diff options
40 files changed, 1473 insertions, 68 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 32d02f21..5598a603 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -205,6 +205,8 @@ public class AltosState { pad_alt = ground_altitude; } + data.new_gps = false; + gps_waiting = MIN_PAD_SAMPLES - npad; if (gps_waiting < 0) gps_waiting = 0; diff --git a/altosui/AltosInfoTable.java b/altosui/AltosInfoTable.java index c06f57ec..2facf38a 100644 --- a/altosui/AltosInfoTable.java +++ b/altosui/AltosInfoTable.java @@ -85,15 +85,15 @@ public class AltosInfoTable extends JTable { } void info_add_deg(int col, String name, double v, int pos, int neg) { - //int c = pos; + int c = pos; if (v < 0) { - //c = neg; + c = neg; v = -v; } double deg = Math.floor(v); double min = (v - deg) * 60; - info_add_row(col, name, String.format("%3.0f°%08.5f'", deg, min)); + info_add_row(col, name, String.format("%c %3.0f°%08.5f'", c, deg, min)); } void info_finish() { diff --git a/altosuilib/AltosUIGraph.java b/altosuilib/AltosUIGraph.java index 5c589c02..5f3a2eef 100644 --- a/altosuilib/AltosUIGraph.java +++ b/altosuilib/AltosUIGraph.java @@ -91,13 +91,19 @@ public class AltosUIGraph implements AltosUnitsListener { } public void resetData() { - for (AltosUIGrapher g : graphers) + for (AltosUIGrapher g : graphers) { g.clear(); + g.setNotify(false); + } if (dataSet != null) { for (AltosUIDataPoint dataPoint : dataSet.dataPoints()) for (AltosUIGrapher g : graphers) g.add(dataPoint); } + for (AltosUIGrapher g : graphers) { + g.setNotify(true); + g.fireSeriesChanged(); + } } public void units_changed(boolean imperial_units) { diff --git a/altosuilib/AltosUIGrapher.java b/altosuilib/AltosUIGrapher.java index c627fec5..8f0ce801 100644 --- a/altosuilib/AltosUIGrapher.java +++ b/altosuilib/AltosUIGrapher.java @@ -43,4 +43,8 @@ interface AltosUIGrapher { public abstract void add(AltosUIDataPoint dataPoint); public abstract void set_enable(boolean enable); + + public abstract void setNotify(boolean notify); + + public abstract void fireSeriesChanged(); } diff --git a/altosuilib/AltosUIMarker.java b/altosuilib/AltosUIMarker.java index e2eb9028..0949be6f 100644 --- a/altosuilib/AltosUIMarker.java +++ b/altosuilib/AltosUIMarker.java @@ -100,6 +100,12 @@ public class AltosUIMarker implements AltosUIGrapher { this.enabled = enable; } + public void setNotify(boolean notify) { + } + + public void fireSeriesChanged() { + } + public AltosUIMarker (int fetch, Color color, XYPlot plot) { this(fetch, color, plot, true); } diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am index 871b8205..e4df2e63 100644 --- a/ao-tools/Makefile.am +++ b/ao-tools/Makefile.am @@ -1 +1,3 @@ -SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem ao-stmload ao-send-telem ao-sky-flash +SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list \ + ao-load ao-telem ao-stmload ao-send-telem ao-sky-flash \ + ao-dumpflash ao-edit-telem diff --git a/ao-tools/ao-dumpflash/.gitignore b/ao-tools/ao-dumpflash/.gitignore new file mode 100644 index 00000000..bbce511a --- /dev/null +++ b/ao-tools/ao-dumpflash/.gitignore @@ -0,0 +1 @@ +ao-dumpflash diff --git a/ao-tools/ao-dumpflash/Makefile.am b/ao-tools/ao-dumpflash/Makefile.am new file mode 100644 index 00000000..db99f5ae --- /dev/null +++ b/ao-tools/ao-dumpflash/Makefile.am @@ -0,0 +1,12 @@ +bin_PROGRAMS=ao-dumpflash + +AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS) +AO_DUMPLOG_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a + +ao_dumpflash_DEPENDENCIES = $(AO_DUMPLOG_LIBS) + +ao_dumpflash_LDADD=$(AO_DUMPLOG_LIBS) $(LIBUSB_LIBS) + +ao_dumpflash_SOURCES = ao-dumpflash.c + +man_MANS = ao-dumpflash.1 diff --git a/ao-tools/ao-dumpflash/ao-dumpflash.1 b/ao-tools/ao-dumpflash/ao-dumpflash.1 new file mode 100644 index 00000000..07a08ba8 --- /dev/null +++ b/ao-tools/ao-dumpflash/ao-dumpflash.1 @@ -0,0 +1,71 @@ +.\" +.\" Copyright © 2013 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; either version 2 of the License, or +.\" (at your option) any later version. +.\" +.\" 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. +.\" +.\" +.TH AO-DUMPFLASH 1 "ao-dumpflash" "" +.SH NAME +ao-dumpflash \- Fetch flash memory contents from AltOS device +.SH SYNOPSIS +.B "ao-dumpflash" +[\--tty \fItty-device\fP] +[\--device \fIaltos-device\fP] +[\--output \fIoutput-file\fP] +[\--remote\fP] +[\--frequency \fIfrequency\fP] +[\--call \fIcallsign\fP] +.SH OPTIONS +.TP +\-T tty-device | --tty tty-device +This selects which tty device ao-dumpflash uses to communicate with +the target device. +.TP +\-D AltOS-device | --device AltOS-device +Search for a connected device. This requires an argument of one of the +following forms: +.IP +TeleMetrum:2 +.br +TeleMetrum +.br +2 +.IP +Leaving out the product name will cause the tool to select a suitable +product, leaving out the serial number will cause the tool to match +one of the available devices. +.TP +\-o output-file | --output output-file +Write flash contents to the specified file rather than stdout. +.TP +\-R | --remote +This uses the command radio link to download the flash from TeleMetrum +through a TeleDongle. +.TP +\-F frequency | --frequency frequency +Specifies the radio frequency to use for remote communications in +kHz. Default is 434550. +.TP +\-C callsign | --call callsign +Specifies the callsign to use for remote communications. Default is N0CALL. +.SH DESCRIPTION +.I ao-dumpflash +downloads the entire flash memory contents from a connected AltOS device and writes +it to either stdout or the specified output file. +.SH USAGE +.I ao-dumpflash +connects to the specified target device and dumps the flash. +.SH AUTHOR +Keith Packard diff --git a/ao-tools/ao-dumpflash/ao-dumpflash.c b/ao-tools/ao-dumpflash/ao-dumpflash.c new file mode 100644 index 00000000..3cd21e66 --- /dev/null +++ b/ao-tools/ao-dumpflash/ao-dumpflash.c @@ -0,0 +1,175 @@ +/* + * 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; either version 2 of the License, or + * (at your option) any later version. + * + * 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 <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <getopt.h> +#include <string.h> +#include "cc-usb.h" +#include "cc.h" + +#define NUM_BLOCK 512 + +static const struct option options[] = { + { .name = "tty", .has_arg = 1, .val = 'T' }, + { .name = "device", .has_arg = 1, .val = 'D' }, + { .name = "remote", .has_arg = 0, .val = 'R' }, + { .name = "frequency", .has_arg = 1, .val = 'F' }, + { .name = "call", .has_arg = 1, .val = 'C' }, + { .name = "output", .has_arg = 1, .val = 'o' }, + { 0, 0, 0, 0}, +}; + +static void usage(char *program) +{ + fprintf(stderr, "usage: %s [--tty <tty-name>] [--device <device-name>] [--remote] [--frequency <radio-frequency>] [--call <radio-callsign>]\n", program); + exit(1); +} + +int +main (int argc, char **argv) +{ + struct cc_usb *cc; + char *tty = NULL; + char *device = NULL; + int c; + char line[8192]; + FILE *out; + char *filename; + int serial_number = 0; + int freq = 434550; + char *call = "N0CALL"; + int flight = 0; + char cmd; + int block; + int addr; + int received_addr; + int data[8]; + int done; + int i; + int column; + int remote = 0; + int any_valid; + int invalid; + int storage_size = 0; + char *out_name; + + while ((c = getopt_long(argc, argv, "T:D:F:C:o:R", options, NULL)) != -1) { + switch (c) { + case 'T': + tty = optarg; + break; + case 'D': + device = optarg; + break; + case 'R': + remote = 1; + break; + case 'F': + freq = atoi(optarg); + break; + case 'C': + call = optarg; + break; + case 'o': + out_name = optarg; + break; + default: + usage(argv[0]); + break; + } + } + if (!tty) { + if (remote) + tty = cc_usbdevs_find_by_arg(device, "TeleDongle"); + else + tty = cc_usbdevs_find_by_arg(device, "TeleMetrum"); + } + if (!tty) + tty = getenv("ALTOS_TTY"); + if (!tty) + tty="/dev/ttyACM0"; + + cc = cc_usb_open(tty); + if (!cc) + exit(1); + if (remote) + cc_usb_open_remote(cc, freq, call); + + if (out_name) { + out = fopen(out_name, "w"); + if (!out) { + perror(out_name); + cc_usb_close(cc); + exit(1); + } + } else + out = stdout; + + /* send a 'version' command followed by a 'flash' command */ + cc_usb_printf(cc, "f\nv\n"); + for (;;) { + cc_usb_getline(cc, line, sizeof (line)); + if (sscanf(line, "serial-number %u", &serial_number) == 1) + continue; + if (sscanf(line, "Storage size: %u", &storage_size) == 1) + continue; + if (!strncmp(line, "software-version", 16)) + break; + } + if (!serial_number) { + fprintf(stderr, "no serial number found\n"); + cc_usb_close(cc); + exit(1); + } + if (!storage_size) { + fprintf(stderr, "no storage size found\n"); + cc_usb_close(cc); + exit(1); + } + printf ("Serial number: %d\n", serial_number); + printf ("Storage size: %d\n", storage_size); + fprintf (stderr, "%7d of %7d", 0, storage_size/256); + for (block = 0; block < storage_size / 256; block++) { + cc_usb_printf(cc, "e %x\n", block); + fprintf (stderr, "\r%7d of %7d", block + 1, storage_size/256); fflush(stderr); + for (addr = 0; addr < 0x100;) { + cc_usb_getline(cc, line, sizeof (line)); + if (sscanf(line, "00%x %x %x %x %x %x %x %x %x", + &received_addr, + &data[0], &data[1], &data[2], &data[3], + &data[4], &data[5], &data[6], &data[7]) == 9) + { + if (received_addr != addr) + fprintf(stderr, "data out of sync at 0x%x\n", + block * 256 + received_addr); + + fprintf (out, "%08x", block * 256 + addr); + for (i = 0; i < 8; i++) + fprintf (out, " %02x", data[i]); + fprintf (out, "\n"); + + addr += 8; + } + } + } + fprintf(stderr, "\n"); + cc_usb_close(cc); + exit (0); +} diff --git a/ao-tools/ao-edit-telem/Makefile.am b/ao-tools/ao-edit-telem/Makefile.am new file mode 100644 index 00000000..c5965c47 --- /dev/null +++ b/ao-tools/ao-edit-telem/Makefile.am @@ -0,0 +1,12 @@ +bin_PROGRAMS=ao-edit-telem + +AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS) +AO_POSTFLIGHT_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a + +ao_edit_telem_DEPENDENCIES = $(AO_POSTFLIGHT_LIBS) + +ao_edit_telem_LDADD=$(AO_POSTFLIGHT_LIBS) $(LIBUSB_LIBS) + +ao_edit_telem_SOURCES = ao-edit-telem.c + +man_MANS = ao-edit-telem.1 diff --git a/ao-tools/ao-edit-telem/ao-edit-telem.1 b/ao-tools/ao-edit-telem/ao-edit-telem.1 new file mode 100644 index 00000000..8f125878 --- /dev/null +++ b/ao-tools/ao-edit-telem/ao-edit-telem.1 @@ -0,0 +1,33 @@ +.\" +.\" Copyright © 2013 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; either version 2 of the License, or +.\" (at your option) any later version. +.\" +.\" 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. +.\" +.\" +.TH AO-EDIT-TELEM 1 "ao-edit-telem" "" +.SH NAME +ao-edit-telem \- Edit telemetry file, creating new telemetry stream +.SH SYNOPSIS +.B "ao-edit-telem" +[\--lat=<pad-lat>] +[\--lon=<pad-lon>] +{flight.telem} +.SH DESCRIPTION +.I ao-edit-telem +reads the specified telemetry log and produces a new telemetry log, +changed as directed by the options provided. +output. +.SH AUTHOR +Keith Packard diff --git a/ao-tools/ao-edit-telem/ao-edit-telem.c b/ao-tools/ao-edit-telem/ao-edit-telem.c new file mode 100644 index 00000000..3f6830e7 --- /dev/null +++ b/ao-tools/ao-edit-telem/ao-edit-telem.c @@ -0,0 +1,192 @@ +/* + * Copyright © 2013 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 <string.h> +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <getopt.h> +#include "cc.h" + +static const struct option options[] = { + { .name = "lat", .has_arg = 1, .val = 'L' }, + { .name = "lon", .has_arg = 1, .val = 'l' }, + { 0, 0, 0, 0}, +}; + +static void usage(char *program) +{ + fprintf(stderr, "usage: %s [--lat <pad-lat>] [--lon <pad-lon>]\n" + "\t{flight-log} ...\n", program); + exit(1); +} + +#define bool(b) ((b) ? "true" : "false") + +struct telem_ent { + struct telem_ent *next; + union ao_telemetry_all telem; +}; + +static struct telem_ent *pad, **last = &pad; + +static void +save_telem(union ao_telemetry_all *telem) +{ + struct telem_ent *t = malloc (sizeof *t); + t->telem = *telem; + t->next = NULL; + *last = t; + last = &t->next; +} + +static void +dump_telem(union ao_telemetry_all *telem) +{ + char s[CC_TELEMETRY_BUFSIZE]; + + cc_telemetry_unparse(telem, s); + printf("%s\n", s); +} + +double pad_lat = 0, pad_lon = 0; +double target_pad_lat = 0, target_pad_lon = 0; +double lat_off = 0, lon_off = 0; +int pending = 1; + +static void +dump_saved(void); + +void +doit(union ao_telemetry_all *telem) +{ + double lat, lon; + + switch (telem->generic.type) { + case AO_TELEMETRY_SENSOR_TELEMETRUM: + case AO_TELEMETRY_SENSOR_TELEMINI: + case AO_TELEMETRY_SENSOR_TELENANO: + if (telem->sensor.state > ao_flight_pad && pad) { + pending = 0; + if (target_pad_lat) + lat_off = target_pad_lat - pad_lat; + if (target_pad_lon) + lon_off = target_pad_lon - pad_lon; + dump_saved(); + } + break; + case AO_TELEMETRY_LOCATION: { + lat = telem->location.latitude / 1.0e7; + lon = telem->location.longitude / 1.0e7; + if (pending) { + if (telem->location.flags & (1 << 4)) { + if (pad_lat) { + pad_lat = pad_lat - pad_lat / 32 + lat / 32.0; + pad_lon = pad_lon - pad_lon / 32 + lon / 32.0; + } else { + pad_lat = lat; + pad_lon = lon; + } + } + } else { + lat += lat_off; + lon += lon_off; + if (lat > 90) + lat = 90; + if (lat < -90) + lat = -90; + while (lon > 180) + lon -= 360; + while (lon < -180) + lon += 360; + telem->location.latitude = lat * 1.0e7; + telem->location.longitude = lon * 1.0e7; + } + break; + } + } +} + +static void +dump_saved(void) +{ + struct telem_ent *t, *n; + + for (t = pad; t; t = n) { + n = t->next; + doit(&t->telem); + dump_telem(&t->telem); + free(t); + } + pad = NULL; + last = &pad; +} + +int +main (int argc, char **argv) +{ + char line[80]; + int c, i, ret; + char *s; + FILE *file; + int serial; + while ((c = getopt_long(argc, argv, "l:L:", options, NULL)) != -1) { + switch (c) { + case 'L': + target_pad_lat = strtod(optarg, NULL); + break; + case 'l': + target_pad_lon = strtod(optarg, NULL); + break; + default: + usage(argv[0]); + break; + } + } + for (i = optind; i < argc; i++) { + file = fopen(argv[i], "r"); + if (!file) { + perror(argv[i]); + ret++; + continue; + } + s = strstr(argv[i], "-serial-"); + if (s) + serial = atoi(s + 8); + else + serial = 0; + while (fgets(line, sizeof (line), file)) { + union ao_telemetry_all telem; + + if (cc_telemetry_parse(line, &telem)) { + if ((telem.generic.status & (1 << 7)) == 0) { + dump_telem(&telem); + continue; + } + doit (&telem); + if (pending) + save_telem(&telem); + else + dump_telem(&telem); + } + } + fclose (file); + + } + return ret; +} diff --git a/ao-tools/lib/cc-telemetry.c b/ao-tools/lib/cc-telemetry.c index 99da2680..88da7f03 100644 --- a/ao-tools/lib/cc-telemetry.c +++ b/ao-tools/lib/cc-telemetry.c @@ -60,3 +60,33 @@ cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry) memcpy(telemetry, hex+1, 34); return TRUE; } + +uint8_t +cc_telemetry_cksum(const union ao_telemetry_all *telemetry) +{ + const uint8_t *x = (const uint8_t *) telemetry; + int i; + uint8_t sum = 0x5a; + for (i = 0; i < 34; i++) + sum += x[i]; + return sum; +} + +void +cc_telemetry_unparse(const union ao_telemetry_all *telemetry, char output_line[CC_TELEMETRY_BUFSIZE]) +{ + uint8_t hex[36]; + int i; + int p; + + hex[0] = 34; + memcpy(hex+1, telemetry, 34); + hex[35] = cc_telemetry_cksum(telemetry); + strcpy(output_line, "TELEM "); + p = strlen(output_line); + for (i = 0; i < 36; i++) { + sprintf(output_line + p, "%02x", hex[i]); + p += 2; + } +} + diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h index e849cd3b..9a5be49f 100644 --- a/ao-tools/lib/cc-telemetry.h +++ b/ao-tools/lib/cc-telemetry.h @@ -237,7 +237,19 @@ union ao_telemetry_all { struct ao_telemetry_baro baro; }; +#define CC_TELEMETRY_HEADER "TELEM" + +/* "TELEM " 1 byte length 32 data bytes 1 rssi 1 status 1 checksum 1 null */ + +#define CC_TELEMETRY_BUFSIZE (6 + (1 + 32 + 3) * 2 + 1) + int cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry); +uint8_t +cc_telemetry_cksum(const union ao_telemetry_all *telemetry); + +void +cc_telemetry_unparse(const union ao_telemetry_all *telemetry, char output_line[CC_TELEMETRY_BUFSIZE]); + #endif diff --git a/ao-tools/lib/cc-usb.c b/ao-tools/lib/cc-usb.c index 1580c6d9..9f07e662 100644 --- a/ao-tools/lib/cc-usb.c +++ b/ao-tools/lib/cc-usb.c @@ -375,11 +375,12 @@ cc_usb_reset(struct cc_usb *cc) } void -cc_usb_open_remote(struct cc_usb *cc, int channel) +cc_usb_open_remote(struct cc_usb *cc, int freq, char *call) { if (!cc->remote) { - printf ("channel %d\n", channel); - cc_usb_printf(cc, "\nc r %d\np\nE 0\n", channel); + fprintf (stderr, "freq %dkHz\n", freq); + fprintf (stderr, "call %s\n", call); + cc_usb_printf(cc, "\nc F %d\nc c %s\np\nE 0\n", freq, call); do { cc->in_count = cc->in_pos = 0; _cc_usb_sync(cc, 100); diff --git a/ao-tools/lib/cc-usb.h b/ao-tools/lib/cc-usb.h index d3539281..e90e1195 100644 --- a/ao-tools/lib/cc-usb.h +++ b/ao-tools/lib/cc-usb.h @@ -63,7 +63,7 @@ void cc_usb_printf(struct cc_usb *cc, char *format, ...); void -cc_usb_open_remote(struct cc_usb *cc, int channel); +cc_usb_open_remote(struct cc_usb *cc, int freq, char *call); void cc_usb_close_remote(struct cc_usb *cc); diff --git a/ao-tools/lib/ccdbg-flash.c b/ao-tools/lib/ccdbg-flash.c index 3e672985..1b46870b 100644 --- a/ao-tools/lib/ccdbg-flash.c +++ b/ao-tools/lib/ccdbg-flash.c @@ -240,7 +240,6 @@ ccdbg_flash_lock(struct ccdbg *dbg, uint8_t lock) uint8_t ccdbg_flash_hex_image(struct ccdbg *dbg, struct hex_image *image) { - uint16_t offset; uint16_t flash_prog; uint16_t flash_len; uint8_t fwt; @@ -249,7 +248,6 @@ ccdbg_flash_hex_image(struct ccdbg *dbg, struct hex_image *image) uint16_t flash_words; uint8_t flash_words_high, flash_words_low; uint16_t ram_addr; - uint16_t pc; uint8_t status; uint16_t remain, this_time, start; uint8_t verify[0x400]; @@ -284,8 +282,6 @@ ccdbg_flash_hex_image(struct ccdbg *dbg, struct hex_image *image) if (this_time > 0x400) this_time = 0x400; - offset = ram_addr - (image->address + start); - ccdbg_debug(CC_DEBUG_FLASH, "Upload %d bytes at 0x%04x\n", this_time, ram_addr); ccdbg_write_memory(dbg, ram_addr, image->data + start, this_time); #if 0 @@ -319,7 +315,6 @@ ccdbg_flash_hex_image(struct ccdbg *dbg, struct hex_image *image) ccdbg_write_uint8(dbg, flash_prog + FLASH_WORDS_LOW, flash_words_low); ccdbg_set_pc(dbg, flash_prog); - pc = ccdbg_get_pc(dbg); ccdbg_debug(CC_DEBUG_FLASH, "Flashing %d bytes at 0x%04x\n", this_time, flash_addr); status = ccdbg_resume(dbg); diff --git a/configure.ac b/configure.ac index a1c8c4fc..f9a892df 100644 --- a/configure.ac +++ b/configure.ac @@ -18,7 +18,7 @@ dnl dnl Process this file with autoconf to create configure. AC_PREREQ(2.57) -AC_INIT([altos], 1.1.9.3) +AC_INIT([altos], 1.2) AC_CONFIG_SRCDIR([src/core/ao.h]) AM_INIT_AUTOMAKE([foreign dist-bzip2]) AM_MAINTAINER_MODE @@ -181,6 +181,8 @@ ao-tools/ao-telem/Makefile ao-tools/ao-stmload/Makefile ao-tools/ao-send-telem/Makefile ao-tools/ao-sky-flash/Makefile +ao-tools/ao-dumpflash/Makefile +ao-tools/ao-edit-telem/Makefile ao-utils/Makefile src/Version ]) diff --git a/doc/Makefile b/doc/Makefile index 59fd4ebb..7c4da29e 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -8,8 +8,9 @@ RELNOTES=\ release-notes-0.9.html \ release-notes-0.9.2.html \ release-notes-1.0.1.html \ + release-notes-1.1.html \ release-notes-1.1.1.html \ - release-notes-1.1.html + release-notes-1.2.html RELNOTES_XSL=$(RELNOTES:.html=.xsl) HTML=altusmetrum.html altos.html telemetry.html companion.html micropeak.html $(RELNOTES) diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index 9fdd6b07..c5c08d4e 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -386,6 +386,36 @@ NAR #88757, TRA #12200 tower with a screw-driver trying to turn on your avionics before installing igniters! </para> + <para> + TeleMini is configured via the radio link. Of course, that + means you need to know the TeleMini radio configuration values + or you won't be able to communicate with it. For situations + when you don't have the radio configuration values, TeleMini + offers an 'emergency recovery' mode. In this mode, TeleMini is + configured as follows: + <itemizedlist> + <listitem> + Sets the radio frequency to 434.550MHz + </listitem> + <listitem> + Sets the radio calibration back to the factory value. + </listitem> + <listitem> + Sets the callsign to N0CALL + </listitem> + <listitem> + Does not go to 'pad' mode after five seconds. + </listitem> + </itemizedlist> + </para> + <para> + To get into 'emergency recovery' mode, first find the row of + four small holes opposite the switch wiring. Using a short + piece of small gauge wire, connect the outer two holes + together, then power TeleMini up. Once the red LED is lit, + disconnect the wire and the board should signal that it's in + 'idle' mode after the initial five second startup period. + </para> </section> <section> <title>GPS </title> @@ -2649,6 +2679,7 @@ NAR #88757, TRA #12200 <appendix xmlns:xi="http://www.w3.org/2001/XInclude"> <title>Release Notes</title> + <simplesect><title>Version 1.2</title><xi:include href="release-notes-1.2.xsl" xpointer="xpointer(/article/*)"/></simplesect> <simplesect><title>Version 1.1.1</title><xi:include href="release-notes-1.1.1.xsl" xpointer="xpointer(/article/*)"/></simplesect> <simplesect><title>Version 1.1</title><xi:include href="release-notes-1.1.xsl" xpointer="xpointer(/article/*)"/></simplesect> <simplesect><title>Version 1.0.1</title><xi:include href="release-notes-1.0.1.xsl" xpointer="xpointer(/article/*)"/></simplesect> diff --git a/doc/release-notes-1.2.xsl b/doc/release-notes-1.2.xsl new file mode 100644 index 00000000..610fa1a2 --- /dev/null +++ b/doc/release-notes-1.2.xsl @@ -0,0 +1,94 @@ +<?xml version="1.0" encoding="utf-8" ?> +<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN" +"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd"> + +<article> + <para> + Version 1.2 is a minor release. It provides a few new features in AltosUI + and the AltOS firmware and fixes bugs. + </para> + <para> + AltOS Firmware Changes + <itemizedlist> + <listitem> + In TeleMini recovery mode (when booted with the outer two + debug pins connected together), the radio parameters are also + set back to defaults (434.550MHz, N0CALL, factory radio cal). + </listitem> + <listitem> + Add support for reflashing the SkyTraq GPS chips. This + requires special host-side code which currently only exists + for Linux. + </listitem> + <listitem> + Add MicroPeak support. This includes support for the ATtiny85 + processor and adaptations to the core code to allow for + devices too small to run the multi-tasking scheduler. + </listitem> + <listitem> + Correct Kalman filter model error covariance matrix. The + values used previously assumed continuous measurements instead + of discrete measurements. + </listitem> + </itemizedlist> + </para> + <para> + AltosUI Changes + <itemizedlist> + <listitem> + Handle missing GPS lock in 'Descent' tab. Previously, if the + GPS position of the pad was unknown, an exception would be + raised, breaking the Descent tab contents. + </listitem> + <listitem> + Add preliminary MegaMetrum support, including configuration, + data download and analysis. + </listitem> + <listitem> + Improve the graph, adding tool-tips to show values near the + cursor and making the displayed set of values configurable, + adding all of the flight data as options while leaving the + default settings alone so that the graph starts by showing + height, speed and acceleration. + </listitem> + <listitem> + Make the initial position of the AltosUI top level window + configurable. Along with this change, the other windows will + pop up at 'sensible' places now, instead of on top of one + another. + </listitem> + <listitem> + Add callsign to Monitor idle window and connecting + dialogs. This makes it clear which callsign is being used so + that the operator will be aware that it must match the flight + computer value or no communication will work. + </listitem> + <listitem> + When downloading flight data, display the block number so that + the user has some sense of progress. Unfortunately, we don't + know how many blocks will need to be downloaded, but at least + it isn't just sitting there doing nothing for a long time. + </listitem> + <listitem> + Add GPS data and a map to the graph window. This lets you see + a complete summary of the flight without needing to 'replay' + the whole thing. + </listitem> + </itemizedlist> + </para> + <para> + Distribution Changes + <itemizedlist> + <listitem> + Distribute Mac OS X packages in disk image ('.dmg') format to + greatly simplify installation. + </listitem> + <listitem> + Provide version numbers for the shared Java libraries to + ensure that upgrades work properly, and to allow for multiple + Altus Metrum software packages to be installed in the same + directory at the same time. + </listitem> + </itemizedlist> + </para> +</article> diff --git a/libaltos/libaltos.c b/libaltos/libaltos.c index ca56746a..2a41ef80 100644 --- a/libaltos/libaltos.c +++ b/libaltos/libaltos.c @@ -977,6 +977,24 @@ struct altos_file { OVERLAPPED ov_write; }; +#include <stdarg.h> + +static void +log_message(char *fmt, ...) +{ + static FILE *log = NULL; + va_list a; + + if (!log) + log = fopen("\\temp\\altos.txt", "w"); + if (log) { + va_start(a, fmt); + vfprintf(log, fmt, a); + va_end(a); + fflush(log); + } +} + static void _altos_set_last_windows_error(char *file, int line) { @@ -990,7 +1008,7 @@ _altos_set_last_windows_error(char *file, int line) sizeof (message) / sizeof (TCHAR), NULL); if (error != ERROR_SUCCESS) - printf ("%s:%d %s\n", file, line, message); + log_message ("%s:%d %s\n", file, line, message); altos_set_last_error(error, message); } @@ -1061,7 +1079,6 @@ altos_list_next(struct altos_list *list, struct altos_device *device) KEY_READ); if (dev_key == INVALID_HANDLE_VALUE) { altos_set_last_windows_error(); - printf("cannot open device registry key\n"); continue; } @@ -1077,7 +1094,6 @@ altos_list_next(struct altos_list *list, struct altos_device *device) symbolic, &symbolic_len); if (result != 0) { altos_set_last_windows_error(); - printf("cannot find SymbolicName value\n"); RegCloseKey(dev_key); continue; } @@ -1097,7 +1113,6 @@ altos_list_next(struct altos_list *list, struct altos_device *device) RegCloseKey(dev_key); if (result != 0) { altos_set_last_windows_error(); - printf("failed to get PortName\n"); continue; } @@ -1113,7 +1128,6 @@ altos_list_next(struct altos_list *list, struct altos_device *device) &friendlyname_len)) { altos_set_last_windows_error(); - printf("Failed to get friendlyname\n"); continue; } device->vendor = vid; @@ -1125,10 +1139,8 @@ altos_list_next(struct altos_list *list, struct altos_device *device) return 1; } result = GetLastError(); - if (result != ERROR_NO_MORE_ITEMS) { + if (result != ERROR_NO_MORE_ITEMS) altos_set_last_windows_error(); - printf ("SetupDiEnumDeviceInfo failed error %d\n", (int) result); - } return 0; } @@ -1187,6 +1199,7 @@ altos_wait_read(struct altos_file *file, int timeout) return LIBALTOS_TIMEOUT; break; default: + altos_set_last_windows_error(); return LIBALTOS_ERROR; } return LIBALTOS_SUCCESS; @@ -1224,7 +1237,6 @@ altos_flush(struct altos_file *file) if (!WriteFile(file->handle, data, used, &put, &file->ov_write)) { if (GetLastError() != ERROR_IO_PENDING) { altos_set_last_windows_error(); - printf ("\tflush write error\n"); return LIBALTOS_ERROR; } ret = WaitForSingleObject(file->ov_write.hEvent, INFINITE); @@ -1232,13 +1244,11 @@ altos_flush(struct altos_file *file) case WAIT_OBJECT_0: if (!GetOverlappedResult(file->handle, &file->ov_write, &put, FALSE)) { altos_set_last_windows_error(); - printf ("\tflush result error\n"); return LIBALTOS_ERROR; } break; default: altos_set_last_windows_error(); - printf ("\tflush wait error\n"); return LIBALTOS_ERROR; } } @@ -1249,30 +1259,88 @@ altos_flush(struct altos_file *file) return LIBALTOS_SUCCESS; } +static HANDLE +open_serial(char *full_name) +{ + HANDLE handle; + DCB dcb; + + handle = CreateFile(full_name, GENERIC_READ|GENERIC_WRITE, + 0, NULL, OPEN_EXISTING, + FILE_FLAG_OVERLAPPED, NULL); + + if (handle == INVALID_HANDLE_VALUE) { + altos_set_last_windows_error(); + return INVALID_HANDLE_VALUE; + } + + if (!GetCommState(handle, &dcb)) { + altos_set_last_windows_error(); + CloseHandle(handle); + return INVALID_HANDLE_VALUE; + } + dcb.BaudRate = CBR_9600; + dcb.fBinary = TRUE; + dcb.fParity = FALSE; + dcb.fOutxCtsFlow = FALSE; + dcb.fOutxDsrFlow = FALSE; + dcb.fDtrControl = DTR_CONTROL_ENABLE; + dcb.fDsrSensitivity = FALSE; + dcb.fTXContinueOnXoff = FALSE; + dcb.fOutX = FALSE; + dcb.fInX = FALSE; + dcb.fErrorChar = FALSE; + dcb.fNull = FALSE; + dcb.fRtsControl = RTS_CONTROL_ENABLE; + dcb.fAbortOnError = FALSE; + dcb.XonLim = 10; + dcb.XoffLim = 10; + dcb.ByteSize = 8; + dcb.Parity = NOPARITY; + dcb.StopBits = ONESTOPBIT; + dcb.XonChar = 17; + dcb.XoffChar = 19; +#if 0 + dcb.ErrorChar = 0; + dcb.EofChar = 0; + dcb.EvtChar = 0; +#endif + if (!SetCommState(handle, &dcb)) { + altos_set_last_windows_error(); + CloseHandle(handle); + return INVALID_HANDLE_VALUE; + } + return handle; +} + PUBLIC struct altos_file * altos_open(struct altos_device *device) { struct altos_file *file = calloc (1, sizeof (struct altos_file)); char full_name[64]; COMMTIMEOUTS timeouts; - DCB dcb; if (!file) return NULL; strcpy(full_name, "\\\\.\\"); strcat(full_name, device->path); - file->handle = CreateFile(full_name, GENERIC_READ|GENERIC_WRITE, - 0, NULL, OPEN_EXISTING, - FILE_FLAG_OVERLAPPED, NULL); + + file->handle = open_serial(full_name); if (file->handle == INVALID_HANDLE_VALUE) { - altos_set_last_windows_error(); - printf ("cannot open %s\n", full_name); free(file); return NULL; } - file->ov_read.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); - file->ov_write.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + + /* The FTDI driver doesn't appear to work right unless you open it twice */ + if (device->vendor == 0x0403) { + CloseHandle(file->handle); + file->handle = open_serial(full_name); + if (file->handle == INVALID_HANDLE_VALUE) { + free(file); + return NULL; + } + } timeouts.ReadIntervalTimeout = MAXDWORD; timeouts.ReadTotalTimeoutMultiplier = MAXDWORD; @@ -1281,10 +1349,8 @@ altos_open(struct altos_device *device) timeouts.WriteTotalTimeoutConstant = 0; SetCommTimeouts(file->handle, &timeouts); - if (GetCommState(file->handle, &dcb)) { - dcb.BaudRate = CBR_9600; - (void) SetCommState(file->handle, &dcb); - } + file->ov_read.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + file->ov_write.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); return file; } @@ -1330,8 +1396,10 @@ altos_getchar(struct altos_file *file, int timeout) { int ret; while (file->in_read == file->in_used) { - if (file->handle == INVALID_HANDLE_VALUE) + if (file->handle == INVALID_HANDLE_VALUE) { + altos_set_last_windows_error(); return LIBALTOS_ERROR; + } ret = altos_fill(file, timeout); if (ret) return ret; diff --git a/src/Makefile b/src/Makefile index 67ad97d1..9e31e3ea 100644 --- a/src/Makefile +++ b/src/Makefile @@ -29,7 +29,8 @@ AVRDIRS=\ telescience-v0.1 telescience-pwm telepyro-v0.1 micropeak ARMDIRS=\ - megametrum-v0.1 megadongle-v0.1 stm-bringup stm-demo telelco-v0.1 + megametrum-v0.1 megadongle-v0.1 stm-bringup stm-demo telelco-v0.1 \ + telescience-v0.2 ifneq ($(shell which sdcc),) SUBDIRS += $(SDCCDIRS) diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c index a400b8a0..15e9924d 100644 --- a/src/avr/ao_spi_slave.c +++ b/src/avr/ao_spi_slave.c @@ -18,22 +18,24 @@ #include "ao.h" uint8_t -ao_spi_slave_recv(uint8_t *buf, uint8_t len) +ao_spi_slave_recv(void *buf, uint16_t len) { + uint8_t *b = buf; while (len--) { while (!(SPSR & (1 << SPIF))) if ((PINB & (1 << PINB0))) return 0; - *buf++ = SPDR; + *b++ = SPDR; } return 1; } void -ao_spi_slave_send(uint8_t *buf, uint8_t len) +ao_spi_slave_send(void *buf, uint16_t len) { + uint8_t *b = buf; while (len--) { - SPDR = *buf++; + SPDR = *b++; while (!(SPSR & (1 << SPIF))) if ((PINB & (1 << PINB0))) return; diff --git a/src/core/ao.h b/src/core/ao.h index df5bbf48..ce0bf5d1 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -299,10 +299,10 @@ ao_altitude_to_pa(alt_t alt); */ uint8_t -ao_spi_slave_recv(uint8_t *buf, uint8_t len); +ao_spi_slave_recv(void *buf, uint16_t len); void -ao_spi_slave_send(uint8_t *buf, uint8_t len); +ao_spi_slave_send(void *buf, uint16_t len); void ao_spi_slave_init(void); diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c index 8068740f..53bb5a62 100644 --- a/src/drivers/ao_cc1120.c +++ b/src/drivers/ao_cc1120.c @@ -38,7 +38,7 @@ 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_select() ao_spi_get_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS,AO_SPI_SPEED_4MHz) #define ao_radio_deselect() ao_spi_put_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS) #define ao_radio_spi_send(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) diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c index 059fc2c8..782d03f4 100644 --- a/src/drivers/ao_hmc5883.c +++ b/src/drivers/ao_hmc5883.c @@ -77,11 +77,11 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample) ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE); ao_alarm(AO_MS_TO_TICKS(10)); - cli(); + ao_arch_block_interrupts(); while (!ao_hmc5883_done) if (ao_sleep(&ao_hmc5883_done)) ++ao_hmc5883_missed_irq; - sei(); + ao_arch_release_interrupts(); ao_clear_alarm(); ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample)); @@ -109,7 +109,7 @@ ao_hmc5883_setup(void) ao_i2c_put(AO_HMC5883_I2C_INDEX); if (!present) - ao_panic(AO_PANIC_SELF_TEST); + ao_panic(AO_PANIC_SELF_TEST_HMC5883); ao_hmc5883_reg_write(HMC5883_CONFIG_A, (HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) | diff --git a/src/megadongle-v0.1/ao_pins.h b/src/megadongle-v0.1/ao_pins.h index c766a48c..d460a490 100644 --- a/src/megadongle-v0.1/ao_pins.h +++ b/src/megadongle-v0.1/ao_pins.h @@ -78,6 +78,7 @@ #define HAS_SPI_2 1 #define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */ #define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz #define SPI_2_PORT (&stm_gpiob) #define SPI_2_SCK_PIN 13 diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h index 64da41a9..4c645871 100644 --- a/src/megametrum-v0.1/ao_pins.h +++ b/src/megametrum-v0.1/ao_pins.h @@ -76,10 +76,12 @@ #define SPI_1_PA5_PA6_PA7 1 /* Barometer */ #define SPI_1_PB3_PB4_PB5 0 #define SPI_1_PE13_PE14_PE15 1 /* Accelerometer */ +#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz #define HAS_SPI_2 1 #define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */ #define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz #define SPI_2_PORT (&stm_gpiob) #define SPI_2_SCK_PIN 13 diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h index c9c7446e..07b4a19d 100644 --- a/src/stm-demo/ao_pins.h +++ b/src/stm-demo/ao_pins.h @@ -60,6 +60,7 @@ #define HAS_SPI_1 1 #define SPI_1_PB3_PB4_PB5 1 +#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz #define HAS_SPI_2 0 diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index 87bbe73e..d1779307 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -23,7 +23,7 @@ /* PCLK is set to 16MHz (HCLK 32MHz, APB prescaler 2) */ -#define AO_SPI_SPEED_8MHz STM_SPI_CR1_BR_PCLK_2 /* This doesn't appear to work */ +#define AO_SPI_SPEED_8MHz STM_SPI_CR1_BR_PCLK_2 #define AO_SPI_SPEED_4MHz STM_SPI_CR1_BR_PCLK_4 #define AO_SPI_SPEED_2MHz STM_SPI_CR1_BR_PCLK_8 #define AO_SPI_SPEED_1MHz STM_SPI_CR1_BR_PCLK_16 @@ -32,7 +32,7 @@ #define AO_SPI_SPEED_125kHz STM_SPI_CR1_BR_PCLK_128 #define AO_SPI_SPEED_62500Hz STM_SPI_CR1_BR_PCLK_256 -#define AO_SPI_SPEED_FAST AO_SPI_SPEED_4MHz +#define AO_SPI_SPEED_FAST AO_SPI_SPEED_8MHz /* Companion bus wants something no faster than 200kHz */ diff --git a/src/stm/ao_spi_stm.c b/src/stm/ao_spi_stm.c index 599d7ee0..7b4af964 100644 --- a/src/stm/ao_spi_stm.c +++ b/src/stm/ao_spi_stm.c @@ -425,12 +425,21 @@ ao_spi_init(void) #if HAS_SPI_1 # if SPI_1_PA5_PA6_PA7 stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN); + stm_ospeedr_set(&stm_gpioa, 5, SPI_1_OSPEEDR); + stm_ospeedr_set(&stm_gpioa, 6, SPI_1_OSPEEDR); + stm_ospeedr_set(&stm_gpioa, 7, SPI_1_OSPEEDR); # endif # if SPI_1_PB3_PB4_PB5 stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); + stm_ospeedr_set(&stm_gpiob, 3, SPI_1_OSPEEDR); + stm_ospeedr_set(&stm_gpiob, 4, SPI_1_OSPEEDR); + stm_ospeedr_set(&stm_gpiob, 5, SPI_1_OSPEEDR); # endif # if SPI_1_PE13_PE14_PE15 stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN); + stm_ospeedr_set(&stm_gpioe, 13, SPI_1_OSPEEDR); + stm_ospeedr_set(&stm_gpioe, 14, SPI_1_OSPEEDR); + stm_ospeedr_set(&stm_gpioe, 15, SPI_1_OSPEEDR); # endif stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SPI1EN); ao_spi_index[0] = AO_SPI_CONFIG_NONE; @@ -440,9 +449,15 @@ ao_spi_init(void) #if HAS_SPI_2 # if SPI_2_PB13_PB14_PB15 stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); + stm_ospeedr_set(&stm_gpiob, 13, SPI_2_OSPEEDR); + stm_ospeedr_set(&stm_gpiob, 14, SPI_2_OSPEEDR); + stm_ospeedr_set(&stm_gpiob, 15, SPI_2_OSPEEDR); # endif # if SPI_2_PD1_PD3_PD4 stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN); + stm_ospeedr_set(&stm_gpiod, 1, SPI_2_OSPEEDR); + stm_ospeedr_set(&stm_gpiod, 3, SPI_2_OSPEEDR); + stm_ospeedr_set(&stm_gpiod, 4, SPI_2_OSPEEDR); # endif stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_SPI2EN); ao_spi_index[1] = AO_SPI_CONFIG_NONE; diff --git a/src/stm/ao_spi_stm_slave.c b/src/stm/ao_spi_stm_slave.c new file mode 100644 index 00000000..98022442 --- /dev/null +++ b/src/stm/ao_spi_stm_slave.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> + +struct ao_spi_stm_slave_info { + uint8_t miso_dma_index; + uint8_t mosi_dma_index; + struct stm_spi *stm_spi; +}; + +static uint8_t ao_spi_slave_mutex[STM_NUM_SPI]; +static uint8_t ao_spi_slave_index[STM_NUM_SPI]; + +static const struct ao_spi_stm_slave_info ao_spi_stm_slave_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_slave_send(void *block, uint16_t len) +{ + struct stm_spi *stm_spi = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].stm_spi; + uint8_t mosi_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].mosi_dma_index; + uint8_t miso_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_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); +} + + +uint8_t +ao_spi_slave_recv(void *block, uint16_t len) +{ + struct stm_spi *stm_spi = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].stm_spi; + uint8_t mosi_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].mosi_dma_index; + uint8_t miso_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_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); +} + +static void +ao_spi_slave_disable_index(uint8_t spi_index) +{ + /* Disable current config + */ + switch (AO_SPI_INDEX(spi_index)) { + case STM_SPI_INDEX(1): + switch (spi_index) { + case AO_SPI_1_PA5_PA6_PA7: + stm_gpio_set(&stm_gpioa, 5, 1); + 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_PB3_PB4_PB5: + stm_gpio_set(&stm_gpiob, 3, 1); + 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_PE13_PE14_PE15: + stm_gpio_set(&stm_gpioe, 13, 1); + 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 (spi_index) { + case AO_SPI_2_PB13_PB14_PB15: + stm_gpio_set(&stm_gpiob, 13, 1); + 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_PD1_PD3_PD4: + stm_gpio_set(&stm_gpiod, 1, 1); + 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; + } +} + +static void +ao_spi_slave_enable_index(uint8_t spi_index) +{ + switch (AO_SPI_INDEX(spi_index)) { + case STM_SPI_INDEX(1): + switch (spi_index) { + case AO_SPI_1_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_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_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 STM_SPI_INDEX(2): + switch (spi_index) { + case AO_SPI_2_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_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; + } +} + +void +ao_spi_slave_get(uint8_t spi_index, uint32_t speed) +{ + uint8_t id = AO_SPI_INDEX(spi_index); + struct stm_spi *stm_spi = ao_spi_stm_slave_info[id].stm_spi; + + ao_mutex_get(&ao_spi_slave_mutex[id]); + stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) | /* Three wire mode */ + (0 << STM_SPI_CR1_BIDIOE) | + (0 << STM_SPI_CR1_CRCEN) | /* CRC disabled */ + (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)); + if (spi_index != ao_spi_slave_index[id]) { + + /* Disable old config + */ + ao_spi_slave_disable_index(ao_spi_slave_index[id]); + + /* Enable new config + */ + ao_spi_slave_enable_index(spi_index); + + /* Remember current config + */ + ao_spi_slave_index[id] = spi_index; + } +} + +void +ao_spi_slave_put(uint8_t spi_index) +{ + uint8_t id = AO_SPI_INDEX(spi_index); + struct stm_spi *stm_spi = ao_spi_stm_slave_info[id].stm_spi; + + stm_spi->cr1 = 0; + ao_mutex_put(&ao_spi_slave_mutex[id]); +} + +static void +ao_spi_channel_init(uint8_t spi_index) +{ + uint8_t id = AO_SPI_INDEX(spi_index); + struct stm_spi *stm_spi = ao_spi_stm_slave_info[id].stm_spi; + + ao_spi_slave_disable_index(spi_index); + + 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_slave_init(void) +{ +#if HAS_SPI_SLAVE_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_slave_index[0] = AO_SPI_CONFIG_NONE; + ao_spi_channel_init(0); +#endif + +#if HAS_SPI_SLAVE_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_slave_index[1] = AO_SPI_CONFIG_NONE; + ao_spi_channel_init(1); +#endif +} diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h index 0dbfae39..1d636037 100644 --- a/src/stm/stm32l.h +++ b/src/stm/stm32l.h @@ -811,30 +811,41 @@ extern struct stm_lcd stm_lcd; #define STM_LCD_CLR_UDDC (3) #define STM_LCD_CLR_SOFC (1) +/* The NVIC starts at 0xe000e100, so add that to the offsets to find the absolute address */ + struct stm_nvic { - vuint32_t iser[3]; /* 0x000 */ + vuint32_t iser[8]; /* 0x000 0xe000e100 Set Enable Register */ + + uint8_t _unused020[0x080 - 0x020]; + + vuint32_t icer[8]; /* 0x080 0xe000e180 Clear Enable Register */ - uint8_t _unused00c[0x080 - 0x00c]; + uint8_t _unused0a0[0x100 - 0x0a0]; - vuint32_t icer[3]; /* 0x080 */ + vuint32_t ispr[8]; /* 0x100 0xe000e200 Set Pending Register */ - uint8_t _unused08c[0x100 - 0x08c]; + uint8_t _unused120[0x180 - 0x120]; - vuint32_t ispr[3]; /* 0x100 */ + vuint32_t icpr[8]; /* 0x180 0xe000e280 Clear Pending Register */ - uint8_t _unused10c[0x180 - 0x10c]; + uint8_t _unused1a0[0x200 - 0x1a0]; - vuint32_t icpr[3]; /* 0x180 */ + vuint32_t iabr[8]; /* 0x200 0xe000e300 Active Bit Register */ - uint8_t _unused18c[0x200 - 0x18c]; + uint8_t _unused220[0x300 - 0x220]; - vuint32_t iabr[3]; /* 0x200 */ + vuint32_t ipr[60]; /* 0x300 0xe000e400 Priority Register */ - uint8_t _unused20c[0x300 - 0x20c]; + uint8_t _unused3f0[0xc00 - 0x3f0]; - vuint32_t ipr[21]; /* 0x300 */ + vuint32_t cpuid_base; /* 0xc00 0xe000ed00 CPUID Base Register */ + vuint32_t ics; /* 0xc04 0xe000ed04 Interrupt Control State Register */ + vuint32_t vto; /* 0xc08 0xe000ed08 Vector Table Offset Register */ + vuint32_t ai_rc; /* 0xc0c 0xe000ed0c Application Interrupt/Reset Control Register */ + vuint32_t sc; /* 0xc10 0xe000ed10 System Control Register */ + vuint32_t cc; /* 0xc14 0xe000ed14 Configuration Control Register */ - uint8_t _unused324[0xe00 - 0x324]; + uint8_t _unusedc18[0xe00 - 0xc18]; vuint32_t stir; /* 0xe00 */ }; diff --git a/src/telelco-v0.1/ao_pins.h b/src/telelco-v0.1/ao_pins.h index 60cf018f..970f9bd1 100644 --- a/src/telelco-v0.1/ao_pins.h +++ b/src/telelco-v0.1/ao_pins.h @@ -49,18 +49,19 @@ #define HAS_TELEMETRY 0 #define HAS_AES 1 -#define HAS_SPI_1 1 -#define SPI_1_PA5_PA6_PA7 1 +#define HAS_SPI_1 0 +#define SPI_1_PA5_PA6_PA7 0 #define SPI_1_PB3_PB4_PB5 0 #define SPI_1_PE13_PE14_PE15 0 -#define HAS_SPI_2 1 +#define HAS_SPI_2 1 /* CC1111 */ #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 SPI_2_OSPEEDR STM_OSPEEDR_10MHz #define HAS_I2C_1 0 diff --git a/src/telescience-v0.2/.gitignore b/src/telescience-v0.2/.gitignore new file mode 100644 index 00000000..cc1f8b73 --- /dev/null +++ b/src/telescience-v0.2/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +telescience-*.elf diff --git a/src/telescience-v0.2/Makefile b/src/telescience-v0.2/Makefile new file mode 100644 index 00000000..fbeeb75c --- /dev/null +++ b/src/telescience-v0.2/Makefile @@ -0,0 +1,85 @@ +# +# AltOS build +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_pins.h \ + ao_product.h \ + ao_cc1120_CC1120.h \ + ao_task.h \ + ao_whiten.h \ + stm32l.h \ + Makefile + +#PROFILE=ao_profile.c +#PROFILE_DEF=-DAO_PROFILE=1 + +#SAMPLE_PROFILE=ao_sample_profile.c \ +# ao_sample_profile_timer.c +#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1 + +#STACK_GUARD=ao_mpu_stm.c +#STACK_GUARD_DEF=-DHAS_STACK_GUARD=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_dma_stm.c \ + ao_spi_stm.c \ + ao_usb_stm.c \ + ao_adc_stm.c \ + ao_data.c \ + ao_exti_stm.c \ + ao_storage.c \ + ao_m25.c \ + ao_science_slave.c \ + ao_spi_stm_slave.c \ + ao_log_telescience.c \ + ao_log_single.c + +PRODUCT=TeleScience-v0.2 +PRODUCT_DEF=-DTELESCIENCE +IDPRODUCT=0x0011 + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g + +PROGNAME=telescience-v0.2 +PROG=$(PROGNAME)-$(VERSION).elf + +SRC=$(ALTOS_SRC) ao_telescience.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc + +$(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/telescience-v0.2/ao_pins.h b/src/telescience-v0.2/ao_pins.h new file mode 100644 index 00000000..7b974506 --- /dev/null +++ b/src/telescience-v0.2/ao_pins.h @@ -0,0 +1,144 @@ +/* + * 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_ + +#define HAS_TASK_QUEUE 1 + +/* 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 0 +#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 0 +#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 HAS_EEPROM 1 +#define USE_INTERNAL_FLASH 0 +#define HAS_USB 1 +#define HAS_BEEP 0 +#define HAS_RADIO 0 +#define HAS_TELEMETRY 0 +#define PACKET_HAS_SLAVE 0 + +#define HAS_SPI_1 0 +#define HAS_SPI_SLAVE_1 1 +#define SPI_1_PA5_PA6_PA7 1 +#define SPI_1_PB3_PB4_PB5 0 +#define SPI_1_PE13_PE14_PE15 0 +#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz + +#define HAS_SPI_2 1 +#define SPI_2_PB13_PB14_PB15 1 +#define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz + +#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 SPI_SLAVE_INDEX 1 + +#define HAS_I2C_1 0 +#define I2C_1_PB8_PB9 0 + +#define HAS_I2C_2 0 +#define I2C_2_PB10_PB11 0 + +#define LOW_LEVEL_DEBUG 0 + +#define LED_PORT_0_ENABLE STM_RCC_AHBENR_GPIOAEN + +#define LED_PORT_0 (&stm_gpioa) +#define LED_PORT_0_MASK (0xff) +#define LED_PORT_0_SHIFT 0 +#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 0 +#define HAS_FLIGHT 0 +#define HAS_ADC 1 +#define HAS_LOG 1 + +/* + * SPI Flash memory + */ + +#define M25_MAX_CHIPS 1 +#define AO_M25_SPI_CS_PORT (&stm_gpioa) +#define AO_M25_SPI_CS_MASK (1 << 3) +#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15 + +/* + * ADC + */ + +#define AO_DATA_RING 32 +#define AO_ADC_NUM 1 + +struct ao_adc { + int16_t adc[AO_ADC_NUM]; +}; + +#define AO_ADC_TEMP 16 + +#define AO_ADC_RCC_AHBENR 0 + +#define AO_NUM_ADC_PIN 0 + +#define AO_NUM_ADC 1 + +#define AO_ADC_SQ1 AO_ADC_TEMP + + +#endif /* _AO_PINS_H_ */ diff --git a/src/telescience-v0.2/ao_telescience.c b/src/telescience-v0.2/ao_telescience.c new file mode 100644 index 00000000..2fb3186a --- /dev/null +++ b/src/telescience-v0.2/ao_telescience.c @@ -0,0 +1,51 @@ +/* + * 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_packet.h> +#include <ao_send_packet.h> + +int +main(void) +{ + ao_clock_init(); + +#if HAS_STACK_GUARD + ao_mpu_init(); +#endif + + ao_task_init(); + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_GREEN); + ao_timer_init(); + + ao_spi_init(); + ao_spi_slave_init(); + ao_dma_init(); + ao_exti_init(); + + ao_cmd_init(); + + ao_usb_init(); + ao_config_init(); + + ao_storage_init(); + + ao_start_scheduler(); + return 0; +} |