diff options
| -rw-r--r-- | ao-tools/Makefile.am | 2 | ||||
| -rw-r--r-- | ao-tools/ao-cal-accel/.gitignore | 1 | ||||
| -rw-r--r-- | ao-tools/ao-cal-accel/Makefile.am | 11 | ||||
| -rw-r--r-- | ao-tools/ao-cal-accel/ao-cal-accel.1 | 58 | ||||
| -rw-r--r-- | ao-tools/ao-cal-accel/ao-cal-accel.c | 284 | ||||
| -rw-r--r-- | configure.ac | 1 |
6 files changed, 356 insertions, 1 deletions
diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am index 4526f514..2d873e50 100644 --- a/ao-tools/Makefile.am +++ b/ao-tools/Makefile.am @@ -2,7 +2,7 @@ SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list \ ao-load ao-telem ao-send-telem ao-sky-flash \ ao-dumpflash ao-edit-telem ao-dump-up ao-elftohex \ ao-flash ao-usbload ao-test-igniter ao-test-baro \ - ao-test-flash + ao-test-flash ao-cal-accel if LIBSTLINK SUBDIRS += ao-stmload endif diff --git a/ao-tools/ao-cal-accel/.gitignore b/ao-tools/ao-cal-accel/.gitignore new file mode 100644 index 00000000..73402b2b --- /dev/null +++ b/ao-tools/ao-cal-accel/.gitignore @@ -0,0 +1 @@ +ao-cal-accel diff --git a/ao-tools/ao-cal-accel/Makefile.am b/ao-tools/ao-cal-accel/Makefile.am new file mode 100644 index 00000000..d278097a --- /dev/null +++ b/ao-tools/ao-cal-accel/Makefile.am @@ -0,0 +1,11 @@ +bin_PROGRAMS=ao-cal-accel + +AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS) + +ao_cal_accel_DEPENDENCIES = $(top_builddir)/ao-tools/lib/libao-tools.a + +ao_cal_accel_LDADD=$(top_builddir)/ao-tools/lib/libao-tools.a $(LIBUSB_LIBS) + +ao_cal_accel_SOURCES=ao-cal-accel.c + +man_MANS = ao-cal-accel.1 diff --git a/ao-tools/ao-cal-accel/ao-cal-accel.1 b/ao-tools/ao-cal-accel/ao-cal-accel.1 new file mode 100644 index 00000000..eb75d7c7 --- /dev/null +++ b/ao-tools/ao-cal-accel/ao-cal-accel.1 @@ -0,0 +1,58 @@ +.\" +.\" 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. +.\" +.\" +.TH AO-LOAD 1 "ao-cal-accel" "" +.SH NAME +ao-cal-accel \- Calibrate AltOS flight computer accelerometers +.SH SYNOPSIS +.B "ao-cal-accel" +[\-T \fItty-device\fP] +[\--tty \fItty-device\fP] +[\-D \fIaltos-device\fP] +[\--device \fIaltos-device\fP] +.SH DESCRIPTION +.I ao-cal-accel +drives the built-in accelerometer calibration and validates the results. +.SH OPTIONS +.TP +\-T tty-device | --tty tty-device +This selects which tty device the debugger uses to communicate with +the target device. The special name 'BITBANG' directs ao-dbg to use +the cp2103 connection, otherwise this should be a usb serial port +connected to a suitable cc1111 debug node. +.TP +\-D AltOS-device | --device AltOS-device +Search for a connected device. This requires an argument of one of the +following forms: +.IP +TeleMega:2 +.br +TeleMega +.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. +.SH USAGE +.I ao-cal-accel +opens the target device, executes the accelerometer calibration +command, verifies that it executed correctly, then shows the resulting +calibration values and saves them to configuration memory. +.SH AUTHOR +Keith Packard diff --git a/ao-tools/ao-cal-accel/ao-cal-accel.c b/ao-tools/ao-cal-accel/ao-cal-accel.c new file mode 100644 index 00000000..9a988648 --- /dev/null +++ b/ao-tools/ao-cal-accel/ao-cal-accel.c @@ -0,0 +1,284 @@ +/* + * Copyright © 2014 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <err.h> +#include <fcntl.h> +#include <gelf.h> +#include <stdio.h> +#include <stdint.h> +#include <stdlib.h> +#include <sysexits.h> +#include <unistd.h> +#include <getopt.h> +#include <string.h> +#include <stdbool.h> +#include <termios.h> +#include "ao-elf.h" +#include "ccdbg.h" +#include "cc-usb.h" +#include "cc.h" +#include "ao-verbose.h" + +static const struct option options[] = { + { .name = "tty", .has_arg = 1, .val = 'T' }, + { .name = "device", .has_arg = 1, .val = 'D' }, + { .name = "raw", .has_arg = 0, .val = 'r' }, + { .name = "verbose", .has_arg = 1, .val = 'v' }, + { 0, 0, 0, 0}, +}; + +static void usage(char *program) +{ + fprintf(stderr, "usage: %s [--verbose=<verbose>] [--device=<device>] [-tty=<tty>]\n", program); + exit(1); +} + +void +done(struct cc_usb *cc, int code) +{ + cc_usb_close(cc); + exit (code); +} + +static int +ends_with(char *whole, char *suffix) +{ + int whole_len = strlen(whole); + int suffix_len = strlen(suffix); + + if (suffix_len > whole_len) + return 0; + return strcmp(whole + whole_len - suffix_len, suffix) == 0; +} + +static int +starts_with(char *whole, char *prefix) +{ + int whole_len = strlen(whole); + int prefix_len = strlen(prefix); + + if (prefix_len > whole_len) + return 0; + return strncmp(whole, prefix, prefix_len) == 0; +} + +static char ** +tok(char *line) { + char **strs = malloc (sizeof (char *)), *str; + int n = 0; + + while ((str = strtok(line, " \t"))) { + line = NULL; + strs = realloc(strs, (n + 2) * sizeof (char *)); + strs[n] = strdup(str); + n++; + } + strs[n] = '\0'; + return strs; +} + +static void +free_strs(char **strs) { + char *str; + int i; + + for (i = 0; (str = strs[i]) != NULL; i++) + free(str); + free(strs); +} + +struct flash { + struct flash *next; + char line[512]; + char **strs; +}; + +static struct flash * +flash(struct cc_usb *usb) +{ + struct flash *head = NULL, **tail = &head; + cc_usb_printf(usb, "c s\nv\n"); + for (;;) { + char line[512]; + struct flash *b; + + cc_usb_getline(usb, line, sizeof (line)); + b = malloc (sizeof (struct flash)); + strcpy(b->line, line); + b->strs = tok(line); + b->next = NULL; + *tail = b; + tail = &b->next; + if (strstr(line, "software-version")) + break; + } + return head; +} + +static void +free_flash(struct flash *b) { + struct flash *n; + + while (b) { + n = b->next; + free_strs(b->strs); + free(b); + b = n; + } +} + +char ** +find_flash(struct flash *b, char *word0) { + int i; + for (;b; b = b->next) { + if (strstr(b->line, word0)) + return b->strs; + } + return NULL; +} + +void +await_key(void) +{ + struct termios termios, termios_save; + char buf[512]; + + tcgetattr(0, &termios); + termios_save = termios; + cfmakeraw(&termios); + tcsetattr(0, TCSAFLUSH, &termios); + read(0, buf, sizeof (buf)); + tcsetattr(0, TCSAFLUSH, &termios_save); +} + +int +do_cal(struct cc_usb *usb) { + struct flash *b; + char **accel; + char line[1024]; + int l; + int running = 0; + int worked = 1; + + cc_usb_printf(usb, "E 1\nc a 0\n"); + + for (;;) { + int c = cc_usb_getchar_timeout(usb, 20*1000); + + if (c == '\n') + l = 0; + else if (l < sizeof (line) - 1) + line[l++] = c; + line[l] = '\0'; + putchar(c); fflush(stdout); + if (strstr(line, "press a key...")) { + await_key(); + cc_usb_printf(usb, " "); + l = 0; + running = 1; + } + else if (strstr(line, "Invalid")) + worked = 0; + if (running && strstr(line, ">")) { + printf("\n"); + break; + } + } + cc_usb_printf(usb, "E 0\n"); + + if (!worked) { + printf("Calibration failed\n"); + return 0; + } + + b = flash(usb); + + accel = find_flash(b, "Accel cal"); + if (!accel) { + printf("no response\n"); + return 0; + } + + printf ("Accel cal +1g: %s -1g: %s\n", + accel[3], accel[5]); + + printf ("Saving..."); fflush(stdout); + cc_usb_printf (usb, "c w\n"); + cc_usb_sync(usb); + b = flash(usb); + printf ("done\n"); + + return worked; +} + +int +main (int argc, char **argv) +{ + char *device = NULL; + char *filename; + Elf *e; + unsigned int s; + int i; + int c; + int tries; + struct cc_usb *cc = NULL; + char *tty = NULL; + int success; + int verbose = 0; + int ret = 0; + int expected_size; + + while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) { + switch (c) { + case 'T': + tty = optarg; + break; + case 'D': + device = optarg; + break; + case 'v': + verbose++; + break; + default: + usage(argv[0]); + break; + } + } + + ao_verbose = verbose; + + if (verbose > 1) + ccdbg_add_debug(CC_DEBUG_BITBANG); + + if (!tty) + tty = cc_usbdevs_find_by_arg(device, "AltosFlash"); + if (!tty) + tty = cc_usbdevs_find_by_arg(device, "TeleMega"); + if (!tty) + tty = getenv("ALTOS_TTY"); + if (!tty) + tty="/dev/ttyACM0"; + + cc = cc_usb_open(tty); + + if (!cc) + exit(1); + + if (!do_cal(cc)) + ret = 1; + done(cc, ret); +} diff --git a/configure.ac b/configure.ac index 38bab8e1..683da846 100644 --- a/configure.ac +++ b/configure.ac @@ -537,6 +537,7 @@ ao-tools/ao-flash/Makefile ao-tools/ao-test-igniter/Makefile ao-tools/ao-test-baro/Makefile ao-tools/ao-test-flash/Makefile +ao-tools/ao-cal-accel/Makefile ao-utils/Makefile src/Version ]) |