEL_CONFIG_AFS_SEL_8G 2 +# define MPU600_ACCEL_CONFIG_AFS_SEL_16G 3 +# define MPU600_ACCEL_CONFIG_AFS_SEL_MASK 3 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF 0 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_RESET 0 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_5Hz 1 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_2_5Hz 2 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_1_25Hz 3 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_0_63Hz 4 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_HOLD 7 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_MASK 7 + +#define MPU6000_INT_ENABLE 0x38 +#define MPU6000_INT_ENABLE_FF_EN 7 +#define MPU6000_INT_ENABLE_MOT_EN 6 +#define MPU6000_INT_ENABLE_ZMOT_EN 5 +#define MPU6000_INT_ENABLE_FIFO_OFLOW_EN 4 +#define MPU6000_INT_ENABLE_I2C_MST_INT_EN 3 +#define MPU6000_INT_ENABLE_DATA_RDY_EN 0 + +#define MPU6000_INT_STATUS 0x3a +#define MPU6000_INT_STATUS_FF_EN 7 +#define MPU6000_INT_STATUS_MOT_EN 6 +#define MPU6000_INT_STATUS_ZMOT_EN 5 +#define MPU6000_INT_STATUS_FIFO_OFLOW_EN 4 +#define MPU6000_INT_STATUS_I2C_MST_INT_EN 3 +#define MPU6000_INT_STATUS_DATA_RDY_EN 0 + +#define MPU6000_ACCEL_XOUT_H 0x3b +#define MPU6000_ACCEL_XOUT_L 0x3c +#define MPU6000_ACCEL_YOUT_H 0x3d +#define MPU6000_ACCEL_YOUT_L 0x3e +#define MPU6000_ACCEL_ZOUT_H 0x3f +#define MPU6000_ACCEL_ZOUT_L 0x40 +#define MPU6000_TEMP_H 0x41 +#define MPU6000_TEMP_L 0x42 +#define MPU6000_GYRO_XOUT_H 0x43 +#define MPU6000_GYRO_XOUT_L 0x44 +#define MPU6000_GYRO_YOUT_H 0x45 +#define MPU6000_GYRO_YOUT_L 0x46 +#define MPU6000_GYRO_ZOUT_H 0x47 +#define MPU6000_GYRO_ZOUT_L 0x48 + +#define MPU6000_SIGNAL_PATH_RESET 0x68 +#define MPU6000_SIGNAL_PATH_RESET_GYRO_RESET 2 +#define MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET 1 +#define MPU6000_SIGNAL_PATH_RESET_TEMP_RESET 0 + +#define MPU6000_USER_CONTROL 0x6a +#define MPU6000_USER_CONTROL_FIFO_EN 6 +#define MPU6000_USER_CONTROL_I2C_MST_EN 5 +#define MPU6000_USER_CONTROL_I2C_IF_DIS 4 +#define MPU6000_USER_CONTROL_FIFO_RESET 2 +#define MPU6000_USER_CONTROL_I2C_MST_RESET 1 +#define MPU6000_USER_CONTROL_SIG_COND_RESET 0 + +#define MPU6000_PWR_MGMT_1 0x6b +#define MPU6000_PWR_MGMT_1_DEVICE_RESET 7 +#define MPU6000_PWR_MGMT_1_SLEEP 6 +#define MPU6000_PWR_MGMT_1_CYCLE 5 +#define MPU6000_PWR_MGMT_1_TEMP_DIS 3 +#define MPU6000_PWR_MGMT_1_CLKSEL 0 +#define MPU6000_PWR_MGMT_1_CLKSEL_INTERNAL 0 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS 1 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_Y_AXIS 2 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_Z_AXIS 3 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_32K 4 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_19M 5 +#define MPU6000_PWR_MGMT_1_CLKSEL_STOP 7 +#define MPU6000_PWR_MGMT_1_CLKSEL_MASK 7 + +#define MPU6000_PWR_MGMT_2 0x6c + +#define MPU6000_WHO_AM_I 0x75 + +/* Self test acceleration is approximately 0.5g */ +#define MPU6000_ST_ACCEL(full_scale) (32767 / ((full_scale) * 2)) + +/* Self test gyro is approximately 50°/s */ +#define MPU6000_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale))) + +struct ao_mpu6000_sample { + int16_t accel_x; + int16_t accel_y; + int16_t accel_z; + int16_t temp; + int16_t gyro_x; + int16_t gyro_y; + int16_t gyro_z; +}; + +void +ao_mpu6000_init(void); + +#endif /* _AO_MPU6000_H_ */ diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c new file mode 100644 index 00000000..704b4583 --- /dev/null +++ b/src/drivers/ao_ms5607.c @@ -0,0 +1,280 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_exti.h> +#include "ao_ms5607.h" + +#if HAS_MS5607 + +static struct ao_ms5607_prom ms5607_prom; +static uint8_t ms5607_configured; + +static void +ao_ms5607_start(void) { + ao_spi_get(AO_MS5607_SPI_INDEX,AO_SPI_SPEED_FAST); + stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 0); +} + +static void +ao_ms5607_stop(void) { + stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1); + ao_spi_put(AO_MS5607_SPI_INDEX); +} + +static void +ao_ms5607_reset(void) { + uint8_t cmd; + + cmd = AO_MS5607_RESET; + ao_ms5607_start(); + ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_delay(AO_MS_TO_TICKS(10)); + ao_ms5607_stop(); +} + +static uint8_t +ao_ms5607_crc(uint8_t *prom) +{ + uint8_t crc_byte = prom[15]; + uint8_t cnt; + uint16_t n_rem = 0; + uint16_t crc_read; + uint8_t n_bit; + + prom[15] = 0; + for (cnt = 0; cnt < 16; cnt++) { + n_rem ^= prom[cnt]; + for (n_bit = 8; n_bit > 0; n_bit--) { + if (n_rem & 0x8000) + n_rem = (n_rem << 1) ^ 0x3000; + else + n_rem = (n_rem << 1); + } + } + n_rem = (n_rem >> 12) & 0xf; + prom[15] = crc_byte; + return n_rem; +} + +static void +ao_ms5607_prom_read(struct ao_ms5607_prom *prom) +{ + uint8_t addr; + uint8_t crc; + uint16_t *r; + + r = (uint16_t *) prom; + for (addr = 0; addr < 8; addr++) { + uint8_t cmd = AO_MS5607_PROM_READ(addr); + ao_ms5607_start(); + ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_spi_recv(r, 2, AO_MS5607_SPI_INDEX); + ao_ms5607_stop(); + r++; + } + crc = ao_ms5607_crc((uint8_t *) prom); + if (crc != (((uint8_t *) prom)[15] & 0xf)) { + printf ("MS5607 PROM CRC error (computed %x actual %x)\n", + crc, (((uint8_t *) prom)[15] & 0xf)); + flush(); +// ao_panic(AO_PANIC_SELF_TEST_MS5607); + } + +#if __BYTE_ORDER == __LITTLE_ENDIAN + /* Byte swap */ + r = (uint16_t *) prom; + for (addr = 0; addr < 8; addr++) { + uint16_t t = *r; + *r++ = (t << 8) | (t >> 8); + } +#endif +} + +static void +ao_ms5607_setup(void) +{ + if (ms5607_configured) + return; + ms5607_configured = 1; + ao_ms5607_reset(); + ao_ms5607_prom_read(&ms5607_prom); +} + +static uint8_t ao_ms5607_done; + +static void +ao_ms5607_isr(void) +{ + ao_exti_disable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN); + ao_ms5607_done = 1; + ao_wakeup(&ao_ms5607_done); +} + +static uint32_t +ao_ms5607_get_sample(uint8_t cmd) { + uint8_t reply[3]; + uint8_t read; + uint16_t now; + + ao_ms5607_done = 0; + + ao_ms5607_start(); + ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_exti_enable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN); +#if AO_MS5607_PRIVATE_PINS + ao_spi_put(AO_MS5607_SPI_INDEX); +#endif + cli(); + while (!ao_ms5607_done) + ao_sleep(&ao_ms5607_done); + sei(); +#if AO_MS5607_PRIVATE_PINS + stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1); +#else + ao_ms5607_stop(); +#endif + + ao_ms5607_start(); + read = AO_MS5607_ADC_READ; + ao_spi_send(&read, 1, AO_MS5607_SPI_INDEX); + ao_spi_recv(&reply, 3, AO_MS5607_SPI_INDEX); + ao_ms5607_stop(); + + return ((uint32_t) reply[0] << 16) | ((uint32_t) reply[1] << 8) | (uint32_t) reply[2]; +} + +void +ao_ms5607_sample(struct ao_ms5607_sample *sample) +{ + sample->pres = ao_ms5607_get_sample(AO_MS5607_CONVERT_D1_2048); + sample->temp = ao_ms5607_get_sample(AO_MS5607_CONVERT_D2_2048); +} + +void +ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value) +{ + uint8_t addr; + int32_t dT; + int32_t TEMP; + int64_t OFF; + int64_t SENS; + int32_t P; + + dT = sample->temp - ((int32_t) ms5607_prom.tref << 8); + + TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23); + + OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6); + + SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7); + + if (TEMP < 2000) { + int32_t T2 = ((int64_t) dT * (int64_t) dT) >> 31; + int32_t TEMPM = TEMP - 2000; + int64_t OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4; + int64_t SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM; + if (TEMP < 1500) { + int32_t TEMPP = TEMP + 1500; + int64_t TEMPP2 = TEMPP * TEMPP; + OFF2 = OFF2 + 15 * TEMPP2; + SENS2 = SENS2 + 8 * TEMPP2; + } + TEMP -= T2; + OFF -= OFF2; + SENS -= SENS2; + } + + value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15; + value->temp = TEMP; +} + +static void +ao_ms5607(void) +{ + ao_ms5607_setup(); + for (;;) + { + ao_ms5607_sample((struct ao_ms5607_sample *) &ao_data_ring[ao_data_head].ms5607_raw); + ao_arch_critical( + AO_DATA_PRESENT(AO_DATA_MS5607); + AO_DATA_WAIT(); + ); + } +} + +__xdata struct ao_task ao_ms5607_task; + +void +ao_ms5607_info(void) +{ + printf ("ms5607 reserved: %u\n", ms5607_prom.reserved); + printf ("ms5607 sens: %u\n", ms5607_prom.sens); + printf ("ms5607 off: %u\n", ms5607_prom.off); + printf ("ms5607 tcs: %u\n", ms5607_prom.tcs); + printf ("ms5607 tco: %u\n", ms5607_prom.tco); + printf ("ms5607 tref: %u\n", ms5607_prom.tref); + printf ("ms5607 tempsens: %u\n", ms5607_prom.tempsens); + printf ("ms5607 crc: %u\n", ms5607_prom.crc); +} + +static void +ao_ms5607_dump(void) +{ + struct ao_ms5607_sample sample; + struct ao_ms5607_value value; + + ao_ms5607_setup(); + ao_ms5607_sample(&sample); + ao_ms5607_convert(&sample, &value); + printf ("Pressure: %8u %8d\n", sample.pres, value.pres); + printf ("Temperature: %8u %8d\n", sample.temp, value.temp); + printf ("Altitude: %ld\n", ao_pa_to_altitude(value.pres)); +} + +__code struct ao_cmds ao_ms5607_cmds[] = { + { ao_ms5607_dump, "B\0Display MS5607 data" }, + { 0, NULL }, +}; + +void +ao_ms5607_init(void) +{ + ms5607_configured = 0; + ao_cmd_register(&ao_ms5607_cmds[0]); + ao_spi_init_cs(AO_MS5607_CS_PORT, (1 << AO_MS5607_CS_PIN)); + +// ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607"); + + /* Configure the MISO pin as an interrupt; when the + * conversion is complete, the MS5607 will raise this + * pin as a signal + */ + ao_exti_setup(AO_MS5607_MISO_PORT, + AO_MS5607_MISO_PIN, + AO_EXTI_MODE_RISING, + ao_ms5607_isr); + + /* Reset the pin from INPUT to ALTERNATE so that SPI works + * This needs an abstraction at some point... + */ + stm_moder_set(AO_MS5607_MISO_PORT, + AO_MS5607_MISO_PIN, + STM_MODER_ALTERNATE); +} + +#endif diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h new file mode 100644 index 00000000..e9c364d9 --- /dev/null +++ b/src/drivers/ao_ms5607.h @@ -0,0 +1,74 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_MS5607_H_ +#define _AO_MS5607_H_ + +#define AO_MS5607_RESET 0x1e + +#define AO_MS5607_CONVERT_D1_256 0x40 +#define AO_MS5607_CONVERT_D1_512 0x42 +#define AO_MS5607_CONVERT_D1_1024 0x44 +#define AO_MS5607_CONVERT_D1_2048 0x46 +#define AO_MS5607_CONVERT_D1_4096 0x48 + +#define AO_MS5607_CONVERT_D2_256 0x50 +#define AO_MS5607_CONVERT_D2_512 0x52 +#define AO_MS5607_CONVERT_D2_1024 0x54 +#define AO_MS5607_CONVERT_D2_2048 0x56 +#define AO_MS5607_CONVERT_D2_4096 0x58 + +#define AO_MS5607_ADC_READ 0x00 +#define AO_MS5607_PROM_READ(ad) (0xA0 | ((ad) << 1)) + +struct ao_ms5607_prom { + uint16_t reserved; + uint16_t sens; + uint16_t off; + uint16_t tcs; + uint16_t tco; + uint16_t tref; + uint16_t tempsens; + uint16_t crc; +}; + +struct ao_ms5607_sample { + uint32_t pres; /* raw 24 bit sensor */ + uint32_t temp; /* raw 24 bit sensor */ +}; + +struct ao_ms5607_value { + int32_t pres; /* in Pa * 10 */ + int32_t temp; /* in °C * 100 */ +}; + +void +ao_ms5607_init(void); + +void +ao_ms5607_info(void); + +void +ao_ms5607_sample(struct ao_ms5607_sample *sample); + +void +ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value); + +void +ao_ms5607_get_prom(struct ao_ms5607_prom *prom); + +#endif /* _AO_MS5607_H_ */ diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c new file mode 100644 index 00000000..d813b25f --- /dev/null +++ b/src/drivers/ao_packet.c @@ -0,0 +1,176 @@ +/* + * Copyright © 2009 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" + +__xdata struct ao_packet_recv ao_rx_packet; +__xdata struct ao_packet ao_tx_packet; +__pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; + +static __xdata char tx_data[AO_PACKET_MAX]; +static __xdata char rx_data[AO_PACKET_MAX]; +static __pdata uint8_t rx_seq; + +__xdata struct ao_task ao_packet_task; +__xdata uint8_t ao_packet_enable; + +#if PACKET_HAS_MASTER +__xdata uint8_t ao_packet_master_sleeping; +__xdata uint8_t ao_packet_last_rssi; +#endif + +void +ao_packet_send(void) +{ +#ifdef AO_LED_RED + ao_led_on(AO_LED_RED); +#endif + /* If any tx data is pending then copy it into the tx packet */ + if (ao_packet_tx_used && ao_tx_packet.len == 0) { + ao_xmemcpy(&ao_tx_packet.d, tx_data, ao_packet_tx_used); + ao_tx_packet.len = ao_packet_tx_used; + ao_tx_packet.seq++; + ao_packet_tx_used = 0; + ao_wakeup(&tx_data); + } + ao_radio_send(&ao_tx_packet, sizeof (ao_tx_packet)); +#ifdef AO_LED_RED + ao_led_off(AO_LED_RED); +#endif +} + +uint8_t +ao_packet_recv(void) +{ + uint8_t dma_done; + +#ifdef AO_LED_GREEN + ao_led_on(AO_LED_GREEN); +#endif + dma_done = ao_radio_recv(&ao_rx_packet, sizeof (struct ao_packet_recv)); +#ifdef AO_LED_GREEN + ao_led_off(AO_LED_GREEN); +#endif +#if AO_PROFILE + { + extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick; + extern uint32_t ao_fec_decode_start, ao_fec_decode_end; + + printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick); + printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick); + printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start); + printf ("rx cleanup: %d\n\n", ao_rx_done_tick - ao_fec_decode_end); + flush(); + } +#endif + + /* Check to see if we got a valid packet */ + if (!dma_done) + return 0; + if (!(ao_rx_packet.status & AO_RADIO_STATUS_CRC_OK)) + return 0; + +#if PACKET_HAS_MASTER + ao_packet_last_rssi = ao_rx_packet.rssi; +#endif + /* Accept packets with matching call signs, or any packet if + * our callsign hasn't been configured + */ + if (ao_xmemcmp(ao_rx_packet.packet.callsign, + ao_config.callsign, + AO_MAX_CALLSIGN) != 0 && + ao_xmemcmp(ao_config.callsign, CODE_TO_XDATA("N0CALL"), 7) != 0) + return 0; + + /* SYN packets carry no data */ + if (ao_rx_packet.packet.len == AO_PACKET_SYN) { + rx_seq = ao_rx_packet.packet.seq; + ao_tx_packet.seq = ao_rx_packet.packet.ack; + ao_tx_packet.ack = rx_seq; + } else if (ao_rx_packet.packet.len) { + + /* Check for incoming data at the next sequence and + * for an empty data buffer + */ + if (ao_rx_packet.packet.seq == (uint8_t) (rx_seq + (uint8_t) 1) && + ao_packet_rx_used == ao_packet_rx_len) { + + /* Copy data to the receive data buffer and set up the + * offsets + */ + ao_xmemcpy(rx_data, ao_rx_packet.packet.d, ao_rx_packet.packet.len); + ao_packet_rx_used = 0; + ao_packet_rx_len = ao_rx_packet.packet.len; + + /* Mark the sequence that we've received to + * let the sender know when we return a packet + */ + rx_seq = ao_rx_packet.packet.seq; + ao_tx_packet.ack = rx_seq; + + /* Poke anyone looking for received data */ + ao_wakeup(&ao_stdin_ready); + } + } + + /* If the other side has seen the latest data we queued, + * wake up any task waiting to send data and let them go again + */ + if (ao_rx_packet.packet.ack == ao_tx_packet.seq) { + ao_tx_packet.len = 0; + ao_wakeup(&ao_tx_packet); + } + return 1; +} + +#if PACKET_HAS_MASTER +void +ao_packet_flush(void) +{ + /* If there is data to send, and this is the master, + * then poke the master to send all queued data + */ + if (ao_packet_tx_used && ao_packet_master_sleeping) + ao_wakeup(&ao_packet_master_sleeping); +} +#endif /* PACKET_HAS_MASTER */ + +void +ao_packet_putchar(char c) __reentrant +{ + while (ao_packet_tx_used == AO_PACKET_MAX && ao_packet_enable) { +#if PACKET_HAS_MASTER + ao_packet_flush(); +#endif + ao_sleep(&tx_data); + } + + if (ao_packet_enable) + tx_data[ao_packet_tx_used++] = c; +} + +char +ao_packet_pollchar(void) __critical +{ + if (!ao_packet_enable) + return AO_READ_AGAIN; + + if (ao_packet_rx_used == ao_packet_rx_len) + return AO_READ_AGAIN; + + return rx_data[ao_packet_rx_used++]; +} diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c new file mode 100644 index 00000000..e97a6648 --- /dev/null +++ b/src/drivers/ao_packet_master.c @@ -0,0 +1,156 @@ +/* + * Copyright © 2009 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" + +static char +ao_packet_getchar(void) __critical +{ + char c; + while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) { + if (!ao_packet_enable) + break; + if (ao_packet_master_sleeping) + ao_wakeup(&ao_packet_master_sleeping); + flush(); + ao_sleep(&ao_stdin_ready); + } + return c; +} + +static void +ao_packet_echo(void) __reentrant +{ + char c; + while (ao_packet_enable) { + c = ao_packet_getchar(); + if (c != AO_READ_AGAIN) + putchar(c); + } + ao_exit(); +} + +static __xdata struct ao_task ao_packet_echo_task; +static __xdata uint16_t ao_packet_master_delay; +static __xdata uint16_t ao_packet_master_time; + +#define AO_PACKET_MASTER_DELAY_SHORT AO_MS_TO_TICKS(100) +#define AO_PACKET_MASTER_DELAY_LONG AO_MS_TO_TICKS(1000) +#define AO_PACKET_MASTER_DELAY_TIMEOUT AO_MS_TO_TICKS(2000) + +static void +ao_packet_master_busy(void) +{ + ao_packet_master_delay = AO_PACKET_MASTER_DELAY_SHORT; + ao_packet_master_time = ao_time(); +} + +static void +ao_packet_master_check_busy(void) +{ + int16_t idle; + if (ao_packet_master_delay != AO_PACKET_MASTER_DELAY_SHORT) + return; + idle = (int16_t) (ao_time() - ao_packet_master_time); + + if (idle > AO_PACKET_MASTER_DELAY_TIMEOUT) + ao_packet_master_delay = AO_PACKET_MASTER_DELAY_LONG; +} + +void +ao_packet_master(void) +{ + ao_config_get(); + ao_tx_packet.addr = ao_serial_number; + ao_tx_packet.len = AO_PACKET_SYN; + ao_packet_master_time = ao_time(); + ao_packet_master_delay = AO_PACKET_MASTER_DELAY_SHORT; + while (ao_packet_enable) { + uint8_t r; + ao_xmemcpy(ao_tx_packet.callsign, ao_config.callsign, AO_MAX_CALLSIGN); + ao_packet_send(); + if (ao_tx_packet.len) + ao_packet_master_busy(); + ao_packet_master_check_busy(); + ao_alarm(ao_packet_master_delay); + r = ao_packet_recv(); + ao_clear_alarm(); + if (r) { + /* if we can transmit data, do so */ + if (ao_packet_tx_used && ao_tx_packet.len == 0) + continue; + if (ao_rx_packet.packet.len) + ao_packet_master_busy(); + ao_packet_master_sleeping = 1; + ao_alarm(ao_packet_master_delay); + ao_sleep(&ao_packet_master_sleeping); + ao_clear_alarm(); + ao_packet_master_sleeping = 0; + } + } + ao_exit(); +} + +static void +ao_packet_forward(void) __reentrant +{ + char c; + ao_packet_enable = 1; + ao_cmd_white(); + + flush(); +#if HAS_MONITOR + ao_monitor_disable(); +#endif + ao_add_task(&ao_packet_task, ao_packet_master, "master"); + ao_add_task(&ao_packet_echo_task, ao_packet_echo, "echo"); + while ((c = getchar()) != '~') { + if (c == '\r') c = '\n'; + ao_packet_putchar(c); + } + + /* Wait for a second if there is any pending data */ + for (c = 0; (ao_packet_tx_used || ao_tx_packet.len) && c < 10; c++) + ao_delay(AO_MS_TO_TICKS(100)); + ao_packet_enable = 0; + while (ao_packet_echo_task.wchan || ao_packet_task.wchan) { + ao_radio_recv_abort(); + ao_wakeup(&ao_stdin_ready); + ao_delay(AO_MS_TO_TICKS(10)); + } +#if HAS_MONITOR + ao_monitor_enable(); +#endif +} + +static void +ao_packet_signal(void) +{ + printf ("RSSI: %d\n", AO_RSSI_FROM_RADIO(ao_packet_last_rssi)); +} + +__code struct ao_cmds ao_packet_master_cmds[] = { + { ao_packet_forward, "p\0Remote packet link." }, + { ao_packet_signal, "s\0Report signal strength." }, + { 0, NULL }, +}; + +void +ao_packet_master_init(void) +{ + ao_cmd_register(&ao_packet_master_cmds[0]); +} diff --git a/src/drivers/ao_packet_slave.c b/src/drivers/ao_packet_slave.c new file mode 100644 index 00000000..fd5d443e --- /dev/null +++ b/src/drivers/ao_packet_slave.c @@ -0,0 +1,66 @@ +/* + * Copyright © 2009 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" + +void +ao_packet_slave(void) +{ + ao_tx_packet.addr = ao_serial_number; + ao_tx_packet.len = AO_PACKET_SYN; + while (ao_packet_enable) { + if (ao_packet_recv()) { + ao_xmemcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN); +#if HAS_FLIGHT + ao_flight_force_idle = TRUE; +#endif + ao_packet_send(); + } + } + ao_exit(); +} + +void +ao_packet_slave_start(void) +{ + if (!ao_packet_enable) { + ao_packet_enable = 1; + ao_add_task(&ao_packet_task, ao_packet_slave, "slave"); + } +} + +void +ao_packet_slave_stop(void) +{ + if (ao_packet_enable) { + ao_packet_enable = 0; + while (ao_packet_task.wchan) { + ao_radio_recv_abort(); + ao_delay(AO_MS_TO_TICKS(10)); + } + } +} + +void +ao_packet_slave_init(uint8_t enable) +{ + ao_add_stdio(ao_packet_pollchar, + ao_packet_putchar, + NULL); + if (enable) + ao_packet_slave_start(); +} diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c new file mode 100644 index 00000000..55e6289d --- /dev/null +++ b/src/drivers/ao_pad.c @@ -0,0 +1,356 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_pad.h> +#include <ao_74hc497.h> +#include <ao_radio_cmac.h> + +static __xdata uint8_t ao_pad_ignite; +static __xdata struct ao_pad_command command; +static __xdata struct ao_pad_query query; +static __pdata uint8_t ao_pad_armed; +static __pdata uint16_t ao_pad_arm_time; +static __pdata uint8_t ao_pad_box; +static __xdata uint8_t ao_pad_disabled; + +#define DEBUG 1 + +#if DEBUG +static __pdata uint8_t ao_pad_debug; +#define PRINTD(...) (ao_pad_debug ? (printf(__VA_ARGS__), 0) : 0) +#define FLUSHD() (ao_pad_debug ? (flush(), 0) : 0) +#else +#define PRINTD(...) +#define FLUSHD() +#endif + +static void +ao_pad_run(void) +{ + for (;;) { + while (!ao_pad_ignite) + ao_sleep(&ao_pad_ignite); + /* + * Actually set the pad bits + */ + AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite; + while (ao_pad_ignite) { + ao_pad_ignite = 0; + ao_delay(AO_PAD_FIRE_TIME); + } + AO_PAD_PORT &= ~(AO_PAD_ALL_PINS); + } +} + +#define AO_PAD_ARM_BEEP_INTERVAL 200 + +static void +ao_pad_monitor(void) +{ + uint8_t c; + uint8_t sample; + __pdata uint8_t prev = 0, cur = 0; + __pdata uint8_t beeping = 0; + __xdata struct ao_data *packet; + __pdata uint16_t arm_beep_time = 0; + + sample = ao_data_head; + for (;;) { + __pdata int16_t pyro; + ao_arch_critical( + while (sample == ao_data_head) + ao_sleep((void *) DATA_TO_XDATA(&ao_data_head)); + ); + + packet = &ao_data_ring[sample]; + sample = ao_data_ring_next(sample); + + pyro = packet->adc.pyro; + +#define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0)) + + cur = 0; + if (pyro > VOLTS_TO_PYRO(10)) { + query.arm_status = AO_PAD_ARM_STATUS_ARMED; + cur |= AO_LED_ARMED; + } else if (pyro < VOLTS_TO_PYRO(5)) { + query.arm_status = AO_PAD_ARM_STATUS_DISARMED; + arm_beep_time = 0; + } else { + if ((ao_time() % 100) < 50) + cur |= AO_LED_ARMED; + query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN; + arm_beep_time = 0; + } + + for (c = 0; c < AO_PAD_NUM; c++) { + int16_t sense = packet->adc.sense[c]; + uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN; + + /* + * pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20 + * v_pyro = pyro * 127 / 27 + * + * v_pyro \ + * 100k igniter + * output / + * 100k \ + * sense relay + * 27k / + * gnd --- + * + * If the relay is closed, then sense will be 0 + * If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2 + * If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro + */ + + if (sense <= pyro / 8) { + status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED; + if ((ao_time() % 100) < 50) + cur |= AO_LED_CONTINUITY(c); + } + else if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5) + status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN; + else if (pyro / 8 * 7 <= sense) { + status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN; + cur |= AO_LED_CONTINUITY(c); + } + query.igniter_status[c] = status; + } + if (cur != prev) { + PRINTD("change leds from %02x to %02x mask %02x\n", + prev, cur, AO_LED_CONTINUITY_MASK|AO_LED_ARMED); + ao_led_set_mask(cur, AO_LED_CONTINUITY_MASK | AO_LED_ARMED); + prev = cur; + } + + if (ao_pad_armed) { + if (sample & 2) + ao_beep(AO_BEEP_HIGH); + else + ao_beep(AO_BEEP_LOW); + beeping = 1; + } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) { + if (arm_beep_time == 0) { + arm_beep_time = AO_PAD_ARM_BEEP_INTERVAL; + beeping = 1; + ao_beep(AO_BEEP_HIGH); + } + --arm_beep_time; + } else if (beeping) { + beeping = 0; + ao_beep(0); + } + } +} + +void +ao_pad_disable(void) +{ + if (!ao_pad_disabled) { + ao_pad_disabled = 1; + ao_radio_recv_abort(); + } +} + +void +ao_pad_enable(void) +{ + ao_pad_disabled = 0; + ao_wakeup (&ao_pad_disabled); +} + +static void +ao_pad(void) +{ + int16_t time_difference; + int8_t ret; + + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + ao_pad_box = 0; + ao_led_set(0); + ao_led_on(AO_LED_POWER); + for (;;) { + FLUSHD(); + while (ao_pad_disabled) + ao_sleep(&ao_pad_disabled); + ret = ao_radio_cmac_recv(&command, sizeof (command), 0); + PRINTD ("cmac_recv %d\n", ret); + if (ret != AO_RADIO_CMAC_OK) + continue; + + PRINTD ("tick %d box %d cmd %d channels %02x\n", + command.tick, command.box, command.cmd, command.channels); + + if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME) + ao_pad_armed = 0; + + switch (command.cmd) { + case AO_LAUNCH_ARM: + if (command.box != ao_pad_box) { + PRINTD ("box number mismatch\n"); + break; + } + + if (command.channels & ~(AO_PAD_ALL_PINS)) + break; + + time_difference = command.tick - ao_time(); + PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time()); + if (time_difference < 0) + time_difference = -time_difference; + if (time_difference > 10) { + PRINTD ("time difference too large %d\n", time_difference); + break; + } + PRINTD ("armed\n"); + ao_pad_armed = command.channels; + ao_pad_arm_time = ao_time(); + + /* fall through ... */ + + case AO_LAUNCH_QUERY: + if (command.box != ao_pad_box) { + PRINTD ("box number mismatch\n"); + break; + } + + query.tick = ao_time(); + query.box = ao_pad_box; + query.channels = AO_PAD_ALL_PINS; + query.armed = ao_pad_armed; + PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n", + query.tick, query.box, query.channels, query.armed, + query.arm_status, + query.igniter_status[0], + query.igniter_status[1], + query.igniter_status[2], + query.igniter_status[3]); + ao_radio_cmac_send(&query, sizeof (query)); + break; + case AO_LAUNCH_FIRE: + if (!ao_pad_armed) { + PRINTD ("not armed\n"); + break; + } + if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) { + PRINTD ("late pad arm_time %d time %d\n", + ao_pad_arm_time, ao_time()); + break; + } + time_difference = command.tick - ao_time(); + if (time_difference < 0) + time_difference = -time_difference; + if (time_difference > 10) { + PRINTD ("time different too large %d\n", time_difference); + break; + } + PRINTD ("ignite\n"); + ao_pad_ignite = ao_pad_armed; + ao_pad_arm_time = ao_time(); + ao_wakeup(&ao_pad_ignite); + break; + } + } +} + +void +ao_pad_test(void) +{ + uint8_t c; + + printf ("Arm switch: "); + switch (query.arm_status) { + case AO_PAD_ARM_STATUS_ARMED: + printf ("Armed\n"); + break; + case AO_PAD_ARM_STATUS_DISARMED: + printf ("Disarmed\n"); + break; + case AO_PAD_ARM_STATUS_UNKNOWN: + printf ("Unknown\n"); + break; + } + + for (c = 0; c < AO_PAD_NUM; c++) { + printf ("Pad %d: "); + switch (query.igniter_status[c]) { + case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED: printf ("No igniter. Relay closed\n"); break; + case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN: printf ("No igniter. Relay open\n"); break; + case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN: printf ("Good igniter. Relay open\n"); break; + case AO_PAD_IGNITER_STATUS_UNKNOWN: printf ("Unknown\n"); break; + } + } +} + +void +ao_pad_manual(void) +{ + 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); +} + +static __xdata struct ao_task ao_pad_task; +static __xdata struct ao_task ao_pad_ignite_task; +static __xdata struct ao_task ao_pad_monitor_task; + +#if DEBUG +void +ao_pad_set_debug(void) +{ + ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) + ao_pad_debug = ao_cmd_lex_i != 0; +} +#endif + +__code struct ao_cmds ao_pad_cmds[] = { + { ao_pad_test, "t\0Test pad continuity" }, + { ao_pad_manual, "i <key> <n>\0Fire igniter. <key> is doit with D&I" }, +#if DEBUG + { ao_pad_set_debug, "D <0 off, 1 on>\0Debug" }, +#endif + { 0, NULL } +}; + +void +ao_pad_init(void) +{ +#if AO_PAD_NUM > 0 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0); +#endif +#if AO_PAD_NUM > 1 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0); +#endif +#if AO_PAD_NUM > 2 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0); +#endif +#if AO_PAD_NUM > 3 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0); +#endif + ao_cmd_register(&ao_pad_cmds[0]); + ao_add_task(&ao_pad_task, ao_pad, "pad listener"); + ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter"); + ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor"); +} diff --git a/src/drivers/ao_pad.h b/src/drivers/ao_pad.h new file mode 100644 index 00000000..23062899 --- /dev/null +++ b/src/drivers/ao_pad.h @@ -0,0 +1,75 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PAD_H_ +#define _AO_PAD_H_ + +#define AO_PAD_MAX_CHANNELS 8 +#define AO_PAD_MAX_BOXES 100 + +struct ao_pad_command { + uint16_t tick; + uint16_t box; + uint8_t cmd; + uint8_t channels; +}; + +/* Report current telefire status. + */ + +#define AO_PAD_QUERY 1 + +struct ao_pad_query { + uint16_t tick; /* telefire tick */ + uint16_t box; /* telefire box number */ + uint8_t channels; /* which chanels are present */ + uint8_t armed; /* which channels are armed */ + uint8_t arm_status; /* status of arming switch */ + uint8_t igniter_status[AO_PAD_MAX_CHANNELS]; /* status for each igniter */ +}; + +/* Arm pads for 3 seconds, no report + */ +#define AO_PAD_ARM 2 + +#define AO_PAD_ARM_TIME AO_SEC_TO_TICKS(3) + +/* Fire current armed pads for 200ms, no report + */ +#define AO_PAD_FIRE 3 + +#define AO_PAD_FIRE_TIME AO_MS_TO_TICKS(200) + +#define AO_PAD_ARM_STATUS_DISARMED 0 +#define AO_PAD_ARM_STATUS_ARMED 1 +#define AO_PAD_ARM_STATUS_UNKNOWN 2 + +#define AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN 0 +#define AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN 1 +#define AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED 2 +#define AO_PAD_IGNITER_STATUS_UNKNOWN 3 + +void +ao_pad_init(void); + +void +ao_pad_disable(void); + +void +ao_pad_enable(void); + +#endif /* _AO_PAD_H_ */ diff --git a/src/drivers/ao_pca9922.c b/src/drivers/ao_pca9922.c new file mode 100644 index 00000000..6d8d18d8 --- /dev/null +++ b/src/drivers/ao_pca9922.c @@ -0,0 +1,86 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* + * PCA9922 LED driver. This uses SPI to send a single byte to the device to + * set the current state of the LEDs using the existing LED interface + */ + +#include <ao.h> + +static __xdata uint8_t ao_led_state; + +static void +ao_led_apply(void) +{ + /* Don't try the SPI bus during initialization */ + if (!ao_cur_task) + return; + ao_spi_get_bit(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, AO_PCA9922_SPI_BUS, AO_SPI_SPEED_FAST); + ao_spi_send(&ao_led_state, 1, AO_PCA9922_SPI_BUS); + ao_spi_put_bit(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, AO_PCA9922_SPI_BUS); +} + +void +ao_led_on(uint8_t colors) +{ + ao_led_state |= colors; + ao_led_apply(); +} + +void +ao_led_off(uint8_t colors) +{ + ao_led_state &= ~colors; + ao_led_apply(); +} + +void +ao_led_set(uint8_t colors) +{ + ao_led_state = colors; + ao_led_apply(); +} + +void +ao_led_set_mask(uint8_t colors, uint8_t mask) +{ + ao_led_state = (ao_led_state & ~mask) | (colors & mask); + ao_led_apply(); +} + +void +ao_led_toggle(uint8_t colors) +{ + ao_led_state ^= colors; + ao_led_apply(); +} + +void +ao_led_for(uint8_t colors, uint16_t ticks) __reentrant +{ + ao_led_on(colors); + ao_delay(ticks); + ao_led_off(colors); +} + +void +ao_led_init(uint8_t enable) +{ + (void) enable; + ao_enable_output(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, 1); +} diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c new file mode 100644 index 00000000..f07c2cba --- /dev/null +++ b/src/drivers/ao_pyro_slave.c @@ -0,0 +1,63 @@ +/* + * 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_product.h> +#include <ao_companion.h> +#include <ao_flight.h> +#include <ao_pyro.h> + +struct ao_companion_command ao_companion_command; + +static const struct ao_companion_setup ao_telepyro_setup = { + .board_id = AO_idProduct_NUMBER, + .board_id_inverse = ~AO_idProduct_NUMBER, + .update_period = 50, + .channels = AO_TELEPYRO_NUM_ADC, +}; + +struct ao_config ao_config; + +extern volatile __data uint16_t ao_tick_count; +uint16_t ao_boost_tick; + +void ao_spi_slave(void) +{ + if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command, + sizeof (ao_companion_command))) + return; + + /* Figure out the outbound data */ + switch (ao_companion_command.command) { + case AO_COMPANION_SETUP: + ao_spi_slave_send((uint8_t *) &ao_telepyro_setup, + sizeof (ao_telepyro_setup)); + break; + case AO_COMPANION_FETCH: + ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.adc, + AO_TELEPYRO_NUM_ADC * sizeof (uint16_t)); + break; + case AO_COMPANION_NOTIFY: + /* Can't use ao_time because we have interrupts suspended */ + if (ao_companion_command.flight_state < ao_flight_boost && ao_companion_command.flight_state >= ao_flight_boost) + ao_boost_tick = ao_tick_count; + ao_wakeup(&ao_pyro_wakeup); + break; + default: + return; + } +} diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c new file mode 100644 index 00000000..6cc2467a --- /dev/null +++ b/src/drivers/ao_quadrature.c @@ -0,0 +1,134 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_quadrature.h> +#include <ao_exti.h> +#if AO_EVENT +#include <ao_event.h> +#define ao_quadrature_queue(q) ao_event_put_isr(AO_EVENT_QUADRATURE, q, ao_quadrature_count[q]) +#else +#define ao_quadrature_queue(q) +#endif + +__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT]; + +static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT]; + +#define BIT(a,b) ((a) | ((b) << 1)) +#define STATE(old_a, old_b, new_a, new_b) (((BIT(old_a, old_b) << 2) | BIT(new_a, new_b))) + +#define port(q) AO_QUADRATURE_ ## q ## _PORT +#define bita(q) AO_QUADRATURE_ ## q ## _A +#define bitb(q) AO_QUADRATURE_ ## q ## _B + +#define ao_quadrature_update(q) do { \ + ao_quadrature_state[q] = ((ao_quadrature_state[q] & 3) << 2); \ + ao_quadrature_state[q] |= ao_gpio_get(port(q), bita(q), 0); \ + ao_quadrature_state[q] |= ao_gpio_get(port(q), bitb(q), 0) << 1; \ + } while (0) + + +static void +ao_quadrature_isr(void) +{ + uint8_t q; +#if AO_QUADRATURE_COUNT > 0 + ao_quadrature_update(0); +#endif +#if AO_QUADRATURE_COUNT > 1 + ao_quadrature_update(1); +#endif + + for (q = 0; q < AO_QUADRATURE_COUNT; q++) { + switch (ao_quadrature_state[q]) { + case STATE(0, 1, 0, 0): + ao_quadrature_count[q]++; + break; + case STATE(1, 0, 0, 0): + ao_quadrature_count[q]--; + break; + default: + continue; + } + ao_quadrature_queue(q); + ao_wakeup(&ao_quadrature_count[q]); + } +} + +int32_t +ao_quadrature_poll(uint8_t q) +{ + int32_t ret; + ao_arch_critical(ret = ao_quadrature_count[q];); + return ret; +} + +int32_t +ao_quadrature_wait(uint8_t q) +{ + ao_sleep(&ao_quadrature_count[q]); + return ao_quadrature_poll(q); +} + +static void +ao_quadrature_test(void) +{ + uint8_t q; + + ao_cmd_decimal(); + q = ao_cmd_lex_i; + for (;;) { + int32_t c; + flush(); + c = ao_quadrature_wait(q); + printf ("new count %6d\n", c); + if (c == 100) + break; + } +} + +static const struct ao_cmds ao_quadrature_cmds[] = { + { ao_quadrature_test, "q <unit>\0Test quadrature" }, + { 0, NULL } +}; + +#define init(q) do { \ + ao_enable_port(port(q)); \ + \ + ao_exti_setup(port(q), bita(q), \ + AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \ + ao_quadrature_isr); \ + ao_exti_enable(port(q), bita(q)); \ + \ + ao_exti_setup(port(q), bitb(q), \ + AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \ + ao_quadrature_isr); \ + ao_exti_enable(port(q), bitb(q)); \ + } while (0) + +void +ao_quadrature_init(void) +{ +#if AO_QUADRATURE_COUNT > 0 + init(0); +#endif +#if AO_QUADRATURE_COUNT > 1 + init(1); +#endif + ao_cmd_register(&ao_quadrature_cmds[0]); +} diff --git a/src/drivers/ao_quadrature.h b/src/drivers/ao_quadrature.h new file mode 100644 index 00000000..d7dda682 --- /dev/null +++ b/src/drivers/ao_quadrature.h @@ -0,0 +1,32 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_QUADRATURE_H_ +#define _AO_QUADRATURE_H_ + +extern __xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT]; + +int32_t +ao_quadrature_wait(uint8_t q); + +int32_t +ao_quadrature_poll(uint8_t q); + +void +ao_quadrature_init(void); + +#endif /* _AO_QUADRATURE_H_ */ diff --git a/src/drivers/ao_radio_master.c b/src/drivers/ao_radio_master.c new file mode 100644 index 00000000..73ac3c03 --- /dev/null +++ b/src/drivers/ao_radio_master.c @@ -0,0 +1,314 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_radio_spi.h> +#include <ao_exti.h> +#include <ao_radio_cmac.h> + +static __xdata struct ao_radio_spi_reply ao_radio_spi_reply; +static __xdata struct ao_radio_spi_request ao_radio_spi_request; +static volatile __xdata uint8_t ao_radio_wait_mode; +static volatile __xdata uint8_t ao_radio_done = 0; +static volatile __xdata uint8_t ao_radio_ready = 1; +static __xdata uint8_t ao_radio_mutex; +static __xdata uint8_t ao_radio_aes_seq; + +__xdata int8_t ao_radio_cmac_rssi; + +#if 0 +#define PRINTD(...) do { printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0) +#else +#define PRINTD(...) +#endif + +static void +ao_radio_isr(void) +{ + if (ao_gpio_get(AO_RADIO_INT_PORT, AO_RADIO_INT_PIN, AO_RADIO_INT)) { + ao_radio_ready = 1; + ao_wakeup((void *) &ao_radio_ready); + } else { + ao_radio_done = 1; + ao_wakeup((void *) &ao_radio_done); + } +} + +static void +ao_radio_master_start(void) +{ + ao_spi_get_bit(AO_RADIO_CS_PORT, AO_RADIO_CS_PIN, AO_RADIO_CS, + AO_RADIO_SPI_BUS, + AO_SPI_SPEED_200kHz); +} + +static void +ao_radio_master_stop(void) +{ + ao_spi_put_bit(AO_RADIO_CS_PORT, AO_RADIO_CS_PIN, AO_RADIO_CS, + AO_RADIO_SPI_BUS); +} + +static uint8_t +ao_radio_master_send(void) +{ + uint8_t ret; + + PRINTD("send %d\n", ao_radio_spi_request.len); + ao_radio_done = 0; + + /* Wait for radio chip to be ready for a command + */ + + PRINTD("Waiting radio ready\n"); + cli(); + ao_radio_ready = ao_gpio_get(AO_RADIO_INT_PORT, + AO_RADIO_INT_PIN, AO_RADIO_INT); + ret = 0; + while (!ao_radio_ready) { + ret = ao_sleep((void *) &ao_radio_ready); + if (ret) + break; + } + sei(); + if (ret) + return 0; + + PRINTD("radio_ready %d radio_done %d\n", ao_radio_ready, ao_radio_done); + + /* Send the command + */ + ao_radio_wait_mode = 0; + ao_radio_master_start(); + ao_spi_send(&ao_radio_spi_request, + ao_radio_spi_request.len, + AO_RADIO_SPI_BUS); + ao_radio_master_stop(); + PRINTD("waiting for send done %d\n", ao_radio_done); + cli(); + while (!ao_radio_done) + if (ao_sleep((void *) &ao_radio_done)) + break; + sei(); + PRINTD ("sent, radio done %d isr_0 %d isr_1 %d\n", ao_radio_done, isr_0_count, isr_1_count); + return ao_radio_done; +} + +static void +ao_radio_get(uint8_t req, uint8_t len) +{ + ao_config_get(); + ao_mutex_get(&ao_radio_mutex); + ao_radio_spi_request.len = AO_RADIO_SPI_REQUEST_HEADER_LEN + len; + ao_radio_spi_request.request = req; + ao_radio_spi_request.setting = ao_config.radio_setting; +} + +static void +ao_radio_put(void) +{ + ao_mutex_put(&ao_radio_mutex); +} + +static void +ao_radio_get_data(__xdata void *d, uint8_t size) +{ + PRINTD ("fetch\n"); + ao_radio_master_start(); + ao_spi_recv(&ao_radio_spi_reply, + AO_RADIO_SPI_REPLY_HEADER_LEN + size, + AO_RADIO_SPI_BUS); + ao_radio_master_stop(); + ao_xmemcpy(d, ao_radio_spi_reply.payload, size); + PRINTD ("fetched %d\n", size); +} + +void +ao_radio_recv_abort(void) +{ + ao_radio_get(AO_RADIO_SPI_RECV_ABORT, 0); + ao_radio_master_send(); + ao_radio_put(); +} + +void +ao_radio_send(const void *d, uint8_t size) +{ + ao_radio_get(AO_RADIO_SPI_SEND, size); + ao_xmemcpy(&ao_radio_spi_request.payload, d, size); + ao_radio_master_send(); + ao_radio_put(); +} + + +uint8_t +ao_radio_recv(__xdata void *d, uint8_t size) +{ + int8_t ret; + uint8_t recv; + + /* Recv the data + */ + + ao_radio_get(AO_RADIO_SPI_RECV, 0); + ao_radio_spi_request.recv_len = size; + recv = ao_radio_master_send(); + if (!recv) { + ao_radio_put(); + ao_radio_recv_abort(); + return 0; + } + ao_radio_get_data(d, size); + recv = ao_radio_spi_reply.status; + ao_radio_put(); + + return recv; +} + +static void +ao_radio_cmac_set_key(void) +{ + if (ao_radio_aes_seq == ao_config_aes_seq) + return; + /* Set the key. + */ + PRINTD ("set key\n"); + ao_radio_get(AO_RADIO_SPI_CMAC_KEY, AO_AES_LEN); + ao_xmemcpy(&ao_radio_spi_request.payload, &ao_config.aes_key, AO_AES_LEN); + ao_radio_master_send(); + ao_radio_put(); + PRINTD ("key set\n"); + ao_radio_aes_seq = ao_config_aes_seq; +} + +int8_t +ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant +{ + if (len > AO_CMAC_MAX_LEN) + return AO_RADIO_CMAC_LEN_ERROR; + + ao_radio_cmac_set_key(); + + PRINTD ("cmac_send: send %d\n", len); + + /* Send the data + */ + + PRINTD ("sending packet\n"); + ao_radio_get(AO_RADIO_SPI_CMAC_SEND, len); + ao_xmemcpy(&ao_radio_spi_request.payload, packet, len); + ao_radio_master_send(); + ao_radio_put(); + PRINTD ("packet sent\n"); + return AO_RADIO_CMAC_OK; +} + +int8_t +ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant +{ + int8_t ret; + int8_t recv; + + if (len > AO_CMAC_MAX_LEN) + return AO_RADIO_CMAC_LEN_ERROR; + + ao_radio_cmac_set_key(); + + /* Recv the data + */ + PRINTD ("queuing recv\n"); + ao_radio_get(AO_RADIO_SPI_CMAC_RECV, 0); + ao_radio_spi_request.recv_len = len; + ao_radio_spi_request.timeout = timeout; + recv = ao_radio_master_send(); + PRINTD ("recv queued: %d\n", recv); + if (!recv) { + ao_radio_put(); + ao_radio_recv_abort(); + return AO_RADIO_CMAC_TIMEOUT; + } + + PRINTD ("fetching data\n"); + ao_radio_get_data(packet, len); + recv = ao_radio_spi_reply.status; + ao_radio_cmac_rssi = ao_radio_spi_reply.rssi; + ao_radio_put(); + PRINTD ("data fetched: %d %d\n", recv, ao_radio_cmac_rssi); + return recv; +} + +static uint8_t ao_radio_test_on; + +void +ao_radio_test(uint8_t on) +{ + if (on) { + if (!ao_radio_test_on) { + ao_radio_get(AO_RADIO_SPI_TEST_ON, 0); + ao_radio_test_on = 1; + ao_radio_master_send(); + } + } else { + if (ao_radio_test_on) { + ao_radio_spi_request.len = AO_RADIO_SPI_REQUEST_HEADER_LEN; + ao_radio_spi_request.request = AO_RADIO_SPI_TEST_OFF; + ao_radio_master_send(); + ao_radio_test_on = 0; + ao_radio_put(); + } + } +} + +static void +ao_radio_test_cmd(void) +{ + uint8_t mode = 2; + ao_cmd_white(); + if (ao_cmd_lex_c != '\n') { + ao_cmd_decimal(); + mode = (uint8_t) ao_cmd_lex_u32; + } + mode++; + if ((mode & 2)) + ao_radio_test(1); + if (mode == 3) { + printf ("Hit a character to stop..."); flush(); + getchar(); + putchar('\n'); + } + if ((mode & 1)) + ao_radio_test(0); +} + +__code struct ao_cmds ao_radio_cmds[] = { + { ao_radio_test_cmd, "C <1 start, 0 stop, none both>\0Radio carrier test" }, + { 0, NULL }, +}; + +void +ao_radio_init(void) +{ + ao_spi_init_cs(AO_RADIO_CS_PORT, (1 << AO_RADIO_CS_PIN)); + + ao_enable_port(AO_RADIO_INT_PORT); + ao_exti_setup(AO_RADIO_INT_PORT, + AO_RADIO_INT_PIN, + AO_EXTI_MODE_RISING|AO_EXTI_MODE_FALLING, + ao_radio_isr); + ao_exti_enable(AO_RADIO_INT_PORT, AO_RADIO_INT_PIN); + ao_cmd_register(&ao_radio_cmds[0]); +} diff --git a/src/drivers/ao_radio_slave.c b/src/drivers/ao_radio_slave.c new file mode 100644 index 00000000..1d1f16fe --- /dev/null +++ b/src/drivers/ao_radio_slave.c @@ -0,0 +1,131 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_radio_spi.h> +#include <ao_radio_cmac.h> + +static __xdata struct ao_radio_spi_reply ao_radio_spi_reply; + +static __xdata struct ao_radio_spi_request ao_radio_spi_request; + +static __xdata uint8_t slave_state; + +static void +ao_radio_slave_low(void) +{ + uint16_t i; + + if (slave_state != 1) + ao_panic(1); + ao_gpio_set(AO_RADIO_SLAVE_INT_PORT, AO_RADIO_SLAVE_INT_BIT, AO_RADIO_SLAVE_INT_PIN, 0); + for (i = 0; i < 1000; i++) + ao_arch_nop(); + slave_state = 0; +} + +static void +ao_radio_slave_high(void) +{ + if (slave_state != 0) + ao_panic(2); + ao_gpio_set(AO_RADIO_SLAVE_INT_PORT, AO_RADIO_SLAVE_INT_BIT, AO_RADIO_SLAVE_INT_PIN, 1); + slave_state = 1; +} + +static void +ao_radio_slave_spi(void) +{ + ao_spi_get_slave(AO_RADIO_SLAVE_BUS); + for (;;) { + ao_spi_recv(&ao_radio_spi_request, + (2 << 13) | sizeof (ao_radio_spi_request), + AO_RADIO_SLAVE_BUS); + ao_radio_slave_high(); + ao_spi_recv_wait(); + switch (ao_radio_spi_request.request) { + case AO_RADIO_SPI_RECV: + + /* XXX monitor CS to interrupt the receive */ + + ao_config.radio_setting = ao_radio_spi_request.setting; + ao_led_on(AO_LED_RX); + ao_radio_spi_reply.status = ao_radio_recv(&ao_radio_spi_reply.payload, + ao_radio_spi_request.recv_len); + ao_led_off(AO_LED_RX); + ao_radio_spi_reply.rssi = 0; + ao_spi_send(&ao_radio_spi_reply, + AO_RADIO_SPI_REPLY_HEADER_LEN + ao_radio_spi_request.recv_len, + AO_RADIO_SLAVE_BUS); + ao_radio_slave_low(); + ao_spi_send_wait(); + continue; + case AO_RADIO_SPI_CMAC_RECV: + ao_config.radio_setting = ao_radio_spi_request.setting; + ao_led_on(AO_LED_RX); + ao_radio_spi_reply.status = ao_radio_cmac_recv(&ao_radio_spi_reply.payload, + ao_radio_spi_request.recv_len, + ao_radio_spi_request.timeout); + ao_led_off(AO_LED_RX); + ao_radio_spi_reply.rssi = ao_radio_cmac_rssi; + ao_spi_send(&ao_radio_spi_reply, + AO_RADIO_SPI_REPLY_HEADER_LEN + ao_radio_spi_request.recv_len, + AO_RADIO_SLAVE_BUS); + ao_radio_slave_low(); + ao_spi_send_wait(); + continue; + case AO_RADIO_SPI_SEND: + ao_config.radio_setting = ao_radio_spi_request.setting; + ao_led_on(AO_LED_TX); + ao_radio_send(&ao_radio_spi_request.payload, + ao_radio_spi_request.len - AO_RADIO_SPI_REQUEST_HEADER_LEN); + ao_led_off(AO_LED_TX); + break; + + case AO_RADIO_SPI_CMAC_SEND: + ao_config.radio_setting = ao_radio_spi_request.setting; + ao_led_on(AO_LED_TX); + ao_radio_cmac_send(&ao_radio_spi_request.payload, + ao_radio_spi_request.len - AO_RADIO_SPI_REQUEST_HEADER_LEN); + ao_led_off(AO_LED_TX); + break; + + case AO_RADIO_SPI_CMAC_KEY: + ao_xmemcpy(&ao_config.aes_key, ao_radio_spi_request.payload, AO_AES_LEN); + break; + + case AO_RADIO_SPI_TEST_ON: + ao_config.radio_setting = ao_radio_spi_request.setting; + ao_radio_test(1); + break; + + case AO_RADIO_SPI_TEST_OFF: + ao_radio_test(0); + break; + } + ao_radio_slave_low(); + } +} + +static __xdata struct ao_task ao_radio_slave_spi_task; + +void +ao_radio_slave_init(void) +{ + ao_add_task(&ao_radio_slave_spi_task, ao_radio_slave_spi, "radio_spi"); + ao_enable_output(AO_RADIO_SLAVE_INT_PORT, AO_RADIO_SLAVE_INT_BIT, AO_RADIO_SLAVE_INT_PIN, 0); +} diff --git a/src/drivers/ao_radio_spi.h b/src/drivers/ao_radio_spi.h new file mode 100644 index 00000000..2957f70d --- /dev/null +++ b/src/drivers/ao_radio_spi.h @@ -0,0 +1,58 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_RADIO_SPI_H_ +#define _AO_RADIO_SPI_H_ + +#define AO_RADIO_SPI_RECV 0 +#define AO_RADIO_SPI_RECV_ABORT 1 +#define AO_RADIO_SPI_RECV_FETCH 2 +#define AO_RADIO_SPI_SEND 3 + +#define AO_RADIO_SPI_CMAC_KEY 4 +#define AO_RADIO_SPI_CMAC_RECV 5 +#define AO_RADIO_SPI_CMAC_SEND 6 + +#define AO_RADIO_SPI_TEST_ON 7 +#define AO_RADIO_SPI_TEST_OFF 8 + +#define AO_RADIO_SPI_MAX_PAYLOAD 128 + +struct ao_radio_spi_request { + uint8_t len; /* required to be first by cc1111 DMA engine */ + uint8_t request; + uint8_t recv_len; + uint8_t pad; + uint32_t setting; + uint16_t timeout; + uint8_t payload[AO_RADIO_SPI_MAX_PAYLOAD]; +}; + +#define AO_RADIO_SPI_REQUEST_HEADER_LEN (sizeof (struct ao_radio_spi_request) - AO_RADIO_SPI_MAX_PAYLOAD) + +struct ao_radio_spi_reply { + uint8_t status; + int8_t rssi; + uint8_t payload[AO_RADIO_SPI_MAX_PAYLOAD]; +}; + +#define AO_RADIO_SPI_REPLY_HEADER_LEN (sizeof (struct ao_radio_spi_reply) - AO_RADIO_SPI_MAX_PAYLOAD) + +void +ao_radio_slave_init(void); + +#endif /* _AO_RADIO_SPI_H_ */ diff --git a/src/drivers/ao_science_slave.c b/src/drivers/ao_science_slave.c new file mode 100644 index 00000000..996e98d9 --- /dev/null +++ b/src/drivers/ao_science_slave.c @@ -0,0 +1,66 @@ +/* + * 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_product.h" +#include "ao_flight.h" +#include "ao_companion.h" + +struct ao_companion_command ao_companion_command; + +static const struct ao_companion_setup ao_telescience_setup = { + .board_id = AO_idProduct_NUMBER, + .board_id_inverse = ~AO_idProduct_NUMBER, + .update_period = 50, + .channels = AO_LOG_TELESCIENCE_NUM_ADC, +}; + +void ao_spi_slave(void) +{ + if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command, + sizeof (ao_companion_command))) + return; + + /* Figure out the outbound data */ + switch (ao_companion_command.command) { + case AO_COMPANION_SETUP: + ao_spi_slave_send((uint8_t *) &ao_telescience_setup, + sizeof (ao_telescience_setup)); + break; + case AO_COMPANION_FETCH: + ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc, + AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); + break; + case AO_COMPANION_NOTIFY: + break; + default: + return; + } + +#if HAS_LOG + ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick; + if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) { + ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state; + if (ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) { + if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed) + ao_log_single_start(); + else + ao_log_single_stop(); + } + } +#endif +} diff --git a/src/drivers/ao_seven_segment.c b/src/drivers/ao_seven_segment.c new file mode 100644 index 00000000..b3b5f878 --- /dev/null +++ b/src/drivers/ao_seven_segment.c @@ -0,0 +1,220 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_seven_segment.h> +#include <ao_lcd_stm.h> + +/* + * 0 + * ------- + * | | + * 1 | | 2 + * | 3 | + * ------- + * | | + * 4 | | 5 + * | 6 | + * ------- + * [] 7 + * + */ + +static const uint8_t ao_segments[] = { + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (0 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* 0 */ + + (0 << AO_SEGMENT_0) | + (0 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (0 << AO_SEGMENT_3) | + (0 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (0 << AO_SEGMENT_6), /* 1 */ + + (1 << AO_SEGMENT_0) | + (0 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (0 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* 2 */ + + (1 << AO_SEGMENT_0) | + (0 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (0 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* 3 */ + + (0 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (0 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (0 << AO_SEGMENT_6), /* 4 */ + + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (0 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (0 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* 5 */ + + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (0 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* 6 */ + + (1 << AO_SEGMENT_0) | + (0 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (0 << AO_SEGMENT_3) | + (0 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (0 << AO_SEGMENT_6), /* 7 */ + + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* 8 */ + + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (0 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* 9 */ + + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (0 << AO_SEGMENT_6), /* A */ + + (0 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (0 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* b */ + + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (0 << AO_SEGMENT_2) | + (0 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (0 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* c */ + + (0 << AO_SEGMENT_0) | + (0 << AO_SEGMENT_1) | + (1 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (1 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* d */ + + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (0 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (0 << AO_SEGMENT_5) | + (1 << AO_SEGMENT_6), /* E */ + + (1 << AO_SEGMENT_0) | + (1 << AO_SEGMENT_1) | + (0 << AO_SEGMENT_2) | + (1 << AO_SEGMENT_3) | + (1 << AO_SEGMENT_4) | + (0 << AO_SEGMENT_5) | + (0 << AO_SEGMENT_6), /* F */ +}; + +void +ao_seven_segment_set(uint8_t digit, uint8_t value) +{ + uint8_t s; + uint8_t segments; + + if (value == AO_SEVEN_SEGMENT_CLEAR) + segments = 0; + else { + segments = ao_segments[value & 0xf]; + + /* Check for decimal point */ + if (value & 0x10) + segments |= (1 << AO_SEGMENT_7); + } + + for (s = 0; s <= 7; s++) + ao_lcd_set(digit, s, !!(segments & (1 << s))); + ao_lcd_flush(); +} + +void +ao_seven_segment_clear(void) +{ + ao_lcd_clear(); +} + + +#if 0 +static void +ao_seven_segment_show(void) +{ + uint8_t digit, value; + ao_cmd_decimal(); + digit = ao_cmd_lex_i; + ao_cmd_decimal(); + value = ao_cmd_lex_i; + ao_seven_segment_set(digit, value); +} + + +static const struct ao_cmds ao_seven_segment_cmds[] = { + { ao_seven_segment_show, "S <digit> <value>\0Set LCD digit" }, + { 0, NULL }, +}; +#endif + +void +ao_seven_segment_init(void) +{ +#if 0 + ao_cmd_register(ao_seven_segment_cmds); +#endif +} diff --git a/src/drivers/ao_seven_segment.h b/src/drivers/ao_seven_segment.h new file mode 100644 index 00000000..5b29deaf --- /dev/null +++ b/src/drivers/ao_seven_segment.h @@ -0,0 +1,34 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_SEVEN_SEGMENT_H_ +#define _AO_SEVEN_SEGMENT_H_ + +#define AO_SEVEN_SEGMENT_DECIMAL 0x10 + +#define AO_SEVEN_SEGMENT_CLEAR 0xff + +void +ao_seven_segment_set(uint8_t digit, uint8_t value); + +void +ao_seven_segment_clear(void); + +void +ao_seven_segment_init(void); + +#endif /* _AO_SEVEN_SEGMENT_H_ */ diff --git a/src/kalman/kalman.5c b/src/kalman/kalman.5c new file mode 100755 index 00000000..cfb7abea --- /dev/null +++ b/src/kalman/kalman.5c @@ -0,0 +1,491 @@ +#!/usr/bin/env nickle + +/* + * 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. + */ + +autoimport ParseArgs; + +load "load_csv.5c" +import load_csv; + +load "matrix.5c" +import matrix; + +load "kalman_filter.5c" +import kalman; + +/* + * AltOS keeps speed and accel scaled + * by 4 bits to provide additional precision + */ +real height_scale = 1.0; +real accel_scale = 16.0; +real speed_scale = 16.0; + +/* + * State: + * + * x[0] = height + * x[1] = velocity + * x[2] = acceleration + */ + +/* + * Measurement + * + * z[0] = height + * z[1] = acceleration + */ + +real default_σ_m = 5; +real default_σ_h = 20; +real default_σ_a = 2; + +parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) { + if (σ_m == 0) + σ_m = default_σ_m; + if (σ_h == 0) + σ_h = default_σ_h; + if (σ_a == 0) + σ_a = default_σ_a; + + σ_m = imprecise(σ_m) * accel_scale; + σ_h = imprecise(σ_h) * height_scale; + σ_a = imprecise(σ_a) * accel_scale; + + t = imprecise(t); + + return (parameters_t) { +/* + * Equation computing state k from state k-1 + * + * height = height- + velocity- * t + acceleration- * t² / 2 + * velocity = velocity- + acceleration- * t + * acceleration = acceleration- + */ + .a = (real[3,3]) { + { 1, + t * height_scale / speed_scale , t**2/2 * height_scale / accel_scale }, + { 0, 1, t * speed_scale / accel_scale }, + { 0, 0, 1 } + }, +/* + * Model error covariance. The only inaccuracy in the + * model is the assumption that acceleration is constant + */ + .q = (real[3,3]) { + { 0, 0, 0 }, + { 0, 0, 0 }, + {.0, 0, σ_m**2 }, + }, +/* + * Measurement error covariance + * Our sensors are independent, so + * this matrix is zero off-diagonal + */ + .r = (real[2,2]) { + { σ_h ** 2, 0 }, + { 0, σ_a ** 2 }, + }, +/* + * Extract measurements from state, + * this just pulls out the height and acceleration + * values. + */ + .h = (real[2,3]) { + { 1, 0, 0 }, + { 0, 0, 1 }, + }, + }; +} + +parameters_t param_baro(real t, real σ_m, real σ_h) { + if (σ_m == 0) + σ_m = default_σ_m; + if (σ_h == 0) + σ_h = default_σ_h; + + σ_m = imprecise(σ_m) * accel_scale; + σ_h = imprecise(σ_h) * height_scale; + + t = imprecise(t); + return (parameters_t) { +/* + * Equation computing state k from state k-1 + * + * height = height- + velocity- * t + acceleration- * t² / 2 + * velocity = velocity- + acceleration- * t + * acceleration = acceleration- + */ + .a = (real[3,3]) { + { 1, t * height_scale / speed_scale , t**2/2 * height_scale / accel_scale }, + { 0, 1, t * speed_scale / accel_scale }, + { 0, 0, 1 } + }, +/* + * Model error covariance. The only inaccuracy in the + * model is the assumption that acceleration is constant + */ + .q = (real[3,3]) { + { 0, 0, 0 }, + { 0, 0, 0 }, + {.0, 0, σ_m**2 }, + }, +/* + * Measurement error covariance + * Our sensors are independent, so + * this matrix is zero off-diagonal + */ + .r = (real[1,1]) { + { σ_h ** 2 }, + }, +/* + * Extract measurements from state, + * this just pulls out the height + * values. + */ + .h = (real[1,3]) { + { 1, 0, 0 }, + }, + }; +} + +parameters_t param_accel(real t, real σ_m, real σ_a) { + if (σ_m == 0) + σ_m = default_σ_m; + if (σ_a == 0) + σ_a = default_σ_a; + + σ_m = imprecise(σ_m) * accel_scale; + σ_a = imprecise(σ_a) * accel_scale; + + t = imprecise(t); + return (parameters_t) { +/* + * Equation computing state k from state k-1 + * + * height = height- + velocity- * t + acceleration- * t² / 2 + * velocity = velocity- + acceleration- * t + * acceleration = acceleration- + */ + .a = (real[3,3]) { + { 1, t * height_scale / speed_scale , t**2/2 * height_scale / accel_scale }, + { 0, 1, t * speed_scale / accel_scale }, + { 0, 0, 1 } + }, +/* + * Model error covariance. The only inaccuracy in the + * model is the assumption that acceleration is constant + */ + .q = (real[3,3]) { + { 0, 0, 0 }, + { 0, 0, 0 }, + {.0, 0, σ_m**2 }, + }, +/* + * Measurement error covariance + * Our sensors are independent, so + * this matrix is zero off-diagonal + */ + .r = (real[1,1]) { + { σ_a ** 2 }, + }, +/* + * Extract measurements from state, + * this just pulls out the acceleration + * values. + */ + .h = (real[1,3]) { + { 0, 0, 1 }, + }, + }; +} + +parameters_t param_vel(real t) { + static real σ_m = .1; + static real σ_v = imprecise(10); + + return (parameters_t) { +/* + * Equation computing state k from state k-1 + * + * height = height- + velocity- * t + acceleration- * t² / 2 + * velocity = velocity- + acceleration- * t + * acceleration = acceleration- + */ + .a = (real[3,3]) { + { 1, imprecise(t), imprecise((t**2)/2) }, + { 0, 1, imprecise(t) }, + { 0, 0, 1 } + }, +/* + * Model error covariance. The only inaccuracy in the + * model is the assumption that acceleration is constant + */ + .q = (real[3,3]) { + { 0, 0, 0 }, + { 0, 0, 0 }, + {.0, 0, σ_m**2 }, + }, +/* + * Measurement error covariance + * Our sensors are independent, so + * this matrix is zero off-diagonal + */ + .r = (real[1,1]) { + { σ_v ** 2 }, + }, +/* + * Extract measurements from state, + * this just pulls out the velocity + * values. + */ + .h = (real[1,3]) { + { 0, 1, 0 }, + }, + }; +} + +real max_baro_height = 18000; + +bool just_kalman = true; +real accel_input_scale = 1; + +void run_flight(string name, file f, bool summary) { + state_t current_both = { + .x = (real[3]) { 0, 0, 0 }, + .p = (real[3,3]) { { 0 ... } ... }, + }; + state_t current_accel = current_both; + state_t current_baro = current_both; + real t; + real kalman_apogee_time = -1; + real kalman_apogee = 0; + real raw_apogee_time_first; + real raw_apogee_time_last; + real raw_apogee = 0; + real default_descent_rate = 20; + real speed = 0; + real prev_acceleration = 0; + state_t apogee_state; + parameters_fast_t fast_both; + parameters_fast_t fast_baro; + parameters_fast_t fast_accel; + real fast_delta_t = 0; + bool fast = true; + + for (;;) { + record_t record = parse_record(f, accel_input_scale); + if (record.done) + break; + if (is_uninit(&t)) + t = record.time; + real delta_t = record.time - t; + if (delta_t <= 0) + continue; + t = record.time; + if (record.height > raw_apogee) { + raw_apogee_time_first = record.time; + raw_apogee = record.height; + } + if (record.height == raw_apogee) + raw_apogee_time_last = record.time; + + real acceleration = record.acceleration; + real height = record.height; + + speed = (speed + (acceleration + prev_acceleration / 2) * delta_t); + prev_acceleration = acceleration; + + vec_t z_both = (real[2]) { record.height * height_scale, record.acceleration * accel_scale }; + vec_t z_accel = (real[1]) { record.acceleration * accel_scale }; + vec_t z_baro = (real[1]) { record.height * height_scale }; + + + if (fast) { + if (delta_t != fast_delta_t) { + fast_both = convert_to_fast(param_both(delta_t, 0, 0, 0)); + fast_accel = convert_to_fast(param_accel(delta_t, 0, 0)); + fast_baro = convert_to_fast(param_baro(delta_t, 0, 0)); + fast_delta_t = delta_t; + } + + current_both.x = predict_fast(current_both.x, fast_both); + current_accel.x = predict_fast(current_accel.x, fast_accel); + current_baro.x = predict_fast(current_baro.x, fast_baro); + + current_both.x = correct_fast(current_both.x, z_both, fast_both); + current_accel.x = correct_fast(current_accel.x, z_accel, fast_accel); + current_baro.x = correct_fast(current_baro.x, z_baro, fast_baro); + } else { + parameters_t p_both = param_both(delta_t, 0, 0, 0); + parameters_t p_accel = param_accel(delta_t, 0, 0); + parameters_t p_baro = param_baro(delta_t, 0, 0); + + state_t pred_both = predict(current_both, p_both); + state_t pred_accel = predict(current_accel, p_accel); + state_t pred_baro = predict(current_baro, p_baro); + + state_t next_both = correct(pred_both, z_both, p_both); + state_t next_accel = correct(pred_accel, z_accel, p_accel); + state_t next_baro = correct(pred_baro, z_baro, p_baro); + current_both = next_both; + current_accel = next_accel; + current_baro = next_baro; + } + + printf ("%16.8f %16.8f %16.8f %16.8f %16.8f %16.8f %16.8f %16.8f %16.8f %16.8f %16.8f %16.8f %16.8f\n", + record.time, + record.height, speed, record.acceleration, + current_both.x[0] / height_scale, current_both.x[1] / speed_scale, current_both.x[2] / accel_scale, + current_accel.x[0] / height_scale, current_accel.x[1] / speed_scale, current_accel.x[2] / accel_scale, + current_baro.x[0] / height_scale, current_baro.x[1] / speed_scale, current_baro.x[2] / accel_scale); + if (kalman_apogee_time < 0) { + if (current_both.x[1] < -1 && current_accel.x[1] < -1 && current_baro.x[1] < -1) { + kalman_apogee = current_both.x[0]; + kalman_apogee_time = record.time; + break; + } + } + } + real raw_apogee_time = (raw_apogee_time_last + raw_apogee_time_first) / 2; + if (summary && !just_kalman) { + printf("%s: kalman (%8.2f m %6.2f s) raw (%8.2f m %6.2f s) error %6.2f s\n", + name, + kalman_apogee, kalman_apogee_time, + raw_apogee, raw_apogee_time, + kalman_apogee_time - raw_apogee_time); + } +} + +void main() { + bool summary = false; + int user_argind = 1; + real time_step = 0.01; + string compute = "none"; + string prefix = "AO_K"; + real σ_m = 1; + real σ_h = 4; + real σ_a = 1; + + ParseArgs::argdesc argd = { + .args = { + { .var = { .arg_flag = &summary }, + .abbr = 's', + .name = "summary", + .desc = "Print a summary of the flight" }, + { .var = { .arg_real = &max_baro_height }, + .abbr = 'm', + .name = "maxbaro", + .expr_name = "height", + .desc = "Set maximum usable barometer height" }, + { .var = { .arg_real = &accel_input_scale, }, + .abbr = 'a', + .name = "accel", + .expr_name = "<accel-scale>", + .desc = "Set accelerometer scale factor" }, + { .var = { .arg_real = &time_step, }, + .abbr = 't', + .name = "time", + .expr_name = "<time-step>", + .desc = "Set time step for convergence" }, + { .var = { .arg_string = &prefix }, + .abbr = 'p', + .name = "prefix", + .expr_name = "<prefix>", + .desc = "Prefix for compute output" }, + { .var = { .arg_string = &compute }, + .abbr = 'c', + .name = "compute", + .expr_name = "{both,baro,accel}", + .desc = "Compute Kalman factor through convergence" }, + { .var = { .arg_real = &σ_m }, + .abbr = 'M', + .name = "model", + .expr_name = "<model-accel-error>", + .desc = "Model co-variance for acceleration" }, + { .var = { .arg_real = &σ_h }, + .abbr = 'H', + .name = "height", + .expr_name = "<measure-height-error>", + .desc = "Measure co-variance for height" }, + { .var = { .arg_real = &σ_a }, + .abbr = 'A', + .name = "accel", + .expr_name = "<measure-accel-error>", + .desc = "Measure co-variance for acceleration" }, + }, + + .unknown = &user_argind, + }; + + ParseArgs::parseargs(&argd, &argv); + + if (compute != "none") { + parameters_t param; + + printf ("/* Kalman matrix for %s\n", compute); + printf (" * step = %f\n", time_step); + printf (" * σ_m = %f\n", σ_m); + switch (compute) { + case "both": + printf (" * σ_h = %f\n", σ_h); + printf (" * σ_a = %f\n", σ_a); + param = param_both(time_step, σ_m, σ_h, σ_a); + break; + case "accel": + printf (" * σ_a = %f\n", σ_a); + param = param_accel(time_step, σ_m, σ_a); + break; + case "baro": + printf (" * σ_h = %f\n", σ_h); + param = param_baro(time_step, σ_m, σ_h); + break; + } + printf (" */\n\n"); + mat_t k = converge(param); + int[] d = dims(k); + int time_inc = floor(1/time_step + 0.5); + for (int i = 0; i < d[0]; i++) + for (int j = 0; j < d[1]; j++) { + string name; + if (d[1] == 1) + 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 ("\n"); + exit(0); + } + string[dim(argv) - user_argind] rest = { [i] = argv[i+user_argind] }; + + # height_scale = accel_scale = speed_scale = 1; + + if (dim(rest) == 0) + run_flight("<stdin>", stdin, summary); + else { + for (int i = 0; i < dim(rest); i++) { + twixt(file f = File::open(rest[i], "r"); File::close(f)) { + run_flight(rest[i], f, summary); + } + } + } +} +main(); +#kalman(stdin); +#dump(stdin); diff --git a/src/kalman/kalman_filter.5c b/src/kalman/kalman_filter.5c new file mode 100644 index 00000000..efbbf1ab --- /dev/null +++ b/src/kalman/kalman_filter.5c @@ -0,0 +1,308 @@ +load "matrix.5c" + +/* + * 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. + */ + +namespace kalman { + + import matrix; + + public typedef struct { + vec_t x; /* state */ + mat_t p; /* error estimate */ + mat_t k; /* kalman factor */ + } state_t; + + public typedef struct { + mat_t a; /* model */ + mat_t q; /* model error covariance */ + mat_t r; /* measurement error covariance */ + mat_t h; /* measurement from model */ + } parameters_t; + + public typedef struct { + mat_t a; /* model */ + mat_t k; /* kalman coefficient */ + mat_t h; /* measurement from model */ + } parameters_fast_t; + + vec_t measurement_from_state(vec_t x, mat_t h) { + return multiply_mat_vec(h, x); + } + + + void print_state(string name, state_t s) { + print_vec(sprintf("%s state", name), s.x); + print_mat(sprintf("%s error", name), s.p); + } + + public bool debug = false; + + public state_t predict (state_t s, parameters_t p) { + state_t n; + + if (debug) { + printf ("--------PREDICT--------\n"); + print_state("current", s); + } + + /* Predict state + * + * x': predicted state + * a: model + * x: previous state + * + * x' = a * x; + */ + + n.x = multiply_mat_vec(p.a, s.x); + + /* t0 = a * p */ + mat_t t0 = multiply (p.a, s.p); + if (debug) + print_mat("t0", t0); + + /* t1 = a * p * transpose(a) */ + + mat_t t1 = multiply (t0, transpose(p.a)); + + /* Predict error + * + * p': predicted error + * a: model + * p: previous error + * q: model error + * + * p' = a * p * transpose(a) + q + */ + + n.p = add(t1, p.q); + if (debug) + print_state("predict", n); + return n; + } + + public vec_t predict_fast(vec_t x, parameters_fast_t p) { + if (debug) { + printf ("--------FAST PREDICT--------\n"); + print_vec("current", x); + } + vec_t new = multiply_mat_vec(p.a, x); + if (debug) + print_vec("predict", new); + return new; + } + + public vec_t correct_fast(vec_t x, vec_t z, parameters_fast_t p) { + if (debug) { + printf ("--------FAST CORRECT--------\n"); + print_vec("measure", z); + print_vec("current", x); + } + vec_t model = multiply_mat_vec(p.h, x); + if (debug) + print_vec("extract model", model); + vec_t diff = vec_subtract(z, model); + if (debug) + print_vec("difference", diff); + vec_t adjust = multiply_mat_vec(p.k, diff); + if (debug) + print_vec("adjust", adjust); + + vec_t new = vec_add(x, + multiply_mat_vec(p.k, + vec_subtract(z, + multiply_mat_vec(p.h, x)))); + if (debug) + print_vec("correct", new); + return new; + } + + public state_t correct(state_t s, vec_t z, parameters_t p) { + state_t n; + + if (debug) { + printf ("--------CORRECT--------\n"); + print_vec("measure", z); + print_state("current", s); + } + + /* t0 = p * T(h) */ + + /* 3x2 = 3x3 * 3x2 */ + mat_t t0 = multiply(s.p, transpose(p.h)); + if (debug) + print_mat("t0", t0); + + /* t1 = h * p */ + + /* 2x3 = 2x3 * 3x3 */ + mat_t t1 = multiply(p.h, s.p); + if (debug) + print_mat("t1", t1); + + /* t2 = h * p * transpose(h) */ + + /* 2x2 = 2x3 * 3x2 */ + mat_t t2 = multiply(t1, transpose(p.h)); + if (debug) + print_mat("t2", t2); + + /* t3 = h * p * transpose(h) + r */ + + /* 2x2 = 2x2 + 2x2 */ + mat_t t3 = add(t2, p.r); + if (debug) + print_mat("t3", t3); + + /* t4 = inverse(h * p * transpose(h) + r) */ + + /* 2x2 = 2x2 */ + mat_t t4 = inverse(t3); + if (debug) + print_mat("t4", t4); + + /* Kalman value */ + + /* k: Kalman value + * p: error estimate + * h: state to measurement matrix + * r: measurement error covariance + * + * k = p * transpose(h) * inverse(h * p * transpose(h) + r) + * + * k = K(p) + */ + + /* 3x2 = 3x2 * 2x2 */ + mat_t k = multiply(t0, t4); + if (debug) + print_mat("k", k); + n.k = k; + + /* t5 = h * x */ + + /* 2 = 2x3 * 3 */ + vec_t t5 = multiply_mat_vec(p.h, s.x); + if (debug) + print_vec("t5", t5); + + /* t6 = z - h * x */ + + /* 2 = 2 - 2 */ + vec_t t6 = vec_subtract(z, t5); + if (debug) + print_vec("t6", t6); + + /* t7 = k * (z - h * x) */ + + /* 3 = 3x2 * 2 */ + vec_t t7 = multiply_mat_vec(k, t6); + if (debug) + print_vec("t7", t7); + + /* Correct state + * + * x: predicted state + * k: kalman value + * z: measurement + * h: state to measurement matrix + * x': corrected state + * + * x' = x + k * (z - h * x) + */ + + n.x = vec_add(s.x, t7); + if (debug) + print_vec("n->x", n.x); + + /* t8 = k * h */ + + /* 3x3 = 3x2 * 2x3 */ + mat_t t8 = multiply(k, p.h); + if (debug) + print_mat("t8", t8); + + /* t9 = 1 - k * h */ + + /* 3x3 = 3x3 - 3x3 */ + mat_t t9 = subtract(identity(dim(s.x)), t8); + if (debug) + print_mat("t9", t9); + + /* Correct error + * + * p: predicted error + * k: kalman value + * h: state to measurement matrix + * p': corrected error + * + * p' = (1 - k * h) * p + * + * p' = P(k,p) + */ + + /* 3x3 = 3x3 * 3x3 */ + n.p = multiply(t9, s.p); + if (debug) { + print_mat("n->p", n.p); +# print_state("correct", n); + } + return n; + } + + real distance(mat_t a, mat_t b) { + int[2] d = dims(a); + int i_max = d[0]; + int j_max = d[1]; + real s = 0; + + for (int i = 0; i < i_max; i++) + for (int j = 0; j < j_max; j++) + s += (a[i,j] - b[i,j]) ** 2; + return sqrt(s); + } + + public mat_t converge(parameters_t p) { + int model = dims(p.a)[0]; + int measure = dims(p.r)[0]; + int reps = 0; + state_t s = { + .x = (real[model]) { 0 ... }, + .p = (real[model,model]) { { 0 ... } ... }, + .k = (real[model,measure]) { { 0 ... } ... } + }; + + vec_t z = (real [measure]) { 0 ... }; + for (;;) { + state_t s_pre = predict(s, p); + state_t s_post = correct(s_pre, z, p); + real d = distance(s.k, s_post.k); + s = s_post; + reps++; + if (d < 1e-10 && reps > 10) + break; + } + return s.k; + } + + public parameters_fast_t convert_to_fast(parameters_t p) { + return (parameters_fast_t) { + .a = p.a, .k = converge(p), .h = p.h + }; + } +} diff --git a/src/kalman/load_csv.5c b/src/kalman/load_csv.5c new file mode 100644 index 00000000..15e83166 --- /dev/null +++ b/src/kalman/load_csv.5c @@ -0,0 +1,63 @@ +/* + * 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. + */ + +namespace load_csv { + string[*] parse_data(file f) { + while (!File::end(f)) { + string l = File::fgets(f); + if (l[0] == '#') + continue; + return String::parse_csv(l); + } + return (string[0]) {}; + } + + public typedef struct { + bool done; + real time; + real height; + real acceleration; + } record_t; + + public record_t parse_record(file f, real accel_scale) { + string[*] data = parse_data(f); + if (dim(data) == 0) + return (record_t) { .done = true }; + int time_off = 4; + int height_off = 11; + int accel_off = 8; + if (string_to_integer(data[0]) == 2) { + time_off = 4; + accel_off = 9; + height_off = 12; + } + return (record_t) { + .done = false, + .time = string_to_real(data[time_off]), + .height = imprecise(string_to_real(data[height_off])), + .acceleration = imprecise(string_to_real(data[accel_off]) * accel_scale) }; + } + + public void dump(file f) { + for (;;) { + record_t r = parse_record(f, 1); + if (r.done) + break; + printf ("%f %f %f\n", r.time, r.height, r.acceleration); + } + } +} diff --git a/src/kalman/matrix.5c b/src/kalman/matrix.5c new file mode 100644 index 00000000..667648f5 --- /dev/null +++ b/src/kalman/matrix.5c @@ -0,0 +1,157 @@ +/* + * 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. + */ + +namespace matrix { + public typedef real[*] vec_t; + public typedef real[*,*] mat_t; + + public mat_t transpose(mat_t m) { + int[2] d = dims(m); + return (real[d[1],d[0]]) { [i,j] = m[j,i] }; + } + + public void print_mat(string name, mat_t m) { + int[2] d = dims(m); + printf ("%s {\n", name); + for (int y = 0; y < d[0]; y++) { + for (int x = 0; x < d[1]; x++) + printf (" %14.8f", m[y,x]); + printf ("\n"); + } + printf ("}\n"); + } + + public void print_vec(string name, vec_t v) { + int d = dim(v); + printf ("%s {", name); + for (int x = 0; x < d; x++) + printf (" %14.8f", v[x]); + printf (" }\n"); + } + + public mat_t multiply(mat_t a, mat_t b) { + int[2] da = dims(a); + int[2] db = dims(b); + + assert(da[1] == db[0], "invalid matrix dimensions"); + + real dot(int rx, int ry) { + real r = 0.0; + for (int i = 0; i < da[1]; i++) + r += a[ry, i] * b[i, rx]; + return imprecise(r); + } + + mat_t r = (real[da[0], db[1]]) { [ry,rx] = dot(rx,ry) }; + return r; + } + + public mat_t multiply_mat_val(mat_t m, real value) { + int[2] d = dims(m); + for (int j = 0; j < d[1]; j++) + for (int i = 0; i < d[0]; i++) + m[i,j] *= value; + return m; + } + + public mat_t add(mat_t a, mat_t b) { + int[2] da = dims(a); + int[2] db = dims(b); + + assert(da[0] == db[0] && da[1] == db[1], "mismatching dim in plus"); + return (real[da[0], da[1]]) { [y,x] = a[y,x] + b[y,x] }; + } + + public mat_t subtract(mat_t a, mat_t b) { + int[2] da = dims(a); + int[2] db = dims(b); + + assert(da[0] == db[0] && da[1] == db[1], "mismatching dim in minus"); + return (real[da[0], da[1]]) { [y,x] = a[y,x] - b[y,x] }; + } + + public mat_t inverse(mat_t m) { + int[2] d = dims(m); + + real[1,1] inverse_1(real[1,1] m) { + return (real[1,1]) { { 1/m[0,0] } }; + } + + if (d[0] == 1 && d[1] == 1) + return inverse_1(m); + + real[2,2] inverse_2(real[2,2] m) { + real a = m[0,0], b = m[0,1]; + real c = m[1,0], d = m[1,1]; + real det = a * d - b * c; + return multiply_mat_val((real[2,2]) { + { d, -b }, { -c, a } }, 1/det); + } + + if (d[0] == 2 && d[1] == 2) + return inverse_2(m); + + real[3,3] inverse_3(real[3,3] m) { + real a = m[0,0], b = m[0,1], c = m[0, 2]; + real d = m[1,0], e = m[1,1], f = m[1, 2]; + real g = m[2,0], h = m[2,1], k = m[2, 2]; + real Z = a*(e*k-f*h) + b*(f*g - d*k) + c*(d*h-e*g); + real A = (e*k-f*h), B = (c*h-b*k), C=(b*f-c*e); + real D = (f*g-d*k), E = (a*k-c*g), F=(c*d-a*f); + real G = (d*h-e*g), H = (b*g-a*h), K=(a*e-b*d); + return multiply_mat_val((real[3,3]) { + { A, B, C }, { D, E, F }, { G, H, K }}, + 1/Z); + } + + if (d[0] == 3 && d[1] == 3) + return inverse_3(m); + assert(false, "cannot invert %v\n", d); + return m; + } + + public mat_t identity(int d) { + return (real[d,d]) { [i,j] = (i == j) ? 1 : 0 }; + } + + public vec_t vec_subtract(vec_t a, vec_t b) { + int da = dim(a); + int db = dim(b); + + assert(da == db, "mismatching dim in minus"); + return (real[da]) { [x] = a[x] - b[x] }; + } + + public vec_t vec_add(vec_t a, vec_t b) { + int da = dim(a); + int db = dim(b); + + assert(da == db, "mismatching dim in plus"); + return (real[da]) { [x] = a[x] + b[x] }; + } + + public vec_t multiply_vec_mat(vec_t v, mat_t m) { + mat_t r2 = matrix::multiply((real[dim(v),1]) { [y,x] = v[y] }, m); + return (real[dim(v)]) { [y] = r2[y,0] }; + } + + public vec_t multiply_mat_vec(mat_t m, vec_t v) { + mat_t r2 = matrix::multiply(m, (real[dim(v), 1]) { [y,x] = v[y] }); + int[2] d = dims(m); + return (real[d[0]]) { [y] = r2[y,0] }; + } +} diff --git a/src/kalman/plotaccel b/src/kalman/plotaccel new file mode 100644 index 00000000..fd540203 --- /dev/null +++ b/src/kalman/plotaccel @@ -0,0 +1,18 @@ +#!/bin/sh +for i in "$@"; do +gnuplot -p << EOF +set title "$i" +set ylabel "height (m)" +set y2label "velocity (m/s), acceleration (m/s²)" +set xlabel "time (s)" +set xtics border out nomirror +set ytics border out nomirror +set y2tics border out nomirror +plot "$i" using 1:3 with lines lt 1 axes x1y2 title "raw speed",\ + "$i" using 1:4 with lines lt 1 axes x1y2 title "raw accel",\ + "$i" using 1:6 with lines lt 2 axes x1y2 title "both speed",\ + "$i" using 1:7 with lines lt 2 axes x1y2 title "both accel",\ + "$i" using 1:9 with lines lt 3 axes x1y2 title "accel speed",\ + "$i" using 1:10 with lines lt 3 axes x1y2 title "accel accel" +EOF +done diff --git a/src/kalman/plotkalman b/src/kalman/plotkalman new file mode 100755 index 00000000..d2041dfb --- /dev/null +++ b/src/kalman/plotkalman @@ -0,0 +1,24 @@ +#!/bin/sh +for i in "$@"; do +gnuplot -p << EOF +set title "$i" +set ylabel "height (m)" +set y2label "velocity (m/s), acceleration (m/s²)" +set xlabel "time (s)" +set xtics border out nomirror +set ytics border out nomirror +set y2tics border out nomirror +plot "$i" using 1:2 with lines lt 1 axes x1y1 title "raw height",\ + "$i" using 1:3 with lines lt 1 axes x1y2 title "raw speed",\ + "$i" using 1:4 with lines lt 1 axes x1y2 title "raw accel",\ + "$i" using 1:5 with lines lt 2 axes x1y1 title "both height",\ + "$i" using 1:6 with lines lt 2 axes x1y2 title "both vel",\ + "$i" using 1:7 with lines lt 2 axes x1y2 title "both accel",\ + "$i" using 1:8 with lines lt 3 axes x1y1 title "accel height",\ + "$i" using 1:9 with lines lt 3 axes x1y2 title "accel vel",\ + "$i" using 1:10 with lines lt 3 axes x1y2 title "accel accel",\ + "$i" using 1:11 with lines lt 4 axes x1y1 title "baro height",\ + "$i" using 1:12 with lines lt 4 axes x1y2 title "baro vel",\ + "$i" using 1:13 with lines lt 4 axes x1y2 title "baro accel" +EOF +done diff --git a/src/megametrum-v0.1/.gitignore b/src/megametrum-v0.1/.gitignore new file mode 100644 index 00000000..b04d3950 --- /dev/null +++ b/src/megametrum-v0.1/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +megametrum-*.elf diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile new file mode 100644 index 00000000..a93f6f17 --- /dev/null +++ b/src/megametrum-v0.1/Makefile @@ -0,0 +1,118 @@ +# +# AltOS build +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_companion.h \ + ao_data.h \ + ao_sample.h \ + ao_pins.h \ + altitude.h \ + ao_kalman.h \ + ao_product.h \ + ao_ms5607.h \ + ao_hmc5883.h \ + ao_mpu6000.h \ + ao_mma655x.h \ + ao_cc1120_CC1120.h \ + ao_profile.h \ + ao_whiten.h \ + stm32l.h + +# +# Common AltOS sources +# + +#PROFILE=ao_profile.c +#PROFILE_DEF=-DAO_PROFILE=1 + +# ao_hmc5883.c + +ALTOS_SRC = \ + ao_interrupt.c \ + ao_product.c \ + ao_romconfig.c \ + ao_cmd.c \ + ao_config.c \ + ao_task.c \ + ao_led.c \ + ao_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_mutex.c \ + ao_serial_stm.c \ + ao_gps_skytraq.c \ + ao_gps_report_mega.c \ + ao_ignite.c \ + ao_freq.c \ + ao_dma_stm.c \ + ao_spi_stm.c \ + ao_cc1120.c \ + ao_fec_tx.c \ + ao_fec_rx.c \ + ao_data.c \ + ao_ms5607.c \ + ao_mma655x.c \ + ao_hmc5883.c \ + ao_adc_stm.c \ + ao_beep_stm.c \ + ao_storage.c \ + ao_m25.c \ + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_report.c \ + ao_i2c_stm.c \ + ao_mpu6000.c \ + ao_convert_pa.c \ + ao_log.c \ + ao_log_mega.c \ + ao_sample.c \ + ao_kalman.c \ + ao_flight.c \ + ao_telemetry.c \ + ao_packet_slave.c \ + ao_packet.c \ + ao_companion.c \ + ao_pyro.c \ + $(PROFILE) + +PRODUCT=MegaMetrum-v0.1 +PRODUCT_DEF=-DMEGAMETRUM +IDPRODUCT=0x0023 + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g + +PROGNAME=megametrum-v0.1 +PROG=$(PROGNAME)-$(VERSION).elf + +SRC=$(ALTOS_SRC) ao_megametrum.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc + +../altitude.h: make-altitude + nickle $< > $@ + +$(OBJ): $(INC) + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c new file mode 100644 index 00000000..d3ae4690 --- /dev/null +++ b/src/megametrum-v0.1/ao_megametrum.c @@ -0,0 +1,84 @@ +/* + * 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_hmc5883.h> +#include <ao_mpu6000.h> +#include <ao_mma655x.h> +#include <ao_log.h> +#include <ao_exti.h> +#include <ao_packet.h> +#include <ao_companion.h> +#include <ao_profile.h> +#include <ao_pyro.h> + +int +main(void) +{ + ao_clock_init(); + + ao_serial_init(); + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_GREEN); + ao_timer_init(); + + ao_i2c_init(); + ao_spi_init(); + ao_dma_init(); + ao_exti_init(); + + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + +#if HAS_MS5607 + ao_ms5607_init(); +#endif +#if HAS_HMC5883 + ao_hmc5883_init(); +#endif +#if HAS_MPU6000 + ao_mpu6000_init(); +#endif +#if HAS_MMA655X + ao_mma655x_init(); +#endif + + ao_storage_init(); + + ao_flight_init(); + ao_log_init(); + ao_report_init(); + + ao_usb_init(); + ao_gps_init(); + ao_gps_report_mega_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(FALSE); + ao_igniter_init(); + ao_companion_init(); + ao_pyro_init(); + + ao_config_init(); +#if AO_PROFILE + ao_profile_init(); +#endif + + ao_start_scheduler(); + return 0; +} diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h new file mode 100644 index 00000000..af8eebae --- /dev/null +++ b/src/megametrum-v0.1/ao_pins.h @@ -0,0 +1,345 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +/* 8MHz High speed external crystal */ +#define AO_HSE 8000000 + +/* PLLVCO = 96MHz (so that USB will work) */ +#define AO_PLLMUL 12 +#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12) + +/* SYSCLK = 32MHz (no need to go faster than CPU) */ +#define AO_PLLDIV 3 +#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) + +/* HCLK = 32MHz (CPU clock) */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* Run APB1 at 16MHz (HCLK/2) */ +#define AO_APB1_PRESCALER 2 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +/* Run APB2 at 16MHz (HCLK/2) */ +#define AO_APB2_PRESCALER 2 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +#define HAS_SERIAL_1 1 +#define USE_SERIAL_1_STDIN 0 +#define SERIAL_1_PB6_PB7 0 +#define SERIAL_1_PA9_PA10 1 + +#define HAS_SERIAL_2 0 +#define USE_SERIAL_2_STDIN 0 +#define SERIAL_2_PA2_PA3 0 +#define SERIAL_2_PD5_PD6 0 + +#define HAS_SERIAL_3 1 +#define USE_SERIAL_3_STDIN 0 +#define SERIAL_3_PB10_PB11 0 +#define SERIAL_3_PC10_PC11 1 +#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 1 +#define USE_INTERNAL_FLASH 0 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define HAS_RADIO 1 +#define HAS_TELEMETRY 1 + +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 1 /* Barometer */ +#define SPI_1_PB3_PB4_PB5 0 +#define SPI_1_PE13_PE14_PE15 1 /* Accelerometer */ + +#define HAS_SPI_2 1 +#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */ +#define SPI_2_PD1_PD3_PD4 0 + +#define SPI_2_PORT (&stm_gpiob) +#define SPI_2_SCK_PIN 13 +#define SPI_2_MISO_PIN 14 +#define SPI_2_MOSI_PIN 15 + +#define HAS_I2C_1 1 +#define I2C_1_PB8_PB9 1 + +#define HAS_I2C_2 1 +#define I2C_2_PB10_PB11 1 + +#define PACKET_HAS_SLAVE 1 +#define PACKET_HAS_MASTER 0 + +#define LOW_LEVEL_DEBUG 0 + +#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN +#define LED_PORT (&stm_gpioc) +#define LED_PIN_RED 8 +#define LED_PIN_GREEN 9 +#define AO_LED_RED (1 << LED_PIN_RED) +#define AO_LED_GREEN (1 << LED_PIN_GREEN) + +#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN) + +#define HAS_GPS 1 +#define HAS_FLIGHT 1 +#define HAS_ADC 1 +#define HAS_ACCEL 1 +#define HAS_ACCEL_REF 1 +#define HAS_LOG 1 + +/* + * Igniter + */ + +#define HAS_IGNITE 1 +#define HAS_IGNITE_REPORT 1 + +#define AO_SENSE_DROGUE(p) ((p)->adc.sense[0]) +#define AO_SENSE_MAIN(p) ((p)->adc.sense[1]) +#define AO_IGNITER_CLOSED 400 +#define AO_IGNITER_OPEN 60 + +#define AO_IGNITER_DROGUE_PORT (&stm_gpiod) +#define AO_IGNITER_DROGUE_PIN 6 + +#define AO_IGNITER_MAIN_PORT (&stm_gpiod) +#define AO_IGNITER_MAIN_PIN 7 + +#define AO_PYRO_PORT_0 (&stm_gpiob) +#define AO_PYRO_PIN_0 5 + +#define AO_PYRO_PORT_1 (&stm_gpioe) +#define AO_PYRO_PIN_1 4 + +#define AO_PYRO_PORT_2 (&stm_gpioe) +#define AO_PYRO_PIN_2 6 + +#define AO_PYRO_PORT_3 (&stm_gpioe) +#define AO_PYRO_PIN_3 5 + +/* Number of general purpose pyro channels available */ +#define AO_PYRO_NUM 4 + +#define AO_IGNITER_SET_DROGUE(v) stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v) +#define AO_IGNITER_SET_MAIN(v) stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v) + +/* + * ADC + */ +#define AO_DATA_RING 32 +#define AO_ADC_NUM_SENSE 6 + +struct ao_adc { + int16_t sense[AO_ADC_NUM_SENSE]; + int16_t v_batt; + int16_t v_pbatt; + int16_t accel_ref; + int16_t accel; + int16_t temp; +}; + +#define AO_ADC_SENSE_A 0 +#define AO_ADC_SENSE_A_PORT (&stm_gpioa) +#define AO_ADC_SENSE_A_PIN 0 + +#define AO_ADC_SENSE_B 1 +#define AO_ADC_SENSE_B_PORT (&stm_gpioa) +#define AO_ADC_SENSE_B_PIN 1 + +#define AO_ADC_SENSE_C 2 +#define AO_ADC_SENSE_C_PORT (&stm_gpioa) +#define AO_ADC_SENSE_C_PIN 2 + +#define AO_ADC_SENSE_D 3 +#define AO_ADC_SENSE_D_PORT (&stm_gpioa) +#define AO_ADC_SENSE_D_PIN 3 + +#define AO_ADC_SENSE_E 4 +#define AO_ADC_SENSE_E_PORT (&stm_gpioa) +#define AO_ADC_SENSE_E_PIN 4 + +#define AO_ADC_SENSE_F 22 +#define AO_ADC_SENSE_F_PORT (&stm_gpioe) +#define AO_ADC_SENSE_F_PIN 7 + +#define AO_ADC_V_BATT 8 +#define AO_ADC_V_BATT_PORT (&stm_gpiob) +#define AO_ADC_V_BATT_PIN 0 + +#define AO_ADC_V_PBATT 9 +#define AO_ADC_V_PBATT_PORT (&stm_gpiob) +#define AO_ADC_V_PBATT_PIN 1 + +#define AO_ADC_ACCEL_REF 10 +#define AO_ADC_ACCEL_REF_PORT (&stm_gpioc) +#define AO_ADC_ACCEL_REF_PIN 0 + +#define AO_ADC_ACCEL 11 +#define AO_ADC_ACCEL_PORT (&stm_gpioc) +#define AO_ADC_ACCEL_PIN 1 + +#define AO_ADC_TEMP 16 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \ + (1 << STM_RCC_AHBENR_GPIOEEN) | \ + (1 << STM_RCC_AHBENR_GPIOBEN) | \ + (1 << STM_RCC_AHBENR_GPIOCEN)) + +#define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 4) + +#define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT +#define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN +#define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT +#define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN +#define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT +#define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN +#define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT +#define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN +#define AO_ADC_PIN4_PORT AO_ADC_SENSE_E_PORT +#define AO_ADC_PIN4_PIN AO_ADC_SENSE_E_PIN +#define AO_ADC_PIN5_PORT AO_ADC_SENSE_F_PORT +#define AO_ADC_PIN5_PIN AO_ADC_SENSE_F_PIN +#define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT +#define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN +#define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT +#define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN +#define AO_ADC_PIN8_PORT AO_ADC_ACCEL_REF_PORT +#define AO_ADC_PIN8_PIN AO_ADC_ACCEL_REF_PIN +#define AO_ADC_PIN9_PORT AO_ADC_ACCEL_PORT +#define AO_ADC_PIN9_PIN AO_ADC_ACCEL_PIN + +#define AO_NUM_ADC (AO_ADC_NUM_SENSE + 5) + +#define AO_ADC_SQ1 AO_ADC_SENSE_A +#define AO_ADC_SQ2 AO_ADC_SENSE_B +#define AO_ADC_SQ3 AO_ADC_SENSE_C +#define AO_ADC_SQ4 AO_ADC_SENSE_D +#define AO_ADC_SQ5 AO_ADC_SENSE_E +#define AO_ADC_SQ6 AO_ADC_SENSE_F +#define AO_ADC_SQ7 AO_ADC_V_BATT +#define AO_ADC_SQ8 AO_ADC_V_PBATT +#define AO_ADC_SQ9 AO_ADC_ACCEL_REF +#define AO_ADC_SQ10 AO_ADC_ACCEL +#define AO_ADC_SQ11 AO_ADC_TEMP + +/* + * Pressure sensor settings + */ +#define HAS_MS5607 1 +#define AO_MS5607_PRIVATE_PINS 1 +#define AO_MS5607_CS_PORT (&stm_gpioc) +#define AO_MS5607_CS_PIN 4 +#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS) +#define AO_MS5607_MISO_PORT (&stm_gpioa) +#define AO_MS5607_MISO_PIN 6 +#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO) +#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7 + +/* + * SPI Flash memory + */ + +#define M25_MAX_CHIPS 1 +#define AO_M25_SPI_CS_PORT (&stm_gpiod) +#define AO_M25_SPI_CS_MASK (1 << 3) +#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15 + +/* + * Radio (cc1120) + */ + +/* gets pretty close to 434.550 */ + +#define AO_RADIO_CAL_DEFAULT 0x6ca333 + +#define AO_FEC_DEBUG 0 +#define AO_CC1120_SPI_CS_PORT (&stm_gpioc) +#define AO_CC1120_SPI_CS_PIN 5 +#define AO_CC1120_SPI_BUS AO_SPI_2_PB13_PB14_PB15 + +#define AO_CC1120_INT_PORT (&stm_gpioc) +#define AO_CC1120_INT_PIN 14 + +#define AO_CC1120_INT_GPIO 2 +#define HAS_BOOT_RADIO 1 + +/* + * Mag sensor (hmc5883) + */ + +#define HAS_HMC5883 0 +#define AO_HMC5883_INT_PORT (&stm_gpioc) +#define AO_HMC5883_INT_PIN 12 +#define AO_HMC5883_I2C_INDEX STM_I2C_INDEX(1) + +/* + * mpu6000 + */ + +#define HAS_MPU6000 1 +#define AO_MPU6000_INT_PORT (&stm_gpioc) +#define AO_MPU6000_INT_PIN 13 +#define AO_MPU6000_I2C_INDEX STM_I2C_INDEX(1) + +#define HAS_HIGHG_ACCEL 0 + +/* + * mma655x + */ + +#define HAS_MMA655X 1 +#define AO_MMA655X_SPI_INDEX AO_SPI_1_PE13_PE14_PE15 +#define AO_MMA655X_CS_PORT (&stm_gpiod) +#define AO_MMA655X_CS_PIN 4 + +#define NUM_CMDS 16 + +/* + * Companion + */ + +#define AO_COMPANION_CS_PORT (&stm_gpiod) +#define AO_COMPANION_CS_PIN (0) +#define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15 + +/* + * Monitor + */ + +#define HAS_MONITOR 0 +#define LEGACY_MONITOR 0 +#define HAS_MONITOR_PUT 1 +#define AO_MONITOR_LED 0 +#define HAS_RSSI 0 + +/* + * Profiling Viterbi decoding + */ + +#ifndef AO_PROFILE +#define AO_PROFILE 0 +#endif + +#endif /* _AO_PINS_H_ */ diff --git a/src/megametrum-v0.1/stlink-pins b/src/megametrum-v0.1/stlink-pins new file mode 100644 index 00000000..e6094372 --- /dev/null +++ b/src/megametrum-v0.1/stlink-pins @@ -0,0 +1,49 @@ + ST discovery card pins + +1 AIN-1 +2 JTCK +3 GND +4 JTMS +5 NRST +6 SWO + +MM misc connector + +1 GND +2 reset_n +3 boot0 +4 tx1 +5 rx1 +6 +3.3V +7 GND +8 jtms +9 jtck +10 jtdi +11 jtdo +12 jntrst +13 sda2 +14 scl2 +15 pe1 +16 pe0 + +For debugging: + + ST MM +JTCK 2 9 +GND 3 7 +JTMS 4 8 +NRST 5 2 + +TL debug connector: + + TL ST +GND 1 3 +NRST 2 5 +SWDIO 3 4 +SWCLK 4 2 + +MegaAccel: + +Jumpers +PC0 (pin15) (blue) PE0 (pin97) accel_ref (debug 16) +PC1 (pin16) (green) PE1 (pin98) accel (debug 15) diff --git a/src/product/Makefile.telebt b/src/product/Makefile.telebt new file mode 100644 index 00000000..fd52cec4 --- /dev/null +++ b/src/product/Makefile.telebt @@ -0,0 +1,97 @@ +# +# TeleBT build file +# +# Define TELEBT_VER, TELEBT_DEF, TELEBT_INC and TELEBT_SRC +# and include this file + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../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 \ + $(TELEBT_INC) + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_gps_print.c \ + ao_monitor.c \ + ao_mutex.c \ + ao_panic.c \ + ao_state.c \ + ao_stdio.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_dbg.c \ + ao_dma.c \ + ao_led.c \ + ao_packet.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_telebt.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) \ + $(TELEBT_SRC) + +PROGNAME = telebt-v$(TELEBT_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleBT-v$(TELEBT_VER) +PRODUCT_DEF=-DTELEBT_V_$(TELEBT_DEF) +IDPRODUCT=0x000e + +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) && cp $(PROG) $(PMAP) .. + $(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/product/Makefile.teledongle b/src/product/Makefile.teledongle new file mode 100644 index 00000000..3101b777 --- /dev/null +++ b/src/product/Makefile.teledongle @@ -0,0 +1,98 @@ +# +# TeleDongle build file +# +# The various teledongle versions differ only +# in minor pin variations +# so the per-board makefiles simply define +# TD_VER, TD_DEF and include +# this file + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../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_gps_print.c \ + ao_monitor.c \ + ao_mutex.c \ + ao_panic.c \ + ao_rssi.c \ + ao_state.c \ + ao_stdio.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_dbg.c \ + ao_dma.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_master.c \ + ao_radio.c \ + ao_send_packet.c \ + ao_romconfig.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = + +PRODUCT_SRC = \ + ao_teledongle.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = teledongle-v$(TD_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleDongle-v$(TD_VER) +PRODUCT_DEF=-DTELEDONGLE_V_$(TD_DEF) +IDPRODUCT=0x000c + +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) && cp $(PROG) $(PMAP) .. + $(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/product/Makefile.telelaunch b/src/product/Makefile.telelaunch new file mode 100644 index 00000000..1e55989c --- /dev/null +++ b/src/product/Makefile.telelaunch @@ -0,0 +1,100 @@ +# +# TeleLaunch build file +# +# define TELELAUNCH_VER, TELELAUNCH_DEF +# this file + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../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_convert.c \ + ao_launch.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_adc.c \ + ao_aes.c \ + ao_beep.c \ + ao_dbg.c \ + ao_dma.c \ + ao_ignite.c \ + ao_intflash.c \ + ao_led.c \ + ao_radio.c \ + ao_radio_cmac.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_spi.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = + +PRODUCT_SRC = \ + ao_telelaunch.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telelaunch-v$(TELELAUNCH_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleLaunch-v$(TELELAUNCH_VER) +PRODUCT_DEF=-DTELELAUNCH_V_$(TELELAUNCH_DEF) +IDPRODUCT=0x000f +CODESIZE=0x6700 + +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) && cp $(PROG) $(PMAP) .. + $(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/product/Makefile.telemetrum b/src/product/Makefile.telemetrum new file mode 100644 index 00000000..5e3eed7f --- /dev/null +++ b/src/product/Makefile.telemetrum @@ -0,0 +1,112 @@ +# +# TeleMetrum build file +# +# The various telemetrum versions differ only +# in which flash and GPS drivers are included, +# so the per-board makefiles simply define +# TM_VER, TM_DEF, TM_INC and TM_SRC and include +# this file + +vpath %.c .:..:../core:../cc1111:../drivers:../product +vpath %.h .:..:../core:../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 \ + altitude.h \ + ao_kalman.h \ + ao_product.h \ + $(TM_INC) + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_convert.c \ + ao_gps_report.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_flight.c \ + ao_sample.c \ + ao_kalman.c \ + ao_log.c \ + ao_log_big.c \ + ao_report.c \ + ao_telemetry.c \ + ao_freq.c + +CC1111_SRC = \ + ao_adc.c \ + ao_beep.c \ + ao_dbg.c \ + ao_dma.c \ + ao_ignite.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_slave.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_string.c \ + ao_spi.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = \ + $(TM_SRC) + +PRODUCT_SRC = \ + ao_telemetrum.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telemetrum-v$(TM_VER)$(TM_EXTRA) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleMetrum-v$(TM_VER) +PRODUCT_DEF=-DTELEMETRUM_V_$(TM_DEF) +IDPRODUCT=0x000b + +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) && cp $(PROG) $(PMAP) .. + $(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/product/Makefile.telemini b/src/product/Makefile.telemini new file mode 100644 index 00000000..ef8906ba --- /dev/null +++ b/src/product/Makefile.telemini @@ -0,0 +1,101 @@ +# +# TeleMini build file +# +# Define TELEMINI_VER and TELEMINI_DEF and then +# include this file + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../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_convert.c \ + ao_flight.c \ + ao_kalman.c \ + ao_log.c \ + ao_log_tiny.c \ + ao_mutex.c \ + ao_panic.c \ + ao_report.c \ + ao_sample.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_telemetry.c \ + ao_freq.c + +CC1111_SRC = \ + ao_adc.c \ + ao_dma.c \ + ao_ignite.c \ + ao_intflash.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_slave.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_string.c \ + ao_timer.c \ + _bp.c + +DRIVER_SRC = + +PRODUCT_SRC = \ + ao_telemini.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telemini-v$(TELEMINI_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleMini-v$(TELEMINI_VER) +PRODUCT_DEF=-DTELEMINI_V_$(TELEMINI_DEF) +IDPRODUCT=0x000a +CODESIZE=0x6700 + +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) && cp $(PROG) $(PMAP) .. + $(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/product/Makefile.telenano b/src/product/Makefile.telenano new file mode 100644 index 00000000..67410ae0 --- /dev/null +++ b/src/product/Makefile.telenano @@ -0,0 +1,100 @@ +# +# TeleNano build file +# +# Define TELENANO_VER and TELENANO_DEF and then +# include this file + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../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_convert.c \ + ao_flight_nano.c \ + ao_kalman.c \ + ao_log.c \ + ao_log_tiny.c \ + ao_mutex.c \ + ao_panic.c \ + ao_report.c \ + ao_sample.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_telemetry.c \ + ao_freq.c + +CC1111_SRC = \ + ao_adc.c \ + ao_dma.c \ + ao_intflash.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_slave.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_string.c \ + ao_timer.c \ + _bp.c + +DRIVER_SRC = + +PRODUCT_SRC = \ + ao_telenano.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telenano-v$(TELENANO_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleNano-v$(TELENANO_VER) +PRODUCT_DEF=-DTELENANO_V_$(TELENANO_DEF) +IDPRODUCT=0x000a +CODESIZE=0x6700 + +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) && cp $(PROG) $(PMAP) .. + $(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/product/ao_telebt.c b/src/product/ao_telebt.c new file mode 100644 index 00000000..46c63418 --- /dev/null +++ b/src/product/ao_telebt.c @@ -0,0 +1,61 @@ +/* + * 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" + +#if HAS_LOG +__code uint8_t ao_log_format = AO_LOG_FORMAT_NONE; /* until we actually log stuff */ +#endif + +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_timer_init(); +#if HAS_BEEP + ao_beep_init(); +#endif + ao_cmd_init(); +#if HAS_EEPROM + ao_spi_init(); + ao_storage_init(); +#endif + ao_usb_init(); + ao_monitor_init(); +#if HAS_LOG + ao_report_init(); +#endif + ao_radio_init(); + ao_packet_master_init(); + ao_btm_init(); +#if HAS_LOG + ao_log_single_init(); +#endif +#if HAS_DBG + ao_dbg_init(); +#endif +#if HAS_AES + ao_aes_init(); + ao_radio_cmac_init(); +#endif + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/ao_teledongle.c b/src/product/ao_teledongle.c index 4ebc53a5..25ebe73e 100644 --- a/src/ao_teledongle.c +++ b/src/product/ao_teledongle.c @@ -15,9 +15,8 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -#define AO_NO_SERIAL_ISR 1 -#define AO_NO_ADC_ISR 1 #include "ao.h" +#include <ao_send_packet.h> void main(void) @@ -25,15 +24,19 @@ main(void) ao_clock_init(); /* Turn on the LED until the system is stable */ - ao_led_init(AO_LED_RED|AO_LED_GREEN); + ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); ao_timer_init(); ao_cmd_init(); ao_usb_init(); - ao_monitor_init(AO_LED_GREEN, TRUE); + ao_monitor_init(); ao_rssi_init(AO_LED_RED); ao_radio_init(); + ao_packet_master_init(); + ao_send_packet_init(); +#if HAS_DBG ao_dbg_init(); +#endif ao_config_init(); ao_start_scheduler(); } diff --git a/src/product/ao_telelaunch.c b/src/product/ao_telelaunch.c new file mode 100644 index 00000000..b6e4bfc1 --- /dev/null +++ b/src/product/ao_telelaunch.c @@ -0,0 +1,45 @@ +/* + * 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_pins.h" + +void +main(void) +{ + ao_clock_init(); + + /* Turn on the red LED until the system is stable */ + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_RED); + + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_storage_init(); + ao_usb_init(); + ao_radio_init(); +#if HAS_DBG + ao_dbg_init(); +#endif + ao_aes_init(); + ao_launch_init(); + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/product/ao_telemetrum.c b/src/product/ao_telemetrum.c new file mode 100644 index 00000000..ea77f5af --- /dev/null +++ b/src/product/ao_telemetrum.c @@ -0,0 +1,70 @@ +/* + * Copyright © 2009 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_pins.h" + +void +main(void) +{ + /* + * Reduce the transient on the ignite pins at startup by + * pulling the pins low as soon as possible at power up + */ + ao_ignite_set_pins(); + + ao_clock_init(); + + /* Turn on the red LED until the system is stable */ + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_RED); + + /* A hack -- look at the SPI clock pin, if it's sitting at + * ground, then we force the computer to idle mode instead of + * flight mode + */ + if (P1_3 == 0) { + ao_flight_force_idle = 1; + while (P1_3 == 0) + ; + } + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_storage_init(); + ao_flight_init(); + ao_log_init(); + ao_report_init(); + ao_usb_init(); + ao_serial_init(); + ao_gps_init(); + ao_gps_report_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(FALSE); + ao_igniter_init(); +#if HAS_DBG + ao_dbg_init(); +#endif +#if HAS_COMPANION + ao_companion_init(); +#endif + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/product/ao_telemini.c b/src/product/ao_telemini.c new file mode 100644 index 00000000..21551ee9 --- /dev/null +++ b/src/product/ao_telemini.c @@ -0,0 +1,62 @@ +/* + * 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_pins.h" + +__xdata uint8_t ao_force_freq; + +void +main(void) +{ + /* + * Reduce the transient on the ignite pins at startup by + * pulling the pins low as soon as possible at power up + */ + ao_ignite_set_pins(); + + ao_clock_init(); + + /* Turn on the red LED until the system is stable */ + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_RED); + + /* A hack -- look at the debug clock pin, if it's sitting at + * ground, then we force the computer to idle mode instead of + * flight mode + */ + if (P2_2 == 0) { + ao_flight_force_idle = 1; + ao_force_freq = 1; + while (P2_2 == 0) + ; + } + + ao_timer_init(); + ao_adc_init(); + ao_cmd_init(); + ao_storage_init(); + ao_flight_init(); + ao_log_init(); + ao_report_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(TRUE); + ao_igniter_init(); + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/ao_main.c b/src/product/ao_telenano.c index 25acccfc..d91983d0 100644 --- a/src/ao_main.c +++ b/src/product/ao_telenano.c @@ -1,5 +1,5 @@ /* - * Copyright © 2009 Keith Packard <keithp@keithp.com> + * 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 @@ -16,28 +16,28 @@ */ #include "ao.h" +#include "ao_pins.h" void main(void) { ao_clock_init(); + /* Turn on the red LED until the system is stable */ - ao_led_init(); + ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); ao_timer_init(); ao_adc_init(); - ao_beep_init(); ao_cmd_init(); - ao_ee_init(); - ao_flight_init(); + ao_storage_init(); + ao_flight_nano_init(); ao_log_init(); ao_report_init(); - ao_usb_init(); - ao_serial_init(); - ao_gps_init(); ao_telemetry_init(); ao_radio_init(); + ao_packet_slave_init(TRUE); + ao_config_init(); ao_start_scheduler(); } diff --git a/src/product/ao_telepyro.c b/src/product/ao_telepyro.c new file mode 100644 index 00000000..79454fb7 --- /dev/null +++ b/src/product/ao_telepyro.c @@ -0,0 +1,39 @@ +/* + * 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" + +int +main(void) +{ + ao_clock_init(); + + PORTE |= (1 << 6); + DDRE |= (1 << 6); + + ao_avr_stdio_init(); + ao_timer_init(); + ao_cmd_init(); + ao_spi_slave_init(); + ao_usb_init(); + ao_adc_init(); + ao_storage_init(); + ao_config_init(); + ao_pyro_init(); + ao_start_scheduler(); + return 0; +} diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c new file mode 100644 index 00000000..45b6d40e --- /dev/null +++ b/src/product/ao_telescience.c @@ -0,0 +1,39 @@ +/* + * 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" + +int +main(void) +{ + ao_clock_init(); + + PORTE |= (1 << 6); + DDRE |= (1 << 6); + + ao_avr_stdio_init(); + ao_timer_init(); + ao_cmd_init(); + ao_spi_init(); + ao_spi_slave_init(); + ao_storage_init(); + ao_usb_init(); + ao_adc_init(); + ao_log_single_init(); + ao_start_scheduler(); + return 0; +} diff --git a/src/ao_teleterra.c b/src/product/ao_teleterra.c index 6464ccc0..d696b914 100644 --- a/src/ao_teleterra.c +++ b/src/product/ao_teleterra.c @@ -31,10 +31,8 @@ main(void) ao_cmd_init(); ao_usb_init(); ao_serial_init(); - ao_gps_init(); ao_monitor_init(AO_LED_GREEN, TRUE); ao_radio_init(); - ao_dbg_init(); ao_config_init(); ao_start_scheduler(); } diff --git a/src/ao_telemetrum.c b/src/product/ao_teleterra_0_2.c index 5e951b49..68f02596 100644 --- a/src/ao_telemetrum.c +++ b/src/product/ao_teleterra_0_2.c @@ -15,6 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ +#define AO_NO_ADC_ISR 1 #include "ao.h" void @@ -22,26 +23,24 @@ main(void) { ao_clock_init(); - /* Turn on the red LED until the system is stable */ - ao_led_init(AO_LED_RED|AO_LED_GREEN); - ao_led_on(AO_LED_RED); - ao_timer_init(); - ao_adc_init(); ao_beep_init(); ao_cmd_init(); - ao_ee_init(); - ao_flight_init(); - ao_log_init(); - ao_report_init(); + ao_spi_init(); + ao_storage_init(); ao_usb_init(); ao_serial_init(); ao_gps_init(); - ao_gps_report_init(); - ao_telemetry_init(); + ao_monitor_init(); + ao_report_init(); + ao_log_single_init(); ao_radio_init(); - ao_igniter_init(); - ao_dbg_init(); + ao_packet_master_init(); ao_config_init(); + ao_dbg_init(); + ao_lcd_init(); + ao_terraui_init(); + ao_button_init(); + ao_battery_init(); ao_start_scheduler(); } diff --git a/src/product/ao_terraui.c b/src/product/ao_terraui.c new file mode 100644 index 00000000..1866eb0c --- /dev/null +++ b/src/product/ao_terraui.c @@ -0,0 +1,646 @@ +/* + * 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_flight.h> +#include <math.h> + +static __xdata struct ao_telemetry_sensor ao_tel_sensor; +static __xdata struct ao_telemetry_location ao_tel_location; +static __xdata struct ao_telemetry_configuration ao_tel_config; +static __xdata int16_t ao_tel_max_speed; +static __xdata int16_t ao_tel_max_height; +static int8_t ao_tel_rssi; + +static __xdata char ao_lcd_line[17]; +static __xdata char ao_state_name[] = "SIPBFCDMLI"; + +static void +ao_terraui_line(uint8_t addr) +{ + ao_lcd_goto(addr); + ao_lcd_putstring(ao_lcd_line); +} + +#define ao_terraui_state() (ao_state_name[ao_tel_sensor.state]) + +static char +ao_terraui_igniter(int16_t sense) +{ + if (sense < AO_IGNITER_OPEN) + return '-'; + if (sense > AO_IGNITER_CLOSED) + return '+'; + return '?'; +} + +static char +ao_terraui_battery(void) +{ + if (ao_tel_sensor.v_batt > 25558) + return '+'; + return '-'; +} + +static char +ao_terraui_gps(void) +{ + if (ao_tel_location.flags & (1 << 4)) { + if ((ao_tel_location.flags & 0xf) >= 4) + return '+'; + } + return '-'; +} + +static char +ao_terraui_local_gps(void) +{ + if (ao_gps_data.flags & (1 << 4)) { + if ((ao_gps_data.flags & 0xf) >= 4) + return '+'; + } + return '-'; +} + +static char +ao_terraui_logging(void) +{ + if (ao_tel_config.flight != 0) + return '+'; + return '-'; +} + +static __code char ao_progress[4] = { '\011', '\012', '\014', '\013' }; + +static uint8_t ao_telem_progress; +static uint8_t ao_gps_progress; + +static void +ao_terraui_startup(void) +{ + sprintf(ao_lcd_line, "%-16.16s", ao_product); + ao_terraui_line(AO_LCD_ADDR(0,0)); + sprintf(ao_lcd_line, "%-8.8s %5u ", ao_version, ao_serial_number); + ao_terraui_line(AO_LCD_ADDR(1,0)); +} + +static void +ao_terraui_info_firstline(void) +{ + sprintf(ao_lcd_line, "S %4d %7.7s %c", + ao_tel_sensor.serial, + ao_tel_config.callsign, + ao_terraui_state()); + ao_terraui_line(AO_LCD_ADDR(0,0)); +} + +static void +ao_terraui_info(void) +{ + ao_terraui_info_firstline(); + sprintf(ao_lcd_line, "F %4d RSSI%4d%c", + ao_tel_config.flight, + ao_tel_rssi, + ao_progress[ao_telem_progress]); + ao_terraui_line(AO_LCD_ADDR(1,0)); +} + +static void +ao_terraui_pad(void) +{ + sprintf(ao_lcd_line, "B%c A%c M%c L%c G%c %c", + ao_terraui_battery(), + ao_terraui_igniter(ao_tel_sensor.sense_d), + ao_terraui_igniter(ao_tel_sensor.sense_m), + ao_terraui_logging(), + ao_terraui_gps(), + ao_terraui_state()); + ao_terraui_line(AO_LCD_ADDR(0,0)); + sprintf(ao_lcd_line, "SAT %2d RSSI%4d%c", + ao_tel_location.flags & 0xf, + ao_tel_rssi, + ao_progress[ao_telem_progress]); + ao_terraui_line(AO_LCD_ADDR(1,0)); +} + +static void +ao_terraui_ascent(void) +{ + sprintf(ao_lcd_line, "S %5d S\011%5d%c", + ao_tel_sensor.speed >> 4, + ao_tel_max_speed >> 4, + ao_terraui_state()); + ao_terraui_line(AO_LCD_ADDR(0,0)); + sprintf(ao_lcd_line, "H %5d H\011%5d%c", + ao_tel_sensor.height >> 4, + ao_tel_max_height >> 4, + ao_progress[ao_telem_progress]); + ao_terraui_line(AO_LCD_ADDR(1,0)); +} + +static int16_t mag(int32_t d) +{ + if (d < 0) + d = -d; + if (d > 0x7fff) + d = 0x7fff; + return d; +} + +static int32_t +dist(int32_t d) +{ + __pdata uint32_t m; + uint8_t neg = 0; + + if (d < 0) { + d = -d; + neg = 1; + } + + m = 10000000; + while (d >= (2147483647 / 111198)) { + d /= 10; + m /= 10; + } + d = (d * 111198) / m; + if (neg) + d = -d; + return d; +} + +static __code uint8_t cos_table[] = { + 0, /* 0 */ + 0, /* 1 */ + 0, /* 2 */ + 255, /* 3 */ + 254, /* 4 */ + 253, /* 5 */ + 252, /* 6 */ + 251, /* 7 */ + 249, /* 8 */ + 247, /* 9 */ + 245, /* 10 */ + 243, /* 11 */ + 240, /* 12 */ + 238, /* 13 */ + 235, /* 14 */ + 232, /* 15 */ + 228, /* 16 */ + 225, /* 17 */ + 221, /* 18 */ + 217, /* 19 */ + 213, /* 20 */ + 209, /* 21 */ + 205, /* 22 */ + 200, /* 23 */ + 195, /* 24 */ + 190, /* 25 */ + 185, /* 26 */ + 180, /* 27 */ + 175, /* 28 */ + 169, /* 29 */ + 163, /* 30 */ + 158, /* 31 */ + 152, /* 32 */ + 145, /* 33 */ + 139, /* 34 */ + 133, /* 35 */ + 126, /* 36 */ + 120, /* 37 */ + 113, /* 38 */ + 106, /* 39 */ + 100, /* 40 */ + 93, /* 41 */ + 86, /* 42 */ + 79, /* 43 */ + 71, /* 44 */ + 64, /* 45 */ + 57, /* 46 */ + 49, /* 47 */ + 42, /* 48 */ + 35, /* 49 */ + 27, /* 50 */ + 20, /* 51 */ + 12, /* 52 */ + 5, /* 53 */ + 1, /* 54 */ +}; + +static __code uint8_t tan_table[] = { + 0, /* 0 */ + 4, /* 1 */ + 9, /* 2 */ + 13, /* 3 */ + 18, /* 4 */ + 22, /* 5 */ + 27, /* 6 */ + 31, /* 7 */ + 36, /* 8 */ + 41, /* 9 */ + 45, /* 10 */ + 50, /* 11 */ + 54, /* 12 */ + 59, /* 13 */ + 64, /* 14 */ + 69, /* 15 */ + 73, /* 16 */ + 78, /* 17 */ + 83, /* 18 */ + 88, /* 19 */ + 93, /* 20 */ + 98, /* 21 */ + 103, /* 22 */ + 109, /* 23 */ + 114, /* 24 */ + 119, /* 25 */ + 125, /* 26 */ + 130, /* 27 */ + 136, /* 28 */ + 142, /* 29 */ + 148, /* 30 */ + 154, /* 31 */ + 160, /* 32 */ + 166, /* 33 */ + 173, /* 34 */ + 179, /* 35 */ + 186, /* 36 */ + 193, /* 37 */ + 200, /* 38 */ + 207, /* 39 */ + 215, /* 40 */ + 223, /* 41 */ + 231, /* 42 */ + 239, /* 43 */ + 247, /* 44 */ +}; + +int16_t ao_atan2(int32_t dy, int32_t dx) __reentrant +{ + int8_t m = 1; + int16_t a = 0; + uint8_t r; + int8_t t; + + if (dx == 0) { + if (dy > 0) + return 90; + if (dy < 0) + return -90; + return 0; + } + + if (dx < 0) { + a = 180; + m = -m; + dx = -dx; + } + + if (dy < 0) { + m = -m; + a = -a; + dy = -dy; + } + + if (dy > dx) { + int32_t t; + + t = dy; dy = dx; dx = t; + a = a + m * 90; + m = -m; + } + + dy = dy << 8; + dy = (dy + (dx >> 1)) / dx; + r = dy; + for (t = 0; t < 44; t++) + if (tan_table[t] >= r) + break; + return t * m + a; +} + +static __pdata int32_t lon_dist, lat_dist; +static __pdata uint32_t ground_dist, range; +static __pdata uint8_t dist_in_km; +static __pdata int16_t bearing, elevation; + +static void +ao_terraui_lat_dist(void) +{ + lat_dist = dist (ao_tel_location.latitude - ao_gps_data.latitude); +} + +static void +ao_terraui_lon_dist(void) __reentrant +{ + uint8_t c = cos_table[ao_gps_data.latitude >> 24]; + lon_dist = ao_tel_location.longitude; + + /* check if it's shorter to go the other way around */ + if ((int16_t) (lon_dist >> 24) < (int16_t) (ao_gps_data.longitude >> 24) - (int16_t) (1800000000 >> 24)) + lon_dist += 3600000000ul; + lon_dist = dist(lon_dist - ao_gps_data.longitude); + if (c) { + if (lon_dist & 0x7f800000) + lon_dist = (lon_dist >> 8) * c; + else + lon_dist = (lon_dist * (int16_t) c) >> 8; + } +} + +static int32_t sqr(int32_t x) { return x * x; } + +static void +ao_terraui_compute(void) +{ + uint16_t h = ao_tel_sensor.height; + + ao_terraui_lat_dist(); + ao_terraui_lon_dist(); + if (lat_dist > 32767 || lon_dist > 32767) { + dist_in_km = 1; + ground_dist = sqr(lat_dist/1000) + sqr(lon_dist/1000); + h = h/1000; + } else { + dist_in_km = 0; + ground_dist = sqr(lat_dist) + sqr(lon_dist); + } + ground_dist = ao_sqrt (ground_dist); + range = ao_sqrt(ground_dist * ground_dist + ao_tel_sensor.height * ao_tel_sensor.height); + bearing = ao_atan2(lon_dist, lat_dist); + if (bearing < 0) + bearing += 360; + elevation = ao_atan2(ao_tel_sensor.height, ground_dist); +} + +static void +ao_terraui_descent(void) +{ + ao_terraui_compute(); + sprintf(ao_lcd_line, "\007 %4d \005 %3d %c", + bearing, elevation, + ao_terraui_state()); + ao_terraui_line(AO_LCD_ADDR(0,0)); + sprintf(ao_lcd_line, "H:%5d S:%5d%c", + ao_tel_sensor.height, ao_tel_sensor.speed >> 4, + ao_progress[ao_telem_progress]); + ao_terraui_line(AO_LCD_ADDR(1,0)); +} + +static void +ao_terraui_recover(void) +{ + ao_terraui_compute(); + sprintf(ao_lcd_line, "\007 %4d \005 %3d %c", + bearing, elevation, + ao_terraui_state()); + ao_terraui_line(AO_LCD_ADDR(0,0)); + sprintf(ao_lcd_line, "R%5ld%cRSSI%4d%c", + ground_dist, dist_in_km ? 'k' : ' ', + ao_tel_rssi, + ao_progress[ao_telem_progress]); + ao_terraui_line(AO_LCD_ADDR(1,0)); +} + +static void +ao_terraui_coord(int32_t c, char plus, char minus, char extra) __reentrant +{ + uint16_t d; + uint8_t m; + uint16_t f; + + if (c < 0) { + plus = minus; + c = -c; + } + d = c / 10000000; + c = c % 10000000; + c = c * 60; + m = c / 10000000; + c = c % 10000000; + f = (c + 500) / 1000; + sprintf(ao_lcd_line, "%c %3d\362 %2d.%04d\"%c", + plus, d, m, f, extra); +} + +static void +ao_terraui_remote(void) +{ + ao_terraui_coord(ao_tel_location.latitude, 'N', 'S', ao_terraui_state()); + ao_terraui_line(AO_LCD_ADDR(0,0)); + ao_terraui_coord(ao_tel_location.longitude, 'E', 'W', ao_progress[ao_telem_progress]); + ao_terraui_line(AO_LCD_ADDR(1,0)); +} + +static void +ao_terraui_local(void) __reentrant +{ + ao_terraui_coord(ao_gps_data.latitude, 'n', 's', + ao_terraui_local_gps()); + ao_terraui_line(AO_LCD_ADDR(0,0)); + ao_terraui_coord(ao_gps_data.longitude, 'e', 'w', ao_progress[ao_gps_progress]); + ao_terraui_line(AO_LCD_ADDR(1,0)); +} + +static __pdata uint8_t ao_set_freq; +static __pdata uint32_t ao_set_freq_orig; + +static void +ao_terraui_freq(void) __reentrant +{ + uint16_t MHz; + uint16_t frac; + + MHz = ao_config.frequency / 1000; + frac = ao_config.frequency % 1000; + ao_terraui_info_firstline(); + sprintf(ao_lcd_line, "Freq: %3d.%03d MHz", MHz, frac); + ao_terraui_line(AO_LCD_ADDR(1,0)); + ao_lcd_goto(AO_LCD_ADDR(1,11)); +} + +static void +ao_terraui_freq_start(void) +{ + ao_set_freq = 1; + ao_set_freq_orig = ao_config.frequency; + ao_lcd_cursor_on(); +} + +static void +ao_terraui_freq_button(char b) { + + switch (b) { + case 0: + return; + case 1: + if (ao_config.frequency > 430000) + ao_config.frequency -= 100; + break; + case 2: + ao_set_freq = 0; + ao_lcd_cursor_off(); + if (ao_set_freq_orig != ao_config.frequency) + ao_config_put(); + return; + case 3: + if (ao_config.frequency < 438000) + ao_config.frequency += 100; + break; + + } + ao_config_set_radio(); + ao_radio_recv_abort(); +} + +static __code void (*__code ao_terraui_page[])(void) = { + ao_terraui_startup, + ao_terraui_info, + ao_terraui_pad, + ao_terraui_ascent, + ao_terraui_descent, + ao_terraui_recover, + ao_terraui_remote, + ao_terraui_local, +}; + +#define NUM_PAGE (sizeof (ao_terraui_page)/sizeof (ao_terraui_page[0])) + +static __pdata uint8_t ao_current_page = 0; +static __pdata uint8_t ao_shown_about = 3; + +static void +ao_terraui(void) +{ + ao_lcd_start(); + + ao_delay(AO_MS_TO_TICKS(100)); + ao_button_clear(); + + for (;;) { + char b; + + if (ao_set_freq) + ao_terraui_freq(); + else + ao_terraui_page[ao_current_page](); + + ao_alarm(AO_SEC_TO_TICKS(1)); + b = ao_button_get(); + ao_clear_alarm(); + + if (b > 0) { + ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(10)); + ao_shown_about = 0; + } + + if (ao_set_freq) { + ao_terraui_freq_button(b); + continue; + } + switch (b) { + case 0: + if (ao_shown_about) { + if (--ao_shown_about == 0) + ao_current_page = 2; + } + break; + case 1: + ao_current_page++; + if (ao_current_page >= NUM_PAGE) + ao_current_page = 0; + break; + case 2: + ao_terraui_freq_start(); + break; + case 3: + if (ao_current_page == 0) + ao_current_page = NUM_PAGE; + ao_current_page--; + break; + } + } +} + +__xdata static struct ao_task ao_terraui_task; + +static void +ao_terramonitor(void) +{ + uint8_t monitor; + + monitor = ao_monitor_head; + ao_monitor_set(sizeof (struct ao_telemetry_generic)); + for (monitor = ao_monitor_head;; + monitor = ao_monitor_ring_next(monitor)) + { + while (monitor == ao_monitor_head) + ao_sleep(DATA_TO_XDATA(&ao_monitor_head)); + if (ao_monitoring != sizeof (union ao_telemetry_all)) + continue; + if (!(ao_monitor_ring[monitor].all.status & PKT_APPEND_STATUS_1_CRC_OK)) + continue; + ao_tel_rssi = AO_RSSI_FROM_RADIO(ao_monitor_ring[monitor].all.rssi); + switch (ao_monitor_ring[monitor].all.telemetry.generic.type) { + case AO_TELEMETRY_SENSOR_TELEMETRUM: + case AO_TELEMETRY_SENSOR_TELEMINI: + case AO_TELEMETRY_SENSOR_TELENANO: + ao_xmemcpy(&ao_tel_sensor, &ao_monitor_ring[monitor], sizeof (ao_tel_sensor)); + if (ao_tel_sensor.state < ao_flight_boost) { + ao_tel_max_speed = 0; + ao_tel_max_height = 0; + } else { + if (ao_tel_sensor.speed > ao_tel_max_speed) + ao_tel_max_speed = ao_tel_sensor.speed; + if (ao_tel_sensor.height > ao_tel_max_height) + ao_tel_max_height = ao_tel_sensor.height; + } + ao_telem_progress = (ao_telem_progress + 1) & 0x3; + break; + case AO_TELEMETRY_LOCATION: + ao_xmemcpy(&ao_tel_location, &ao_monitor_ring[monitor], sizeof (ao_tel_location)); + break; + case AO_TELEMETRY_CONFIGURATION: + ao_xmemcpy(&ao_tel_config, &ao_monitor_ring[monitor], sizeof (ao_tel_config)); + } + } +} + +__xdata static struct ao_task ao_terramonitor_task; + +static void +ao_terragps(void) +{ + uint16_t gps_tick = ao_gps_progress; + + for (;;) { + while (ao_gps_tick == gps_tick) + ao_sleep(&ao_gps_data); + gps_tick = ao_gps_tick; + ao_gps_progress = (ao_gps_progress + 1) & 3; + } +} + +__xdata static struct ao_task ao_terragps_task; + +void +ao_terraui_init(void) +{ + ao_add_task(&ao_terraui_task, ao_terraui, "ui"); + ao_add_task(&ao_terramonitor_task, ao_terramonitor, "monitor"); + ao_add_task(&ao_terragps_task, ao_terragps, "gps"); +} diff --git a/src/ao_test.c b/src/product/ao_test.c index b9f7d338..14c2eb75 100644 --- a/src/ao_test.c +++ b/src/product/ao_test.c @@ -53,7 +53,7 @@ blink_1(void) static __xdata struct ao_adc adc; for (;;) { - ao_sleep(&ao_adc_ring); + ao_sleep(&ao_adc_head); ao_adc_get(&adc); if (adc.accel < 15900) ao_led_on(AO_LED_RED); diff --git a/src/ao_tidongle.c b/src/product/ao_tidongle.c index 3b7c2733..cba0b122 100644 --- a/src/ao_tidongle.c +++ b/src/product/ao_tidongle.c @@ -30,7 +30,7 @@ main(void) ao_timer_init(); ao_cmd_init(); ao_usb_init(); - ao_monitor_init(AO_LED_RED, TRUE); + ao_monitor_init(); ao_rssi_init(AO_LED_RED); ao_radio_init(); ao_dbg_init(); diff --git a/src/spiradio-v0.1/.gitignore b/src/spiradio-v0.1/.gitignore new file mode 100644 index 00000000..8e39138e --- /dev/null +++ b/src/spiradio-v0.1/.gitignore @@ -0,0 +1,2 @@ +spiradio-* +ao_product.h diff --git a/src/spiradio-v0.1/.sdcdbrc b/src/spiradio-v0.1/.sdcdbrc new file mode 100644 index 00000000..b9f6129c --- /dev/null +++ b/src/spiradio-v0.1/.sdcdbrc @@ -0,0 +1,2 @@ +--directory=../cc1111:../product:../core:../drivers:. + diff --git a/src/spiradio-v0.1/Makefile b/src/spiradio-v0.1/Makefile new file mode 100644 index 00000000..a207d34f --- /dev/null +++ b/src/spiradio-v0.1/Makefile @@ -0,0 +1,92 @@ +# +# SpiRadio build file +# + +SPIRADIO_VER=0.1 +SPIRADIO_DEF=0_1 + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../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 \ + ao_radio_spi.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_aes.c \ + ao_dma.c \ + ao_led.c \ + ao_radio.c \ + ao_radio_cmac.c \ + ao_radio_slave.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_spi.c \ + ao_string.c \ + ao_timer.c \ + _bp.c + +PRODUCT_SRC = \ + ao_spiradio.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = spiradio-v$(SPIRADIO_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=SpiRadio-v$(SPIRADIO_VER) +PRODUCT_DEF=-DSPIRADIO_V_$(SPIRADIO_DEF) +IDPRODUCT=0x000f +CODESIZE=0x6700 + +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) && cp $(PROG) $(PMAP) .. + $(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/spiradio-v0.1/ao_pins.h b/src/spiradio-v0.1/ao_pins.h new file mode 100644 index 00000000..cf01c9c6 --- /dev/null +++ b/src/spiradio-v0.1/ao_pins.h @@ -0,0 +1,65 @@ +/* + * 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_FLIGHT 0 +#define HAS_USB 0 +#define HAS_BEEP 0 +#define HAS_GPS 0 +#define HAS_SERIAL_0 0 +#define HAS_SERIAL_0_ALT_1 0 +#define HAS_SERIAL_0_HW_FLOW 0 +#define USE_SERIAL_0_STDIN 0 +#define HAS_SERIAL_1 1 +#define HAS_SERIAL_1_ALT_1 1 +#define HAS_SERIAL_1_HW_FLOW 0 +#define USE_SERIAL_1_STDIN 1 +#define DELAY_SERIAL_1_STDIN 0 +#define HAS_ADC 0 +#define HAS_DBG 0 +#define HAS_EEPROM 0 +#define HAS_LOG 0 +#define USE_INTERNAL_FLASH 0 +#define DBG_ON_P1 0 +#define PACKET_HAS_MASTER 0 +#define PACKET_HAS_SLAVE 0 +#define AO_LED_TX 1 +#define AO_LED_RX 2 +#define AO_LED_RED AO_LED_TX +#define LEDS_AVAILABLE (AO_LED_TX|AO_LED_RX) +#define HAS_EXTERNAL_TEMP 0 +#define HAS_ACCEL_REF 0 +#define SPI_CS_ON_P1 1 +#define HAS_AES 1 + +#define SPI_CS_PORT P1 +#define SPI_CS_SEL P1SEL +#define SPI_CS_DIR P1DIR +#define AO_SPI_SLAVE 1 +#define HAS_SPI_0 1 +#define SPI_0_ALT_2 1 +#define HAS_SPI_1 0 + +#define AO_RADIO_SLAVE_INT_PORT P1 +#define AO_RADIO_SLAVE_INT_BIT 6 +#define AO_RADIO_SLAVE_INT_PIN P1_6 + +#endif /* _AO_PINS_H_ */ diff --git a/src/spiradio-v0.1/ao_spiradio.c b/src/spiradio-v0.1/ao_spiradio.c new file mode 100644 index 00000000..d3647cc7 --- /dev/null +++ b/src/spiradio-v0.1/ao_spiradio.c @@ -0,0 +1,37 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_radio_spi.h> + +void +main(void) +{ + ao_clock_init(); + + ao_led_init(LEDS_AVAILABLE); + + ao_serial_init(); + ao_timer_init(); + ao_cmd_init(); + ao_spi_init(); + ao_radio_init(); + ao_aes_init(); + ao_config_init(); + ao_radio_slave_init(); + ao_start_scheduler(); +} diff --git a/src/stm-bringup/.gitignore b/src/stm-bringup/.gitignore new file mode 100644 index 00000000..50992530 --- /dev/null +++ b/src/stm-bringup/.gitignore @@ -0,0 +1 @@ +*.elf diff --git a/src/stm-bringup/Makefile b/src/stm-bringup/Makefile new file mode 100644 index 00000000..d45e836d --- /dev/null +++ b/src/stm-bringup/Makefile @@ -0,0 +1,46 @@ +vpath % ..:../core:../product:../drivers:../stm +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +CC=arm-none-eabi-gcc +OBJCOPY=arm-none-eabi-objcopy + +PDCLIB=/home/keithp/sat +C_LIB=$(PDCLIB)/lib/pdclib.a +C_INC=-I$(PDCLIB)/include + +DEF_CFLAGS=-g -std=gnu99 -Os -mlittle-endian -mthumb -ffreestanding -nostdlib -I../../src/stm $(C_INC) + +# to run from SRAM +LD_FLAGS_RAM=-L../stm -Wl,-Taltos-ram.ld +LD_FLAGS=-L../stm -Wl,-Tbringup.ld + +CFLAGS=$(DEF_CFLAGS) -mcpu=cortex-m3 -DCONFIG_STM32L_DISCOVERY + +SRC=bringup.c ao_interrupt.c +OBJ=$(SRC:.c=.o) + +all: bringup-ram.elf bringup.elf + +%.bin: %.elf + $(OBJCOPY) -O binary $^ $@ + +bringup.elf: $(OBJ) $(C_LIB) bringup.ld + $(CC) $(CFLAGS) $(LD_FLAGS) -o $@ $(OBJ) $(C_LIB) -lgcc + +bringup-ram.elf: $(OBJ) $(C_LIB) altos-ram.ld + $(CC) $(CFLAGS) $(LD_FLAGS_RAM) -o $@ $(OBJ) $(C_LIB) -lgcc + +clean: + rm -f *.o + rm -rf *.elf + rm -rf *.bin + +.PHONY: all clean + +install: + +uninstall: diff --git a/src/stm-bringup/bringup.c b/src/stm-bringup/bringup.c new file mode 100644 index 00000000..c5fad4a3 --- /dev/null +++ b/src/stm-bringup/bringup.c @@ -0,0 +1,320 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <string.h> + +#include <stdio.h> +#include "stm32l.h" + +void delay(void); + +static void +set_clock(void) +{ + uint32_t cfgr; + uint32_t cr; + + /* Set flash latency to tolerate 32MHz SYSCLK -> 1 wait state */ + uint32_t acr = stm_flash.acr; + + /* Enable 64-bit access and prefetch */ + acr |= (1 << STM_FLASH_ACR_ACC64) | (1 << STM_FLASH_ACR_PRFEN); + stm_flash.acr = acr; + + /* Enable 1 wait state so the CPU can run at 32MHz */ + /* (haven't managed to run the CPU at 32MHz yet, it's at 16MHz) */ + acr |= (1 << STM_FLASH_ACR_LATENCY); + stm_flash.acr = acr; + + /* HCLK to 16MHz -> AHB prescaler = /1 */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE); + cfgr |= (STM_RCC_CFGR_HPRE_DIV_1 << STM_RCC_CFGR_HPRE); + stm_rcc.cfgr = cfgr; + while ((stm_rcc.cfgr & (STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE)) != + (STM_RCC_CFGR_HPRE_DIV_1 << STM_RCC_CFGR_HPRE)) + asm ("nop"); +#define STM_AHB_PRESCALER 1 + + /* PCLK1 to 16MHz -> APB1 Prescaler = 1 */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_PPRE1_MASK << STM_RCC_CFGR_PPRE1); + cfgr |= (STM_RCC_CFGR_PPRE1_DIV_1 << STM_RCC_CFGR_PPRE1); + stm_rcc.cfgr = cfgr; +#define STM_APB1_PRESCALER 1 + + /* PCLK2 to 16MHz -> APB2 Prescaler = 1 */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_PPRE2_MASK << STM_RCC_CFGR_PPRE2); + cfgr |= (STM_RCC_CFGR_PPRE2_DIV_1 << STM_RCC_CFGR_PPRE2); + stm_rcc.cfgr = cfgr; +#define STM_APB2_PRESCALER 1 + + /* Enable power interface clock */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN); + + /* Set voltage range to 1.8V */ + + /* poll VOSF bit in PWR_CSR. Wait until it is reset to 0 */ + while ((stm_pwr.csr & (1 << STM_PWR_CSR_VOSF)) != 0) + asm("nop"); + + /* Configure voltage scaling range */ + cr = stm_pwr.cr; + cr &= ~(STM_PWR_CR_VOS_MASK << STM_PWR_CR_VOS); + cr |= (STM_PWR_CR_VOS_1_8 << STM_PWR_CR_VOS); + stm_pwr.cr = cr; + + /* poll VOSF bit in PWR_CSR. Wait until it is reset to 0 */ + while ((stm_pwr.csr & (1 << STM_PWR_CSR_VOSF)) != 0) + asm("nop"); + + /* Enable HSI RC clock 16MHz */ + if (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY))) { + stm_rcc.cr |= (1 << STM_RCC_CR_HSION); + while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY))) + asm("nop"); + } +#define STM_HSI 16000000 + + /* Switch to direct HSI for SYSCLK */ + if ((stm_rcc.cfgr & (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS)) != + (STM_RCC_CFGR_SWS_HSI << STM_RCC_CFGR_SWS)) { + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW); + cfgr |= (STM_RCC_CFGR_SW_HSI << STM_RCC_CFGR_SW); + stm_rcc.cfgr = cfgr; + while ((stm_rcc.cfgr & (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS)) != + (STM_RCC_CFGR_SWS_HSI << STM_RCC_CFGR_SWS)) + asm("nop"); + } + + /* Disable the PLL */ + stm_rcc.cr &= ~(1 << STM_RCC_CR_PLLON); + while (stm_rcc.cr & (1 << STM_RCC_CR_PLLRDY)) + asm("nop"); + + /* PLLVCO to 96MHz (for USB) -> PLLMUL = 6, PLLDIV = 4 */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_PLLMUL_MASK << STM_RCC_CFGR_PLLMUL); + cfgr &= ~(STM_RCC_CFGR_PLLDIV_MASK << STM_RCC_CFGR_PLLDIV); + +// cfgr |= (STM_RCC_CFGR_PLLMUL_6 << STM_RCC_CFGR_PLLMUL); +// cfgr |= (STM_RCC_CFGR_PLLDIV_3 << STM_RCC_CFGR_PLLDIV); + + cfgr |= (STM_RCC_CFGR_PLLMUL_6 << STM_RCC_CFGR_PLLMUL); + cfgr |= (STM_RCC_CFGR_PLLDIV_4 << STM_RCC_CFGR_PLLDIV); + +#define STM_PLLMUL 6 +#define STM_PLLDIV 4 + + /* PLL source to HSI */ + cfgr &= ~(1 << STM_RCC_CFGR_PLLSRC); + +#define STM_PLLSRC STM_HSI + + stm_rcc.cfgr = cfgr; + + /* Enable the PLL and wait for it */ + stm_rcc.cr |= (1 << STM_RCC_CR_PLLON); + while (!(stm_rcc.cr & (1 << STM_RCC_CR_PLLRDY))) + asm("nop"); + + /* Switch to the PLL for the system clock */ + + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW); + cfgr |= (STM_RCC_CFGR_SW_PLL << STM_RCC_CFGR_SW); + stm_rcc.cfgr = cfgr; + for (;;) { + uint32_t c, part, mask, val; + + c = stm_rcc.cfgr; + mask = (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS); + val = (STM_RCC_CFGR_SWS_PLL << STM_RCC_CFGR_SWS); + part = c & mask; + if (part == val) + break; + } +} + +#define STM_PLLVCO (STM_PLLSRC * STM_PLLMUL) +#define STM_SYSCLK (STM_PLLVCO / STM_PLLDIV) +#define STM_HCLK (STM_SYSCLK / STM_AHB_PRESCALER) +#define STM_APB1 (STM_HCLK / STM_APB1_PRESCALER) +#define STM_APB2 (STM_HCLK / STM_APB2_PRESCALER) + +#define BAUD_9600 (STM_APB2 / 9600) + +void +set_serial() +{ + uint32_t moder, afr; + + /* Enable GPIOA */ + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN); + + /* Hook PA9, PA10 to USART1 (AFIO7) */ + stm_moder_set(&stm_gpioa, 9, STM_MODER_ALTERNATE); + stm_moder_set(&stm_gpioa, 10, STM_MODER_ALTERNATE); + stm_afr_set(&stm_gpioa, 9, STM_AFR_AF7); + stm_afr_set(&stm_gpioa, 10, STM_AFR_AF7); + + /* Enable USART1 */ + stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_USART1EN); + + /* 9.6KBps. PCLK1 = 16MHz. OVER8 = 0 */ + + /* USARTDIV = PCLK1 / (16 * 9600) = 104.1{6} + * round to 104.1875 (1667 / 16) + * + * actual baud rate = 16e6 / (16 * 104.1875) = 9598Bps + */ + + stm_usart1.brr = BAUD_9600; + + stm_usart1.cr1 = ((0 << STM_USART_CR1_OVER8) | + (1 << STM_USART_CR1_UE) | + (0 << STM_USART_CR1_M) | + (0 << STM_USART_CR1_WAKE) | + (0 << STM_USART_CR1_PCE) | + (0 << STM_USART_CR1_PS) | + (0 << STM_USART_CR1_PEIE) | + (0 << STM_USART_CR1_TXEIE) | + (0 << STM_USART_CR1_TCIE) | + (0 << STM_USART_CR1_RXNEIE) | + (0 << STM_USART_CR1_IDLEIE) | + (1 << STM_USART_CR1_TE) | + (1 << STM_USART_CR1_RE) | + (0 << STM_USART_CR1_RWU) | + (0 << STM_USART_CR1_SBK)); + + stm_usart1.cr2 = ((0 << STM_USART_CR2_LINEN) | + (STM_USART_CR2_STOP_1 << STM_USART_CR2_STOP) | + (0 << STM_USART_CR2_CLKEN) | + (0 << STM_USART_CR2_CPOL) | + (0 << STM_USART_CR2_CPHA) | + (0 << STM_USART_CR2_LBCL) | + (0 << STM_USART_CR2_LBDIE) | + (0 << STM_USART_CR2_LBDL) | + (0 << STM_USART_CR2_ADD)); + + stm_usart1.cr3 = ((0 << STM_USART_CR3_ONEBITE) | + (0 << STM_USART_CR3_CTSIE) | + (0 << STM_USART_CR3_CTSE) | + (0 << STM_USART_CR3_RTSE) | + (0 << STM_USART_CR3_DMAT) | + (0 << STM_USART_CR3_DMAR) | + (0 << STM_USART_CR3_SCEN) | + (0 << STM_USART_CR3_NACK) | + (0 << STM_USART_CR3_HDSEL) | + (0 << STM_USART_CR3_IRLP) | + (0 << STM_USART_CR3_IREN) | + (0 << STM_USART_CR3_EIE)); +} + +void +outbyte(char c) +{ + if (c == '\n') + outbyte('\r'); + while (!(stm_usart1.sr & (1 << STM_USART_SR_TXE))) + ; + stm_usart1.dr = c; +} + +int putc( int c, FILE * stream ) { + outbyte(c); +} + +void +serial_string(char *string) +{ + char c; + + while (c = *string++) + outbyte(c); +} + +volatile uint16_t tick_count; + +void +stm_tim6_isr(void) +{ + if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) { + stm_tim6.sr = 0; + ++tick_count; + } +} + +#define TIMER_10kHz (STM_APB1 / 10000) + +void +set_timer6(void) +{ + stm_nvic_set_enable(STM_ISR_TIM6_POS); + stm_nvic_set_priority(STM_ISR_TIM6_POS, 1); + + /* Turn on timer 6 */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN); + + stm_tim6.psc = TIMER_10kHz; + stm_tim6.arr = 100; + stm_tim6.cnt = 0; + + /* Enable update interrupt */ + stm_tim6.dier = (1 << STM_TIM67_DIER_UIE); + + /* Poke timer to reload values */ + stm_tim6.egr |= (1 << STM_TIM67_EGR_UG); + + stm_tim6.cr2 = (STM_TIM67_CR2_MMS_RESET << STM_TIM67_CR2_MMS); + + /* And turn it on */ + stm_tim6.cr1 = ((0 << STM_TIM67_CR1_ARPE) | + (0 << STM_TIM67_CR1_OPM) | + (1 << STM_TIM67_CR1_URS) | + (0 << STM_TIM67_CR1_UDIS) | + (1 << STM_TIM67_CR1_CEN)); +} + +void +main (void) +{ + set_clock(); + set_serial(); + set_timer6(); + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); + stm_moder_set(&stm_gpiob, 7, STM_MODER_OUTPUT); + stm_moder_set(&stm_gpiob, 6, STM_MODER_OUTPUT); + for (;;) { + stm_gpiob.odr = (1 << 7); + printf ("hello, "); + delay(); + stm_gpiob.odr = (1 << 6); + printf ("world %d\n", tick_count); + delay(); + } +} + +void +delay(void) +{ + int i; + for (i = 0; i < 1000000; i++) + __asm__ __volatile__ ("nop\n\t":::"memory"); +} diff --git a/src/stm-bringup/bringup.ld b/src/stm-bringup/bringup.ld new file mode 100644 index 00000000..10d50cd6 --- /dev/null +++ b/src/stm-bringup/bringup.ld @@ -0,0 +1,69 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +MEMORY { + rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K + ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K +} + +INCLUDE registers.ld + +EXTERN (stm_interrupt_vector) + +SECTIONS { + /* + * Rom contents + */ + + .text ORIGIN(rom) : { + __text_start__ = .; + *(.interrupt) /* Interrupt vectors */ + + *(.text*) /* Executable code */ + *(.rodata*) /* Constants */ + } > rom + + .ARM.exidx : { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + __text_end__ = .; + } > rom + + . = ORIGIN(ram); + __data_start__ = .; + + /* Data -- relocated to RAM, but written to ROM + */ + .data : AT (ADDR(.ARM.exidx) + SIZEOF (.ARM.exidx)) { + *(.data) /* initialized data */ + __data_end__ = .; + __bss_start__ = .; + } >ram + + .bss : { + *(.bss) + *(COMMON) + __bss_end__ = .; + } >ram + + PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram)); + PROVIDE(end = .); + +} + +ENTRY(start); + + diff --git a/src/stm-demo/.gitignore b/src/stm-demo/.gitignore new file mode 100644 index 00000000..32b08ce8 --- /dev/null +++ b/src/stm-demo/.gitignore @@ -0,0 +1,2 @@ +stm-demo +ao_product.h diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile new file mode 100644 index 00000000..09c9c3ca --- /dev/null +++ b/src/stm-demo/Makefile @@ -0,0 +1,74 @@ +# +# AltOS build +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_pins.h \ + ao_product.h + +# +# Common AltOS sources +# +ALTOS_SRC = \ + ao_interrupt.c \ + ao_product.c \ + ao_romconfig.c \ + ao_cmd.c \ + ao_task.c \ + ao_led.c \ + ao_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_serial_stm.c \ + ao_lcd_stm.c \ + ao_lcd_font.c \ + ao_mutex.c \ + ao_dma_stm.c \ + ao_spi_stm.c \ + ao_adc_stm.c \ + ao_data.c \ + ao_i2c_stm.c \ + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_event.c \ + ao_quadrature.c \ + ao_button.c + +PRODUCT=StmDemo-v0.0 +PRODUCT_DEF=-DSTM_DEMO +IDPRODUCT=0x000a + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) -g -O0 + +PROG=stm-demo + +SRC=$(ALTOS_SRC) ao_demo.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) + +LDFLAGS=-L../stm -Wl,-Taltos.ld + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +$(OBJ): $(INC) + +distclean: clean + +clean: + rm -f *.o $(PROG) + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/stm-demo/ao_demo.c b/src/stm-demo/ao_demo.c new file mode 100644 index 00000000..fe7c69f2 --- /dev/null +++ b/src/stm-demo/ao_demo.c @@ -0,0 +1,207 @@ +/* + * 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_exti.h> +#include <ao_event.h> +#include <ao_quadrature.h> +#include <ao_button.h> + +struct ao_task demo_task; + +static inline int min(int a, int b) { return a < b ? a : b; } + +void +ao_demo(void) +{ + char message[] = "Hello, Mike & Bdale --- "; + char part[7]; + int i = 0; + int len = sizeof(message) - 1; + int first, second; + + part[6] = '\0'; + for (;;) { + ao_delay(AO_MS_TO_TICKS(150)); + first = min(6, len - i); + second = 6 - first; + memcpy(part, message + i, first); + memcpy(part + first, message, second); + ao_lcd_font_string(part); + if (++i >= len) + i = 0; + } +} + +void _close() { } +void _sbrk() { } +void _isatty() { } +void _lseek() { } +void _exit () { } +void _read () { } +void _fstat() { } + +#define AO_DMA_TEST_INDEX STM_DMA_INDEX(4) + +static void +ao_dma_test(void) { + static char src[20] = "hello, world"; + static char dst[20]; + + dst[0] = '\0'; + ao_dma_set_transfer(AO_DMA_TEST_INDEX, dst, src, 13, + (1 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_LOW << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (1 << STM_DMA_CCR_MINC) | + (1 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR)); + ao_dma_start(AO_DMA_TEST_INDEX); + ao_arch_critical( + while (!ao_dma_done[AO_DMA_TEST_INDEX]) + ao_sleep(&ao_dma_done[AO_DMA_TEST_INDEX]); + ); + ao_dma_done_transfer(AO_DMA_TEST_INDEX); + printf ("copied %s\n", dst); +} + +static void +ao_spi_write(void) { + unsigned char data[] = { 0x55, 0xaa, 0xff, 0x00 }; + int i; + + for (i = 0; i < 10; i++) { + ao_spi_get(0, AO_SPI_SPEED_FAST); + stm_gpio_set(&stm_gpioc, 12, 0); + ao_spi_send(data, 4, 0); + stm_gpio_set(&stm_gpioc, 12, 1); + ao_spi_put(0); + printf("."); + flush(); + ao_delay(100); + } +} + +static void +ao_spi_read(void) { + unsigned char data[4]; + int i; + + for (i = 0; i < 10; i++) { + ao_spi_get(0, AO_SPI_SPEED_FAST); + stm_gpio_set(&stm_gpioc, 12, 0); + ao_spi_recv(data, 4, 0); + stm_gpio_set(&stm_gpioc, 12, 1); + ao_spi_put(0); + printf("."); + flush(); + ao_delay(100); + } +} + +static void +ao_i2c_write(void) { + unsigned char data[] = { 0x55, 0xaa, 0xff, 0x00 }; + int i; + + for (i = 0; i < 10; i++) { + ao_i2c_get(0); + if (ao_i2c_start(0, 0x55)) + ao_i2c_send(data, 4, 0, TRUE); + else { + printf ("i2c start failed\n"); + ao_i2c_put(0); + break; + } + ao_i2c_put(0); + printf("."); + flush(); + ao_delay(100); + } +} + +static void +ao_temp (void) +{ + struct ao_data packet; + int temp; + + ao_data_get(&packet); + + /* + * r = (110 - 25) / (ts_cal_hot - ts_cal_cold) + * 25 + (110 - 25) * (temp - ts_cal_cold) / (ts_cal_hot - ts_cal_cold) + */ + temp = 25 + (110 - 25) * (packet.adc.temp - stm_temp_cal.ts_cal_cold) / (stm_temp_cal.ts_cal_hot - stm_temp_cal.ts_cal_cold); + printf ("temp: %d\n", temp); +} + +static void +ao_event(void) +{ + struct ao_event event; + + for (;;) { + flush(); + ao_event_get(&event); + printf ("type %1d unit %1d tick %5u value %ld\n", + event.type, event.unit, event.tick, event.value); + if (event.value == 100) + break; + } + +} + +__code struct ao_cmds ao_demo_cmds[] = { + { ao_dma_test, "D\0DMA test" }, + { ao_spi_write, "W\0SPI write" }, + { ao_spi_read, "R\0SPI read" }, + { ao_i2c_write, "i\0I2C write" }, + { ao_temp, "t\0Show temp" }, + { ao_event, "e\0Monitor event queue" }, + { 0, NULL } +}; + +int +main(void) +{ + ao_clock_init(); + + ao_serial_init(); + ao_timer_init(); + ao_dma_init(); + ao_cmd_init(); + ao_lcd_stm_init(); +// ao_lcd_font_init(); + ao_spi_init(); + ao_i2c_init(); + ao_exti_init(); + ao_quadrature_init(); + ao_button_init(); + + ao_timer_set_adc_interval(100); + + ao_adc_init(); + ao_usb_init(); + + ao_cmd_register(&ao_demo_cmds[0]); + + ao_start_scheduler(); + return 0; +} diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h new file mode 100644 index 00000000..c9c7446e --- /dev/null +++ b/src/stm-demo/ao_pins.h @@ -0,0 +1,200 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +/* Bridge SB17 on the board and use the MCO from the other chip */ +#define AO_HSE 8000000 +#define AO_HSE_BYPASS 1 + +/* PLLVCO = 96MHz (so that USB will work) */ +#define AO_PLLMUL 12 +#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12) + +/* SYSCLK = 32MHz */ +#define AO_PLLDIV 3 +#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) + +/* HCLK = 32MHZ (CPU clock) */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* Run APB1 at HCLK/1 */ +#define AO_APB1_PRESCALER 1 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_1 + +/* Run APB2 at HCLK/1 */ +#define AO_APB2_PRESCALER 1 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_1 + +#define HAS_SERIAL_1 1 +#define USE_SERIAL_1_STDIN 1 +#define SERIAL_1_PB6_PB7 1 +#define SERIAL_1_PA9_PA10 0 + +#define HAS_SERIAL_2 0 +#define USE_SERIAL_2_STDIN 1 +#define SERIAL_2_PA2_PA3 0 +#define SERIAL_2_PD5_PD6 1 + +#define HAS_SERIAL_3 0 +#define USE_SERIAL_3_STDIN 1 +#define SERIAL_3_PB10_PB11 0 +#define SERIAL_3_PC10_PC11 0 +#define SERIAL_3_PD8_PD9 1 + +#define HAS_SPI_1 1 +#define SPI_1_PB3_PB4_PB5 1 + +#define HAS_SPI_2 0 + +#define HAS_USB 1 +#define HAS_BEEP 0 +#define PACKET_HAS_SLAVE 0 + +#define LOW_LEVEL_DEBUG 1 + +#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOBEN +#define LED_PORT (&stm_gpiob) +#define LED_PIN_GREEN 7 +#define LED_PIN_BLUE 6 +#define AO_LED_GREEN (1 << LED_PIN_GREEN) +#define AO_LED_BLUE (1 << LED_PIN_BLUE) + +#define AO_LED_RED AO_LED_BLUE /* a patent lie */ + +#define LEDS_AVAILABLE (AO_LED_BLUE | AO_LED_GREEN) + +#define AO_LCD_STM_SEG_ENABLED_0 ( \ + (1 << 0) | /* PA1 */ \ + (1 << 1) | /* PA2 */ \ + (1 << 2) | /* PA3 */ \ + (0 << 3) | /* PA6 */ \ + (0 << 4) | /* PA7 */ \ + (0 << 5) | /* PB0 */ \ + (0 << 6) | /* PB1 */ \ + (1 << 7) | /* PB3 */ \ + (1 << 8) | /* PB4 */ \ + (1 << 9) | /* PB5 */ \ + (1 << 10) | /* PB10 */ \ + (1 << 11) | /* PB11 */ \ + (1 << 12) | /* PB12 */ \ + (1 << 13) | /* PB13 */ \ + (1 << 14) | /* PB14 */ \ + (1 << 15) | /* PB15 */ \ + (1 << 16) | /* PB8 */ \ + (1 << 17) | /* PA15 */ \ + (1 << 18) | /* PC0 */ \ + (1 << 19) | /* PC1 */ \ + (1 << 20) | /* PC2 */ \ + (1 << 21) | /* PC3 */ \ + (0 << 22) | /* PC4 */ \ + (0 << 23) | /* PC5 */ \ + (1 << 24) | /* PC6 */ \ + (1 << 25) | /* PC7 */ \ + (1 << 26) | /* PC8 */ \ + (1 << 27) | /* PC9 */ \ + (1 << 28) | /* PC10 or PD8 */ \ + (1 << 29) | /* PC11 or PD9 */ \ + (0 << 30) | /* PC12 or PD10 */ \ + (0 << 31)) /* PD2 or PD11 */ + +#define AO_LCD_STM_SEG_ENABLED_1 ( \ + (0 << 0) | /* PD12 */ \ + (0 << 1) | /* PD13 */ \ + (0 << 2) | /* PD14 */ \ + (0 << 3) | /* PD15 */ \ + (0 << 4) | /* PE0 */ \ + (0 << 5) | /* PE1 */ \ + (0 << 6) | /* PE2 */ \ + (0 << 7)) /* PE3 */ + +#define AO_LCD_STM_COM_ENABLED ( \ + (1 << 0) | /* PA8 */ \ + (1 << 1) | /* PA9 */ \ + (1 << 2) | /* PA10 */ \ + (1 << 3) | /* PB9 */ \ + (0 << 4) | /* PC10 */ \ + (0 << 5) | /* PC11 */ \ + (0 << 6)) /* PC12 */ + +#define AO_LCD_28_ON_C 1 + +#define AO_LCD_DUTY STM_LCD_CR_DUTY_STATIC + +#define HAS_ADC 1 + +#define AO_ADC_RING 32 + +struct ao_adc { + uint16_t tick; + int16_t idd; + int16_t temp; + int16_t vref; +}; + +#define AO_ADC_IDD 4 +#define AO_ADC_PIN0_PORT (&stm_gpioa) +#define AO_ADC_PIN0_PIN 4 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN)) +#define AO_ADC_TEMP 16 +#define AO_ADC_VREF 17 + +#define HAS_ADC_TEMP 1 + +#define AO_DATA_RING 32 +#define AO_NUM_ADC 3 + +#define AO_ADC_SQ1 AO_ADC_IDD +#define AO_ADC_SQ2 AO_ADC_TEMP +#define AO_ADC_SQ3 AO_ADC_VREF + +#define HAS_I2C_1 1 +#define I2C_1_PB6_PB7 0 +#define I2C_1_PB8_PB9 1 + +#define HAS_I2C_2 0 +#define I2C_2_PB10_PB11 0 + +#define AO_EVENT 1 + +#define AO_QUADRATURE_COUNT 2 +#define AO_QUADRATURE_MODE AO_EXTI_MODE_PULL_UP + +#define AO_QUADRATURE_0_PORT &stm_gpioc +#define AO_QUADRATURE_0_A 1 +#define AO_QUADRATURE_0_B 0 + +#define AO_QUADRATURE_1_PORT &stm_gpioc +#define AO_QUADRATURE_1_A 3 +#define AO_QUADRATURE_1_B 2 + +#define AO_BUTTON_COUNT 2 +#define AO_BUTTON_MODE AO_EXTI_MODE_PULL_UP + +#define AO_BUTTON_0_PORT &stm_gpioc +#define AO_BUTTON_0 6 + +#define AO_BUTTON_1_PORT &stm_gpioc +#define AO_BUTTON_1 7 + +#define AO_TICK_TYPE uint32_t +#define AO_TICK_SIGNED int32_t + +#endif /* _AO_PINS_H_ */ diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs new file mode 100644 index 00000000..04404cdc --- /dev/null +++ b/src/stm/Makefile.defs @@ -0,0 +1,35 @@ +vpath % ../stm:../product:../drivers:../core:../util:../kalman:../aes:.. +vpath make-altitude ../util +vpath make-kalman ../util +vpath kalman.5c ../kalman +vpath kalman_filter.5c ../kalman +vpath load_csv.5c ../kalman +vpath matrix.5c ../kalman +vpath ao-make-product.5c ../util + +CC=arm-none-eabi-gcc +SAT=/home/keithp/sat +SAT_CLIB=$(SAT)/lib/pdclib.a +SAT_CFLAGS=-I$(SAT)/include + +ifndef VERSION +include ../Version +endif + +AO_CFLAGS=-I. -I../stm -I../core -I../drivers -I.. +STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS) + +LDFLAGS=-L../stm -Wl,-Taltos.ld + +NICKLE=nickle + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +.c.o: + $(call quiet,CC) -c $(CFLAGS) -o $@ $< diff --git a/src/stm/altos-ram.ld b/src/stm/altos-ram.ld new file mode 100644 index 00000000..1143a08b --- /dev/null +++ b/src/stm/altos-ram.ld @@ -0,0 +1,67 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +MEMORY { + ram (rwx) : ORIGIN = 0x20000000, LENGTH = 16K +} + +INCLUDE registers.ld + +SECTIONS { + . = ORIGIN(ram); + + /* + * Rom contents + */ + + __text_start__ = .; + + .text : { + *(.interrupt) /* Interrupt vectors */ + *(.text) /* Executable code */ + *(.rodata) /* Constants */ + } > ram + + .ARM.exidx : { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + __text_end__ = .; + } > ram + + __data_start__ = .; + + /* Data -- relocated to RAM, but written to ROM + */ + .data : AT (ADDR(.ARM.exidx) + SIZEOF (.ARM.exidx)) { + *(.data) /* initialized data */ + __data_end__ = .; + __bss_start__ = .; + } >ram + + .bss : { + *(.bss) + *(COMMON) + __bss_end__ = .; + } >ram + + PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram)); + PROVIDE(end = .); + +} + +ENTRY(start); + + diff --git a/src/stm/altos.ld b/src/stm/altos.ld new file mode 100644 index 00000000..f78a45d6 --- /dev/null +++ b/src/stm/altos.ld @@ -0,0 +1,72 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +MEMORY { + rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K + ram (!w) : ORIGIN = 0x20000000, LENGTH = 16K +} + +INCLUDE registers.ld + +EXTERN (stm_interrupt_vector) + +SECTIONS { + /* + * Rom contents + */ + + .text ORIGIN(rom) : { + __text_start__ = .; + *(.interrupt) /* Interrupt vectors */ + + . = ORIGIN(rom) + 0x100; + + ao_romconfig.o(.romconfig*) + ao_product.o(.romconfig*) + + *(.text*) /* Executable code */ + *(.rodata*) /* Constants */ + + } > rom + + .ARM.exidx : { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + __text_end__ = .; + } > rom + + /* Data -- relocated to RAM, but written to ROM + */ + .data ORIGIN(ram) : AT (ADDR(.ARM.exidx) + SIZEOF (.ARM.exidx)) { + __data_start__ = .; + *(.data) /* initialized data */ + __data_end__ = .; + __bss_start__ = .; + } >ram + + .bss : { + *(.bss) + *(COMMON) + __bss_end__ = .; + } >ram + + PROVIDE(__stack__ = ORIGIN(ram) + LENGTH(ram)); + PROVIDE(end = .); +} + +ENTRY(start); + + diff --git a/src/stm/ao-parse-font.5c b/src/stm/ao-parse-font.5c new file mode 100644 index 00000000..fe785854 --- /dev/null +++ b/src/stm/ao-parse-font.5c @@ -0,0 +1,174 @@ +#!/usr/bin/env nickle +# +# Parse a 14-segment font file +# and construct the bitmasks for each +# character. Output is in the same +# format as the input: +# [5] = 0x1212, +# /* +# CHAR 37 '%' +# +# | / +# | / +# +# / | +# / | +# +# */ +# +# Note that there can only be tabs before the glyph image +# as spaces are significant in the image itself. +# + +typedef struct { + int c; + bool[14] bits; +} glyph; + +exception done(); + +glyph read_glyph(file f) { + int c; + + for (;;) { + if (File::end(f)) + raise done(); + string l = File::fgets(f); + if (File::sscanf(l, "CHAR %d", &c) == 1) + break; + } + + string strip_tab(string x) { + int i = 0; + while (i < String::length(x) && x[i] == '\t') + i++; + string n = String::substr(x, i, String::length(x) - i); + while (String::length(n) < 7) + n = n + " "; + return n; + } + + string[7] lines = { [i] = strip_tab(File::fgets(f)) }; + + glyph g = { .c = c }; + + g.bits[0] = lines[0][1] == '-'; + + g.bits[1] = lines[1][0] == '|'; + g.bits[2] = lines[1][1] == '\\'; + g.bits[3] = lines[1][3] == '|'; + g.bits[4] = lines[1][5] == '/'; + g.bits[5] = lines[1][6] == '|'; + + g.bits[6] = lines[3][1] == '-'; + g.bits[7] = lines[3][4] == '-'; + + g.bits[8] = lines[5][0] == '|'; + g.bits[9] = lines[5][1] == '/'; + g.bits[10] = lines[5][3] == '|'; + g.bits[11] = lines[5][5] == '\\'; + g.bits[12] = lines[5][6] == '|'; + + g.bits[13] = lines[6][1] == '-'; + return g; +} + +string[*] glyph_image(glyph g) { + int[7][7] chars = { { ' ' ... } ... }; + + if (g.bits[0]) + for (int c = 1; c < 6; c++) + chars[0][c] = '-'; + + if (g.bits[1]) + for (int r = 1; r < 3; r++) + chars[r][0] = '|'; + if (g.bits[2]) + for (int p = 1; p < 3; p++) + chars[p][p] = '\\'; + if (g.bits[3]) + for (int p = 1; p < 3; p++) + chars[p][3] = '|'; + if (g.bits[4]) + for (int p = 1; p < 3; p++) + chars[p][6-p] = '/'; + if (g.bits[5]) + for (int p = 1; p < 3; p++) + chars[p][6] = '|'; + + if (g.bits[6]) + for (int p = 1; p < 3; p++) + chars[3][p] = '-'; + if (g.bits[7]) + for (int p = 4; p < 6; p++) + chars[3][p] = '-'; + + if (g.bits[8]) + for (int r = 4; r < 6; r++) + chars[r][0] = '|'; + if (g.bits[9]) + for (int p = 4; p < 6; p++) + chars[p][6-p] = '/'; + if (g.bits[10]) + for (int p = 4; p < 6; p++) + chars[p][3] = '|'; + if (g.bits[11]) + for (int p = 4; p < 6; p++) + chars[p][p] = '\\'; + if (g.bits[12]) + for (int p = 4; p < 6; p++) + chars[p][6] = '|'; + + if (g.bits[13]) + for (int c = 1; c < 6; c++) + chars[6][c] = '-'; + + return (string[7]) { [i] = String::new(chars[i]) }; + +} + +int glyph_value(glyph g) { + int v = 0; + + for (int b = 0; b < 14; b++) + if (g.bits[b]) + v |= (1 << b); + return v; +} + +void write_glyph(file f, glyph g) { + File::fprintf (f, "CHAR %d '%s'\n", g.c, g.c == 127 ? "DEL" : String::new(g.c)); + string[7] lines = glyph_image(g); + for (int i = 0; i < 7; i++) + File::fprintf (f, "\t%s\n", lines[i]); +} + +autoload Sort; + +glyph[*] read_font(file f) { + glyph[128 - 32] font = { [i] = read_glyph(f) }; + + Sort::qsort(&font, bool func (glyph a, glyph b) = (a.c > b.c)); + return font; +} + +glyph[*] font; +void init () { + twixt (file f = File::open("ao_lcd_font.h", "r"); File::close(f)) { + font = read_font(f); + } +} + +void dump() { + twixt(file f = File::open("ao_lcd_font.h.new", "w"); File::close(f)) { + for (int i = 0; i < dim(font); i++) { + File::fprintf (f, "\t[%d] = 0x%04x,\n", i, glyph_value(font[i])); + File::fprintf (f, "/*\n"); + write_glyph(f, font[i]); + File::fprintf (f, "*/\n\n"); + } + } +} + +init(); +dump(); diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c new file mode 100644 index 00000000..18ca6ea0 --- /dev/null +++ b/src/stm/ao_adc_stm.c @@ -0,0 +1,250 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_data.h> + +static uint8_t ao_adc_ready; + +#define AO_ADC_CR2_VAL ((0 << STM_ADC_CR2_SWSTART) | \ + (STM_ADC_CR2_EXTEN_DISABLE << STM_ADC_CR2_EXTEN) | \ + (0 << STM_ADC_CR2_EXTSEL) | \ + (0 << STM_ADC_CR2_JWSTART) | \ + (STM_ADC_CR2_JEXTEN_DISABLE << STM_ADC_CR2_JEXTEN) | \ + (0 << STM_ADC_CR2_JEXTSEL) | \ + (0 << STM_ADC_CR2_ALIGN) | \ + (0 << STM_ADC_CR2_EOCS) | \ + (1 << STM_ADC_CR2_DDS) | \ + (1 << STM_ADC_CR2_DMA) | \ + (STM_ADC_CR2_DELS_UNTIL_READ << STM_ADC_CR2_DELS) | \ + (0 << STM_ADC_CR2_CONT) | \ + (1 << STM_ADC_CR2_ADON)) + +/* + * Callback from DMA ISR + * + * Mark time in ring, shut down DMA engine + */ +static void ao_adc_done(int index) +{ + AO_DATA_PRESENT(AO_DATA_ADC); + ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1)); + ao_adc_ready = 1; +} + +/* + * Start the ADC sequence using the DMA engine + */ +void +ao_adc_poll(void) +{ + if (!ao_adc_ready) + return; + ao_adc_ready = 0; + stm_adc.sr = 0; + ao_dma_set_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1), + &stm_adc.dr, + (void *) (&ao_data_ring[ao_data_head].adc), + AO_NUM_ADC, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_16 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_16 << STM_DMA_CCR_PSIZE) | + (1 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR)); + ao_dma_set_isr(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1), ao_adc_done); + ao_dma_start(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1)); + + stm_adc.cr2 = AO_ADC_CR2_VAL | (1 << STM_ADC_CR2_SWSTART); +} + +/* + * Fetch a copy of the most recent ADC data + */ +void +ao_adc_get(__xdata struct ao_adc *packet) +{ +#if HAS_FLIGHT + uint8_t i = ao_data_ring_prev(ao_sample_data); +#else + uint8_t i = ao_data_ring_prev(ao_data_head); +#endif + memcpy(packet, (void *) &ao_data_ring[i].adc, sizeof (struct ao_adc)); +} + +static void +ao_adc_dump(void) __reentrant +{ + struct ao_data packet; + int16_t *d; + uint8_t i; + + ao_data_get(&packet); + printf("tick: %5u", packet.tick); + d = (int16_t *) (&packet.adc); + for (i = 0; i < AO_NUM_ADC; i++) + printf (" %2d: %5d", i, d[i]); + printf("\n"); +} + +__code struct ao_cmds ao_adc_cmds[] = { + { ao_adc_dump, "a\0Display current ADC values" }, + { 0, NULL }, +}; + +void +ao_adc_init(void) +{ +#ifdef AO_ADC_PIN0_PORT + stm_rcc.ahbenr |= AO_ADC_RCC_AHBENR; +#endif + +#ifdef AO_ADC_PIN0_PORT + stm_moder_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN1_PORT + stm_moder_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN2_PORT + stm_moder_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN3_PORT + stm_moder_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN4_PORT + stm_moder_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN5_PORT + stm_moder_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN6_PORT + stm_moder_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN7_PORT + stm_moder_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN8_PORT + stm_moder_set(AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN9_PORT + stm_moder_set(AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN10_PORT + stm_moder_set(AO_ADC_PIN10_PORT, AO_ADC_PIN10_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN11_PORT + stm_moder_set(AO_ADC_PIN11_PORT, AO_ADC_PIN11_PIN, STM_MODER_ANALOG); +#endif +#ifdef AO_ADC_PIN12_PORT + stm_moder_set(AO_ADC_PIN12_PORT, AO_ADC_PIN12_PIN, STM_MODER_ANALOG); +#endif + + stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADC1EN); + + /* Turn off ADC during configuration */ + stm_adc.cr2 = 0; + + stm_adc.cr1 = ((0 << STM_ADC_CR1_OVRIE ) | + (STM_ADC_CR1_RES_12 << STM_ADC_CR1_RES ) | + (0 << STM_ADC_CR1_AWDEN ) | + (0 << STM_ADC_CR1_JAWDEN ) | + (0 << STM_ADC_CR1_PDI ) | + (0 << STM_ADC_CR1_PDD ) | + (0 << STM_ADC_CR1_DISCNUM ) | + (0 << STM_ADC_CR1_JDISCEN ) | + (0 << STM_ADC_CR1_DISCEN ) | + (0 << STM_ADC_CR1_JAUTO ) | + (0 << STM_ADC_CR1_AWDSGL ) | + (1 << STM_ADC_CR1_SCAN ) | + (0 << STM_ADC_CR1_JEOCIE ) | + (0 << STM_ADC_CR1_AWDIE ) | + (0 << STM_ADC_CR1_EOCIE ) | + (0 << STM_ADC_CR1_AWDCH )); + + /* 384 cycle sample time for everyone */ + stm_adc.smpr1 = 0x3ffff; + stm_adc.smpr2 = 0x3fffffff; + stm_adc.smpr3 = 0x3fffffff; + + stm_adc.sqr1 = ((AO_NUM_ADC - 1) << 20); + stm_adc.sqr2 = 0; + stm_adc.sqr3 = 0; + stm_adc.sqr4 = 0; + stm_adc.sqr5 = 0; +#if AO_NUM_ADC > 0 + stm_adc.sqr5 |= (AO_ADC_SQ1 << 0); +#endif +#if AO_NUM_ADC > 1 + stm_adc.sqr5 |= (AO_ADC_SQ2 << 5); +#endif +#if AO_NUM_ADC > 2 + stm_adc.sqr5 |= (AO_ADC_SQ3 << 10); +#endif +#if AO_NUM_ADC > 3 + stm_adc.sqr5 |= (AO_ADC_SQ4 << 15); +#endif +#if AO_NUM_ADC > 4 + stm_adc.sqr5 |= (AO_ADC_SQ5 << 20); +#endif +#if AO_NUM_ADC > 5 + stm_adc.sqr5 |= (AO_ADC_SQ6 << 25); +#endif +#if AO_NUM_ADC > 6 + stm_adc.sqr4 |= (AO_ADC_SQ7 << 0); +#endif +#if AO_NUM_ADC > 7 + stm_adc.sqr4 |= (AO_ADC_SQ8 << 5); +#endif +#if AO_NUM_ADC > 8 + stm_adc.sqr4 |= (AO_ADC_SQ9 << 10); +#endif +#if AO_NUM_ADC > 9 + stm_adc.sqr4 |= (AO_ADC_SQ10 << 15); +#endif +#if AO_NUM_ADC > 10 + stm_adc.sqr4 |= (AO_ADC_SQ11 << 20); +#endif +#if AO_NUM_ADC > 11 + stm_adc.sqr4 |= (AO_ADC_SQ12 << 25); +#endif +#if AO_NUM_ADC > 12 +#error "need to finish stm_adc.sqr settings" +#endif + + /* Turn ADC on */ + stm_adc.cr2 = AO_ADC_CR2_VAL; + + /* Wait for ADC to be ready */ + while (!(stm_adc.sr & (1 << STM_ADC_SR_ADONS))) + ; + +#if HAS_ADC_TEMP + stm_adc.ccr = ((1 << STM_ADC_CCR_TSVREFE)); +#else + stm_adc.ccr = 0; +#endif + /* Clear any stale status bits */ + stm_adc.sr = 0; + + ao_dma_alloc(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1)); + + ao_cmd_register(&ao_adc_cmds[0]); + + ao_adc_ready = 1; +} diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h new file mode 100644 index 00000000..87eda18b --- /dev/null +++ b/src/stm/ao_arch.h @@ -0,0 +1,254 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_ARCH_H_ +#define _AO_ARCH_H_ + +#include <stdio.h> +#include <stm32l.h> + +/* + * STM32L definitions and code fragments for AltOS + */ + +#define AO_STACK_SIZE 512 + +#define AO_LED_TYPE uint16_t + +#ifndef AO_TICK_TYPE +#define AO_TICK_TYPE uint16_t +#define AO_TICK_SIGNED int16_t +#endif + +/* Various definitions to make GCC look more like SDCC */ + +#define ao_arch_naked_declare __attribute__((naked)) +#define ao_arch_naked_define +#define __pdata +#define __data +#define __xdata +#define __code const +#define __reentrant +#define __critical +#define __interrupt(n) +#define __at(n) + +#define CORTEX_M3_AIRCR ((uint32_t *) 0xe000ed0c) + +#define ao_arch_reboot() (*((uint32_t *) 0xe000ed0c) = 0x05fa0004) + +#define ao_arch_nop() asm("nop") + +#define ao_arch_interrupt(n) /* nothing */ + +#undef putchar +#undef getchar +#define putchar(c) ao_putchar(c) +#define getchar ao_getchar + +extern void putchar(char c); +extern char getchar(void); +extern void ao_avr_stdio_init(void); + + +/* + * ao_romconfig.c + */ + +#define AO_ROMCONFIG_VERSION 2 + +#define AO_ROMCONFIG_SYMBOL(a) __attribute__((section(".romconfig"))) const + +extern const uint16_t ao_romconfig_version; +extern const uint16_t ao_romconfig_check; +extern const uint16_t ao_serial_number; +extern const uint32_t ao_radio_cal; + +#define ARM_PUSH32(stack, val) (*(--(stack)) = (val)) + +#define ao_arch_task_members\ + uint32_t *sp; /* saved stack pointer */ + +#define cli() asm("cpsid i") +#define sei() asm("cpsie i") + +#define ao_arch_init_stack(task, start) do { \ + uint32_t *sp = (uint32_t *) (task->stack + AO_STACK_SIZE); \ + uint32_t a = (uint32_t) start; \ + int i; \ + \ + /* Return address (goes into LR) */ \ + ARM_PUSH32(sp, a); \ + \ + /* Clear register values r0-r12 */ \ + i = 13; \ + while (i--) \ + ARM_PUSH32(sp, 0); \ + \ + /* APSR */ \ + ARM_PUSH32(sp, 0); \ + \ + /* PRIMASK with interrupts enabled */ \ + ARM_PUSH32(sp, 0); \ + \ + task->sp = sp; \ +} while (0); + +#define ao_arch_save_regs() do { \ + /* Save general registers */ \ + asm("push {r0-r12,lr}\n"); \ + \ + /* Save APSR */ \ + asm("mrs r0,apsr"); \ + asm("push {r0}"); \ + \ + /* Save PRIMASK */ \ + asm("mrs r0,primask"); \ + asm("push {r0}"); \ + \ + /* Enable interrupts */ \ + sei(); \ + } while (0) + +#define ao_arch_save_stack() do { \ + uint32_t *sp; \ + asm("mov %0,sp" : "=&r" (sp) ); \ + ao_cur_task->sp = (sp); \ + if ((uint8_t *) sp < &ao_cur_task->stack[0]) \ + ao_panic (AO_PANIC_STACK); \ + } while (0) + +#if 0 +#define ao_arch_isr_stack() do { \ + uint32_t *sp = (uint32_t *) 0x20004000; \ + asm("mov %0,sp" : "=&r" (sp) ); \ + } while (0) +#else +#define ao_arch_isr_stack() +#endif + + +#define ao_arch_cpu_idle() do { \ + asm("wfi"); \ + } while (0) + +#define ao_arch_restore_stack() do { \ + uint32_t sp; \ + sp = (uint32_t) ao_cur_task->sp; \ + \ + /* Switch stacks */ \ + asm("mov sp, %0" : : "r" (sp) ); \ + \ + /* Restore PRIMASK */ \ + asm("pop {r0}"); \ + asm("msr primask,r0"); \ + \ + /* Restore APSR */ \ + asm("pop {r0}"); \ + asm("msr apsr,r0"); \ + \ + /* Restore general registers */ \ + asm("pop {r0-r12,lr}\n"); \ + \ + /* Return to calling function */ \ + asm("bx lr"); \ + } while(0) + +#define ao_arch_critical(b) do { cli(); do { b } while (0); sei(); } while (0) + +/* + * For now, we're running at a weird frequency + */ + +#if AO_HSE +#define AO_PLLSRC AO_HSE +#else +#define AO_PLLSRC STM_HSI_FREQ +#endif + +#define AO_PLLVCO (AO_PLLSRC * AO_PLLMUL) +#define AO_SYSCLK (AO_PLLVCO / AO_PLLDIV) +#define AO_HCLK (AO_SYSCLK / AO_AHB_PRESCALER) +#define AO_PCLK1 (AO_HCLK / AO_APB1_PRESCALER) +#define AO_PCLK2 (AO_HCLK / AO_APB2_PRESCALER) + +#if AO_APB1_PRESCALER == 1 +#define AO_TIM23467_CLK AO_PCLK1 +#else +#define AO_TIM23467_CLK (2 * AO_PCLK1) +#endif + +#if AO_APB2_PRESCALER == 1 +#define AO_TIM91011_CLK AO_PCLK2 +#else +#define AO_TIM91011_CLK (2 * AO_PCLK2) +#endif + +#define AO_STM_NVIC_HIGH_PRIORITY 4 +#define AO_STM_NVIC_CLOCK_PRIORITY 6 +#define AO_STM_NVIC_MED_PRIORITY 8 +#define AO_STM_NVIC_LOW_PRIORITY 10 + +void ao_lcd_stm_init(void); + +void ao_lcd_font_init(void); + +void ao_lcd_font_string(char *s); + +char +ao_serial1_getchar(void); + +void +ao_serial1_putchar(char c); + +char +ao_serial1_pollchar(void); + +void +ao_serial1_set_speed(uint8_t speed); + +char +ao_serial2_getchar(void); + +void +ao_serial2_putchar(char c); + +char +ao_serial2_pollchar(void); + +void +ao_serial2_set_speed(uint8_t speed); + +char +ao_serial3_getchar(void); + +void +ao_serial3_putchar(char c); + +char +ao_serial3_pollchar(void); + +void +ao_serial3_set_speed(uint8_t speed); + +extern const uint32_t ao_radio_cal; + +void +ao_adc_init(); + +#endif /* _AO_ARCH_H_ */ + diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h new file mode 100644 index 00000000..d4fbea37 --- /dev/null +++ b/src/stm/ao_arch_funcs.h @@ -0,0 +1,200 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_ARCH_FUNCS_H_ +#define _AO_ARCH_FUNCS_H_ + +/* ao_spi_stm.c + */ + +#define AO_SPI_SPEED_FAST STM_SPI_CR1_BR_PCLK_4 +#define AO_SPI_SPEED_1MHz STM_SPI_CR1_BR_PCLK_16 +#define AO_SPI_SPEED_200kHz STM_SPI_CR1_BR_PCLK_256 + +#define AO_SPI_CONFIG_1 0x00 +#define AO_SPI_1_CONFIG_PA5_PA6_PA7 AO_SPI_CONFIG_1 +#define AO_SPI_2_CONFIG_PB13_PB14_PB15 AO_SPI_CONFIG_1 + +#define AO_SPI_CONFIG_2 0x04 +#define AO_SPI_1_CONFIG_PB3_PB4_PB5 AO_SPI_CONFIG_2 +#define AO_SPI_2_CONFIG_PD1_PD3_PD4 AO_SPI_CONFIG_2 + +#define AO_SPI_CONFIG_3 0x08 +#define AO_SPI_1_CONFIG_PE13_PE14_PE15 AO_SPI_CONFIG_3 + +#define AO_SPI_CONFIG_NONE 0x0c + +#define AO_SPI_INDEX_MASK 0x01 +#define AO_SPI_CONFIG_MASK 0x0c + +#define AO_SPI_1_PA5_PA6_PA7 (STM_SPI_INDEX(1) | AO_SPI_1_CONFIG_PA5_PA6_PA7) +#define AO_SPI_1_PB3_PB4_PB5 (STM_SPI_INDEX(1) | AO_SPI_1_CONFIG_PB3_PB4_PB5) +#define AO_SPI_1_PE13_PE14_PE15 (STM_SPI_INDEX(1) | AO_SPI_1_CONFIG_PE13_PE14_PE15) + +#define AO_SPI_2_PB13_PB14_PB15 (STM_SPI_INDEX(2) | AO_SPI_2_CONFIG_PB13_PB14_PB15) +#define AO_SPI_2_PD1_PD3_PD4 (STM_SPI_INDEX(2) | AO_SPI_2_CONFIG_PD1_PD3_PD4) + +#define AO_SPI_INDEX(id) ((id) & AO_SPI_INDEX_MASK) +#define AO_SPI_CONFIG(id) ((id) & AO_SPI_CONFIG_MASK) + +void +ao_spi_get(uint8_t spi_index, uint32_t speed); + +void +ao_spi_put(uint8_t spi_index); + +void +ao_spi_send(void *block, uint16_t len, uint8_t spi_index); + +void +ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index); + +void +ao_spi_recv(void *block, uint16_t len, uint8_t spi_index); + +void +ao_spi_duplex(void *out, void *in, uint16_t len, uint8_t spi_index); + +extern uint16_t ao_spi_speed[STM_NUM_SPI]; + +void +ao_spi_init(void); + +#define ao_spi_get_mask(reg,mask,bus, speed) do { \ + ao_spi_get(bus, speed); \ + (reg)->bsrr = ((uint32_t) mask) << 16; \ + } while (0) + +#define ao_spi_put_mask(reg,mask,bus) do { \ + (reg)->bsrr = mask; \ + ao_spi_put(bus); \ + } while (0) + +#define ao_spi_get_bit(reg,bit,pin,bus,speed) ao_spi_get_mask(reg,(1<<bit),bus,speed) +#define ao_spi_put_bit(reg,bit,pin,bus) ao_spi_put_mask(reg,(1<<bit),bus) + +#define ao_enable_port(port) do { \ + if ((port) == &stm_gpioa) \ + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN); \ + else if ((port) == &stm_gpiob) \ + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); \ + else if ((port) == &stm_gpioc) \ + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOCEN); \ + else if ((port) == &stm_gpiod) \ + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN); \ + else if ((port) == &stm_gpioe) \ + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN); \ + } while (0) + + +#define ao_gpio_set(port, bit, pin, v) stm_gpio_set(port, bit, v) + +#define ao_gpio_get(port, bit, pin) stm_gpio_get(port, bit) + +#define ao_enable_output(port,bit,pin,v) do { \ + ao_enable_port(port); \ + ao_gpio_set(port, bit, pin, v); \ + stm_moder_set(port, bit, STM_MODER_OUTPUT);\ + } while (0) + +#define ao_enable_input(port,bit,mode) do { \ + ao_enable_port(port); \ + stm_moder_set(port, bit, STM_MODER_INPUT); \ + if (mode == AO_EXTI_MODE_PULL_UP) \ + stm_pupdr_set(port, bit, STM_PUPDR_PULL_UP); \ + else if (mode == AO_EXTI_MODE_PULL_DOWN) \ + stm_pupdr_set(port, bit, STM_PUPDR_PULL_DOWN); \ + else \ + stm_pupdr_set(port, bit, STM_PUPDR_NONE); \ + } while (0) + +#define ao_enable_cs(port,bit) do { \ + stm_gpio_set((port), bit, 1); \ + stm_moder_set((port), bit, STM_MODER_OUTPUT); \ + } while (0) + +#define ao_spi_init_cs(port, mask) do { \ + ao_enable_port(port); \ + if ((mask) & 0x0001) ao_enable_cs(port, 0); \ + if ((mask) & 0x0002) ao_enable_cs(port, 1); \ + if ((mask) & 0x0004) ao_enable_cs(port, 2); \ + if ((mask) & 0x0008) ao_enable_cs(port, 3); \ + if ((mask) & 0x0010) ao_enable_cs(port, 4); \ + if ((mask) & 0x0020) ao_enable_cs(port, 5); \ + if ((mask) & 0x0040) ao_enable_cs(port, 6); \ + if ((mask) & 0x0080) ao_enable_cs(port, 7); \ + if ((mask) & 0x0100) ao_enable_cs(port, 8); \ + if ((mask) & 0x0200) ao_enable_cs(port, 9); \ + if ((mask) & 0x0400) ao_enable_cs(port, 10);\ + if ((mask) & 0x0800) ao_enable_cs(port, 11);\ + if ((mask) & 0x1000) ao_enable_cs(port, 12);\ + if ((mask) & 0x2000) ao_enable_cs(port, 13);\ + if ((mask) & 0x4000) ao_enable_cs(port, 14);\ + if ((mask) & 0x8000) ao_enable_cs(port, 15);\ + } while (0) + +/* ao_dma_stm.c + */ + +extern uint8_t ao_dma_done[STM_NUM_DMA]; + +void +ao_dma_set_transfer(uint8_t index, + volatile void *peripheral, + void *memory, + uint16_t count, + uint32_t ccr); + +void +ao_dma_set_isr(uint8_t index, void (*isr)(int index)); + +void +ao_dma_start(uint8_t index); + +void +ao_dma_done_transfer(uint8_t index); + +void +ao_dma_abort(uint8_t index); + +void +ao_dma_alloc(uint8_t index); + +void +ao_dma_init(void); + +/* ao_i2c_stm.c */ + +void +ao_i2c_get(uint8_t i2c_index); + +uint8_t +ao_i2c_start(uint8_t i2c_index, uint16_t address); + +void +ao_i2c_put(uint8_t i2c_index); + +uint8_t +ao_i2c_send(void *block, uint16_t len, uint8_t i2c_index, uint8_t stop); + +uint8_t +ao_i2c_recv(void *block, uint16_t len, uint8_t i2c_index, uint8_t stop); + +void +ao_i2c_init(void); + +#endif /* _AO_ARCH_FUNCS_H_ */ diff --git a/src/stm/ao_beep_stm.c b/src/stm/ao_beep_stm.c new file mode 100644 index 00000000..37c30e25 --- /dev/null +++ b/src/stm/ao_beep_stm.c @@ -0,0 +1,130 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +void +ao_beep(uint8_t beep) +{ + if (beep == 0) { + stm_tim3.cr1 = 0; + stm_rcc.apb1enr &= ~(1 << STM_RCC_APB1ENR_TIM3EN); + } else { + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM3EN); + + stm_tim3.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) | + (0 << STM_TIM234_CR1_ARPE) | + (STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) | + (0 << STM_TIM234_CR1_DIR) | + (0 << STM_TIM234_CR1_OPM) | + (0 << STM_TIM234_CR1_URS) | + (0 << STM_TIM234_CR1_UDIS) | + (0 << STM_TIM234_CR1_CEN)); + + stm_tim3.cr2 = ((0 << STM_TIM234_CR2_TI1S) | + (STM_TIM234_CR2_MMS_RESET << STM_TIM234_CR2_MMS) | + (0 << STM_TIM234_CR2_CCDS)); + + /* Set prescaler to match cc1111 clocks + */ + stm_tim3.psc = AO_TIM23467_CLK / 750000; + + /* 1. Select the counter clock (internal, external, prescaler). + * + * Setting SMCR to zero means use the internal clock + */ + + stm_tim3.smcr = 0; + + /* 2. Write the desired data in the TIMx_ARR and TIMx_CCRx registers. */ + stm_tim3.arr = beep; + stm_tim3.ccr1 = beep; + + /* 3. Set the CCxIE and/or CCxDE bits if an interrupt and/or a + * DMA request is to be generated. + */ + /* don't want this */ + + /* 4. Select the output mode. For example, you must write + * OCxM=011, OCxPE=0, CCxP=0 and CCxE=1 to toggle OCx output + * pin when CNT matches CCRx, CCRx preload is not used, OCx + * is enabled and active high. + */ + + stm_tim3.ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) | + (STM_TIM234_CCMR1_OC2M_FROZEN << STM_TIM234_CCMR1_OC2M) | + (0 << STM_TIM234_CCMR1_OC2PE) | + (0 << STM_TIM234_CCMR1_OC2FE) | + (STM_TIM234_CCMR1_CC2S_OUTPUT << STM_TIM234_CCMR1_CC2S) | + + (0 << STM_TIM234_CCMR1_OC1CE) | + (STM_TIM234_CCMR1_OC1M_TOGGLE << STM_TIM234_CCMR1_OC1M) | + (0 << STM_TIM234_CCMR1_OC1PE) | + (0 << STM_TIM234_CCMR1_OC1FE) | + (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S)); + + + stm_tim3.ccer = ((0 << STM_TIM234_CCER_CC4NP) | + (0 << STM_TIM234_CCER_CC4P) | + (0 << STM_TIM234_CCER_CC4E) | + (0 << STM_TIM234_CCER_CC3NP) | + (0 << STM_TIM234_CCER_CC3P) | + (0 << STM_TIM234_CCER_CC3E) | + (0 << STM_TIM234_CCER_CC2NP) | + (0 << STM_TIM234_CCER_CC2P) | + (0 << STM_TIM234_CCER_CC2E) | + (0 << STM_TIM234_CCER_CC1NP) | + (0 << STM_TIM234_CCER_CC1P) | + (1 << STM_TIM234_CCER_CC1E)); + + + /* 5. Enable the counter by setting the CEN bit in the TIMx_CR1 register. */ + + stm_tim3.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) | + (0 << STM_TIM234_CR1_ARPE) | + (STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) | + (0 << STM_TIM234_CR1_DIR) | + (0 << STM_TIM234_CR1_OPM) | + (0 << STM_TIM234_CR1_URS) | + (0 << STM_TIM234_CR1_UDIS) | + (1 << STM_TIM234_CR1_CEN)); + } +} + +void +ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant +{ + ao_beep(beep); + ao_delay(ticks); + ao_beep(0); +} + +void +ao_beep_init(void) +{ + /* Our beeper is on PC6, which is hooked to TIM3_CH1, + * which is on PC6 + */ + + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOCEN); + + stm_afr_set(&stm_gpioc, 6, STM_AFR_AF2); + + /* Leave the timer off until requested */ + + stm_rcc.apb1enr &= ~(1 << STM_RCC_APB1ENR_TIM3EN); +} diff --git a/src/stm/ao_data.c b/src/stm/ao_data.c new file mode 100644 index 00000000..38d2f7ff --- /dev/null +++ b/src/stm/ao_data.c @@ -0,0 +1,34 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_data.h> + +volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; +volatile __data uint8_t ao_data_head; +volatile __data uint8_t ao_data_present; + +void +ao_data_get(__xdata struct ao_data *packet) +{ +#if HAS_FLIGHT + uint8_t i = ao_data_ring_prev(ao_sample_data); +#else + uint8_t i = ao_data_ring_prev(ao_data_head); +#endif + memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); +} diff --git a/src/stm/ao_dma_stm.c b/src/stm/ao_dma_stm.c new file mode 100644 index 00000000..8379a1a5 --- /dev/null +++ b/src/stm/ao_dma_stm.c @@ -0,0 +1,135 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +#define NUM_DMA 7 + +struct ao_dma_config { + void (*isr)(int index); +}; + +uint8_t ao_dma_done[NUM_DMA]; + +static struct ao_dma_config ao_dma_config[NUM_DMA]; +static uint8_t ao_dma_allocated[NUM_DMA]; +static uint8_t ao_dma_mutex[NUM_DMA]; +static uint8_t ao_dma_active; + +static void +ao_dma_isr(uint8_t index) { + /* Get channel interrupt bits */ + uint32_t isr = stm_dma.isr & (STM_DMA_ISR_MASK << + STM_DMA_ISR(index)); + + /* Ack them */ + stm_dma.ifcr = isr; + if (ao_dma_config[index].isr) + (*ao_dma_config[index].isr)(index); + else { + ao_dma_done[index] = 1; + ao_wakeup(&ao_dma_done[index]); + } +} + +void stm_dma1_channel1_isr(void) { ao_dma_isr(STM_DMA_INDEX(1)); } +void stm_dma1_channel2_isr(void) { ao_dma_isr(STM_DMA_INDEX(2)); } +void stm_dma1_channel3_isr(void) { ao_dma_isr(STM_DMA_INDEX(3)); } +void stm_dma1_channel4_isr(void) { ao_dma_isr(STM_DMA_INDEX(4)); } +void stm_dma1_channel5_isr(void) { ao_dma_isr(STM_DMA_INDEX(5)); } +void stm_dma1_channel6_isr(void) { ao_dma_isr(STM_DMA_INDEX(6)); } +void stm_dma1_channel7_isr(void) { ao_dma_isr(STM_DMA_INDEX(7)); } + +void +ao_dma_set_transfer(uint8_t index, + volatile void *peripheral, + void *memory, + uint16_t count, + uint32_t ccr) +{ + if (ao_dma_allocated[index]) { + if (ao_dma_mutex[index]) + ao_panic(AO_PANIC_DMA); + ao_dma_mutex[index] = 1; + } else + ao_mutex_get(&ao_dma_mutex[index]); + ao_arch_critical( + if (ao_dma_active++ == 0) + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_DMA1EN); + ); + stm_dma.channel[index].ccr = ccr | (1 << STM_DMA_CCR_TCIE); + stm_dma.channel[index].cndtr = count; + stm_dma.channel[index].cpar = peripheral; + stm_dma.channel[index].cmar = memory; + ao_dma_config[index].isr = NULL; +} + +void +ao_dma_set_isr(uint8_t index, void (*isr)(int)) +{ + ao_dma_config[index].isr = isr; +} + +void +ao_dma_start(uint8_t index) +{ + ao_dma_done[index] = 0; + stm_dma.channel[index].ccr |= (1 << STM_DMA_CCR_EN); +} + +void +ao_dma_done_transfer(uint8_t index) +{ + stm_dma.channel[index].ccr &= ~(1 << STM_DMA_CCR_EN); + ao_arch_critical( + if (--ao_dma_active == 0) + stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_DMA1EN); + ); + if (ao_dma_allocated[index]) + ao_dma_mutex[index] = 0; + else + ao_mutex_put(&ao_dma_mutex[index]); +} + +void +ao_dma_abort(uint8_t index) +{ + stm_dma.channel[index].ccr &= ~(1 << STM_DMA_CCR_EN); + ao_wakeup(&ao_dma_done[index]); +} + +void +ao_dma_alloc(uint8_t index) +{ + if (ao_dma_allocated[index]) + ao_panic(AO_PANIC_DMA); + ao_dma_allocated[index] = 1; +} + +void +ao_dma_init(void) +{ + int index; + + for (index = 0; index < STM_NUM_DMA; index++) { + stm_nvic_set_enable(STM_ISR_DMA1_CHANNEL1_POS + index); + stm_nvic_set_priority(STM_ISR_DMA1_CHANNEL1_POS + index, 4); + ao_dma_allocated[index] = 0; + ao_dma_mutex[index] = 0; + } + +} diff --git a/src/stm/ao_eeprom_stm.c b/src/stm/ao_eeprom_stm.c new file mode 100644 index 00000000..5a75a97d --- /dev/null +++ b/src/stm/ao_eeprom_stm.c @@ -0,0 +1,203 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_storage.h> + +/* Total bytes of available storage */ +ao_pos_t ao_storage_total = 4096; + +/* Block size - device is erased in these units. */ +ao_pos_t ao_storage_block = 1024; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +ao_pos_t ao_storage_config = 0; + +/* Storage unit size - device reads and writes must be within blocks of this size. */ +uint16_t ao_storage_unit = 1024; + +/* Location of eeprom in address space */ +#define stm_eeprom ((uint8_t *) 0x08080000) + +/* + * The internal flash chip is arranged in 8 byte sectors; the + * chip cannot erase in units smaller than that. + * + * Writing happens in units of 2 bytes and + * can only change bits from 1 to 0. So, you can rewrite + * the same contents, or append to an existing page easily enough + */ + +/* + * Erase the specified sector + */ +uint8_t +ao_storage_erase(ao_pos_t pos) __reentrant +{ + /* Not necessary */ + return 1; +} + +static void +ao_intflash_unlock(void) +{ + /* Unlock Data EEPROM and FLASH_PECR register */ + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY1; + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY2; + + /* Configure the FTDW bit (FLASH_PECR[8]) to execute + * word write, whatever the previous value of the word + * being written to + */ + stm_flash.pecr = ((0 << STM_FLASH_PECR_OBL_LAUNCH) | + (0 << STM_FLASH_PECR_ERRIE) | + (0 << STM_FLASH_PECR_EOPIE) | + (0 << STM_FLASH_PECR_FPRG) | + (0 << STM_FLASH_PECR_ERASE) | + (0 << STM_FLASH_PECR_FTDW) | + (1 << STM_FLASH_PECR_DATA) | + (0 << STM_FLASH_PECR_PROG) | + (0 << STM_FLASH_PECR_OPTLOCK) | + (0 << STM_FLASH_PECR_PRGLOCK) | + (0 << STM_FLASH_PECR_PELOCK)); +} + +static void +ao_intflash_lock(void) +{ + stm_flash.pecr |= (1 << STM_FLASH_PECR_PELOCK); +} + +static void +ao_intflash_wait(void) +{ + /* Wait for the flash unit to go idle */ + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +static void +ao_intflash_write32(uint16_t pos, uint32_t w) +{ + volatile uint32_t *addr; + + addr = (uint32_t *) (stm_eeprom + pos); + + /* Erase previous word */ + *addr = 0; + ao_intflash_wait(); + + if (w) { + /* Write a word to a valid address in the data EEPROM */ + *addr = w; + ao_intflash_wait(); + } +} + +static void +ao_intflash_write8(uint16_t pos, uint8_t d) +{ + uint32_t w, *addr, mask; + uint8_t shift; + + addr = (uint32_t *) (stm_eeprom + (pos & ~3)); + + /* Compute word to be written */ + shift = (pos & 3) << 3; + mask = 0xff << shift; + w = (*addr & ~mask) | (d << shift); + + ao_intflash_write32(pos & ~3, w); +} + +static uint8_t +ao_intflash_read(uint16_t pos) +{ + return stm_eeprom[pos]; +} + +/* + * Write to flash + */ + +uint8_t +ao_storage_device_write(ao_pos_t pos32, __xdata void *v, uint16_t len) __reentrant +{ + uint16_t pos = pos32; + __xdata uint8_t *d = v; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + + ao_intflash_unlock(); + while (len) { + if ((pos & 3) == 0 && len >= 4) { + uint32_t w; + + w = d[0] | (d[1] << 8) | (d[2] << 16) | (d[3] << 24); + ao_intflash_write32(pos, w); + pos += 4; + d += 4; + len -= 4; + } else { + ao_intflash_write8(pos, *d); + pos += 1; + d += 1; + len -= 1; + } + } + ao_intflash_lock(); + + return 1; +} + +/* + * Read from flash + */ +uint8_t +ao_storage_device_read(ao_pos_t pos, __xdata void *v, uint16_t len) __reentrant +{ + uint8_t *d = v; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + while (len--) + *d++ = ao_intflash_read(pos++); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ +} + +void +ao_storage_setup(void) +{ +} + +void +ao_storage_device_info(void) __reentrant +{ + uint8_t i; + printf ("Using internal flash\n"); +} + +void +ao_storage_device_init(void) +{ +} diff --git a/src/stm/ao_exti.h b/src/stm/ao_exti.h new file mode 100644 index 00000000..35b56b57 --- /dev/null +++ b/src/stm/ao_exti.h @@ -0,0 +1,47 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_EXTI_H_ +#define _AO_EXTI_H_ + +#define AO_EXTI_MODE_RISING 1 +#define AO_EXTI_MODE_FALLING 2 +#define AO_EXTI_MODE_PULL_UP 4 +#define AO_EXTI_MODE_PULL_DOWN 8 +#define AO_EXTI_PRIORITY_LOW 16 +#define AO_EXTI_PRIORITY_MED 0 +#define AO_EXTI_PRIORITY_HIGH 32 + +void +ao_exti_setup(struct stm_gpio *gpio, uint8_t pin, uint8_t mode, void (*callback)()); + +void +ao_exti_set_mode(struct stm_gpio *gpio, uint8_t pin, uint8_t mode); + +void +ao_exti_set_callback(struct stm_gpio *gpio, uint8_t pin, void (*callback)()); + +void +ao_exti_enable(struct stm_gpio *gpio, uint8_t pin); + +void +ao_exti_disable(struct stm_gpio *gpio, uint8_t pin); + +void +ao_exti_init(void); + +#endif /* _AO_EXTI_H_ */ diff --git a/src/stm/ao_exti_stm.c b/src/stm/ao_exti_stm.c new file mode 100644 index 00000000..1361d0d4 --- /dev/null +++ b/src/stm/ao_exti_stm.c @@ -0,0 +1,154 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_exti.h> + +static void (*ao_exti_callback[16])(void); + +uint32_t ao_last_exti; + +static void ao_exti_one_isr(uint8_t pin) { + uint32_t pending = (ao_last_exti = stm_exti.pr) & (1 << pin); + + stm_exti.pr = pending; + if (pending && ao_exti_callback[pin]) + (*ao_exti_callback[pin])(); +} + +static void ao_exti_range_isr(uint8_t first, uint8_t last, uint16_t mask) { + uint16_t pending = (ao_last_exti = stm_exti.pr) & mask; + uint8_t pin; + static uint16_t last_mask; + static uint8_t last_pin; + + if (pending == last_mask) { + stm_exti.pr = last_mask; + (*ao_exti_callback[last_pin])(); + return; + } + stm_exti.pr = pending; + for (pin = first; pin <= last; pin++) + if ((pending & ((uint32_t) 1 << pin)) && ao_exti_callback[pin]) { + last_mask = (1 << pin); + last_pin = pin; + (*ao_exti_callback[pin])(); + } +} + +void stm_exti0_isr(void) { ao_exti_one_isr(0); } +void stm_exti1_isr(void) { ao_exti_one_isr(1); } +void stm_exti2_isr(void) { ao_exti_one_isr(2); } +void stm_exti3_isr(void) { ao_exti_one_isr(3); } +void stm_exti4_isr(void) { ao_exti_one_isr(4); } +void stm_exti9_5_isr(void) { ao_exti_range_isr(5, 9, 0x3e0); } +void stm_exti15_10_isr(void) { ao_exti_range_isr(10, 15, 0xfc00); } + +void +ao_exti_setup (struct stm_gpio *gpio, uint8_t pin, uint8_t mode, void (*callback)(void)) { + uint32_t mask = 1 << pin; + uint32_t pupdr; + uint8_t irq; + uint8_t prio; + + ao_exti_callback[pin] = callback; + + /* configure gpio to interrupt routing */ + stm_exticr_set(gpio, pin); + + /* configure pin as input, setting selected pull-up/down mode */ + stm_moder_set(gpio, pin, STM_MODER_INPUT); + switch (mode & (AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_PULL_DOWN)) { + case 0: + default: + pupdr = STM_PUPDR_NONE; + break; + case AO_EXTI_MODE_PULL_UP: + pupdr = STM_PUPDR_PULL_UP; + break; + case AO_EXTI_MODE_PULL_DOWN: + pupdr = STM_PUPDR_PULL_DOWN; + break; + } + stm_pupdr_set(gpio, pin, pupdr); + + /* Set interrupt mask and rising/falling mode */ + stm_exti.imr &= ~mask; + if (mode & AO_EXTI_MODE_RISING) + stm_exti.rtsr |= mask; + else + stm_exti.rtsr &= ~mask; + if (mode & AO_EXTI_MODE_FALLING) + stm_exti.ftsr |= mask; + else + stm_exti.ftsr &= ~mask; + + if (pin <= 4) + irq = STM_ISR_EXTI0_POS + pin; + else if (pin <= 9) + irq = STM_ISR_EXTI9_5_POS; + else + irq = STM_ISR_EXTI15_10_POS; + + /* Set priority */ + prio = AO_STM_NVIC_MED_PRIORITY; + if (mode & AO_EXTI_PRIORITY_LOW) + prio = AO_STM_NVIC_LOW_PRIORITY; + else if (mode & AO_EXTI_PRIORITY_HIGH) + prio = AO_STM_NVIC_HIGH_PRIORITY; + + stm_nvic_set_priority(irq, prio); + stm_nvic_set_enable(irq); +} + +void +ao_exti_set_mode(struct stm_gpio *gpio, uint8_t pin, uint8_t mode) { + uint32_t mask = 1 << pin; + + if (mode & AO_EXTI_MODE_RISING) + stm_exti.rtsr |= mask; + else + stm_exti.rtsr &= ~mask; + if (mode & AO_EXTI_MODE_FALLING) + stm_exti.ftsr |= mask; + else + stm_exti.ftsr &= ~mask; +} + +void +ao_exti_set_callback(struct stm_gpio *gpio, uint8_t pin, void (*callback)()) { + ao_exti_callback[pin] = callback; +} + +void +ao_exti_enable(struct stm_gpio *gpio, uint8_t pin) { + uint32_t mask = (1 << pin); + stm_exti.pr = mask; + stm_exti.imr |= (1 << pin); +} + +void +ao_exti_disable(struct stm_gpio *gpio, uint8_t pin) { + uint32_t mask = (1 << pin); + stm_exti.imr &= ~mask; + stm_exti.pr = mask; +} + +void +ao_exti_init(void) +{ +} diff --git a/src/stm/ao_i2c_stm.c b/src/stm/ao_i2c_stm.c new file mode 100644 index 00000000..b6dd7056 --- /dev/null +++ b/src/stm/ao_i2c_stm.c @@ -0,0 +1,455 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> + +struct ao_i2c_stm_info { + uint8_t tx_dma_index; + uint8_t rx_dma_index; + struct stm_i2c *stm_i2c; +}; + +#define I2C_FAST 1 + +#define I2C_TIMEOUT 100 + +#define I2C_IDLE 0 +#define I2C_RUNNING 1 +#define I2C_ERROR 2 + +static uint8_t ao_i2c_state[STM_NUM_I2C]; +static uint16_t ao_i2c_addr[STM_NUM_I2C]; +uint8_t ao_i2c_mutex[STM_NUM_I2C]; + +# define I2C_HIGH_SLOW 5000 /* ns, 100kHz clock */ +#ifdef MEGAMETRUM +# define I2C_HIGH_FAST 2000 /* ns, 167kHz clock */ +#else +# define I2C_HIGH_FAST 1000 /* ns, 333kHz clock */ +#endif + +# define I2C_RISE_SLOW 500 /* ns */ +# define I2C_RISE_FAST 100 /* ns */ + +/* Clock period in ns */ +#define CYCLES(period) (((period) * (AO_PCLK1 / 1000)) / 1000000) + +#define max(a,b) ((a) > (b) ? (a) : (b)) +#define I2C_CCR_HIGH_SLOW max(4,CYCLES(I2C_HIGH_SLOW)) +#define I2C_CCR_HIGH_FAST max(4,CYCLES(I2C_HIGH_FAST)) +#define I2C_TRISE_SLOW (CYCLES(I2C_RISE_SLOW) + 1) +#define I2C_TRISE_FAST (CYCLES(I2C_RISE_FAST) + 1) + +#if I2C_FAST +#define I2C_TRISE I2C_TRISE_FAST +#define I2C_CCR_HIGH I2C_CCR_HIGH_FAST +#else +#define I2C_TRISE I2C_TRISE_SLOW +#define I2C_CCR_HIGH I2C_CCR_HIGH_SLOW +#endif + +#if AO_PCLK1 == 2000000 +# define AO_STM_I2C_CR2_FREQ STM_I2C_CR2_FREQ_2_MHZ +#endif +#if AO_PCLK1 == 4000000 +# define AO_STM_I2C_CR2_FREQ STM_I2C_CR2_FREQ_4_MHZ +#endif +#if AO_PCLK1 == 8000000 +# define AO_STM_I2C_CR2_FREQ STM_I2C_CR2_FREQ_8_MHZ +#endif +#if AO_PCLK1 == 16000000 +# define AO_STM_I2C_CR2_FREQ STM_I2C_CR2_FREQ_16_MHZ +#endif +#if AO_PCLK1 == 32000000 +# define AO_STM_I2C_CR2_FREQ STM_I2C_CR2_FREQ_32_MHZ +#endif + +#define AO_STM_I2C_CR1 ((0 << STM_I2C_CR1_SWRST) | \ + (0 << STM_I2C_CR1_ALERT) | \ + (0 << STM_I2C_CR1_PEC) | \ + (0 << STM_I2C_CR1_POS) | \ + (0 << STM_I2C_CR1_ACK) | \ + (0 << STM_I2C_CR1_STOP) | \ + (0 << STM_I2C_CR1_START) | \ + (0 << STM_I2C_CR1_NOSTRETCH) | \ + (0 << STM_I2C_CR1_ENGC) | \ + (0 << STM_I2C_CR1_ENPEC) | \ + (0 << STM_I2C_CR1_ENARP) | \ + (0 << STM_I2C_CR1_SMBTYPE) | \ + (0 << STM_I2C_CR1_SMBUS) | \ + (1 << STM_I2C_CR1_PE)) + +#define AO_STM_I2C_CR2 ((0 << STM_I2C_CR2_LAST) | \ + (0 << STM_I2C_CR2_DMAEN) | \ + (0 << STM_I2C_CR2_ITBUFEN) | \ + (0 << STM_I2C_CR2_ITEVTEN) | \ + (0 << STM_I2C_CR2_ITERREN) | \ + (AO_STM_I2C_CR2_FREQ << STM_I2C_CR2_FREQ)) + +static const struct ao_i2c_stm_info ao_i2c_stm_info[STM_NUM_I2C] = { + { + .tx_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_I2C1_TX), + .rx_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_I2C1_RX), + .stm_i2c = &stm_i2c1 + }, + { + .tx_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_I2C2_TX), + .rx_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_I2C2_RX), + .stm_i2c = &stm_i2c2 + }, +}; + +static uint8_t *ao_i2c_recv_data[STM_NUM_I2C]; +static uint16_t ao_i2c_recv_len[STM_NUM_I2C]; +static uint16_t ev_count; + +static void +ao_i2c_ev_isr(uint8_t index) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + uint32_t sr1; + + ++ev_count; + sr1 = stm_i2c->sr1; + if (sr1 & (1 << STM_I2C_SR1_SB)) + stm_i2c->dr = ao_i2c_addr[index]; + if (sr1 & (1 << STM_I2C_SR1_ADDR)) { + stm_i2c->cr2 &= ~(1 << STM_I2C_CR2_ITEVTEN); + ao_i2c_state[index] = I2C_RUNNING; + ao_wakeup(&ao_i2c_state[index]); + } + if (sr1 & (1 << STM_I2C_SR1_BTF)) { + stm_i2c->cr2 &= ~(1 << STM_I2C_CR2_ITEVTEN); + ao_wakeup(&ao_i2c_state[index]); + } + if (sr1 & (1 << STM_I2C_SR1_RXNE)) { + if (ao_i2c_recv_len[index]) { + *(ao_i2c_recv_data[index]++) = stm_i2c->dr; + if (!--ao_i2c_recv_len[index]) + ao_wakeup(&ao_i2c_recv_len[index]); + } + } +} + +void stm_i2c1_ev_isr(void) { ao_i2c_ev_isr(0); } +void stm_i2c2_ev_isr(void) { ao_i2c_ev_isr(1); } + +static void +ao_i2c_er_isr(uint8_t index) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + uint32_t sr1; + + sr1 = stm_i2c->sr1; + if (sr1 & (1 << STM_I2C_SR1_AF)) { + ao_i2c_state[index] = I2C_ERROR; + stm_i2c->sr1 = sr1 & ~(1 << STM_I2C_SR1_AF); + ao_wakeup(&ao_i2c_state[index]); + } +} + +void stm_i2c1_er_isr(void) { ao_i2c_er_isr(0); } +void stm_i2c2_er_isr(void) { ao_i2c_er_isr(1); } + +void +ao_i2c_get(uint8_t index) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + ao_mutex_get(&ao_i2c_mutex[index]); + + stm_i2c->sr1 = 0; + stm_i2c->sr2 = 0; +} + +void +ao_i2c_put(uint8_t index) +{ + ao_mutex_put(&ao_i2c_mutex[index]); +} + +uint8_t +ao_i2c_start(uint8_t index, uint16_t addr) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + uint32_t sr1, sr2; + int t; + + ao_i2c_state[index] = I2C_IDLE; + ao_i2c_addr[index] = addr; + stm_i2c->cr2 = AO_STM_I2C_CR2; + stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_START); + for (t = 0; t < I2C_TIMEOUT; t++) { + if (!(stm_i2c->cr1 & (1 << STM_I2C_CR1_START))) + break; + } + ao_alarm(AO_MS_TO_TICKS(250)); + cli(); + stm_i2c->cr2 = AO_STM_I2C_CR2 | (1 << STM_I2C_CR2_ITEVTEN) | (1 << STM_I2C_CR2_ITERREN); + ao_i2c_ev_isr(index); + while (ao_i2c_state[index] == I2C_IDLE) + if (ao_sleep(&ao_i2c_state[index])) + break; + sei(); + ao_clear_alarm(); + return ao_i2c_state[index] == I2C_RUNNING; +} + +static void +ao_i2c_wait_stop(uint8_t index) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + int t; + + for (t = 0; t < I2C_TIMEOUT; t++) { + if (!(stm_i2c->cr1 & (1 << STM_I2C_CR1_STOP))) + break; + ao_yield(); + } + ao_i2c_state[index] = I2C_IDLE; +} + +static void +ao_i2c_wait_addr(uint8_t index) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + int t; + + for (t = 0; t < I2C_TIMEOUT; t++) + if (!(stm_i2c->sr1 & (1 << STM_I2C_SR1_ADDR))) + break; + if (t) + printf ("wait_addr %d\n", t); +} + +uint8_t +ao_i2c_send(void *block, uint16_t len, uint8_t index, uint8_t stop) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + uint8_t *b = block; + uint32_t sr1; + uint8_t tx_dma_index = ao_i2c_stm_info[index].tx_dma_index; + int t; + + /* Clear any pending ADDR bit */ + (void) stm_i2c->sr2; + ao_i2c_wait_addr(index); + stm_i2c->cr2 = AO_STM_I2C_CR2 | (1 << STM_I2C_CR2_DMAEN); + ao_dma_set_transfer(tx_dma_index, + &stm_i2c->dr, + block, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (1 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR)); + + ao_dma_start(tx_dma_index); + ao_alarm(1 + len); + cli(); + while (!ao_dma_done[tx_dma_index]) + if (ao_sleep(&ao_dma_done[tx_dma_index])) + break; + ao_clear_alarm(); + ao_dma_done_transfer(tx_dma_index); + stm_i2c->cr2 = AO_STM_I2C_CR2 | (1 << STM_I2C_CR2_ITEVTEN) | (1 << STM_I2C_CR2_ITERREN); + while ((stm_i2c->sr1 & (1 << STM_I2C_SR1_BTF)) == 0) + if (ao_sleep(&ao_i2c_state[index])) + break; + stm_i2c->cr2 = AO_STM_I2C_CR2; + sei(); + if (stop) { + stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_STOP); + ao_i2c_wait_stop(index); + } + return TRUE; +} + +void +ao_i2c_recv_dma_isr(int index) +{ + int i; + struct stm_i2c *stm_i2c = NULL; + + for (i = 0; i < STM_NUM_I2C; i++) + if (index == ao_i2c_stm_info[i].rx_dma_index) { + stm_i2c = ao_i2c_stm_info[i].stm_i2c; + break; + } + if (!stm_i2c) + return; + stm_i2c->cr2 = AO_STM_I2C_CR2 | (1 << STM_I2C_CR2_LAST); + ao_dma_done[index] = 1; + ao_wakeup(&ao_dma_done[index]); +} + +uint8_t +ao_i2c_recv(void *block, uint16_t len, uint8_t index, uint8_t stop) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + uint8_t *b = block; + int t; + uint8_t ret = TRUE; + + if (len == 0) + return TRUE; + if (len == 1) { + ao_i2c_recv_data[index] = block; + ao_i2c_recv_len[index] = 1; + stm_i2c->cr1 = AO_STM_I2C_CR1; + + /* Clear any pending ADDR bit */ + stm_i2c->sr2; + ao_i2c_wait_addr(index); + + /* Enable interrupts to transfer the byte */ + stm_i2c->cr2 = (AO_STM_I2C_CR2 | + (1 << STM_I2C_CR2_ITEVTEN) | + (1 << STM_I2C_CR2_ITERREN) | + (1 << STM_I2C_CR2_ITBUFEN)); + if (stop) + stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_STOP); + + ao_alarm(1); + cli(); + while (ao_i2c_recv_len[index]) + if (ao_sleep(&ao_i2c_recv_len[index])) + break; + sei(); + ret = ao_i2c_recv_len[index] == 0; + ao_clear_alarm(); + } else { + uint8_t rx_dma_index = ao_i2c_stm_info[index].rx_dma_index; + ao_dma_set_transfer(rx_dma_index, + &stm_i2c->dr, + block, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (1 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR)); + stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_ACK); + stm_i2c->cr2 = AO_STM_I2C_CR2 | + (1 << STM_I2C_CR2_DMAEN) | (1 << STM_I2C_CR2_LAST); + /* Clear any pending ADDR bit */ + (void) stm_i2c->sr2; + ao_i2c_wait_addr(index); + + ao_dma_start(rx_dma_index); + ao_alarm(len); + cli(); + while (!ao_dma_done[rx_dma_index]) + if (ao_sleep(&ao_dma_done[rx_dma_index])) + break; + sei(); + ao_clear_alarm(); + ret = ao_dma_done[rx_dma_index]; + ao_dma_done_transfer(rx_dma_index); + stm_i2c->cr1 = AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_STOP); + } + if (stop) + ao_i2c_wait_stop(index); + return ret; +} + +void +ao_i2c_channel_init(uint8_t index) +{ + struct stm_i2c *stm_i2c = ao_i2c_stm_info[index].stm_i2c; + int i; + + /* Turn I2C off while configuring */ + stm_i2c->cr1 = (1 << STM_I2C_CR1_SWRST); + for (i = 0; i < 100; i++) + asm("nop"); + stm_i2c->cr1 = 0; + stm_i2c->cr2 = AO_STM_I2C_CR2; + + (void) stm_i2c->sr1; + (void) stm_i2c->sr2; + (void) stm_i2c->dr; + + stm_i2c->sr1 = 0; + stm_i2c->sr2 = 0; + + stm_i2c->ccr = ((I2C_FAST << STM_I2C_CCR_FS) | + (0 << STM_I2C_CCR_DUTY) | + (I2C_CCR_HIGH << STM_I2C_CCR_CCR)); + + stm_i2c->trise = I2C_TRISE; + + stm_i2c->cr1 = AO_STM_I2C_CR1; +} + +static inline void +i2c_pin_set(struct stm_gpio *gpio, int pin) +{ + stm_afr_set(gpio, pin, STM_AFR_AF4); + stm_ospeedr_set(gpio, pin, STM_OSPEEDR_400kHz); + stm_pupdr_set(gpio, pin, STM_PUPDR_PULL_UP); +} + +void +ao_i2c_init(void) +{ + /* All of the I2C configurations are on port B */ + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); +#if HAS_I2C_1 +# if I2C_1_PB6_PB7 + i2c_pin_set(&stm_gpiob, 6); + i2c_pin_set(&stm_gpiob, 7); +# else +# if I2C_1_PB8_PB9 + i2c_pin_set(&stm_gpiob, 8); + i2c_pin_set(&stm_gpiob, 9); +# else +# error "No I2C_1 port configuration specified" +# endif +# endif + + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_I2C1EN); + ao_i2c_channel_init(0); + + stm_nvic_set_enable(STM_ISR_I2C1_EV_POS); + stm_nvic_set_priority(STM_ISR_I2C1_EV_POS, AO_STM_NVIC_MED_PRIORITY); + stm_nvic_set_enable(STM_ISR_I2C1_ER_POS); + stm_nvic_set_priority(STM_ISR_I2C1_ER_POS, AO_STM_NVIC_MED_PRIORITY); +#endif + +#if HAS_I2C_2 +# if I2C_2_PB10_PB11 + i2c_pin_set(&stm_gpiob, 10); + i2c_pin_set(&stm_gpiob, 11); +# else +# error "No I2C_2 port configuration specified" +# endif + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_I2C2EN); + ao_i2c_channel_init(1); + + stm_nvic_set_enable(STM_ISR_I2C2_EV_POS); + stm_nvic_set_priority(STM_ISR_I2C2_EV_POS, AO_STM_NVIC_MED_PRIORITY); + stm_nvic_set_enable(STM_ISR_I2C2_ER_POS); + stm_nvic_set_priority(STM_ISR_I2C2_ER_POS, AO_STM_NVIC_MED_PRIORITY); +#endif +} diff --git a/src/stm/ao_interrupt.c b/src/stm/ao_interrupt.c new file mode 100644 index 00000000..6b4a9700 --- /dev/null +++ b/src/stm/ao_interrupt.c @@ -0,0 +1,169 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "stm32l.h" +#include <string.h> + +extern void main(void); +extern char __stack__; +extern char __text_start__, __text_end__; +extern char __data_start__, __data_end__; +extern char __bss_start__, __bss_end__; + +/* Interrupt functions */ + +void stm_halt_isr(void) +{ + for(;;); +} + +void stm_ignore_isr(void) +{ +} + +void start(void) { + memcpy(&__data_start__, &__text_end__, &__data_end__ - &__data_start__); + memset(&__bss_start__, '\0', &__bss_end__ - &__bss_start__); + main(); +} + +#define STRINGIFY(x) #x + +#define isr(name) \ + void __attribute__ ((weak)) stm_ ## name ## _isr(void); \ + _Pragma(STRINGIFY(weak stm_ ## name ## _isr = stm_ignore_isr)) + +#define isr_halt(name) \ + void __attribute__ ((weak)) stm_ ## name ## _isr(void); \ + _Pragma(STRINGIFY(weak stm_ ## name ## _isr = stm_halt_isr)) + +isr(nmi) +isr_halt(hardfault) +isr_halt(memmanage) +isr_halt(busfault) +isr_halt(usagefault) +isr(svc) +isr(debugmon) +isr(pendsv) +isr(systick) +isr(wwdg) +isr(pvd) +isr(tamper_stamp) +isr(rtc_wkup) +isr(flash) +isr(rcc) +isr(exti0) +isr(exti1) +isr(exti2) +isr(exti3) +isr(exti4) +isr(dma1_channel1) +isr(dma1_channel2) +isr(dma1_channel3) +isr(dma1_channel4) +isr(dma1_channel5) +isr(dma1_channel6) +isr(dma1_channel7) +isr(adc1) +isr(usb_hp) +isr(usb_lp) +isr(dac) +isr(comp) +isr(exti9_5) +isr(lcd) +isr(tim9) +isr(tim10) +isr(tim11) +isr(tim2) +isr(tim3) +isr(tim4) +isr(i2c1_ev) +isr(i2c1_er) +isr(i2c2_ev) +isr(i2c2_er) +isr(spi1) +isr(spi2) +isr(usart1) +isr(usart2) +isr(usart3) +isr(exti15_10) +isr(rtc_alarm) +isr(usb_fs_wkup) +isr(tim6) +isr(tim7) + +#define i(addr,name) [(addr)/4] = stm_ ## name ## _isr + +__attribute__ ((section(".interrupt"))) +const void *stm_interrupt_vector[] = { + [0] = &__stack__, + [1] = start, + i(0x08, nmi), + i(0x0c, hardfault), + i(0x10, memmanage), + i(0x14, busfault), + i(0x18, usagefault), + i(0x2c, svc), + i(0x30, debugmon), + i(0x38, pendsv), + i(0x3c, systick), + i(0x40, wwdg), + i(0x44, pvd), + i(0x48, tamper_stamp), + i(0x4c, rtc_wkup), + i(0x50, flash), + i(0x54, rcc), + i(0x58, exti0), + i(0x5c, exti1), + i(0x60, exti2), + i(0x64, exti3), + i(0x68, exti4), + i(0x6c, dma1_channel1), + i(0x70, dma1_channel2), + i(0x74, dma1_channel3), + i(0x78, dma1_channel4), + i(0x7c, dma1_channel5), + i(0x80, dma1_channel6), + i(0x84, dma1_channel7), + i(0x88, adc1), + i(0x8c, usb_hp), + i(0x90, usb_lp), + i(0x94, dac), + i(0x98, comp), + i(0x9c, exti9_5), + i(0xa0, lcd), + i(0xa4, tim9), + i(0xa8, tim10), + i(0xac, tim11), + i(0xb0, tim2), + i(0xb4, tim3), + i(0xb8, tim4), + i(0xbc, i2c1_ev), + i(0xc0, i2c1_er), + i(0xc4, i2c2_ev), + i(0xc8, i2c2_er), + i(0xcc, spi1), + i(0xd0, spi2), + i(0xd4, usart1), + i(0xd8, usart2), + i(0xdc, usart3), + i(0xe0, exti15_10), + i(0xe4, rtc_alarm), + i(0xe8, usb_fs_wkup), + i(0xec, tim6), + i(0xf0, tim7), +}; diff --git a/src/stm/ao_lcd_font.c b/src/stm/ao_lcd_font.c new file mode 100644 index 00000000..0d7d87c1 --- /dev/null +++ b/src/stm/ao_lcd_font.c @@ -0,0 +1,128 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> + +static const uint16_t ao_lcd_font[] = { +#include "ao_lcd_font.h" +}; + +/* + ----- 0 + |\ | /| 1 2 3 4 5 + | \|/ | @ 14 + -- -- 6 7 + | /|\ | 8 9 10 11 12 + |/ | \| @ 14 + ----- 13 + @ 15 +*/ + +static const uint8_t ao_bit_src[] = { + 8, 7, 5, 6, + 13, 12, 0, 1, + 10, 14, 4, 9, + 11, 15, 3, 2 +}; + +static const uint8_t ao_bit_dst[6][4] = { + { 0, 1, 28, 29 }, + { 2, 7, 26, 27 }, + { 8, 9, 24, 25 }, + { 10, 11, 20, 21 }, + { 12, 13, 18, 19 }, + { 14, 15, 17, 16 }, +}; + +static void +ao_draw_glyph(uint8_t pos, uint16_t glyph) { + uint8_t col, seg, src, dst; + uint32_t ram; + + for (col = 0; col < 4; col++) { + for (seg = 0; seg < 4; seg++) { + src = ao_bit_src[(col << 2) | seg]; + dst = ao_bit_dst[pos][seg]; + ram = stm_lcd.ram[col * 2]; + ram &= ~(1 << dst); + ram |= (uint32_t) ((glyph >> src) & 1) << dst; + stm_lcd.ram[col*2] = ram; + } + } +} + +#define AO_LCD_FONT_COLON (1 << 14) +#define AO_LCD_FONT_DECIMAL (1 << 15) + +void +ao_lcd_font_char(uint8_t pos, char c, uint16_t flags) { + if (pos > 5) + pos = 5; + if (c < ' ' || c > 127) + c = 127; + ao_draw_glyph(pos, ao_lcd_font[c - ' '] | flags); +} + +void +ao_lcd_font_string(char *s) { + uint8_t pos = 0; + uint16_t flags; + char c; + + while (pos < 6 && (c = *s++)) { + flags = 0; + for (;;) { + if (*s == ':') + flags |= AO_LCD_FONT_COLON; + else if (*s == '.') + flags |= AO_LCD_FONT_DECIMAL; + else + break; + s++; + } + ao_lcd_font_char(pos++, c, flags); + } + while (pos < 6) + ao_lcd_font_char(pos++, ' ', 0); + stm_lcd.sr = (1 << STM_LCD_SR_UDR); +} + +static void +ao_lcd_font_text(void) +{ + char string[20]; + uint8_t c = 0; + ao_cmd_white(); + while (ao_cmd_lex_c != '\n' && c < sizeof (string) - 1) { + string[c++] = ao_cmd_lex_c; + ao_cmd_lex(); + } + string[c++] = '\0'; + ao_lcd_font_string(string); +} + +const struct ao_cmds ao_lcd_font_cmds[] = { + { ao_lcd_font_text, "t <string>\0Write <string> to LCD" }, + { 0, NULL } +}; + +void +ao_lcd_font_init(void) +{ + ao_cmd_register(ao_lcd_font_cmds); +} + diff --git a/src/stm/ao_lcd_font.h b/src/stm/ao_lcd_font.h new file mode 100644 index 00000000..08adc9ab --- /dev/null +++ b/src/stm/ao_lcd_font.h @@ -0,0 +1,1152 @@ + [0] = 0x0000, +/* +CHAR 32 ' ' + + + + + + + +*/ + + [1] = 0x0102, +/* +CHAR 33 '!' + + | + | + + | + | + +*/ + + [2] = 0x000a, +/* +CHAR 34 '"' + + | | + | | + + + + +*/ + + [3] = 0x05e8, +/* +CHAR 35 '#' + + | | + | | + -- -- + | | + | | + +*/ + + [4] = 0x34cb, +/* +CHAR 36 '$' + ----- + | | + | | + -- -- + | | + | | + ----- +*/ + + [5] = 0x1212, +/* +CHAR 37 '%' + + | / + | / + + / | + / | + +*/ + + [6] = 0x2955, +/* +CHAR 38 '&' + ----- + \ / + \ / + -- + | \ + | \ + ----- +*/ + + [7] = 0x0008, +/* +CHAR 39 ''' + + | + | + + + + +*/ + + [8] = 0x2103, +/* +CHAR 40 '(' + ----- + | + | + + | + | + ----- +*/ + + [9] = 0x3021, +/* +CHAR 41 ')' + ----- + | + | + + | + | + ----- +*/ + + [10] = 0x0e1c, +/* +CHAR 42 '*' + + \ | / + \|/ + + /|\ + / | \ + +*/ + + [11] = 0x04c8, +/* +CHAR 43 '+' + + | + | + -- -- + | + | + +*/ + + [12] = 0x0200, +/* +CHAR 44 ',' + + + + + / + / + +*/ + + [13] = 0x00c0, +/* +CHAR 45 '-' + + + + -- -- + + + +*/ + + [14] = 0x0800, +/* +CHAR 46 '.' + + + + + \ + \ + +*/ + + [15] = 0x0210, +/* +CHAR 47 '/' + + / + / + + / + / + +*/ + + [16] = 0x3333, +/* +CHAR 48 '0' + ----- + | /| + | / | + + | / | + |/ | + ----- +*/ + + [17] = 0x1030, +/* +CHAR 49 '1' + + /| + / | + + | + | + +*/ + + [18] = 0x21e1, +/* +CHAR 50 '2' + ----- + | + | + -- -- + | + | + ----- +*/ + + [19] = 0x30a1, +/* +CHAR 51 '3' + ----- + | + | + -- + | + | + ----- +*/ + + [20] = 0x10e2, +/* +CHAR 52 '4' + + | | + | | + -- -- + | + | + +*/ + + [21] = 0x30c3, +/* +CHAR 53 '5' + ----- + | + | + -- -- + | + | + ----- +*/ + + [22] = 0x31c3, +/* +CHAR 54 '6' + ----- + | + | + -- -- + | | + | | + ----- +*/ + + [23] = 0x0411, +/* +CHAR 55 '7' + ----- + / + / + + | + | + +*/ + + [24] = 0x31e3, +/* +CHAR 56 '8' + ----- + | | + | | + -- -- + | | + | | + ----- +*/ + + [25] = 0x10e3, +/* +CHAR 57 '9' + ----- + | | + | | + -- -- + | + | + +*/ + + [26] = 0x0408, +/* +CHAR 58 ':' + + | + | + + | + | + +*/ + + [27] = 0x0208, +/* +CHAR 59 ';' + + | + | + + / + / + +*/ + + [28] = 0x0810, +/* +CHAR 60 '<' + + / + / + + \ + \ + +*/ + + [29] = 0x20c0, +/* +CHAR 61 '=' + + + + -- -- + + + ----- +*/ + + [30] = 0x0204, +/* +CHAR 62 '>' + + \ + \ + + / + / + +*/ + + [31] = 0x0413, +/* +CHAR 63 '?' + ----- + | / + | / + + | + | + +*/ + + [32] = 0x39b3, +/* +CHAR 64 '@' + ----- + | /| + | / | + -- + | \ | + | \| + ----- +*/ + + [33] = 0x11e3, +/* +CHAR 65 'A' + ----- + | | + | | + -- -- + | | + | | + +*/ + + [34] = 0x34a9, +/* +CHAR 66 'B' + ----- + | | + | | + -- + | | + | | + ----- +*/ + + [35] = 0x2103, +/* +CHAR 67 'C' + ----- + | + | + + | + | + ----- +*/ + + [36] = 0x3429, +/* +CHAR 68 'D' + ----- + | | + | | + + | | + | | + ----- +*/ + + [37] = 0x2143, +/* +CHAR 69 'E' + ----- + | + | + -- + | + | + ----- +*/ + + [38] = 0x0143, +/* +CHAR 70 'F' + ----- + | + | + -- + | + | + +*/ + + [39] = 0x3183, +/* +CHAR 71 'G' + ----- + | + | + -- + | | + | | + ----- +*/ + + [40] = 0x11e2, +/* +CHAR 72 'H' + + | | + | | + -- -- + | | + | | + +*/ + + [41] = 0x2409, +/* +CHAR 73 'I' + ----- + | + | + + | + | + ----- +*/ + + [42] = 0x3120, +/* +CHAR 74 'J' + + | + | + + | | + | | + ----- +*/ + + [43] = 0x0952, +/* +CHAR 75 'K' + + | / + | / + -- + | \ + | \ + +*/ + + [44] = 0x2102, +/* +CHAR 76 'L' + + | + | + + | + | + ----- +*/ + + [45] = 0x1136, +/* +CHAR 77 'M' + + |\ /| + | \ / | + + | | + | | + +*/ + + [46] = 0x1926, +/* +CHAR 78 'N' + + |\ | + | \ | + + | \ | + | \| + +*/ + + [47] = 0x3123, +/* +CHAR 79 'O' + ----- + | | + | | + + | | + | | + ----- +*/ + + [48] = 0x01e3, +/* +CHAR 80 'P' + ----- + | | + | | + -- -- + | + | + +*/ + + [49] = 0x3923, +/* +CHAR 81 'Q' + ----- + | | + | | + + | \ | + | \| + ----- +*/ + + [50] = 0x09e3, +/* +CHAR 82 'R' + ----- + | | + | | + -- -- + | \ + | \ + +*/ + + [51] = 0x3085, +/* +CHAR 83 'S' + ----- + \ + \ + -- + | + | + ----- +*/ + + [52] = 0x0409, +/* +CHAR 84 'T' + ----- + | + | + + | + | + +*/ + + [53] = 0x3122, +/* +CHAR 85 'U' + + | | + | | + + | | + | | + ----- +*/ + + [54] = 0x0312, +/* +CHAR 86 'V' + + | / + | / + + | / + |/ + +*/ + + [55] = 0x1b22, +/* +CHAR 87 'W' + + | | + | | + + | / \ | + |/ \| + +*/ + + [56] = 0x0a14, +/* +CHAR 88 'X' + + \ / + \ / + + / \ + / \ + +*/ + + [57] = 0x0414, +/* +CHAR 89 'Y' + + \ / + \ / + + | + | + +*/ + + [58] = 0x2211, +/* +CHAR 90 'Z' + ----- + / + / + + / + / + ----- +*/ + + [59] = 0x2103, +/* +CHAR 91 '[' + ----- + | + | + + | + | + ----- +*/ + + [60] = 0x0804, +/* +CHAR 92 '\' + + \ + \ + + \ + \ + +*/ + + [61] = 0x3021, +/* +CHAR 93 ']' + ----- + | + | + + | + | + ----- +*/ + + [62] = 0x0023, +/* +CHAR 94 '^' + ----- + | | + | | + + + + +*/ + + [63] = 0x2000, +/* +CHAR 95 '_' + + + + + + + ----- +*/ + + [64] = 0x0004, +/* +CHAR 96 '`' + + \ + \ + + + + +*/ + + [65] = 0x2540, +/* +CHAR 97 'a' + + + + -- + | | + | | + ----- +*/ + + [66] = 0x2942, +/* +CHAR 98 'b' + + | + | + -- + | \ + | \ + ----- +*/ + + [67] = 0x21c0, +/* +CHAR 99 'c' + + + + -- -- + | + | + ----- +*/ + + [68] = 0x32a0, +/* +CHAR 100 'd' + + | + | + -- + / | + / | + ----- +*/ + + [69] = 0x2340, +/* +CHAR 101 'e' + + + + -- + | / + |/ + ----- +*/ + + [70] = 0x0143, +/* +CHAR 102 'f' + ----- + | + | + -- + | + | + +*/ + + [71] = 0x10a5, +/* +CHAR 103 'g' + ----- + \ | + \ | + -- + | + | + +*/ + + [72] = 0x11c2, +/* +CHAR 104 'h' + + | + | + -- -- + | | + | | + +*/ + + [73] = 0x0400, +/* +CHAR 105 'i' + + + + + | + | + +*/ + + [74] = 0x3000, +/* +CHAR 106 'j' + + + + + | + | + ----- +*/ + + [75] = 0x0c88, +/* +CHAR 107 'k' + + | + | + -- + |\ + | \ + +*/ + + [76] = 0x0408, +/* +CHAR 108 'l' + + | + | + + | + | + +*/ + + [77] = 0x15c0, +/* +CHAR 109 'm' + + + + -- -- + | | | + | | | + +*/ + + [78] = 0x0940, +/* +CHAR 110 'n' + + + + -- + | \ + | \ + +*/ + + [79] = 0x31c0, +/* +CHAR 111 'o' + + + + -- -- + | | + | | + ----- +*/ + + [80] = 0x0146, +/* +CHAR 112 'p' + + |\ + | \ + -- + | + | + +*/ + + [81] = 0x10b0, +/* +CHAR 113 'q' + + /| + / | + -- + | + | + +*/ + + [82] = 0x0140, +/* +CHAR 114 'r' + + + + -- + | + | + +*/ + + [83] = 0x2880, +/* +CHAR 115 's' + + + + -- + \ + \ + ----- +*/ + + [84] = 0x2142, +/* +CHAR 116 't' + + | + | + -- + | + | + ----- +*/ + + [85] = 0x3100, +/* +CHAR 117 'u' + + + + + | | + | | + ----- +*/ + + [86] = 0x0300, +/* +CHAR 118 'v' + + + + + | / + |/ + +*/ + + [87] = 0x1b00, +/* +CHAR 119 'w' + + + + + | / \ | + |/ \| + +*/ + + [88] = 0x0a14, +/* +CHAR 120 'x' + + \ / + \ / + + / \ + / \ + +*/ + + [89] = 0x3800, +/* +CHAR 121 'y' + + + + + \ | + \| + ----- +*/ + + [90] = 0x2240, +/* +CHAR 122 'z' + + + + -- + / + / + ----- +*/ + + [91] = 0x2245, +/* +CHAR 123 '{' + ----- + \ + \ + -- + / + / + ----- +*/ + + [92] = 0x0408, +/* +CHAR 124 '|' + + | + | + + | + | + +*/ + + [93] = 0x2891, +/* +CHAR 125 '}' + ----- + / + / + -- + \ + \ + ----- +*/ + + [94] = 0x000e, +/* +CHAR 126 '~' + + |\ | + | \| + + + + +*/ + + [95] = 0x3fff, +/* +CHAR 127 'DEL' + ----- + |\ | /| + | \|/ | + -- -- + | /|\ | + |/ | \| + ----- +*/ + diff --git a/src/stm/ao_lcd_stm.c b/src/stm/ao_lcd_stm.c new file mode 100644 index 00000000..0f9a8eb5 --- /dev/null +++ b/src/stm/ao_lcd_stm.c @@ -0,0 +1,417 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_lcd_stm.h> + +struct ao_lcd_segment { + uint8_t reg; + uint8_t bit; +}; + +#define A 0 +#define B 1 +#define C 2 +#define D 3 +#define E 4 + +static struct stm_gpio *gpios[] = { + &stm_gpioa, + &stm_gpiob, + &stm_gpioc, + &stm_gpiod, + &stm_gpioe +}; + +static inline int ao_lcd_stm_seg_enabled(int seg) { + if (seg < 32) + return (AO_LCD_STM_SEG_ENABLED_0 >> seg) & 1; + else + return (AO_LCD_STM_SEG_ENABLED_1 >> (seg - 32)) & 1; +} + +static inline int ao_lcd_stm_com_enabled(int com) { + return (AO_LCD_STM_COM_ENABLED >> com) & 1; +} + +#define AO_LCD_STM_GPIOA_SEGS_0 ( \ + (1 << 0) | \ + (1 << 1) | \ + (1 << 2) | \ + (1 << 3) | \ + (1 << 4) | \ + (1 << 17)) + +#define AO_LCD_STM_GPIOA_SEGS_1 0 + +#define AO_LCD_STM_USES_GPIOA (!!((AO_LCD_STM_GPIOA_SEGS_0 & AO_LCD_STM_SEG_ENABLED_0) | \ + (AO_LCD_STM_GPIOA_SEGS_1 & AO_LCD_STM_SEG_ENABLED_1))) + + +#define AO_LCD_STM_GPIOB_SEGS_0 ( \ + (1 << 5) | \ + (1 << 6) | \ + (1 << 7) | \ + (1 << 8) | \ + (1 << 9) | \ + (1 << 10) | \ + (1 << 11) | \ + (1 << 12) | \ + (1 << 13) | \ + (1 << 14) | \ + (1 << 15) | \ + (1 << 16)) + +#define AO_LCD_STM_GPIOB_SEGS_1 0 + +#if AO_LCD_28_ON_C + +#define AO_LCD_STM_GPIOC_28_SEGS ( \ + (1 << 28) | \ + (1 << 29) | \ + (1 << 30)) + +#define AO_LCD_STM_GPIOD_28_SEGS ( \ + (1 << 31)) + +#else +#define AO_LCD_STM_GPIOC_28_SEGS 0 + +#define AO_LCD_STM_GPIOD_28_SEGS ( \ + (1 << 28) | \ + (1 << 29) | \ + (1 << 30) | \ + (1 << 31)) +#endif + +#define AO_LCD_STM_GPIOC_SEGS_0 ( \ + (1 << 18) | \ + (1 << 19) | \ + (1 << 20) | \ + (1 << 21) | \ + (1 << 22) | \ + (1 << 23) | \ + (1 << 24) | \ + (1 << 25) | \ + (1 << 26) | \ + (1 << 27) | \ + AO_LCD_STM_GPIOC_28_SEGS) + +#define AO_LCD_STM_GPIOC_SEGS_1 ( \ + (1 << (40 - 32)) | \ + (1 << (41 - 32)) | \ + (1 << (42 - 32))) + +#define AO_LCD_STM_GPIOD_SEGS_0 ( \ + AO_LCD_STM_GPIOD_28_SEGS) + +#define AO_LCD_STM_GPIOD_SEGS_1 ( \ + (1 << (32 - 32)) | \ + (1 << (33 - 32)) | \ + (1 << (34 - 32)) | \ + (1 << (35 - 32)) | \ + (1 << (43 - 32))) + +#define AO_LCD_STM_GPIOE_SEGS_0 0 + +#define AO_LCD_STM_GPIOE_SEGS_1 ( \ + (1 << (36 - 32)) | \ + (1 << (37 - 32)) | \ + (1 << (38 - 32)) | \ + (1 << (39 - 32))) + +#define AO_LCD_STM_USES_GPIOA (!!((AO_LCD_STM_GPIOA_SEGS_0 & AO_LCD_STM_SEG_ENABLED_0) | \ + (AO_LCD_STM_GPIOA_SEGS_1 & AO_LCD_STM_SEG_ENABLED_1))) + +#define AO_LCD_STM_USES_GPIOB (!!((AO_LCD_STM_GPIOB_SEGS_0 & AO_LCD_STM_SEG_ENABLED_0) | \ + (AO_LCD_STM_GPIOB_SEGS_1 & AO_LCD_STM_SEG_ENABLED_1))) + + +#define AO_LCD_STM_USES_GPIOC (!!((AO_LCD_STM_GPIOC_SEGS_0 & AO_LCD_STM_SEG_ENABLED_0) | \ + (AO_LCD_STM_GPIOC_SEGS_1 & AO_LCD_STM_SEG_ENABLED_1))) + + +#define AO_LCD_STM_USES_GPIOD (!!((AO_LCD_STM_GPIOD_SEGS_0 & AO_LCD_STM_SEG_ENABLED_0) | \ + (AO_LCD_STM_GPIOD_SEGS_1 & AO_LCD_STM_SEG_ENABLED_1))) + +#define AO_LCD_STM_USES_GPIOE (!!((AO_LCD_STM_GPIOE_SEGS_0 & AO_LCD_STM_SEG_ENABLED_0) | \ + (AO_LCD_STM_GPIOE_SEGS_1 & AO_LCD_STM_SEG_ENABLED_1))) + + +static const struct ao_lcd_segment segs[] = { + { A, 1 }, /* 0 */ + { A, 2 }, + { A, 3 }, + { A, 6 }, + + { A, 7 }, /* 4 */ + { B, 0 }, + { B, 1 }, + { B, 3 }, + + { B, 4 }, /* 8 */ + { B, 5 }, + { B, 10 }, + { B, 11 }, + + { B, 12 }, /* 12 */ + { B, 13 }, + { B, 14 }, + { B, 15 }, + + { B, 8 }, /* 16 */ + { A, 15 }, + { C, 0 }, + { C, 1 }, + + { C, 2 }, /* 20 */ + { C, 3 }, + { C, 4 }, + { C, 5 }, + + { C, 6 }, /* 24 */ + { C, 7 }, + { C, 8 }, + { C, 9 }, + +#if AO_LCD_28_ON_C + { C, 10 }, /* 28 */ + { C, 11 }, + { C, 12 }, + { D, 2 }, +#else + { D, 8 }, /* 28 */ + { D, 9 }, + { D, 10 }, + { D, 11 }, +#endif + { D, 12 }, /* 32 */ + { D, 13 }, + { D, 14 }, + { D, 15 }, + + { E, 0 }, /* 36 */ + { E, 1 }, + { E, 2 }, + { E, 3 }, + + { C, 10 }, /* 40 */ + { C, 11 }, + { C, 12 }, + { D, 2 }, +}; + +static const struct ao_lcd_segment coms[] = { + { A, 8 }, /* 0 */ + { A, 9 }, /* 1 */ + { A, 10 }, /* 2 */ + { B, 9 }, /* 3 */ + { C, 10 }, /* 4 */ + { C, 11 }, /* 5 */ + { C, 12 }, /* 6 */ +}; + +#define NSEG (sizeof segs/sizeof segs[0]) +#define NCOM (sizeof coms/sizeof coms[0]) + +static uint8_t ao_lcd_update_active; + +void +stm_lcd_isr(void) +{ + if (stm_lcd.sr & (1 << STM_LCD_SR_UDD)) { + stm_lcd.clr = (1 << STM_LCD_CLR_UDDC); + if (ao_lcd_update_active) { + ao_lcd_update_active = 0; + ao_wakeup(&ao_lcd_update_active); + } + } +} + + +static void +ao_lcd_stm_fcr_sync(void) +{ + while ((stm_lcd.sr & (1 << STM_LCD_SR_FCRSF)) == 0) + asm("nop"); +} + +void +ao_lcd_flush(void) +{ + cli(); + ao_lcd_update_active = 1; + stm_lcd.sr = (1 << STM_LCD_SR_UDR); + while (ao_lcd_update_active) + ao_sleep(&ao_lcd_update_active); + sei(); +} + +void +ao_lcd_clear(void) +{ + uint8_t i; + + for (i = 0; i < sizeof (stm_lcd.ram) / 4; i++) + stm_lcd.ram[i] = 0; + ao_lcd_flush(); +} + +void +ao_lcd_set(uint8_t digit, uint8_t segment, uint8_t value) +{ + uint8_t n; + + if (digit >= NCOM) + digit = NCOM-1; + if (segment >= NSEG) + segment = NSEG-1; + + n = (segment >> 5) & 1; + if (value) + stm_lcd.ram[digit * 2 + n] |= (1 << (segment & 0x1f)); + else + stm_lcd.ram[digit * 2 + n] &= ~(1 << (segment & 0x1f)); +} + +#if 0 +static void +ao_lcd_stm_seg_set(void) +{ + int com, seg, val; + int n, bit; + ao_cmd_decimal(); + com = ao_cmd_lex_i; + ao_cmd_decimal(); + seg = ao_cmd_lex_u32; + ao_cmd_decimal(); + val = ao_cmd_lex_i; + printf ("com: %d seg: %d val: %d\n", com, seg, val); + ao_lcd_set(com, seg, val); + ao_lcd_flush(); +} + +static const struct ao_cmds ao_lcd_stm_cmds[] = { + { ao_lcd_stm_seg_set, "s <com> <seg> <value>\0Set LCD segment" }, + { ao_lcd_clear, "C\0Clear LCD" }, + { 0, NULL }, +}; +#endif + +void +ao_lcd_stm_init(void) +{ + int s, c; + int r; + uint32_t csr; + + stm_rcc.ahbenr |= ((AO_LCD_STM_USES_GPIOA << STM_RCC_AHBENR_GPIOAEN) | + (AO_LCD_STM_USES_GPIOB << STM_RCC_AHBENR_GPIOBEN) | + (AO_LCD_STM_USES_GPIOC << STM_RCC_AHBENR_GPIOCEN) | + (AO_LCD_STM_USES_GPIOD << STM_RCC_AHBENR_GPIODEN) | + (AO_LCD_STM_USES_GPIOE << STM_RCC_AHBENR_GPIOEEN)); + + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_LCDEN); + + /* Turn on the LSI clock */ + if ((stm_rcc.csr & (1 << STM_RCC_CSR_LSIRDY)) == 0) { + stm_rcc.csr |= (1 << STM_RCC_CSR_LSION); + while ((stm_rcc.csr & (1 << STM_RCC_CSR_LSIRDY)) == 0) + asm("nop"); + } + + /* Enable RTC clock config (required to change the RTC/LCD clock */ + + stm_pwr.cr |= (1 << STM_PWR_CR_DBP); + + /* Configure the LCDCLK - use the LSI clock */ + + csr = stm_rcc.csr; + csr &= ~(STM_RCC_CSR_RTCSEL_MASK << STM_RCC_CSR_RTCSEL); + csr |= (STM_RCC_CSR_RTCSEL_LSI << STM_RCC_CSR_RTCSEL); + stm_rcc.csr = csr; + + for (s = 0; s < NSEG; s++) { + uint8_t reg = segs[s].reg; + uint8_t bit = segs[s].bit; + + if (ao_lcd_stm_seg_enabled(s)) { + stm_moder_set(gpios[reg], bit, STM_MODER_ALTERNATE); + stm_afr_set(gpios[reg], bit, STM_AFR_AF11); + } + } + + for (c = 0; c < NCOM; c++) { + uint8_t reg = coms[c].reg; + uint8_t bit = coms[c].bit; + + if (ao_lcd_stm_com_enabled(c)) { + stm_moder_set(gpios[reg], bit, STM_MODER_ALTERNATE); + stm_afr_set(gpios[reg], bit, STM_AFR_AF11); + } + } + + /* Disable the LCD */ + stm_lcd.cr = 0; + + /* duty cycle 1/3, radio 352, frame rate about 33Hz */ + stm_lcd.fcr = ((STM_LCD_FCR_PS_8 << STM_LCD_FCR_PS) | + (STM_LCD_FCR_DIV_20 << STM_LCD_FCR_DIV) | + (7 << STM_LCD_FCR_CC) | + (0 << STM_LCD_FCR_DEAD) | + (1 << STM_LCD_FCR_PON) | + (1 << STM_LCD_FCR_UDDIE) | + (0 << STM_LCD_FCR_SOFIE) | + (1 << STM_LCD_FCR_HD)); + + ao_lcd_stm_fcr_sync(); + + /* Program desired DUTY in LCD_CR */ + /* Program desired BIAS in LCD_CR */ + /* Enable mux seg */ + /* Internal voltage source */ + stm_lcd.cr = ((AO_LCD_DUTY << STM_LCD_CR_DUTY) | + (STM_LCD_CR_BIAS_1_2 << STM_LCD_CR_BIAS) | + (0 << STM_LCD_CR_VSEL) | + (0 << STM_LCD_CR_MUX_SEG)); + + ao_lcd_stm_fcr_sync(); + + /* Enable the display (LCDEN bit in LCD_CR) */ + stm_lcd.cr |= (1 << STM_LCD_CR_LCDEN); + + while ((stm_lcd.sr & (1 << STM_LCD_SR_RDY)) == 0) + asm("nop"); + + /* Load initial data into LCD_RAM and set the + * UDR bit in the LCD_SR register */ + + /* Program desired frame rate (PS and DIV bits in LCD_FCR) */ + + /* Program the contrast (CC bits in LCD_FCR) */ + + /* Program optional features (BLINK, BLINKF, PON, DEAD, HD) */ + + /* Program the required interrupts */ + stm_nvic_set_enable(STM_ISR_LCD_POS); + stm_nvic_set_priority(STM_ISR_LCD_POS, AO_STM_NVIC_LOW_PRIORITY); + + /* All done */ +#if 0 + ao_cmd_register(ao_lcd_stm_cmds); +#endif +} diff --git a/src/stm/ao_lcd_stm.h b/src/stm/ao_lcd_stm.h new file mode 100644 index 00000000..14667546 --- /dev/null +++ b/src/stm/ao_lcd_stm.h @@ -0,0 +1,30 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_LCD_STM_H_ +#define _AO_LCD_STM_H_ + +void +ao_lcd_set(uint8_t digit, uint8_t segment, uint8_t value); + +void +ao_lcd_clear(void); + +void +ao_lcd_flush(void); + +#endif /* _AO_LCD_STM_H_ */ diff --git a/src/stm/ao_led.c b/src/stm/ao_led.c new file mode 100644 index 00000000..ee313b6f --- /dev/null +++ b/src/stm/ao_led.c @@ -0,0 +1,71 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +__pdata uint16_t ao_led_enable; + +void +ao_led_on(uint16_t colors) +{ + LED_PORT->bsrr = (colors & ao_led_enable); +} + +void +ao_led_off(uint16_t colors) +{ + LED_PORT->bsrr = (uint32_t) (colors & ao_led_enable) << 16; +} + +void +ao_led_set(uint16_t colors) +{ + uint16_t on = colors & ao_led_enable; + uint16_t off = ~colors & ao_led_enable; + + LED_PORT->bsrr = off << 16 | on; +} + +void +ao_led_toggle(uint16_t colors) +{ + LED_PORT->odr ^= (colors & ao_led_enable); +} + +void +ao_led_for(uint16_t colors, uint16_t ticks) __reentrant +{ + ao_led_on(colors); + ao_delay(ticks); + ao_led_off(colors); +} + +void +ao_led_init(uint16_t enable) +{ + int bit; + + stm_rcc.ahbenr |= (1 << LED_PORT_ENABLE); + ao_led_enable = enable; + LED_PORT->odr &= ~enable; + for (bit = 0; bit < 16; bit++) { + if (enable & (1 << bit)) { + stm_moder_set(LED_PORT, bit, STM_MODER_OUTPUT); + stm_otyper_set(LED_PORT, bit, STM_OTYPER_PUSH_PULL); + } + } +} diff --git a/src/stm/ao_profile.c b/src/stm/ao_profile.c new file mode 100644 index 00000000..149ca29f --- /dev/null +++ b/src/stm/ao_profile.c @@ -0,0 +1,112 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_profile.h> + +static void ao_profile_test(void) +{ + uint8_t i; + uint32_t ticks[20]; + + for (i = 0; i < 20; i++) { + ticks[i] = ao_profile_tick(); + ao_delay(0); + } + for (i = 0; i < 19; i++) + printf ("%d\n", ticks[i+1] - ticks[i]); +} + +static const struct ao_cmds ao_profile_cmds[] = { + { ao_profile_test, "P\0Test profile counter" }, + { 0, NULL } +}; + +void ao_profile_init(void) +{ + /* Turn on timer 2 and 4 */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM2EN) | + (1 << STM_RCC_APB1ENR_TIM4EN); + + /* disable timers */ + stm_tim4.cr1 = 0; + stm_tim2.cr1 = 0; + + /* tim4 is master */ + + + stm_tim4.cr2 = ((0 << STM_TIM234_CR2_TI1S) | + (STM_TIM234_CR2_MMS_UPDATE << STM_TIM234_CR2_MMS) | + (0 << STM_TIM234_CR2_CCDS)); + + stm_tim4.smcr = ((0 << STM_TIM234_SMCR_ETP) | + (0 << STM_TIM234_SMCR_ECE) | + (STM_TIM234_SMCR_ETPS_OFF << STM_TIM234_SMCR_ETPS) | + (STM_TIM234_SMCR_ETF_NONE << STM_TIM234_SMCR_ETF) | + (0 << STM_TIM234_SMCR_MSM) | + (STM_TIM234_SMCR_TS_ITR3 << STM_TIM234_SMCR_TS) | + (0 << STM_TIM234_SMCR_OCCS) | + (STM_TIM234_SMCR_SMS_DISABLE << STM_TIM234_SMCR_SMS)); + + stm_tim4.dier = 0; + stm_tim4.sr = 0; + + stm_tim4.psc = 31; + stm_tim4.cnt = 0; + stm_tim4.arr = 0xffff; + + /* tim2 is slaved to tim4 */ + + stm_tim2.cr2 = ((0 << STM_TIM234_CR2_TI1S) | + (STM_TIM234_CR2_MMS_ENABLE << STM_TIM234_CR2_MMS) | + (0 << STM_TIM234_CR2_CCDS)); + stm_tim2.smcr = ((0 << STM_TIM234_SMCR_ETP) | + (0 << STM_TIM234_SMCR_ECE) | + (STM_TIM234_SMCR_ETPS_OFF << STM_TIM234_SMCR_ETPS) | + (STM_TIM234_SMCR_ETF_NONE << STM_TIM234_SMCR_ETF) | + (0 << STM_TIM234_SMCR_MSM) | + (STM_TIM234_SMCR_TS_ITR3 << STM_TIM234_SMCR_TS) | + (0 << STM_TIM234_SMCR_OCCS) | + (STM_TIM234_SMCR_SMS_EXTERNAL_CLOCK << STM_TIM234_SMCR_SMS)); + stm_tim2.dier = 0; + stm_tim2.sr = 0; + stm_tim2.psc = 0; + stm_tim2.cnt = 0; + stm_tim2.arr = 0xffff; + + /* Start your timers */ + + stm_tim2.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) | + (0 << STM_TIM234_CR1_ARPE) | + (STM_TIM234_CR1_CMS_EDGE | STM_TIM234_CR1_CMS) | + (STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) | + (0 << STM_TIM234_CR1_OPM) | + (0 << STM_TIM234_CR1_URS) | + (0 << STM_TIM234_CR1_UDIS) | + (1 << STM_TIM234_CR1_CEN)); + + stm_tim4.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) | + (0 << STM_TIM234_CR1_ARPE) | + (STM_TIM234_CR1_CMS_EDGE | STM_TIM234_CR1_CMS) | + (STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) | + (0 << STM_TIM234_CR1_OPM) | + (1 << STM_TIM234_CR1_URS) | + (0 << STM_TIM234_CR1_UDIS) | + (1 << STM_TIM234_CR1_CEN)); + + ao_cmd_register(&ao_profile_cmds[0]); +} diff --git a/src/stm/ao_profile.h b/src/stm/ao_profile.h new file mode 100644 index 00000000..f7dd029d --- /dev/null +++ b/src/stm/ao_profile.h @@ -0,0 +1,34 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PROFILE_H_ +#define _AO_PROFILE_H_ + +void ao_profile_init(); + +static uint32_t inline ao_profile_tick(void) { + uint16_t hi, lo, second_hi; + + do { + hi = stm_tim2.cnt; + lo = stm_tim4.cnt; + second_hi = stm_tim2.cnt; + } while (hi != second_hi); + return ((uint32_t) hi << 16) | lo; +} + +#endif diff --git a/src/stm/ao_romconfig.c b/src/stm/ao_romconfig.c new file mode 100644 index 00000000..cbb922ec --- /dev/null +++ b/src/stm/ao_romconfig.c @@ -0,0 +1,25 @@ +/* + * 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" + +AO_ROMCONFIG_SYMBOL (0) uint16_t ao_romconfig_version = AO_ROMCONFIG_VERSION; +AO_ROMCONFIG_SYMBOL (0) uint16_t ao_romconfig_check = ~AO_ROMCONFIG_VERSION; +AO_ROMCONFIG_SYMBOL (0) uint16_t ao_serial_number = 0; +#ifdef AO_RADIO_CAL_DEFAULT +AO_ROMCONFIG_SYMBOL (0) uint32_t ao_radio_cal = AO_RADIO_CAL_DEFAULT; +#endif diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c new file mode 100644 index 00000000..406da9fb --- /dev/null +++ b/src/stm/ao_serial_stm.c @@ -0,0 +1,401 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> + +struct ao_stm_usart { + struct ao_fifo rx_fifo; + struct ao_fifo tx_fifo; + struct stm_usart *reg; + uint8_t tx_started; +}; + +void +ao_debug_out(char c) +{ + if (c == '\n') + ao_debug_out('\r'); + while (!(stm_usart1.sr & (1 << STM_USART_SR_TXE))); + stm_usart1.dr = c; +} + +static void +ao_usart_tx_start(struct ao_stm_usart *usart) +{ + if (!ao_fifo_empty(usart->tx_fifo) && !usart->tx_started) + { + usart->tx_started = 1; + ao_fifo_remove(usart->tx_fifo, usart->reg->dr); + } +} + +static void +ao_usart_isr(struct ao_stm_usart *usart, int stdin) +{ + uint32_t sr; + + sr = usart->reg->sr; + usart->reg->sr = 0; + + if (sr & (1 << STM_USART_SR_RXNE)) { + char c = usart->reg->dr; + if (!ao_fifo_full(usart->rx_fifo)) + ao_fifo_insert(usart->rx_fifo, c); + ao_wakeup(&usart->rx_fifo); + if (stdin) + ao_wakeup(&ao_stdin_ready); + } + if (sr & (1 << STM_USART_SR_TC)) { + usart->tx_started = 0; + ao_usart_tx_start(usart); + ao_wakeup(&usart->tx_fifo); + } +} + +char +ao_usart_getchar(struct ao_stm_usart *usart) +{ + char c; + cli(); + while (ao_fifo_empty(usart->rx_fifo)) + ao_sleep(&usart->rx_fifo); + ao_fifo_remove(usart->rx_fifo, c); + sei(); + return c; +} + +char +ao_usart_pollchar(struct ao_stm_usart *usart) +{ + char c; + cli(); + if (ao_fifo_empty(usart->rx_fifo)) { + sei(); + return AO_READ_AGAIN; + } + ao_fifo_remove(usart->rx_fifo,c); + sei(); + return c; +} + +void +ao_usart_putchar(struct ao_stm_usart *usart, char c) +{ + cli(); + while (ao_fifo_full(usart->tx_fifo)) + ao_sleep(&usart->tx_fifo); + ao_fifo_insert(usart->tx_fifo, c); + ao_usart_tx_start(usart); + sei(); +} + +void +ao_usart_drain(struct ao_stm_usart *usart) +{ + cli(); + while (!ao_fifo_empty(usart->tx_fifo)) + ao_sleep(&usart->tx_fifo); + sei(); +} + +static const struct { + uint32_t brr; +} ao_usart_speeds[] = { + [AO_SERIAL_SPEED_4800] = { + AO_PCLK1 / 4800 + }, + [AO_SERIAL_SPEED_9600] = { + AO_PCLK1 / 9600 + }, + [AO_SERIAL_SPEED_19200] = { + AO_PCLK1 / 19200 + }, + [AO_SERIAL_SPEED_57600] = { + AO_PCLK1 / 57600 + }, +}; + +void +ao_usart_set_speed(struct ao_stm_usart *usart, uint8_t speed) +{ + if (speed > AO_SERIAL_SPEED_57600) + return; + usart->reg->brr = ao_usart_speeds[speed].brr; +} + +void +ao_usart_init(struct ao_stm_usart *usart) +{ + usart->reg->cr1 = ((0 << STM_USART_CR1_OVER8) | + (1 << STM_USART_CR1_UE) | + (0 << STM_USART_CR1_M) | + (0 << STM_USART_CR1_WAKE) | + (0 << STM_USART_CR1_PCE) | + (0 << STM_USART_CR1_PS) | + (0 << STM_USART_CR1_PEIE) | + (0 << STM_USART_CR1_TXEIE) | + (1 << STM_USART_CR1_TCIE) | + (1 << STM_USART_CR1_RXNEIE) | + (0 << STM_USART_CR1_IDLEIE) | + (1 << STM_USART_CR1_TE) | + (1 << STM_USART_CR1_RE) | + (0 << STM_USART_CR1_RWU) | + (0 << STM_USART_CR1_SBK)); + + usart->reg->cr2 = ((0 << STM_USART_CR2_LINEN) | + (STM_USART_CR2_STOP_1 << STM_USART_CR2_STOP) | + (0 << STM_USART_CR2_CLKEN) | + (0 << STM_USART_CR2_CPOL) | + (0 << STM_USART_CR2_CPHA) | + (0 << STM_USART_CR2_LBCL) | + (0 << STM_USART_CR2_LBDIE) | + (0 << STM_USART_CR2_LBDL) | + (0 << STM_USART_CR2_ADD)); + + usart->reg->cr3 = ((0 << STM_USART_CR3_ONEBITE) | + (0 << STM_USART_CR3_CTSIE) | + (0 << STM_USART_CR3_CTSE) | + (0 << STM_USART_CR3_RTSE) | + (0 << STM_USART_CR3_DMAT) | + (0 << STM_USART_CR3_DMAR) | + (0 << STM_USART_CR3_SCEN) | + (0 << STM_USART_CR3_NACK) | + (0 << STM_USART_CR3_HDSEL) | + (0 << STM_USART_CR3_IRLP) | + (0 << STM_USART_CR3_IREN) | + (0 << STM_USART_CR3_EIE)); + + /* Pick a 9600 baud rate */ + ao_usart_set_speed(usart, AO_SERIAL_SPEED_9600); +} + +#if HAS_SERIAL_1 + +struct ao_stm_usart ao_stm_usart1; + +void stm_usart1_isr(void) { ao_usart_isr(&ao_stm_usart1, USE_SERIAL_1_STDIN); } + +char +ao_serial1_getchar(void) +{ + return ao_usart_getchar(&ao_stm_usart1); +} + +void +ao_serial1_putchar(char c) +{ + ao_usart_putchar(&ao_stm_usart1, c); +} + +char +ao_serial1_pollchar(void) +{ + return ao_usart_pollchar(&ao_stm_usart1); +} + +void +ao_serial1_set_speed(uint8_t speed) +{ + ao_usart_set_speed(&ao_stm_usart1, speed); +} +#endif /* HAS_SERIAL_1 */ + +#if HAS_SERIAL_2 + +struct ao_stm_usart ao_stm_usart2; + +void stm_usart2_isr(void) { ao_usart_isr(&ao_stm_usart2, USE_SERIAL_2_STDIN); } + +char +ao_serial2_getchar(void) +{ + return ao_usart_getchar(&ao_stm_usart2); +} + +void +ao_serial2_putchar(char c) +{ + ao_usart_putchar(&ao_stm_usart2, c); +} + +char +ao_serial2_pollchar(void) +{ + return ao_usart_pollchar(&ao_stm_usart2); +} + +void +ao_serial2_set_speed(uint8_t speed) +{ + ao_usart_set_speed(&ao_stm_usart2, speed); +} +#endif /* HAS_SERIAL_2 */ + +#if HAS_SERIAL_3 + +struct ao_stm_usart ao_stm_usart3; + +void stm_usart3_isr(void) { ao_usart_isr(&ao_stm_usart3, USE_SERIAL_2_STDIN); } + +char +ao_serial3_getchar(void) +{ + return ao_usart_getchar(&ao_stm_usart3); +} + +void +ao_serial3_putchar(char c) +{ + ao_usart_putchar(&ao_stm_usart3, c); +} + +char +ao_serial3_pollchar(void) +{ + return ao_usart_pollchar(&ao_stm_usart3); +} + +void +ao_serial3_set_speed(uint8_t speed) +{ + ao_usart_set_speed(&ao_stm_usart3, speed); +} +#endif /* HAS_SERIAL_3 */ + +void +ao_serial_init(void) +{ +#if HAS_SERIAL_1 + /* + * TX RX + * PA9 PA10 + * PB6 PB7 * + */ + +#if SERIAL_1_PA9_PA10 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN); + + stm_afr_set(&stm_gpioa, 9, STM_AFR_AF7); + stm_afr_set(&stm_gpioa, 10, STM_AFR_AF7); +#else +#if SERIAL_1_PB6_PB7 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); + + stm_afr_set(&stm_gpiob, 6, STM_AFR_AF7); + stm_afr_set(&stm_gpiob, 7, STM_AFR_AF7); +#else +#error "No SERIAL_1 port configuration specified" +#endif +#endif + /* Enable USART */ + stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_USART1EN); + + ao_stm_usart1.reg = &stm_usart1; + ao_usart_init(&ao_stm_usart1); + + stm_nvic_set_enable(STM_ISR_USART1_POS); + stm_nvic_set_priority(STM_ISR_USART1_POS, 4); +#if USE_SERIAL_1_STDIN + ao_add_stdio(ao_serial1_pollchar, + ao_serial1_putchar, + NULL); +#endif +#endif + +#if HAS_SERIAL_2 + /* + * TX RX + * PA2 PA3 + * PD5 PD6 + */ + +#if SERIAL_2_PA2_PA3 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN); + + stm_afr_set(&stm_gpioa, 2, STM_AFR_AF7); + stm_afr_set(&stm_gpioa, 3, STM_AFR_AF7); +#else +#if SERIAL_2_PD5_PD6 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN); + + stm_afr_set(&stm_gpiod, 5, STM_AFR_AF7); + stm_afr_set(&stm_gpiod, 6, STM_AFR_AF7); +#else +#error "No SERIAL_2 port configuration specified" +#endif +#endif + /* Enable USART */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USART2EN); + + ao_stm_usart2.reg = &stm_usart2; + ao_usart_init(&ao_stm_usart2); + + stm_nvic_set_enable(STM_ISR_USART2_POS); + stm_nvic_set_priority(STM_ISR_USART2_POS, 4); +#if USE_SERIAL_2_STDIN + ao_add_stdio(ao_serial2_pollchar, + ao_serial2_putchar, + NULL); +#endif +#endif + +#if HAS_SERIAL_3 + /* + * TX RX + * PB10 PB11 + * PC10 PC11 + * PD8 PD9 + */ +#if SERIAL_3_PB10_PB11 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); + + stm_afr_set(&stm_gpiob, 10, STM_AFR_AF7); + stm_afr_set(&stm_gpiob, 11, STM_AFR_AF7); +#else +#if SERIAL_3_PC10_PC11 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOCEN); + + stm_afr_set(&stm_gpioc, 10, STM_AFR_AF7); + stm_afr_set(&stm_gpioc, 11, STM_AFR_AF7); +#else +#if SERIAL_3_PD8_PD9 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN); + + stm_afr_set(&stm_gpiod, 8, STM_AFR_AF7); + stm_afr_set(&stm_gpiod, 9, STM_AFR_AF7); +#else +#error "No SERIAL_3 port configuration specified" +#endif +#endif +#endif + /* Enable USART */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USART3EN); + + ao_stm_usart3.reg = &stm_usart3; + ao_usart_init(&ao_stm_usart3); + + stm_nvic_set_enable(STM_ISR_USART3_POS); + stm_nvic_set_priority(STM_ISR_USART3_POS, 4); +#if USE_SERIAL_3_STDIN + ao_add_stdio(ao_serial3_pollchar, + ao_serial3_putchar, + NULL); +#endif +#endif +} + + diff --git a/src/stm/ao_spi_stm.c b/src/stm/ao_spi_stm.c new file mode 100644 index 00000000..ade86a27 --- /dev/null +++ b/src/stm/ao_spi_stm.c @@ -0,0 +1,432 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> + +struct ao_spi_stm_info { + uint8_t miso_dma_index; + uint8_t mosi_dma_index; + struct stm_spi *stm_spi; +}; + +static uint8_t ao_spi_mutex[STM_NUM_SPI]; +static uint8_t ao_spi_config[STM_NUM_SPI]; + +static const struct ao_spi_stm_info ao_spi_stm_info[STM_NUM_SPI] = { + { + .miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_RX), + .mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_TX), + &stm_spi1 + }, + { + .miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_RX), + .mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_TX), + &stm_spi2 + } +}; + +static uint8_t spi_dev_null; + +void +ao_spi_send(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; + uint8_t mosi_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].mosi_dma_index; + uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index; + + /* Set up the transmit DMA to deliver data */ + ao_dma_set_transfer(mosi_dma_index, + &stm_spi->dr, + block, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (1 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR)); + + /* Clear RXNE */ + (void) stm_spi->dr; + + /* Set up the receive DMA -- when this is done, we know the SPI unit + * is idle. Without this, we'd have to poll waiting for the BSY bit to + * be cleared + */ + ao_dma_set_transfer(miso_dma_index, + &stm_spi->dr, + &spi_dev_null, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (0 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR)); + stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) | + (0 << STM_SPI_CR2_RXNEIE) | + (0 << STM_SPI_CR2_ERRIE) | + (0 << STM_SPI_CR2_SSOE) | + (1 << STM_SPI_CR2_TXDMAEN) | + (1 << STM_SPI_CR2_RXDMAEN)); + ao_dma_start(miso_dma_index); + ao_dma_start(mosi_dma_index); + ao_arch_critical( + while (!ao_dma_done[miso_dma_index]) + ao_sleep(&ao_dma_done[miso_dma_index]); + ); + ao_dma_done_transfer(mosi_dma_index); + ao_dma_done_transfer(miso_dma_index); +} + +void +ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index) +{ + struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; + uint8_t mosi_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].mosi_dma_index; + uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index; + + /* Set up the transmit DMA to deliver data */ + ao_dma_set_transfer(mosi_dma_index, + &stm_spi->dr, + &value, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (0 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR)); + + /* Clear RXNE */ + (void) stm_spi->dr; + + /* Set up the receive DMA -- when this is done, we know the SPI unit + * is idle. Without this, we'd have to poll waiting for the BSY bit to + * be cleared + */ + ao_dma_set_transfer(miso_dma_index, + &stm_spi->dr, + &spi_dev_null, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (0 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR)); + stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) | + (0 << STM_SPI_CR2_RXNEIE) | + (0 << STM_SPI_CR2_ERRIE) | + (0 << STM_SPI_CR2_SSOE) | + (1 << STM_SPI_CR2_TXDMAEN) | + (1 << STM_SPI_CR2_RXDMAEN)); + ao_dma_start(miso_dma_index); + ao_dma_start(mosi_dma_index); + ao_arch_critical( + while (!ao_dma_done[miso_dma_index]) + ao_sleep(&ao_dma_done[miso_dma_index]); + ); + ao_dma_done_transfer(mosi_dma_index); + ao_dma_done_transfer(miso_dma_index); +} + +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; + uint8_t mosi_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].mosi_dma_index; + uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index; + + /* Set up transmit DMA to make the SPI hardware actually run */ + ao_dma_set_transfer(mosi_dma_index, + &stm_spi->dr, + &spi_dev_null, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (0 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR)); + + /* Clear RXNE */ + (void) stm_spi->dr; + + /* Set up the receive DMA to capture data */ + ao_dma_set_transfer(miso_dma_index, + &stm_spi->dr, + block, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (1 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR)); + + stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) | + (0 << STM_SPI_CR2_RXNEIE) | + (0 << STM_SPI_CR2_ERRIE) | + (0 << STM_SPI_CR2_SSOE) | + (1 << STM_SPI_CR2_TXDMAEN) | + (1 << STM_SPI_CR2_RXDMAEN)); + ao_dma_start(miso_dma_index); + ao_dma_start(mosi_dma_index); + + /* Wait until the SPI unit is done */ + ao_arch_critical( + while (!ao_dma_done[miso_dma_index]) + ao_sleep(&ao_dma_done[miso_dma_index]); + ); + + ao_dma_done_transfer(mosi_dma_index); + ao_dma_done_transfer(miso_dma_index); +} + +void +ao_spi_duplex(void *out, void *in, uint16_t len, uint8_t spi_index) +{ + struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; + uint8_t mosi_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].mosi_dma_index; + uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index; + + /* Set up transmit DMA to send data */ + ao_dma_set_transfer(mosi_dma_index, + &stm_spi->dr, + out, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (1 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR)); + + /* Clear RXNE */ + (void) stm_spi->dr; + + /* Set up the receive DMA to capture data */ + ao_dma_set_transfer(miso_dma_index, + &stm_spi->dr, + in, + len, + (0 << STM_DMA_CCR_MEM2MEM) | + (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) | + (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) | + (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) | + (1 << STM_DMA_CCR_MINC) | + (0 << STM_DMA_CCR_PINC) | + (0 << STM_DMA_CCR_CIRC) | + (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR)); + + stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) | + (0 << STM_SPI_CR2_RXNEIE) | + (0 << STM_SPI_CR2_ERRIE) | + (0 << STM_SPI_CR2_SSOE) | + (1 << STM_SPI_CR2_TXDMAEN) | + (1 << STM_SPI_CR2_RXDMAEN)); + ao_dma_start(miso_dma_index); + ao_dma_start(mosi_dma_index); + + /* Wait until the SPI unit is done */ + ao_arch_critical( + while (!ao_dma_done[miso_dma_index]) + ao_sleep(&ao_dma_done[miso_dma_index]); + ); + + ao_dma_done_transfer(mosi_dma_index); + ao_dma_done_transfer(miso_dma_index); +} + +void +ao_spi_get(uint8_t spi_index, uint32_t speed) +{ + struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; + uint8_t config = AO_SPI_CONFIG(spi_index); + + ao_mutex_get(&ao_spi_mutex[AO_SPI_INDEX(spi_index)]); + if (config != ao_spi_config[AO_SPI_INDEX(spi_index)]) { + + /* Disable current config + */ + switch (AO_SPI_INDEX(spi_index)) { + case STM_SPI_INDEX(1): + switch (ao_spi_config[AO_SPI_INDEX(spi_index)]) { + case AO_SPI_1_CONFIG_PA5_PA6_PA7: + stm_gpio_set(&stm_gpioa, 5, 0); + stm_moder_set(&stm_gpioa, 5, STM_MODER_OUTPUT); + stm_moder_set(&stm_gpioa, 6, STM_MODER_INPUT); + stm_moder_set(&stm_gpioa, 7, STM_MODER_OUTPUT); + break; + case AO_SPI_1_CONFIG_PB3_PB4_PB5: + stm_gpio_set(&stm_gpiob, 3, 0); + stm_moder_set(&stm_gpiob, 3, STM_MODER_OUTPUT); + stm_moder_set(&stm_gpiob, 4, STM_MODER_INPUT); + stm_moder_set(&stm_gpiob, 5, STM_MODER_OUTPUT); + break; + case AO_SPI_1_CONFIG_PE13_PE14_PE15: + stm_gpio_set(&stm_gpioe, 13, 0); + stm_moder_set(&stm_gpioe, 13, STM_MODER_OUTPUT); + stm_moder_set(&stm_gpioe, 14, STM_MODER_INPUT); + stm_moder_set(&stm_gpioe, 15, STM_MODER_OUTPUT); + break; + } + break; + case STM_SPI_INDEX(2): + switch (ao_spi_config[AO_SPI_INDEX(spi_index)]) { + case AO_SPI_2_CONFIG_PB13_PB14_PB15: + stm_gpio_set(&stm_gpiob, 13, 0); + stm_moder_set(&stm_gpiob, 13, STM_MODER_OUTPUT); + stm_moder_set(&stm_gpiob, 14, STM_MODER_INPUT); + stm_moder_set(&stm_gpiob, 15, STM_MODER_OUTPUT); + break; + case AO_SPI_2_CONFIG_PD1_PD3_PD4: + stm_gpio_set(&stm_gpiod, 1, 0); + stm_moder_set(&stm_gpiod, 1, STM_MODER_OUTPUT); + stm_moder_set(&stm_gpiod, 3, STM_MODER_INPUT); + stm_moder_set(&stm_gpiod, 4, STM_MODER_OUTPUT); + break; + } + break; + } + + /* Enable new config + */ + switch (AO_SPI_INDEX(spi_index)) { + case 0: + switch (AO_SPI_CONFIG(spi_index)) { + case AO_SPI_1_CONFIG_PA5_PA6_PA7: + stm_afr_set(&stm_gpioa, 5, STM_AFR_AF5); + stm_afr_set(&stm_gpioa, 6, STM_AFR_AF5); + stm_afr_set(&stm_gpioa, 7, STM_AFR_AF5); + break; + case AO_SPI_1_CONFIG_PB3_PB4_PB5: + stm_afr_set(&stm_gpiob, 3, STM_AFR_AF5); + stm_afr_set(&stm_gpiob, 4, STM_AFR_AF5); + stm_afr_set(&stm_gpiob, 5, STM_AFR_AF5); + break; + case AO_SPI_1_CONFIG_PE13_PE14_PE15: + stm_afr_set(&stm_gpioe, 13, STM_AFR_AF5); + stm_afr_set(&stm_gpioe, 14, STM_AFR_AF5); + stm_afr_set(&stm_gpioe, 15, STM_AFR_AF5); + break; + } + break; + case 1: + switch (AO_SPI_CONFIG(spi_index)) { + case AO_SPI_2_CONFIG_PB13_PB14_PB15: + stm_afr_set(&stm_gpiob, 13, STM_AFR_AF5); + stm_afr_set(&stm_gpiob, 14, STM_AFR_AF5); + stm_afr_set(&stm_gpiob, 15, STM_AFR_AF5); + break; + case AO_SPI_2_CONFIG_PD1_PD3_PD4: + stm_afr_set(&stm_gpiod, 1, STM_AFR_AF5); + stm_afr_set(&stm_gpiod, 3, STM_AFR_AF5); + stm_afr_set(&stm_gpiod, 4, STM_AFR_AF5); + break; + } + break; + } + ao_spi_config[AO_SPI_INDEX(spi_index)] = AO_SPI_CONFIG(spi_index); + } + stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) | /* Three wire mode */ + (0 << STM_SPI_CR1_BIDIOE) | + (0 << STM_SPI_CR1_CRCEN) | /* CRC disabled */ + (0 << STM_SPI_CR1_CRCNEXT) | + (0 << STM_SPI_CR1_DFF) | + (0 << STM_SPI_CR1_RXONLY) | + (1 << STM_SPI_CR1_SSM) | /* Software SS handling */ + (1 << STM_SPI_CR1_SSI) | /* ... */ + (0 << STM_SPI_CR1_LSBFIRST) | /* Big endian */ + (1 << STM_SPI_CR1_SPE) | /* Enable SPI unit */ + (speed << STM_SPI_CR1_BR) | /* baud rate to pclk/4 */ + (1 << STM_SPI_CR1_MSTR) | + (0 << STM_SPI_CR1_CPOL) | /* Format 0 */ + (0 << STM_SPI_CR1_CPHA)); +} + +void +ao_spi_put(uint8_t spi_index) +{ + struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; + + stm_spi->cr1 = 0; + ao_mutex_put(&ao_spi_mutex[AO_SPI_INDEX(spi_index)]); +} + +static void +ao_spi_channel_init(uint8_t spi_index) +{ + struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; + + stm_spi->cr1 = 0; + (void) stm_spi->sr; + 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)); +} + +void +ao_spi_init(void) +{ +#if HAS_SPI_1 +# if SPI_1_PA5_PA6_PA7 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN); +# endif +# if SPI_1_PB3_PB4_PB5 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); +# endif +# if SPI_1_PE13_PE14_PE15 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN); +# endif + stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SPI1EN); + ao_spi_config[0] = AO_SPI_CONFIG_NONE; + ao_spi_channel_init(0); +#endif + +#if HAS_SPI_2 +# if SPI_2_PB13_PB14_PB15 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); +# endif +# if SPI_2_PD1_PD3_PD4 + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN); +# endif + + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_SPI2EN); + ao_spi_config[1] = AO_SPI_CONFIG_NONE; + + ao_spi_channel_init(1); +#endif +} diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c new file mode 100644 index 00000000..1132f748 --- /dev/null +++ b/src/stm/ao_timer.c @@ -0,0 +1,279 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +volatile __data AO_TICK_TYPE ao_tick_count; + +uint16_t ao_time(void) +{ + uint16_t v; + ao_arch_critical( + v = ao_tick_count; + ); + return v; +} + +#if AO_DATA_ALL +volatile __data uint8_t ao_data_interval = 1; +volatile __data uint8_t ao_data_count; +#endif + +void +ao_debug_out(char c); + + +void stm_tim6_isr(void) +{ + if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) { + stm_tim6.sr = 0; + ++ao_tick_count; +#if AO_DATA_ALL + if (++ao_data_count == ao_data_interval) { + ao_data_count = 0; + ao_adc_poll(); +#if (AO_DATA_ALL & ~(AO_DATA_ADC)) + ao_wakeup((void *) &ao_data_count); +#endif + } +#endif + } +} + +#if HAS_ADC +void +ao_timer_set_adc_interval(uint8_t interval) __critical +{ + ao_data_interval = interval; + ao_data_count = 0; +} +#endif + +/* + * According to the STM clock-configuration, timers run + * twice as fast as the APB1 clock *if* the APB1 prescaler + * is greater than 1. + */ + +#if AO_APB1_PRESCALER > 1 +#define TIMER_23467_SCALER 2 +#else +#define TIMER_23467_SCALER 1 +#endif + +#define TIMER_10kHz ((AO_PCLK1 * TIMER_23467_SCALER) / 10000) + +void +ao_timer_init(void) +{ + stm_nvic_set_enable(STM_ISR_TIM6_POS); + stm_nvic_set_priority(STM_ISR_TIM6_POS, AO_STM_NVIC_CLOCK_PRIORITY); + + /* Turn on timer 6 */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN); + + stm_tim6.psc = TIMER_10kHz; + stm_tim6.arr = 99; + stm_tim6.cnt = 0; + + /* Enable update interrupt */ + stm_tim6.dier = (1 << STM_TIM67_DIER_UIE); + + /* Poke timer to reload values */ + stm_tim6.egr |= (1 << STM_TIM67_EGR_UG); + + stm_tim6.cr2 = (STM_TIM67_CR2_MMS_RESET << STM_TIM67_CR2_MMS); + + /* And turn it on */ + stm_tim6.cr1 = ((0 << STM_TIM67_CR1_ARPE) | + (0 << STM_TIM67_CR1_OPM) | + (1 << STM_TIM67_CR1_URS) | + (0 << STM_TIM67_CR1_UDIS) | + (1 << STM_TIM67_CR1_CEN)); +} + +void +ao_clock_init(void) +{ + uint32_t cfgr; + uint32_t cr; + + /* Switch to MSI while messing about */ + stm_rcc.cr |= (1 << STM_RCC_CR_MSION); + while (!(stm_rcc.cr & (1 << STM_RCC_CR_MSIRDY))) + asm("nop"); + + /* reset SW, HPRE, PPRE1, PPRE2, MCOSEL and MCOPRE */ + stm_rcc.cfgr &= (uint32_t)0x88FFC00C; + + /* reset HSION, HSEON, CSSON and PLLON bits */ + stm_rcc.cr &= 0xeefefffe; + + /* reset PLLSRC, PLLMUL and PLLDIV bits */ + stm_rcc.cfgr &= 0xff02ffff; + + /* Disable all interrupts */ + stm_rcc.cir = 0; + +#if AO_HSE +#if AO_HSE_BYPASS + stm_rcc.cr |= (1 << STM_RCC_CR_HSEBYP); +#else + stm_rcc.cr &= ~(1 << STM_RCC_CR_HSEBYP); +#endif + /* Enable HSE clock */ + stm_rcc.cr |= (1 << STM_RCC_CR_HSEON); + while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSERDY))) + asm("nop"); + +#define STM_RCC_CFGR_SWS_TARGET_CLOCK (STM_RCC_CFGR_SWS_HSE << STM_RCC_CFGR_SWS) +#define STM_RCC_CFGR_SW_TARGET_CLOCK (STM_RCC_CFGR_SW_HSE) +#define STM_PLLSRC AO_HSE +#define STM_RCC_CFGR_PLLSRC_TARGET_CLOCK (1 << STM_RCC_CFGR_PLLSRC) +#else +#define STM_HSI 16000000 +#define STM_RCC_CFGR_SWS_TARGET_CLOCK (STM_RCC_CFGR_SWS_HSI << STM_RCC_CFGR_SWS) +#define STM_RCC_CFGR_SW_TARGET_CLOCK (STM_RCC_CFGR_SW_HSI) +#define STM_PLLSRC STM_HSI +#define STM_RCC_CFGR_PLLSRC_TARGET_CLOCK (0 << STM_RCC_CFGR_PLLSRC) +#endif + +#if !AO_HSE || HAS_ADC + /* Enable HSI RC clock 16MHz */ + stm_rcc.cr |= (1 << STM_RCC_CR_HSION); + while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY))) + asm("nop"); +#endif + + /* Set flash latency to tolerate 32MHz SYSCLK -> 1 wait state */ + + /* Enable 64-bit access and prefetch */ + stm_flash.acr |= (1 << STM_FLASH_ACR_ACC64); + stm_flash.acr |= (1 << STM_FLASH_ACR_PRFEN); + + /* Enable 1 wait state so the CPU can run at 32MHz */ + /* (haven't managed to run the CPU at 32MHz yet, it's at 16MHz) */ + stm_flash.acr |= (1 << STM_FLASH_ACR_LATENCY); + + /* Enable power interface clock */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN); + + /* Set voltage range to 1.8V */ + + /* poll VOSF bit in PWR_CSR. Wait until it is reset to 0 */ + while ((stm_pwr.csr & (1 << STM_PWR_CSR_VOSF)) != 0) + asm("nop"); + + /* Configure voltage scaling range */ + cr = stm_pwr.cr; + cr &= ~(STM_PWR_CR_VOS_MASK << STM_PWR_CR_VOS); + cr |= (STM_PWR_CR_VOS_1_8 << STM_PWR_CR_VOS); + stm_pwr.cr = cr; + + /* poll VOSF bit in PWR_CSR. Wait until it is reset to 0 */ + while ((stm_pwr.csr & (1 << STM_PWR_CSR_VOSF)) != 0) + asm("nop"); + + /* HCLK to 16MHz -> AHB prescaler = /1 */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE); + cfgr |= (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE); + stm_rcc.cfgr = cfgr; + while ((stm_rcc.cfgr & (STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE)) != + (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE)) + asm ("nop"); + + /* APB1 Prescaler = AO_APB1_PRESCALER */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_PPRE1_MASK << STM_RCC_CFGR_PPRE1); + cfgr |= (AO_RCC_CFGR_PPRE1_DIV << STM_RCC_CFGR_PPRE1); + stm_rcc.cfgr = cfgr; + + /* APB2 Prescaler = AO_APB2_PRESCALER */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_PPRE2_MASK << STM_RCC_CFGR_PPRE2); + cfgr |= (AO_RCC_CFGR_PPRE2_DIV << STM_RCC_CFGR_PPRE2); + stm_rcc.cfgr = cfgr; + + /* Disable the PLL */ + stm_rcc.cr &= ~(1 << STM_RCC_CR_PLLON); + while (stm_rcc.cr & (1 << STM_RCC_CR_PLLRDY)) + asm("nop"); + + /* PLLVCO to 96MHz (for USB) -> PLLMUL = 6, PLLDIV = 4 */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_PLLMUL_MASK << STM_RCC_CFGR_PLLMUL); + cfgr &= ~(STM_RCC_CFGR_PLLDIV_MASK << STM_RCC_CFGR_PLLDIV); + + cfgr |= (AO_RCC_CFGR_PLLMUL << STM_RCC_CFGR_PLLMUL); + cfgr |= (AO_RCC_CFGR_PLLDIV << STM_RCC_CFGR_PLLDIV); + + /* PLL source */ + cfgr &= ~(1 << STM_RCC_CFGR_PLLSRC); + cfgr |= STM_RCC_CFGR_PLLSRC_TARGET_CLOCK; + + stm_rcc.cfgr = cfgr; + + /* Enable the PLL and wait for it */ + stm_rcc.cr |= (1 << STM_RCC_CR_PLLON); + while (!(stm_rcc.cr & (1 << STM_RCC_CR_PLLRDY))) + asm("nop"); + + /* Switch to the PLL for the system clock */ + + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW); + cfgr |= (STM_RCC_CFGR_SW_PLL << STM_RCC_CFGR_SW); + stm_rcc.cfgr = cfgr; + for (;;) { + uint32_t c, part, mask, val; + + c = stm_rcc.cfgr; + mask = (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS); + val = (STM_RCC_CFGR_SWS_PLL << STM_RCC_CFGR_SWS); + part = c & mask; + if (part == val) + break; + } + +#if 0 + stm_rcc.apb2rstr = 0xffff; + stm_rcc.apb1rstr = 0xffff; + stm_rcc.ahbrstr = 0x3f; + stm_rcc.ahbenr = (1 << STM_RCC_AHBENR_FLITFEN); + stm_rcc.apb2enr = 0; + stm_rcc.apb1enr = 0; + stm_rcc.ahbrstr = 0; + stm_rcc.apb1rstr = 0; + stm_rcc.apb2rstr = 0; +#endif + + /* Clear reset flags */ + stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF); + + + /* Output SYSCLK on PA8 for measurments */ + + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN); + + stm_afr_set(&stm_gpioa, 8, STM_AFR_AF0); + stm_moder_set(&stm_gpioa, 8, STM_MODER_ALTERNATE); + stm_ospeedr_set(&stm_gpioa, 8, STM_OSPEEDR_40MHz); + + stm_rcc.cfgr |= (STM_RCC_CFGR_MCOPRE_DIV_1 << STM_RCC_CFGR_MCOPRE); + stm_rcc.cfgr |= (STM_RCC_CFGR_MCOSEL_HSE << STM_RCC_CFGR_MCOSEL); +} diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c new file mode 100644 index 00000000..4f37a7d9 --- /dev/null +++ b/src/stm/ao_usb_stm.c @@ -0,0 +1,1040 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" +#include "ao_usb.h" +#include "ao_product.h" + +#define USB_DEBUG 0 +#define USB_DEBUG_DATA 0 +#define USB_ECHO 0 + +#if USB_DEBUG +#define debug(format, args...) printf(format, ## args); +#else +#define debug(format, args...) +#endif + +#if USB_DEBUG_DATA +#define debug_data(format, args...) printf(format, ## args); +#else +#define debug_data(format, args...) +#endif + +struct ao_task ao_usb_task; + +struct ao_usb_setup { + uint8_t dir_type_recip; + uint8_t request; + uint16_t value; + uint16_t index; + uint16_t length; +} ao_usb_setup; + +static uint8_t ao_usb_ep0_state; + +/* Pending EP0 IN data */ +static const uint8_t *ao_usb_ep0_in_data; /* Remaining data */ +static uint8_t ao_usb_ep0_in_len; /* Remaining amount */ + +/* Temp buffer for smaller EP0 in data */ +static uint8_t ao_usb_ep0_in_buf[2]; + +/* Pending EP0 OUT data */ +static uint8_t *ao_usb_ep0_out_data; +static uint8_t ao_usb_ep0_out_len; + +/* + * Objects allocated in special USB memory + */ + +/* Buffer description tables */ +static union stm_usb_bdt *ao_usb_bdt; +/* USB address of end of allocated storage */ +static uint16_t ao_usb_sram_addr; + +/* Pointer to ep0 tx/rx buffers in USB memory */ +static uint32_t *ao_usb_ep0_tx_buffer; +static uint32_t *ao_usb_ep0_rx_buffer; + +/* Pointer to bulk data tx/rx buffers in USB memory */ +static uint32_t *ao_usb_in_tx_buffer; +static uint32_t *ao_usb_out_rx_buffer; + +/* System ram shadow of USB buffer; writing individual bytes is + * too much of a pain (sigh) */ +static uint8_t ao_usb_tx_buffer[AO_USB_IN_SIZE]; +static uint8_t ao_usb_tx_count; + +static uint8_t ao_usb_rx_buffer[AO_USB_OUT_SIZE]; +static uint8_t ao_usb_rx_count, ao_usb_rx_pos; + +/* + * End point register indices + */ + +#define AO_USB_CONTROL_EPR 0 +#define AO_USB_INT_EPR 1 +#define AO_USB_OUT_EPR 2 +#define AO_USB_IN_EPR 3 + +/* Marks when we don't need to send an IN packet. + * This happens only when the last IN packet is not full, + * otherwise the host will expect to keep seeing packets. + * Send a zero-length packet as required + */ +static uint8_t ao_usb_in_flushed; + +/* Marks when we have delivered an IN packet to the hardware + * and it has not been received yet. ao_sleep on this address + * to wait for it to be delivered. + */ +static uint8_t ao_usb_in_pending; + +/* Marks when an OUT packet has been received by the hardware + * but not pulled to the shadow buffer. + */ +static uint8_t ao_usb_out_avail; +static uint8_t ao_usb_running; +static uint8_t ao_usb_configuration; +static uint8_t ueienx_0; + +#define AO_USB_EP0_GOT_RESET 1 +#define AO_USB_EP0_GOT_SETUP 2 +#define AO_USB_EP0_GOT_RX_DATA 4 +#define AO_USB_EP0_GOT_TX_ACK 8 + +static uint8_t ao_usb_ep0_receive; +static uint8_t ao_usb_address; +static uint8_t ao_usb_address_pending; + +static inline uint32_t set_toggle(uint32_t current_value, + uint32_t mask, + uint32_t desired_value) +{ + return (current_value ^ desired_value) & mask; +} + +static inline uint32_t *ao_usb_packet_buffer_addr(uint16_t sram_addr) +{ + return (uint32_t *) (stm_usb_sram + 2 * sram_addr); +} + +static inline uint32_t ao_usb_epr_stat_rx(uint32_t epr) { + return (epr >> STM_USB_EPR_STAT_RX) & STM_USB_EPR_STAT_RX_MASK; +} + +static inline uint32_t ao_usb_epr_stat_tx(uint32_t epr) { + return (epr >> STM_USB_EPR_STAT_TX) & STM_USB_EPR_STAT_TX_MASK; +} + +static inline uint32_t ao_usb_epr_ctr_rx(uint32_t epr) { + return (epr >> STM_USB_EPR_CTR_RX) & 1; +} + +static inline uint32_t ao_usb_epr_ctr_tx(uint32_t epr) { + return (epr >> STM_USB_EPR_CTR_TX) & 1; +} + +static inline uint32_t ao_usb_epr_setup(uint32_t epr) { + return (epr >> STM_USB_EPR_SETUP) & 1; +} + +static inline uint32_t ao_usb_epr_dtog_rx(uint32_t epr) { + return (epr >> STM_USB_EPR_DTOG_RX) & 1; +} + +static inline uint32_t ao_usb_epr_dtog_tx(uint32_t epr) { + return (epr >> STM_USB_EPR_DTOG_TX) & 1; +} + +/* + * Set current device address and mark the + * interface as active + */ +void +ao_usb_set_address(uint8_t address) +{ + debug("ao_usb_set_address %02x\n", address); + stm_usb.daddr = (1 << STM_USB_DADDR_EF) | address; + ao_usb_address_pending = 0; +} + +/* + * Write these values to preserve register contents under HW changes + */ + +#define STM_USB_EPR_INVARIANT ((1 << STM_USB_EPR_CTR_RX) | \ + (STM_USB_EPR_DTOG_RX_WRITE_INVARIANT << STM_USB_EPR_DTOG_RX) | \ + (STM_USB_EPR_STAT_RX_WRITE_INVARIANT << STM_USB_EPR_STAT_RX) | \ + (1 << STM_USB_EPR_CTR_TX) | \ + (STM_USB_EPR_DTOG_TX_WRITE_INVARIANT << STM_USB_EPR_DTOG_TX) | \ + (STM_USB_EPR_STAT_TX_WRITE_INVARIANT << STM_USB_EPR_STAT_TX)) + +#define STM_USB_EPR_INVARIANT_MASK ((1 << STM_USB_EPR_CTR_RX) | \ + (STM_USB_EPR_DTOG_RX_MASK << STM_USB_EPR_DTOG_RX) | \ + (STM_USB_EPR_STAT_RX_MASK << STM_USB_EPR_STAT_RX) | \ + (1 << STM_USB_EPR_CTR_TX) | \ + (STM_USB_EPR_DTOG_TX_MASK << STM_USB_EPR_DTOG_TX) | \ + (STM_USB_EPR_STAT_TX_MASK << STM_USB_EPR_STAT_TX)) + +/* + * These bits are purely under sw control, so preserve them in the + * register by re-writing what was read + */ +#define STM_USB_EPR_PRESERVE_MASK ((STM_USB_EPR_EP_TYPE_MASK << STM_USB_EPR_EP_TYPE) | \ + (1 << STM_USB_EPR_EP_KIND) | \ + (STM_USB_EPR_EA_MASK << STM_USB_EPR_EA)) + +/* + * Set the state of the specified endpoint register to a new + * value. This is tricky because the bits toggle where the new + * value is one, and we need to write invariant values in other + * spots of the register. This hardware is strange... + */ +static void +_ao_usb_set_stat_tx(int ep, uint32_t stat_tx) +{ + uint32_t epr_write, epr_old; + + epr_old = epr_write = stm_usb.epr[ep]; + epr_write &= STM_USB_EPR_PRESERVE_MASK; + epr_write |= STM_USB_EPR_INVARIANT; + epr_write |= set_toggle(epr_old, + STM_USB_EPR_STAT_TX_MASK << STM_USB_EPR_STAT_TX, + stat_tx << STM_USB_EPR_STAT_TX); + stm_usb.epr[ep] = epr_write; +} + +static void +ao_usb_set_stat_tx(int ep, uint32_t stat_tx) +{ + cli(); + _ao_usb_set_stat_tx(ep, stat_tx); + sei(); +} + +static void +ao_usb_set_stat_rx(int ep, uint32_t stat_rx) { + uint32_t epr_write, epr_old; + + cli(); + epr_write = epr_old = stm_usb.epr[ep]; + epr_write &= STM_USB_EPR_PRESERVE_MASK; + epr_write |= STM_USB_EPR_INVARIANT; + epr_write |= set_toggle(epr_old, + STM_USB_EPR_STAT_RX_MASK << STM_USB_EPR_STAT_RX, + stat_rx << STM_USB_EPR_STAT_RX); + stm_usb.epr[ep] = epr_write; + sei(); +} + +/* + * Set just endpoint 0, for use during startup + */ + +static void +ao_usb_init_ep(uint8_t ep, uint32_t addr, uint32_t type, uint32_t stat_rx, uint32_t stat_tx) +{ + uint32_t epr; + cli(); + epr = stm_usb.epr[ep]; + epr = ((0 << STM_USB_EPR_CTR_RX) | + (epr & (1 << STM_USB_EPR_DTOG_RX)) | + set_toggle(epr, + (STM_USB_EPR_STAT_RX_MASK << STM_USB_EPR_STAT_RX), + (stat_rx << STM_USB_EPR_STAT_RX)) | + (type << STM_USB_EPR_EP_TYPE) | + (0 << STM_USB_EPR_EP_KIND) | + (0 << STM_USB_EPR_CTR_TX) | + (epr & (1 << STM_USB_EPR_DTOG_TX)) | + set_toggle(epr, + (STM_USB_EPR_STAT_TX_MASK << STM_USB_EPR_STAT_TX), + (stat_tx << STM_USB_EPR_STAT_TX)) | + (addr << STM_USB_EPR_EA)); + stm_usb.epr[ep] = epr; + sei(); + debug ("writing epr[%d] 0x%08x wrote 0x%08x\n", + ep, epr, stm_usb.epr[ep]); +} + +static void +ao_usb_set_ep0(void) +{ + uint32_t epr; + int e; + + ao_usb_sram_addr = 0; + + /* buffer table is at the start of USB memory */ + stm_usb.btable = 0; + ao_usb_bdt = (void *) stm_usb_sram; + + ao_usb_sram_addr += 8 * STM_USB_BDT_SIZE; + + /* Set up EP 0 - a Control end point with 32 bytes of in and out buffers */ + + ao_usb_bdt[0].single.addr_tx = ao_usb_sram_addr; + ao_usb_bdt[0].single.count_tx = 0; + ao_usb_ep0_tx_buffer = ao_usb_packet_buffer_addr(ao_usb_sram_addr); + ao_usb_sram_addr += AO_USB_CONTROL_SIZE; + + ao_usb_bdt[0].single.addr_rx = ao_usb_sram_addr; + ao_usb_bdt[0].single.count_rx = ((1 << STM_USB_BDT_COUNT_RX_BL_SIZE) | + (((AO_USB_CONTROL_SIZE / 32) - 1) << STM_USB_BDT_COUNT_RX_NUM_BLOCK)); + ao_usb_ep0_rx_buffer = ao_usb_packet_buffer_addr(ao_usb_sram_addr); + ao_usb_sram_addr += AO_USB_CONTROL_SIZE; + + ao_usb_init_ep(AO_USB_CONTROL_EPR, AO_USB_CONTROL_EP, + STM_USB_EPR_EP_TYPE_CONTROL, + STM_USB_EPR_STAT_RX_VALID, + STM_USB_EPR_STAT_TX_NAK); + + /* Clear all of the other endpoints */ + for (e = 1; e < 8; e++) { + ao_usb_init_ep(e, 0, + STM_USB_EPR_EP_TYPE_CONTROL, + STM_USB_EPR_STAT_RX_DISABLED, + STM_USB_EPR_STAT_TX_DISABLED); + } + + ao_usb_set_address(0); +} + +static void +ao_usb_set_configuration(void) +{ + uint32_t epr; + + debug ("ao_usb_set_configuration\n"); + + /* Set up the INT end point */ + ao_usb_bdt[AO_USB_INT_EPR].single.addr_tx = ao_usb_sram_addr; + ao_usb_bdt[AO_USB_INT_EPR].single.count_tx = 0; + ao_usb_in_tx_buffer = ao_usb_packet_buffer_addr(ao_usb_sram_addr); + ao_usb_sram_addr += AO_USB_INT_SIZE; + + ao_usb_init_ep(AO_USB_INT_EPR, + AO_USB_INT_EP, + STM_USB_EPR_EP_TYPE_INTERRUPT, + STM_USB_EPR_STAT_RX_DISABLED, + STM_USB_EPR_STAT_TX_NAK); + + /* Set up the OUT end point */ + ao_usb_bdt[AO_USB_OUT_EPR].single.addr_rx = ao_usb_sram_addr; + ao_usb_bdt[AO_USB_OUT_EPR].single.count_rx = ((1 << STM_USB_BDT_COUNT_RX_BL_SIZE) | + (((AO_USB_OUT_SIZE / 32) - 1) << STM_USB_BDT_COUNT_RX_NUM_BLOCK)); + ao_usb_out_rx_buffer = ao_usb_packet_buffer_addr(ao_usb_sram_addr); + ao_usb_sram_addr += AO_USB_OUT_SIZE; + + ao_usb_init_ep(AO_USB_OUT_EPR, + AO_USB_OUT_EP, + STM_USB_EPR_EP_TYPE_BULK, + STM_USB_EPR_STAT_RX_VALID, + STM_USB_EPR_STAT_TX_DISABLED); + + /* Set up the IN end point */ + ao_usb_bdt[AO_USB_IN_EPR].single.addr_tx = ao_usb_sram_addr; + ao_usb_bdt[AO_USB_IN_EPR].single.count_tx = 0; + ao_usb_in_tx_buffer = ao_usb_packet_buffer_addr(ao_usb_sram_addr); + ao_usb_sram_addr += AO_USB_IN_SIZE; + + ao_usb_init_ep(AO_USB_IN_EPR, + AO_USB_IN_EP, + STM_USB_EPR_EP_TYPE_BULK, + STM_USB_EPR_STAT_RX_DISABLED, + STM_USB_EPR_STAT_TX_NAK); + + ao_usb_running = 1; +} + +static uint16_t control_count; +static uint16_t int_count; +static uint16_t in_count; +static uint16_t out_count; +static uint16_t reset_count; + +void +stm_usb_lp_isr(void) +{ + uint32_t istr = stm_usb.istr; + + if (istr & (1 << STM_USB_ISTR_CTR)) { + uint8_t ep = istr & STM_USB_ISTR_EP_ID_MASK; + uint32_t epr, epr_write; + + /* Preserve the SW write bits, don't mess with most HW writable bits, + * clear the CTR_RX and CTR_TX bits + */ + epr = stm_usb.epr[ep]; + epr_write = epr; + epr_write &= STM_USB_EPR_PRESERVE_MASK; + epr_write |= STM_USB_EPR_INVARIANT; + epr_write &= ~(1 << STM_USB_EPR_CTR_RX); + epr_write &= ~(1 << STM_USB_EPR_CTR_TX); + stm_usb.epr[ep] = epr_write; + + switch (ep) { + case 0: + ++control_count; + if (ao_usb_epr_ctr_rx(epr)) { + if (ao_usb_epr_setup(epr)) + ao_usb_ep0_receive |= AO_USB_EP0_GOT_SETUP; + else + ao_usb_ep0_receive |= AO_USB_EP0_GOT_RX_DATA; + } + if (ao_usb_epr_ctr_tx(epr)) + ao_usb_ep0_receive |= AO_USB_EP0_GOT_TX_ACK; + ao_wakeup(&ao_usb_ep0_receive); + break; + case AO_USB_OUT_EPR: + ++out_count; + if (ao_usb_epr_ctr_rx(epr)) { + ao_usb_out_avail = 1; + ao_wakeup(&ao_stdin_ready); + } + break; + case AO_USB_IN_EPR: + ++in_count; + if (ao_usb_epr_ctr_tx(epr)) { + ao_usb_in_pending = 0; + ao_wakeup(&ao_usb_in_pending); + } + break; + case AO_USB_INT_EPR: + ++int_count; + if (ao_usb_epr_ctr_tx(epr)) + _ao_usb_set_stat_tx(AO_USB_INT_EPR, STM_USB_EPR_STAT_TX_NAK); + break; + } + return; + } + + if (istr & (1 << STM_USB_ISTR_RESET)) { + ++reset_count; + stm_usb.istr &= ~(1 << STM_USB_ISTR_RESET); + ao_usb_ep0_receive |= AO_USB_EP0_GOT_RESET; + ao_wakeup(&ao_usb_ep0_receive); + } +} + +void +stm_usb_fs_wkup(void) +{ + /* USB wakeup, just clear the bit for now */ + stm_usb.istr &= ~(1 << STM_USB_ISTR_WKUP); +} + +/* The USB memory holds 16 bit values on 32 bit boundaries + * and must be accessed only in 32 bit units. Sigh. + */ + +static inline void +ao_usb_write_byte(uint8_t byte, uint32_t *base, uint16_t offset) +{ + base += offset >> 1; + if (offset & 1) { + *base = (*base & 0xff) | ((uint32_t) byte << 8); + } else { + *base = (*base & 0xff00) | byte; + } +} + +static inline void +ao_usb_write_short(uint16_t data, uint32_t *base, uint16_t offset) +{ + base[offset>>1] = data; +} + +static void +ao_usb_write(const uint8_t *src, uint32_t *base, uint16_t offset, uint16_t bytes) +{ + if (!bytes) + return; + if (offset & 1) { + debug_data (" %02x", src[0]); + ao_usb_write_byte(*src++, base, offset++); + bytes--; + } + while (bytes >= 2) { + debug_data (" %02x %02x", src[0], src[1]); + ao_usb_write_short((src[1] << 8) | src[0], base, offset); + offset += 2; + src += 2; + bytes -= 2; + } + if (bytes) { + debug_data (" %02x", src[0]); + ao_usb_write_byte(*src, base, offset); + } +} + +static inline uint8_t +ao_usb_read_byte(uint32_t *base, uint16_t offset) +{ + base += offset >> 1; + if (offset & 1) + return (*base >> 8) & 0xff; + else + return *base & 0xff; +} + +static inline uint16_t +ao_usb_read_short(uint32_t *base, uint16_t offset) +{ + return base[offset>>1]; +} + +static void +ao_usb_read(uint8_t *dst, uint32_t *base, uint16_t offset, uint16_t bytes) +{ + if (!bytes) + return; + if (offset & 1) { + *dst++ = ao_usb_read_byte(base, offset++); + debug_data (" %02x", dst[-1]); + bytes--; + } + while (bytes >= 2) { + uint16_t s = ao_usb_read_short(base, offset); + dst[0] = s; + dst[1] = s >> 8; + debug_data (" %02x %02x", dst[0], dst[1]); + offset += 2; + dst += 2; + bytes -= 2; + } + if (bytes) { + *dst = ao_usb_read_byte(base, offset); + debug_data (" %02x", dst[0]); + } +} + +/* Send an IN data packet */ +static void +ao_usb_ep0_flush(void) +{ + uint8_t this_len; + + /* Check to see if the endpoint is still busy */ + if (ao_usb_epr_stat_tx(stm_usb.epr[0]) == STM_USB_EPR_STAT_TX_VALID) { + debug("EP0 not accepting IN data\n"); + return; + } + + this_len = ao_usb_ep0_in_len; + if (this_len > AO_USB_CONTROL_SIZE) + this_len = AO_USB_CONTROL_SIZE; + + if (this_len < AO_USB_CONTROL_SIZE) + ao_usb_ep0_state = AO_USB_EP0_IDLE; + + ao_usb_ep0_in_len -= this_len; + + debug_data ("Flush EP0 len %d:", this_len); + ao_usb_write(ao_usb_ep0_in_data, ao_usb_ep0_tx_buffer, 0, this_len); + debug_data ("\n"); + ao_usb_ep0_in_data += this_len; + + /* Mark the endpoint as TX valid to send the packet */ + ao_usb_bdt[AO_USB_CONTROL_EPR].single.count_tx = this_len; + ao_usb_set_stat_tx(AO_USB_CONTROL_EPR, STM_USB_EPR_STAT_TX_VALID); + debug ("queue tx. epr 0 now %08x\n", stm_usb.epr[AO_USB_CONTROL_EPR]); +} + +/* Read data from the ep0 OUT fifo */ +static void +ao_usb_ep0_fill(void) +{ + uint16_t len = ao_usb_bdt[0].single.count_rx & STM_USB_BDT_COUNT_RX_COUNT_RX_MASK; + + if (len > ao_usb_ep0_out_len) + len = ao_usb_ep0_out_len; + ao_usb_ep0_out_len -= len; + + /* Pull all of the data out of the packet */ + debug_data ("Fill EP0 len %d:", len); + ao_usb_read(ao_usb_ep0_out_data, ao_usb_ep0_rx_buffer, 0, len); + debug_data ("\n"); + ao_usb_ep0_out_data += len; + + /* ACK the packet */ + ao_usb_set_stat_rx(0, STM_USB_EPR_STAT_RX_VALID); +} + +static void +ao_usb_ep0_in_reset(void) +{ + ao_usb_ep0_in_data = ao_usb_ep0_in_buf; + ao_usb_ep0_in_len = 0; +} + +static void +ao_usb_ep0_in_queue_byte(uint8_t a) +{ + if (ao_usb_ep0_in_len < sizeof (ao_usb_ep0_in_buf)) + ao_usb_ep0_in_buf[ao_usb_ep0_in_len++] = a; +} + +static void +ao_usb_ep0_in_set(const uint8_t *data, uint8_t len) +{ + ao_usb_ep0_in_data = data; + ao_usb_ep0_in_len = len; +} + +static void +ao_usb_ep0_out_set(uint8_t *data, uint8_t len) +{ + ao_usb_ep0_out_data = data; + ao_usb_ep0_out_len = len; +} + +static void +ao_usb_ep0_in_start(uint8_t max) +{ + /* Don't send more than asked for */ + if (ao_usb_ep0_in_len > max) + ao_usb_ep0_in_len = max; + ao_usb_ep0_flush(); +} + +static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; + +/* Walk through the list of descriptors and find a match + */ +static void +ao_usb_get_descriptor(uint16_t value) +{ + const uint8_t *descriptor; + uint8_t type = value >> 8; + uint8_t index = value; + + descriptor = ao_usb_descriptors; + while (descriptor[0] != 0) { + if (descriptor[1] == type && index-- == 0) { + uint8_t len; + if (type == AO_USB_DESC_CONFIGURATION) + len = descriptor[2]; + else + len = descriptor[0]; + ao_usb_ep0_in_set(descriptor, len); + break; + } + descriptor += descriptor[0]; + } +} + +static void +ao_usb_ep0_setup(void) +{ + /* Pull the setup packet out of the fifo */ + ao_usb_ep0_out_set((uint8_t *) &ao_usb_setup, 8); + ao_usb_ep0_fill(); + if (ao_usb_ep0_out_len != 0) { + debug ("invalid setup packet length\n"); + return; + } + + if ((ao_usb_setup.dir_type_recip & AO_USB_DIR_IN) || ao_usb_setup.length == 0) + ao_usb_ep0_state = AO_USB_EP0_DATA_IN; + else + ao_usb_ep0_state = AO_USB_EP0_DATA_OUT; + + ao_usb_ep0_in_reset(); + + switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_TYPE_MASK) { + case AO_USB_TYPE_STANDARD: + debug ("Standard setup packet\n"); + switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_RECIP_MASK) { + case AO_USB_RECIP_DEVICE: + debug ("Device setup packet\n"); + switch(ao_usb_setup.request) { + case AO_USB_REQ_GET_STATUS: + debug ("get status\n"); + ao_usb_ep0_in_queue_byte(0); + ao_usb_ep0_in_queue_byte(0); + break; + case AO_USB_REQ_SET_ADDRESS: + debug ("set address %d\n", ao_usb_setup.value); + ao_usb_address = ao_usb_setup.value; + ao_usb_address_pending = 1; + break; + case AO_USB_REQ_GET_DESCRIPTOR: + debug ("get descriptor %d\n", ao_usb_setup.value); + ao_usb_get_descriptor(ao_usb_setup.value); + break; + case AO_USB_REQ_GET_CONFIGURATION: + debug ("get configuration %d\n", ao_usb_configuration); + ao_usb_ep0_in_queue_byte(ao_usb_configuration); + break; + case AO_USB_REQ_SET_CONFIGURATION: + ao_usb_configuration = ao_usb_setup.value; + debug ("set configuration %d\n", ao_usb_configuration); + ao_usb_set_configuration(); + break; + } + break; + case AO_USB_RECIP_INTERFACE: + debug ("Interface setup packet\n"); + switch(ao_usb_setup.request) { + case AO_USB_REQ_GET_STATUS: + ao_usb_ep0_in_queue_byte(0); + ao_usb_ep0_in_queue_byte(0); + break; + case AO_USB_REQ_GET_INTERFACE: + ao_usb_ep0_in_queue_byte(0); + break; + case AO_USB_REQ_SET_INTERFACE: + break; + } + break; + case AO_USB_RECIP_ENDPOINT: + debug ("Endpoint setup packet\n"); + switch(ao_usb_setup.request) { + case AO_USB_REQ_GET_STATUS: + ao_usb_ep0_in_queue_byte(0); + ao_usb_ep0_in_queue_byte(0); + break; + } + break; + } + break; + case AO_USB_TYPE_CLASS: + debug ("Class setup packet\n"); + switch (ao_usb_setup.request) { + case AO_USB_SET_LINE_CODING: + debug ("set line coding\n"); + ao_usb_ep0_out_set((uint8_t *) &ao_usb_line_coding, 7); + break; + case AO_USB_GET_LINE_CODING: + debug ("get line coding\n"); + ao_usb_ep0_in_set((const uint8_t *) &ao_usb_line_coding, 7); + break; + case AO_USB_SET_CONTROL_LINE_STATE: + break; + } + break; + } + + /* If we're not waiting to receive data from the host, + * queue an IN response + */ + if (ao_usb_ep0_state == AO_USB_EP0_DATA_IN) + ao_usb_ep0_in_start(ao_usb_setup.length); +} + +/* End point 0 receives all of the control messages. */ +static void +ao_usb_ep0(void) +{ + uint8_t intx, udint; + + debug ("usb task started\n"); + ao_usb_ep0_state = AO_USB_EP0_IDLE; + for (;;) { + uint8_t receive; + ao_arch_critical( + while (!(receive = ao_usb_ep0_receive)) + ao_sleep(&ao_usb_ep0_receive); + ao_usb_ep0_receive = 0; + ); + + if (receive & AO_USB_EP0_GOT_RESET) { + debug ("\treset\n"); + ao_usb_set_ep0(); + continue; + } + if (receive & AO_USB_EP0_GOT_SETUP) { + debug ("\tsetup\n"); + ao_usb_ep0_setup(); + } + if (receive & AO_USB_EP0_GOT_RX_DATA) { + debug ("\tgot rx data\n"); + if (ao_usb_ep0_state == AO_USB_EP0_DATA_OUT) { + ao_usb_ep0_fill(); + if (ao_usb_ep0_out_len == 0) { + ao_usb_ep0_state = AO_USB_EP0_DATA_IN; + ao_usb_ep0_in_start(0); + } + } + } + if (receive & AO_USB_EP0_GOT_TX_ACK) { + debug ("\tgot tx ack\n"); + + /* Wait until the IN packet is received from addr 0 + * before assigning our local address + */ + if (ao_usb_address_pending) + ao_usb_set_address(ao_usb_address); + if (ao_usb_ep0_state == AO_USB_EP0_DATA_IN) + ao_usb_ep0_flush(); + } + } +} + +/* Queue the current IN buffer for transmission */ +static void +ao_usb_in_send(void) +{ + debug ("send %d\n", ao_usb_tx_count); + ao_usb_in_pending = 1; + ao_usb_write(ao_usb_tx_buffer, ao_usb_in_tx_buffer, 0, ao_usb_tx_count); + ao_usb_bdt[AO_USB_IN_EPR].single.count_tx = ao_usb_tx_count; + ao_usb_set_stat_tx(AO_USB_IN_EPR, STM_USB_EPR_STAT_TX_VALID); + ao_usb_tx_count = 0; +} + +/* Wait for a free IN buffer */ +static void +ao_usb_in_wait(void) +{ + for (;;) { + /* Check if the current buffer is writable */ + if (ao_usb_tx_count < AO_USB_IN_SIZE) + break; + + cli(); + /* Wait for an IN buffer to be ready */ + while (ao_usb_in_pending) + ao_sleep(&ao_usb_in_pending); + sei(); + } +} + +void +ao_usb_flush(void) __critical +{ + if (!ao_usb_running) + return; + + /* Anytime we've sent a character since + * the last time we flushed, we'll need + * to send a packet -- the only other time + * we would send a packet is when that + * packet was full, in which case we now + * want to send an empty packet + */ + if (!ao_usb_in_flushed) { + ao_usb_in_flushed = 1; + cli(); + /* Wait for an IN buffer to be ready */ + while (ao_usb_in_pending) + ao_sleep(&ao_usb_in_pending); + sei(); + ao_usb_in_send(); + } +} + +void +ao_usb_putchar(char c) __critical __reentrant +{ + if (!ao_usb_running) + return; + + ao_usb_in_wait(); + + ao_usb_in_flushed = 0; + ao_usb_tx_buffer[ao_usb_tx_count++] = (uint8_t) c; + + /* Send the packet when full */ + if (ao_usb_tx_count == AO_USB_IN_SIZE) + ao_usb_in_send(); +} + +static void +ao_usb_out_recv(void) +{ + ao_usb_out_avail = 0; + + ao_usb_rx_count = ao_usb_bdt[AO_USB_OUT_EPR].single.count_rx & STM_USB_BDT_COUNT_RX_COUNT_RX_MASK; + + debug ("recv %d\n", ao_usb_rx_count); + debug_data("Fill OUT len %d:", ao_usb_rx_count); + ao_usb_read(ao_usb_rx_buffer, ao_usb_out_rx_buffer, 0, ao_usb_rx_count); + debug_data("\n"); + ao_usb_rx_pos = 0; + + /* ACK the packet */ + ao_usb_set_stat_rx(AO_USB_OUT_EPR, STM_USB_EPR_STAT_RX_VALID); +} + +static char +_ao_usb_pollchar(void) +{ + char c; + + if (!ao_usb_running) + return AO_READ_AGAIN; + + for (;;) { + if (ao_usb_rx_pos != ao_usb_rx_count) + break; + + /* Check to see if a packet has arrived */ + if (!ao_usb_out_avail) + return AO_READ_AGAIN; + ao_usb_out_recv(); + } + + /* Pull a character out of the fifo */ + c = ao_usb_rx_buffer[ao_usb_rx_pos++]; + return c; +} + +char +ao_usb_pollchar(void) +{ + char c; + cli(); + c = _ao_usb_pollchar(); + sei(); + return c; +} + +char +ao_usb_getchar(void) __critical +{ + char c; + + cli(); + while ((c = _ao_usb_pollchar()) == AO_READ_AGAIN) + ao_sleep(&ao_stdin_ready); + sei(); + return c; +} + +void +ao_usb_disable(void) +{ + stm_usb.cntr = (1 << STM_USB_CNTR_FRES); + stm_usb.istr = 0; + + /* Disable USB pull-up */ + stm_syscfg.pmc &= ~(1 << STM_SYSCFG_PMC_USB_PU); + + /* Switch off the device */ + stm_usb.cntr = (1 << STM_USB_CNTR_PDWN) | (1 << STM_USB_CNTR_FRES); + + /* Disable the interface */ + stm_rcc.apb1enr &+ ~(1 << STM_RCC_APB1ENR_USBEN); +} + +void +ao_usb_enable(void) +{ + int t; + + /* Enable SYSCFG */ + stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGEN); + + /* Disable USB pull-up */ + stm_syscfg.pmc &= ~(1 << STM_SYSCFG_PMC_USB_PU); + + /* Enable USB device */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USBEN); + + /* Do not touch the GPIOA configuration; USB takes priority + * over GPIO on pins A11 and A12, but if you select alternate + * input 10 (the documented correct selection), then USB is + * pulled low and doesn't work at all + */ + + /* Route interrupts */ + stm_nvic_set_priority(STM_ISR_USB_LP_POS, 3); + stm_nvic_set_enable(STM_ISR_USB_LP_POS); + + ao_usb_configuration = 0; + + stm_usb.cntr = (1 << STM_USB_CNTR_FRES); + + /* Clear the power down bit */ + stm_usb.cntr = 0; + + /* Clear any spurious interrupts */ + stm_usb.istr = 0; + + debug ("ao_usb_enable\n"); + + /* Enable interrupts */ + stm_usb.cntr = ((1 << STM_USB_CNTR_CTRM) | + (0 << STM_USB_CNTR_PMAOVRM) | + (0 << STM_USB_CNTR_ERRM) | + (0 << STM_USB_CNTR_WKUPM) | + (0 << STM_USB_CNTR_SUSPM) | + (1 << STM_USB_CNTR_RESETM) | + (0 << STM_USB_CNTR_SOFM) | + (0 << STM_USB_CNTR_ESOFM) | + (0 << STM_USB_CNTR_RESUME) | + (0 << STM_USB_CNTR_FSUSP) | + (0 << STM_USB_CNTR_LP_MODE) | + (0 << STM_USB_CNTR_PDWN) | + (0 << STM_USB_CNTR_FRES)); + + for (t = 0; t < 1000; t++) + ao_arch_nop(); + /* Enable USB pull-up */ + stm_syscfg.pmc |= (1 << STM_SYSCFG_PMC_USB_PU); +} + +#if USB_ECHO +struct ao_task ao_usb_echo_task; + +static void +ao_usb_echo(void) +{ + char c; + + for (;;) { + c = ao_usb_getchar(); + ao_usb_putchar(c); + ao_usb_flush(); + } +} +#endif + +#if USB_DEBUG +static void +ao_usb_irq(void) +{ + printf ("control: %d out: %d in: %d int: %d reset: %d\n", + control_count, out_count, in_count, int_count, reset_count); +} + +__code struct ao_cmds ao_usb_cmds[] = { + { ao_usb_irq, "I\0Show USB interrupt counts" }, + { 0, NULL } +}; +#endif + +void +ao_usb_init(void) +{ + ao_usb_enable(); + + debug ("ao_usb_init\n"); + ao_add_task(&ao_usb_task, ao_usb_ep0, "usb"); +#if USB_ECHO + ao_add_task(&ao_usb_echo_task, ao_usb_echo, "usb echo"); +#endif +#if USB_DEBUG + ao_cmd_register(&ao_usb_cmds[0]); +#endif +#if !USB_ECHO + ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush); +#endif +} diff --git a/src/stm/registers.ld b/src/stm/registers.ld new file mode 100644 index 00000000..fd61e486 --- /dev/null +++ b/src/stm/registers.ld @@ -0,0 +1,50 @@ +stm_fsmc = 0xa0000000; +stm_aes = 0x50060000; +stm_dma = 0x40026000; +stm_flash = 0x40023c00; +stm_rcc = 0x40023800; +stm_crc = 0x40023000; +stm_gpioh = 0x40021400; +stm_gpioe = 0x40021000; +stm_gpiod = 0x40020c00; +stm_gpioc = 0x40020800; +stm_gpiob = 0x40020400; +stm_gpioa = 0x40020000; +stm_usart1 = 0x40013800; +stm_spi1 = 0x40013000; +stm_sdio = 0x40012c00; +stm_adc = 0x40012400; +stm_tim11 = 0x40011000; +stm_tim10 = 0x40010c00; +stm_tim9 = 0x40010800; +stm_exti = 0x40010400; +stm_syscfg = 0x40010000; +stm_comp = 0x40007c00; +stm_ri = 0x40007c04; +stm_dac = 0x40007400; +stm_pwr = 0x40007000; +stm_usb_sram = 0x40006000; +stm_usb = 0x40005c00; +stm_i2c2 = 0x40005800; +stm_i2c1 = 0x40005400; +stm_usart5 = 0x40005000; +stm_usart4 = 0x40004c00; +stm_usart3 = 0x40004800; +stm_usart2 = 0x40004400; +stm_spi3 = 0x40003c00; /* docs are broken here */ +stm_spi2 = 0x40003800; /* docs are broken here */ +stm_iwdg = 0x40003000; +stm_wwdg = 0x40002c00; +stm_rtc = 0x40002800; +stm_lcd = 0x40002400; +stm_tim7 = 0x40001400; +stm_tim6 = 0x40001000; +stm_tim5 = 0x40000c00; +stm_tim4 = 0x40000800; +stm_tim3 = 0x40000400; +stm_tim2 = 0x40000000; + +stm_nvic = 0xe000e100; + +/* calibration data in system memory */ +stm_temp_cal = 0x1ff80078; diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h new file mode 100644 index 00000000..25f5af07 --- /dev/null +++ b/src/stm/stm32l.h @@ -0,0 +1,1658 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _STM32L_H_ +#define _STM32L_H_ + +#include <stdint.h> + +typedef volatile uint32_t vuint32_t; +typedef volatile void * vvoid_t; + +struct stm_gpio { + vuint32_t moder; + vuint32_t otyper; + vuint32_t ospeedr; + vuint32_t pupdr; + + vuint32_t idr; + vuint32_t odr; + vuint32_t bsrr; + vuint32_t lckr; + + vuint32_t afrl; + vuint32_t afrh; +}; + +#define STM_MODER_SHIFT(pin) ((pin) << 1) +#define STM_MODER_MASK 3 +#define STM_MODER_INPUT 0 +#define STM_MODER_OUTPUT 1 +#define STM_MODER_ALTERNATE 2 +#define STM_MODER_ANALOG 3 + +static inline void +stm_moder_set(struct stm_gpio *gpio, int pin, vuint32_t value) { + gpio->moder = ((gpio->moder & + ~(STM_MODER_MASK << STM_MODER_SHIFT(pin))) | + value << STM_MODER_SHIFT(pin)); +} + +static inline vuint32_t +stm_moder_get(struct stm_gpio *gpio, int pin) { + return (gpio->moder >> STM_MODER_SHIFT(pin)) & STM_MODER_MASK; +} + +#define STM_OTYPER_SHIFT(pin) (pin) +#define STM_OTYPER_MASK 1 +#define STM_OTYPER_PUSH_PULL 0 +#define STM_OTYPER_OPEN_DRAIN 1 + +static inline void +stm_otyper_set(struct stm_gpio *gpio, int pin, vuint32_t value) { + gpio->otyper = ((gpio->otyper & + ~(STM_OTYPER_MASK << STM_OTYPER_SHIFT(pin))) | + value << STM_OTYPER_SHIFT(pin)); +} + +static inline vuint32_t +stm_otyper_get(struct stm_gpio *gpio, int pin) { + return (gpio->otyper >> STM_OTYPER_SHIFT(pin)) & STM_OTYPER_MASK; +} + +#define STM_OSPEEDR_SHIFT(pin) ((pin) << 1) +#define STM_OSPEEDR_MASK 3 +#define STM_OSPEEDR_400kHz 0 +#define STM_OSPEEDR_2MHz 1 +#define STM_OSPEEDR_10MHz 2 +#define STM_OSPEEDR_40MHz 3 + +static inline void +stm_ospeedr_set(struct stm_gpio *gpio, int pin, vuint32_t value) { + gpio->ospeedr = ((gpio->ospeedr & + ~(STM_OSPEEDR_MASK << STM_OSPEEDR_SHIFT(pin))) | + value << STM_OSPEEDR_SHIFT(pin)); +} + +static inline vuint32_t +stm_ospeedr_get(struct stm_gpio *gpio, int pin) { + return (gpio->ospeedr >> STM_OSPEEDR_SHIFT(pin)) & STM_OSPEEDR_MASK; +} + +#define STM_PUPDR_SHIFT(pin) ((pin) << 1) +#define STM_PUPDR_MASK 3 +#define STM_PUPDR_NONE 0 +#define STM_PUPDR_PULL_UP 1 +#define STM_PUPDR_PULL_DOWN 2 +#define STM_PUPDR_RESERVED 3 + +static inline void +stm_pupdr_set(struct stm_gpio *gpio, int pin, uint32_t value) { + gpio->pupdr = ((gpio->pupdr & + ~(STM_PUPDR_MASK << STM_PUPDR_SHIFT(pin))) | + value << STM_PUPDR_SHIFT(pin)); +} + +static inline uint32_t +stm_pupdr_get(struct stm_gpio *gpio, int pin) { + return (gpio->pupdr >> STM_PUPDR_SHIFT(pin)) & STM_PUPDR_MASK; +} + +#define STM_AFR_SHIFT(pin) ((pin) << 2) +#define STM_AFR_MASK 0xf +#define STM_AFR_NONE 0 +#define STM_AFR_AF0 0x0 +#define STM_AFR_AF1 0x1 +#define STM_AFR_AF2 0x2 +#define STM_AFR_AF3 0x3 +#define STM_AFR_AF4 0x4 +#define STM_AFR_AF5 0x5 +#define STM_AFR_AF6 0x6 +#define STM_AFR_AF7 0x7 +#define STM_AFR_AF8 0x8 +#define STM_AFR_AF9 0x9 +#define STM_AFR_AF10 0xa +#define STM_AFR_AF11 0xb +#define STM_AFR_AF12 0xc +#define STM_AFR_AF13 0xd +#define STM_AFR_AF14 0xe +#define STM_AFR_AF15 0xf + +static inline void +stm_afr_set(struct stm_gpio *gpio, int pin, uint32_t value) { + /* + * Set alternate pin mode too + */ + stm_moder_set(gpio, pin, STM_MODER_ALTERNATE); + if (pin < 8) + gpio->afrl = ((gpio->afrl & + ~(STM_AFR_MASK << STM_AFR_SHIFT(pin))) | + value << STM_AFR_SHIFT(pin)); + else { + pin -= 8; + gpio->afrh = ((gpio->afrh & + ~(STM_AFR_MASK << STM_AFR_SHIFT(pin))) | + value << STM_AFR_SHIFT(pin)); + } +} + +static inline uint32_t +stm_afr_get(struct stm_gpio *gpio, int pin) { + if (pin < 8) + return (gpio->afrl >> STM_AFR_SHIFT(pin)) & STM_AFR_MASK; + else { + pin -= 8; + return (gpio->afrh >> STM_AFR_SHIFT(pin)) & STM_AFR_MASK; + } +} + +static inline void +stm_gpio_set(struct stm_gpio *gpio, int pin, uint8_t value) { + /* Use the bit set/reset register to do this atomically */ + gpio->bsrr = ((uint32_t) (value ^ 1) << (pin + 16)) | ((uint32_t) value << pin); +} + +static inline uint8_t +stm_gpio_get(struct stm_gpio *gpio, int pin) { + return (gpio->idr >> pin) & 1; +} + +extern struct stm_gpio stm_gpioa; +extern struct stm_gpio stm_gpiob; +extern struct stm_gpio stm_gpioc; +extern struct stm_gpio stm_gpiod; +extern struct stm_gpio stm_gpioe; +extern struct stm_gpio stm_gpioh; + +struct stm_usart { + vuint32_t sr; /* status register */ + vuint32_t dr; /* data register */ + vuint32_t brr; /* baud rate register */ + vuint32_t cr1; /* control register 1 */ + + vuint32_t cr2; /* control register 2 */ + vuint32_t cr3; /* control register 3 */ + vuint32_t gtpr; /* guard time and prescaler */ +}; + +extern struct stm_usart stm_usart1; +extern struct stm_usart stm_usart2; +extern struct stm_usart stm_usart3; + +#define STM_USART_SR_CTS (9) /* CTS flag */ +#define STM_USART_SR_LBD (8) /* LIN break detection flag */ +#define STM_USART_SR_TXE (7) /* Transmit data register empty */ +#define STM_USART_SR_TC (6) /* Transmission complete */ +#define STM_USART_SR_RXNE (5) /* Read data register not empty */ +#define STM_USART_SR_IDLE (4) /* IDLE line detected */ +#define STM_USART_SR_ORE (3) /* Overrun error */ +#define STM_USART_SR_NF (2) /* Noise detected flag */ +#define STM_USART_SR_FE (1) /* Framing error */ +#define STM_USART_SR_PE (0) /* Parity error */ + +#define STM_USART_CR1_OVER8 (15) /* Oversampling mode */ +#define STM_USART_CR1_UE (13) /* USART enable */ +#define STM_USART_CR1_M (12) /* Word length */ +#define STM_USART_CR1_WAKE (11) /* Wakeup method */ +#define STM_USART_CR1_PCE (10) /* Parity control enable */ +#define STM_USART_CR1_PS (9) /* Parity selection */ +#define STM_USART_CR1_PEIE (8) /* PE interrupt enable */ +#define STM_USART_CR1_TXEIE (7) /* TXE interrupt enable */ +#define STM_USART_CR1_TCIE (6) /* Transmission complete interrupt enable */ +#define STM_USART_CR1_RXNEIE (5) /* RXNE interrupt enable */ +#define STM_USART_CR1_IDLEIE (4) /* IDLE interrupt enable */ +#define STM_USART_CR1_TE (3) /* Transmitter enable */ +#define STM_USART_CR1_RE (2) /* Receiver enable */ +#define STM_USART_CR1_RWU (1) /* Receiver wakeup */ +#define STM_USART_CR1_SBK (0) /* Send break */ + +#define STM_USART_CR2_LINEN (14) /* LIN mode enable */ +#define STM_USART_CR2_STOP (12) /* STOP bits */ +#define STM_USART_CR2_STOP_MASK 3 +#define STM_USART_CR2_STOP_1 0 +#define STM_USART_CR2_STOP_0_5 1 +#define STM_USART_CR2_STOP_2 2 +#define STM_USART_CR2_STOP_1_5 3 + +#define STM_USART_CR2_CLKEN (11) /* Clock enable */ +#define STM_USART_CR2_CPOL (10) /* Clock polarity */ +#define STM_USART_CR2_CPHA (9) /* Clock phase */ +#define STM_USART_CR2_LBCL (8) /* Last bit clock pulse */ +#define STM_USART_CR2_LBDIE (6) /* LIN break detection interrupt enable */ +#define STM_USART_CR2_LBDL (5) /* lin break detection length */ +#define STM_USART_CR2_ADD (0) +#define STM_USART_CR2_ADD_MASK 0xf + +#define STM_USART_CR3_ONEBITE (11) /* One sample bit method enable */ +#define STM_USART_CR3_CTSIE (10) /* CTS interrupt enable */ +#define STM_USART_CR3_CTSE (9) /* CTS enable */ +#define STM_USART_CR3_RTSE (8) /* RTS enable */ +#define STM_USART_CR3_DMAT (7) /* DMA enable transmitter */ +#define STM_USART_CR3_DMAR (6) /* DMA enable receiver */ +#define STM_USART_CR3_SCEN (5) /* Smartcard mode enable */ +#define STM_USART_CR3_NACK (4) /* Smartcard NACK enable */ +#define STM_USART_CR3_HDSEL (3) /* Half-duplex selection */ +#define STM_USART_CR3_IRLP (2) /* IrDA low-power */ +#define STM_USART_CR3_IREN (1) /* IrDA mode enable */ +#define STM_USART_CR3_EIE (0) /* Error interrupt enable */ + +struct stm_tim { +}; + +extern struct stm_tim stm_tim9; +extern struct stm_tim stm_tim10; +extern struct stm_tim stm_tim11; + +/* Flash interface */ + +struct stm_flash { + vuint32_t acr; + vuint32_t pecr; + vuint32_t pdkeyr; + vuint32_t pekeyr; + + vuint32_t prgkeyr; + vuint32_t optkeyr; + vuint32_t sr; + vuint32_t obr; + + vuint32_t wrpr; +}; + +extern struct stm_flash stm_flash; + +#define STM_FLASH_ACR_RUN_PD (4) +#define STM_FLASH_ACR_SLEEP_PD (3) +#define STM_FLASH_ACR_ACC64 (2) +#define STM_FLASH_ACR_PRFEN (1) +#define STM_FLASH_ACR_LATENCY (0) + +#define STM_FLASH_PECR_OBL_LAUNCH 18 +#define STM_FLASH_PECR_ERRIE 17 +#define STM_FLASH_PECR_EOPIE 16 +#define STM_FLASH_PECR_FPRG 10 +#define STM_FLASH_PECR_ERASE 9 +#define STM_FLASH_PECR_FTDW 8 +#define STM_FLASH_PECR_DATA 4 +#define STM_FLASH_PECR_PROG 3 +#define STM_FLASH_PECR_OPTLOCK 2 +#define STM_FLASH_PECR_PRGLOCK 1 +#define STM_FLASH_PECR_PELOCK 0 + +#define STM_FLASH_SR_OPTVERR 11 +#define STM_FLASH_SR_SIZERR 10 +#define STM_FLASH_SR_PGAERR 9 +#define STM_FLASH_SR_WRPERR 8 +#define STM_FLASH_SR_READY 3 +#define STM_FLASH_SR_ENDHV 2 +#define STM_FLASH_SR_EOP 1 +#define STM_FLASH_SR_BSY 0 + +#define STM_FLASH_PEKEYR_PEKEY1 0x89ABCDEF +#define STM_FLASH_PEKEYR_PEKEY2 0x02030405 + +struct stm_rcc { + vuint32_t cr; + vuint32_t icscr; + vuint32_t cfgr; + vuint32_t cir; + + vuint32_t ahbrstr; + vuint32_t apb2rstr; + vuint32_t apb1rstr; + vuint32_t ahbenr; + + vuint32_t apb2enr; + vuint32_t apb1enr; + vuint32_t ahblenr; + vuint32_t apb2lpenr; + + vuint32_t apb1lpenr; + vuint32_t csr; +}; + +extern struct stm_rcc stm_rcc; + +/* Nominal high speed internal oscillator frequency is 16MHz */ +#define STM_HSI_FREQ 16000000 + +#define STM_RCC_CR_RTCPRE (29) +#define STM_RCC_CR_RTCPRE_HSE_DIV_2 0 +#define STM_RCC_CR_RTCPRE_HSE_DIV_4 1 +#define STM_RCC_CR_RTCPRE_HSE_DIV_8 2 +#define STM_RCC_CR_RTCPRE_HSE_DIV_16 3 +#define STM_RCC_CR_RTCPRE_HSE_MASK 3 + +#define STM_RCC_CR_CSSON (28) +#define STM_RCC_CR_PLLRDY (25) +#define STM_RCC_CR_PLLON (24) +#define STM_RCC_CR_HSEBYP (18) +#define STM_RCC_CR_HSERDY (17) +#define STM_RCC_CR_HSEON (16) +#define STM_RCC_CR_MSIRDY (9) +#define STM_RCC_CR_MSION (8) +#define STM_RCC_CR_HSIRDY (1) +#define STM_RCC_CR_HSION (0) + +#define STM_RCC_CFGR_MCOPRE (28) +#define STM_RCC_CFGR_MCOPRE_DIV_1 0 +#define STM_RCC_CFGR_MCOPRE_DIV_2 1 +#define STM_RCC_CFGR_MCOPRE_DIV_4 2 +#define STM_RCC_CFGR_MCOPRE_DIV_8 3 +#define STM_RCC_CFGR_MCOPRE_DIV_16 4 +#define STM_RCC_CFGR_MCOPRE_DIV_MASK 7 + +#define STM_RCC_CFGR_MCOSEL (24) +#define STM_RCC_CFGR_MCOSEL_DISABLE 0 +#define STM_RCC_CFGR_MCOSEL_SYSCLK 1 +#define STM_RCC_CFGR_MCOSEL_HSI 2 +#define STM_RCC_CFGR_MCOSEL_MSI 3 +#define STM_RCC_CFGR_MCOSEL_HSE 4 +#define STM_RCC_CFGR_MCOSEL_PLL 5 +#define STM_RCC_CFGR_MCOSEL_LSI 6 +#define STM_RCC_CFGR_MCOSEL_LSE 7 +#define STM_RCC_CFGR_MCOSEL_MASK 7 + +#define STM_RCC_CFGR_PLLDIV (22) +#define STM_RCC_CFGR_PLLDIV_2 1 +#define STM_RCC_CFGR_PLLDIV_3 2 +#define STM_RCC_CFGR_PLLDIV_4 3 +#define STM_RCC_CFGR_PLLDIV_MASK 3 + +#define STM_RCC_CFGR_PLLMUL (18) +#define STM_RCC_CFGR_PLLMUL_3 0 +#define STM_RCC_CFGR_PLLMUL_4 1 +#define STM_RCC_CFGR_PLLMUL_6 2 +#define STM_RCC_CFGR_PLLMUL_8 3 +#define STM_RCC_CFGR_PLLMUL_12 4 +#define STM_RCC_CFGR_PLLMUL_16 5 +#define STM_RCC_CFGR_PLLMUL_24 6 +#define STM_RCC_CFGR_PLLMUL_32 7 +#define STM_RCC_CFGR_PLLMUL_48 8 +#define STM_RCC_CFGR_PLLMUL_MASK 0xf + +#define STM_RCC_CFGR_PLLSRC (16) + +#define STM_RCC_CFGR_PPRE2 (11) +#define STM_RCC_CFGR_PPRE2_DIV_1 0 +#define STM_RCC_CFGR_PPRE2_DIV_2 4 +#define STM_RCC_CFGR_PPRE2_DIV_4 5 +#define STM_RCC_CFGR_PPRE2_DIV_8 6 +#define STM_RCC_CFGR_PPRE2_DIV_16 7 +#define STM_RCC_CFGR_PPRE2_MASK 7 + +#define STM_RCC_CFGR_PPRE1 (8) +#define STM_RCC_CFGR_PPRE1_DIV_1 0 +#define STM_RCC_CFGR_PPRE1_DIV_2 4 +#define STM_RCC_CFGR_PPRE1_DIV_4 5 +#define STM_RCC_CFGR_PPRE1_DIV_8 6 +#define STM_RCC_CFGR_PPRE1_DIV_16 7 +#define STM_RCC_CFGR_PPRE1_MASK 7 + +#define STM_RCC_CFGR_HPRE (4) +#define STM_RCC_CFGR_HPRE_DIV_1 0 +#define STM_RCC_CFGR_HPRE_DIV_2 8 +#define STM_RCC_CFGR_HPRE_DIV_4 9 +#define STM_RCC_CFGR_HPRE_DIV_8 0xa +#define STM_RCC_CFGR_HPRE_DIV_16 0xb +#define STM_RCC_CFGR_HPRE_DIV_64 0xc +#define STM_RCC_CFGR_HPRE_DIV_128 0xd +#define STM_RCC_CFGR_HPRE_DIV_256 0xe +#define STM_RCC_CFGR_HPRE_DIV_512 0xf +#define STM_RCC_CFGR_HPRE_MASK 0xf + +#define STM_RCC_CFGR_SWS (2) +#define STM_RCC_CFGR_SWS_MSI 0 +#define STM_RCC_CFGR_SWS_HSI 1 +#define STM_RCC_CFGR_SWS_HSE 2 +#define STM_RCC_CFGR_SWS_PLL 3 +#define STM_RCC_CFGR_SWS_MASK 3 + +#define STM_RCC_CFGR_SW (0) +#define STM_RCC_CFGR_SW_MSI 0 +#define STM_RCC_CFGR_SW_HSI 1 +#define STM_RCC_CFGR_SW_HSE 2 +#define STM_RCC_CFGR_SW_PLL 3 +#define STM_RCC_CFGR_SW_MASK 3 + +#define STM_RCC_AHBENR_DMA1EN (24) +#define STM_RCC_AHBENR_FLITFEN (15) +#define STM_RCC_AHBENR_CRCEN (12) +#define STM_RCC_AHBENR_GPIOHEN (5) +#define STM_RCC_AHBENR_GPIOEEN (4) +#define STM_RCC_AHBENR_GPIODEN (3) +#define STM_RCC_AHBENR_GPIOCEN (2) +#define STM_RCC_AHBENR_GPIOBEN (1) +#define STM_RCC_AHBENR_GPIOAEN (0) + +#define STM_RCC_APB2ENR_USART1EN (14) +#define STM_RCC_APB2ENR_SPI1EN (12) +#define STM_RCC_APB2ENR_ADC1EN (9) +#define STM_RCC_APB2ENR_TIM11EN (4) +#define STM_RCC_APB2ENR_TIM10EN (3) +#define STM_RCC_APB2ENR_TIM9EN (2) +#define STM_RCC_APB2ENR_SYSCFGEN (0) + +#define STM_RCC_APB1ENR_COMPEN (31) +#define STM_RCC_APB1ENR_DACEN (29) +#define STM_RCC_APB1ENR_PWREN (28) +#define STM_RCC_APB1ENR_USBEN (23) +#define STM_RCC_APB1ENR_I2C2EN (22) +#define STM_RCC_APB1ENR_I2C1EN (21) +#define STM_RCC_APB1ENR_USART3EN (18) +#define STM_RCC_APB1ENR_USART2EN (17) +#define STM_RCC_APB1ENR_SPI2EN (14) +#define STM_RCC_APB1ENR_WWDGEN (11) +#define STM_RCC_APB1ENR_LCDEN (9) +#define STM_RCC_APB1ENR_TIM7EN (5) +#define STM_RCC_APB1ENR_TIM6EN (4) +#define STM_RCC_APB1ENR_TIM4EN (2) +#define STM_RCC_APB1ENR_TIM3EN (1) +#define STM_RCC_APB1ENR_TIM2EN (0) + +#define STM_RCC_CSR_LPWRRSTF (31) +#define STM_RCC_CSR_WWDGRSTF (30) +#define STM_RCC_CSR_IWDGRSTF (29) +#define STM_RCC_CSR_SFTRSTF (28) +#define STM_RCC_CSR_PORRSTF (27) +#define STM_RCC_CSR_PINRSTF (26) +#define STM_RCC_CSR_OBLRSTF (25) +#define STM_RCC_CSR_RMVF (24) +#define STM_RCC_CSR_RTFRST (23) +#define STM_RCC_CSR_RTCEN (22) +#define STM_RCC_CSR_RTCSEL (16) + +#define STM_RCC_CSR_RTCSEL_NONE 0 +#define STM_RCC_CSR_RTCSEL_LSE 1 +#define STM_RCC_CSR_RTCSEL_LSI 2 +#define STM_RCC_CSR_RTCSEL_HSE 3 +#define STM_RCC_CSR_RTCSEL_MASK 3 + +#define STM_RCC_CSR_LSEBYP (10) +#define STM_RCC_CSR_LSERDY (9) +#define STM_RCC_CSR_LSEON (8) +#define STM_RCC_CSR_LSIRDY (1) +#define STM_RCC_CSR_LSION (0) + +struct stm_pwr { + vuint32_t cr; + vuint32_t csr; +}; + +extern struct stm_pwr stm_pwr; + +#define STM_PWR_CR_LPRUN (14) + +#define STM_PWR_CR_VOS (11) +#define STM_PWR_CR_VOS_1_8 1 +#define STM_PWR_CR_VOS_1_5 2 +#define STM_PWR_CR_VOS_1_2 3 +#define STM_PWR_CR_VOS_MASK 3 + +#define STM_PWR_CR_FWU (10) +#define STM_PWR_CR_ULP (9) +#define STM_PWR_CR_DBP (8) + +#define STM_PWR_CR_PLS (5) +#define STM_PWR_CR_PLS_1_9 0 +#define STM_PWR_CR_PLS_2_1 1 +#define STM_PWR_CR_PLS_2_3 2 +#define STM_PWR_CR_PLS_2_5 3 +#define STM_PWR_CR_PLS_2_7 4 +#define STM_PWR_CR_PLS_2_9 5 +#define STM_PWR_CR_PLS_3_1 6 +#define STM_PWR_CR_PLS_EXT 7 +#define STM_PWR_CR_PLS_MASK 7 + +#define STM_PWR_CR_PVDE (4) +#define STM_PWR_CR_CSBF (3) +#define STM_PWR_CR_CWUF (2) +#define STM_PWR_CR_PDDS (1) +#define STM_PWR_CR_LPSDSR (0) + +#define STM_PWR_CSR_EWUP3 (10) +#define STM_PWR_CSR_EWUP2 (9) +#define STM_PWR_CSR_EWUP1 (8) +#define STM_PWR_CSR_REGLPF (5) +#define STM_PWR_CSR_VOSF (4) +#define STM_PWR_CSR_VREFINTRDYF (3) +#define STM_PWR_CSR_PVDO (2) +#define STM_PWR_CSR_SBF (1) +#define STM_PWR_CSR_WUF (0) + +struct stm_tim67 { + vuint32_t cr1; + vuint32_t cr2; + uint32_t _unused_08; + vuint32_t dier; + + vuint32_t sr; + vuint32_t egr; + uint32_t _unused_18; + uint32_t _unused_1c; + + uint32_t _unused_20; + vuint32_t cnt; + vuint32_t psc; + vuint32_t arr; +}; + +extern struct stm_tim67 stm_tim6; + +#define STM_TIM67_CR1_ARPE (7) +#define STM_TIM67_CR1_OPM (3) +#define STM_TIM67_CR1_URS (2) +#define STM_TIM67_CR1_UDIS (1) +#define STM_TIM67_CR1_CEN (0) + +#define STM_TIM67_CR2_MMS (4) +#define STM_TIM67_CR2_MMS_RESET 0 +#define STM_TIM67_CR2_MMS_ENABLE 1 +#define STM_TIM67_CR2_MMS_UPDATE 2 +#define STM_TIM67_CR2_MMS_MASK 7 + +#define STM_TIM67_DIER_UDE (8) +#define STM_TIM67_DIER_UIE (0) + +#define STM_TIM67_SR_UIF (0) + +#define STM_TIM67_EGR_UG (0) + +struct stm_lcd { + vuint32_t cr; + vuint32_t fcr; + vuint32_t sr; + vuint32_t clr; + uint32_t unused_0x10; + vuint32_t ram[8*2]; +}; + +extern struct stm_lcd stm_lcd; + +#define STM_LCD_CR_MUX_SEG (7) + +#define STM_LCD_CR_BIAS (5) +#define STM_LCD_CR_BIAS_1_4 0 +#define STM_LCD_CR_BIAS_1_2 1 +#define STM_LCD_CR_BIAS_1_3 2 +#define STM_LCD_CR_BIAS_MASK 3 + +#define STM_LCD_CR_DUTY (2) +#define STM_LCD_CR_DUTY_STATIC 0 +#define STM_LCD_CR_DUTY_1_2 1 +#define STM_LCD_CR_DUTY_1_3 2 +#define STM_LCD_CR_DUTY_1_4 3 +#define STM_LCD_CR_DUTY_1_8 4 +#define STM_LCD_CR_DUTY_MASK 7 + +#define STM_LCD_CR_VSEL (1) +#define STM_LCD_CR_LCDEN (0) + +#define STM_LCD_FCR_PS (22) +#define STM_LCD_FCR_PS_1 0x0 +#define STM_LCD_FCR_PS_2 0x1 +#define STM_LCD_FCR_PS_4 0x2 +#define STM_LCD_FCR_PS_8 0x3 +#define STM_LCD_FCR_PS_16 0x4 +#define STM_LCD_FCR_PS_32 0x5 +#define STM_LCD_FCR_PS_64 0x6 +#define STM_LCD_FCR_PS_128 0x7 +#define STM_LCD_FCR_PS_256 0x8 +#define STM_LCD_FCR_PS_512 0x9 +#define STM_LCD_FCR_PS_1024 0xa +#define STM_LCD_FCR_PS_2048 0xb +#define STM_LCD_FCR_PS_4096 0xc +#define STM_LCD_FCR_PS_8192 0xd +#define STM_LCD_FCR_PS_16384 0xe +#define STM_LCD_FCR_PS_32768 0xf +#define STM_LCD_FCR_PS_MASK 0xf + +#define STM_LCD_FCR_DIV (18) +#define STM_LCD_FCR_DIV_16 0x0 +#define STM_LCD_FCR_DIV_17 0x1 +#define STM_LCD_FCR_DIV_18 0x2 +#define STM_LCD_FCR_DIV_19 0x3 +#define STM_LCD_FCR_DIV_20 0x4 +#define STM_LCD_FCR_DIV_21 0x5 +#define STM_LCD_FCR_DIV_22 0x6 +#define STM_LCD_FCR_DIV_23 0x7 +#define STM_LCD_FCR_DIV_24 0x8 +#define STM_LCD_FCR_DIV_25 0x9 +#define STM_LCD_FCR_DIV_26 0xa +#define STM_LCD_FCR_DIV_27 0xb +#define STM_LCD_FCR_DIV_28 0xc +#define STM_LCD_FCR_DIV_29 0xd +#define STM_LCD_FCR_DIV_30 0xe +#define STM_LCD_FCR_DIV_31 0xf +#define STM_LCD_FCR_DIV_MASK 0xf + +#define STM_LCD_FCR_BLINK (16) +#define STM_LCD_FCR_BLINK_DISABLE 0 +#define STM_LCD_FCR_BLINK_SEG0_COM0 1 +#define STM_LCD_FCR_BLINK_SEG0_COMALL 2 +#define STM_LCD_FCR_BLINK_SEGALL_COMALL 3 +#define STM_LCD_FCR_BLINK_MASK 3 + +#define STM_LCD_FCR_BLINKF (13) +#define STM_LCD_FCR_BLINKF_8 0 +#define STM_LCD_FCR_BLINKF_16 1 +#define STM_LCD_FCR_BLINKF_32 2 +#define STM_LCD_FCR_BLINKF_64 3 +#define STM_LCD_FCR_BLINKF_128 4 +#define STM_LCD_FCR_BLINKF_256 5 +#define STM_LCD_FCR_BLINKF_512 6 +#define STM_LCD_FCR_BLINKF_1024 7 +#define STM_LCD_FCR_BLINKF_MASK 7 + +#define STM_LCD_FCR_CC (10) +#define STM_LCD_FCR_CC_MASK 7 + +#define STM_LCD_FCR_DEAD (7) +#define STM_LCD_FCR_DEAD_MASK 7 + +#define STM_LCD_FCR_PON (4) +#define STM_LCD_FCR_PON_MASK 7 + +#define STM_LCD_FCR_UDDIE (3) +#define STM_LCD_FCR_SOFIE (1) +#define STM_LCD_FCR_HD (0) + +#define STM_LCD_SR_FCRSF (5) +#define STM_LCD_SR_RDY (4) +#define STM_LCD_SR_UDD (3) +#define STM_LCD_SR_UDR (2) +#define STM_LCD_SR_SOF (1) +#define STM_LCD_SR_ENS (0) + +#define STM_LCD_CLR_UDDC (3) +#define STM_LCD_CLR_SOFC (1) + +struct stm_nvic { + vuint32_t iser[3]; /* 0x000 */ + + uint8_t _unused00c[0x080 - 0x00c]; + + vuint32_t icer[3]; /* 0x080 */ + + uint8_t _unused08c[0x100 - 0x08c]; + + vuint32_t ispr[3]; /* 0x100 */ + + uint8_t _unused10c[0x180 - 0x10c]; + + vuint32_t icpr[3]; /* 0x180 */ + + uint8_t _unused18c[0x200 - 0x18c]; + + vuint32_t iabr[3]; /* 0x200 */ + + uint8_t _unused20c[0x300 - 0x20c]; + + vuint32_t ipr[21]; /* 0x300 */ + + uint8_t _unused324[0xe00 - 0x324]; + + vuint32_t stir; /* 0xe00 */ +}; + +extern struct stm_nvic stm_nvic; + +#define IRQ_REG(irq) ((irq) >> 5) +#define IRQ_BIT(irq) ((irq) & 0x1f) +#define IRQ_MASK(irq) (1 << IRQ_BIT(irq)) +#define IRQ_BOOL(v,irq) (((v) >> IRQ_BIT(irq)) & 1) + +static inline void +stm_nvic_set_enable(int irq) { + stm_nvic.iser[IRQ_REG(irq)] = IRQ_MASK(irq); +} + +static inline void +stm_nvic_clear_enable(int irq) { + stm_nvic.icer[IRQ_REG(irq)] = IRQ_MASK(irq); +} + +static inline int +stm_nvic_enabled(int irq) { + return IRQ_BOOL(stm_nvic.iser[IRQ_REG(irq)], irq); +} + +static inline void +stm_nvic_set_pending(int irq) { + stm_nvic.ispr[IRQ_REG(irq)] = IRQ_MASK(irq); +} + +static inline void +stm_nvic_clear_pending(int irq) { + stm_nvic.icpr[IRQ_REG(irq)] = IRQ_MASK(irq); +} + +static inline int +stm_nvic_pending(int irq) { + return IRQ_BOOL(stm_nvic.ispr[IRQ_REG(irq)], irq); +} + +static inline int +stm_nvic_active(int irq) { + return IRQ_BOOL(stm_nvic.iabr[IRQ_REG(irq)], irq); +} + +#define IRQ_PRIO_REG(irq) ((irq) >> 2) +#define IRQ_PRIO_BIT(irq) (((irq) & 3) << 3) +#define IRQ_PRIO_MASK(irq) (0xff << IRQ_PRIO_BIT(irq)) + +static inline void +stm_nvic_set_priority(int irq, uint8_t prio) { + int n = IRQ_PRIO_REG(irq); + uint32_t v; + + v = stm_nvic.ipr[n]; + v &= ~IRQ_PRIO_MASK(irq); + v |= (prio) << IRQ_PRIO_BIT(irq); + stm_nvic.ipr[n] = v; +} + +static inline uint8_t +stm_nvic_get_priority(int irq) { + return (stm_nvic.ipr[IRQ_PRIO_REG(irq)] >> IRQ_PRIO_BIT(irq)) & IRQ_PRIO_MASK(0); +} + +#define isr(name) void stm_ ## name ## _isr(void); + +isr(nmi) +isr(hardfault) +isr(memmanage) +isr(busfault) +isr(usagefault) +isr(svc) +isr(debugmon) +isr(pendsv) +isr(systick) +isr(wwdg) +isr(pvd) +isr(tamper_stamp) +isr(rtc_wkup) +isr(flash) +isr(rcc) +isr(exti0) +isr(exti1) +isr(exti2) +isr(exti3) +isr(exti4) +isr(dma1_channel1) +isr(dma1_channel2) +isr(dma1_channel3) +isr(dma1_channel4) +isr(dma1_channel5) +isr(dma1_channel6) +isr(dma1_channel7) +isr(adc1) +isr(usb_hp) +isr(usb_lp) +isr(dac) +isr(comp) +isr(exti9_5) +isr(lcd) +isr(tim9) +isr(tim10) +isr(tim11) +isr(tim2) +isr(tim3) +isr(tim4) +isr(i2c1_ev) +isr(i2c1_er) +isr(i2c2_ev) +isr(i2c2_er) +isr(spi1) +isr(spi2) +isr(usart1) +isr(usart2) +isr(usart3) +isr(exti15_10) +isr(rtc_alarm) +isr(usb_fs_wkup) +isr(tim6) +isr(tim7) + +#undef isr + +#define STM_ISR_WWDG_POS 0 +#define STM_ISR_PVD_POS 1 +#define STM_ISR_TAMPER_STAMP_POS 2 +#define STM_ISR_RTC_WKUP_POS 3 +#define STM_ISR_FLASH_POS 4 +#define STM_ISR_RCC_POS 5 +#define STM_ISR_EXTI0_POS 6 +#define STM_ISR_EXTI1_POS 7 +#define STM_ISR_EXTI2_POS 8 +#define STM_ISR_EXTI3_POS 9 +#define STM_ISR_EXTI4_POS 10 +#define STM_ISR_DMA1_CHANNEL1_POS 11 +#define STM_ISR_DMA2_CHANNEL1_POS 12 +#define STM_ISR_DMA3_CHANNEL1_POS 13 +#define STM_ISR_DMA4_CHANNEL1_POS 14 +#define STM_ISR_DMA5_CHANNEL1_POS 15 +#define STM_ISR_DMA6_CHANNEL1_POS 16 +#define STM_ISR_DMA7_CHANNEL1_POS 17 +#define STM_ISR_ADC1_POS 18 +#define STM_ISR_USB_HP_POS 19 +#define STM_ISR_USB_LP_POS 20 +#define STM_ISR_DAC_POS 21 +#define STM_ISR_COMP_POS 22 +#define STM_ISR_EXTI9_5_POS 23 +#define STM_ISR_LCD_POS 24 +#define STM_ISR_TIM9_POS 25 +#define STM_ISR_TIM10_POS 26 +#define STM_ISR_TIM11_POS 27 +#define STM_ISR_TIM2_POS 28 +#define STM_ISR_TIM3_POS 29 +#define STM_ISR_TIM4_POS 30 +#define STM_ISR_I2C1_EV_POS 31 +#define STM_ISR_I2C1_ER_POS 32 +#define STM_ISR_I2C2_EV_POS 33 +#define STM_ISR_I2C2_ER_POS 34 +#define STM_ISR_SPI1_POS 35 +#define STM_ISR_SPI2_POS 36 +#define STM_ISR_USART1_POS 37 +#define STM_ISR_USART2_POS 38 +#define STM_ISR_USART3_POS 39 +#define STM_ISR_EXTI15_10_POS 40 +#define STM_ISR_RTC_ALARM_POS 41 +#define STM_ISR_USB_FS_WKUP_POS 42 +#define STM_ISR_TIM6_POS 43 +#define STM_ISR_TIM7_POS 44 + +struct stm_syscfg { + vuint32_t memrmp; + vuint32_t pmc; + vuint32_t exticr[4]; +}; + +extern struct stm_syscfg stm_syscfg; + +#define STM_SYSCFG_MEMRMP_MEM_MODE 0 +#define STM_SYSCFG_MEMRMP_MEM_MODE_MAIN_FLASH 0 +#define STM_SYSCFG_MEMRMP_MEM_MODE_SYSTEM_FLASH 1 +#define STM_SYSCFG_MEMRMP_MEM_MODE_SRAM 3 +#define STM_SYSCFG_MEMRMP_MEM_MODE_MASK 3 + +#define STM_SYSCFG_PMC_USB_PU 0 + +#define STM_SYSCFG_EXTICR_PA 0 +#define STM_SYSCFG_EXTICR_PB 1 +#define STM_SYSCFG_EXTICR_PC 2 +#define STM_SYSCFG_EXTICR_PD 3 +#define STM_SYSCFG_EXTICR_PE 4 +#define STM_SYSCFG_EXTICR_PH 5 + +static inline void +stm_exticr_set(struct stm_gpio *gpio, int pin) { + uint8_t reg = pin >> 2; + uint8_t shift = (pin & 3) << 2; + uint8_t val = 0; + + /* Enable SYSCFG */ + stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGEN); + + if (gpio == &stm_gpioa) + val = STM_SYSCFG_EXTICR_PA; + else if (gpio == &stm_gpiob) + val = STM_SYSCFG_EXTICR_PB; + else if (gpio == &stm_gpioc) + val = STM_SYSCFG_EXTICR_PC; + else if (gpio == &stm_gpiod) + val = STM_SYSCFG_EXTICR_PD; + else if (gpio == &stm_gpioe) + val = STM_SYSCFG_EXTICR_PE; + + stm_syscfg.exticr[reg] = (stm_syscfg.exticr[reg] & ~(0xf << shift)) | val << shift; +} + + +struct stm_dma_channel { + vuint32_t ccr; + vuint32_t cndtr; + vvoid_t cpar; + vvoid_t cmar; + vuint32_t reserved; +}; + +#define STM_NUM_DMA 7 + +struct stm_dma { + vuint32_t isr; + vuint32_t ifcr; + struct stm_dma_channel channel[STM_NUM_DMA]; +}; + +extern struct stm_dma stm_dma; + +/* DMA channels go from 1 to 7, instead of 0 to 6 (sigh) + */ + +#define STM_DMA_INDEX(channel) ((channel) - 1) + +#define STM_DMA_ISR(index) ((index) << 2) +#define STM_DMA_ISR_MASK 0xf +#define STM_DMA_ISR_TEIF 3 +#define STM_DMA_ISR_HTIF 2 +#define STM_DMA_ISR_TCIF 1 +#define STM_DMA_ISR_GIF 0 + +#define STM_DMA_IFCR(index) ((index) << 2) +#define STM_DMA_IFCR_MASK 0xf +#define STM_DMA_IFCR_CTEIF 3 +#define STM_DMA_IFCR_CHTIF 2 +#define STM_DMA_IFCR_CTCIF 1 +#define STM_DMA_IFCR_CGIF 0 + +#define STM_DMA_CCR_MEM2MEM (14) + +#define STM_DMA_CCR_PL (12) +#define STM_DMA_CCR_PL_LOW (0) +#define STM_DMA_CCR_PL_MEDIUM (1) +#define STM_DMA_CCR_PL_HIGH (2) +#define STM_DMA_CCR_PL_VERY_HIGH (3) +#define STM_DMA_CCR_PL_MASK (3) + +#define STM_DMA_CCR_MSIZE (10) +#define STM_DMA_CCR_MSIZE_8 (0) +#define STM_DMA_CCR_MSIZE_16 (1) +#define STM_DMA_CCR_MSIZE_32 (2) +#define STM_DMA_CCR_MSIZE_MASK (3) + +#define STM_DMA_CCR_PSIZE (8) +#define STM_DMA_CCR_PSIZE_8 (0) +#define STM_DMA_CCR_PSIZE_16 (1) +#define STM_DMA_CCR_PSIZE_32 (2) +#define STM_DMA_CCR_PSIZE_MASK (3) + +#define STM_DMA_CCR_MINC (7) +#define STM_DMA_CCR_PINC (6) +#define STM_DMA_CCR_CIRC (5) +#define STM_DMA_CCR_DIR (4) +#define STM_DMA_CCR_DIR_PER_TO_MEM 0 +#define STM_DMA_CCR_DIR_MEM_TO_PER 1 +#define STM_DMA_CCR_TEIE (3) +#define STM_DMA_CCR_HTIE (2) +#define STM_DMA_CCR_TCIE (1) +#define STM_DMA_CCR_EN (0) + +#define STM_DMA_CHANNEL_ADC1 1 +#define STM_DMA_CHANNEL_SPI1_RX 2 +#define STM_DMA_CHANNEL_SPI1_TX 3 +#define STM_DMA_CHANNEL_SPI2_RX 4 +#define STM_DMA_CHANNEL_SPI2_TX 5 +#define STM_DMA_CHANNEL_USART3_TX 2 +#define STM_DMA_CHANNEL_USART3_RX 3 +#define STM_DMA_CHANNEL_USART1_TX 4 +#define STM_DMA_CHANNEL_USART1_RX 5 +#define STM_DMA_CHANNEL_USART2_RX 6 +#define STM_DMA_CHANNEL_USART2_TX 7 +#define STM_DMA_CHANNEL_I2C2_TX 4 +#define STM_DMA_CHANNEL_I2C2_RX 5 +#define STM_DMA_CHANNEL_I2C1_TX 6 +#define STM_DMA_CHANNEL_I2C1_RX 7 +#define STM_DMA_CHANNEL_TIM2_CH3 1 +#define STM_DMA_CHANNEL_TIM2_UP 2 +#define STM_DMA_CHANNEL_TIM2_CH1 5 +#define STM_DMA_CHANNEL_TIM2_CH2 7 +#define STM_DMA_CHANNEL_TIM2_CH4 7 +#define STM_DMA_CHANNEL_TIM3_CH3 2 +#define STM_DMA_CHANNEL_TIM3_CH4 3 +#define STM_DMA_CHANNEL_TIM3_UP 3 +#define STM_DMA_CHANNEL_TIM3_CH1 6 +#define STM_DMA_CHANNEL_TIM3_TRIG 6 +#define STM_DMA_CHANNEL_TIM4_CH1 1 +#define STM_DMA_CHANNEL_TIM4_CH2 4 +#define STM_DMA_CHANNEL_TIM4_CH3 5 +#define STM_DMA_CHANNEL_TIM4_UP 7 +#define STM_DMA_CHANNEL_TIM6_UP_DA 2 +#define STM_DMA_CHANNEL_C_CHANNEL1 2 +#define STM_DMA_CHANNEL_TIM7_UP_DA 3 +#define STM_DMA_CHANNEL_C_CHANNEL2 3 + +/* + * Only spi channel 1 and 2 can use DMA + */ +#define STM_NUM_SPI 2 + +struct stm_spi { + vuint32_t cr1; + vuint32_t cr2; + vuint32_t sr; + vuint32_t dr; + vuint32_t crcpr; + vuint32_t rxcrcr; + vuint32_t txcrcr; +}; + +extern struct stm_spi stm_spi1, stm_spi2, stm_spi3; + +/* SPI channels go from 1 to 3, instead of 0 to 2 (sigh) + */ + +#define STM_SPI_INDEX(channel) ((channel) - 1) + +#define STM_SPI_CR1_BIDIMODE 15 +#define STM_SPI_CR1_BIDIOE 14 +#define STM_SPI_CR1_CRCEN 13 +#define STM_SPI_CR1_CRCNEXT 12 +#define STM_SPI_CR1_DFF 11 +#define STM_SPI_CR1_RXONLY 10 +#define STM_SPI_CR1_SSM 9 +#define STM_SPI_CR1_SSI 8 +#define STM_SPI_CR1_LSBFIRST 7 +#define STM_SPI_CR1_SPE 6 +#define STM_SPI_CR1_BR 3 +#define STM_SPI_CR1_BR_PCLK_2 0 +#define STM_SPI_CR1_BR_PCLK_4 1 +#define STM_SPI_CR1_BR_PCLK_8 2 +#define STM_SPI_CR1_BR_PCLK_16 3 +#define STM_SPI_CR1_BR_PCLK_32 4 +#define STM_SPI_CR1_BR_PCLK_64 5 +#define STM_SPI_CR1_BR_PCLK_128 6 +#define STM_SPI_CR1_BR_PCLK_256 7 +#define STM_SPI_CR1_BR_MASK 7 + +#define STM_SPI_CR1_MSTR 2 +#define STM_SPI_CR1_CPOL 1 +#define STM_SPI_CR1_CPHA 0 + +#define STM_SPI_CR2_TXEIE 7 +#define STM_SPI_CR2_RXNEIE 6 +#define STM_SPI_CR2_ERRIE 5 +#define STM_SPI_CR2_SSOE 2 +#define STM_SPI_CR2_TXDMAEN 1 +#define STM_SPI_CR2_RXDMAEN 0 + +#define STM_SPI_SR_BSY 7 +#define STM_SPI_SR_OVR 6 +#define STM_SPI_SR_MODF 5 +#define STM_SPI_SR_CRCERR 4 +#define STM_SPI_SR_TXE 1 +#define STM_SPI_SR_RXNE 0 + +struct stm_adc { + vuint32_t sr; + vuint32_t cr1; + vuint32_t cr2; + vuint32_t smpr1; + vuint32_t smpr2; + vuint32_t smpr3; + vuint32_t jofr1; + vuint32_t jofr2; + vuint32_t jofr3; + vuint32_t jofr4; + vuint32_t htr; + vuint32_t ltr; + vuint32_t sqr1; + vuint32_t sqr2; + vuint32_t sqr3; + vuint32_t sqr4; + vuint32_t sqr5; + vuint32_t jsqr; + vuint32_t jdr1; + vuint32_t jdr2; + vuint32_t jdr3; + vuint32_t jdr4; + vuint32_t dr; + uint8_t reserved[0x300 - 0x5c]; + vuint32_t csr; + vuint32_t ccr; +}; + +extern struct stm_adc stm_adc; + +#define STM_ADC_SR_JCNR 9 +#define STM_ADC_SR_RCNR 8 +#define STM_ADC_SR_ADONS 6 +#define STM_ADC_SR_OVR 5 +#define STM_ADC_SR_STRT 4 +#define STM_ADC_SR_JSTRT 3 +#define STM_ADC_SR_JEOC 2 +#define STM_ADC_SR_EOC 1 +#define STM_ADC_SR_AWD 0 + +#define STM_ADC_CR1_OVRIE 26 +#define STM_ADC_CR1_RES 24 +#define STM_ADC_CR1_RES_12 0 +#define STM_ADC_CR1_RES_10 1 +#define STM_ADC_CR1_RES_8 2 +#define STM_ADC_CR1_RES_6 3 +#define STM_ADC_CR1_RES_MASK 3 +#define STM_ADC_CR1_AWDEN 23 +#define STM_ADC_CR1_JAWDEN 22 +#define STM_ADC_CR1_PDI 17 +#define STM_ADC_CR1_PDD 16 +#define STM_ADC_CR1_DISCNUM 13 +#define STM_ADC_CR1_DISCNUM_1 0 +#define STM_ADC_CR1_DISCNUM_2 1 +#define STM_ADC_CR1_DISCNUM_3 2 +#define STM_ADC_CR1_DISCNUM_4 3 +#define STM_ADC_CR1_DISCNUM_5 4 +#define STM_ADC_CR1_DISCNUM_6 5 +#define STM_ADC_CR1_DISCNUM_7 6 +#define STM_ADC_CR1_DISCNUM_8 7 +#define STM_ADC_CR1_DISCNUM_MASK 7 +#define STM_ADC_CR1_JDISCEN 12 +#define STM_ADC_CR1_DISCEN 11 +#define STM_ADC_CR1_JAUTO 10 +#define STM_ADC_CR1_AWDSGL 9 +#define STM_ADC_CR1_SCAN 8 +#define STM_ADC_CR1_JEOCIE 7 +#define STM_ADC_CR1_AWDIE 6 +#define STM_ADC_CR1_EOCIE 5 +#define STM_ADC_CR1_AWDCH 0 +#define STM_ADC_CR1_AWDCH_MASK 0x1f + +#define STM_ADC_CR2_SWSTART 30 +#define STM_ADC_CR2_EXTEN 28 +#define STM_ADC_CR2_EXTEN_DISABLE 0 +#define STM_ADC_CR2_EXTEN_RISING 1 +#define STM_ADC_CR2_EXTEN_FALLING 2 +#define STM_ADC_CR2_EXTEN_BOTH 3 +#define STM_ADC_CR2_EXTEN_MASK 3 +#define STM_ADC_CR2_EXTSEL 24 +#define STM_ADC_CR2_EXTSEL_TIM9_CC2 0 +#define STM_ADC_CR2_EXTSEL_TIM9_TRGO 1 +#define STM_ADC_CR2_EXTSEL_TIM2_CC3 2 +#define STM_ADC_CR2_EXTSEL_TIM2_CC2 3 +#define STM_ADC_CR2_EXTSEL_TIM3_TRGO 4 +#define STM_ADC_CR2_EXTSEL_TIM4_CC4 5 +#define STM_ADC_CR2_EXTSEL_TIM2_TRGO 6 +#define STM_ADC_CR2_EXTSEL_TIM3_CC1 7 +#define STM_ADC_CR2_EXTSEL_TIM3_CC3 8 +#define STM_ADC_CR2_EXTSEL_TIM4_TRGO 9 +#define STM_ADC_CR2_EXTSEL_TIM6_TRGO 10 +#define STM_ADC_CR2_EXTSEL_EXTI_11 15 +#define STM_ADC_CR2_EXTSEL_MASK 15 +#define STM_ADC_CR2_JWSTART 22 +#define STM_ADC_CR2_JEXTEN 20 +#define STM_ADC_CR2_JEXTEN_DISABLE 0 +#define STM_ADC_CR2_JEXTEN_RISING 1 +#define STM_ADC_CR2_JEXTEN_FALLING 2 +#define STM_ADC_CR2_JEXTEN_BOTH 3 +#define STM_ADC_CR2_JEXTEN_MASK 3 +#define STM_ADC_CR2_JEXTSEL 16 +#define STM_ADC_CR2_JEXTSEL_TIM9_CC1 0 +#define STM_ADC_CR2_JEXTSEL_TIM9_TRGO 1 +#define STM_ADC_CR2_JEXTSEL_TIM2_TRGO 2 +#define STM_ADC_CR2_JEXTSEL_TIM2_CC1 3 +#define STM_ADC_CR2_JEXTSEL_TIM3_CC4 4 +#define STM_ADC_CR2_JEXTSEL_TIM4_TRGO 5 +#define STM_ADC_CR2_JEXTSEL_TIM4_CC1 6 +#define STM_ADC_CR2_JEXTSEL_TIM4_CC2 7 +#define STM_ADC_CR2_JEXTSEL_TIM4_CC3 8 +#define STM_ADC_CR2_JEXTSEL_TIM10_CC1 9 +#define STM_ADC_CR2_JEXTSEL_TIM7_TRGO 10 +#define STM_ADC_CR2_JEXTSEL_EXTI_15 15 +#define STM_ADC_CR2_JEXTSEL_MASK 15 +#define STM_ADC_CR2_ALIGN 11 +#define STM_ADC_CR2_EOCS 10 +#define STM_ADC_CR2_DDS 9 +#define STM_ADC_CR2_DMA 8 +#define STM_ADC_CR2_DELS 4 +#define STM_ADC_CR2_DELS_NONE 0 +#define STM_ADC_CR2_DELS_UNTIL_READ 1 +#define STM_ADC_CR2_DELS_7 2 +#define STM_ADC_CR2_DELS_15 3 +#define STM_ADC_CR2_DELS_31 4 +#define STM_ADC_CR2_DELS_63 5 +#define STM_ADC_CR2_DELS_127 6 +#define STM_ADC_CR2_DELS_255 7 +#define STM_ADC_CR2_DELS_MASK 7 +#define STM_ADC_CR2_CONT 1 +#define STM_ADC_CR2_ADON 0 + +#define STM_ADC_CCR_TSVREFE 23 +#define STM_ADC_CCR_ADCPRE 16 +#define STM_ADC_CCR_ADCPRE_HSI_1 0 +#define STM_ADC_CCR_ADCPRE_HSI_2 1 +#define STM_ADC_CCR_ADCPRE_HSI_4 2 +#define STM_ADC_CCR_ADCPRE_MASK 3 + +struct stm_temp_cal { + uint16_t vref; + uint16_t ts_cal_cold; + uint16_t reserved; + uint16_t ts_cal_hot; +}; + +extern struct stm_temp_cal stm_temp_cal; + +#define stm_temp_cal_cold 25 +#define stm_temp_cal_hot 110 + +#define STM_NUM_I2C 2 + +#define STM_I2C_INDEX(channel) ((channel) - 1) + +struct stm_i2c { + vuint32_t cr1; + vuint32_t cr2; + vuint32_t oar1; + vuint32_t oar2; + vuint32_t dr; + vuint32_t sr1; + vuint32_t sr2; + vuint32_t ccr; + vuint32_t trise; +}; + +extern struct stm_i2c stm_i2c1, stm_i2c2; + +#define STM_I2C_CR1_SWRST 15 +#define STM_I2C_CR1_ALERT 13 +#define STM_I2C_CR1_PEC 12 +#define STM_I2C_CR1_POS 11 +#define STM_I2C_CR1_ACK 10 +#define STM_I2C_CR1_STOP 9 +#define STM_I2C_CR1_START 8 +#define STM_I2C_CR1_NOSTRETCH 7 +#define STM_I2C_CR1_ENGC 6 +#define STM_I2C_CR1_ENPEC 5 +#define STM_I2C_CR1_ENARP 4 +#define STM_I2C_CR1_SMBTYPE 3 +#define STM_I2C_CR1_SMBUS 1 +#define STM_I2C_CR1_PE 0 + +#define STM_I2C_CR2_LAST 12 +#define STM_I2C_CR2_DMAEN 11 +#define STM_I2C_CR2_ITBUFEN 10 +#define STM_I2C_CR2_ITEVTEN 9 +#define STM_I2C_CR2_ITERREN 8 +#define STM_I2C_CR2_FREQ 0 +#define STM_I2C_CR2_FREQ_2_MHZ 2 +#define STM_I2C_CR2_FREQ_4_MHZ 4 +#define STM_I2C_CR2_FREQ_8_MHZ 8 +#define STM_I2C_CR2_FREQ_16_MHZ 16 +#define STM_I2C_CR2_FREQ_32_MHZ 32 +#define STM_I2C_CR2_FREQ_MASK 0x3f + +#define STM_I2C_SR1_SMBALERT 15 +#define STM_I2C_SR1_TIMEOUT 14 +#define STM_I2C_SR1_PECERR 12 +#define STM_I2C_SR1_OVR 11 +#define STM_I2C_SR1_AF 10 +#define STM_I2C_SR1_ARLO 9 +#define STM_I2C_SR1_BERR 8 +#define STM_I2C_SR1_TXE 7 +#define STM_I2C_SR1_RXNE 6 +#define STM_I2C_SR1_STOPF 4 +#define STM_I2C_SR1_ADD10 3 +#define STM_I2C_SR1_BTF 2 +#define STM_I2C_SR1_ADDR 1 +#define STM_I2C_SR1_SB 0 + +#define STM_I2C_SR2_PEC 8 +#define STM_I2C_SR2_PEC_MASK 0xff00 +#define STM_I2C_SR2_DUALF 7 +#define STM_I2C_SR2_SMBHOST 6 +#define STM_I2C_SR2_SMBDEFAULT 5 +#define STM_I2C_SR2_GENCALL 4 +#define STM_I2C_SR2_TRA 2 +#define STM_I2C_SR2_BUSY 1 +#define STM_I2C_SR2_MSL 0 + +#define STM_I2C_CCR_FS 15 +#define STM_I2C_CCR_DUTY 14 +#define STM_I2C_CCR_CCR 0 +#define STM_I2C_CCR_MASK 0x7ff + +struct stm_tim234 { + vuint32_t cr1; + vuint32_t cr2; + vuint32_t smcr; + vuint32_t dier; + + vuint32_t sr; + vuint32_t egr; + vuint32_t ccmr1; + vuint32_t ccmr2; + + vuint32_t ccer; + vuint32_t cnt; + vuint32_t psc; + vuint32_t arr; + + uint32_t reserved_30; + vuint32_t ccr1; + vuint32_t ccr2; + vuint32_t ccr3; + + vuint32_t ccr4; + uint32_t reserved_44; + vuint32_t dcr; + vuint32_t dmar; + + uint32_t reserved_50; +}; + +extern struct stm_tim234 stm_tim2, stm_tim3, stm_tim4; + +#define STM_TIM234_CR1_CKD 8 +#define STM_TIM234_CR1_CKD_1 0 +#define STM_TIM234_CR1_CKD_2 1 +#define STM_TIM234_CR1_CKD_4 2 +#define STM_TIM234_CR1_CKD_MASK 3 +#define STM_TIM234_CR1_ARPE 7 +#define STM_TIM234_CR1_CMS 5 +#define STM_TIM234_CR1_CMS_EDGE 0 +#define STM_TIM234_CR1_CMS_CENTER_1 1 +#define STM_TIM234_CR1_CMS_CENTER_2 2 +#define STM_TIM234_CR1_CMS_CENTER_3 3 +#define STM_TIM234_CR1_CMS_MASK 3 +#define STM_TIM234_CR1_DIR 4 +#define STM_TIM234_CR1_DIR_UP 0 +#define STM_TIM234_CR1_DIR_DOWN 1 +#define STM_TIM234_CR1_OPM 3 +#define STM_TIM234_CR1_URS 2 +#define STM_TIM234_CR1_UDIS 1 +#define STM_TIM234_CR1_CEN 0 + +#define STM_TIM234_CR2_TI1S 7 +#define STM_TIM234_CR2_MMS 4 +#define STM_TIM234_CR2_MMS_RESET 0 +#define STM_TIM234_CR2_MMS_ENABLE 1 +#define STM_TIM234_CR2_MMS_UPDATE 2 +#define STM_TIM234_CR2_MMS_COMPARE_PULSE 3 +#define STM_TIM234_CR2_MMS_COMPARE_OC1REF 4 +#define STM_TIM234_CR2_MMS_COMPARE_OC2REF 5 +#define STM_TIM234_CR2_MMS_COMPARE_OC3REF 6 +#define STM_TIM234_CR2_MMS_COMPARE_OC4REF 7 +#define STM_TIM234_CR2_MMS_MASK 7 +#define STM_TIM234_CR2_CCDS 3 + +#define STM_TIM234_SMCR_ETP 15 +#define STM_TIM234_SMCR_ECE 14 +#define STM_TIM234_SMCR_ETPS 12 +#define STM_TIM234_SMCR_ETPS_OFF 0 +#define STM_TIM234_SMCR_ETPS_DIV_2 1 +#define STM_TIM234_SMCR_ETPS_DIV_4 2 +#define STM_TIM234_SMCR_ETPS_DIV_8 3 +#define STM_TIM234_SMCR_ETPS_MASK 3 +#define STM_TIM234_SMCR_ETF 8 +#define STM_TIM234_SMCR_ETF_NONE 0 +#define STM_TIM234_SMCR_ETF_INT_N_2 1 +#define STM_TIM234_SMCR_ETF_INT_N_4 2 +#define STM_TIM234_SMCR_ETF_INT_N_8 3 +#define STM_TIM234_SMCR_ETF_DTS_2_N_6 4 +#define STM_TIM234_SMCR_ETF_DTS_2_N_8 5 +#define STM_TIM234_SMCR_ETF_DTS_4_N_6 6 +#define STM_TIM234_SMCR_ETF_DTS_4_N_8 7 +#define STM_TIM234_SMCR_ETF_DTS_8_N_6 8 +#define STM_TIM234_SMCR_ETF_DTS_8_N_8 9 +#define STM_TIM234_SMCR_ETF_DTS_16_N_5 10 +#define STM_TIM234_SMCR_ETF_DTS_16_N_6 11 +#define STM_TIM234_SMCR_ETF_DTS_16_N_8 12 +#define STM_TIM234_SMCR_ETF_DTS_32_N_5 13 +#define STM_TIM234_SMCR_ETF_DTS_32_N_6 14 +#define STM_TIM234_SMCR_ETF_DTS_32_N_8 15 +#define STM_TIM234_SMCR_ETF_MASK 15 +#define STM_TIM234_SMCR_MSM 7 +#define STM_TIM234_SMCR_TS 4 +#define STM_TIM234_SMCR_TS_ITR0 0 +#define STM_TIM234_SMCR_TS_ITR1 1 +#define STM_TIM234_SMCR_TS_ITR2 2 +#define STM_TIM234_SMCR_TS_ITR3 3 +#define STM_TIM234_SMCR_TS_TI1F_ED 4 +#define STM_TIM234_SMCR_TS_TI1FP1 5 +#define STM_TIM234_SMCR_TS_TI2FP2 6 +#define STM_TIM234_SMCR_TS_ETRF 7 +#define STM_TIM234_SMCR_TS_MASK 7 +#define STM_TIM234_SMCR_OCCS 3 +#define STM_TIM234_SMCR_SMS 0 +#define STM_TIM234_SMCR_SMS_DISABLE 0 +#define STM_TIM234_SMCR_SMS_ENCODER_MODE_1 1 +#define STM_TIM234_SMCR_SMS_ENCODER_MODE_2 2 +#define STM_TIM234_SMCR_SMS_ENCODER_MODE_3 3 +#define STM_TIM234_SMCR_SMS_RESET_MODE 4 +#define STM_TIM234_SMCR_SMS_GATED_MODE 5 +#define STM_TIM234_SMCR_SMS_TRIGGER_MODE 6 +#define STM_TIM234_SMCR_SMS_EXTERNAL_CLOCK 7 +#define STM_TIM234_SMCR_SMS_MASK 7 + +#define STM_TIM234_SR_CC4OF 12 +#define STM_TIM234_SR_CC3OF 11 +#define STM_TIM234_SR_CC2OF 10 +#define STM_TIM234_SR_CC1OF 9 +#define STM_TIM234_SR_TIF 6 +#define STM_TIM234_SR_CC4IF 4 +#define STM_TIM234_SR_CC3IF 3 +#define STM_TIM234_SR_CC2IF 2 +#define STM_TIM234_SR_CC1IF 1 +#define STM_TIM234_SR_UIF 0 + +#define STM_TIM234_CCMR1_OC2CE 15 +#define STM_TIM234_CCMR1_OC2M 12 +#define STM_TIM234_CCMR1_OC2M_FROZEN 0 +#define STM_TIM234_CCMR1_OC2M_SET_HIGH_ON_MATCH 1 +#define STM_TIM234_CCMR1_OC2M_SET_LOW_ON_MATCH 2 +#define STM_TIM234_CCMR1_OC2M_TOGGLE 3 +#define STM_TIM234_CCMR1_OC2M_FORCE_LOW 4 +#define STM_TIM234_CCMR1_OC2M_FORCE_HIGH 5 +#define STM_TIM234_CCMR1_OC2M_PWM_MODE_1 6 +#define STM_TIM234_CCMR1_OC2M_PWM_MODE_2 7 +#define STM_TIM234_CCMR1_OC2M_MASK 7 +#define STM_TIM234_CCMR1_OC2PE 11 +#define STM_TIM234_CCMR1_OC2FE 10 +#define STM_TIM234_CCMR1_CC2S 8 +#define STM_TIM234_CCMR1_CC2S_OUTPUT 0 +#define STM_TIM234_CCMR1_CC2S_INPUT_TI2 1 +#define STM_TIM234_CCMR1_CC2S_INPUT_TI1 2 +#define STM_TIM234_CCMR1_CC2S_INPUT_TRC 3 +#define STM_TIM234_CCMR1_CC2S_MASK 3 + +#define STM_TIM234_CCMR1_OC1CE 7 +#define STM_TIM234_CCMR1_OC1M 4 +#define STM_TIM234_CCMR1_OC1M_FROZEN 0 +#define STM_TIM234_CCMR1_OC1M_SET_HIGH_ON_MATCH 1 +#define STM_TIM234_CCMR1_OC1M_SET_LOW_ON_MATCH 2 +#define STM_TIM234_CCMR1_OC1M_TOGGLE 3 +#define STM_TIM234_CCMR1_OC1M_FORCE_LOW 4 +#define STM_TIM234_CCMR1_OC1M_FORCE_HIGH 5 +#define STM_TIM234_CCMR1_OC1M_PWM_MODE_1 6 +#define STM_TIM234_CCMR1_OC1M_PWM_MODE_2 7 +#define STM_TIM234_CCMR1_OC1M_MASK 7 +#define STM_TIM234_CCMR1_OC1PE 11 +#define STM_TIM234_CCMR1_OC1FE 2 +#define STM_TIM234_CCMR1_CC1S 0 +#define STM_TIM234_CCMR1_CC1S_OUTPUT 0 +#define STM_TIM234_CCMR1_CC1S_INPUT_TI1 1 +#define STM_TIM234_CCMR1_CC1S_INPUT_TI2 2 +#define STM_TIM234_CCMR1_CC1S_INPUT_TRC 3 +#define STM_TIM234_CCMR1_CC1S_MASK 3 + +#define STM_TIM234_CCMR2_OC2CE 15 +#define STM_TIM234_CCMR2_OC4M 12 +#define STM_TIM234_CCMR2_OC4M_FROZEN 0 +#define STM_TIM234_CCMR2_OC4M_SET_HIGH_ON_MATCH 1 +#define STM_TIM234_CCMR2_OC4M_SET_LOW_ON_MATCH 2 +#define STM_TIM234_CCMR2_OC4M_TOGGLE 3 +#define STM_TIM234_CCMR2_OC4M_FORCE_LOW 4 +#define STM_TIM234_CCMR2_OC4M_FORCE_HIGH 5 +#define STM_TIM234_CCMR2_OC4M_PWM_MODE_1 6 +#define STM_TIM234_CCMR2_OC4M_PWM_MODE_2 7 +#define STM_TIM234_CCMR2_OC4M_MASK 7 +#define STM_TIM234_CCMR2_OC4PE 11 +#define STM_TIM234_CCMR2_OC4FE 10 +#define STM_TIM234_CCMR2_CC4S 8 +#define STM_TIM234_CCMR2_CC4S_OUTPUT 0 +#define STM_TIM234_CCMR2_CC4S_INPUT_TI4 1 +#define STM_TIM234_CCMR2_CC4S_INPUT_TI3 2 +#define STM_TIM234_CCMR2_CC4S_INPUT_TRC 3 +#define STM_TIM234_CCMR2_CC4S_MASK 3 + +#define STM_TIM234_CCMR2_OC3CE 7 +#define STM_TIM234_CCMR2_OC3M 4 +#define STM_TIM234_CCMR2_OC3M_FROZEN 0 +#define STM_TIM234_CCMR2_OC3M_SET_HIGH_ON_MATCH 1 +#define STM_TIM234_CCMR2_OC3M_SET_LOW_ON_MATCH 2 +#define STM_TIM234_CCMR2_OC3M_TOGGLE 3 +#define STM_TIM234_CCMR2_OC3M_FORCE_LOW 4 +#define STM_TIM234_CCMR2_OC3M_FORCE_HIGH 5 +#define STM_TIM234_CCMR2_OC3M_PWM_MODE_1 6 +#define STM_TIM234_CCMR2_OC3M_PWM_MODE_2 7 +#define STM_TIM234_CCMR2_OC3M_MASK 7 +#define STM_TIM234_CCMR2_OC3PE 11 +#define STM_TIM234_CCMR2_OC3FE 2 +#define STM_TIM234_CCMR2_CC3S 0 +#define STM_TIM234_CCMR2_CC3S_OUTPUT 0 +#define STM_TIM234_CCMR2_CC3S_INPUT_TI3 1 +#define STM_TIM234_CCMR2_CC3S_INPUT_TI4 2 +#define STM_TIM234_CCMR2_CC3S_INPUT_TRC 3 +#define STM_TIM234_CCMR2_CC3S_MASK 3 + +#define STM_TIM234_CCER_CC4NP 15 +#define STM_TIM234_CCER_CC4P 13 +#define STM_TIM234_CCER_CC4E 12 +#define STM_TIM234_CCER_CC3NP 11 +#define STM_TIM234_CCER_CC3P 9 +#define STM_TIM234_CCER_CC3E 8 +#define STM_TIM234_CCER_CC2NP 7 +#define STM_TIM234_CCER_CC2P 5 +#define STM_TIM234_CCER_CC2E 4 +#define STM_TIM234_CCER_CC1NP 3 +#define STM_TIM234_CCER_CC1P 1 +#define STM_TIM234_CCER_CC1E 0 + +struct stm_usb { + vuint32_t epr[8]; + uint8_t reserved_20[0x40 - 0x20]; + vuint32_t cntr; + vuint32_t istr; + vuint32_t fnr; + vuint32_t daddr; + vuint32_t btable; +}; + +#define STM_USB_EPR_CTR_RX 15 +#define STM_USB_EPR_CTR_RX_WRITE_INVARIANT 1 +#define STM_USB_EPR_DTOG_RX 14 +#define STM_USB_EPR_DTOG_RX_WRITE_INVARIANT 0 +#define STM_USB_EPR_STAT_RX 12 +#define STM_USB_EPR_STAT_RX_DISABLED 0 +#define STM_USB_EPR_STAT_RX_STALL 1 +#define STM_USB_EPR_STAT_RX_NAK 2 +#define STM_USB_EPR_STAT_RX_VALID 3 +#define STM_USB_EPR_STAT_RX_MASK 3 +#define STM_USB_EPR_STAT_RX_WRITE_INVARIANT 0 +#define STM_USB_EPR_SETUP 11 +#define STM_USB_EPR_EP_TYPE 9 +#define STM_USB_EPR_EP_TYPE_BULK 0 +#define STM_USB_EPR_EP_TYPE_CONTROL 1 +#define STM_USB_EPR_EP_TYPE_ISO 2 +#define STM_USB_EPR_EP_TYPE_INTERRUPT 3 +#define STM_USB_EPR_EP_TYPE_MASK 3 +#define STM_USB_EPR_EP_KIND 8 +#define STM_USB_EPR_EP_KIND_DBL_BUF 1 /* Bulk */ +#define STM_USB_EPR_EP_KIND_STATUS_OUT 1 /* Control */ +#define STM_USB_EPR_CTR_TX 7 +#define STM_USB_CTR_TX_WRITE_INVARIANT 1 +#define STM_USB_EPR_DTOG_TX 6 +#define STM_USB_EPR_DTOG_TX_WRITE_INVARIANT 0 +#define STM_USB_EPR_STAT_TX 4 +#define STM_USB_EPR_STAT_TX_DISABLED 0 +#define STM_USB_EPR_STAT_TX_STALL 1 +#define STM_USB_EPR_STAT_TX_NAK 2 +#define STM_USB_EPR_STAT_TX_VALID 3 +#define STM_USB_EPR_STAT_TX_WRITE_INVARIANT 0 +#define STM_USB_EPR_STAT_TX_MASK 3 +#define STM_USB_EPR_EA 0 +#define STM_USB_EPR_EA_MASK 0xf + +#define STM_USB_CNTR_CTRM 15 +#define STM_USB_CNTR_PMAOVRM 14 +#define STM_USB_CNTR_ERRM 13 +#define STM_USB_CNTR_WKUPM 12 +#define STM_USB_CNTR_SUSPM 11 +#define STM_USB_CNTR_RESETM 10 +#define STM_USB_CNTR_SOFM 9 +#define STM_USB_CNTR_ESOFM 8 +#define STM_USB_CNTR_RESUME 4 +#define STM_USB_CNTR_FSUSP 3 +#define STM_USB_CNTR_LP_MODE 2 +#define STM_USB_CNTR_PDWN 1 +#define STM_USB_CNTR_FRES 0 + +#define STM_USB_ISTR_CTR 15 +#define STM_USB_ISTR_PMAOVR 14 +#define STM_USB_ISTR_ERR 13 +#define STM_USB_ISTR_WKUP 12 +#define STM_USB_ISTR_SUSP 11 +#define STM_USB_ISTR_RESET 10 +#define STM_USB_ISTR_SOF 9 +#define STM_USB_ISTR_ESOF 8 +#define STM_USB_ISTR_DIR 4 +#define STM_USB_ISTR_EP_ID 0 +#define STM_USB_ISTR_EP_ID_MASK 0xf + +#define STM_USB_FNR_RXDP 15 +#define STM_USB_FNR_RXDM 14 +#define STM_USB_FNR_LCK 13 +#define STM_USB_FNR_LSOF 11 +#define STM_USB_FNR_LSOF_MASK 0x3 +#define STM_USB_FNR_FN 0 +#define STM_USB_FNR_FN_MASK 0x7ff + +#define STM_USB_DADDR_EF 7 +#define STM_USB_DADDR_ADD 0 +#define STM_USB_DADDR_ADD_MASK 0x7f + +extern struct stm_usb stm_usb; + +union stm_usb_bdt { + struct { + vuint32_t addr_tx; + vuint32_t count_tx; + vuint32_t addr_rx; + vuint32_t count_rx; + } single; + struct { + vuint32_t addr; + vuint32_t count; + } double_tx[2]; + struct { + vuint32_t addr; + vuint32_t count; + } double_rx[2]; +}; + +#define STM_USB_BDT_COUNT_RX_BL_SIZE 15 +#define STM_USB_BDT_COUNT_RX_NUM_BLOCK 10 +#define STM_USB_BDT_COUNT_RX_NUM_BLOCK_MASK 0x1f +#define STM_USB_BDT_COUNT_RX_COUNT_RX 0 +#define STM_USB_BDT_COUNT_RX_COUNT_RX_MASK 0x1ff + +#define STM_USB_BDT_SIZE 8 + +extern uint8_t stm_usb_sram[]; + +struct stm_exti { + vuint32_t imr; + vuint32_t emr; + vuint32_t rtsr; + vuint32_t ftsr; + + vuint32_t swier; + vuint32_t pr; +}; + +extern struct stm_exti stm_exti; + +#endif /* _STM32L_H_ */ diff --git a/src/teleballoon-v1.1/.gitignore b/src/teleballoon-v1.1/.gitignore new file mode 100644 index 00000000..21b236c0 --- /dev/null +++ b/src/teleballoon-v1.1/.gitignore @@ -0,0 +1,2 @@ +teleballoon-* +ao_product.h diff --git a/src/teleballoon-v1.1/Makefile b/src/teleballoon-v1.1/Makefile new file mode 100644 index 00000000..2eea996e --- /dev/null +++ b/src/teleballoon-v1.1/Makefile @@ -0,0 +1,119 @@ +# +# TeleBalloon build file +# +# The various telemetrum versions differ only +# in which flash and GPS drivers are included, +# so the per-board makefiles simply define +# TM_VER, TM_DEF, TM_INC and TM_SRC and include +# this file + +TELEBALLOON_VER=1.1 +TELEBALLOON_DEF=1_1 + +TELEBALLOON_INC = + +TELEBALLOON_SRC = \ + ao_companion.c \ + ao_gps_skytraq.c \ + ao_m25.c + +vpath %.c ..:../core:../cc1111:../drivers:../product:. +vpath %.h ..:../core:../cc1111:../drivers:../product:. +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + cc1111.h \ + altitude.h \ + ao_kalman.h \ + ao_product.h \ + $(TELEBALLOON_INC) + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_convert.c \ + ao_gps_report.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_balloon.c \ + ao_sample.c \ + ao_kalman.c \ + ao_log.c \ + ao_log_big.c \ + ao_report.c \ + ao_telemetry.c + +CC1111_SRC = \ + ao_adc.c \ + ao_beep.c \ + ao_dbg.c \ + ao_dma.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_slave.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_string.c \ + ao_spi.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = \ + $(TELEBALLOON_SRC) + +PRODUCT_SRC = \ + ao_teleballoon.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = teleballoon-v$(TELEBALLOON_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleBalloon-v$(TELEBALLOON_VER) +PRODUCT_DEF=-DTELEBALLOON_V_$(TELEBALLOON_DEF) +IDPRODUCT=0x000b + +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) && cp $(PROG) $(PMAP) .. + $(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/teleballoon-v1.1/ao_balloon.c b/src/teleballoon-v1.1/ao_balloon.c new file mode 100644 index 00000000..e8972655 --- /dev/null +++ b/src/teleballoon-v1.1/ao_balloon.c @@ -0,0 +1,129 @@ +/* + * Copyright © 2009 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_FLIGHT_TEST +#include "ao.h" +#endif + +#ifndef HAS_ACCEL +#error Please define HAS_ACCEL +#endif + +#ifndef HAS_GPS +#error Please define HAS_GPS +#endif + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +/* Main flight thread. */ + +__pdata enum ao_flight_state ao_flight_state; /* current flight state */ + +__pdata uint8_t ao_flight_force_idle; + +void +ao_flight(void) +{ + ao_sample_init(); + ao_flight_state = ao_flight_startup; + for (;;) { + + /* + * Process ADC samples, just looping + * until the sensors are calibrated. + */ + if (!ao_sample()) + continue; + + switch (ao_flight_state) { + case ao_flight_startup: + + /* Check to see what mode we should go to. + * - Invalid mode if accel cal appears to be out + * - pad mode if we're upright, + * - idle mode otherwise + */ + if (!ao_flight_force_idle) + { + /* Set pad mode - we can fly! */ + ao_flight_state = ao_flight_pad; +#if HAS_USB + /* Disable the USB controller in flight mode + * to save power + */ + ao_usb_disable(); +#endif + + /* Disable packet mode in pad state */ + ao_packet_slave_stop(); + + /* Turn on telemetry system */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON); + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } else { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + + break; + case ao_flight_pad: + + /* pad to coast: + * + * barometer: > 20m vertical motion + */ + if (ao_height > AO_M_TO_HEIGHT(20)) + { + ao_flight_state = ao_flight_drogue; + + /* start logging data */ + ao_log_start(); + +#if HAS_GPS + /* Record current GPS position by waking up GPS log tasks */ + ao_wakeup(&ao_gps_data); + ao_wakeup(&ao_gps_tracking_data); +#endif + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_drogue: + break; + + } + } +} + +static __xdata struct ao_task flight_task; + +void +ao_flight_init(void) +{ + ao_flight_state = ao_flight_startup; + ao_add_task(&flight_task, ao_flight, "flight"); +} diff --git a/src/teleballoon-v1.1/ao_pins.h b/src/teleballoon-v1.1/ao_pins.h new file mode 100644 index 00000000..3305719a --- /dev/null +++ b/src/teleballoon-v1.1/ao_pins.h @@ -0,0 +1,215 @@ +/* + * 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_ + +#if defined(TELEBALLOON_V_1_1) + + #define AO_SENSOR_INTERVAL_ASCENT AO_MS_TO_TICKS(1000) + #define AO_SENSOR_INTERVAL_DESCENT AO_MS_TO_TICKS(1000) + #define AO_OTHER_INTERVAL AO_MS_TO_TICKS(1000) + #define AO_TELEMETRY_INTERVAL_BALLOON AO_MS_TO_TICKS(1000) + + #define HAS_FLIGHT 1 + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 + #define HAS_SERIAL_1 1 + #define HAS_ADC 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_DBG 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 1 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + + #define HAS_COMPANION 1 + #define COMPANION_CS_ON_P1 1 + #define COMPANION_CS_MASK 0x4 /* CS1 is P1_2 */ + #define COMPANION_CS P1_2 + + #define AO_LED_RED 1 + #define LEDS_AVAILABLE (AO_LED_RED) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL_REF 1 + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define M25_CS_MASK 0x02 /* CS0 is P1_1 */ + #define M25_MAX_CHIPS 1 + #define HAS_ACCEL 1 + #define HAS_IGNITE 0 + #define HAS_MONITOR 0 +#endif + +#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 */ + +#if COMPANION_CS_ON_P1 + #define COMPANION_CS_PORT P1 + #define COMPANION_CS_SEL P1SEL + #define COMPANION_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P1 + #define SPI_CS_PORT P1 + #define SPI_CS_SEL P1SEL + #define SPI_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P0 + #define SPI_CS_PORT P0 + #define SPI_CS_SEL P0SEL + #define SPI_CS_DIR P0DIR +#endif + +#ifndef IGNITE_ON_P2 +#error Please define IGNITE_ON_P2 +#endif + +#ifndef IGNITE_ON_P0 +#error Please define IGNITE_ON_P0 +#endif + +#ifndef HAS_SERIAL_1 +#error Please define HAS_SERIAL_1 +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#ifndef HAS_EEPROM +#error Please define HAS_EEPROM +#endif + +#ifndef HAS_LOG +#error Please define HAS_LOG +#endif + +#if HAS_EEPROM +#ifndef USE_INTERNAL_FLASH +#error Please define USE_INTERNAL_FLASH +#endif +#endif + +#ifndef HAS_DBG +#error Please define HAS_DBG +#endif + +#ifndef HAS_IGNITE +#error Please define HAS_IGNITE +#endif + +#if HAS_IGNITE +#define HAS_IGNITE_REPORT 1 +#endif + +#ifndef PACKET_HAS_MASTER +#error Please define PACKET_HAS_MASTER +#endif + +#ifndef PACKET_HAS_SLAVE +#error Please define PACKET_HAS_SLAVE +#endif + +#ifndef HAS_MONITOR +#error Please define HAS_MONITOR +#endif + +#if HAS_MONITOR +#ifndef HAS_RSSI +#error Please define HAS_RSSI +#endif +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#if HAS_ADC + +#if HAS_ACCEL +#ifndef HAS_ACCEL_REF +#error Please define HAS_ACCEL_REF +#endif +#else +#define HAS_ACCEL_REF 0 +#endif + +#endif /* HAS_ADC */ + +#if IGNITE_ON_P2 +#define AO_IGNITER_DROGUE P2_3 +#define AO_IGNITER_MAIN P2_4 +#define AO_IGNITER_DIR P2DIR +#define AO_IGNITER_DROGUE_BIT (1 << 3) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +#if IGNITE_ON_P0 +#define AO_IGNITER_DROGUE P0_5 +#define AO_IGNITER_MAIN P0_4 +#define AO_IGNITER_DIR P0DIR +#define AO_IGNITER_DROGUE_BIT (1 << 5) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +/* test these values with real igniters */ +#define AO_IGNITER_OPEN 1000 +#define AO_IGNITER_CLOSED 7000 +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) + +#endif /* _AO_PINS_H_ */ diff --git a/src/teleballoon-v1.1/ao_teleballoon.c b/src/teleballoon-v1.1/ao_teleballoon.c new file mode 100644 index 00000000..3f12a59c --- /dev/null +++ b/src/teleballoon-v1.1/ao_teleballoon.c @@ -0,0 +1,77 @@ +/* + * Copyright © 2009 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_pins.h" + +void +ao_ignite_set_pins(void) +{ + AO_IGNITER_DROGUE = 0; + AO_IGNITER_MAIN = 0; + AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT; +} + +void +main(void) +{ + /* + * Reduce the transient on the ignite pins at startup by + * pulling the pins low as soon as possible at power up + */ + ao_ignite_set_pins(); + + ao_clock_init(); + + /* Turn on the red LED until the system is stable */ + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_RED); + + /* A hack -- look at the SPI clock pin, if it's sitting at + * ground, then we force the computer to idle mode instead of + * flight mode + */ + if (P1_3 == 0) { + ao_flight_force_idle = 1; + while (P1_3 == 0) + ; + } + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_storage_init(); + ao_flight_init(); + ao_log_init(); + ao_report_init(); + ao_usb_init(); + ao_serial_init(); + ao_gps_init(); + ao_gps_report_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(TRUE); +#if HAS_DBG + ao_dbg_init(); +#endif +#if HAS_COMPANION + ao_companion_init(); +#endif + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/telebt-v0.0/.gitignore b/src/telebt-v0.0/.gitignore new file mode 100644 index 00000000..1acfbfcc --- /dev/null +++ b/src/telebt-v0.0/.gitignore @@ -0,0 +1,2 @@ +telebt-* +ao_product.h diff --git a/src/telebt-v0.0/.sdcdbrc b/src/telebt-v0.0/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/telebt-v0.0/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/telebt-v0.0/Makefile b/src/telebt-v0.0/Makefile new file mode 100644 index 00000000..e89639ab --- /dev/null +++ b/src/telebt-v0.0/Makefile @@ -0,0 +1,9 @@ +# +# TeleBT v0.0 build +# + +TELEBT_VER=0.0 +TELEBT_DEF=0_0 + +include ../product/Makefile.telebt + diff --git a/src/telebt-v0.1/.gitignore b/src/telebt-v0.1/.gitignore new file mode 100644 index 00000000..1acfbfcc --- /dev/null +++ b/src/telebt-v0.1/.gitignore @@ -0,0 +1,2 @@ +telebt-* +ao_product.h diff --git a/src/telebt-v0.1/.sdcdbrc b/src/telebt-v0.1/.sdcdbrc new file mode 100644 index 00000000..b9f6129c --- /dev/null +++ b/src/telebt-v0.1/.sdcdbrc @@ -0,0 +1,2 @@ +--directory=../cc1111:../product:../core:../drivers:. + diff --git a/src/telebt-v0.1/Makefile b/src/telebt-v0.1/Makefile new file mode 100644 index 00000000..90cd3cac --- /dev/null +++ b/src/telebt-v0.1/Makefile @@ -0,0 +1,21 @@ +# +# TeleBT v0.1 build +# + +TELEBT_VER=0.1 +TELEBT_DEF=0_1 + +TELEBT_INC = \ + ao_25lc1024.h + +TELEBT_SRC = \ + ao_beep.c \ + ao_log_single.c \ + ao_log_telem.c \ + ao_report.c \ + ao_spi.c \ + ao_storage.c \ + ao_m25.c + +include ../product/Makefile.telebt + diff --git a/src/teledongle-v0.1/.gitignore b/src/teledongle-v0.1/.gitignore new file mode 100644 index 00000000..9826814b --- /dev/null +++ b/src/teledongle-v0.1/.gitignore @@ -0,0 +1,2 @@ +teledongle-v0.1* +ao_product.h diff --git a/src/teledongle-v0.1/.sdcdbrc b/src/teledongle-v0.1/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/teledongle-v0.1/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/teledongle-v0.1/Makefile b/src/teledongle-v0.1/Makefile new file mode 100644 index 00000000..48425107 --- /dev/null +++ b/src/teledongle-v0.1/Makefile @@ -0,0 +1,8 @@ +# +# TeleDongle v0.2 build +# + +TD_VER=0.1 +TD_DEF=0_1 + +include ../product/Makefile.teledongle diff --git a/src/teledongle-v0.2/.gitignore b/src/teledongle-v0.2/.gitignore new file mode 100644 index 00000000..f6ea8c6c --- /dev/null +++ b/src/teledongle-v0.2/.gitignore @@ -0,0 +1,2 @@ +teledongle-v0.2* +ao_product.h diff --git a/src/teledongle-v0.2/.sdcdbrc b/src/teledongle-v0.2/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/teledongle-v0.2/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/teledongle-v0.2/Makefile b/src/teledongle-v0.2/Makefile new file mode 100644 index 00000000..ce4ab437 --- /dev/null +++ b/src/teledongle-v0.2/Makefile @@ -0,0 +1,8 @@ +# +# TeleDongle v0.2 build +# + +TD_VER=0.2 +TD_DEF=0_2 + +include ../product/Makefile.teledongle
\ No newline at end of file diff --git a/src/telefire-v0.1/.gitignore b/src/telefire-v0.1/.gitignore new file mode 100644 index 00000000..4d4f4200 --- /dev/null +++ b/src/telefire-v0.1/.gitignore @@ -0,0 +1,2 @@ +telefire-* +ao_product.h diff --git a/src/telefire-v0.1/.sdcdbrc b/src/telefire-v0.1/.sdcdbrc new file mode 100644 index 00000000..b9f6129c --- /dev/null +++ b/src/telefire-v0.1/.sdcdbrc @@ -0,0 +1,2 @@ +--directory=../cc1111:../product:../core:../drivers:. + diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile new file mode 100644 index 00000000..712b2e8b --- /dev/null +++ b/src/telefire-v0.1/Makefile @@ -0,0 +1,103 @@ +# +# TeleFire build file +# + +TELEFIRE_VER=0.1 +TELEFIRE_DEF=0_1 + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../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 \ + ao_pad.h \ + cc1111.h \ + ao_product.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_convert.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_adc.c \ + ao_aes.c \ + ao_beep.c \ + ao_dma.c \ + ao_intflash.c \ + ao_radio.c \ + ao_radio_cmac.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_spi.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = \ + ao_pca9922.c \ + ao_74hc497.c \ + ao_pad.c \ + ao_radio_cmac_cmd.c + +PRODUCT_SRC = \ + ao_telefire.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telefire-v$(TELEFIRE_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleFire-v$(TELEFIRE_VER) +PRODUCT_DEF=-DTELEFIRE_V_$(TELEFIRE_DEF) +IDPRODUCT=0x000f +CODESIZE=0x6700 + +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) && cp $(PROG) $(PMAP) .. + $(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/telefire-v0.1/ao_pins.h b/src/telefire-v0.1/ao_pins.h new file mode 100644 index 00000000..eecf783e --- /dev/null +++ b/src/telefire-v0.1/ao_pins.h @@ -0,0 +1,113 @@ +/* + * 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_FLIGHT 0 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define HAS_GPS 0 +#define HAS_SERIAL_1 0 +#define HAS_ADC 1 +#define HAS_DBG 0 +#define HAS_EEPROM 1 +#define HAS_LOG 0 +#define HAS_PAD 1 +#define USE_INTERNAL_FLASH 1 +#define DBG_ON_P1 0 +#define IGNITE_ON_P2 0 +#define IGNITE_ON_P1 1 +#define IGNITE_ON_P0 0 +#define PACKET_HAS_MASTER 0 +#define PACKET_HAS_SLAVE 0 + +#define AO_LED_CONTINUITY(c) (1 << (c)) +#define AO_LED_CONTINUITY_MASK (0xf) +#define AO_LED_RX 0x10 +#define AO_LED_TX 0x20 +#define AO_LED_ARMED 0x40 +#define AO_LED_POWER 0x80 + +#define AO_LED_RED AO_LED_TX +#define AO_LED_GREEN AO_LED_RX + +#define LEDS_AVAILABLE (0xff) +#define HAS_EXTERNAL_TEMP 0 +#define HAS_ACCEL_REF 0 +#define SPI_CS_ON_P1 1 +#define HAS_AES 1 +#define DMA_SHARE_AES_RADIO 1 + +#define SPI_CS_PORT P1 +#define SPI_CS_SEL P1SEL +#define SPI_CS_DIR P1DIR + +#define SPI_CONST 0x00 + +#define HAS_SPI_0 0 +#define HAS_SPI_1 1 +#define SPI_1_ALT_1 0 +#define SPI_1_ALT_2 1 + +#define AO_74HC497_CS_PORT P1 +#define AO_74HC497_CS_PIN 4 +#define AO_74HC497_CS P1_4 + +#define AO_PCA9922_CS_PORT P1 +#define AO_PCA9922_CS_PIN 4 +#define AO_PCA9922_CS P1_4 + +#define AO_PAD_NUM 4 +#define AO_PAD_PORT P1 +#define AO_PAD_DIR P1DIR +#define AO_PAD_PIN_0 0 +#define AO_PAD_0 P1_0 +#define AO_PAD_PIN_1 1 +#define AO_PAD_1 P1_1 +#define AO_PAD_PIN_2 2 +#define AO_PAD_2 P1_2 +#define AO_PAD_PIN_3 3 +#define AO_PAD_3 P1_3 +#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)) + +/* test these values with real igniters */ +#define AO_PAD_RELAY_CLOSED 3524 +#define AO_PAD_NO_IGNITER 16904 +#define AO_PAD_GOOD_IGNITER 22514 + +struct ao_adc { + int16_t sense[4]; + int16_t pyro; + int16_t batt; +}; + +#define AO_ADC_DUMP(p) \ + printf ("tick: %5u 0: %5d 1: %5d 2: %5d 3: %5d pyro: %5d batt %5d\n", \ + (p)->tick, \ + (p)->adc.sense[0], \ + (p)->adc.sense[1], \ + (p)->adc.sense[2], \ + (p)->adc.sense[3], \ + (p)->adc.pyro, \ + (p)->adc.batt) + +#define AO_ADC_PINS ((1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5)) + +#endif /* _AO_PINS_H_ */ diff --git a/src/telefire-v0.1/ao_telefire.c b/src/telefire-v0.1/ao_telefire.c new file mode 100644 index 00000000..cc0f668f --- /dev/null +++ b/src/telefire-v0.1/ao_telefire.c @@ -0,0 +1,44 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_pad.h> +#include <ao_74hc497.h> +#include <ao_radio_cmac_cmd.h> + +void +main(void) +{ + ao_clock_init(); + + ao_led_init(LEDS_AVAILABLE); + + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_74hc497_init(); + ao_storage_init(); + ao_usb_init(); + ao_radio_init(); + ao_aes_init(); + ao_pad_init(); +// ao_radio_cmac_cmd_init(); + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/telelaunch-v0.1/.gitignore b/src/telelaunch-v0.1/.gitignore new file mode 100644 index 00000000..e2cf954c --- /dev/null +++ b/src/telelaunch-v0.1/.gitignore @@ -0,0 +1,2 @@ +telelaunch* +ao_product.h diff --git a/src/telelaunch-v0.1/.sdcdbrc b/src/telelaunch-v0.1/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/telelaunch-v0.1/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/telelaunch-v0.1/Makefile b/src/telelaunch-v0.1/Makefile new file mode 100644 index 00000000..b0d9d165 --- /dev/null +++ b/src/telelaunch-v0.1/Makefile @@ -0,0 +1,4 @@ +TELELAUNCH_VER=0.1 +TELELAUNCH_DEF=0_1 + +include ../product/Makefile.telelaunch diff --git a/src/telelaunch-v0.1/Makefile.defs b/src/telelaunch-v0.1/Makefile.defs new file mode 100644 index 00000000..56f5730b --- /dev/null +++ b/src/telelaunch-v0.1/Makefile.defs @@ -0,0 +1,14 @@ +PROG = telelaunch-v0.1-$(VERSION).ihx + +SRC = \ + $(TLAUNCH_BASE_SRC) \ + $(SPI_DRIVER_SRC) \ + $(EE_DRIVER_SRC) \ + ao_launch.c \ + ao_aes.c \ + ao_radio_cmac.c \ + $(DBG_SRC) + +PRODUCT=TeleLaunch-v0.1 +PRODUCT_DEF=-DTELELAUNCH_V_0_1 +IDPRODUCT=0x000f diff --git a/src/telelco-v0.1/.gitignore b/src/telelco-v0.1/.gitignore new file mode 100644 index 00000000..54267ec1 --- /dev/null +++ b/src/telelco-v0.1/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +telelco-* diff --git a/src/telelco-v0.1/Makefile b/src/telelco-v0.1/Makefile new file mode 100644 index 00000000..d2702dd6 --- /dev/null +++ b/src/telelco-v0.1/Makefile @@ -0,0 +1,96 @@ +# +# AltOS build for TeleLCO +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_companion.h \ + ao_data.h \ + ao_sample.h \ + ao_pins.h \ + ao_product.h \ + ao_seven_segment.h \ + ao_lco.h \ + ao_lco_cmd.h \ + ao_lco_func.h \ + ao_radio_spi.h \ + ao_radio_cmac.h \ + stm32l.h + +# +# Common AltOS sources +# + +#PROFILE=ao_profile.c +#PROFILE_DEF=-DAO_PROFILE=1 + +ALTOS_SRC = \ + ao_interrupt.c \ + ao_product.c \ + ao_romconfig.c \ + ao_cmd.c \ + ao_config.c \ + ao_task.c \ + ao_led.c \ + ao_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_mutex.c \ + ao_freq.c \ + ao_dma_stm.c \ + ao_spi_stm.c \ + ao_beep_stm.c \ + ao_storage.c \ + ao_eeprom_stm.c \ + ao_lcd_stm.c \ + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_radio_master.c \ + ao_seven_segment.c \ + ao_quadrature.c \ + ao_button.c \ + ao_event.c \ + ao_lco.c \ + ao_lco_cmd.c \ + ao_lco_func.c \ + ao_radio_cmac_cmd.c + +PRODUCT=TeleLCO-v0.1 +PRODUCT_DEF=-DMEGAMETRUM +IDPRODUCT=0x0023 + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g + +PROGNAME=telelco-v0.1 +PROG=$(PROGNAME)-$(VERSION).elf + +SRC=$(ALTOS_SRC) ao_telelco.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc + +../altitude.h: make-altitude + nickle $< > $@ + +$(OBJ): $(INC) + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/telelco-v0.1/ao_lco.c b/src/telelco-v0.1/ao_lco.c new file mode 100644 index 00000000..41bba0ba --- /dev/null +++ b/src/telelco-v0.1/ao_lco.c @@ -0,0 +1,339 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_lco.h> +#include <ao_event.h> +#include <ao_seven_segment.h> +#include <ao_quadrature.h> +#include <ao_lco_func.h> +#include <ao_radio_cmac.h> + +#define DEBUG 1 + +#if DEBUG +static uint8_t ao_lco_debug; +#define PRINTD(...) do { if (!ao_lco_debug) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0) +#else +#define PRINTD(...) +#endif + +#define AO_LCO_PAD_DIGIT 0 +#define AO_LCO_BOX_DIGIT_1 1 +#define AO_LCO_BOX_DIGIT_10 2 + +static uint8_t ao_lco_min_box, ao_lco_max_box; +static uint8_t ao_lco_mutex; +static uint8_t ao_lco_pad; +static uint8_t ao_lco_box; +static uint8_t ao_lco_armed; +static uint8_t ao_lco_firing; +static uint8_t ao_lco_valid; + +static void +ao_lco_set_pad(void) +{ + ao_seven_segment_set(AO_LCO_PAD_DIGIT, ao_lco_pad + 1); +} + +static void +ao_lco_set_box(void) +{ + ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ao_lco_box % 10); + ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, ao_lco_box / 10); +} + +#define MASK_SIZE(n) (((n) + 7) >> 3) +#define MASK_ID(n) ((n) >> 3) +#define MASK_SHIFT(n) ((n) & 7) + +static uint8_t ao_lco_box_mask[MASK_SIZE(AO_PAD_MAX_BOXES)]; + +static uint8_t +ao_lco_box_present(uint8_t box) +{ + if (box >= AO_PAD_MAX_BOXES) + return 0; + return (ao_lco_box_mask[MASK_ID(box)] >> MASK_SHIFT(box)) & 1; +} + +static void +ao_lco_input(void) +{ + static struct ao_event event; + int8_t dir; + + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + ao_lco_set_pad(); + ao_lco_set_box(); + for (;;) { + ao_event_get(&event); + PRINTD("event type %d unit %d value %d\n", + event.type, event.unit, event.value); + switch (event.type) { + case AO_EVENT_QUADRATURE: + switch (event.unit) { + case AO_QUADRATURE_PAD: + if (!ao_lco_armed) { + ao_lco_pad = event.value & 3; + ao_quadrature_count[AO_QUADRATURE_PAD] = ao_lco_pad; + ao_lco_set_pad(); + } + break; + case AO_QUADRATURE_BOX: + if (!ao_lco_armed) { + if (event.value == ao_lco_box) + break; + dir = (event.value - ao_lco_box) > 0 ? 1 : -1; + ao_lco_box = event.value; + while (!ao_lco_box_present(ao_lco_box)) { + ao_lco_box += dir; + if (ao_lco_box > ao_lco_max_box) + ao_lco_box = ao_lco_min_box; + else if (ao_lco_box < ao_lco_min_box) + ao_lco_box = ao_lco_min_box; + } + ao_quadrature_count[AO_QUADRATURE_PAD] = ao_lco_box; + ao_lco_set_box(); + } + break; + } + break; + case AO_EVENT_BUTTON: + switch (event.unit) { + case AO_BUTTON_ARM: + ao_lco_armed = event.value; + PRINTD("Armed %d\n", ao_lco_armed); + ao_wakeup(&ao_lco_armed); + break; + case AO_BUTTON_FIRE: + if (ao_lco_armed) { + ao_lco_firing = event.value; + PRINTD("Firing %d\n", ao_lco_firing); + ao_wakeup(&ao_lco_armed); + } + break; + } + break; + } + } +} + +static AO_LED_TYPE continuity_led[AO_LED_CONTINUITY_NUM] = { +#ifdef AO_LED_CONTINUITY_0 + AO_LED_CONTINUITY_0, +#endif +#ifdef AO_LED_CONTINUITY_1 + AO_LED_CONTINUITY_1, +#endif +#ifdef AO_LED_CONTINUITY_2 + AO_LED_CONTINUITY_2, +#endif +#ifdef AO_LED_CONTINUITY_3 + AO_LED_CONTINUITY_3, +#endif +#ifdef AO_LED_CONTINUITY_4 + AO_LED_CONTINUITY_4, +#endif +#ifdef AO_LED_CONTINUITY_5 + AO_LED_CONTINUITY_5, +#endif +#ifdef AO_LED_CONTINUITY_6 + AO_LED_CONTINUITY_6, +#endif +#ifdef AO_LED_CONTINUITY_7 + AO_LED_CONTINUITY_7, +#endif +}; + +static uint16_t ao_lco_tick_offset; + +static struct ao_pad_query ao_pad_query; + +static void +ao_lco_update(void) +{ + int8_t r; + uint8_t c; + + r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset); + if (r == AO_RADIO_CMAC_OK) + ao_lco_valid = 1; + +#if 0 + PRINTD("lco_query success arm_status %d i0 %d i1 %d i2 %d i3 %d\n", + query.arm_status, + query.igniter_status[0], + query.igniter_status[1], + query.igniter_status[2], + query.igniter_status[3]); +#endif + + ao_wakeup(&ao_pad_query); +} + +static void +ao_lco_box_set_present(uint8_t box) +{ + if (box >= AO_PAD_MAX_BOXES) + return; + ao_lco_box_mask[MASK_ID(box)] |= 1 << MASK_SHIFT(box); +} + +static void +ao_lco_search(void) +{ + uint16_t tick_offset; + int8_t r; + + ao_lco_min_box = 0xff; + ao_lco_max_box = 0x00; + for (ao_lco_box = 0; ao_lco_box < AO_PAD_MAX_BOXES; ao_lco_box++) { + ao_lco_set_box(); + r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset); + if (r == AO_RADIO_CMAC_OK) { + if (ao_lco_box < ao_lco_min_box) + ao_lco_min_box = ao_lco_box; + if (ao_lco_box > ao_lco_max_box) + ao_lco_max_box = ao_lco_box; + ao_lco_box_set_present(ao_lco_box); + } + } + ao_lco_box = ao_lco_min_box; + ao_lco_pad = 0; +} + +static void +ao_lco_igniter_status(void) +{ + uint8_t c; + uint16_t delay; + + for (;;) { +// ao_alarm(delay); + ao_sleep(&ao_pad_query); +// ao_clear_alarm(); + if (!ao_lco_valid) { + ao_led_on(AO_LED_RED); + ao_led_off(AO_LED_GREEN); + continue; + } + PRINTD("RSSI %d\n", ao_radio_cmac_rssi); + if (ao_radio_cmac_rssi < -70) + ao_led_on(AO_LED_RED|AO_LED_GREEN); + else { + ao_led_on(AO_LED_GREEN); + ao_led_off(AO_LED_RED); + } + if (ao_pad_query.arm_status) + ao_led_on(AO_LED_REMOTE_ARM); + else + ao_led_off(AO_LED_REMOTE_ARM); + for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) { + uint8_t status; + + if (ao_pad_query.channels & (1 << c)) + status = ao_pad_query.igniter_status[c]; + else + status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN; + if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) + ao_led_on(continuity_led[c]); + else + ao_led_off(continuity_led[c]); + } + } +} + +static void +ao_lco_arm_warn(void) +{ + for (;;) { + while (!ao_lco_armed) + ao_sleep(&ao_lco_armed); + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + ao_delay(AO_MS_TO_TICKS(200)); + } +} + +static struct ao_task ao_lco_input_task; +static struct ao_task ao_lco_monitor_task; +static struct ao_task ao_lco_arm_warn_task; +static struct ao_task ao_lco_igniter_status_task; + +static void +ao_lco_monitor(void) +{ + uint16_t delay; + + ao_lco_search(); + ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input"); + ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn"); + ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status"); + for (;;) { + PRINTD("monitor armed %d firing %d offset %d\n", + ao_lco_armed, ao_lco_firing, ao_lco_tick_offset); + + if (ao_lco_armed && ao_lco_firing) { + PRINTD("Firing box %d pad %d: valid %d\n", + ao_lco_box, ao_lco_pad, ao_lco_valid); + if (!ao_lco_valid) + ao_lco_update(); + if (ao_lco_valid) + ao_lco_ignite(ao_lco_box, 1 << ao_lco_pad, ao_lco_tick_offset); + } else if (ao_lco_armed) { + PRINTD("Arming box %d pad %d\n", + ao_lco_box, ao_lco_pad); + if (!ao_lco_valid) + ao_lco_update(); + ao_lco_arm(ao_lco_box, 1 << ao_lco_pad, ao_lco_tick_offset); + ao_lco_update(); + } else { + ao_lco_update(); + } + if (ao_lco_armed && ao_lco_firing) + delay = AO_MS_TO_TICKS(100); + else + delay = AO_SEC_TO_TICKS(1); + ao_alarm(delay); + ao_sleep(&ao_lco_armed); + ao_clear_alarm(); + } +} + +#if DEBUG +void +ao_lco_set_debug(void) +{ + ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) + ao_lco_debug = ao_cmd_lex_i != 0; +} + +__code struct ao_cmds ao_lco_cmds[] = { + { ao_lco_set_debug, "D <0 off, 1 on>\0Debug" }, + { 0, NULL } +}; +#endif + +void +ao_lco_init(void) +{ + ao_add_task(&ao_lco_monitor_task, ao_lco_monitor, "lco monitor"); +#if DEBUG + ao_cmd_register(&ao_lco_cmds[0]); +#endif +} diff --git a/src/telelco-v0.1/ao_lco.h b/src/telelco-v0.1/ao_lco.h new file mode 100644 index 00000000..253f9702 --- /dev/null +++ b/src/telelco-v0.1/ao_lco.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_LCO_H_ +#define _AO_LCO_H_ + +void +ao_lco_init(void); + +#endif /* _AO_LCO_H_ */ diff --git a/src/telelco-v0.1/ao_pins.h b/src/telelco-v0.1/ao_pins.h new file mode 100644 index 00000000..60cf018f --- /dev/null +++ b/src/telelco-v0.1/ao_pins.h @@ -0,0 +1,224 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +/* 8MHz High speed external crystal */ +#define AO_HSE 8000000 + +/* PLLVCO = 96MHz (so that USB will work) */ +#define AO_PLLMUL 12 +#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12) + +/* SYSCLK = 32MHz (no need to go faster than CPU) */ +#define AO_PLLDIV 3 +#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) + +/* HCLK = 32MHz (CPU clock) */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* Run APB1 at 16MHz (HCLK/2) */ +#define AO_APB1_PRESCALER 2 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +/* Run APB2 at 16MHz (HCLK/2) */ +#define AO_APB2_PRESCALER 2 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +#define HAS_EEPROM 1 +#define USE_INTERNAL_FLASH 1 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define HAS_RADIO 1 +#define HAS_TELEMETRY 0 +#define HAS_AES 1 + +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 1 +#define SPI_1_PB3_PB4_PB5 0 +#define SPI_1_PE13_PE14_PE15 0 + +#define HAS_SPI_2 1 +#define SPI_2_PB13_PB14_PB15 1 +#define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_GPIO (&stm_gpiob) +#define SPI_2_SCK 13 +#define SPI_2_MISO 14 +#define SPI_2_MOSI 15 + +#define HAS_I2C_1 0 + +#define HAS_I2C_2 0 + +#define PACKET_HAS_SLAVE 0 +#define PACKET_HAS_MASTER 0 + +/* + * Radio is a cc1111 connected via SPI + */ +#define AO_RADIO_CAL_DEFAULT 1186611 + +#define AO_RADIO_SPI_BUS AO_SPI_2_PB13_PB14_PB15 +#define AO_RADIO_CS_PORT (&stm_gpiob) +#define AO_RADIO_CS_PIN 12 + +#define AO_RADIO_INT_PORT (&stm_gpioc) +#define AO_RADIO_INT_PIN 14 + +#define LOW_LEVEL_DEBUG 0 + +#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN +#define LED_PORT (&stm_gpioc) +#define LED_PIN_RED 7 +#define LED_PIN_GREEN 8 +#define LED_PIN_CONTINUITY_3 9 +#define LED_PIN_CONTINUITY_2 10 +#define LED_PIN_CONTINUITY_1 11 +#define LED_PIN_CONTINUITY_0 12 +#define LED_PIN_REMOTE_ARM 13 +#define AO_LED_RED (1 << LED_PIN_RED) +#define AO_LED_GREEN (1 << LED_PIN_GREEN) +#define AO_LED_CONTINUITY_3 (1 << LED_PIN_CONTINUITY_3) +#define AO_LED_CONTINUITY_2 (1 << LED_PIN_CONTINUITY_2) +#define AO_LED_CONTINUITY_1 (1 << LED_PIN_CONTINUITY_1) +#define AO_LED_CONTINUITY_0 (1 << LED_PIN_CONTINUITY_0) + +#define AO_LED_CONTINUITY_NUM 4 + +#define AO_LED_REMOTE_ARM (1 << LED_PIN_REMOTE_ARM) + +#define LEDS_AVAILABLE (AO_LED_RED | \ + AO_LED_GREEN | \ + AO_LED_CONTINUITY_3 | \ + AO_LED_CONTINUITY_2 | \ + AO_LED_CONTINUITY_1 | \ + AO_LED_CONTINUITY_0 | \ + AO_LED_REMOTE_ARM) + +/* LCD displays */ + +#define AO_LCD_STM_SEG_ENABLED_0 ( \ + (1 << 0) | /* PA1 */ \ + (1 << 1) | /* PA2 */ \ + (1 << 2) | /* PA3 */ \ + (1 << 3) | /* PA6 */ \ + (1 << 4) | /* PA7 */ \ + (1 << 5) | /* PB0 */ \ + (1 << 6) | /* PB1 */ \ + (1 << 7) | /* PB3 */ \ + (0 << 8) | /* PB4 */ \ + (0 << 9) | /* PB5 */ \ + (0 << 10) | /* PB10 */ \ + (0 << 11) | /* PB11 */ \ + (0 << 12) | /* PB12 */ \ + (0 << 13) | /* PB13 */ \ + (0 << 14) | /* PB14 */ \ + (0 << 15) | /* PB15 */ \ + (0 << 16) | /* PB8 */ \ + (0 << 17) | /* PA15 */ \ + (0 << 18) | /* PC0 */ \ + (0 << 19) | /* PC1 */ \ + (0 << 20) | /* PC2 */ \ + (0 << 21) | /* PC3 */ \ + (0 << 22) | /* PC4 */ \ + (0 << 23) | /* PC5 */ \ + (0 << 24) | /* PC6 */ \ + (0 << 25) | /* PC7 */ \ + (0 << 26) | /* PC8 */ \ + (0 << 27) | /* PC9 */ \ + (0 << 28) | /* PC10 or PD8 */ \ + (0 << 29) | /* PC11 or PD9 */ \ + (0 << 30) | /* PC12 or PD10 */ \ + (0 << 31)) /* PD2 or PD11 */ + +#define AO_LCD_STM_SEG_ENABLED_1 ( \ + (0 << 0) | /* PD12 */ \ + (0 << 1) | /* PD13 */ \ + (0 << 2) | /* PD14 */ \ + (0 << 3) | /* PD15 */ \ + (0 << 4) | /* PE0 */ \ + (0 << 5) | /* PE1 */ \ + (0 << 6) | /* PE2 */ \ + (0 << 7)) /* PE3 */ + +#define AO_LCD_STM_COM_ENABLED ( \ + (1 << 0) | /* PA8 */ \ + (1 << 1) | /* PA9 */ \ + (1 << 2) | /* PA10 */ \ + (0 << 3) | /* PB9 */ \ + (0 << 4) | /* PC10 */ \ + (0 << 5) | /* PC11 */ \ + (0 << 6)) /* PC12 */ + +#define AO_LCD_28_ON_C 0 + +#define AO_LCD_DUTY STM_LCD_CR_DUTY_1_4 + +#define AO_SEGMENT_0 0 +#define AO_SEGMENT_1 5 +#define AO_SEGMENT_2 1 +#define AO_SEGMENT_3 6 +#define AO_SEGMENT_4 4 +#define AO_SEGMENT_5 2 +#define AO_SEGMENT_6 3 +#define AO_SEGMENT_7 7 + +/* + * Use event queue for input devices + */ + +#define AO_EVENT 1 + +/* + * Knobs + */ + +#define AO_QUADRATURE_COUNT 2 +#define AO_QUADRATURE_MODE 0 + +#define AO_QUADRATURE_0_PORT &stm_gpioc +#define AO_QUADRATURE_0_A 3 +#define AO_QUADRATURE_0_B 2 + +#define AO_QUADRATURE_PAD 0 + +#define AO_QUADRATURE_1_PORT &stm_gpioc +#define AO_QUADRATURE_1_A 1 +#define AO_QUADRATURE_1_B 0 + +#define AO_QUADRATURE_BOX 1 + +/* + * Buttons + */ + +#define AO_BUTTON_COUNT 2 +#define AO_BUTTON_MODE AO_EXTI_MODE_PULL_UP + +#define AO_BUTTON_0_PORT &stm_gpioc +#define AO_BUTTON_0 4 + +#define AO_BUTTON_ARM 0 + +#define AO_BUTTON_1_PORT &stm_gpioc +#define AO_BUTTON_1 5 + +#define AO_BUTTON_FIRE 1 + +#endif /* _AO_PINS_H_ */ diff --git a/src/telelco-v0.1/ao_telelco.c b/src/telelco-v0.1/ao_telelco.c new file mode 100644 index 00000000..080a140b --- /dev/null +++ b/src/telelco-v0.1/ao_telelco.c @@ -0,0 +1,69 @@ +/* + * 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_exti.h> +#include <ao_packet.h> +#include <ao_companion.h> +#include <ao_profile.h> +#include <ao_pyro.h> +#include <ao_aes.h> +#include <ao_seven_segment.h> +#include <ao_quadrature.h> +#include <ao_button.h> +#include <ao_lco.h> +#include <ao_lco_cmd.h> +#include <ao_radio_cmac_cmd.h> + +int +main(void) +{ + ao_clock_init(); + + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_GREEN); + ao_timer_init(); + + ao_spi_init(); + ao_dma_init(); + ao_exti_init(); + + ao_beep_init(); + ao_cmd_init(); + + ao_lcd_stm_init(); + ao_seven_segment_init(); + ao_quadrature_init(); + ao_button_init(); + + ao_storage_init(); + + ao_radio_init(); + + ao_usb_init(); + + ao_config_init(); + + ao_quadrature_init(); + ao_button_init(); + ao_lco_init(); + ao_lco_cmd_init(); +// ao_radio_cmac_cmd_init(); + + ao_start_scheduler(); + return 0; +} diff --git a/src/telemetrum-v0.1-sirf/.gitignore b/src/telemetrum-v0.1-sirf/.gitignore new file mode 100644 index 00000000..7698f5aa --- /dev/null +++ b/src/telemetrum-v0.1-sirf/.gitignore @@ -0,0 +1,2 @@ +telemetrum-v0.1-sirf* +ao_product.h diff --git a/src/telemetrum-v0.1-sirf/Makefile b/src/telemetrum-v0.1-sirf/Makefile new file mode 100644 index 00000000..d138b5ef --- /dev/null +++ b/src/telemetrum-v0.1-sirf/Makefile @@ -0,0 +1,17 @@ +# +# TeleMetrum v0.1 with SkyTraq GPS build +# + +TM_VER=0.1 +TM_DEF=0_1 +TM_EXTRA=-sirf + +TM_INC = \ + ao_25lc1024.h + +TM_SRC = \ + ao_gps_sirf.c \ + ao_25lc1024.c + +include ../product/Makefile.telemetrum + diff --git a/src/telemetrum-v0.1-sky/.gitignore b/src/telemetrum-v0.1-sky/.gitignore new file mode 100644 index 00000000..d25d7ad9 --- /dev/null +++ b/src/telemetrum-v0.1-sky/.gitignore @@ -0,0 +1,2 @@ +telemetrum-v0.1-sky* +ao_product.h diff --git a/src/telemetrum-v0.1-sky/.sdcdbrc b/src/telemetrum-v0.1-sky/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/telemetrum-v0.1-sky/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/telemetrum-v0.1-sky/Makefile b/src/telemetrum-v0.1-sky/Makefile new file mode 100644 index 00000000..69cd3461 --- /dev/null +++ b/src/telemetrum-v0.1-sky/Makefile @@ -0,0 +1,17 @@ +# +# TeleMetrum v0.1 with SkyTraq GPS build +# + +TM_VER=0.1 +TM_DEF=0_1 +TM_EXTRA=-sky + +TM_INC = \ + ao_25lc1024.h + +TM_SRC = \ + ao_gps_skytraq.c \ + ao_25lc1024.c + +include ../product/Makefile.telemetrum + diff --git a/src/telemetrum-v1.0/.gitignore b/src/telemetrum-v1.0/.gitignore new file mode 100644 index 00000000..c2212151 --- /dev/null +++ b/src/telemetrum-v1.0/.gitignore @@ -0,0 +1,2 @@ +telemetrum-* +ao_product.h diff --git a/src/telemetrum-v1.0/.sdcdbrc b/src/telemetrum-v1.0/.sdcdbrc new file mode 100644 index 00000000..fbe9a599 --- /dev/null +++ b/src/telemetrum-v1.0/.sdcdbrc @@ -0,0 +1 @@ +--directory=../cc1111:../product:../core:../drivers:. diff --git a/src/telemetrum-v1.0/Makefile b/src/telemetrum-v1.0/Makefile new file mode 100644 index 00000000..4aae84c8 --- /dev/null +++ b/src/telemetrum-v1.0/Makefile @@ -0,0 +1,16 @@ +# +# TeleMetrum v1.0 build +# + +TM_VER=1.0 +TM_DEF=1_0 + +TM_INC = \ + ao_at45db161d.h + +TM_SRC = \ + ao_companion.c \ + ao_gps_skytraq.c \ + ao_at45db161d.c + +include ../product/Makefile.telemetrum diff --git a/src/telemetrum-v1.1/.gitignore b/src/telemetrum-v1.1/.gitignore new file mode 100644 index 00000000..c2212151 --- /dev/null +++ b/src/telemetrum-v1.1/.gitignore @@ -0,0 +1,2 @@ +telemetrum-* +ao_product.h diff --git a/src/telemetrum-v1.1/.sdcdbrc b/src/telemetrum-v1.1/.sdcdbrc new file mode 100644 index 00000000..fbe9a599 --- /dev/null +++ b/src/telemetrum-v1.1/.sdcdbrc @@ -0,0 +1 @@ +--directory=../cc1111:../product:../core:../drivers:. diff --git a/src/telemetrum-v1.1/Makefile b/src/telemetrum-v1.1/Makefile new file mode 100644 index 00000000..4bea03db --- /dev/null +++ b/src/telemetrum-v1.1/Makefile @@ -0,0 +1,16 @@ +# +# AltOS build +# +# + +TM_VER=1.1 +TM_DEF=1_1 + +TM_INC = + +TM_SRC = \ + ao_companion.c \ + ao_gps_skytraq.c \ + ao_m25.c + +include ../product/Makefile.telemetrum diff --git a/src/telemetrum-v1.2/.gitignore b/src/telemetrum-v1.2/.gitignore new file mode 100644 index 00000000..c2212151 --- /dev/null +++ b/src/telemetrum-v1.2/.gitignore @@ -0,0 +1,2 @@ +telemetrum-* +ao_product.h diff --git a/src/telemetrum-v1.2/.sdcdbrc b/src/telemetrum-v1.2/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/telemetrum-v1.2/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/telemetrum-v1.2/Makefile b/src/telemetrum-v1.2/Makefile new file mode 100644 index 00000000..4b650adf --- /dev/null +++ b/src/telemetrum-v1.2/Makefile @@ -0,0 +1,16 @@ +# +# AltOS build +# +# + +TM_VER=1.2 +TM_DEF=1_2 + +TM_INC = + +TM_SRC = \ + ao_companion.c \ + ao_gps_skytraq.c \ + ao_m25.c + +include ../product/Makefile.telemetrum diff --git a/src/telemini-v1.0/.gitignore b/src/telemini-v1.0/.gitignore new file mode 100644 index 00000000..82868aac --- /dev/null +++ b/src/telemini-v1.0/.gitignore @@ -0,0 +1,2 @@ +telemini-* +ao_product.h diff --git a/src/telemini-v1.0/.sdcdbrc b/src/telemini-v1.0/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/telemini-v1.0/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/telemini-v1.0/Makefile b/src/telemini-v1.0/Makefile new file mode 100644 index 00000000..4f1c8b51 --- /dev/null +++ b/src/telemini-v1.0/Makefile @@ -0,0 +1,8 @@ +# +# TeleMini build file +# + +TELEMINI_VER=1.0 +TELEMINI_DEF=1_0 + +include ../product/Makefile.telemini diff --git a/src/telenano-v0.1/.gitignore b/src/telenano-v0.1/.gitignore new file mode 100644 index 00000000..0412f7df --- /dev/null +++ b/src/telenano-v0.1/.gitignore @@ -0,0 +1,2 @@ +telenano-* +ao_product.h diff --git a/src/telenano-v0.1/.sdcdbrc b/src/telenano-v0.1/.sdcdbrc new file mode 100644 index 00000000..710b4a2f --- /dev/null +++ b/src/telenano-v0.1/.sdcdbrc @@ -0,0 +1 @@ +--directory=.. diff --git a/src/telenano-v0.1/Makefile b/src/telenano-v0.1/Makefile new file mode 100644 index 00000000..2714c1e9 --- /dev/null +++ b/src/telenano-v0.1/Makefile @@ -0,0 +1,9 @@ +# +# TeleNano build file +# + +TELENANO_VER=0.1 +TELENANO_DEF=0_1 + +include ../product/Makefile.telenano + diff --git a/src/telepyro-v0.1/.gitignore b/src/telepyro-v0.1/.gitignore new file mode 100644 index 00000000..5166481c --- /dev/null +++ b/src/telepyro-v0.1/.gitignore @@ -0,0 +1,2 @@ +telepyro-v0.1* +ao_product.h diff --git a/src/telepyro-v0.1/Makefile b/src/telepyro-v0.1/Makefile new file mode 100644 index 00000000..2ccd565f --- /dev/null +++ b/src/telepyro-v0.1/Makefile @@ -0,0 +1,106 @@ +# +# AltOS build +# +# +vpath % .:..:../core:../product:../drivers:../avr +vpath ao-make-product.5c ../util + +MCU=atmega32u4 +DUDECPUTYPE=m32u4 +#PROGRAMMER=stk500v2 -P usb +PROGRAMMER=usbtiny +LOADCMD=avrdude +LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: +CC=avr-gcc +OBJCOPY=avr-objcopy + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_usb.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_product.h + +ALTOS_SRC = \ + ao_clock.c \ + ao_cmd.c \ + ao_mutex.c \ + ao_panic.c \ + ao_product.c \ + ao_stdio.c \ + ao_task.c \ + ao_timer.c \ + ao_led.c \ + ao_avr_stdio.c \ + ao_romconfig.c \ + ao_usb_avr.c \ + ao_adc_avr.c \ + ao_pyro_slave.c \ + ao_spi_slave.c \ + ao_eeprom_avr.c \ + ao_storage.c \ + ao_config.c \ + ao_pyro.c + +PRODUCT=TelePyro-v0.1 +MCU=atmega32u4 +PRODUCT_DEF=-DTELEPYRO +IDPRODUCT=0x0011 +CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I.. +CFLAGS += -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR + +NICKLE=nickle + +PROG=telepyro-v0.1 + +SRC=$(ALTOS_SRC) ao_telepyro.c +OBJ=$(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: $(PROG) + +CHECK=sh ../util/check-avr-mem + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) + $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1) + +$(PROG).hex: $(PROG) + avr-size $(PROG) + $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@ + + +load: $(PROG).hex + $(LOADCMD) $(LOADARG)$(PROG).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 + $(call quiet,CC) -c $(CFLAGS) $< + +distclean: clean + +clean: + rm -f $(OBJ) + rm -f ao_product.h + +install: + +uninstall: + +$(OBJ): $(INC) diff --git a/src/telescience-v0.1/.gitignore b/src/telescience-v0.1/.gitignore new file mode 100644 index 00000000..dfccadf8 --- /dev/null +++ b/src/telescience-v0.1/.gitignore @@ -0,0 +1,2 @@ +telescience-v0.1* +ao_product.h diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile new file mode 100644 index 00000000..d24128ef --- /dev/null +++ b/src/telescience-v0.1/Makefile @@ -0,0 +1,115 @@ +# +# AltOS build +# +# +vpath % ..:../core:../product:../drivers:../avr +vpath ao-make-product.5c ../util + +MCU=atmega32u4 +DUDECPUTYPE=m32u4 +#PROGRAMMER=stk500v2 -P usb +PROGRAMMER=usbtiny +LOADCMD=avrdude +LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: +CC=avr-gcc +OBJCOPY=avr-objcopy + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_arch.h \ + ao_usb.h \ + ao_pins.h \ + ao_product.h + +# +# Common AltOS sources +# +TELESCIENCE_STORAGE= \ + ao_m25.c \ + ao_spi_usart.c \ + ao_storage.c + +TELESCIENCE_LOG= \ + ao_log_single.c \ + ao_log_telescience.c + +ALTOS_SRC = \ + ao_clock.c \ + ao_cmd.c \ + ao_mutex.c \ + ao_panic.c \ + ao_product.c \ + ao_stdio.c \ + ao_task.c \ + ao_timer.c \ + ao_led.c \ + ao_avr_stdio.c \ + ao_romconfig.c \ + ao_usb_avr.c \ + ao_adc_avr.c \ + ao_science_slave.c \ + ao_spi_slave.c \ + $(TELESCIENCE_STORAGE)\ + $(TELESCIENCE_LOG) + +PRODUCT=TeleScience-v0.1 +MCU=atmega32u4 +PRODUCT_DEF=-DTELESCIENCE +IDPRODUCT=0x0011 +CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I.. +CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR + +NICKLE=nickle + +PROG=telescience-v0.1 + +SRC=$(ALTOS_SRC) ao_telescience.c +OBJ=$(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: $(PROG) + +CHECK=sh ../util/check-avr-mem + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) + $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1) + +$(PROG).hex: $(PROG) + avr-size $(PROG) + $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@ + + +load: $(PROG).hex + $(LOADCMD) $(LOADARG)$(PROG).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) $(PROG).hex + rm -f ao_product.h + +install: + +uninstall: + +$(OBJ): ao_product.h $(INC) diff --git a/src/teleshield-v0.1/.gitignore b/src/teleshield-v0.1/.gitignore new file mode 100644 index 00000000..3ae78d33 --- /dev/null +++ b/src/teleshield-v0.1/.gitignore @@ -0,0 +1,2 @@ +teleshield-* +ao_product.h diff --git a/src/teleshield-v0.1/Makefile b/src/teleshield-v0.1/Makefile new file mode 100644 index 00000000..ab2a025f --- /dev/null +++ b/src/teleshield-v0.1/Makefile @@ -0,0 +1,111 @@ +# +# TeleShield build file +# +# The various telemetrum versions differ only +# in which flash and GPS drivers are included, +# so the per-board makefiles simply define +# TM_VER, TM_DEF, TM_INC and TM_SRC and include +# this file + +TELESHIELD_VER=0.1 +TELESHIELD_DEF=0_1 + +TELESHIELD_INC = + +TELESHIELD_SRC = \ + ao_beep.c \ + ao_btm.c \ + ao_spi.c + +vpath %.c ..:../core:../cc1111:../drivers:../product:. +vpath %.h ..:../core:../cc1111:../drivers:../product:. +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + cc1111.h \ + ao_product.h \ + $(TELESHIELD_INC) + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_monitor.c \ + ao_mutex.c \ + ao_panic.c \ + ao_state.c \ + ao_storage.c \ + ao_stdio.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_dbg.c \ + ao_dma.c \ + ao_led.c \ + ao_intflash.c \ + ao_packet.c \ + ao_packet_slave.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = \ + $(TELESHIELD_SRC) + +PRODUCT_SRC = \ + ao_teleshield.c \ + ao_ardu_serial.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = teleshield-v$(TELESHIELD_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleShield-v$(TELESHIELD_VER) +PRODUCT_DEF=-DTELESHIELD_V_$(TELESHIELD_DEF) +IDPRODUCT=0x0013 +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) && cp $(PROG) $(PMAP) .. + $(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/teleshield-v0.1/ao_ardu_serial.c b/src/teleshield-v0.1/ao_ardu_serial.c new file mode 100644 index 00000000..e6e19f67 --- /dev/null +++ b/src/teleshield-v0.1/ao_ardu_serial.c @@ -0,0 +1,39 @@ +/* + * 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" + +static void +ao_ardu_serial_recv(void) +{ + char c; + + for (;;) { + if (ao_fifo_empty(ao_serial0_rx_fifo)) + flush(); + c = ao_serial0_getchar(); + putchar (c); + } +} + +static __xdata struct ao_task ao_ardu_serial_recv_task; + +void +ao_ardu_serial_init (void) +{ + ao_add_task(&ao_ardu_serial_recv_task, ao_ardu_serial_recv, "recv"); +} diff --git a/src/teleshield-v0.1/ao_pins.h b/src/teleshield-v0.1/ao_pins.h new file mode 100644 index 00000000..701e25fc --- /dev/null +++ b/src/teleshield-v0.1/ao_pins.h @@ -0,0 +1,221 @@ +/* + * 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_ + +#if defined(TELESHIELD_V_0_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 HAS_SERIAL_0 1 + #define HAS_SERIAL_0_ALT_1 0 + #define HAS_SERIAL_0_ALT_2 1 + #define HAS_SERIAL_0_HW_FLOW 0 + #define HAS_ADC 0 + #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 IGNITE_ON_P2 0 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + #define AO_LED_RED 1 + #define AO_LED_GREEN 2 + #define AO_MONITOR_LED AO_LED_RED + #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define HAS_ACCEL 0 + #define HAS_IGNITE 0 + #define HAS_IGNITE_REPORT 0 + #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 LEGACY_MONITOR 0 + #define HAS_RSSI 0 + #define HAS_AES 0 +#endif + +#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 */ + +#if COMPANION_CS_ON_P1 + #define COMPANION_CS_PORT P1 + #define COMPANION_CS_SEL P1SEL + #define COMPANION_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P1 + #define SPI_CS_PORT P1 + #define SPI_CS_SEL P1SEL + #define SPI_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P0 + #define SPI_CS_PORT P0 + #define SPI_CS_SEL P0SEL + #define SPI_CS_DIR P0DIR +#endif + +#ifndef IGNITE_ON_P2 +#error Please define IGNITE_ON_P2 +#endif + +#ifndef IGNITE_ON_P0 +#error Please define IGNITE_ON_P0 +#endif + +#ifndef HAS_SERIAL_1 +#error Please define HAS_SERIAL_1 +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#ifndef HAS_EEPROM +#error Please define HAS_EEPROM +#endif + +#ifndef HAS_LOG +#error Please define HAS_LOG +#endif + +#if HAS_EEPROM +#ifndef USE_INTERNAL_FLASH +#error Please define USE_INTERNAL_FLASH +#endif +#endif + +#ifndef HAS_DBG +#error Please define HAS_DBG +#endif + +#ifndef HAS_IGNITE +#error Please define HAS_IGNITE +#endif + +#if HAS_IGNITE +#define HAS_IGNITE_REPORT 1 +#endif + +#ifndef PACKET_HAS_MASTER +#error Please define PACKET_HAS_MASTER +#endif + +#ifndef PACKET_HAS_SLAVE +#error Please define PACKET_HAS_SLAVE +#endif + +#ifndef HAS_MONITOR +#error Please define HAS_MONITOR +#endif + +#if HAS_MONITOR +#ifndef HAS_RSSI +#error Please define HAS_RSSI +#endif +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#if HAS_ADC + +#if HAS_ACCEL +#ifndef HAS_ACCEL_REF +#error Please define HAS_ACCEL_REF +#endif +#else +#define HAS_ACCEL_REF 0 +#endif + +#endif /* HAS_ADC */ + +#if IGNITE_ON_P2 +#define AO_IGNITER_DROGUE P2_3 +#define AO_IGNITER_MAIN P2_4 +#define AO_IGNITER_DIR P2DIR +#define AO_IGNITER_DROGUE_BIT (1 << 3) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +#if IGNITE_ON_P0 +#define AO_IGNITER_DROGUE P0_5 +#define AO_IGNITER_MAIN P0_4 +#define AO_IGNITER_DIR P0DIR +#define AO_IGNITER_DROGUE_BIT (1 << 5) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +/* test these values with real igniters */ +#define AO_IGNITER_OPEN 1000 +#define AO_IGNITER_CLOSED 7000 +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) + +void +ao_ardu_serial_init (void); + + +#endif /* _AO_PINS_H_ */ diff --git a/src/teleshield-v0.1/ao_teleshield.c b/src/teleshield-v0.1/ao_teleshield.c new file mode 100644 index 00000000..4c32817a --- /dev/null +++ b/src/teleshield-v0.1/ao_teleshield.c @@ -0,0 +1,52 @@ +/* + * 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" + +#if 0 +__code uint8_t ao_log_format = AO_LOG_FORMAT_NONE; /* until we actually log stuff */ +#endif + +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_timer_init(); + ao_cmd_init(); + ao_spi_init(); + ao_storage_init(); + ao_usb_init(); + ao_monitor_init(); + ao_radio_init(); + ao_packet_slave_init(1); + ao_btm_init(); +#if HAS_DBG + ao_dbg_init(); +#endif +#if HAS_AES + ao_aes_init(); + ao_radio_cmac_init(); +#endif + ao_serial_init(); + ao_ardu_serial_init(); + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/teleterra-v0.1/.gitignore b/src/teleterra-v0.1/.gitignore new file mode 100644 index 00000000..447007ce --- /dev/null +++ b/src/teleterra-v0.1/.gitignore @@ -0,0 +1,2 @@ +teleterra-v0.1* +ao_product.h diff --git a/src/teleterra-v0.1/ao_pins.h b/src/teleterra-v0.1/ao_pins.h new file mode 100644 index 00000000..ba7177af --- /dev/null +++ b/src/teleterra-v0.1/ao_pins.h @@ -0,0 +1,212 @@ +/* + * 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_ + +#ifdef TELETERRA_V_0_1 + #define HAS_FLIGHT 0 + #define HAS_USB 1 + #define HAS_BEEP 0 + #define HAS_GPS 0 + #define HAS_SERIAL_1 0 + #define HAS_ADC 0 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_DBG 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 1 + #define PACKET_HAS_SLAVE 0 + + #define HAS_COMPANION 1 + #define COMPANION_CS_ON_P1 1 + #define COMPANION_CS_MASK 0x4 /* CS1 is P1_2 */ + #define COMPANION_CS P1_2 + + #define AO_LED_RED 1 + #define LEDS_AVAILABLE (AO_LED_RED) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL_REF 0 + #define HAS_ACCEL 0 + #define HAS_IGNITE 0 + #define HAS_MONITOR 1 + #define HAS_RSSI 0 + #define HAS_AES 1 + + #define SPI_CS_ON_P1 0 + #define SPI_CS_ON_P0 1 + #define M25_CS_MASK 0xf + #define M25_MAX_CHIPS 4 +#endif + +#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 */ + +#if COMPANION_CS_ON_P1 + #define COMPANION_CS_PORT P1 + #define COMPANION_CS_SEL P1SEL + #define COMPANION_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P1 + #define SPI_CS_PORT P1 + #define SPI_CS_SEL P1SEL + #define SPI_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P0 + #define SPI_CS_PORT P0 + #define SPI_CS_SEL P0SEL + #define SPI_CS_DIR P0DIR +#endif + +#ifndef IGNITE_ON_P2 +#error Please define IGNITE_ON_P2 +#endif + +#ifndef IGNITE_ON_P0 +#error Please define IGNITE_ON_P0 +#endif + +#ifndef HAS_SERIAL_1 +#error Please define HAS_SERIAL_1 +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#ifndef HAS_EEPROM +#error Please define HAS_EEPROM +#endif + +#ifndef HAS_LOG +#error Please define HAS_LOG +#endif + +#if HAS_EEPROM +#ifndef USE_INTERNAL_FLASH +#error Please define USE_INTERNAL_FLASH +#endif +#endif + +#ifndef HAS_DBG +#error Please define HAS_DBG +#endif + +#ifndef HAS_IGNITE +#error Please define HAS_IGNITE +#endif + +#if HAS_IGNITE +#define HAS_IGNITE_REPORT 1 +#endif + +#ifndef PACKET_HAS_MASTER +#error Please define PACKET_HAS_MASTER +#endif + +#ifndef PACKET_HAS_SLAVE +#error Please define PACKET_HAS_SLAVE +#endif + +#ifndef HAS_MONITOR +#error Please define HAS_MONITOR +#endif + +#if HAS_MONITOR +#ifndef HAS_RSSI +#error Please define HAS_RSSI +#endif +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#if HAS_ADC + +#if HAS_ACCEL +#ifndef HAS_ACCEL_REF +#error Please define HAS_ACCEL_REF +#endif +#else +#define HAS_ACCEL_REF 0 +#endif + +#endif /* HAS_ADC */ + +#if IGNITE_ON_P2 +#define AO_IGNITER_DROGUE P2_3 +#define AO_IGNITER_MAIN P2_4 +#define AO_IGNITER_DIR P2DIR +#define AO_IGNITER_DROGUE_BIT (1 << 3) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +#if IGNITE_ON_P0 +#define AO_IGNITER_DROGUE P0_5 +#define AO_IGNITER_MAIN P0_4 +#define AO_IGNITER_DIR P0DIR +#define AO_IGNITER_DROGUE_BIT (1 << 5) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +/* test these values with real igniters */ +#define AO_IGNITER_OPEN 1000 +#define AO_IGNITER_CLOSED 7000 +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) + +#endif /* _AO_PINS_H_ */ diff --git a/src/teleterra-v0.2/.gitignore b/src/teleterra-v0.2/.gitignore new file mode 100644 index 00000000..9daebc3e --- /dev/null +++ b/src/teleterra-v0.2/.gitignore @@ -0,0 +1,2 @@ +teleterra-v0.2* +ao_product.h diff --git a/src/teleterra-v0.2/.sdcdbrc b/src/teleterra-v0.2/.sdcdbrc new file mode 100644 index 00000000..fbe9a599 --- /dev/null +++ b/src/teleterra-v0.2/.sdcdbrc @@ -0,0 +1 @@ +--directory=../cc1111:../product:../core:../drivers:. diff --git a/src/teleterra-v0.2/Makefile b/src/teleterra-v0.2/Makefile new file mode 100644 index 00000000..65db57ce --- /dev/null +++ b/src/teleterra-v0.2/Makefile @@ -0,0 +1,104 @@ +# +# TeleTerra build file +# + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../cc1111:../drivers:../product +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + cc1111.h \ + ao_product.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_monitor.c \ + ao_log_single.c \ + ao_log_telem.c \ + ao_mutex.c \ + ao_panic.c \ + ao_report.c \ + ao_sqrt.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_battery.c \ + ao_beep.c \ + ao_button.c \ + ao_dbg.c \ + ao_dma.c \ + ao_packet.c \ + ao_packet_master.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_spi.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + ao_lcd_port.c \ + _bp.c + +DRIVER_SRC = \ + ao_m25.c \ + ao_lcd.c \ + ao_gps_skytraq.c + +PRODUCT_SRC = \ + ao_teleterra_0_2.c \ + ao_terraui.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +TELETERRA_VER=0.2 +TELETERRA_DEF=0_2 +PROGNAME = teleterra-v$(TELETERRA_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleTerra-v$(TELETERRA_VER) +PRODUCT_DEF=-DTELETERRA_V_$(TELETERRA_DEF) +IDPRODUCT=0x000d + +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) && cp $(PROG) $(PMAP) .. + $(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/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h new file mode 100644 index 00000000..1c12c437 --- /dev/null +++ b/src/teleterra-v0.2/ao_pins.h @@ -0,0 +1,232 @@ +/* + * 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_ + +#ifdef TELETERRA_V_0_2 + #define HAS_FLIGHT 0 + #define HAS_USB 1 + #define HAS_RADIO 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 + #define HAS_SERIAL_1 1 + #define HAS_ADC 0 + #define HAS_LCD 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_DBG 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 0 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 1 + #define PACKET_HAS_SLAVE 0 + #define HAS_RADIO_CHANNELS 1 + + #define HAS_COMPANION 0 + + #define AO_MONITOR_LED 0 + #define LEDS_AVAILABLE 0 + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL_REF 0 + #define HAS_ACCEL 0 + #define HAS_IGNITE 0 + #define HAS_MONITOR 1 + #define HAS_MONITOR_PUT 1 + #define LEGACY_MONITOR 0 + #define HAS_RSSI 0 + #define HAS_AES 0 + + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define M25_CS_MASK 0x04 + #define M25_MAX_CHIPS 1 + + #define HAS_BUTTON 1 + #define BUTTON_1_REG 0 + #define BUTTON_1_MASK (1 << 4) /* P0_4 */ + + #define BUTTON_2_REG 2 + #define BUTTON_2_MASK (1 << 3) /* P2_3 */ + + #define BUTTON_3_REG 2 + #define BUTTON_3_MASK (1 << 4) /* P2_4 */ + + #define HAS_P2_ISR 1 + + #define BATTERY_PIN 5 + +#endif + +#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 */ + +#if COMPANION_CS_ON_P1 + #define COMPANION_CS_PORT P1 + #define COMPANION_CS_SEL P1SEL + #define COMPANION_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P1 + #define SPI_CS_PORT P1 + #define SPI_CS_SEL P1SEL + #define SPI_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P0 + #define SPI_CS_PORT P0 + #define SPI_CS_SEL P0SEL + #define SPI_CS_DIR P0DIR +#endif + +#ifndef IGNITE_ON_P2 +#error Please define IGNITE_ON_P2 +#endif + +#ifndef IGNITE_ON_P0 +#error Please define IGNITE_ON_P0 +#endif + +#ifndef HAS_SERIAL_1 +#error Please define HAS_SERIAL_1 +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#ifndef HAS_EEPROM +#error Please define HAS_EEPROM +#endif + +#ifndef HAS_LOG +#error Please define HAS_LOG +#endif + +#if HAS_EEPROM +#ifndef USE_INTERNAL_FLASH +#error Please define USE_INTERNAL_FLASH +#endif +#endif + +#ifndef HAS_DBG +#error Please define HAS_DBG +#endif + +#ifndef HAS_IGNITE +#error Please define HAS_IGNITE +#endif + +#if HAS_IGNITE +#define HAS_IGNITE_REPORT 1 +#endif + +#ifndef PACKET_HAS_MASTER +#error Please define PACKET_HAS_MASTER +#endif + +#ifndef PACKET_HAS_SLAVE +#error Please define PACKET_HAS_SLAVE +#endif + +#ifndef HAS_MONITOR +#error Please define HAS_MONITOR +#endif + +#if HAS_MONITOR +#ifndef HAS_RSSI +#error Please define HAS_RSSI +#endif +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#if HAS_ADC + +#if HAS_ACCEL +#ifndef HAS_ACCEL_REF +#error Please define HAS_ACCEL_REF +#endif +#else +#define HAS_ACCEL_REF 0 +#endif + +#endif /* HAS_ADC */ + +#if IGNITE_ON_P2 +#define AO_IGNITER_DROGUE P2_3 +#define AO_IGNITER_MAIN P2_4 +#define AO_IGNITER_DIR P2DIR +#define AO_IGNITER_DROGUE_BIT (1 << 3) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +#if IGNITE_ON_P0 +#define AO_IGNITER_DROGUE P0_5 +#define AO_IGNITER_MAIN P0_4 +#define AO_IGNITER_DIR P0DIR +#define AO_IGNITER_DROGUE_BIT (1 << 5) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +/* test these values with real igniters */ +#define AO_IGNITER_OPEN 1000 +#define AO_IGNITER_CLOSED 7000 +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) + +#define AO_M25_SPI_CS_PORT SPI_CS_PORT +#define AO_M25_SPI_CS_MASK M25_CS_MASK + +#endif /* _AO_PINS_H_ */ diff --git a/src/test/.gitignore b/src/test/.gitignore new file mode 100644 index 00000000..5d528ab9 --- /dev/null +++ b/src/test/.gitignore @@ -0,0 +1,9 @@ +ao_flight_test +ao_flight_test_baro +ao_flight_test_accel +ao_gps_test +ao_gps_test_skytraq +ao_convert_test +ao_convert_pa_test +ao_fec_test +ao_flight_test_noisy_accel diff --git a/src/test/Makefile b/src/test/Makefile new file mode 100644 index 00000000..db3cc04b --- /dev/null +++ b/src/test/Makefile @@ -0,0 +1,47 @@ +vpath % ..:../core:../drivers:../util + +PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test + +KALMAN=make-kalman + +CFLAGS=-I.. -I. -I../core -I../drivers -O3 -g -Wall + +all: $(PROGS) + +clean: + rm -f $(PROGS) run-out.baro run-out.full + +install: + +ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h + cc $(CFLAGS) -o $@ $< + +ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h + cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $< + +ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h + cc $(CFLAGS) -o $@ -DHAS_ACCEL=0 ao_flight_test.c + +ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h + cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c + +ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h + cc $(CFLAGS) -o $@ $< + +ao_gps_test_skytraq: ao_gps_test_skytraq.c ao_gps_skytraq.c ao_gps_print.c ao_host.h + cc $(CFLAGS) -o $@ $< + +ao_convert_test: ao_convert_test.c ao_convert.c altitude.h + cc $(CFLAGS) -o $@ $< + +ao_convert_pa_test: ao_convert_pa_test.c ao_convert_pa.c altitude-pa.h + cc $(CFLAGS) -o $@ $< + +ao_kalman.h: $(KALMAN) + (cd .. && make ao_kalman.h) + +ao_fec_test: ao_fec_test.c ao_fec_tx.c ao_fec_rx.c + cc $(CFLAGS) -DAO_FEC_DEBUG=1 -o $@ ao_fec_test.c ../core/ao_fec_tx.c ../core/ao_fec_rx.c -lm + +check: ao_fec_test ao_flight_test ao_flight_test_baro run-tests + ./ao_fec_test && ./run-tests
\ No newline at end of file diff --git a/src/test/ao_fec_test.c b/src/test/ao_fec_test.c new file mode 100644 index 00000000..216a4b79 --- /dev/null +++ b/src/test/ao_fec_test.c @@ -0,0 +1,386 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao_fec.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdlib.h> +#include <math.h> +#include <string.h> + +#ifndef RANDOM_MAX +#define RANDOM_MAX 0x7fffffff +#endif + +static double +rand_real(void) { + return (double) random() / (double) RANDOM_MAX; +} + +static double +gaussian_random(double mean, double dev) +{ + static int save_x_valid = 0; + static double save_x; + double x; + + if (save_x_valid) + { + x = save_x; + save_x_valid = 0; + } + else + { + double w; + double normal_x1, normal_x2; + + do { + normal_x1 = 2 * rand_real () - 1; + normal_x2 = 2 * rand_real () - 1; + w = normal_x1*normal_x1 + normal_x2*normal_x2; + } while (w >= 1 || w < 1E-30); + + w = sqrt(log(w)*(-2./w)); + + /* + * normal_x1 and normal_x2 are independent normally + * distributed variates + */ + + x = normal_x1 * w; + /* save normal_x2 for next call */ + save_x = normal_x2 * w; + save_x_valid = 1; + } + return x * dev + mean; +} + +#define PREPARE_LEN(input_len) ((input_len) + AO_FEC_PREPARE_EXTRA) +#define ENCODE_LEN(input_len) (PREPARE_LEN(input_len) * 2) +#define DECODE_LEN(input_len) ((input_len) + AO_FEC_PREPARE_EXTRA) +#define EXPAND_LEN(input_len) (ENCODE_LEN(input_len) * 8) + +static uint8_t ao_bit(uint8_t b) { + if (b) + return 0x00; + return 0xff; +} + +static int +ao_expand(uint8_t *bits, int bits_len, uint8_t *bytes) +{ + int i, bit; + uint8_t b; + + for (i = 0; i < bits_len; i++) { + b = bits[i]; + for (bit = 7; bit >= 0; bit--) + *bytes++ = ao_bit ((b >> bit) & 1); + } + + return bits_len * 8; +} + +static int +ao_fuzz (uint8_t *in, int in_len, uint8_t *out, double dev) +{ + int i; + int errors = 0; + int s; + + for (i = 0; i < in_len; i++) { + double error = gaussian_random(0, dev); + uint8_t byte = in[i]; + + if (error > 0) { + if (error > 0xff) + error = 0xff; + if (error >= 0x80) + errors++; + if (byte < 0x80) + byte += error; + else + byte -= error; + } + + /* abcd efgh 8 + * abcd efga 7 + * abcd efab 6 + * abcd eabc 5 + * abcd abcd 4 + * abca bcab 3 + * abab abab 2 + * aaaa aaaa 1 + */ + +#define SAVE 8 +#define SAVE_MASK (((1 << SAVE) - 1) << (8 - SAVE)) + + byte &= SAVE_MASK; + for (s = SAVE; s < 8; s += SAVE) + byte |= byte >> s; + + out[i] = byte; + } + return errors; +} + +static uint8_t +ao_random_data(uint8_t *out, uint8_t out_len) +{ + uint8_t len = random() % (out_len + 1); + uint8_t i; + + for (i = 0; i < len; i++) + out[i] = random(); + return len; +} + + +static uint8_t real_packet[] = { + 0x40, 0x38, 0xcd, 0x38, 0x3d, 0x34, 0xca, 0x31, 0xc3, 0xc1, 0xc6, 0x35, 0xcc, 0x3a, 0x3c, + 0x3c, 0x3d, 0x3c, 0x37, 0xc5, 0xc1, 0xc0, 0xc1, 0xc1, 0xc3, 0xc0, 0xc1, 0xc6, 0x38, 0x3b, 0xc6, + 0xc0, 0xc6, 0x32, 0xc9, 0xc9, 0x34, 0xcf, 0x35, 0xcf, 0x3a, 0x3b, 0xc6, 0xc7, 0x35, 0xcf, 0x36, + 0xce, 0x37, 0xc8, 0xc8, 0x3a, 0x3c, 0xc9, 0xc8, 0x3a, 0x3c, 0xcc, 0x32, 0xcd, 0x32, 0xce, 0x32, + 0xc9, 0xc6, 0x37, 0x3e, 0x3d, 0xc8, 0xc3, 0xc6, 0x38, 0x3d, 0xcf, 0x34, 0x3d, 0x3b, 0xcb, 0x31, + 0xca, 0x35, 0x38, 0xcb, 0x31, 0xcc, 0x31, 0x3b, 0xc7, 0xbf, 0xbe, 0xbe, 0xc3, 0x35, 0x38, 0xcb, + 0x2f, 0xc9, 0xc2, 0x34, 0x3c, 0xcc, 0x31, 0xca, 0xc1, 0xc0, 0xc3, 0x33, 0x3f, 0x3f, 0x3e, 0x3c, + 0xcc, 0x31, 0xcc, 0xc3, 0xc4, 0x32, 0xd1, 0x34, 0x3f, 0x3c, 0xcc, 0x31, 0xcc, 0xc3, 0x33, 0xd0, + 0x31, 0xd1, 0x35, 0x3f, 0x3e, 0x3c, 0xca, 0xc5, 0x34, 0xcc, 0xc2, 0xc3, 0xc3, 0xc5, 0x36, 0x40, + 0x3e, 0x41, 0x3e, 0x41, 0x3e, 0x3f, 0x41, 0x40, 0xce, 0xc5, 0x33, 0xcf, 0xc7, 0x36, 0xd2, 0x32, + 0xd1, 0xc5, 0xc6, 0x35, 0xd4, 0x32, 0xd1, 0xc6, 0x34, 0x41, 0xd2, 0x30, 0xd0, 0xc2, 0xc2, 0xc5, + 0x31, 0xd3, 0x31, 0xd1, 0xc7, 0x33, 0xd4, 0xc6, 0x34, 0x42, 0x40, 0x40, 0x40, 0x41, 0x41, 0xd2, + 0xc4, 0xc4, 0x39, 0x3e, 0xce, 0x35, 0x3c, 0xcd, 0x31, 0x3d, 0xc8, 0xc3, 0x32, 0x3d, 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0xc2, 0xd2, 0x3f, 0x3f, 0x3f, 0x2e, 0xd1, + 0x2d, 0xd3, 0x2c, 0xc3, 0xc3, 0xc3, 0xc2, 0xc3, 0xc2, 0xd3, 0x3e, 0x31, 0xd0, 0x2d, 0xc3, 0xc0, + 0xc1, 0xd1, 0x2f, 0xd3, 0x3f, 0x3f, 0x31, 0xc1, 0xcf, 0x31, 0xd2, 0x3e, 0x3f, 0x3c, 0x41, 0x3e, + 0x3e, 0x3f, 0x31, 0xd1, 0x30, 0xc0, 0xcf, 0x33, 0xd1, 0x3d, 0x41, 0x32, 0xc0, 0xc3, 0xce, 0x3e, + 0x32, 0xc3, 0xc3, 0xc2, 0xc0, 0xc3, 0xca, 0x3c, 0x37, 0xc5, 0xc3, 0xca, 0x34, 0xcf, 0x35, 0xc6, + 0xca, 0x3c, 0x39, 0xce, 0x3c, 0x37, 0xc2, 0xc8, 0x3c, 0x36, 0xcc, 0x30, 0xcb, 0x33, 0xc6, 0xc3, + 0xc8, 0x34, 0xcc, 0x3d, 0x37, 0xc5, 0xc9, 0x38, 0xc6, 0xca, 0x3b, 0x40, 0x40, 0x40, 0x3a, 0xc5, + 0xc8, 0x3f, 0x3e, 0x3b, 0xce, 0x3a, 0x3e, 0x38, 0xca, 0x39, 0x3c, 0x3c, 0x36, 0xcb, 0x36, 0x3b, + 0x37, 0xc8, 0x35, 0x3a, 0x36, 0xc8, 0x2f, 0xc4, 0xc5, 0x36, 0x38, 0xc7, 0xc0, 0xc7, 0x33, 0xc8, + 0xc3, 0xc5, 0x39, 0x3b, 0xc9, 0xc7, 0x34, 0xd1, 0x34, 0xcf, 0x35, 0xca, 0xc9, 0x36, 0xd0, 0x36, + 0xcc, 0xc7, 0x39, 0x41, 0x42, 0x42, 0x3e, 0xca, 0xc1, 0xc3, 0xc3, 0xc2, 0xc3, 0xc2, 0xc4, 0xc6, + 0x34, 0xd1, 0x35, 0xcf, 0x37, 0x3c, 0xce, 0x35, 0x3b, 0xcc, 0x30, 0xca, 0x33, 0x39, 0xc9, 0xbf, + 0xbf, 0xbf, 0xc3, 0x34, 0x3c, 0x3f, 0x3a, 0xcc, 0x2f, 0xcd, 0x32, 0x3c, 0x3a, 0xc8, 0xc2, 0x34, + 0x3a, 0xcb, 0xc0, 0xc0, 0x35, 0x3c, 0xce, 0x32, 0x3c, 0x3c, 0x3d, 0x3a, 0xcd, 0x2e, 0x3b, 0x39, + 0xc9, 0xbc, 0xbf, 0x30, 0xcc, 0xc0, 0xc3, 0x33, 0xce, 0xc5, 0xc2, 0xc4, 0x36, 0x3e, 0xd1, 0xc3, + 0xc2, 0xc3, 0xc5, 0x33, 0xd0, 0xc5, 0xc4, 0x35, 0x40, 0x40, 0x3e, 0x41, 0x3e, 0xd2, 0x30, 0x3f, + 0x3e, 0x3d, 0x21, 0xc8, 0x0d, 0x23, 0xec, 0xb1, 0x1a, 0xf0, 0xf3, 0x10, 0xc6, 0xbd, 0x5b, 0x0d, + 0xff, 0xe2, 0xe6, 0xd4, 0x72, 0xe2, 0xda, 0x0c, 0xf8, 0x1b, 0x04, 0x0b, 0xf7, 0xb4, 0xf0, 0x44, + 0xcd, 0xaf, 0x12, 0x1f, 0x11, 0xa1, 0x29, 0xb8, 0x1a, 0xdb, 0x09, 0x69, 0xf7, 0x20, 0xc4, 0x1c, + 0xc0, 0xc8, 0x1d, 0x45, 0xd9, 0x30, 0xd8, 0x2e, 0xd8, 0x2e, 0xd6, 0x2c, 0xd5, 0x2d, 0xd4, 0x2b, + 0xd5, 0x2b, 0xd1, 0x31, 0xd0, 0x32, 0xd2, 0x30, 0xd0, 0x31, 0xd0, 0x31, 0xce, 0x2f, 0xd3, 0x2e, + 0xce, 0x2f, 0xd1, 0x31, 0x3c, 0xd1, 0x2d, 0xd0, 0xc0, 0x2e, 0x3c, 0x3d, 0xd1, 0xc3, 0x2c, 0xd2, + 0xc3, 0xc5, 0x31, 0x40, 0x40, 0xd5, 0x2c, 0x3a, 0x3d, 0xd0, 0x2b, 0xd3, 0xc0, 0xc0, 0x2d, 0xd4, + 0x2c, 0x3f, 0x3e, 0x3c, 0x3f, 0x3c, 0xd2, 0xc1, 0xc2, 0xc0, 0xc1, 0xc1, 0xc1, 0xc1, 0xc1, 0x2a, +}; + + +int +ao_real_packet(void) +{ + uint8_t decode[64]; + int ok; + + ok = ao_fec_decode(real_packet, 576, decode, 34, NULL); + + if (ok && decode[33] == AO_FEC_DECODE_CRC_OK) { + printf ("match\n"); + + ao_fec_dump_bytes(decode, 34, "Decode"); + } else { + printf ("actual packet crc error\n"); + ok = 0; + } + return ok; +} + +#define EXPECT_DECODE_FAIL 0 +#define EXPECT_CRC_MISMATCH 6386 +#define EXPECT_DATA_MISMATCH 0 +#define NOISE_AMOUNT 0x50 + +int +main(int argc, char **argv) +{ + int trial; + + uint8_t original[120]; + uint8_t original_len; + + uint8_t encode[ENCODE_LEN(sizeof(original))]; + int encode_len; + + uint8_t transmit[EXPAND_LEN(sizeof(original))]; + int transmit_len; + + uint8_t receive[EXPAND_LEN(sizeof(original))]; + int receive_len; + + uint8_t decode[DECODE_LEN(sizeof(original))]; + int decode_ok; + + int errors = 0; + int decode_fail = 0; + int crc_mismatch = 0; + int data_mismatch = 0; + + if (!ao_real_packet()) + errors++; + + srandom(0); + for (trial = 0; trial < 100000; trial++) { + + /* Compute some random data */ + original_len = ao_random_data(original, sizeof(original)); + + /* Encode it */ + encode_len = ao_fec_encode(original, original_len, encode); + + /* Expand from 1-bit-per-symbol to 1-byte-per-symbol */ + transmit_len = ao_expand(encode, encode_len, transmit); + + /* Add gaussian noise to the signal */ + (void) ao_fuzz(transmit, transmit_len, receive, NOISE_AMOUNT); + receive_len = transmit_len; + + /* Decode it */ + decode_ok = ao_fec_decode(receive, receive_len, decode, original_len + 2, NULL); + + /* Check to see if we received the right data */ + + if (!decode_ok) + decode_fail++; + else if (decode[original_len +1] != AO_FEC_DECODE_CRC_OK) + crc_mismatch++; + else if (memcmp(original, decode, original_len) != 0) + data_mismatch++; + } + + + printf ("%d packets coded\n", trial); + printf ("decode_fail %d crc_mismatch %d data_mismatch %d\n", + decode_fail, crc_mismatch, data_mismatch); + if (decode_fail != EXPECT_DECODE_FAIL) { + printf ("expected %d decode failures\n", EXPECT_DECODE_FAIL); + errors++; + } + if (crc_mismatch != EXPECT_CRC_MISMATCH) { + printf ("expected %d crc mismatch\n", EXPECT_CRC_MISMATCH); + errors++; + } + if (data_mismatch != EXPECT_DATA_MISMATCH) { + printf ("expected %d data mismatch\n", EXPECT_DATA_MISMATCH); + errors++; + } + return errors; +} + + diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c new file mode 100644 index 00000000..b9e291ce --- /dev/null +++ b/src/test/ao_flight_test.c @@ -0,0 +1,738 @@ +/* + * Copyright © 2009 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. + */ + +#define _GNU_SOURCE + +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <getopt.h> +#include <math.h> + +#define AO_HERTZ 100 + +#define HAS_ADC 1 +#define AO_DATA_RING 64 +#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) +#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) + +#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)) + +/* + * One set of samples read from the A/D converter + */ +struct ao_adc { + int16_t accel; /* accelerometer */ + int16_t pres; /* pressure sensor */ + int16_t pres_real; /* unclipped */ + int16_t temp; /* temperature sensor */ + int16_t v_batt; /* battery voltage */ + int16_t sense_d; /* drogue continuity sense */ + int16_t sense_m; /* main continuity sense */ +}; + +#define __pdata +#define __data +#define __xdata +#define __code +#define __reentrant + +#define HAS_FLIGHT 1 +#define HAS_IGNITE 1 +#define HAS_USB 1 +#define HAS_GPS 1 +#ifndef HAS_ACCEL +#define HAS_ACCEL 1 +#define HAS_ACCEL_REF 0 +#endif + +#include <ao_data.h> + +#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#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_MAX_BARO_HEIGHT 12000 +#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) + +enum ao_flight_state { + ao_flight_startup = 0, + ao_flight_idle = 1, + ao_flight_pad = 2, + ao_flight_boost = 3, + ao_flight_fast = 4, + ao_flight_coast = 5, + ao_flight_drogue = 6, + ao_flight_main = 7, + ao_flight_landed = 8, + ao_flight_invalid = 9 +}; + +extern enum ao_flight_state ao_flight_state; + +#define FALSE 0 +#define TRUE 1 + +volatile struct ao_data ao_data_ring[AO_DATA_RING]; +volatile uint8_t ao_data_head; +int ao_summary = 0; + +#define ao_led_on(l) +#define ao_led_off(l) +#define ao_timer_set_adc_interval(i) +#define ao_wakeup(wchan) ao_dump_state() +#define ao_cmd_register(c) +#define ao_usb_disable() +#define ao_telemetry_set_interval(x) +#define ao_rdf_set(rdf) +#define ao_packet_slave_start() +#define ao_packet_slave_stop() + +enum ao_igniter { + ao_igniter_drogue = 0, + ao_igniter_main = 1 +}; + +struct ao_data ao_data_static; + +int drogue_height; +double drogue_time; +int main_height; +double main_time; + +int tick_offset; + +static int32_t ao_k_height; + +void +ao_ignite(enum ao_igniter igniter) +{ + double time = (double) (ao_data_static.tick + tick_offset) / 100; + + if (igniter == ao_igniter_drogue) { + drogue_time = time; + drogue_height = ao_k_height >> 16; + } else { + main_time = time; + main_height = ao_k_height >> 16; + } +} + +struct ao_task { + int dummy; +}; + +#define ao_add_task(t,f,n) ((void) (t)) + +#define ao_log_start() +#define ao_log_stop() + +#define AO_MS_TO_TICKS(ms) ((ms) / 10) +#define AO_SEC_TO_TICKS(s) ((s) * 100) + +#define AO_FLIGHT_TEST + +int ao_flight_debug; + +FILE *emulator_in; +char *emulator_app; +char *emulator_name; +char *emulator_info; +double emulator_error_max = 4; +double emulator_height_error_max = 20; /* noise in the baro sensor */ + +void +ao_dump_state(void); + +void +ao_sleep(void *wchan); + +const char const * const ao_state_names[] = { + "startup", "idle", "pad", "boost", "fast", + "coast", "drogue", "main", "landed", "invalid" +}; + +struct ao_cmds { + void (*func)(void); + const char *help; +}; + +#define ao_xmemcpy(d,s,c) memcpy(d,s,c) +#define ao_xmemset(d,v,c) memset(d,v,c) +#define ao_xmemcmp(d,s,c) memcmp(d,s,c) + +#define AO_NEED_ALTITUDE_TO_PRES 1 +#include "ao_convert.c" + +struct ao_config { + uint16_t main_deploy; + int16_t accel_plus_g; + int16_t accel_minus_g; + uint8_t pad_orientation; + uint16_t apogee_lockout; +}; + +#define AO_PAD_ORIENTATION_ANTENNA_UP 0 +#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 + +#define ao_config_get() + +struct ao_config ao_config; + +#define DATA_TO_XDATA(x) (x) + + +#define GRAVITY 9.80665 +extern int16_t ao_ground_accel, ao_flight_accel; +extern int16_t ao_accel_2g; + +typedef int16_t accel_t; + +extern uint16_t ao_sample_tick; + +extern int16_t ao_sample_height; +extern accel_t ao_sample_accel; +extern int32_t ao_accel_scale; +extern int16_t ao_ground_height; +extern int16_t ao_sample_alt; + +int ao_sample_prev_tick; +uint16_t prev_tick; + +#include "ao_kalman.c" +#include "ao_sample.c" +#include "ao_flight.c" + +#define to_double(f) ((f) / 65536.0) + +static int ao_records_read = 0; +static int ao_eof_read = 0; +static int ao_flight_ground_accel; +static int ao_flight_started = 0; +static int ao_test_max_height; +static double ao_test_max_height_time; +static int ao_test_main_height; +static double ao_test_main_height_time; +static double ao_test_landed_time; +static double ao_test_landed_height; +static double ao_test_landed_time; +static int landed_set; +static double landed_time; +static double landed_height; + +void +ao_test_exit(void) +{ + double drogue_error; + double main_error; + double landed_error; + double landed_time_error; + + if (!ao_test_main_height_time) { + ao_test_main_height_time = ao_test_max_height_time; + ao_test_main_height = ao_test_max_height; + } + drogue_error = fabs(ao_test_max_height_time - drogue_time); + main_error = fabs(ao_test_main_height_time - main_time); + landed_error = fabs(ao_test_landed_height - landed_height); + landed_time_error = ao_test_landed_time - landed_time; + if (drogue_error > emulator_error_max || main_error > emulator_error_max) { + printf ("%s %s\n", + emulator_app, emulator_name); + if (emulator_info) + printf ("\t%s\n", emulator_info); + printf ("\tApogee error %g\n", drogue_error); + printf ("\tMain error %g\n", main_error); + printf ("\tLanded height error %g\n", landed_error); + printf ("\tLanded time error %g\n", landed_time_error); + printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n", + ao_test_max_height, ao_test_max_height_time, + ao_test_main_height, ao_test_main_height_time, + ao_test_landed_height, ao_test_landed_time); + printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n", + drogue_height, drogue_time, main_height, main_time, + landed_height, landed_time); + exit (1); + } + exit(0); +} + +void +ao_insert(void) +{ + double time; + + ao_data_ring[ao_data_head] = ao_data_static; + ao_data_head = ao_data_ring_next(ao_data_head); + if (ao_flight_state != ao_flight_startup) { + double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height; + double accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) / + (ao_config.accel_minus_g - ao_config.accel_plus_g); + + if (!tick_offset) + tick_offset = -ao_data_static.tick; + if ((prev_tick - ao_data_static.tick) > 0x400) + tick_offset += 65536; + prev_tick = ao_data_static.tick; + time = (double) (ao_data_static.tick + tick_offset) / 100; + + if (ao_test_max_height < height) { + ao_test_max_height = height; + ao_test_max_height_time = time; + ao_test_landed_height = height; + ao_test_landed_time = time; + } + if (height > ao_config.main_deploy) { + ao_test_main_height_time = time; + ao_test_main_height = height; + } + + if (ao_test_landed_height > height) { + ao_test_landed_height = height; + ao_test_landed_time = time; + } + + if (ao_flight_state == ao_flight_landed && !landed_set) { + landed_set = 1; + landed_time = time; + landed_height = height; + } + + if (!ao_summary) { + printf("%7.2f height %8.2f accel %8.3f state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", + time, + height, + accel, + ao_state_names[ao_flight_state], + ao_k_height / 65536.0, + ao_k_speed / 65536.0 / 16.0, + ao_k_accel / 65536.0 / 16.0, + ao_avg_height, + drogue_height, + main_height, + ao_error_h_sq_avg); + +// if (ao_flight_state == ao_flight_landed) +// ao_test_exit(); + } + } +} + +#define AO_MAX_CALLSIGN 8 +#define AO_MAX_VERSION 8 +#define AO_MAX_TELEMETRY 128 + +struct ao_telemetry_generic { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t payload[27]; /* 5 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01 +#define AO_TELEMETRY_SENSOR_TELEMINI 0x02 +#define AO_TELEMETRY_SENSOR_TELENANO 0x03 + +struct ao_telemetry_sensor { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + int16_t accel; /* 6 accelerometer (TM only) */ + int16_t pres; /* 8 pressure sensor */ + int16_t temp; /* 10 temperature sensor */ + int16_t v_batt; /* 12 battery voltage */ + int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */ + int16_t sense_m; /* 16 main continuity sense (TM/Tm) */ + + int16_t acceleration; /* 18 m/s² * 16 */ + int16_t speed; /* 20 m/s * 16 */ + int16_t height; /* 22 m */ + + int16_t ground_pres; /* 24 average pres on pad */ + int16_t ground_accel; /* 26 average accel on pad */ + int16_t accel_plus_g; /* 28 accel calibration at +1g */ + int16_t accel_minus_g; /* 30 accel calibration at -1g */ + /* 32 */ +}; + +#define AO_TELEMETRY_CONFIGURATION 0x04 + +struct ao_telemetry_configuration { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t device; /* 5 device type */ + uint16_t flight; /* 6 flight number */ + uint8_t config_major; /* 8 Config major version */ + uint8_t config_minor; /* 9 Config minor version */ + uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */ + uint16_t main_deploy; /* 12 Main deploy alt in meters */ + uint16_t flight_log_max; /* 14 Maximum flight log size in kB */ + char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */ + char version[AO_MAX_VERSION]; /* 24 Software version */ + /* 32 */ +}; + +#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' + +struct ao_telemetry_location { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t flags; /* 5 Number of sats and other flags */ + int16_t altitude; /* 6 GPS reported altitude (m) */ + int32_t latitude; /* 8 latitude (degrees * 10⁷) */ + int32_t longitude; /* 12 longitude (degrees * 10⁷) */ + uint8_t year; /* 16 (- 2000) */ + uint8_t month; /* 17 (1-12) */ + uint8_t day; /* 18 (1-31) */ + uint8_t hour; /* 19 (0-23) */ + uint8_t minute; /* 20 (0-59) */ + uint8_t second; /* 21 (0-59) */ + uint8_t pdop; /* 22 (m * 5) */ + uint8_t hdop; /* 23 (m * 5) */ + uint8_t vdop; /* 24 (m * 5) */ + uint8_t mode; /* 25 */ + uint16_t ground_speed; /* 26 cm/s */ + int16_t climb_rate; /* 28 cm/s */ + uint8_t course; /* 30 degrees / 2 */ + uint8_t unused[1]; /* 31 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SATELLITE 0x06 + +struct ao_telemetry_satellite_info { + uint8_t svid; + uint8_t c_n_1; +}; + +struct ao_telemetry_satellite { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t channels; /* 5 number of reported sats */ + + struct ao_telemetry_satellite_info sats[12]; /* 6 */ + uint8_t unused[2]; /* 30 */ + /* 32 */ +}; + +union ao_telemetry_all { + struct ao_telemetry_generic generic; + struct ao_telemetry_sensor sensor; + struct ao_telemetry_configuration configuration; + struct ao_telemetry_location location; + struct ao_telemetry_satellite satellite; +}; + +uint16_t +uint16(uint8_t *bytes, int off) +{ + off++; + return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8); +} + +int16_t +int16(uint8_t *bytes, int off) +{ + return (int16_t) uint16(bytes, off); +} + +void +ao_sleep(void *wchan) +{ + if (wchan == &ao_data_head) { + char type = 0; + uint16_t tick = 0; + uint16_t a = 0, b = 0; + uint8_t bytes[1024]; + union ao_telemetry_all telem; + char line[1024]; + char *saveptr; + char *l; + char *words[64]; + int nword; + + for (;;) { + if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) + { + ao_data_static.adc.accel = ao_flight_ground_accel; + ao_insert(); + return; + } + + if (!fgets(line, sizeof (line), emulator_in)) { + if (++ao_eof_read >= 1000) { + if (!ao_summary) + printf ("no more data, exiting simulation\n"); + ao_test_exit(); + } + ao_data_static.tick += 10; + ao_insert(); + return; + } + l = line; + for (nword = 0; nword < 64; nword++) { + words[nword] = strtok_r(l, " \t\n", &saveptr); + l = NULL; + if (words[nword] == NULL) + break; + } + if (nword == 4) { + type = words[0][0]; + tick = strtoul(words[1], NULL, 16); + a = strtoul(words[2], NULL, 16); + b = strtoul(words[3], NULL, 16); + if (type == 'P') + type = 'A'; + } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) { + ao_config.accel_plus_g = atoi(words[3]); + ao_config.accel_minus_g = atoi(words[5]); + } else if (nword >= 4 && strcmp(words[0], "Main") == 0) { + ao_config.main_deploy = atoi(words[2]); + } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 && + strcmp(words[1], "lockout:") == 0) { + ao_config.apogee_lockout = atoi(words[2]); + } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) { + tick = atoi(words[10]); + if (!ao_flight_started) { + type = 'F'; + a = atoi(words[26]); + ao_flight_started = 1; + } else { + type = 'A'; + a = atoi(words[12]); + b = atoi(words[14]); + } + } else if (nword == 3 && strcmp(words[0], "BARO") == 0) { + tick = strtol(words[1], NULL, 16); + a = 16384 - 328; + b = strtol(words[2], NULL, 10); + type = 'A'; + if (!ao_flight_started) { + ao_flight_ground_accel = 16384 - 328; + ao_config.accel_plus_g = 16384 - 328; + ao_config.accel_minus_g = 16384 + 328; + ao_flight_started = 1; + } + } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) { + __xdata char *hex = words[1]; + char elt[3]; + int i, len; + uint8_t sum; + + len = strlen(hex); + if (len > sizeof (bytes) * 2) { + len = sizeof (bytes)*2; + hex[len] = '\0'; + } + for (i = 0; i < len; i += 2) { + elt[0] = hex[i]; + elt[1] = hex[i+1]; + elt[2] = '\0'; + bytes[i/2] = (uint8_t) strtol(elt, NULL, 16); + } + len = i/2; + if (bytes[0] != len - 2) { + printf ("bad length %d != %d\n", bytes[0], len - 2); + continue; + } + sum = 0x5a; + for (i = 1; i < len-1; i++) + sum += bytes[i]; + if (sum != bytes[len-1]) { + printf ("bad checksum\n"); + continue; + } + if ((bytes[len-2] & 0x80) == 0) { + continue; + } + if (len == 36) { + ao_xmemcpy(&telem, bytes + 1, 32); + tick = telem.generic.tick; + switch (telem.generic.type) { + case AO_TELEMETRY_SENSOR_TELEMETRUM: + case AO_TELEMETRY_SENSOR_TELEMINI: + case AO_TELEMETRY_SENSOR_TELENANO: + if (!ao_flight_started) { + ao_flight_ground_accel = telem.sensor.ground_accel; + ao_config.accel_plus_g = telem.sensor.accel_plus_g; + ao_config.accel_minus_g = telem.sensor.accel_minus_g; + ao_flight_started = 1; + } + type = 'A'; + a = telem.sensor.accel; + b = telem.sensor.pres; + break; + } + } else if (len == 99) { + ao_flight_started = 1; + tick = uint16(bytes, 21); + ao_flight_ground_accel = int16(bytes, 7); + ao_config.accel_plus_g = int16(bytes, 17); + ao_config.accel_minus_g = int16(bytes, 19); + type = 'A'; + a = int16(bytes, 23); + b = int16(bytes, 25); + } else if (len == 98) { + ao_flight_started = 1; + tick = uint16(bytes, 20); + ao_flight_ground_accel = int16(bytes, 6); + ao_config.accel_plus_g = int16(bytes, 16); + ao_config.accel_minus_g = int16(bytes, 18); + type = 'A'; + a = int16(bytes, 22); + b = int16(bytes, 24); + } else { + printf("unknown len %d\n", len); + continue; + } + } + if (type != 'F' && !ao_flight_started) + continue; + + switch (type) { + case 'F': + ao_flight_ground_accel = a; + if (ao_config.accel_plus_g == 0) { + ao_config.accel_plus_g = a; + ao_config.accel_minus_g = a + 530; + } + if (ao_config.main_deploy == 0) + ao_config.main_deploy = 250; + ao_flight_started = 1; + break; + case 'S': + break; + case 'A': + 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(); + return; + case 'T': + ao_data_static.tick = tick; + ao_data_static.adc.temp = a; + ao_data_static.adc.v_batt = b; + break; + case 'D': + case 'G': + case 'N': + case 'W': + case 'H': + break; + } + } + + } +} +#define COUNTS_PER_G 264.8 + +void +ao_dump_state(void) +{ +} + +static const struct option options[] = { + { .name = "summary", .has_arg = 0, .val = 's' }, + { .name = "debug", .has_arg = 0, .val = 'd' }, + { .name = "info", .has_arg = 1, .val = 'i' }, + { 0, 0, 0, 0}, +}; + +void run_flight_fixed(char *name, FILE *f, int summary, char *info) +{ + emulator_name = name; + emulator_in = f; + emulator_info = info; + ao_summary = summary; + ao_flight_init(); + ao_flight(); +} + +int +main (int argc, char **argv) +{ + int summary = 0; + int c; + int i; + char *info = NULL; + +#if HAS_ACCEL + emulator_app="full"; +#else + emulator_app="baro"; +#endif + while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) { + switch (c) { + case 's': + summary = 1; + break; + case 'd': + ao_flight_debug = 1; + break; + case 'i': + info = optarg; + break; + } + } + + if (optind == argc) + run_flight_fixed("<stdin>", stdin, summary, info); + else + for (i = optind; i < argc; i++) { + FILE *f = fopen(argv[i], "r"); + if (!f) { + perror(argv[i]); + continue; + } + run_flight_fixed(argv[i], f, summary, info); + fclose(f); + } + exit(0); +} diff --git a/src/ao_gps_test.c b/src/test/ao_gps_test.c index fb9b0d10..d75a12ec 100644 --- a/src/ao_gps_test.c +++ b/src/test/ao_gps_test.c @@ -21,14 +21,20 @@ #include <errno.h> #include <sys/types.h> #include <sys/stat.h> +#include <unistd.h> #include <fcntl.h> #define AO_GPS_NUM_SAT_MASK (0xf << 0) #define AO_GPS_NUM_SAT_SHIFT (0) #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) -struct ao_gps_data { +struct ao_gps_orig { + uint8_t year; + uint8_t month; + uint8_t day; uint8_t hour; uint8_t minute; uint8_t second; @@ -44,6 +50,31 @@ struct ao_gps_data { uint16_t v_error; /* m */ }; +#define SIRF_SAT_STATE_ACQUIRED (1 << 0) +#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) +#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) +#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3) +#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4) +#define SIRF_SAT_CODE_LOCKED (1 << 5) +#define SIRF_SAT_ACQUISITION_FAILED (1 << 6) +#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7) + +struct ao_gps_sat_orig { + uint8_t svid; + uint8_t c_n_1; +}; + +#define AO_MAX_GPS_TRACKING 12 + +struct ao_gps_tracking_orig { + uint8_t channels; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; +}; + +#define ao_telemetry_location ao_gps_orig +#define ao_telemetry_satellite ao_gps_tracking_orig +#define ao_telemetry_satellite_info ao_gps_sat_orig + void ao_mutex_get(uint8_t *mutex) { @@ -78,6 +109,15 @@ ao_dbg_char(char c) static char input_queue[QUEUE_LEN]; int input_head, input_tail; +#include <sys/time.h> + +int +get_millis(void) +{ + struct timeval tv; + gettimeofday(&tv, NULL); + return tv.tv_sec * 1000 + tv.tv_usec / 1000; +} static void check_sirf_message(char *from, uint8_t *msg, int len) @@ -101,9 +141,11 @@ check_sirf_message(char *from, uint8_t *msg, int len) } encoded_len = (msg[2] << 8) | msg[3]; id = msg[4]; +/* printf ("%9d: %3d\n", get_millis(), id); */ if (encoded_len != len - 8) { - printf ("length mismatch (got %d, wanted %d)\n", - len - 8, encoded_len); + if (id != 52) + printf ("length mismatch (got %d, wanted %d)\n", + len - 8, encoded_len); return; } encoded_cksum = (msg[len - 4] << 8) | msg[len-3]; @@ -116,7 +158,8 @@ check_sirf_message(char *from, uint8_t *msg, int len) return; } id = msg[4]; - if (id == 41) { + switch (id) { + case 41:{ int off = 4; uint8_t id; @@ -178,32 +221,89 @@ check_sirf_message(char *from, uint8_t *msg, int len) get_u16(h_v_error); + (void) mag_var; + (void) id; printf ("Geodetic Navigation Data (41):\n"); printf ("\tNav valid %04x\n", nav_valid); printf ("\tNav type %04x\n", nav_type); - printf ("\tWeek %d\n", week); - printf ("\tTOW %d\n", tow); - printf ("\tyear %d\n", year); - printf ("\tmonth %d\n", month); - printf ("\tday %d\n", day); - printf ("\thour %d\n", hour); - printf ("\tminute %d\n", minute); - printf ("\tsecond %g\n", second / 1000.0); + printf ("\tWeek %5d", week); + printf (" TOW %9d", tow); + printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n", + year, month, day, + hour, minute, second / 1000.0); printf ("\tsats: %08x\n", sat_list); - printf ("\tlat: %g\n", lat / 1.0e7); - printf ("\tlon: %g\n", lon / 1.0e7); - printf ("\talt_ell: %g\n", alt_ell / 100.0); - printf ("\talt_msll: %g\n", alt_msl / 100.0); - printf ("\tdatum: %d\n", datum); - printf ("\tground speed: %g\n", sog / 100.0); - printf ("\tcourse: %g\n", cog / 100.0); - printf ("\tclimb: %g\n", climb_rate / 100.0); - printf ("\theading rate: %g\n", heading_rate / 100.0); - printf ("\th error: %g\n", h_error / 100.0); - printf ("\tv error: %g\n", v_error / 100.0); - printf ("\tt error: %g\n", t_error / 100.0); - printf ("\th vel error: %g\n", h_v_error / 100.0); - } else { + printf ("\tlat: %g", lat / 1.0e7); + printf (" lon: %g", lon / 1.0e7); + printf (" alt_ell: %g", alt_ell / 100.0); + printf (" alt_msll: %g", alt_msl / 100.0); + printf (" datum: %d\n", datum); + printf ("\tground speed: %g", sog / 100.0); + printf (" course: %g", cog / 100.0); + printf (" climb: %g", climb_rate / 100.0); + printf (" heading rate: %g\n", heading_rate / 100.0); + printf ("\th error: %g", h_error / 100.0); + printf (" v error: %g", v_error / 100.0); + printf (" t error: %g", t_error / 100.0); + printf (" h vel error: %g\n", h_v_error / 100.0); + break; + } + case 4: { + int off = 4; + uint8_t id; + int16_t gps_week; + uint32_t gps_tow; + uint8_t channels; + int j, k; + + get_u8(id); + get_u16(gps_week); + get_u32(gps_tow); + get_u8(channels); + + (void) id; + printf ("Measured Tracker Data (4):\n"); + printf ("GPS week: %d\n", gps_week); + printf ("GPS time of week: %d\n", gps_tow); + printf ("channels: %d\n", channels); + for (j = 0; j < 12; j++) { + uint8_t svid, azimuth, elevation; + uint16_t state; + uint8_t c_n[10]; + get_u8(svid); + get_u8(azimuth); + get_u8(elevation); + get_u16(state); + for (k = 0; k < 10; k++) { + get_u8(c_n[k]); + } + printf ("Sat %3d:", svid); + printf (" aziumuth: %6.1f", azimuth * 1.5); + printf (" elevation: %6.1f", elevation * 0.5); + printf (" state: 0x%02x", state); + printf (" c_n:"); + for (k = 0; k < 10; k++) + printf(" %3d", c_n[k]); + if (state & SIRF_SAT_STATE_ACQUIRED) + printf(" acq,"); + if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID) + printf(" car,"); + if (state & SIRF_SAT_BIT_SYNC_COMPLETE) + printf(" bit,"); + if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE) + printf(" sub,"); + if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE) + printf(" pullin,"); + if (state & SIRF_SAT_CODE_LOCKED) + printf(" code,"); + if (state & SIRF_SAT_ACQUISITION_FAILED) + printf(" fail,"); + if (state & SIRF_SAT_EPHEMERIS_AVAILABLE) + printf(" ephem,"); + printf ("\n"); + } + break; + } + default: return; printf ("%s %4d:", from, encoded_len); for (i = 4; i < len - 4; i++) { @@ -221,7 +321,7 @@ static uint8_t sirf_in_message[4096]; static int sirf_in_len; char -ao_serial_getchar(void) +ao_serial1_getchar(void) { char c; uint8_t uc; @@ -255,7 +355,7 @@ ao_serial_getchar(void) void -ao_serial_putchar(char c) +ao_serial1_putchar(char c) { int i; uint8_t uc = (uint8_t) c; @@ -272,10 +372,11 @@ ao_serial_putchar(char c) i = write(ao_gps_fd, &c, 1); if (i == 1) { if ((uint8_t) c == 0xb3 || c == '\r') { - static const struct timespec delay = { +/* static const struct timespec delay = { .tv_sec = 0, .tv_nsec = 100 * 1000 * 1000 }; +*/ tcdrain(ao_gps_fd); // nanosleep(&delay, NULL); } @@ -292,7 +393,7 @@ ao_serial_putchar(char c) #define AO_SERIAL_SPEED_57600 1 static void -ao_serial_set_speed(uint8_t speed) +ao_serial1_set_speed(uint8_t speed) { int fd = ao_gps_fd; struct termios termios; @@ -311,13 +412,22 @@ ao_serial_set_speed(uint8_t speed) tcflush(fd, TCIFLUSH); } +#define ao_time() 0 + #include "ao_gps_print.c" -#include "ao_gps.c" +#include "ao_gps_sirf.c" void -ao_dump_state(void) +ao_dump_state(void *wchan) { double lat, lon; + int i; + if (wchan == &ao_gps_data) + ao_gps_print(&ao_gps_data); + else + ao_gps_tracking_print(&ao_gps_tracking_data); + putchar('\n'); + return; printf ("%02d:%02d:%02d", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second); @@ -336,6 +446,12 @@ ao_dump_state(void) ao_gps_data.hdop / 5.0, ao_gps_data.h_error, ao_gps_data.v_error); printf("\n"); + printf ("\t"); + for (i = 0; i < 12; i++) + printf (" %2d(%02d)", + ao_gps_tracking_data.sats[i].svid, + ao_gps_tracking_data.sats[i].c_n_1); + printf ("\n"); } int @@ -358,14 +474,38 @@ ao_gps_open(const char *tty) return fd; } +#include <getopt.h> + +static const struct option options[] = { + { .name = "tty", .has_arg = 1, .val = 'T' }, + { 0, 0, 0, 0}, +}; + +static void usage(char *program) +{ + fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program); + exit(1); +} + int main (int argc, char **argv) { - char *gps_file = "/dev/ttyUSB0"; + char *tty = "/dev/ttyUSB0"; + int c; - ao_gps_fd = ao_gps_open(gps_file); + while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) { + switch (c) { + case 'T': + tty = optarg; + break; + default: + usage(argv[0]); + break; + } + } + ao_gps_fd = ao_gps_open(tty); if (ao_gps_fd < 0) { - perror (gps_file); + perror (tty); exit (1); } ao_gps_setup(); diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c new file mode 100644 index 00000000..846daa94 --- /dev/null +++ b/src/test/ao_gps_test_skytraq.c @@ -0,0 +1,496 @@ +/* + * Copyright © 2009 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. + */ + +#define AO_GPS_TEST +#include "ao_host.h" +#include <termios.h> +#include <errno.h> +#include <sys/types.h> +#include <sys/stat.h> +#include <fcntl.h> +#include <unistd.h> +#define AO_GPS_NUM_SAT_MASK (0xf << 0) +#define AO_GPS_NUM_SAT_SHIFT (0) + +#define AO_GPS_VALID (1 << 4) +#define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) + +struct ao_gps_orig { + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t minute; + uint8_t second; + uint8_t flags; + int32_t latitude; /* degrees * 10⁷ */ + int32_t longitude; /* degrees * 10⁷ */ + int16_t altitude; /* m */ + uint16_t ground_speed; /* cm/s */ + uint8_t course; /* degrees / 2 */ + uint8_t hdop; /* * 5 */ + int16_t climb_rate; /* cm/s */ + uint16_t h_error; /* m */ + uint16_t v_error; /* m */ +}; + +#define SIRF_SAT_STATE_ACQUIRED (1 << 0) +#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) +#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) +#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3) +#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4) +#define SIRF_SAT_CODE_LOCKED (1 << 5) +#define SIRF_SAT_ACQUISITION_FAILED (1 << 6) +#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7) + +struct ao_gps_sat_orig { + uint8_t svid; + uint8_t c_n_1; +}; + +#define AO_MAX_GPS_TRACKING 12 + +struct ao_gps_tracking_orig { + uint8_t channels; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; +}; + +#define ao_telemetry_location ao_gps_orig +#define ao_telemetry_satellite ao_gps_tracking_orig +#define ao_telemetry_satellite_info ao_gps_sat_orig + +void +ao_mutex_get(uint8_t *mutex) +{ +} + +void +ao_mutex_put(uint8_t *mutex) +{ +} + +static int +ao_gps_fd; + +#if 0 +static void +ao_dbg_char(char c) +{ + char line[128]; + line[0] = '\0'; + if (c < ' ') { + if (c == '\n') + sprintf (line, "\n"); + else + sprintf (line, "\\%02x", ((int) c) & 0xff); + } else { + sprintf (line, "%c", c); + } + write(1, line, strlen(line)); +} +#endif + +#define QUEUE_LEN 4096 + +static char input_queue[QUEUE_LEN]; +int input_head, input_tail; + +#include <sys/time.h> + +int +get_millis(void) +{ + struct timeval tv; + gettimeofday(&tv, NULL); + return tv.tv_sec * 1000 + tv.tv_usec / 1000; +} + +static void +check_skytraq_message(char *from, uint8_t *msg, int len) +{ + uint16_t encoded_len, encoded_cksum; + uint16_t cksum; + uint8_t id; + int i; + +// fwrite(msg, 1, len, stdout); + return; + if (msg[0] != 0xa0 || msg[1] != 0xa2) { + printf ("bad header\n"); + return; + } + if (len < 7) { + printf("short\n"); + return; + } + if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) { + printf ("bad trailer\n"); + return; + } + encoded_len = (msg[2] << 8) | msg[3]; + id = msg[4]; +/* printf ("%9d: %3d\n", get_millis(), id); */ + if (encoded_len != len - 8) { + if (id != 52) + printf ("length mismatch (got %d, wanted %d)\n", + len - 8, encoded_len); + return; + } + encoded_cksum = (msg[len - 4] << 8) | msg[len-3]; + cksum = 0; + for (i = 4; i < len - 4; i++) + cksum = (cksum + msg[i]) & 0x7fff; + if (encoded_cksum != cksum) { + printf ("cksum mismatch (got %04x wanted %04x)\n", + cksum, encoded_cksum); + return; + } + id = msg[4]; + switch (id) { + case 41:{ + int off = 4; + + uint8_t id; + uint16_t nav_valid; + uint16_t nav_type; + uint16_t week; + uint32_t tow; + uint16_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t minute; + uint16_t second; + uint32_t sat_list; + int32_t lat; + int32_t lon; + int32_t alt_ell; + int32_t alt_msl; + int8_t datum; + uint16_t sog; + uint16_t cog; + int16_t mag_var; + int16_t climb_rate; + int16_t heading_rate; + uint32_t h_error; + uint32_t v_error; + uint32_t t_error; + uint16_t h_v_error; + +#define get_u8(u) u = (msg[off]); off+= 1 +#define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2 +#define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4 + + get_u8(id); + get_u16(nav_valid); + get_u16(nav_type); + get_u16(week); + get_u32(tow); + get_u16(year); + get_u8(month); + get_u8(day); + get_u8(hour); + get_u8(minute); + get_u16(second); + get_u32(sat_list); + get_u32(lat); + get_u32(lon); + get_u32(alt_ell); + get_u32(alt_msl); + get_u8(datum); + get_u16(sog); + get_u16(cog); + get_u16(mag_var); + get_u16(climb_rate); + get_u16(heading_rate); + get_u32(h_error); + get_u32(v_error); + get_u32(t_error); + get_u16(h_v_error); + + + (void) mag_var; + (void) id; + printf ("Geodetic Navigation Data (41):\n"); + printf ("\tNav valid %04x\n", nav_valid); + printf ("\tNav type %04x\n", nav_type); + printf ("\tWeek %5d", week); + printf (" TOW %9d", tow); + printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n", + year, month, day, + hour, minute, second / 1000.0); + printf ("\tsats: %08x\n", sat_list); + printf ("\tlat: %g", lat / 1.0e7); + printf (" lon: %g", lon / 1.0e7); + printf (" alt_ell: %g", alt_ell / 100.0); + printf (" alt_msll: %g", alt_msl / 100.0); + printf (" datum: %d\n", datum); + printf ("\tground speed: %g", sog / 100.0); + printf (" course: %g", cog / 100.0); + printf (" climb: %g", climb_rate / 100.0); + printf (" heading rate: %g\n", heading_rate / 100.0); + printf ("\th error: %g", h_error / 100.0); + printf (" v error: %g", v_error / 100.0); + printf (" t error: %g", t_error / 100.0); + printf (" h vel error: %g\n", h_v_error / 100.0); + break; + } + case 4: { + int off = 4; + uint8_t id; + int16_t gps_week; + uint32_t gps_tow; + uint8_t channels; + int j, k; + + get_u8(id); + get_u16(gps_week); + get_u32(gps_tow); + get_u8(channels); + + (void) id; + printf ("Measured Tracker Data (4):\n"); + printf ("GPS week: %d\n", gps_week); + printf ("GPS time of week: %d\n", gps_tow); + printf ("channels: %d\n", channels); + for (j = 0; j < 12; j++) { + uint8_t svid, azimuth, elevation; + uint16_t state; + uint8_t c_n[10]; + get_u8(svid); + get_u8(azimuth); + get_u8(elevation); + get_u16(state); + for (k = 0; k < 10; k++) { + get_u8(c_n[k]); + } + printf ("Sat %3d:", svid); + printf (" aziumuth: %6.1f", azimuth * 1.5); + printf (" elevation: %6.1f", elevation * 0.5); + printf (" state: 0x%02x", state); + printf (" c_n:"); + for (k = 0; k < 10; k++) + printf(" %3d", c_n[k]); + if (state & SIRF_SAT_STATE_ACQUIRED) + printf(" acq,"); + if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID) + printf(" car,"); + if (state & SIRF_SAT_BIT_SYNC_COMPLETE) + printf(" bit,"); + if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE) + printf(" sub,"); + if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE) + printf(" pullin,"); + if (state & SIRF_SAT_CODE_LOCKED) + printf(" code,"); + if (state & SIRF_SAT_ACQUISITION_FAILED) + printf(" fail,"); + if (state & SIRF_SAT_EPHEMERIS_AVAILABLE) + printf(" ephem,"); + printf ("\n"); + } + break; + } + default: + return; + printf ("%s %4d:", from, encoded_len); + for (i = 4; i < len - 4; i++) { + if (((i - 4) & 0xf) == 0) + printf("\n "); + printf (" %3d", msg[i]); + } + printf ("\n"); + } +} + +static uint8_t skytraq_message[4096]; +static int skytraq_message_len; +static uint8_t skytraq_in_message[4096]; +static int skytraq_in_len; + +char +ao_serial1_getchar(void) +{ + char c; + uint8_t uc; + + while (input_head == input_tail) { + for (;;) { + input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN); + if (input_tail < 0) { + if (errno == EINTR || errno == EAGAIN) + continue; + perror ("getchar"); + exit (1); + } + input_head = 0; + break; + } + } + c = input_queue[input_head]; + input_head = (input_head + 1) % QUEUE_LEN; + uc = c; +// printf ("c: %02x %c\n", uc, uc); + if (skytraq_in_len || uc == '$') { + if (skytraq_in_len < 4096) + skytraq_in_message[skytraq_in_len++] = uc; + if (uc == 0x0a) { + check_skytraq_message("recv", skytraq_in_message, skytraq_in_len); + skytraq_in_len = 0; + } + } + return c; +} + + +void +ao_serial1_putchar(char c) +{ + int i; + uint8_t uc = (uint8_t) c; + + if (skytraq_message_len || uc == 0xa0) { + if (skytraq_message_len < 4096) + skytraq_message[skytraq_message_len++] = uc; + if (uc == 0x0a) { + check_skytraq_message("send", skytraq_message, skytraq_message_len); + skytraq_message_len = 0; + } + } + for (;;) { + i = write(ao_gps_fd, &c, 1); + if (i == 1) { + if ((uint8_t) c == 0xb3 || c == '\r') { +/* static const struct timespec delay = { + .tv_sec = 0, + .tv_nsec = 100 * 1000 * 1000 + }; +*/ + tcdrain(ao_gps_fd); +// nanosleep(&delay, NULL); + } + break; + } + if (i < 0 && (errno == EINTR || errno == EAGAIN)) + continue; + perror("putchar"); + exit(1); + } +} + +#define AO_SERIAL_SPEED_4800 0 +#define AO_SERIAL_SPEED_9600 1 +#define AO_SERIAL_SPEED_57600 2 + +static void +ao_serial1_set_speed(uint8_t speed) +{ + int fd = ao_gps_fd; + struct termios termios; + + tcdrain(fd); + tcgetattr(fd, &termios); + switch (speed) { + case AO_SERIAL_SPEED_4800: + cfsetspeed(&termios, B4800); + break; + case AO_SERIAL_SPEED_9600: + cfsetspeed(&termios, B38400); + break; + case AO_SERIAL_SPEED_57600: + cfsetspeed(&termios, B57600); + break; + } + tcsetattr(fd, TCSAFLUSH, &termios); + tcflush(fd, TCIFLUSH); +} + +#define ao_time() 0 + +#include "ao_gps_print.c" +#include "ao_gps_skytraq.c" + +void +ao_dump_state(void *wchan) +{ + if (wchan == &ao_gps_data) + ao_gps_print(&ao_gps_data); + else + ao_gps_tracking_print(&ao_gps_tracking_data); + putchar('\n'); + return; +} + +int +ao_gps_open(const char *tty) +{ + struct termios termios; + int fd; + + fd = open (tty, O_RDWR); + if (fd < 0) + return -1; + + tcgetattr(fd, &termios); + cfmakeraw(&termios); + cfsetspeed(&termios, B4800); + tcsetattr(fd, TCSAFLUSH, &termios); + + tcdrain(fd); + tcflush(fd, TCIFLUSH); + return fd; +} + +#include <getopt.h> + +static const struct option options[] = { + { .name = "tty", .has_arg = 1, .val = 'T' }, + { 0, 0, 0, 0}, +}; + +static void usage(char *program) +{ + fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program); + exit(1); +} + +int +main (int argc, char **argv) +{ + char *tty = "/dev/ttyUSB0"; + int c; + + while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) { + switch (c) { + case 'T': + tty = optarg; + break; + default: + usage(argv[0]); + break; + } + } + ao_gps_fd = ao_gps_open(tty); + if (ao_gps_fd < 0) { + perror (tty); + exit (1); + } + ao_gps(); + return 0; +} diff --git a/src/test/plottest b/src/test/plottest new file mode 100755 index 00000000..76af5ee7 --- /dev/null +++ b/src/test/plottest @@ -0,0 +1,16 @@ +gnuplot -persist << EOF +set ylabel "altitude (m)" +set y2label "velocity (m/s), acceleration(m/s²)" +set xlabel "time (s)" +set xtics border out nomirror +set ytics border out nomirror +set y2tics border out nomirror +plot "$1" using 1:3 with lines axes x1y1 title "raw height",\ +"$1" using 1:5 with lines axes x1y2 title "raw accel",\ +"$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",\ +"$1" using 1:19 with lines axes x1y1 title "error" +EOF diff --git a/src/test/run-baro b/src/test/run-baro new file mode 100755 index 00000000..21bab9fb --- /dev/null +++ b/src/test/run-baro @@ -0,0 +1,31 @@ +#!/bin/sh + +for i in "$@"; do +./ao_flight_test_baro "$i" > run-out.baro + +#./ao_flight_test_accel "$i" > run-out.accel +#"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\ +#"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\ +#"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\ +#"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\ +#"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main",\ +# + +gnuplot << EOF +set ylabel "altitude (m)" +set y2label "velocity (m/s), acceleration(m/s²)" +set xlabel "time (s)" +set xtics border out nomirror +set ytics border out nomirror +set y2tics border out nomirror +set title "$i" +plot "run-out.baro" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\ +"run-out.baro" using 1:5 with lines lw 2 lt 2 axes x1y2 title "raw accel",\ +"run-out.baro" using 1:9 with lines lt 3 axes x1y1 title "baro height",\ +"run-out.baro" using 1:11 with lines lt 4 axes x1y2 title "baro speed",\ +"run-out.baro" using 1:13 with lines lt 5 axes x1y2 title "baro accel",\ +"run-out.baro" using 1:17 with lines lt 6 axes x1y1 title "baro drogue",\ +"run-out.baro" using 1:19 with lines lt 7 axes x1y1 title "baro main" +pause mouse close +EOF +done
\ No newline at end of file diff --git a/src/test/run-full b/src/test/run-full new file mode 100755 index 00000000..50ab7b5b --- /dev/null +++ b/src/test/run-full @@ -0,0 +1,31 @@ +#!/bin/sh + +for i in "$@"; do +./ao_flight_test "$i" > run-out.full + +#./ao_flight_test_accel "$i" > run-out.accel +#"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\ +#"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\ +#"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\ +#"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\ +#"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main",\ +# + +gnuplot << EOF +set ylabel "altitude (m)" +set y2label "velocity (m/s), acceleration(m/s²)" +set xlabel "time (s)" +set xtics border out nomirror +set ytics border out nomirror +set y2tics border out nomirror +set title "$i" +plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\ +"run-out.full" using 1:5 with lines lw 2 lt 2 axes x1y2 title "raw accel",\ +"run-out.full" using 1:9 with lines lt 3 axes x1y1 title "full height",\ +"run-out.full" using 1:11 with lines lt 4 axes x1y2 title "full speed",\ +"run-out.full" using 1:13 with lines lt 5 axes x1y2 title "full accel",\ +"run-out.full" using 1:17 with lines lt 6 axes x1y1 title "full drogue",\ +"run-out.full" using 1:19 with lines lt 7 axes x1y1 title "full main" +pause mouse close +EOF +done
\ No newline at end of file diff --git a/src/test/run-noisy b/src/test/run-noisy new file mode 100755 index 00000000..2e3cddc7 --- /dev/null +++ b/src/test/run-noisy @@ -0,0 +1,23 @@ +#!/bin/sh + +for i in "$@"; do +./ao_flight_test_noisy_accel "$i" > run-out.noisy + +gnuplot << EOF +set ylabel "altitude (m)" +set y2label "velocity (m/s), acceleration(m/s²)" +set xlabel "time (s)" +set xtics border out nomirror +set ytics border out nomirror +set y2tics border out nomirror +set title "$i" +plot "run-out.noisy" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\ +"run-out.noisy" using 1:5 with lines lw 2 lt 2 axes x1y2 title "raw accel",\ +"run-out.noisy" using 1:9 with lines lt 3 axes x1y1 title "noisy height",\ +"run-out.noisy" using 1:11 with lines lt 4 axes x1y2 title "noisy speed",\ +"run-out.noisy" using 1:13 with lines lt 5 axes x1y2 title "noisy accel",\ +"run-out.noisy" using 1:17 with lines lt 6 axes x1y1 title "noisy drogue",\ +"run-out.noisy" using 1:19 with lines lt 7 axes x1y1 title "noisy main" +pause mouse close +EOF +done
\ No newline at end of file diff --git a/src/test/run-one b/src/test/run-one new file mode 100755 index 00000000..8fa0787c --- /dev/null +++ b/src/test/run-one @@ -0,0 +1,47 @@ +#!/bin/sh + +DIR=~/misc/rockets/flights + +for i in "$@"; do +case "$i" in + */*) + file="$i" + ;; + *) + file="$DIR/$i" + ;; +esac +./ao_flight_test "$file" > run-out.full +./ao_flight_test_baro "$file" > run-out.baro + +#./ao_flight_test_accel "$file" > run-out.accel +#"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\ +#"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\ +#"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\ +#"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\ +#"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main",\ +# + +gnuplot << EOF +set ylabel "altitude (m)" +set y2label "velocity (m/s), acceleration(m/s²)" +set xlabel "time (s)" +set xtics border out nomirror +set ytics border out nomirror +set y2tics border out nomirror +set title "$i" +plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\ +"run-out.full" using 1:5 with lines lw 2 lt 1 axes x1y2 title "raw accel",\ +"run-out.full" using 1:9 with lines lt 2 axes x1y1 title "full height",\ +"run-out.full" using 1:11 with lines lt 2 axes x1y2 title "full speed",\ +"run-out.full" using 1:13 with lines lt 2 axes x1y2 title "full accel",\ +"run-out.full" using 1:15 with lines lt 2 axes x1y1 title "full drogue",\ +"run-out.full" using 1:17 with lines lt 2 axes x1y1 title "full main", \ +"run-out.baro" using 1:9 with lines lt 3 axes x1y1 title "baro height",\ +"run-out.baro" using 1:11 with lines lt 3 axes x1y2 title "baro speed",\ +"run-out.baro" using 1:13 with lines lt 3 axes x1y2 title "baro accel",\ +"run-out.baro" using 1:15 with lines lt 3 axes x1y1 title "baro drogue",\ +"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main" +pause mouse close +EOF +done
\ No newline at end of file diff --git a/src/test/run-tests b/src/test/run-tests new file mode 100755 index 00000000..4edecf1a --- /dev/null +++ b/src/test/run-tests @@ -0,0 +1,27 @@ +#!/bin/bash + +DIR=~/misc/rockets/flights + +expect_baro=2 +expect_full=5 + +bad_baro=0 +bad_full=0 +while read flight description; do + if ./ao_flight_test_baro -s -i "$description" $DIR/$flight; then + : + else + : $((bad_baro++)) + fi + if ./ao_flight_test -s -i "$description" $DIR/$flight; then + : + else + : $((bad_full++)) + fi +done < test-flights +echo baro errors $bad_baro expected $expect_baro +echo full errors $bad_full expected $expect_full +: $((miss_baro = bad_baro > expect_baro ? bad_baro - expect_baro : expect_baro - bad_baro)) +: $((miss_full = bad_full > expect_full ? bad_full - expect_full : expect_full - bad_full)) +: $((miss = miss_baro + miss_full)) +exit $miss
\ No newline at end of file diff --git a/src/test/test-flights b/src/test/test-flights new file mode 100644 index 00000000..12f62ea9 --- /dev/null +++ b/src/test/test-flights @@ -0,0 +1,70 @@ +2009-06-03-serial-003-flight-002.eeprom PSAS flight on research motor.Lots of ugly bumps. +2009-06-05-serial-004-flight-008.eeprom Add June 2009 Lil Nuke flight +2009-06-06-serial-004-flight-009.eeprom Another Lil nuke flight? 700m, subsonic. +2009-06-14-serial-004-flight-010.eeprom Lil nuke flies again. 450m, subsonic. +2009-06-20-serial-003-flight-003.eeprom Transonic flight. 2100m, single deploy. +2009-07-04-serial-001-flight-006.eeprom Subsonic, 1100m, noisy descent. +2009-07-18-serial-001-flight-007.eeprom Transonic, 1900m, noisy descent. +2009-08-22-serial-001-flight-001.eeprom Transonic 2200m. noisy descent +2009-08-22-serial-010-flight-001.eeprom Subsonic, laggy baro. 400m +2009-09-05-serial-010-flight-002.eeprom Subsonic, fairly quick baro. 600m +2009-09-05-serial-011-flight-001.eeprom Subsonic, 1800m. Early Ejection confuses apogee detect. +2009-09-11-serial-008-flight-003.eeprom Subsonic, 200m, early ejection. +2009-09-12-serial-002-flight-002.eeprom Subsonic. 1200m. Very nice baro velocity +2009-09-12-serial-008-flight-005.eeprom Low flight. 220m, 100m/s. +2009-09-12-serial-008-flight-007.eeprom Model flight. +2009-09-19-serial-011-flight-002.eeprom Subsonic, but noisy baro. +2009-10-03-serial-008-flight-009.eeprom Transonic baro bump. 1600m. +2009-10-03-serial-008-flight-010.eeprom Barely transonic, but other baro bumps. +2009-10-03-serial-009-flight-001.eeprom Add Ofest ToT flight (drag race with Candy Cane). subsonic, but a bit of baro noise. +2009-10-03-serial-011-flight-003.eeprom Add Ofest G-spot flight. transonic bump, ugly looking data. +2009-10-17-serial-009-flight-002.eeprom Clean looking subsonic flight, small baro slump at max-Q +2009-11-14-serial-003-flight-005.eeprom Model flight. +2009-11-14-serial-003-flight-006.eeprom Model flight. +2009-11-21-serial-013-flight-001.eeprom ToT AMW J450ST with Jason Chamberlin strontium nitrate igniter +2009-11-21-serial-013-flight-002.eeprom ToT - CTI 1009J420CL pro38 6xl +2010-02-13-serial-051-flight-002.eeprom G-Spot at Albuquerque Rocket Society launch site in Rio Rancho, NM Cesaroni 229H255WT-14A +2010-02-13-serial-052-flight-002.eeprom Add Grappler flight at OROC February model launch +2010-02-28-serial-052-flight-003.eeprom LDDD Tillamook airport, 2010-02-28, H252 +2010-02-28-serial-052-flight-004.eeprom LDDD Tillamook airport, 2010-02-28, I161 +2010-03-06-serial-010-flight-004.eeprom Robert's Lil Nuke at Hudson Ranch on a CTI 108G57CL Pro29 +2010-03-06-serial-013-flight-003.eeprom Trick-O-Treat at Hudson Ranch on a J595BS +2010-03-06-serial-051-flight-003.eeprom G-Spot at Hudson Ranch on an H180W (apogee early, fools ao_flight_test_baro) +2010-03-06-serial-053-flight-004.eeprom Horizon Rebuilt at Hudson Ranch on a J530IM with MAWD as backup +2010-05-08-serial-229-flight-002.eeprom First customer flight on a sparky. +2010-05-28-serial-215-flight-002.eeprom Mike's L1 cert flight. Congrats! +2010-05-28-serial-224-flight-001.eeprom Bill Mott's amram +2010-05-29-serial-052-flight-005.eeprom LDDD on J335 at MHM +2010-05-30-serial-010-flight-005.eeprom Robert's Lil Nuke on a 84G88 Smoky Sam at Mile High Mayhem 2010 Version 0.1 TeleMetrum with 5010 GPS board. +2010-05-30-serial-051-flight-004.eeprom Bdale's G-Spot on a CTI 298H159 Green3 at Mile High Mayhem 2010 +2010-05-30-serial-224-flight-003.eeprom Bill Mott's L3 cert flight +2010-05-30-serial-226-flight-001.eeprom Robert's RG-2 on a 159G54RL at Mile High Mayhem. Very noise accel data, early apogee (fools full) +2010-05-31-serial-010-flight-006.eeprom Robert's Lil Nuke with a v0.1 TeleMetrum and 5010 GPS board flying on a 159G118 Blue Streak on the last day of Mile High Mayhem 2010 +2010-05-31-serial-216-flight-001.eeprom Sharp Stick in the Sky on an "I something" EX motor from James Russell +2010-05-31-serial-219-flight-001.eeprom Candy Cane on CTI K300 at MHM. (accel noise fools full) +2010-05-31-serial-227-flight-003.eeprom Mike's Rocket on J285 for successful L2 cert at MHM +2010-06-05-serial-220-flight-001.eeprom Mini-mmuchness on 159G54RL, Sunday at MHM 2010 +2010-06-26-serial-209-flight-003.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch +2010-06-26-serial-215-flight-004.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch (accel noise fools full) +2010-06-26-serial-220-flight-002.eeprom Mini Mmuchness on CTI H120CL to 1975m, OROC June 2010 +2010-06-26-serial-226-flight-002.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch +2010-06-27-serial-221-flight-002.eeprom PSAS LV2c on N2000 at OROC june launch +2010-07-17-serial-230-flight-001.eeprom Mike Ward's Level 1 cert flight on H225 +2010-07-18-serial-219-flight-002.eeprom MMuchness on M1230 for successful L3 cert flight +2010-08-07-serial-216-flight-003.eeprom Sharp stick on I300T at Metra's august launch. Main out at apogee. +2010-08-07-serial-220-flight-003.eeprom Mini-mmuchness flight at Metra after debconf. Unstable on G80. ABNORMAL FLIGHT. (fools full) +2010-08-12-serial-236-flight-001.eeprom Edgar's L1 flight, Madcow Momba on Aerotech H128 (early apogee charge fools baro) +2010-08-21-serial-010-flight-007.eeprom Robert's Lil Nuke, flying on a CTI Pro29 2-grain 110G250 Vmax. Just awesome! PFND. +2010-08-21-serial-224-flight-004.eeprom Anthony Towns' LDDD clone, successful L1 cert on a CTI Pro38 2-grain 266H125 classic. Airframe was set up for apogee-only with motor based ejection. The BP charge was larger than necessary, caused nose cone to snap back against aft airframe. Minor damage to leading edge of aft airframe, big chunk of the nose cone skin cracked away. Same problem Bdale saw on Sharp Stick's nosecone, also from Performance Rocketry, where there was apparently an air bubble below the gel coat. Determination was that damage was cosmetic and would not affect cert... confirmed by successful L2 later in the day! +2010-08-21-serial-224-flight-005.eeprom Anthony Towns' LDDD clone, successful L2 cert on a CTI Pro38 5-grain 58J357 blue streak. Perfect drogueless dual deploy! 0.8-0.9 grams aft charge and about 1.0 grams forward. Flew without ground testing charges due to time pressure before waiver closed for the day. About as close to the waiver as you'd ever want to be on a cert flight, again demonstrating that OpenRocket under-estimates apogee ... approximately 6800 ft predicted... +2010-08-21-serial-233-flight-002.eeprom Tim van Milligan's 5.5" L2 airframe, flying on a CTI Pro38 6-grain 774J410 red, TM indicated a problem with the apogee igniter continuity, noticed during countdown, turned out to be a loose wire! Perfect dual deploy flight once that was fixed. +2010-09-03-serial-051-flight-005.eeprom G-spot on an old Aerotech H125-20W single use 29mm motor. It appears the ejection at apogee actually happened much later, perhaps as much as 10 seconds late! +2010-09-03-serial-215-flight-005.eeprom Horizon Rebuild on a K490 Green3 reload. PFND. About 1.4 grams each end. (accel noise fools full) +2010-09-24-serial-236-flight-006.eeprom LDDD on I236 in Sheridan on 2010-09-24 to 1216m +2010-09-25-serial-223-flight-001.eeprom Bdale's 10" Goblin, flying on a CTI Pro75 M1300 Imax dual thrust during Chili Blaster 2 at Hudson Ranch. First flight after rebuild to do dual deploy from one bay with ARRD and 15' surplus "+ sign" parachute. +2010-10-17-serial-215-flight-006.eeprom Horizon Rebuild on CTI J595BS at Tripoli Colorado launch site near Hartsel, CO +2011-01-30-serial-056-flight-001.eeprom Group project 5.5" Polecat Thumper airframe built in the Quay West Suites in Brisbane, Australia, during LCA 2011 by Bdale, Keith, Mike Beattie, and Anthony Towns. Flown at QRS club launch on an Aerotech J315R 54mm 2-grain motor. +2011-01-30-serial-250-flight-002.eeprom Group project 5.5" Polecat Thumper airframe built in the Quay West Suites in Brisbane, Australia, during LCA 2011 by Bdale, Keith, Mike Beattie, and Anthony Towns. Flown at QRS club launch on an Aerotech J315R 54mm 2-grain motor. +2011-02-19-serial-215-flight-007.eeprom Horizon Rebuild on a CTI Pro38 6xl J600R at Hudson Ranch 1.0 grams BP rear, 1.5 grams front Perfect drogueless dual deploy flight with no damage! +2011-02-19-serial-216-flight-006.eeprom Sharp Stick on a CTI Pro38 3-grain I345WT at Hudson Ranch Added more kevlar to the aft end, flew with 1.3 grams BP rear and 1.0 front. Perfect drogueless dual deploy flight, and no damage! +2011-02-19-serial-286-flight-001.eeprom Vertical Assault on a CTI Pro38 6xl J595BS at Hudson Ranch 1.5 grams BP rear, 1.8 grams BP front Perfect drogueless dual deploy flight, with no damage! diff --git a/src/tidongle/.gitignore b/src/tidongle/.gitignore new file mode 100644 index 00000000..3888a0f9 --- /dev/null +++ b/src/tidongle/.gitignore @@ -0,0 +1,2 @@ +tidongle* +ao_product.h diff --git a/src/tidongle/Makefile b/src/tidongle/Makefile new file mode 100644 index 00000000..1514c4df --- /dev/null +++ b/src/tidongle/Makefile @@ -0,0 +1,91 @@ +# +# TIDongle build file +# + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../cc1111:../drivers:../product +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + cc1111.h \ + ao_product.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_gps_print.c \ + ao_monitor.c \ + ao_mutex.c \ + ao_panic.c \ + ao_rssi.c \ + ao_state.c \ + ao_stdio.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_dbg.c \ + ao_dma.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_master.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = + +PRODUCT_SRC = \ + ao_tidongle.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = tidongle +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TIDongle +PRODUCT_DEF=-DTIDONGLE +IDPRODUCT=0x000a + +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) && cp $(PROG) $(PMAP) .. + $(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) > $@ + +distclean: clean + +clean: clean-cc1111 + +install: + +uninstall: + diff --git a/src/ao-make-product.5c b/src/util/ao-make-product.5c index 933032dd..5f2eb8e8 100644 --- a/src/ao-make-product.5c +++ b/src/util/ao-make-product.5c @@ -37,11 +37,19 @@ write_int(int a, string description) printf ("#define AO_%s_NUMBER %d\n\n", description, a); } +void +write_hex(int a, string description) +{ + printf ("/* %s */\n", description); + printf ("#define AO_%s_NUMBER 0x%04x\n\n", description, a); +} + string manufacturer = "altusmetrum.org"; string product = "TeleMetrum"; string version = "0.0"; int serial = 1; int user_argind = 0; +int id_product = 0x000a; argdesc argd = { .args = { @@ -58,6 +66,12 @@ argdesc argd = { .expr_name = "prod", .desc = "Product name." }, { + .var = { .arg_int = &id_product }, + .abbr = 'i', + .name = "id_product", + .expr_name = "id_p", + .desc = "Product ID." }, + { .var = { .arg_int = &serial }, .abbr = 's', .name = "serial", @@ -82,6 +96,7 @@ main() write_ucs2(product, "iProduct"); write_ucs2(sprintf("%06d", serial), "iSerial"); write_int(serial, "iSerial"); + write_hex(id_product, "idProduct"); write_string(version, "iVersion"); } diff --git a/src/util/check-avr-mem b/src/util/check-avr-mem new file mode 100644 index 00000000..7956f0aa --- /dev/null +++ b/src/util/check-avr-mem @@ -0,0 +1,11 @@ +#!/bin/sh +nm "$@" | +grep ' N _end' | +awk '{ iram = strtonum("0x" $1) % 0x10000; +if ( iram > 0xacf) { + printf ("%d bytes of ram more than %d available\n", iram, 0xacf); + exit(1); +} else { + printf("%d bytes of ram\n", iram); + exit(0); +} }' diff --git a/src/util/check-stack b/src/util/check-stack new file mode 100755 index 00000000..f4cada2b --- /dev/null +++ b/src/util/check-stack @@ -0,0 +1,24 @@ +#!/bin/sh +HEADER=$1 +MEM=$2 + +HEADER_STACK=`awk '/#define AO_STACK_START/ {print strtonum($3)}' $HEADER` +MEM_STACK=`awk '/Stack starts at/ {print strtonum ($4)}' $MEM` +XRAM_END=`awk '/EXTERNAL RAM/ { print strtonum ($4)}' $MEM` +FLASH_END=`awk '/ROM\/EPROM\/FLASH/ { print strtonum ($3)}' $MEM` + +if [ "$HEADER_STACK" -lt "$MEM_STACK" ]; then + echo $MEM_STACK | awk '{ printf ("Set AO_STACK_START to at least 0x%x\n", $1); }' + exit 1 +fi +if [ "$XRAM_END" -ge 65024 ]; then + echo $XRAM_END | awk '{ printf ("Uses too much XRAM, 0x%x >= 0x%x\n", $1, 65024); }' + exit 1 +fi +if [ "$FLASH_END" -ge 32768 ]; then + echo $FLASH_END | awk '{ printf ("Uses too much FLASH, 0x%x >= 0x%x\n", $1, 32768); }' + exit 1 +fi + +exit 0 + diff --git a/src/gps-cksum b/src/util/gps-cksum index a08153bf..a08153bf 100755 --- a/src/gps-cksum +++ b/src/util/gps-cksum diff --git a/src/make-altitude b/src/util/make-altitude index ac04e84f..716aa8a8 100644 --- a/src/make-altitude +++ b/src/util/make-altitude @@ -179,14 +179,105 @@ real meters_to_feet(real meters) real counts_per_kPa = 27 * 2047 / 3300; real counts_at_101_3kPa = 1674; -real count_to_kPa(real count) +real fraction_to_kPa(real fraction) { - return (count / 2047 + 0.095) / 0.009; + return (fraction + 0.095) / 0.009; } -for (real count = 0; count <= 2047; count++) { - real kPa = count_to_kPa(count); + +real count_to_kPa(real count) = fraction_to_kPa(count / 2047); + +typedef struct { + real m, b; + int m_i, b_i; +} line_t; + +line_t best_fit(real[] values, int first, int last) { + real sum_x = 0, sum_x2 = 0, sum_y = 0, sum_xy = 0; + int n = last - first + 1; + real m, b; + int m_i, b_i; + + for (int i = first; i <= last; i++) { + sum_x += i; + sum_x2 += i**2; + sum_y += values[i]; + sum_xy += values[i] * i; + } + m = (n*sum_xy - sum_y*sum_x) / (n*sum_x2 - sum_x**2); + b = sum_y/n - m*(sum_x/n); + return (line_t) { m = m, b = b }; +} + +real count_to_altitude(real count) { + return pressure_to_altitude(count_to_kPa(count) * 1000); +} + +real fraction_to_altitude(real frac) = pressure_to_altitude(fraction_to_kPa(frac) * 1000); + +int num_samples = 1024; + +real[num_samples] alt = { [n] = fraction_to_altitude(n/(num_samples - 1)) }; + +int num_part = 128; +int seg_len = num_samples / num_part; + +line_t [dim(alt) / seg_len] fit = { + [n] = best_fit(alt, n * seg_len, n * seg_len + seg_len - 1) +}; + +int[num_samples/seg_len + 1] alt_part; + +alt_part[0] = floor (fit[0].b + 0.5); +alt_part[dim(fit)] = floor(fit[dim(fit)-1].m * dim(fit) * seg_len + fit[dim(fit)-1].b + 0.5); + +for (int i = 0; i < dim(fit) - 1; i++) { + real here, there; + here = fit[i].m * (i+1) * seg_len + fit[i].b; + there = fit[i+1].m * (i+1) * seg_len + fit[i+1].b; + alt_part[i+1] = floor ((here + there) / 2 + 0.5); +} + +real count_to_fit_altitude(int count) { + int sub = count // seg_len; + int off = count % seg_len; + line_t l = fit[sub]; + real r_v; + real i_v; + + r_v = count * l.m + l.b; + i_v = (alt_part[sub] * (seg_len - off) + alt_part[sub+1] * off) / seg_len; + return i_v; +} + +real max_error = 0; +int max_error_count = 0; +real total_error = 0; + +for (int count = 0; count < num_samples; count++) { + real kPa = fraction_to_kPa(count / (num_samples - 1)); real meters = pressure_to_altitude(kPa * 1000); - printf (" %d, /* %6.2g kPa %d count */\n", - floor (meters + 0.5), kPa, count); + + real meters_approx = count_to_fit_altitude(count); + real error = abs(meters - meters_approx); + + total_error += error; + if (error > max_error) { + max_error = error; + max_error_count = count; + } +# printf (" %7d, /* %6.2g kPa %5d count approx %d */\n", +# floor (meters + 0.5), kPa, count, floor(count_to_fit_altitude(count) + 0.5)); +} + +printf ("/*max error %f at %7.3f%%. Average error %f*/\n", max_error, max_error_count / (num_samples - 1) * 100, total_error / num_samples); + +printf ("#define NALT %d\n", dim(alt_part)); +printf ("#define ALT_FRAC_BITS %d\n", floor (log2(32768/(dim(alt_part)-1)) + 0.1)); + +for (int i = 0; i < dim(alt_part); i++) { + real fraction = i / (dim(alt_part) - 1); + real kPa = fraction_to_kPa(fraction); + printf ("%9d, /* %6.2f kPa %7.3f%% */\n", + alt_part[i], kPa, fraction * 100); } diff --git a/src/util/make-altitude-pa b/src/util/make-altitude-pa new file mode 100644 index 00000000..190b36fc --- /dev/null +++ b/src/util/make-altitude-pa @@ -0,0 +1,275 @@ +#!/usr/bin/nickle -f +/* + * Pressure Sensor Model, version 1.1 + * + * written by Holly Grimes + * + * Uses the International Standard Atmosphere as described in + * "A Quick Derivation relating altitude to air pressure" (version 1.03) + * from the Portland State Aerospace Society, except that the atmosphere + * is divided into layers with each layer having a different lapse rate. + * + * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007 + * at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere + * + * Height measurements use the local tangent plane. The postive z-direction is up. + * + * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2). + * The lapse rate is given in Kelvin/meter, the gas constant for air is given + * in Joules/(kilogram-Kelvin). + */ + +const real GRAVITATIONAL_ACCELERATION = -9.80665; +const real AIR_GAS_CONSTANT = 287.053; +const int NUMBER_OF_LAYERS = 7; +const real MAXIMUM_ALTITUDE = 84852; +const real MINIMUM_PRESSURE = 0.3734; +const real LAYER0_BASE_TEMPERATURE = 288.15; +const real LAYER0_BASE_PRESSURE = 101325; + +/* lapse rate and base altitude for each layer in the atmosphere */ +const real[NUMBER_OF_LAYERS] lapse_rate = { + -0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002 +}; +const int[NUMBER_OF_LAYERS] base_altitude = { + 0, 11000, 20000, 32000, 47000, 51000, 71000 +}; + + +/* outputs atmospheric pressure associated with the given altitude. altitudes + are measured with respect to the mean sea level */ +real altitude_to_pressure(real altitude) { + + real base_temperature = LAYER0_BASE_TEMPERATURE; + real base_pressure = LAYER0_BASE_PRESSURE; + + real pressure; + real base; /* base for function to determine pressure */ + real exponent; /* exponent for function to determine pressure */ + int layer_number; /* identifies layer in the atmosphere */ + int delta_z; /* difference between two altitudes */ + + if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */ + return 0; + + /* calculate the base temperature and pressure for the atmospheric layer + associated with the inputted altitude */ + for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) { + delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number]; + if (lapse_rate[layer_number] == 0.0) { + exponent = GRAVITATIONAL_ACCELERATION * delta_z + / AIR_GAS_CONSTANT / base_temperature; + base_pressure *= exp(exponent); + } + else { + base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0; + exponent = GRAVITATIONAL_ACCELERATION / + (AIR_GAS_CONSTANT * lapse_rate[layer_number]); + base_pressure *= pow(base, exponent); + } + base_temperature += delta_z * lapse_rate[layer_number]; + } + + /* calculate the pressure at the inputted altitude */ + delta_z = altitude - base_altitude[layer_number]; + if (lapse_rate[layer_number] == 0.0) { + exponent = GRAVITATIONAL_ACCELERATION * delta_z + / AIR_GAS_CONSTANT / base_temperature; + pressure = base_pressure * exp(exponent); + } + else { + base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0; + exponent = GRAVITATIONAL_ACCELERATION / + (AIR_GAS_CONSTANT * lapse_rate[layer_number]); + pressure = base_pressure * pow(base, exponent); + } + + return pressure; +} + + +/* outputs the altitude associated with the given pressure. the altitude + returned is measured with respect to the mean sea level */ +real pressure_to_altitude(real pressure) { + + real next_base_temperature = LAYER0_BASE_TEMPERATURE; + real next_base_pressure = LAYER0_BASE_PRESSURE; + + real altitude; + real base_pressure; + real base_temperature; + real base; /* base for function to determine base pressure of next layer */ + real exponent; /* exponent for function to determine base pressure + of next layer */ + real coefficient; + int layer_number; /* identifies layer in the atmosphere */ + int delta_z; /* difference between two altitudes */ + + if (pressure < 0) /* illegal pressure */ + return -1; + if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */ + return MAXIMUM_ALTITUDE; + + /* calculate the base temperature and pressure for the atmospheric layer + associated with the inputted pressure. */ + layer_number = -1; + do { + layer_number++; + base_pressure = next_base_pressure; + base_temperature = next_base_temperature; + delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number]; + if (lapse_rate[layer_number] == 0.0) { + exponent = GRAVITATIONAL_ACCELERATION * delta_z + / AIR_GAS_CONSTANT / base_temperature; + next_base_pressure *= exp(exponent); + } + else { + base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0; + exponent = GRAVITATIONAL_ACCELERATION / + (AIR_GAS_CONSTANT * lapse_rate[layer_number]); + next_base_pressure *= pow(base, exponent); + } + next_base_temperature += delta_z * lapse_rate[layer_number]; + } + while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure); + + /* calculate the altitude associated with the inputted pressure */ + if (lapse_rate[layer_number] == 0.0) { + coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION) + * base_temperature; + altitude = base_altitude[layer_number] + + coefficient * log(pressure / base_pressure); + } + else { + base = pressure / base_pressure; + exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number] + / GRAVITATIONAL_ACCELERATION; + coefficient = base_temperature / lapse_rate[layer_number]; + altitude = base_altitude[layer_number] + + coefficient * (pow(base, exponent) - 1); + } + + return altitude; +} + +real feet_to_meters(real feet) +{ + return feet * (12 * 2.54 / 100); +} + +real meters_to_feet(real meters) +{ + return meters / (12 * 2.54 / 100); +} + +/* + * Values for our MS5607 + * + * From the data sheet: + * + * Pressure range: 10-1200 mbar (1000 - 120000 Pa) + * + * Pressure data is reported in units of Pa + */ + +typedef struct { + real m, b; + int m_i, b_i; +} line_t; + +line_t best_fit(real[] values, int first, int last) { + real sum_x = 0, sum_x2 = 0, sum_y = 0, sum_xy = 0; + int n = last - first + 1; + real m, b; + int m_i, b_i; + + for (int i = first; i <= last; i++) { + sum_x += i; + sum_x2 += i**2; + sum_y += values[i]; + sum_xy += values[i] * i; + } + m = (n*sum_xy - sum_y*sum_x) / (n*sum_x2 - sum_x**2); + b = sum_y/n - m*(sum_x/n); + return (line_t) { m = m, b = b }; +} + +real min_Pa = 0; +real max_Pa = 120000; + +/* Target is an array of < 2000 entries */ +int pa_sample_shift = 3; +int pa_part_shift = 3; + +int num_part = ceil(max_Pa / (2 ** (pa_part_shift + pa_sample_shift))); + +int num_samples = num_part << pa_part_shift; + +real sample_to_Pa(int sample) = sample << pa_sample_shift; + +real sample_to_altitude(int sample) = pressure_to_altitude(sample_to_Pa(sample)); + +int part_to_sample(int part) = part << pa_part_shift; + +real[num_samples] alt = { [n] = sample_to_altitude(n) }; + +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) +}; + +int[num_samples/seg_len + 1] alt_part; + +alt_part[0] = floor (fit[0].b + 0.5); +alt_part[dim(fit)] = floor(fit[dim(fit)-1].m * dim(fit) * seg_len + fit[dim(fit)-1].b + 0.5); + +for (int i = 0; i < dim(fit) - 1; i++) { + real here, there; + here = fit[i].m * (i+1) * seg_len + fit[i].b; + there = fit[i+1].m * (i+1) * seg_len + fit[i+1].b; + alt_part[i+1] = floor ((here + there) / 2 + 0.5); +} + +real 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; + + r_v = sample * l.m + l.b; + i_v = (alt_part[sub] * (seg_len - off) + alt_part[sub+1] * off) / seg_len; + return i_v; +} + +real max_error = 0; +int max_error_sample = 0; +real total_error = 0; + +for (int sample = 0; sample < num_samples; sample++) { + real Pa = sample_to_Pa(sample); + real meters = pressure_to_altitude(Pa); + + real meters_approx = sample_to_fit_altitude(sample); + real error = abs(meters - meters_approx); + + total_error += error; + if (error > max_error) { + max_error = error; + max_error_sample = sample; + } +# printf (" %7d, /* %6.2f kPa %5d sample approx %d */\n", +# floor (meters + 0.5), Pa / 1000, sample, floor(sample_to_fit_altitude(sample) + 0.5)); +} + +printf ("/*max error %f at %7.3f%%. Average error %f*/\n", max_error, max_error_sample / (num_samples - 1) * 100, total_error / num_samples); + +printf ("#define NALT %d\n", dim(alt_part)); +printf ("#define ALT_SHIFT %d\n", pa_part_shift + pa_sample_shift); + +for (int part = 0; part < dim(alt_part); part++) { + real kPa = sample_to_Pa(part_to_sample(part)) / 1000; + printf ("%9d, /* %6.2f kPa */\n", + alt_part[part], kPa); +} diff --git a/src/util/make-kalman b/src/util/make-kalman new file mode 100644 index 00000000..fd33bab0 --- /dev/null +++ b/src/util/make-kalman @@ -0,0 +1,41 @@ +#!/bin/bash + +cd $1 2> /dev/null 1>&2 + +SIGMA_BOTH="-M 2 -H 6 -A 2" +SIGMA_BARO="-M 2 -H 6 -A 2" +SIGMA_ACCEL="-M 2 -H 4 -A 4" +SIGMA_BOTH_NOISY_ACCEL="-M 2 -H 6 -A 3" + +echo '#if NOISY_ACCEL' +echo +echo '/* TeleMetrum v1.0 boards have noisy accelerometer values' +echo ' * increase the sigma value for accel data to compensate.' +echo ' * This improves the accuracy of apogee detection.' +echo ' */' +echo + +nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH_NOISY_ACCEL +nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH_NOISY_ACCEL +nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH_NOISY_ACCEL + +echo '#endif' +echo +echo '#ifndef AO_BOTH_K00_100' +echo + +nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH +nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH +nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH + +echo '#endif' +echo + +nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA_ACCEL +nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA_ACCEL +nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL + +nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO +nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO +nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO + diff --git a/src/util/make-whiten b/src/util/make-whiten new file mode 100644 index 00000000..d68a02af --- /dev/null +++ b/src/util/make-whiten @@ -0,0 +1,37 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* Generate the data whitening array used by the CC11* radios */ + +int pn9 = 0x1ff; + +void +pn9_step() { + pn9 = (pn9 >> 1) | (((pn9 ^ (pn9 >> 5)) & 1) << 8); +} + +int val() +{ + int ret = pn9 & 0xff; + + for (int i = 0; i < 8; i++) + pn9_step(); + return ret; +} + +for (int i = 0; i < 128; i++) + printf (" /* %3d */ 0x%02x,\n", i + 1, val()); diff --git a/src/sirf-cksum b/src/util/sirf-cksum index b905f318..b905f318 100755 --- a/src/sirf-cksum +++ b/src/util/sirf-cksum diff --git a/src/util/skytraq-cksum b/src/util/skytraq-cksum new file mode 100644 index 00000000..ab0464a7 --- /dev/null +++ b/src/util/skytraq-cksum @@ -0,0 +1,44 @@ +#!/usr/bin/env nickle + +int checksum(int[] msg) +{ + int sum = 0; + for (int i = 0; i < dim(msg); i++) { + sum ^= msg[i]; + sum &= 0xff; + } + return sum; +} + +void main() +{ + string[...] input; + int[...] msg; + + setdim(input, 0); + while (!File::end(stdin)) { + input[dim(input)] = gets(); + } + + setdim(msg, 0); + for (int i = 0; i < dim(input); i++) { + string[*] words = String::wordsplit(input[i], " ,\t"); + for (int j = 0; j < dim(words); j++) { + if (words[j] == "/" + "*") + break; + if (String::length(words[j]) > 0 && + Ctype::isdigit(words[j][0])) { + msg[dim(msg)] = string_to_integer(words[j]); + } + } + } + printf("\t0xa0, 0xa1, 0x%02x, 0x%02x,\t\t/* length: %d bytes */\n", + dim(msg) >> 8, dim(msg) & 0xff, dim(msg)); + for (int i = 0; i < dim(input); i++) + printf("%s\n", input[i]); + int csum = checksum(msg); + printf ("\t0x%02x, 0x0d, 0x0a,\n", + csum); +} + +main(); |