Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

17 files changed, 327 insertions, 6 deletions

diff --git a/src/Makefile b/src/Makefile
index b8828d46..1949e554 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -27,7 +27,7 @@ ifneq ($(shell which sdcc),)
 endif
 
 ifneq ($(shell which avr-gcc),)
-	SUBDIRS += telescience-v0.1 telepyro-v0.1
+	SUBDIRS += telescience-v0.1 telescience-pwm telepyro-v0.1
 endif
 
 ifneq ($(shell which arm-none-eabi-gcc),)
diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c
index 3a262977..231512b2 100644
--- a/src/avr/ao_adc_avr.c
+++ b/src/avr/ao_adc_avr.c
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include "ao_pwmin.h"
 
 volatile __xdata struct ao_data	ao_data_ring[AO_DATA_RING];
 volatile __data uint8_t		ao_data_head;
@@ -93,9 +94,13 @@ ISR(ADC_vect)
 	value = ADCL;
 	value |= (ADCH << 8);
 	ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value;
-	if (++ao_adc_channel < NUM_ADC)
+	if (++ao_adc_channel < NUM_ADC - HAS_ICP3_COUNT)
 		ao_adc_start();
 	else {
+#if HAS_ICP3_COUNT
+		/* steal last adc channel for pwm input */
+		ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = ao_icp3_count;
+#endif
 		ADCSRA = ADCSRA_INIT;
 		ao_data_ring[ao_data_head].tick = ao_time();
 		ao_data_head = ao_data_ring_next(ao_data_head);
diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h
index a14d0ade..96659aaf 100644
--- a/src/avr/ao_arch.h
+++ b/src/avr/ao_arch.h
@@ -37,7 +37,9 @@
  * AVR definitions and code fragments for AltOS
  */
 
+#ifndef AO_STACK_SIZE
 #define AO_STACK_SIZE	116
+#endif
 
 /* Various definitions to make GCC look more like SDCC */
 
diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h
index bc423ff7..a08e87fa 100644
--- a/src/avr/ao_pins.h
+++ b/src/avr/ao_pins.h
@@ -32,7 +32,7 @@
 	#define HAS_BEEP		0
 #endif
 
-#ifdef TELESCIENCE
+#if defined(TELESCIENCE) || defined(TELESCIENCE_PWM)
 	#define LEDS_AVAILABLE		0
 	#define HAS_USB			1
 	#define HAS_LOG			1
@@ -47,6 +47,11 @@
 	#define AVR_VCC_5V	       	0
 	#define AVR_VCC_3V3		1
 	#define AVR_CLOCK		8000000UL
+#ifdef TELESCIENCE_PWM
+	#define HAS_ICP3_COUNT		1
+#else
+	#define HAS_ICP3_COUNT		0
+#endif
 
 	#define SPI_CS_PORT		PORTE
 	#define SPI_CS_DIR		DDRE
@@ -64,6 +69,7 @@
 #endif
 
 #ifdef TELEPYRO
+	#define AO_STACK_SIZE		104
 	#define LEDS_AVAILABLE		0
 	#define HAS_USB			1
 	#define HAS_LOG			0
@@ -81,6 +87,7 @@
 	#define IS_COMPANION		1
 	#define HAS_ORIENT		0
 	#define ao_storage_pos_t	uint16_t
+	#define HAS_ICP3_COUNT		0
 
 	#define AVR_VCC_5V	       	0
 	#define AVR_VCC_3V3		1
diff --git a/src/avr/ao_pwmin.c b/src/avr/ao_pwmin.c
new file mode 100644
index 00000000..84397357
--- /dev/null
+++ b/src/avr/ao_pwmin.c
@@ -0,0 +1,90 @@
+/*
+ * Copyright © 2012 Robert D. Garbee <robert@gag.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_pwmin.h"
+
+/* 
+ * This code implements a PWM input using ICP3.  
+ *
+ * The initial use is to measure wind speed in the ULA/Ball summer intern 
+ * project payload developed at Challenger Middle School.  
+ */
+
+volatile __data uint16_t ao_icp3_count = 0;
+volatile __data uint16_t ao_icp3_last = 0;
+
+uint16_t ao_icp3(void)
+{
+	uint16_t	v;
+	ao_arch_critical(
+		v = ao_icp3_count;
+		);
+	return v;
+}
+
+static void
+ao_pwmin_display(void) __reentrant
+{
+	/* display the most recent value */
+	printf("icp 3: %5u\n", ao_icp3());
+
+}
+
+
+ISR(TIMER3_CAPT_vect)
+{
+	
+	uint8_t lo = ICR3L; 
+	uint8_t hi = ICR3H;
+	uint16_t ao_icp3_this = (hi <<8) | lo;
+	
+	/* handling counter rollovers */
+	if (ao_icp3_this >= ao_icp3_last)
+		ao_icp3_count = ao_icp3_this - ao_icp3_last;
+	else 
+		ao_icp3_count = ao_icp3_this + (65536 - ao_icp3_last);
+	ao_icp3_last = ao_icp3_this;
+}
+
+__code struct ao_cmds ao_pwmin_cmds[] = {
+	{ ao_pwmin_display,	"p\0PWM input" },
+	{ 0, NULL },
+};
+
+void
+ao_pwmin_init(void)
+{
+	/* do hardware setup here */
+	TCCR3A = ((0 << WGM31) |        /* normal mode, OCR3A */
+                  (0 << WGM30));        /* normal mode, OCR3A */
+        TCCR3B = ((1 << ICNC3) |        /* input capture noise canceler on */
+                  (0 << ICES3) |        /* input capture on falling edge (don't care) */
+                  (0 << WGM33) |        /* normal mode, OCR3A */
+                  (0 << WGM32) |        /* normal mode, OCR3A */
+                  (3 << CS30));         /* clk/64 from prescaler */
+
+    	
+
+        TIMSK3 = (1 << ICIE3);         /* Interrupt on input compare */
+
+		/* set the spike filter bit in the TCCR3B register */
+
+	ao_cmd_register(&ao_pwmin_cmds[0]);
+}
+
+
diff --git a/src/avr/ao_pwmin.h b/src/avr/ao_pwmin.h
new file mode 100644
index 00000000..8097d399
--- /dev/null
+++ b/src/avr/ao_pwmin.h
@@ -0,0 +1,20 @@
+/*
+ * Copyright © 2012 Robert D. Garbee <robert@gag.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.
+ */
+
+void ao_pwmin_init(void);
+
+extern volatile __data uint16_t ao_icp3_count;
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index eaaca444..4eaed420 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -197,15 +197,18 @@ struct ao_log_mega {
 	uint8_t			csum;			/* 1 */
 	uint16_t		tick;			/* 2 */
 	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
 		struct {
 			uint16_t	flight;		/* 4 */
 			int16_t		ground_accel;	/* 6 */
 			uint32_t	ground_pres;	/* 8 */
 		} flight;				/* 12 */
+		/* AO_LOG_STATE */
 		struct {
 			uint16_t	state;
 			uint16_t	reason;
 		} state;
+		/* AO_LOG_SENSOR */
 		struct {
 			uint32_t	pres;		/* 4 */
 			uint32_t	temp;		/* 8 */
@@ -220,12 +223,14 @@ struct ao_log_mega {
 			int16_t		mag_z;		/* 28 */
 			int16_t		accel;		/* 30 */
 		} sensor;	/* 32 */
+		/* AO_LOG_TEMP_VOLT */
 		struct {
 			int16_t		v_batt;		/* 4 */
 			int16_t		v_pbatt;	/* 6 */
 			int16_t		n_sense;	/* 8 */
 			int16_t		sense[10];	/* 10 */
 		} volt;					/* 30 */
+		/* AO_LOG_GPS_TIME */
 		struct {
 			int32_t		latitude;	/* 4 */
 			int32_t		longitude;	/* 8 */
@@ -239,6 +244,7 @@ struct ao_log_mega {
 			uint8_t		day;		/* 20 */
 			uint8_t		pad;		/* 21 */
 		} gps;	/* 22 */
+		/* AO_LOG_GPS_SAT */
 		struct {
 			uint16_t	channels;	/* 4 */
 			struct {
diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 4f37e979..aac8fda5 100644
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -113,6 +113,15 @@ ao_pyro_ready(struct ao_pyro *pyro)
 			/* handled separately */
 			continue;
 
+		case ao_pyro_state_less:
+			if (ao_flight_state < pyro->state_less)
+				continue;
+			break;
+		case ao_pyro_state_greater_or_equal:
+			if (ao_flight_state >= pyro->state_greater_or_equal)
+				continue;
+			break;
+
 		default:
 			continue;
 		}
@@ -166,7 +175,7 @@ uint8_t	ao_pyro_wakeup;
 static void
 ao_pyro(void)
 {
-	uint8_t		p;
+	uint8_t		p, any_waiting;
 	struct ao_pyro	*pyro;
 
 	ao_config_get();
@@ -177,6 +186,7 @@ ao_pyro(void)
 		ao_alarm(AO_MS_TO_TICKS(100));
 		ao_sleep(&ao_pyro_wakeup);
 		ao_clear_alarm();
+		any_waiting = 0;
 		for (p = 0; p < AO_PYRO_NUM; p++) {
 			pyro = &ao_config.pyro[p];
 
@@ -190,6 +200,7 @@ ao_pyro(void)
 			if (!pyro->flags)
 				continue;
 
+			any_waiting = 1;
 			/* Check pyro state to see if it shoule fire
 			 */
 			if (!pyro->delay_done) {
@@ -213,7 +224,10 @@ ao_pyro(void)
 
 			ao_pyro_fire(p);
 		}
+		if (!any_waiting)
+			break;
 	}
+	ao_exit();
 }
 
 __xdata struct ao_task ao_pyro_task;
@@ -257,6 +271,9 @@ const struct {
 	{ "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)")  },
 
+	{ "f<",	ao_pyro_state_less,	offsetof(struct ao_pyro, state_less), HELP("state less") },
+	{ "f>=",ao_pyro_state_greater_or_equal,	offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal")  },
+
 	{ "A", ao_pyro_ascending,	NO_VALUE, HELP("ascending") },
 	{ "D", ao_pyro_descending,	NO_VALUE, HELP("descending") },
 
diff --git a/src/core/ao_pyro.h b/src/core/ao_pyro.h
index 5deb69d0..cde850ad 100644
--- a/src/core/ao_pyro.h
+++ b/src/core/ao_pyro.h
@@ -42,6 +42,9 @@ enum ao_pyro_flag {
 	ao_pyro_after_motor		= 0x00001000,
 
 	ao_pyro_delay			= 0x00002000,
+
+	ao_pyro_state_less		= 0x00004000,
+	ao_pyro_state_greater_or_equal  = 0x00008000,
 };
 
 struct ao_pyro {
@@ -52,6 +55,7 @@ struct ao_pyro {
 	int16_t			orient_less, orient_greater;
 	int16_t			time_less, time_greater;
 	int16_t			delay;
+	uint8_t			state_less, state_greater_or_equal;
 	int16_t			motor;
 	uint16_t		delay_done;
 	uint8_t			fired;
diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c
index 45b6d40e..d448d318 100644
--- a/src/product/ao_telescience.c
+++ b/src/product/ao_telescience.c
@@ -16,6 +16,9 @@
  */
 
 #include "ao.h"
+#if HAS_ICP3_COUNT
+#include "ao_pwmin.h"
+#endif
 
 int
 main(void)
@@ -34,6 +37,9 @@ main(void)
 	ao_usb_init();
 	ao_adc_init();
 	ao_log_single_init();
+#if HAS_ICP3_COUNT
+	ao_pwmin_init();
+#endif
 	ao_start_scheduler();
 	return 0;
 }
diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 1132f748..f3011d3f 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -266,6 +266,7 @@ ao_clock_init(void)
 	stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF);
 
 
+#if DEBUG_THE_CLOCK
 	/* Output SYSCLK on PA8 for measurments */
 
 	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
@@ -276,4 +277,5 @@ ao_clock_init(void)
 
 	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);
+#endif
 }
diff --git a/src/telepyro-v0.1/Makefile b/src/telepyro-v0.1/Makefile
index 2ccd565f..6743ba66 100644
--- a/src/telepyro-v0.1/Makefile
+++ b/src/telepyro-v0.1/Makefile
@@ -96,7 +96,7 @@ ao_product.o: ao_product.c ao_product.h
 distclean:	clean
 
 clean:
-	rm -f $(OBJ)
+	rm -f $(OBJ) $(PROG) $(PROG).hex
 	rm -f ao_product.h
 
 install:
diff --git a/src/telescience-pwm/.gitignore b/src/telescience-pwm/.gitignore
new file mode 100644
index 00000000..dfccadf8
--- /dev/null
+++ b/src/telescience-pwm/.gitignore
@@ -0,0 +1,2 @@
+telescience-v0.1*
+ao_product.h
diff --git a/src/telescience-pwm/Makefile b/src/telescience-pwm/Makefile
new file mode 100644
index 00000000..43d77e2e
--- /dev/null
+++ b/src/telescience-pwm/Makefile
@@ -0,0 +1,116 @@
+#
+# 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 \
+	ao_pwmin.c \
+	$(TELESCIENCE_STORAGE)\
+	$(TELESCIENCE_LOG)
+
+PRODUCT=TeleScience-PWM
+MCU=atmega32u4
+PRODUCT_DEF=-DTELESCIENCE -DTELESCIENCE_PWM
+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-pwm
+
+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/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 0df9a5d7..7180f02d 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -39,7 +39,7 @@
 #define AO_ADC_NUM_SENSE	6
 #define HAS_MS5607		1
 #define HAS_MPU6000		1
-#define HAS_MMA655X		0
+#define HAS_MMA655X		1
 
 struct ao_adc {
 	int16_t			sense[AO_ADC_NUM_SENSE];
@@ -622,6 +622,9 @@ ao_sleep(void *wchan)
 					ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 					ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
 					ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
+#if HAS_MMA655X
+					ao_data_static.mma655x = int16(bytes, 26);
+#endif
 					if (ao_records_read == 0)
 						ao_ground_mpu6000 = ao_data_static.mpu6000;
 					else if (ao_records_read < 10) {
diff --git a/src/test/run-mm b/src/test/run-mm
new file mode 100755
index 00000000..6f3d97a2
--- /dev/null
+++ b/src/test/run-mm
@@ -0,0 +1,41 @@
+#!/bin/sh
+
+DIR=~/misc/rockets/flights
+
+for i in "$@"; do
+case "$i" in
+    */*)
+    file="$i"
+    ;;
+    *)
+    file="$DIR/$i"
+    ;;
+esac
+./ao_flight_test_mm "$file" > run-out.mm
+
+#./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.mm" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\
+"run-out.mm" using 1:5 with lines lw 2 lt 1 axes x1y2 title "raw accel",\
+"run-out.mm" using 1:21 with lines lt 2 axes x1y1 title "mm height",\
+"run-out.mm" using 1:23 with lines lt 2 axes x1y2 title "mm speed",\
+"run-out.mm" using 1:25 with lines lt 2 axes x1y2 title "mm accel",\
+"run-out.mm" using 1:29 with lines lt 2 axes x1y1 title "mm drogue",\
+"run-out.mm" using 1:31 with lines lt 2 axes x1y1 title "mm main"
+pause mouse close
+EOF
+done
\ No newline at end of file
diff --git a/src/util/check-avr-mem b/src/util/check-avr-mem
index 7956f0aa..7956f0aa 100644..100755
--- a/src/util/check-avr-mem
+++ b/src/util/check-avr-mem