summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--ao-tools/ao-dumplog/ao-dumplog.c95
-rw-r--r--ao-tools/ao-postflight/ao-postflight.c18
-rw-r--r--ao-tools/ao-view/Makefile.am1
-rw-r--r--ao-tools/ao-view/aoview.glade101
-rw-r--r--ao-tools/ao-view/aoview.h11
-rw-r--r--ao-tools/ao-view/aoview_channel.c90
-rw-r--r--ao-tools/ao-view/aoview_flite.c10
-rw-r--r--ao-tools/ao-view/aoview_main.c2
-rw-r--r--ao-tools/ao-view/aoview_monitor.c12
-rw-r--r--src/ao_usb.c53
10 files changed, 362 insertions, 31 deletions
diff --git a/ao-tools/ao-dumplog/ao-dumplog.c b/ao-tools/ao-dumplog/ao-dumplog.c
index b930f0e5..158a445b 100644
--- a/ao-tools/ao-dumplog/ao-dumplog.c
+++ b/ao-tools/ao-dumplog/ao-dumplog.c
@@ -37,6 +37,30 @@ static void usage(char *program)
exit(1);
}
+static uint8_t
+log_checksum(int d[8])
+{
+ uint8_t sum = 0x5a;
+ int i;
+
+ for (i = 0; i < 8; i++)
+ sum += (uint8_t) d[i];
+ return -sum;
+}
+
+static const char *state_names[] = {
+ "startup",
+ "idle",
+ "pad",
+ "boost",
+ "fast",
+ "coast",
+ "drogue",
+ "main",
+ "landed",
+ "invalid"
+};
+
int
main (int argc, char **argv)
{
@@ -50,6 +74,12 @@ main (int argc, char **argv)
int serial_number;
char cmd;
int tick, a, b;
+ int block;
+ int addr;
+ int received_addr;
+ int data[8];
+ int done;
+ int column;
while ((c = getopt_long(argc, argv, "T:D:", options, NULL)) != -1) {
switch (c) {
@@ -74,12 +104,10 @@ main (int argc, char **argv)
if (!cc)
exit(1);
/* send a 'version' command followed by a 'log' command */
- cc_usb_printf(cc, "v\nl\n");
+ cc_usb_printf(cc, "v\n");
out = NULL;
for (;;) {
cc_usb_getline(cc, line, sizeof (line));
- if (!strcmp (line, "end"))
- break;
if (sscanf(line, "serial-number %u", &serial_number) == 1) {
filename = cc_make_filename(serial_number, "eeprom");
out = fopen (filename, "w");
@@ -87,16 +115,65 @@ main (int argc, char **argv)
perror(filename);
}
fprintf (out, "%s\n", line);
- } else if (sscanf(line, "%c %x %x %x", &cmd, &tick, &a, &b) == 4) {
- if (out) {
- fprintf(out, "%s\n", line);
- if (cmd == 'S' && a == 8) {
- fclose(out);
- out = NULL;
+ }
+ if (!strncmp(line, "software-version", 16))
+ break;
+ }
+ if (!out) {
+ fprintf(stderr, "no serial number found\n");
+ cc_usb_close(cc);
+ exit(1);
+ }
+ printf ("Serial number: %d\n", serial_number);
+ printf ("File name: %s\n", filename);
+ done = 0;
+ column = 0;
+ for (block = 0; !done && block < 511; block++) {
+ cc_usb_printf(cc, "e %x\n", block);
+ if (column == 64) {
+ putchar('\n');
+ column = 0;
+ }
+ putchar('.'); fflush(stdout); column++;
+ 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);
+
+ if (log_checksum(data) != 0)
+ fprintf (stderr, "invalid checksum at 0x%x\n",
+ block * 256 + received_addr);
+
+ cmd = data[0];
+ tick = data[2] + (data[3] << 8);
+ a = data[4] + (data[5] << 8);
+ b = data[6] + (data[7] << 8);
+ if (cmd == 'S' && a <= 8) {
+ if (column) putchar('\n');
+ printf("%s\n", state_names[a]);
+ column = 0;
+ }
+ if (out) {
+ fprintf(out, "%c %4x %4x %4x\n",
+ cmd, tick, a, b);
+ if (cmd == 'S' && a == 8) {
+ fclose(out);
+ out = NULL;
+ done = 1;
+ }
}
+ addr += 8;
}
}
}
+ if (column)
+ putchar('\n');
if (out)
fclose (out);
cc_usb_close(cc);
diff --git a/ao-tools/ao-postflight/ao-postflight.c b/ao-tools/ao-postflight/ao-postflight.c
index 6418521e..cc9f64b4 100644
--- a/ao-tools/ao-postflight/ao-postflight.c
+++ b/ao-tools/ao-postflight/ao-postflight.c
@@ -313,14 +313,30 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FI
}
}
if (gps_file) {
+ int j = 0;
fprintf(gps_file, "%9s %12s %12s %12s\n",
"time", "lat", "lon", "alt");
for (i = 0; i < f->gps.num; i++) {
- fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f\n",
+ int nsat = 0;
+ int k;
+ while (j < f->gps.numsats - 1) {
+ if (f->gps.sats[j].sat[0].time <= f->gps.data[i].time &&
+ f->gps.data[i].time < f->gps.sats[j+1].sat[0].time)
+ break;
+ j++;
+ }
+ fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f",
(f->gps.data[i].time - boost_start) / 100.0,
f->gps.data[i].lat,
f->gps.data[i].lon,
f->gps.data[i].alt);
+ nsat = 0;
+ for (k = 0; k < f->gps.sats[j].nsat; k++) {
+ fprintf (gps_file, " %12.7f", (double) f->gps.sats[j].sat[k].c_n);
+ if (f->gps.sats[j].sat[k].state == 0xbf)
+ nsat++;
+ }
+ fprintf(gps_file, " %d\n", nsat);
}
}
if (cooked && plot_name) {
diff --git a/ao-tools/ao-view/Makefile.am b/ao-tools/ao-view/Makefile.am
index 7b274a40..7a288417 100644
--- a/ao-tools/ao-view/Makefile.am
+++ b/ao-tools/ao-view/Makefile.am
@@ -25,6 +25,7 @@ ao_view_SOURCES = \
aoview_replay.c \
aoview_label.c \
aoview_flite.c \
+ aoview_channel.c \
aoview.h
BUILT_SOURCES = aoview_glade.h
diff --git a/ao-tools/ao-view/aoview.glade b/ao-tools/ao-view/aoview.glade
index 9a746110..c302ad0d 100644
--- a/ao-tools/ao-view/aoview.glade
+++ b/ao-tools/ao-view/aoview.glade
@@ -258,6 +258,107 @@
</widget>
</child>
<child>
+ <widget class="GtkMenuItem" id="channel_menu_item">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">_Channel</property>
+ <property name="use_underline">True</property>
+ <child>
+ <widget class="GtkMenu" id="menu7">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_0">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 0 (434.550MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_1">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 1 (434.650MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_2">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 2 (434.750MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_3">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 3 (434.850MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_4">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 4 (434.950MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_5">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 5 (435.050MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_6">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 6 (435.150MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_7">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 7 (435.250MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_8">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 8 (435.350MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkRadioMenuItem" id="channel_9">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Channel 9 (435.450MHz)</property>
+ <property name="use_underline">True</property>
+ <property name="draw_as_radio">True</property>
+ <property name="group">channel_0</property>
+ </widget>
+ </child>
+ </widget>
+ </child>
+ </widget>
+ </child>
+ <child>
<widget class="GtkMenuItem" id="menuitem4">
<property name="visible">True</property>
<property name="label" translatable="yes">_Help</property>
diff --git a/ao-tools/ao-view/aoview.h b/ao-tools/ao-view/aoview.h
index 6a4753ac..c582159c 100644
--- a/ao-tools/ao-view/aoview.h
+++ b/ao-tools/ao-view/aoview.h
@@ -169,6 +169,9 @@ gboolean
aoview_monitor_parse(const char *line);
void
+aoview_monitor_set_channel(int channel);
+
+void
aoview_monitor_reset(void);
struct aoview_serial *
@@ -320,4 +323,12 @@ aoview_flite_stop(void);
extern char *aoview_tty;
+/* aoview_channel.c */
+
+int
+aoview_channel_current(void);
+
+void
+aoview_channel_init(GladeXML *xml);
+
#endif /* _AOVIEW_H_ */
diff --git a/ao-tools/ao-view/aoview_channel.c b/ao-tools/ao-view/aoview_channel.c
new file mode 100644
index 00000000..959173ca
--- /dev/null
+++ b/ao-tools/ao-view/aoview_channel.c
@@ -0,0 +1,90 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "aoview.h"
+
+
+#define NUM_CHANNEL 10
+
+static GtkRadioMenuItem *channel_item[NUM_CHANNEL];
+
+int
+aoview_channel_current(void)
+{
+ int c;
+
+ for (c = 0; c < NUM_CHANNEL; c++)
+ if(gtk_check_menu_item_get_active(GTK_CHECK_MENU_ITEM(channel_item[c])))
+ return c;
+ return -1;
+}
+
+static void
+aoview_channel_notify(int channel)
+{
+ if (0 <= channel && channel < NUM_CHANNEL)
+ gtk_check_menu_item_set_active(GTK_CHECK_MENU_ITEM(channel_item[channel]), TRUE);
+}
+
+#define ALTOS_CHANNEL_PATH "/apps/aoview/channel"
+
+static void
+aoview_channel_change(GtkWidget *widget, gpointer data)
+{
+ gboolean enabled = gtk_check_menu_item_get_active(GTK_CHECK_MENU_ITEM(widget));
+ int c = (int) data;
+ GConfClient *gconf_client;
+ GError *error;
+
+ if (enabled) {
+ aoview_monitor_set_channel(c);
+ gconf_client = gconf_client_get_default();
+ gconf_client_set_int(gconf_client, ALTOS_CHANNEL_PATH, c, &error);
+ }
+}
+
+void
+aoview_channel_init(GladeXML *xml)
+{
+ int c;
+ GConfClient *gconf_client;
+
+ for (c = 0; c < NUM_CHANNEL; c++) {
+ char name[32];
+
+ sprintf(name, "channel_%d", c);
+ channel_item[c] = GTK_RADIO_MENU_ITEM(glade_xml_get_widget(xml, name));
+ assert(channel_item[c]);
+ g_signal_connect(G_OBJECT(channel_item[c]), "toggled",
+ G_CALLBACK(aoview_channel_change),
+ (gpointer) c);
+ }
+ gconf_client = gconf_client_get_default();
+ c = 0;
+ if (gconf_client)
+ {
+ GError *error;
+
+ error = NULL;
+ c = gconf_client_get_int(gconf_client,
+ ALTOS_CHANNEL_PATH,
+ &error);
+ if (error)
+ c = 0;
+ }
+ aoview_channel_notify(c);
+}
diff --git a/ao-tools/ao-view/aoview_flite.c b/ao-tools/ao-view/aoview_flite.c
index e1b75898..bc702b0f 100644
--- a/ao-tools/ao-view/aoview_flite.c
+++ b/ao-tools/ao-view/aoview_flite.c
@@ -42,12 +42,10 @@ aoview_flite_task(gpointer data)
err = snd_pcm_open(&alsa_handle, "default",
SND_PCM_STREAM_PLAYBACK, 0);
- if (err >= 0)
- {
- if (err < 0) {
- snd_pcm_close(alsa_handle);
- alsa_handle = 0;
- }
+ if (err < 0) {
+ fprintf(stderr, "alsa open failed %s\n",
+ strerror(-err));
+ alsa_handle = NULL;
}
rate = 0;
channels = 0;
diff --git a/ao-tools/ao-view/aoview_main.c b/ao-tools/ao-view/aoview_main.c
index 64c1c027..714bee9a 100644
--- a/ao-tools/ao-view/aoview_main.c
+++ b/ao-tools/ao-view/aoview_main.c
@@ -86,6 +86,8 @@ int main(int argc, char **argv)
aoview_voice_init(xml);
+ aoview_channel_init(xml);
+
aoview_dev_dialog_init(xml);
aoview_state_init(xml);
diff --git a/ao-tools/ao-view/aoview_monitor.c b/ao-tools/ao-view/aoview_monitor.c
index 8564014b..48e20320 100644
--- a/ao-tools/ao-view/aoview_monitor.c
+++ b/ao-tools/ao-view/aoview_monitor.c
@@ -82,6 +82,7 @@ aoview_monitor_parse(const char *input_line)
char line_buf[8192], *line;
struct aodata data;
int tracking_pos;
+ int channel;
/* avoid smashing our input parameter */
strncpy (line_buf, input_line, sizeof (line_buf)-1);
@@ -214,15 +215,26 @@ aoview_monitor_callback(gpointer user_data,
}
}
+void
+aoview_monitor_set_channel(int channel)
+{
+ if (monitor_serial)
+ aoview_serial_printf(monitor_serial, "c r %d\n", channel);
+}
+
gboolean
aoview_monitor_connect(char *tty)
{
+ int channel;
aoview_monitor_disconnect();
monitor_serial = aoview_serial_open(tty);
if (!monitor_serial)
return FALSE;
aoview_table_clear();
aoview_state_reset();
+ channel = aoview_channel_current();
+ if (channel >= 0)
+ aoview_monitor_set_channel(channel);
aoview_serial_set_callback(monitor_serial,
aoview_monitor_callback);
return TRUE;
diff --git a/src/ao_usb.c b/src/ao_usb.c
index 99f0715b..22665725 100644
--- a/src/ao_usb.c
+++ b/src/ao_usb.c
@@ -21,6 +21,7 @@
struct ao_task __xdata ao_usb_task;
static __xdata uint16_t ao_usb_in_bytes;
+static __xdata uint16_t ao_usb_in_bytes_last;
static __xdata uint16_t ao_usb_out_bytes;
static __xdata uint8_t ao_usb_iif;
static __xdata uint8_t ao_usb_running;
@@ -321,13 +322,40 @@ ao_usb_ep0(void)
}
}
+/* Wait for a free IN buffer */
+static void
+ao_usb_in_wait(void)
+{
+ for (;;) {
+ USBINDEX = AO_USB_IN_EP;
+ if ((USBCSIL & USBCSIL_INPKT_RDY) == 0)
+ break;
+ ao_sleep(&ao_usb_in_bytes);
+ }
+}
+
+/* Send the current IN packet */
+static void
+ao_usb_in_send(void)
+{
+ USBINDEX = AO_USB_IN_EP;
+ USBCSIL |= USBCSIL_INPKT_RDY;
+ ao_usb_in_bytes_last = ao_usb_in_bytes;
+ ao_usb_in_bytes = 0;
+}
+
void
ao_usb_flush(void) __critical
{
- if (ao_usb_in_bytes) {
- USBINDEX = AO_USB_IN_EP;
- USBCSIL |= USBCSIL_INPKT_RDY;
- ao_usb_in_bytes = 0;
+ if (!ao_usb_running)
+ return;
+
+ /* If there are pending bytes, or if the last packet was full,
+ * send another IN packet
+ */
+ if (ao_usb_in_bytes || (ao_usb_in_bytes_last == AO_USB_IN_SIZE)) {
+ ao_usb_in_wait();
+ ao_usb_in_send();
}
}
@@ -336,18 +364,13 @@ ao_usb_putchar(char c) __critical
{
if (!ao_usb_running)
return;
- for (;;) {
- USBINDEX = AO_USB_IN_EP;
- if ((USBCSIL & USBCSIL_INPKT_RDY) == 0)
- break;
- ao_sleep(&ao_usb_in_bytes);
- }
+
+ ao_usb_in_wait();
+
+ /* Queue a byte, sending the packet when full */
USBFIFO[AO_USB_IN_EP << 1] = c;
- if (++ao_usb_in_bytes == AO_USB_IN_SIZE) {
- USBINDEX = AO_USB_IN_EP;
- USBCSIL |= USBCSIL_INPKT_RDY;
- ao_usb_in_bytes = 0;
- }
+ if (++ao_usb_in_bytes == AO_USB_IN_SIZE)
+ ao_usb_in_send();
}
char
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 16:51:59 +0000