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-rw-r--r--src/kernel/ao.h1
-rw-r--r--src/kernel/ao_cmd.c2
-rw-r--r--src/kernel/ao_data.h70
-rw-r--r--src/kernel/ao_flight.c2
-rw-r--r--src/kernel/ao_gps_report.c12
-rw-r--r--src/kernel/ao_gps_report_mega.c4
-rw-r--r--src/kernel/ao_gps_report_metrum.c8
-rw-r--r--src/kernel/ao_host.h2
-rw-r--r--src/kernel/ao_log.c125
-rw-r--r--src/kernel/ao_log.h70
-rw-r--r--src/kernel/ao_log_big.c67
-rw-r--r--src/kernel/ao_log_gps.c77
-rw-r--r--src/kernel/ao_log_mega.c75
-rw-r--r--src/kernel/ao_log_metrum.c65
-rw-r--r--src/kernel/ao_log_mini.c63
-rw-r--r--src/kernel/ao_log_tiny.c4
-rw-r--r--src/kernel/ao_pyro.c17
-rw-r--r--src/kernel/ao_pyro.h2
-rw-r--r--src/kernel/ao_sample.c6
-rw-r--r--src/kernel/ao_stdio.c4
-rw-r--r--src/kernel/ao_storage.c161
-rw-r--r--src/kernel/ao_task.h3
-rw-r--r--src/kernel/ao_telemetry.c16
23 files changed, 476 insertions, 380 deletions
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index e56fbb2e..139050cf 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -78,6 +78,7 @@ typedef AO_PORT_TYPE ao_port_t;
#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
+#define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */
#define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
/* Stop the operating system, beeping and blinking the reason */
diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c
index 881f3500..c1e9cef2 100644
--- a/src/kernel/ao_cmd.c
+++ b/src/kernel/ao_cmd.c
@@ -304,7 +304,7 @@ version(void)
, ao_flight_number
#endif
#if HAS_LOG
- , ao_log_format
+ , AO_LOG_FORMAT
#if !DISABLE_LOG_SPACE
, (unsigned long) ao_storage_log_max
#endif
diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index d62852ef..88d0e916 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -41,6 +41,13 @@
#define AO_DATA_MPU6000 0
#endif
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250 (1 << 2)
+#else
+#define AO_DATA_MPU9250 0
+#endif
+
#if HAS_HMC5883
#include <ao_hmc5883.h>
#define AO_DATA_HMC5883 (1 << 3)
@@ -57,7 +64,7 @@
#ifdef AO_DATA_RING
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
struct ao_data {
uint16_t tick;
@@ -74,6 +81,9 @@ struct ao_data {
int16_t z_accel;
#endif
#endif
+#if HAS_MPU9250
+ struct ao_mpu9250_sample mpu9250;
+#endif
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
@@ -320,6 +330,47 @@ typedef int16_t angle_t; /* in degrees */
#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#define ao_data_along(packet) ((packet)->mpu9250.accel_y)
+#define ao_data_across(packet) ((packet)->mpu9250.accel_x)
+#define ao_data_through(packet) ((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet) ((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z)
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu9250_accel(sensor);
+}
+
#endif
#if !HAS_MAG && HAS_HMC5883
@@ -334,4 +385,21 @@ typedef int16_t ao_mag_t; /* in raw sample units */
#endif
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG 1
+
+typedef int16_t ao_mag_t; /* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#define ao_data_mag_along(packet) ((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet) ((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z)
+
+#endif
+
#endif /* _AO_DATA_H_ */
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index f06125cd..cb02c454 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,7 +21,7 @@
#include <ao_log.h>
#endif
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
#include <ao_quaternion.h>
#endif
diff --git a/src/kernel/ao_gps_report.c b/src/kernel/ao_gps_report.c
index 39688fea..75c2f367 100644
--- a/src/kernel/ao_gps_report.c
+++ b/src/kernel/ao_gps_report.c
@@ -45,13 +45,13 @@ ao_gps_report(void)
gps_log.u.gps_time.minute = gps_data.minute;
gps_log.u.gps_time.second = gps_data.second;
gps_log.u.gps_time.flags = gps_data.flags;
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_LAT;
gps_log.u.gps_latitude = gps_data.latitude;
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_LON;
gps_log.u.gps_longitude = gps_data.longitude;
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_ALT;
gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
#if HAS_WIDE_GPS
@@ -59,14 +59,14 @@ ao_gps_report(void)
#else
gps_log.u.gps_altitude.altitude_high = 0xffff;
#endif
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
gps_log.type = AO_LOG_GPS_DATE;
gps_log.u.gps_date.year = gps_data.year;
gps_log.u.gps_date.month = gps_data.month;
gps_log.u.gps_date.day = gps_data.day;
gps_log.u.gps_date.extra = 0;
- date_reported = ao_log_data(&gps_log);
+ date_reported = ao_log_write(&gps_log);
}
}
if (new & AO_GPS_NEW_TRACKING) {
@@ -78,7 +78,7 @@ ao_gps_report(void)
if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
{
gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
}
}
}
diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c
index 8a298655..85614b85 100644
--- a/src/kernel/ao_gps_report_mega.c
+++ b/src/kernel/ao_gps_report_mega.c
@@ -105,7 +105,7 @@ ao_gps_report_mega(void)
gps_log.u.gps.hdop = gps_data.hdop;
gps_log.u.gps.vdop = gps_data.vdop;
gps_log.u.gps.mode = gps_data.mode;
- ao_log_mega(&gps_log);
+ ao_log_write(&gps_log);
}
if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
gps_log.tick = ao_gps_tick;
@@ -120,7 +120,7 @@ ao_gps_report_mega(void)
break;
}
gps_log.u.gps_sat.channels = i;
- ao_log_mega(&gps_log);
+ ao_log_write(&gps_log);
}
}
}
diff --git a/src/kernel/ao_gps_report_metrum.c b/src/kernel/ao_gps_report_metrum.c
index 508f1519..523fb17f 100644
--- a/src/kernel/ao_gps_report_metrum.c
+++ b/src/kernel/ao_gps_report_metrum.c
@@ -47,7 +47,7 @@ ao_gps_report_metrum(void)
gps_log.u.gps.longitude = gps_data.longitude;
gps_log.u.gps.altitude_low = gps_data.altitude_low;
gps_log.u.gps.altitude_high = gps_data.altitude_high;
- ao_log_metrum(&gps_log);
+ ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_TIME;
gps_log.u.gps_time.hour = gps_data.hour;
@@ -58,7 +58,7 @@ ao_gps_report_metrum(void)
gps_log.u.gps_time.month = gps_data.month;
gps_log.u.gps_time.day = gps_data.day;
gps_log.u.gps_time.pdop = gps_data.pdop;
- ao_log_metrum(&gps_log);
+ ao_log_write(&gps_log);
}
if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels)) {
@@ -71,7 +71,7 @@ ao_gps_report_metrum(void)
if (i == 4) {
gps_log.u.gps_sat.channels = i;
gps_log.u.gps_sat.more = 1;
- ao_log_metrum(&gps_log);
+ ao_log_write(&gps_log);
i = 0;
}
gps_log.u.gps_sat.sats[i].svid = svid;
@@ -82,7 +82,7 @@ ao_gps_report_metrum(void)
if (i) {
gps_log.u.gps_sat.channels = i;
gps_log.u.gps_sat.more = 0;
- ao_log_metrum(&gps_log);
+ ao_log_write(&gps_log);
}
}
}
diff --git a/src/kernel/ao_host.h b/src/kernel/ao_host.h
index a7fa5ec2..50583f52 100644
--- a/src/kernel/ao_host.h
+++ b/src/kernel/ao_host.h
@@ -111,7 +111,7 @@ ao_dump_state(void *wchan);
void
ao_sleep(void *wchan);
-const char const * const ao_state_names[] = {
+const char * const ao_state_names[] = {
"startup", "idle", "pad", "boost", "fast",
"coast", "drogue", "main", "landed", "invalid"
};
diff --git a/src/kernel/ao_log.c b/src/kernel/ao_log.c
index 0589b4b0..f70c7232 100644
--- a/src/kernel/ao_log.c
+++ b/src/kernel/ao_log.c
@@ -29,7 +29,7 @@ __pdata uint32_t ao_log_end_pos;
__pdata uint32_t ao_log_start_pos;
__xdata uint8_t ao_log_running;
__pdata enum ao_flight_state ao_log_state;
-__xdata uint16_t ao_flight_number;
+__xdata int16_t ao_flight_number;
void
ao_log_flush(void)
@@ -111,6 +111,85 @@ ao_log_erase_mark(void)
ao_config_put();
}
+#ifndef AO_LOG_UNCOMMON
+/*
+ * Common logging functions which depend on the type of the log data
+ * structure.
+ */
+
+__xdata ao_log_type log;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (ao_log_type); i++)
+ sum += *b++;
+ return -sum;
+}
+
+uint8_t
+ao_log_write(__xdata ao_log_type *log) __reentrant
+{
+ uint8_t wrote = 0;
+ /* set checksum */
+ log->csum = 0;
+ log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ log,
+ sizeof (ao_log_type));
+ ao_log_current_pos += sizeof (ao_log_type);
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+uint8_t
+ao_log_check_data(void)
+{
+ if (ao_log_csum((uint8_t *) &log) != 0)
+ return 0;
+ return 1;
+}
+
+uint8_t
+ao_log_check_clear(void)
+{
+ uint8_t *b = (uint8_t *) &log;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (ao_log_type); i++) {
+ if (*b++ != 0xff)
+ return 0;
+ }
+ return 1;
+}
+
+int16_t
+ao_log_flight(uint8_t slot)
+{
+ if (!ao_storage_read(ao_log_pos(slot),
+ &log,
+ sizeof (ao_log_type)))
+ return -(int16_t) (slot + 1);
+
+ if (ao_log_check_clear())
+ return 0;
+
+ if (!ao_log_check_data() || log.type != AO_LOG_FLIGHT)
+ return -(int16_t) (slot + 1);
+
+ return log.u.flight.flight;
+}
+#endif
+
static uint8_t
ao_log_slots()
{
@@ -123,21 +202,21 @@ ao_log_pos(uint8_t slot)
return ((slot) * ao_config.flight_log_max);
}
-static uint16_t
+static int16_t
ao_log_max_flight(void)
{
uint8_t log_slot;
uint8_t log_slots;
- uint16_t log_flight;
- uint16_t max_flight = 0;
+ int16_t log_flight;
+ int16_t max_flight = 0;
/* Scan the log space looking for the biggest flight number */
log_slots = ao_log_slots();
for (log_slot = 0; log_slot < log_slots; log_slot++) {
log_flight = ao_log_flight(log_slot);
- if (!log_flight)
+ if (log_flight <= 0)
continue;
- if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
+ if (max_flight == 0 || log_flight > max_flight)
max_flight = log_flight;
}
return max_flight;
@@ -228,24 +307,24 @@ ao_log_scan(void) __reentrant
if (ao_flight_number) {
uint32_t full = ao_log_current_pos;
- uint32_t empty = ao_log_end_pos - ao_log_size;
+ uint32_t empty = ao_log_end_pos - AO_LOG_SIZE;
/* If there's already a flight started, then find the
* end of it
*/
for (;;) {
ao_log_current_pos = (full + empty) >> 1;
- ao_log_current_pos -= ao_log_current_pos % ao_log_size;
+ ao_log_current_pos -= ao_log_current_pos % AO_LOG_SIZE;
if (ao_log_current_pos == full) {
- if (ao_log_check(ao_log_current_pos))
- ao_log_current_pos += ao_log_size;
+ if (ao_log_check(ao_log_current_pos) != AO_LOG_EMPTY)
+ ao_log_current_pos += AO_LOG_SIZE;
break;
}
if (ao_log_current_pos == empty)
break;
- if (ao_log_check(ao_log_current_pos)) {
+ if (ao_log_check(ao_log_current_pos) != AO_LOG_EMPTY) {
full = ao_log_current_pos;
} else {
empty = ao_log_current_pos;
@@ -259,10 +338,11 @@ ao_log_scan(void) __reentrant
ao_wakeup(&ao_flight_number);
return ret;
#else
-
- if (ao_flight_number)
- if (++ao_flight_number == 0)
+ if (ao_flight_number) {
+ ++ao_flight_number;
+ if (ao_flight_number <= 0)
ao_flight_number = 1;
+ }
ao_log_find_max_erase_flight();
@@ -330,7 +410,7 @@ ao_log_list(void) __reentrant
{
uint8_t slot;
uint8_t slots;
- uint16_t flight;
+ int16_t flight;
slots = ao_log_slots();
for (slot = 0; slot < slots; slot++)
@@ -350,18 +430,25 @@ ao_log_delete(void) __reentrant
{
uint8_t slot;
uint8_t slots;
+ int16_t cmd_flight = 1;
+ ao_cmd_white();
+ if (ao_cmd_lex_c == '-') {
+ cmd_flight = -1;
+ ao_cmd_lex();
+ }
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
+ cmd_flight *= (int16_t) ao_cmd_lex_i;
slots = ao_log_slots();
/* Look for the flight log matching the requested flight */
- if (ao_cmd_lex_i) {
+ if (cmd_flight) {
for (slot = 0; slot < slots; slot++) {
- if (ao_log_flight(slot) == ao_cmd_lex_i) {
+ if (ao_log_flight(slot) == cmd_flight) {
#if HAS_TRACKER
- ao_tracker_erase_start(ao_cmd_lex_i);
+ ao_tracker_erase_start(cmd_flight);
#endif
ao_log_erase(slot);
#if HAS_TRACKER
@@ -372,7 +459,7 @@ ao_log_delete(void) __reentrant
}
}
}
- printf("No such flight: %d\n", ao_cmd_lex_i);
+ printf("No such flight: %d\n", cmd_flight);
}
__code struct ao_cmds ao_log_cmds[] = {
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index aca669db..5f04ef9a 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -29,7 +29,7 @@
* the log. Tasks may wait for this to be initialized
* by sleeping on this variable.
*/
-extern __xdata uint16_t ao_flight_number;
+extern __xdata int16_t ao_flight_number;
extern __xdata uint8_t ao_log_mutex;
extern __pdata uint32_t ao_log_current_pos;
extern __pdata uint32_t ao_log_end_pos;
@@ -54,17 +54,28 @@ extern __pdata enum ao_flight_state ao_log_state;
#define AO_LOG_FORMAT_TELEMINI3 12 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
#define AO_LOG_FORMAT_TELEFIRETWO 13 /* 32-byte test stand data */
#define AO_LOG_FORMAT_EASYMINI2 14 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
+#define AO_LOG_FORMAT_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
#define AO_LOG_FORMAT_NONE 127 /* No log at all */
-extern __code uint8_t ao_log_format;
-extern __code uint8_t ao_log_size;
+/* Return the flight number from the given log slot, 0 if none, -slot on failure */
-/* Return the flight number from the given log slot, 0 if none */
-uint16_t
+int16_t
ao_log_flight(uint8_t slot);
-/* Check if there is valid log data at the specified location */
+/* Checksum the loaded log record */
+uint8_t
+ao_log_check_data(void);
+
+/* Check to see if the loaded log record is empty */
uint8_t
+ao_log_check_clear(void);
+
+/* Check if there is valid log data at the specified location */
+#define AO_LOG_VALID 1
+#define AO_LOG_EMPTY 0
+#define AO_LOG_INVALID -1
+
+int8_t
ao_log_check(uint32_t pos);
/* Flush the log */
@@ -463,21 +474,48 @@ struct ao_log_gps {
} u;
};
-/* Write a record to the eeprom log */
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3
+typedef struct ao_log_mega ao_log_type;
+#endif
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
+typedef struct ao_log_metrum ao_log_type;
+#endif
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI1 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI3
+typedef struct ao_log_mini ao_log_type;
+#endif
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
+typedef struct ao_log_gps ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
+typedef struct ao_log_record ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#ifndef AO_LOG_UNCOMMON
+extern __xdata ao_log_type log;
+
+#define AO_LOG_SIZE sizeof(ao_log_type)
+
+/* Write a record to the eeprom log */
uint8_t
-ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
+ao_log_write(__xdata ao_log_type *log) __reentrant;
+#endif
void
ao_log_flush(void);
diff --git a/src/kernel/ao_log_big.c b/src/kernel/ao_log_big.c
index e32abd1a..28a893c7 100644
--- a/src/kernel/ao_log_big.c
+++ b/src/kernel/ao_log_big.c
@@ -18,50 +18,6 @@
#include "ao.h"
-static __xdata struct ao_log_record log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_record); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_record));
- ao_log_current_pos += sizeof (struct ao_log_record);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
static __data uint8_t ao_log_data_pos;
/* a hack to make sure that ao_log_records fill the eeprom block in even units */
@@ -91,7 +47,7 @@ ao_log(void)
log.u.flight.ground_accel = ao_ground_accel;
#endif
log.u.flight.flight = ao_flight_number;
- ao_log_data(&log);
+ ao_log_write(&log);
/* Write the whole contents of the ring to the log
* when starting up.
@@ -107,7 +63,7 @@ ao_log(void)
log.type = AO_LOG_SENSOR;
log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres;
- ao_log_data(&log);
+ ao_log_write(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
@@ -117,11 +73,11 @@ ao_log(void)
log.type = AO_LOG_TEMP_VOLT;
log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp;
log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
- ao_log_data(&log);
+ ao_log_write(&log);
log.type = AO_LOG_DEPLOY;
log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d;
log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m;
- ao_log_data(&log);
+ ao_log_write(&log);
next_other = log.tick + AO_OTHER_INTERVAL;
}
ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
@@ -133,7 +89,7 @@ ao_log(void)
log.tick = ao_sample_tick;
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
- ao_log_data(&log);
+ ao_log_write(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
@@ -147,16 +103,3 @@ ao_log(void)
ao_sleep(&ao_log_running);
}
}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_record)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index 02551169..a55d93f1 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.c
@@ -24,50 +24,13 @@
#include <ao_distance.h>
#include <ao_tracker.h>
-static __xdata struct ao_log_gps log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
-__code uint8_t ao_log_size = sizeof (struct ao_log_gps);
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_gps); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_gps));
- ao_log_current_pos += sizeof (struct ao_log_gps);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
void
ao_log_gps_flight(void)
{
log.type = AO_LOG_FLIGHT;
log.tick = ao_time();
log.u.flight.flight = ao_flight_number;
- ao_log_gps(&log);
+ ao_log_write(&log);
}
void
@@ -94,7 +57,7 @@ ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
log.u.gps.hdop = gps_data->hdop;
log.u.gps.vdop = gps_data->vdop;
log.u.gps.mode = gps_data->mode;
- ao_log_gps(&log);
+ ao_log_write(&log);
}
void
@@ -115,39 +78,21 @@ ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_d
break;
}
log.u.gps_sat.channels = i;
- ao_log_gps(&log);
+ ao_log_write(&log);
}
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_gps)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
-
-uint8_t
+int8_t
ao_log_check(uint32_t pos)
{
if (!ao_storage_read(pos,
&log,
sizeof (struct ao_log_gps)))
- return 0;
+ return AO_LOG_INVALID;
+
+ if (ao_log_check_clear())
+ return AO_LOG_EMPTY;
- if (ao_log_dump_check_data())
- return 1;
- return 0;
+ if (!ao_log_check_data())
+ return AO_LOG_INVALID;
+ return AO_LOG_VALID;
}
diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c
index b86abe7a..c6bdf1e2 100644
--- a/src/kernel/ao_log_mega.c
+++ b/src/kernel/ao_log_mega.c
@@ -21,50 +21,6 @@
#include <ao_data.h>
#include <ao_flight.h>
-static __xdata struct ao_log_mega log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_mega); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_mega));
- ao_log_current_pos += sizeof (struct ao_log_mega);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
#if HAS_FLIGHT
static __data uint8_t ao_log_data_pos;
@@ -106,7 +62,7 @@ ao_log(void)
#endif
log.u.flight.ground_pres = ao_ground_pres;
log.u.flight.flight = ao_flight_number;
- ao_log_mega(&log);
+ ao_log_write(&log);
#endif
/* Write the whole contents of the ring to the log
@@ -138,8 +94,19 @@ ao_log(void)
log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
#endif
+#if HAS_MPU9250
+ log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu9250.accel_x;
+ log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu9250.accel_y;
+ log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu9250.accel_z;
+ log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu9250.gyro_x;
+ log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu9250.gyro_y;
+ log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu9250.gyro_z;
+ log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].mpu9250.mag_x;
+ log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].mpu9250.mag_z;
+ log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].mpu9250.mag_y;
+#endif
log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
- ao_log_mega(&log);
+ ao_log_write(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
@@ -153,7 +120,7 @@ ao_log(void)
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
log.u.volt.pyro = ao_pyro_fired;
- ao_log_mega(&log);
+ ao_log_write(&log);
next_other = log.tick + AO_OTHER_INTERVAL;
}
ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
@@ -166,7 +133,7 @@ ao_log(void)
log.tick = ao_time();
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
- ao_log_mega(&log);
+ ao_log_write(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
@@ -185,15 +152,3 @@ ao_log(void)
}
#endif /* HAS_FLIGHT */
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_mega)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
diff --git a/src/kernel/ao_log_metrum.c b/src/kernel/ao_log_metrum.c
index 154b1740..afb8f637 100644
--- a/src/kernel/ao_log_metrum.c
+++ b/src/kernel/ao_log_metrum.c
@@ -21,50 +21,6 @@
#include <ao_data.h>
#include <ao_flight.h>
-static __xdata struct ao_log_metrum log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_metrum); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_metrum));
- ao_log_current_pos += sizeof (struct ao_log_metrum);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
#if HAS_ADC
static __data uint8_t ao_log_data_pos;
@@ -97,7 +53,7 @@ ao_log(void)
#endif
log.u.flight.ground_pres = ao_ground_pres;
log.u.flight.flight = ao_flight_number;
- ao_log_metrum(&log);
+ ao_log_write(&log);
#endif
/* Write the whole contents of the ring to the log
@@ -119,7 +75,7 @@ ao_log(void)
#if HAS_ACCEL
log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
#endif
- ao_log_metrum(&log);
+ ao_log_write(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
@@ -130,7 +86,7 @@ ao_log(void)
log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
log.u.volt.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
- ao_log_metrum(&log);
+ ao_log_write(&log);
next_other = log.tick + AO_OTHER_INTERVAL;
}
ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
@@ -143,7 +99,7 @@ ao_log(void)
log.tick = ao_time();
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
- ao_log_metrum(&log);
+ ao_log_write(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
@@ -161,16 +117,3 @@ ao_log(void)
}
}
#endif
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_metrum)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
diff --git a/src/kernel/ao_log_mini.c b/src/kernel/ao_log_mini.c
index d5735cdc..af2fa605 100644
--- a/src/kernel/ao_log_mini.c
+++ b/src/kernel/ao_log_mini.c
@@ -21,50 +21,6 @@
#include <ao_data.h>
#include <ao_flight.h>
-static __xdata struct ao_log_mini log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_mini); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_mini));
- ao_log_current_pos += sizeof (struct ao_log_mini);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
static __data uint8_t ao_log_data_pos;
/* a hack to make sure that ao_log_minis fill the eeprom block in even units */
@@ -92,7 +48,7 @@ ao_log(void)
log.tick = ao_sample_tick;
log.u.flight.flight = ao_flight_number;
log.u.flight.ground_pres = ao_ground_pres;
- ao_log_mini(&log);
+ ao_log_write(&log);
#endif
/* Write the whole contents of the ring to the log
@@ -116,7 +72,7 @@ ao_log(void)
log.u.sensor.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
log.u.sensor.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
#endif
- ao_log_mini(&log);
+ ao_log_write(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
@@ -132,7 +88,7 @@ ao_log(void)
log.tick = ao_time();
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
- ao_log_mini(&log);
+ ao_log_write(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
@@ -149,16 +105,3 @@ ao_log(void)
ao_sleep(&ao_log_running);
}
}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_mini)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
diff --git a/src/kernel/ao_log_tiny.c b/src/kernel/ao_log_tiny.c
index 7769b7b5..0b8e39d6 100644
--- a/src/kernel/ao_log_tiny.c
+++ b/src/kernel/ao_log_tiny.c
@@ -29,8 +29,6 @@ static __data uint16_t ao_log_tiny_interval;
#define AO_PAD_RING 2
#endif
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TINY;
-
void
ao_log_tiny_set_interval(uint16_t ticks)
{
@@ -149,7 +147,7 @@ ao_log(void)
}
}
-uint16_t
+int16_t
ao_log_flight(uint8_t slot)
{
static __xdata uint16_t flight;
diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 9543b3ef..e5c30eec 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -76,7 +76,7 @@ uint16_t ao_pyro_fired;
#if PYRO_DBG
int pyro_dbg;
-#define DBG(...) do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+#define DBG(...) do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0)
#else
#define DBG(...)
#endif
@@ -239,11 +239,8 @@ ao_pyro_pins_fire(uint16_t fire)
}
ao_delay(ao_config.pyro_time);
for (p = 0; p < AO_PYRO_NUM; p++) {
- if (fire & (1 << p)) {
+ if (fire & (1 << p))
ao_pyro_pin_set(p, 0);
- ao_config.pyro[p].fired = 1;
- ao_pyro_fired |= (1 << p);
- }
}
ao_delay(AO_MS_TO_TICKS(50));
}
@@ -261,7 +258,7 @@ ao_pyro_check(void)
/* Ignore igniters which have already fired
*/
- if (pyro->fired)
+ if (ao_pyro_fired & (1 << p))
continue;
/* Ignore disabled igniters
@@ -296,7 +293,7 @@ ao_pyro_check(void)
* by setting the fired bit
*/
if (!ao_pyro_ready(pyro)) {
- pyro->fired = 1;
+ ao_pyro_fired |= (1 << p);
continue;
}
@@ -307,8 +304,10 @@ ao_pyro_check(void)
fire |= (1 << p);
}
- if (fire)
+ if (fire) {
+ ao_pyro_fired |= fire;
ao_pyro_pins_fire(fire);
+ }
return any_waiting;
}
@@ -482,7 +481,7 @@ ao_pyro_set(void)
break;
for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
- if (ao_cmd_is_white())
+ if (ao_cmd_is_white() || ao_cmd_lex_c == '\n')
break;
name[c] = ao_cmd_lex_c;
ao_cmd_lex();
diff --git a/src/kernel/ao_pyro.h b/src/kernel/ao_pyro.h
index a730ef19..3ab5af3b 100644
--- a/src/kernel/ao_pyro.h
+++ b/src/kernel/ao_pyro.h
@@ -63,7 +63,7 @@ struct ao_pyro {
uint8_t state_less, state_greater_or_equal;
int16_t motor;
uint16_t delay_done;
- uint8_t fired;
+ uint8_t _unused; /* was 'fired' */
};
#define AO_PYRO_8_BIT_VALUE (ao_pyro_state_less|ao_pyro_state_greater_or_equal)
diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index f0ab0169..61519478 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -184,9 +184,9 @@ ao_sample_rotate(void)
#else
static const float dt = 1/TIME_DIV;
#endif
- float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
- float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
- float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
+ float x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
+ float y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
+ float z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
struct ao_quaternion rot;
ao_quaternion_init_half_euler(&rot, x, y, z);
diff --git a/src/kernel/ao_stdio.c b/src/kernel/ao_stdio.c
index f0ee0a14..dc09b5c7 100644
--- a/src/kernel/ao_stdio.c
+++ b/src/kernel/ao_stdio.c
@@ -84,7 +84,7 @@ __pdata int8_t ao_cur_stdio;
#endif
void
-putchar(char c)
+ao_putchar(char c)
{
#if LOW_LEVEL_DEBUG
if (!ao_cur_task) {
@@ -110,7 +110,7 @@ flush(void)
__xdata uint8_t ao_stdin_ready;
char
-getchar(void) __reentrant
+ao_getchar(void) __reentrant
{
int c;
int8_t stdio;
diff --git a/src/kernel/ao_storage.c b/src/kernel/ao_storage.c
index bee9293e..400751de 100644
--- a/src/kernel/ao_storage.c
+++ b/src/kernel/ao_storage.c
@@ -22,6 +22,9 @@
uint8_t
ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
{
+#ifdef CC1111
+ return ao_storage_device_read(pos, buf, len);
+#else
uint16_t this_len;
uint16_t this_off;
@@ -47,11 +50,15 @@ ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
pos += this_len;
}
return 1;
+#endif
}
uint8_t
ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
{
+#ifdef CC1111
+ return ao_storage_device_write(pos, buf, len);
+#else
uint16_t this_len;
uint16_t this_off;
@@ -77,9 +84,10 @@ ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
pos += this_len;
}
return 1;
+#endif
}
-static __xdata uint8_t storage_data[8];
+static __xdata uint8_t storage_data[128];
static void
ao_storage_dump(void) __reentrant
@@ -159,6 +167,154 @@ ao_storage_zapall(void) __reentrant
ao_storage_erase(pos);
}
+#if AO_STORAGE_TEST
+
+static void
+ao_storage_failure(uint32_t pos, char *format, ...)
+{
+ va_list a;
+ printf("TEST FAILURE AT %08x: ", pos);
+ va_start(a, format);
+ vprintf(format, a);
+ va_end(a);
+}
+
+static uint8_t
+ao_storage_check_block(uint32_t pos, uint8_t value)
+{
+ uint32_t offset;
+ uint32_t byte;
+
+ for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+ if (!ao_storage_read(pos + offset, storage_data, sizeof (storage_data))) {
+ ao_storage_failure(pos + offset, "read failed\n");
+ return 0;
+ }
+ for (byte = 0; byte < sizeof (storage_data); byte++)
+ if (storage_data[byte] != value) {
+ ao_storage_failure(pos + offset + byte,
+ "want %02x got %02x\n",
+ value, storage_data[byte]);
+ return 0;
+ }
+ }
+ return 1;
+}
+
+static uint8_t
+ao_storage_fill_block(uint32_t pos, uint8_t value)
+{
+ uint32_t offset;
+ uint32_t byte;
+
+ for (byte = 0; byte < sizeof (storage_data); byte++)
+ storage_data[byte] = value;
+ for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+ if (!ao_storage_write(pos + offset, storage_data, sizeof (storage_data))) {
+ ao_storage_failure(pos + offset, "write failed\n");
+ return 0;
+ }
+ }
+ return 1;
+}
+
+static uint8_t
+ao_storage_check_incr_block(uint32_t pos)
+{
+ uint32_t offset;
+ uint32_t byte;
+
+ for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+ if (!ao_storage_read(pos + offset, storage_data, sizeof (storage_data))) {
+ ao_storage_failure(pos + offset, "read failed\n");
+ return 0;
+ }
+ for (byte = 0; byte < sizeof (storage_data); byte++) {
+ uint8_t value = offset + byte;
+ if (storage_data[byte] != value) {
+ ao_storage_failure(pos + offset + byte,
+ "want %02x got %02x\n",
+ value, storage_data[byte]);
+ return 0;
+ }
+ }
+ }
+ return 1;
+}
+
+static uint8_t
+ao_storage_fill_incr_block(uint32_t pos)
+{
+ uint32_t offset;
+ uint32_t byte;
+
+ for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+ for (byte = 0; byte < sizeof (storage_data); byte++)
+ storage_data[byte] = offset + byte;
+ if (!ao_storage_write(pos + offset, storage_data, sizeof (storage_data))) {
+ ao_storage_failure(pos + offset, "write failed\n");
+ return 0;
+ }
+ }
+ return 1;
+}
+
+static uint8_t
+ao_storage_fill_check_block(uint32_t pos, uint8_t value)
+{
+ return ao_storage_fill_block(pos, value) && ao_storage_check_block(pos, value);
+}
+
+static uint8_t
+ao_storage_incr_check_block(uint32_t pos)
+{
+ return ao_storage_fill_incr_block(pos) && ao_storage_check_incr_block(pos);
+}
+
+static uint8_t
+ao_storage_test_block(uint32_t pos) __reentrant
+{
+ ao_storage_erase(pos);
+ printf(" erase"); flush();
+ if (!ao_storage_check_block(pos, 0xff))
+ return 0;
+ printf(" zero"); flush();
+ if (!ao_storage_fill_check_block(pos, 0x00))
+ return 0;
+ ao_storage_erase(pos);
+ printf(" 0xaa"); flush();
+ if (!ao_storage_fill_check_block(pos, 0xaa))
+ return 0;
+ ao_storage_erase(pos);
+ printf(" 0x55"); flush();
+ if (!ao_storage_fill_check_block(pos, 0x55))
+ return 0;
+ ao_storage_erase(pos);
+ printf(" increment"); flush();
+ if (!ao_storage_incr_check_block(pos))
+ return 0;
+ ao_storage_erase(pos);
+ printf(" pass\n"); flush();
+ return 1;
+}
+
+static void
+ao_storage_test(void) __reentrant
+{
+ uint32_t pos;
+
+ ao_cmd_white();
+ if (!ao_match_word("DoIt"))
+ return;
+ for (pos = 0; pos < ao_storage_log_max; pos += ao_storage_block) {
+ printf("Testing block 0x%08x:", pos); flush();
+ if (!ao_storage_test_block(pos))
+ break;
+ }
+ printf("Test complete\n");
+}
+#endif /* AO_STORAGE_TEST */
+
void
ao_storage_info(void) __reentrant
{
@@ -176,6 +332,9 @@ __code struct ao_cmds ao_storage_cmds[] = {
#endif
{ ao_storage_zap, "z <block>\0Erase <block>" },
{ ao_storage_zapall,"Z <key>\0Erase all. <key> is doit with D&I" },
+#if AO_STORAGE_TEST
+ { ao_storage_test, "V <key>\0Validate flash (destructive). <key> is doit with D&I" },
+#endif
{ 0, NULL },
};
diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h
index 30b018ff..7549b598 100644
--- a/src/kernel/ao_task.h
+++ b/src/kernel/ao_task.h
@@ -44,6 +44,9 @@ struct ao_task {
ao_arch_task_members /* any architecture-specific fields */
uint8_t task_id; /* unique id */
__code char *name; /* task name */
+#ifdef NEWLIB
+ int __errno; /* storage for errno in newlib libc */
+#endif
#if HAS_TASK_QUEUE
struct ao_list queue;
struct ao_list alarm_queue;
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 2ae1e41b..9ed612ce 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -141,7 +141,7 @@ ao_send_mega_sensor(void)
telemetry.generic.tick = packet->tick;
telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
telemetry.mega_sensor.orient = ao_sample_orient;
#endif
telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -164,6 +164,20 @@ ao_send_mega_sensor(void)
telemetry.mega_sensor.mag_y = packet->hmc5883.y;
#endif
+#if HAS_MPU9250
+ telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
+ telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
+ telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
+
+ telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
+ telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
+ telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
+
+ telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
+ telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
+ telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
+#endif
+
ao_telemetry_send();
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-15 20:07:45 +0000