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-rw-r--r--src/kernel/ao_flash_readout.c50
-rw-r--r--src/kernel/ao_flash_readout.h20
-rw-r--r--src/kernel/ao_flight.c4
-rw-r--r--src/kernel/ao_product.c14
-rw-r--r--src/kernel/ao_usb.h21
5 files changed, 105 insertions, 4 deletions
diff --git a/src/kernel/ao_flash_readout.c b/src/kernel/ao_flash_readout.c
new file mode 100644
index 00000000..46b5ba7a
--- /dev/null
+++ b/src/kernel/ao_flash_readout.c
@@ -0,0 +1,50 @@
+/*
+ * Copyright © 2018 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.
+ */
+
+#include <ao.h>
+#include <ao_usb.h>
+#include <ao_flash_readout.h>
+
+#ifndef AO_FLASH_READOUT_BASE
+#define AO_FLASH_READOUT_BASE AO_BOOT_LOADER_BASE
+#define AO_FLASH_READOUT_BOUND AO_BOOT_APPLICATION_BOUND
+#endif
+
+static void
+ao_flash_readout(void)
+{
+ uint8_t *base = (uint8_t *) AO_FLASH_READOUT_BASE;
+ uint8_t *bound = (uint8_t *) AO_FLASH_READOUT_BOUND;
+ uint8_t *p = base;
+
+ for (;;) {
+ ao_arch_block_interrupts();
+ while (!ao_usb_running) {
+ p = base;
+ ao_sleep(&ao_usb_running);
+ }
+ ao_arch_release_interrupts();
+ ao_flash_readout_putchar(*p++);
+ if (p == bound)
+ p = base;
+ }
+}
+
+static struct ao_task ao_flash_readout_task;
+
+void
+ao_flash_readout_init(void)
+{
+ ao_add_task(&ao_flash_readout_task, ao_flash_readout, "flash_readout");
+}
diff --git a/src/kernel/ao_flash_readout.h b/src/kernel/ao_flash_readout.h
new file mode 100644
index 00000000..5eee53cc
--- /dev/null
+++ b/src/kernel/ao_flash_readout.h
@@ -0,0 +1,20 @@
+/*
+ * Copyright © 2018 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.
+ */
+
+#ifndef _AO_FLASH_READOUT_H_
+#define _AO_FLASH_READOUT_H_
+
+void ao_flash_readout_init(void);
+
+#endif /* _AO_FLASH_READOUT_H_ */
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index cb02c454..7b3cb9fa 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -233,7 +233,7 @@ ao_flight(void)
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
- if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
+ if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
(int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
{
#if HAS_ACCEL
@@ -310,7 +310,7 @@ ao_flight(void)
#if HAS_ACCEL
else {
check_re_boost:
- ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+ ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
ao_boost_tick = ao_sample_tick;
ao_flight_state = ao_flight_boost;
diff --git a/src/kernel/ao_product.c b/src/kernel/ao_product.c
index c4df9f26..4c2d83ef 100644
--- a/src/kernel/ao_product.c
+++ b/src/kernel/ao_product.c
@@ -55,7 +55,7 @@ const char ao_product[] = AO_iProduct_STRING;
#define HEADER_LEN 9
#define CONTROL_CLASS_LEN 35
-#define DATA_LEN (9 + 7 * AO_USB_HAS_OUT + 7 * AO_USB_HAS_IN + 7 * AO_USB_HAS_IN2)
+#define DATA_LEN (9 + 7 * AO_USB_HAS_OUT + 7 * AO_USB_HAS_IN + 7 * AO_USB_HAS_IN2 + 7 * AO_USB_HAS_IN3)
#define TOTAL_LENGTH (HEADER_LEN + AO_USB_HAS_INT * CONTROL_CLASS_LEN + DATA_LEN)
#define NUM_INTERFACES (AO_USB_HAS_INT + 1)
@@ -141,7 +141,7 @@ AO_ROMCONFIG_SYMBOL(0x00aa) uint8_t ao_usb_descriptors [] =
AO_USB_DESC_INTERFACE,
AO_USB_HAS_INT, /* bInterfaceNumber */
0x00, /* bAlternateSetting */
- AO_USB_HAS_OUT + AO_USB_HAS_IN + AO_USB_HAS_IN2, /* bNumEndPoints */
+ AO_USB_HAS_OUT + AO_USB_HAS_IN + AO_USB_HAS_IN2 + AO_USB_HAS_IN3, /* bNumEndPoints */
AO_USB_INTERFACE_CLASS_DATA, /* bInterfaceClass = data */
0x00, /* bInterfaceSubClass */
0x00, /* bInterfaceProtocol */
@@ -177,6 +177,16 @@ AO_ROMCONFIG_SYMBOL(0x00aa) uint8_t ao_usb_descriptors [] =
0x00, /* bInterval */
#endif
+#if AO_USB_HAS_IN3
+ /* Data EP in 3 */
+ 0x07,
+ AO_USB_DESC_ENDPOINT,
+ AO_USB_IN3_EP|0x80, /* bEndpointAddress */
+ 0x02, /* bmAttributes = bulk */
+ LE_WORD(AO_USB_IN_SIZE),/* wMaxPacketSize */
+ 0x00, /* bInterval */
+#endif
+
/* String descriptors */
0x04,
AO_USB_DESC_STRING,
diff --git a/src/kernel/ao_usb.h b/src/kernel/ao_usb.h
index 936d939b..40516de1 100644
--- a/src/kernel/ao_usb.h
+++ b/src/kernel/ao_usb.h
@@ -41,7 +41,23 @@ ao_usb_pollchar(void);
void
ao_usb_flush(void);
+#if AO_USB_HAS_IN2
+void
+ao_usb_flush2(void);
+
+void
+ao_usb_putchar2(char c);
+#endif
+
+#if AO_USB_HAS_IN3
+void
+ao_usb_flush3(void);
+
+void
+ao_usb_putchar3(char c);
+#endif
/* Enable the USB controller */
+
void
ao_usb_enable(void);
@@ -107,6 +123,7 @@ extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
#define AO_USB_OUT_EP 4
#define AO_USB_IN_EP 5
#define AO_USB_IN2_EP 6
+#define AO_USB_IN3_EP 7
#endif
#ifndef AO_USB_HAS_OUT
@@ -125,6 +142,10 @@ extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
#define AO_USB_HAS_IN2 0
#endif
+#ifndef AO_USB_HAS_IN3
+#define AO_USB_HAS_IN3 0
+#endif
+
/*
* USB bulk packets can only come in 8, 16, 32 and 64
* byte sizes, so we'll use 64 for everything
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-16 21:49:10 +0000