1 files changed, 278 insertions, 0 deletions
diff --git a/src/micropeak-v2.0/ao_micropeak.c b/src/micropeak-v2.0/ao_micropeak.c
new file mode 100644
index 00000000..1cfa1209
--- /dev/null
+++ b/src/micropeak-v2.0/ao_micropeak.c
@@ -0,0 +1,278 @@
+/*
+ * Copyright © 2017 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 <ao.h>
+#include <ao_exti.h>
+#include <ao_micropeak.h>
+#include <ao_report_micro.h>
+#include <ao_log_micro.h>
+#include <ao_storage.h>
+
+static struct ao_ms5607_value	value;
+
+alt_t		ground_alt, max_alt;
+alt_t		ao_max_height;
+
+void
+ao_pa_get(void)
+{
+	ao_ms5607_sample(&ao_ms5607_current);
+	ao_ms5607_convert(&ao_ms5607_current, &value);
+	pa = value.pres;
+}
+
+static void
+ao_compute_height(void)
+{
+	ground_alt = ao_pa_to_altitude(pa_ground);
+	max_alt = ao_pa_to_altitude(pa_min);
+	ao_max_height = max_alt - ground_alt;
+}
+
+static void
+ao_pips(void)
+{
+	uint8_t	i;
+	for (i = 0; i < 10; i++) {
+		ao_led_toggle(AO_LED_REPORT);
+		ao_delay(AO_MS_TO_TICKS(80));
+	}
+	ao_delay(AO_MS_TO_TICKS(200));
+}
+
+void
+ao_delay_until(uint16_t target) {
+	int16_t	delay = target - ao_time();
+	if (delay > 0) {
+		ao_sleep_for(ao_delay_until, delay);
+	}
+}
+
+static struct ao_task mp_task;
+
+static void
+ao_battery_disable(void)
+{
+	/* Disable */
+	if (stm_adc.cr & (1 << STM_ADC_CR_ADEN)) {
+		stm_adc.cr |= (1 << STM_ADC_CR_ADDIS);
+		while (stm_adc.cr & (1 << STM_ADC_CR_ADDIS))
+			;
+	}
+
+	/* Turn off everything */
+	stm_adc.cr &= ~((1 << STM_ADC_CR_ADCAL) |
+			(1 << STM_ADC_CR_ADSTP) |
+			(1 << STM_ADC_CR_ADSTART) |
+			(1 << STM_ADC_CR_ADEN));
+}
+
+static void
+ao_battery_init(void)
+{
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADCEN);
+
+	ao_battery_disable();
+
+	/* Configure */
+	stm_adc.cfgr1 = ((0 << STM_ADC_CFGR1_AWDCH) |				  /* analog watchdog channel 0 */
+			 (0 << STM_ADC_CFGR1_AWDEN) |				  /* Disable analog watchdog */
+			 (0 << STM_ADC_CFGR1_AWDSGL) |				  /* analog watchdog on all channels */
+			 (0 << STM_ADC_CFGR1_DISCEN) |				  /* Not discontinuous mode. All channels converted with one trigger */
+			 (0 << STM_ADC_CFGR1_AUTOOFF) |				  /* Leave ADC running */
+			 (1 << STM_ADC_CFGR1_WAIT) |				  /* Wait for data to be read before next conversion */
+			 (0 << STM_ADC_CFGR1_CONT) |				  /* only one set of conversions per trigger */
+			 (1 << STM_ADC_CFGR1_OVRMOD) |				  /* overwrite on overrun */
+			 (STM_ADC_CFGR1_EXTEN_DISABLE << STM_ADC_CFGR1_EXTEN) |	  /* SW trigger */
+			 (0 << STM_ADC_CFGR1_ALIGN) |				  /* Align to LSB */
+			 (STM_ADC_CFGR1_RES_12 << STM_ADC_CFGR1_RES) |		  /* 12 bit resolution */
+			 (STM_ADC_CFGR1_SCANDIR_UP << STM_ADC_CFGR1_SCANDIR) |	  /* scan 0 .. n */
+			 (STM_ADC_CFGR1_DMACFG_ONESHOT << STM_ADC_CFGR1_DMACFG) | /* one set of conversions then stop */
+			 (1 << STM_ADC_CFGR1_DMAEN));				  /* enable DMA */
+
+	/* Set the clock */
+	stm_adc.cfgr2 = STM_ADC_CFGR2_CKMODE_PCLK_2 << STM_ADC_CFGR2_CKMODE;
+
+	/* Shortest sample time */
+	stm_adc.smpr = STM_ADC_SMPR_SMP_71_5 << STM_ADC_SMPR_SMP;
+
+	/* Select Vref */
+	stm_adc.chselr = 1 << 17;
+
+	stm_adc.ccr = ((0 << STM_ADC_CCR_VBATEN) |
+		       (0 << STM_ADC_CCR_TSEN) |
+		       (1 << STM_ADC_CCR_VREFEN));
+
+	/* Calibrate */
+	stm_adc.cr |= (1 << STM_ADC_CR_ADCAL);
+	while ((stm_adc.cr & (1 << STM_ADC_CR_ADCAL)) != 0)
+		;
+
+	/* Enable */
+	stm_adc.cr |= (1 << STM_ADC_CR_ADEN);
+	while ((stm_adc.isr & (1 << STM_ADC_ISR_ADRDY)) == 0)
+		;
+
+	/* Clear any stale status bits */
+	stm_adc.isr = 0;
+
+	/* Turn on syscfg */
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGCOMPEN);
+}
+
+static void
+ao_battery_fini(void)
+{
+	/* Disable */
+	ao_battery_disable();
+
+	/* Power down */
+	stm_rcc.apb2enr &= ~(1 << STM_RCC_APB2ENR_ADCEN);
+}
+
+static uint16_t
+ao_battery_voltage(void)
+{
+	uint16_t	vrefint;
+
+	ao_battery_init();
+
+	stm_adc.cr |= (1 << STM_ADC_CR_ADSTART);
+
+	while ((stm_adc.isr & (1 << STM_ADC_ISR_EOC)) == 0)
+		ao_arch_nop();
+
+	vrefint = stm_adc.dr;
+
+	ao_battery_fini();
+
+	return 330 * stm_cal.vrefint_cal / vrefint;
+}
+
+
+uint8_t	ao_on_battery;
+
+static void
+ao_micropeak(void)
+{
+	ao_ms5607_setup();
+	ao_storage_setup();
+
+	/* Give the person a second to get their finger out of the way */
+	ao_delay(AO_MS_TO_TICKS(1000));
+
+	ao_pips();
+
+	ao_log_micro_restore();
+	ao_compute_height();
+	ao_report_altitude();
+	ao_log_micro_dump();
+
+#if BOOST_DELAY
+	ao_delay(BOOST_DELAY);
+#endif
+
+	ao_microflight();
+
+	ao_log_micro_save();
+	ao_compute_height();
+	ao_report_altitude();
+
+	ao_sleep(&ao_on_battery);
+}
+
+static void
+ao_show_bat(void)
+{
+	printf("battery: %u\n", ao_battery_voltage());
+}
+
+static struct ao_cmds mp_cmd[] = {
+	{ ao_show_bat, "b\0Show battery voltage" },
+	{ 0 }
+};
+
+static void
+ao_hsi_init(void)
+{
+	uint32_t	cfgr;
+
+	/* Disable all interrupts */
+	stm_rcc.cir = 0;
+
+	/* Enable prefetch */
+	stm_flash.acr |= (1 << STM_FLASH_ACR_PRFTBE);
+
+	/* Enable power interface clock */
+	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
+
+	/* HCLK to 48MHz -> AHB prescaler = /1 */
+	cfgr = stm_rcc.cfgr;
+	cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE);
+	cfgr |= (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE);
+	stm_rcc.cfgr = cfgr;
+	while ((stm_rcc.cfgr & (STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE)) !=
+	       (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE))
+		ao_arch_nop();
+
+	/* APB Prescaler = AO_APB_PRESCALER */
+	cfgr = stm_rcc.cfgr;
+	cfgr &= ~(STM_RCC_CFGR_PPRE_MASK << STM_RCC_CFGR_PPRE);
+	cfgr |= (AO_RCC_CFGR_PPRE_DIV << STM_RCC_CFGR_PPRE);
+	stm_rcc.cfgr = cfgr;
+
+	/* Clear reset flags */
+	stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF);
+}
+
+void
+main(void)
+{
+	if (ao_battery_voltage() < 320)
+		ao_on_battery = 1;
+
+	/* Leave the system running on the HSI if we're on battery */
+	if (!ao_on_battery)
+		ao_clock_init();
+	else
+		ao_hsi_init();
+
+	ao_led_init(LEDS_AVAILABLE);
+	ao_task_init();
+	ao_timer_init();
+	ao_serial_init();
+	stm_moder_set(&stm_gpioa, 2, STM_MODER_OUTPUT);
+
+	ao_dma_init();
+	ao_spi_init();
+	ao_exti_init();
+
+	/* Leave USB disabled on battery */
+	if (!ao_on_battery) {
+		ao_usb_init();
+		ao_cmd_init();
+	}
+
+	ao_ms5607_init();
+
+	ao_storage_init();
+
+	ao_add_task(&mp_task, ao_micropeak, "micropeak");
+	ao_cmd_register(mp_cmd);
+	ao_start_scheduler();
+}