Get megametrum ready to at least log flight data

Doesn't track flight state changes correctly.

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

10 files changed, 164 insertions, 37 deletions

diff --git a/src/core/ao_adc.h b/src/core/ao_adc.h
index db5bfab3..8ec740c4 100644
--- a/src/core/ao_adc.h
+++ b/src/core/ao_adc.h
@@ -18,13 +18,11 @@
 #ifndef _AO_ADC_H_
 #define _AO_ADC_H_
 
-
-
 /*
  * One set of samples read from the A/D converter or telemetry
  */
 
-
+#if AO_ADC_RING
 /*
  * ao_adc.c
  */
@@ -42,6 +40,7 @@ extern volatile __data uint8_t		ao_adc_head;
 #if HAS_ACCEL_REF
 extern volatile __xdata uint16_t	ao_accel_ref[AO_ADC_RING];
 #endif
+#endif
 
 /* Trigger a conversion sequence (called from the timer interrupt) */
 void
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index 55fb8590..55ec9f40 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -16,6 +16,9 @@
  */
 
 #include "ao.h"
+#include "ao_log.h"
+#include <ao_sample.h>
+#include <ao_data.h>
 
 __xdata struct ao_config ao_config;
 __pdata uint8_t ao_config_loaded;
@@ -64,11 +67,13 @@ ao_config_put(void)
 }
 #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)
@@ -100,8 +105,10 @@ _ao_config_get(void)
 			ao_config.accel_minus_g = 0;
 		}
 		/* Fixups for minor version 3 */
+#if HAS_RADIO
 		if (ao_config.minor < 3)
 			ao_config.radio_cal = ao_radio_cal;
+#endif
 		/* Fixups for minor version 4 */
 		if (ao_config.minor < 4)
 			ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
@@ -121,7 +128,9 @@ _ao_config_get(void)
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
 	}
+#if HAS_RADIO
 	ao_config_set_radio();
+#endif
 	ao_config_loaded = 1;
 }
 
@@ -176,6 +185,7 @@ ao_config_callsign_set(void) __reentrant
 	_ao_config_edit_finish();
 }
 
+#if HAS_RADIO
 void
 ao_config_frequency_show(void) __reentrant
 {
@@ -195,6 +205,7 @@ ao_config_frequency_set(void) __reentrant
 	_ao_config_edit_finish();
 	ao_radio_recv_abort();
 }
+#endif
 
 #if HAS_FLIGHT
 
@@ -232,7 +243,7 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant
 {
 	uint16_t	i;
 	int32_t		accel_total;
-	uint8_t		cal_adc_ring;
+	uint8_t		cal_data_ring;
 
 	printf("Orient antenna %s and press a key...", orientation);
 	flush();
@@ -241,12 +252,14 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant
 	puts("Calibrating..."); flush();
 	i = ACCEL_CALIBRATE_SAMPLES;
 	accel_total = 0;
-	cal_adc_ring = ao_sample_adc;
+	cal_data_ring = ao_sample_data;
 	while (i) {
-		ao_sleep(DATA_TO_XDATA(&ao_sample_adc));
-		while (i && cal_adc_ring != ao_sample_adc) {
-			accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel;
-			cal_adc_ring = ao_adc_ring_next(cal_adc_ring);
+		ao_sleep(DATA_TO_XDATA(&ao_sample_data));
+		while (i && cal_data_ring != ao_sample_data) {
+			int16_t	accel = ao_data_accel(&ao_data_ring[cal_data_ring]);
+			printf ("accel %d\n", accel);
+			accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]);
+			cal_data_ring = ao_data_ring_next(cal_data_ring);
 			i--;
 		}
 	}
@@ -320,6 +333,7 @@ ao_config_apogee_lockout_set(void) __reentrant
 
 #endif /* HAS_FLIGHT */
 
+#if HAS_RADIO
 void
 ao_config_radio_cal_show(void) __reentrant
 {
@@ -337,6 +351,7 @@ ao_config_radio_cal_set(void) __reentrant
 	ao_config_set_radio();
 	_ao_config_edit_finish();
 }
+#endif
 
 #if HAS_LOG
 void
@@ -413,6 +428,7 @@ ao_config_pad_orientation_set(void) __reentrant
 }
 #endif
 
+#if HAS_RADIO
 void
 ao_config_radio_enable_show(void) __reentrant
 {
@@ -429,6 +445,7 @@ ao_config_radio_enable_set(void) __reentrant
 	ao_config.radio_enable = ao_cmd_lex_i;
 	_ao_config_edit_finish();
 }
+#endif /* HAS_RADIO */
 	
 #if HAS_AES
 void
@@ -481,18 +498,22 @@ __code struct ao_config_var ao_config_vars[] = {
 	{ "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 },
diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index ee01949e..68725f69 100644
--- a/src/core/ao_kalman.c
+++ b/src/core/ao_kalman.c
@@ -17,10 +17,13 @@
 
 #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;
diff --git a/src/core/ao_log.c b/src/core/ao_log.c
index db60707d..d696625e 100644
--- a/src/core/ao_log.c
+++ b/src/core/ao_log.c
@@ -16,12 +16,13 @@
  */
 
 #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 flight_state ao_log_state;
+__pdata enum ao_flight_state ao_log_state;
 __xdata uint16_t ao_flight_number;
 
 __code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index 611c00d5..e585750f 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -18,6 +18,8 @@
 #ifndef _AO_LOG_H_
 #define _AO_LOG_H_
 
+#include <ao_flight.h>
+
 /*
  * ao_log.c
  */
@@ -32,7 +34,7 @@ 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 flight_state ao_log_state;
+extern __pdata enum ao_flight_state ao_log_state;
 
 /* required functions from the underlying log system */
 
@@ -41,6 +43,7 @@ extern __pdata enum flight_state ao_log_state;
 #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;
@@ -189,8 +192,65 @@ struct ao_log_record {
 	} 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 */
+		} sensor;	/* 24 */
+		struct {
+			int16_t		v_batt;		/* 4 */
+			int16_t		v_pbatt;	/* 8 */
+			int16_t		n_sense;	/* 10 */
+			int16_t		sense[10];	/* 12 */
+		} volt;					/* 32 */
+		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_sample.h b/src/core/ao_sample.h
index fb0e69e8..189b2019 100644
--- a/src/core/ao_sample.h
+++ b/src/core/ao_sample.h
@@ -18,6 +18,8 @@
 #ifndef _AO_SAMPLE_H_
 #define _AO_SAMPLE_H_
 
+#include <ao_data.h>
+
 /*
  * ao_sample.c
  */
@@ -88,21 +90,22 @@
 #define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
 
 extern __pdata uint16_t	ao_sample_tick;		/* time of last data */
-extern __pdata int16_t	ao_sample_pres;		/* most recent pressure sensor reading */
-extern __pdata int16_t	ao_sample_alt;		/* MSL of ao_sample_pres */
-extern __pdata int16_t	ao_sample_height;	/* AGL of ao_sample_pres */
+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 __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_ACCEL
-extern __pdata int16_t	ao_sample_accel;	/* most recent accel sensor reading */
+extern __pdata accel_t	ao_sample_accel;	/* most recent accel sensor reading */
 #endif
 
-extern __pdata int16_t	ao_ground_pres;		/* startup pressure */
-extern __pdata int16_t	ao_ground_height;	/* MSL of ao_ground_pres */
+extern __pdata pres_t	ao_ground_pres;		/* startup pressure */
+extern __pdata alt_t	ao_ground_height;	/* MSL of ao_ground_pres */
 
 #if HAS_ACCEL
-extern __pdata int16_t	ao_ground_accel;	/* startup acceleration */
-extern __pdata int16_t 	ao_accel_2g;		/* factory accel calibration */
+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
 
diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile
index 6524d8b8..a07b25ee 100644
--- a/src/megametrum-v0.1/Makefile
+++ b/src/megametrum-v0.1/Makefile
@@ -9,6 +9,8 @@ INC = \
 	ao.h \
 	ao_arch.h \
 	ao_arch_funcs.h \
+	ao_data.h \
+	ao_sample.h \
 	ao_pins.h \
 	altitude.h \
 	ao_kalman.h \
@@ -21,6 +23,11 @@ INC = \
 #
 # Common AltOS sources
 #
+
+#	ao_cc1120.c \
+#	ao_packet.c \
+#	ao_packet_slave.c \
+
 ALTOS_SRC = \
 	ao_interrupt.c \
 	ao_product.c \
@@ -35,7 +42,6 @@ ALTOS_SRC = \
 	ao_mutex.c \
 	ao_serial_stm.c \
 	ao_gps_skytraq.c \
-	ao_cc1120.c \
 	ao_freq.c \
 	ao_dma_stm.c \
 	ao_spi_stm.c \
@@ -46,12 +52,17 @@ ALTOS_SRC = \
 	ao_m25.c \
 	ao_usb_stm.c \
 	ao_exti_stm.c \
-	ao_packet.c \
-	ao_packet_slave.c \
+	ao_report.c \
 	ao_i2c_stm.c \
 	ao_hmc5883.c \
 	ao_mpu6000.c \
-	ao_convert_pa.c
+	ao_convert_pa.c \
+	ao_log.c \
+	ao_log_mega.c \
+	ao_sample_mm.c \
+	ao_kalman.c \
+	ao_flight_mm.c
+
 
 PRODUCT=MegaMetrum-v0.1
 PRODUCT_DEF=-DMEGAMETRUM
diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c
index 2e1f9298..19746d37 100644
--- a/src/megametrum-v0.1/ao_megametrum.c
+++ b/src/megametrum-v0.1/ao_megametrum.c
@@ -18,6 +18,7 @@
 #include <ao.h>
 #include <ao_hmc5883.h>
 #include <ao_mpu6000.h>
+#include <ao_log.h>
 #include <ao_exti.h>
 
 void
@@ -46,7 +47,6 @@ main(void)
 	ao_timer_init();
 	ao_cmd_init();
 	ao_gps_init();
-	ao_config_init();
 	ao_dma_init();
 	ao_spi_init();
 	ao_ms5607_init();
@@ -55,10 +55,14 @@ main(void)
 	ao_storage_init();
 	ao_usb_init();
 	ao_exti_init();
-	ao_radio_init();
+//	ao_radio_init();
 	ao_i2c_init();
 	ao_hmc5883_init();
 	ao_mpu6000_init();
+	ao_flight_init();
+	ao_log_init();
+	ao_report_init();
+	ao_config_init();
 	
 	ao_cmd_register(&ao_mm_cmds[0]);
 	ao_start_scheduler();
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index adc56151..3ab7e15a 100644
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -94,9 +94,12 @@
 
 #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 AO_ADC_RING		32
+#define AO_DATA_RING		32
 #define AO_ADC_NUM_SENSE	6
 
 struct ao_adc {
@@ -179,6 +182,7 @@ struct ao_adc {
 /*
  * Pressure sensor settings
  */
+#define HAS_MS5607		1
 #define AO_MS5607_CS_GPIO	stm_gpioc
 #define AO_MS5607_CS		4
 #define AO_MS5607_CS_MASK	(1 << AO_MS5607_CS)
@@ -221,6 +225,7 @@ struct ao_adc {
  * 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)
diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index a2569908..af2968d6 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -16,10 +16,17 @@
  */
 
 #include <ao.h>
+#include <ao_data.h>
+#if HAS_MPU6000
+#include <ao_mpu6000.h>
+#endif
+#if HAS_MS5607
+#include <ao_ms5607.h>
+#endif
 
+volatile __xdata struct ao_data	ao_data_ring[AO_DATA_RING];
+volatile __data uint8_t		ao_data_head;
 
-volatile __xdata struct ao_adc	ao_adc_ring[AO_ADC_RING];
-volatile __data uint8_t		ao_adc_head;
 static uint8_t			ao_adc_ready;
 
 #define AO_ADC_CR2_VAL		((0 << STM_ADC_CR2_SWSTART) |		\
@@ -43,9 +50,15 @@ static uint8_t			ao_adc_ready;
  */
 static void ao_adc_done(int index)
 {
-	ao_adc_ring[ao_adc_head].tick = ao_time();
-	ao_adc_head = ao_adc_ring_next(ao_adc_head);
-	ao_wakeup((void *) &ao_adc_head);
+	ao_data_ring[ao_data_head].adc.tick = ao_time();
+#if HAS_MPU6000
+	ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+#if HAS_MS5607
+	ao_data_ring[ao_data_head].ms5607 = ao_ms5607_current;
+#endif	
+	ao_data_head = ao_data_ring_next(ao_data_head);
+	ao_wakeup((void *) &ao_data_head);
 	ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
 	ao_adc_ready = 1;
 }
@@ -62,7 +75,7 @@ ao_adc_poll(void)
 	stm_adc.sr = 0;
 	ao_dma_set_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1),
 			    &stm_adc.dr,
-			    (void *) (&ao_adc_ring[ao_adc_head].tick + 1),
+			    (void *) (&ao_data_ring[ao_data_head].tick + 1),
 			    AO_NUM_ADC,
 			    (0 << STM_DMA_CCR_MEM2MEM) |
 			    (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) |
@@ -84,20 +97,27 @@ ao_adc_poll(void)
 void
 ao_adc_get(__xdata struct ao_adc *packet)
 {
-	uint8_t	i = ao_adc_ring_prev(ao_adc_head);
-	memcpy(packet, (void *) &ao_adc_ring[i], sizeof (struct ao_adc));
+	uint8_t	i = ao_data_ring_prev(ao_data_head);
+	memcpy(packet, (void *) &ao_data_ring[i].adc, sizeof (struct ao_adc));
+}
+
+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
 {
-	struct ao_adc	packet;
+	struct ao_data	packet;
 	int16_t *d;
 	uint8_t i;
 
-	ao_adc_get(&packet);
+	ao_data_get(&packet);
 	printf("tick: %5u",  packet.tick);
-	d = (int16_t *) (&packet.tick + 1);
+	d = (int16_t *) (&packet.adc);
 	for (i = 0; i < AO_NUM_ADC; i++)
 		printf (" %2d: %5d", i, d[i]);
 	printf("\n");