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-rw-r--r--src/Makefile1
-rw-r--r--src/drivers/ao_companion.c4
-rw-r--r--src/drivers/ao_lco.c475
-rw-r--r--src/drivers/ao_lco_cmd.c2
-rw-r--r--src/drivers/ao_lco_func.c11
-rw-r--r--src/drivers/ao_lco_func.h2
-rw-r--r--src/drivers/ao_pad.c10
-rw-r--r--src/drivers/ao_pwm.h29
-rw-r--r--src/drivers/ao_seven_segment.c17
-rw-r--r--src/drivers/ao_seven_segment.h3
-rw-r--r--src/easymega-v1.0/ao_pins.h1
-rw-r--r--src/kernel/ao_telemetry.c27
-rw-r--r--src/stm/ao_pwm_stm.c192
-rw-r--r--src/stm/stm32l.h4
-rw-r--r--src/teleballoon-v2.0/ao_pins.h1
-rw-r--r--src/telemega-v0.1/ao_pins.h1
-rw-r--r--src/telemega-v1.0/ao_pins.h1
-rw-r--r--src/telemega-v2.0/.gitignore2
-rw-r--r--src/telemega-v2.0/Makefile156
-rw-r--r--src/telemega-v2.0/ao_pins.h407
-rw-r--r--src/telemega-v2.0/ao_telemega.c105
-rw-r--r--src/telemega-v2.0/flash-loader/Makefile8
-rw-r--r--src/telemega-v2.0/flash-loader/ao_pins.h34
-rw-r--r--src/telemetrum-v2.0/ao_pins.h1
24 files changed, 1359 insertions, 135 deletions
diff --git a/src/Makefile b/src/Makefile
index dc74bf8c..ebe1df9c 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -29,6 +29,7 @@ ARMM3DIRS=\
easymega-v1.0 easymega-v1.0/flash-loader \
telemega-v0.1 telemega-v0.1/flash-loader \
telemega-v1.0 telemega-v1.0/flash-loader \
+ telemega-v2.0 telemega-v2.0/flash-loader \
telemetrum-v2.0 telemetrum-v2.0/flash-loader \
megadongle-v0.1 megadongle-v0.1/flash-loader \
telegps-v0.3 telegps-v0.3/flash-loader \
diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 7e02939b..5f07e8b0 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -23,6 +23,10 @@
#define ao_spi_fast(b)
#endif
+#if !HAS_COMPANION
+#error HAS_COMPANION not set in ao_companion.c
+#endif
+
#define COMPANION_SELECT() do { \
ao_spi_get_bit(AO_COMPANION_CS_PORT, \
AO_COMPANION_CS_PIN, \
diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c
index b8698a80..6c192537 100644
--- a/src/drivers/ao_lco.c
+++ b/src/drivers/ao_lco.c
@@ -36,28 +36,70 @@ static uint8_t ao_lco_debug;
#define AO_LCO_BOX_DIGIT_1 1
#define AO_LCO_BOX_DIGIT_10 2
+#define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5)
+#define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2)
+
+#define AO_LCO_VALID_LAST 1
+#define AO_LCO_VALID_EVER 2
+
static uint8_t ao_lco_min_box, ao_lco_max_box;
-static uint8_t ao_lco_pad;
-static uint8_t ao_lco_box;
+static uint8_t ao_lco_selected[AO_PAD_MAX_BOXES];
+static uint8_t ao_lco_valid[AO_PAD_MAX_BOXES];
+static uint8_t ao_lco_channels[AO_PAD_MAX_BOXES];
+static uint16_t ao_lco_tick_offset[AO_PAD_MAX_BOXES];
+
+/* UI values */
static uint8_t ao_lco_armed;
static uint8_t ao_lco_firing;
-static uint8_t ao_lco_valid;
-static uint8_t ao_lco_got_channels;
-static uint16_t ao_lco_tick_offset;
+static uint16_t ao_lco_fire_tick;
+static uint8_t ao_lco_fire_down;
+static uint8_t ao_lco_drag_race;
+static uint8_t ao_lco_pad;
+static int16_t ao_lco_box;
+
+#define AO_LCO_BOX_DRAG 0x1000
static struct ao_pad_query ao_pad_query;
+static uint8_t ao_lco_display_mutex;
+
static void
ao_lco_set_pad(uint8_t pad)
{
- ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad);
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad | (ao_lco_drag_race << 4));
+ ao_mutex_put(&ao_lco_display_mutex);
}
+#define SEVEN_SEGMENT_d ((0 << 0) | \
+ (0 << 1) | \
+ (1 << 2) | \
+ (1 << 3) | \
+ (1 << 4) | \
+ (1 << 5) | \
+ (1 << 6))
+
+
+#define SEVEN_SEGMENT_r ((0 << 0) | \
+ (0 << 1) | \
+ (0 << 2) | \
+ (1 << 3) | \
+ (1 << 4) | \
+ (0 << 5) | \
+ (0 << 6))
+
static void
-ao_lco_set_box(uint8_t box)
+ao_lco_set_box(uint16_t box)
{
- ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10);
- ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10);
+ ao_mutex_get(&ao_lco_display_mutex);
+ if (box == AO_LCO_BOX_DRAG) {
+ ao_seven_segment_direct(AO_LCO_BOX_DIGIT_10, SEVEN_SEGMENT_d | (ao_lco_drag_race << 7));
+ ao_seven_segment_direct(AO_LCO_BOX_DIGIT_1, SEVEN_SEGMENT_r | (ao_lco_drag_race << 7));
+ } else {
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10 | (ao_lco_drag_race << 4));
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10 | (ao_lco_drag_race << 4));
+ }
+ ao_mutex_put(&ao_lco_display_mutex);
}
static void
@@ -68,18 +110,23 @@ ao_lco_set_voltage(uint16_t decivolts)
tenths = decivolts % 10;
ones = (decivolts / 10) % 10;
tens = (decivolts / 100) % 10;
+ ao_mutex_get(&ao_lco_display_mutex);
ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths);
ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10);
ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens);
+ ao_mutex_put(&ao_lco_display_mutex);
}
static void
ao_lco_set_display(void)
{
- if (ao_lco_pad == 0) {
+ if (ao_lco_pad == 0 && ao_lco_box != AO_LCO_BOX_DRAG) {
ao_lco_set_voltage(ao_pad_query.battery);
} else {
- ao_lco_set_pad(ao_lco_pad);
+ if (ao_lco_box == AO_LCO_BOX_DRAG)
+ ao_lco_set_pad(ao_lco_drag_race);
+ else
+ ao_lco_set_pad(ao_lco_pad);
ao_lco_set_box(ao_lco_box);
}
}
@@ -91,42 +138,205 @@ ao_lco_set_display(void)
static uint8_t ao_lco_box_mask[MASK_SIZE(AO_PAD_MAX_BOXES)];
static uint8_t
-ao_lco_box_present(uint8_t box)
+ao_lco_box_present(uint16_t box)
{
+ if (box == AO_LCO_BOX_DRAG)
+ return 1;
+
if (box >= AO_PAD_MAX_BOXES)
return 0;
return (ao_lco_box_mask[MASK_ID(box)] >> MASK_SHIFT(box)) & 1;
}
static uint8_t
-ao_lco_pad_present(uint8_t pad)
+ao_lco_pad_present(uint8_t box, uint8_t pad)
{
- if (!ao_lco_got_channels || !ao_pad_query.channels)
- return pad == 0;
/* voltage measurement is always valid */
if (pad == 0)
return 1;
+ if (!ao_lco_channels[box])
+ return 0;
if (pad > AO_PAD_MAX_CHANNELS)
return 0;
- return (ao_pad_query.channels >> (pad - 1)) & 1;
+ return (ao_lco_channels[box] >> (pad - 1)) & 1;
}
static uint8_t
-ao_lco_pad_first(void)
+ao_lco_pad_first(uint8_t box)
{
uint8_t pad;
for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
- if (ao_lco_pad_present(pad))
+ if (ao_lco_pad_present(box, pad))
return pad;
return 0;
}
+static struct ao_task ao_lco_drag_task;
+static uint8_t ao_lco_drag_active;
+static uint8_t ao_lco_drag_beep_count;
+static uint8_t ao_lco_drag_beep_on;
+static uint16_t ao_lco_drag_beep_time;
+static uint16_t ao_lco_drag_warn_time;
+
+#define AO_LCO_DRAG_BEEP_TIME AO_MS_TO_TICKS(50)
+#define AO_LCO_DRAG_WARN_TIME AO_SEC_TO_TICKS(5)
+
+static void
+ao_lco_drag_beep_start(void)
+{
+ ao_beep(AO_BEEP_HIGH);
+ PRINTD("beep start\n");
+ ao_lco_drag_beep_on = 1;
+ ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME;
+}
+
+static void
+ao_lco_drag_beep_stop(void)
+{
+ ao_beep(0);
+ PRINTD("beep stop\n");
+ ao_lco_drag_beep_on = 0;
+ if (ao_lco_drag_beep_count) {
+ --ao_lco_drag_beep_count;
+ if (ao_lco_drag_beep_count)
+ ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME;
+ }
+}
+
+static void
+ao_lco_drag_beep(uint8_t beeps)
+{
+ PRINTD("beep %d\n", beeps);
+ if (!ao_lco_drag_beep_count)
+ ao_lco_drag_beep_start();
+ ao_lco_drag_beep_count += beeps;
+}
+
+static uint16_t
+ao_lco_drag_beep_check(uint16_t now, uint16_t delay)
+{
+ PRINTD("beep check count %d delta %d\n",
+ ao_lco_drag_beep_count,
+ (int16_t) (now - ao_lco_drag_beep_time));
+ if (ao_lco_drag_beep_count) {
+ if ((int16_t) (now - ao_lco_drag_beep_time) >= 0) {
+ if (ao_lco_drag_beep_on)
+ ao_lco_drag_beep_stop();
+ else
+ ao_lco_drag_beep_start();
+ }
+ }
+
+ if (ao_lco_drag_beep_count) {
+ if (delay > AO_LCO_DRAG_BEEP_TIME)
+ delay = AO_LCO_DRAG_BEEP_TIME;
+ }
+ return delay;
+}
+
+static void
+ao_lco_drag_enable(void)
+{
+ PRINTD("Drag enable\n");
+ ao_lco_drag_race = 1;
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ ao_lco_drag_beep(5);
+ ao_lco_set_display();
+ ao_lco_fire_down = 0;
+}
+
+static void
+ao_lco_drag_disable(void)
+{
+ PRINTD("Drag disable\n");
+ ao_lco_drag_race = 0;
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ ao_lco_drag_beep(2);
+ ao_lco_set_display();
+ ao_lco_fire_down = 0;
+}
+
+static uint16_t
+ao_lco_drag_button_check(uint16_t now, uint16_t delay)
+{
+ uint16_t button_delay = ~0;
+
+ /*
+ * Check to see if the button has been held down long enough
+ * to switch in/out of drag race mode
+ */
+ if (ao_lco_fire_down) {
+ if (ao_lco_drag_race) {
+ if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_STOP_TIME)
+ ao_lco_drag_disable();
+ else
+ button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_STOP_TIME - now;
+ } else {
+ if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_START_TIME)
+ ao_lco_drag_enable();
+ else
+ button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_START_TIME - now;
+ }
+ if (delay > button_delay)
+ delay = button_delay;
+ }
+ return delay;
+}
+
+static uint16_t
+ao_lco_drag_warn_check(uint16_t now, uint16_t delay)
+{
+ uint16_t warn_delay = ~0;
+
+ if (ao_lco_drag_race) {
+ if ((int16_t) (now - ao_lco_drag_warn_time) >= 0) {
+ ao_lco_drag_beep(1);
+ ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
+ }
+ warn_delay = ao_lco_drag_warn_time - now;
+ }
+ if (delay > warn_delay)
+ delay = warn_delay;
+ return delay;
+}
+
+static void
+ao_lco_drag_monitor(void)
+{
+ uint16_t delay = ~0;
+ uint16_t now;
+
+ for (;;) {
+ PRINTD("Drag monitor active %d delay %d\n", ao_lco_drag_active, delay);
+ if (delay == (uint16_t) ~0)
+ ao_sleep(&ao_lco_drag_active);
+ else
+ ao_sleep_for(&ao_lco_drag_active, delay);
+
+ delay = ~0;
+ if (!ao_lco_drag_active)
+ continue;
+
+ now = ao_time();
+ delay = ao_lco_drag_button_check(now, delay);
+ delay = ao_lco_drag_warn_check(now, delay);
+ delay = ao_lco_drag_beep_check(now, delay);
+
+ /* check to see if there's anything left to do here */
+ if (!ao_lco_fire_down && !ao_lco_drag_race && !ao_lco_drag_beep_count) {
+ delay = ~0;
+ ao_lco_drag_active = 0;
+ }
+ }
+}
+
static void
ao_lco_input(void)
{
static struct ao_event event;
- int8_t dir, new_box, new_pad;
+ int8_t dir, new_pad;
+ int16_t new_box;
ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
for (;;) {
@@ -148,7 +358,7 @@ ao_lco_input(void)
new_pad = AO_PAD_MAX_CHANNELS;
if (new_pad == ao_lco_pad)
break;
- } while (!ao_lco_pad_present(new_pad));
+ } while (!ao_lco_pad_present(ao_lco_box, new_pad));
if (new_pad != ao_lco_pad) {
ao_lco_pad = new_pad;
ao_lco_set_display();
@@ -160,18 +370,26 @@ ao_lco_input(void)
dir = (int8_t) event.value;
new_box = ao_lco_box;
do {
- new_box += dir;
- if (new_box > ao_lco_max_box)
- new_box = ao_lco_min_box;
- else if (new_box < ao_lco_min_box)
- new_box = ao_lco_max_box;
+ if (new_box == AO_LCO_BOX_DRAG) {
+ if (dir < 0)
+ new_box = ao_lco_max_box;
+ else
+ new_box = ao_lco_min_box;
+ } else {
+ new_box += dir;
+ if (new_box > ao_lco_max_box)
+ new_box = AO_LCO_BOX_DRAG;
+ else if (new_box < ao_lco_min_box)
+ new_box = AO_LCO_BOX_DRAG;
+ }
if (new_box == ao_lco_box)
break;
} while (!ao_lco_box_present(new_box));
if (ao_lco_box != new_box) {
ao_lco_box = new_box;
ao_lco_pad = 1;
- ao_lco_got_channels = 0;
+ if (ao_lco_box != AO_LCO_BOX_DRAG)
+ ao_lco_channels[ao_lco_box] = 0;
ao_lco_set_display();
}
}
@@ -183,13 +401,53 @@ ao_lco_input(void)
case AO_BUTTON_ARM:
ao_lco_armed = event.value;
PRINTD("Armed %d\n", ao_lco_armed);
+ if (ao_lco_armed) {
+ if (ao_lco_drag_race) {
+ uint8_t box;
+
+ for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
+ if (ao_lco_selected[box]) {
+ ao_wakeup(&ao_lco_armed);
+ break;
+ }
+ }
+ } else {
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ if (ao_lco_pad != 0 && ao_lco_box != AO_LCO_BOX_DRAG)
+ ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
+ else
+ ao_lco_armed = 0;
+ }
+ }
ao_wakeup(&ao_lco_armed);
break;
case AO_BUTTON_FIRE:
if (ao_lco_armed) {
+ ao_lco_fire_down = 0;
ao_lco_firing = event.value;
PRINTD("Firing %d\n", ao_lco_firing);
ao_wakeup(&ao_lco_armed);
+ } else {
+ if (event.value) {
+ if (ao_lco_box == AO_LCO_BOX_DRAG) {
+ ao_lco_fire_down = 1;
+ ao_lco_fire_tick = ao_time();
+ ao_lco_drag_active = 1;
+ }
+ if (ao_lco_drag_race) {
+ if (ao_lco_pad != 0 && ao_lco_box != AO_LCO_BOX_DRAG) {
+ ao_lco_selected[ao_lco_box] ^= (1 << (ao_lco_pad - 1));
+ PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
+ ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
+ ao_lco_drag_beep(ao_lco_pad);
+ }
+ }
+ ao_wakeup(&ao_lco_drag_active);
+ } else {
+ ao_lco_fire_down = 0;
+ if (ao_lco_drag_active)
+ ao_wakeup(&ao_lco_drag_active);
+ }
}
break;
}
@@ -225,37 +483,38 @@ static AO_LED_TYPE continuity_led[AO_LED_CONTINUITY_NUM] = {
#endif
};
-static void
-ao_lco_update(void)
+static uint8_t
+ao_lco_get_channels(uint8_t box, struct ao_pad_query *query)
{
int8_t r;
- uint8_t c;
- r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
+ r = ao_lco_query(box, query, &ao_lco_tick_offset[box]);
if (r == AO_RADIO_CMAC_OK) {
- c = ao_lco_got_channels;
- ao_lco_got_channels = 1;
- ao_lco_valid = 1;
- if (!c) {
- if (ao_lco_pad != 0)
- ao_lco_pad = ao_lco_pad_first();
- ao_lco_set_display();
- }
- if (ao_lco_pad == 0)
- ao_lco_set_display();
+ ao_lco_channels[box] = query->channels;
+ ao_lco_valid[box] = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
} else
- ao_lco_valid = 0;
-
-#if 0
- PRINTD("lco_query success arm_status %d i0 %d i1 %d i2 %d i3 %d\n",
- query.arm_status,
- query.igniter_status[0],
- query.igniter_status[1],
- query.igniter_status[2],
- query.igniter_status[3]);
-#endif
- PRINTD("ao_lco_update valid %d\n", ao_lco_valid);
+ ao_lco_valid[box] &= ~AO_LCO_VALID_LAST;
+ PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d offset %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r, ao_lco_tick_offset[box]);
ao_wakeup(&ao_pad_query);
+ return ao_lco_valid[box];
+}
+
+static void
+ao_lco_update(void)
+{
+ if (ao_lco_box != AO_LCO_BOX_DRAG) {
+ uint8_t previous_valid = ao_lco_valid[ao_lco_box];
+
+ if (ao_lco_get_channels(ao_lco_box, &ao_pad_query) & AO_LCO_VALID_LAST) {
+ if (!(previous_valid & AO_LCO_VALID_EVER)) {
+ if (ao_lco_pad != 0)
+ ao_lco_pad = ao_lco_pad_first(ao_lco_box);
+ ao_lco_set_display();
+ }
+ if (ao_lco_pad == 0)
+ ao_lco_set_display();
+ }
+ }
}
static void
@@ -281,7 +540,6 @@ ao_lco_box_set_present(uint8_t box)
static void
ao_lco_search(void)
{
- uint16_t tick_offset;
int8_t r;
int8_t try;
uint8_t box;
@@ -293,9 +551,9 @@ ao_lco_search(void)
if ((box % 10) == 0)
ao_lco_set_box(box);
for (try = 0; try < 3; try++) {
- tick_offset = 0;
- r = ao_lco_query(box, &ao_pad_query, &tick_offset);
- PRINTD("box %d result %d\n", box, r);
+ ao_lco_tick_offset[box] = 0;
+ r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]);
+ PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]);
if (r == AO_RADIO_CMAC_OK) {
++boxes;
ao_lco_box_set_present(box);
@@ -309,8 +567,8 @@ ao_lco_search(void)
ao_lco_box = ao_lco_min_box;
else
ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
- ao_lco_valid = 0;
- ao_lco_got_channels = 0;
+ memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
+ memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
ao_lco_pad = 1;
ao_lco_set_display();
}
@@ -319,37 +577,53 @@ static void
ao_lco_igniter_status(void)
{
uint8_t c;
+ uint8_t t = 0;
for (;;) {
ao_sleep(&ao_pad_query);
- PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid);
- if (!ao_lco_valid) {
- ao_led_on(AO_LED_RED);
- ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
- continue;
- }
- if (ao_radio_cmac_rssi < -90) {
- ao_led_on(AO_LED_AMBER);
- ao_led_off(AO_LED_RED|AO_LED_GREEN);
+ PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_box == AO_LCO_BOX_DRAG ? -1 : ao_lco_valid[ao_lco_box]);
+ if (ao_lco_box == AO_LCO_BOX_DRAG) {
+ ao_led_off(AO_LED_RED|AO_LED_GREEN|AO_LED_AMBER);
+ for (c = 0; c < AO_LED_CONTINUITY_NUM; c++)
+ ao_led_off(continuity_led[c]);
} else {
- ao_led_on(AO_LED_GREEN);
- ao_led_off(AO_LED_RED|AO_LED_AMBER);
- }
- if (ao_pad_query.arm_status)
- ao_led_on(AO_LED_REMOTE_ARM);
- else
- ao_led_off(AO_LED_REMOTE_ARM);
- for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
- uint8_t status;
-
- if (ao_pad_query.channels & (1 << c))
- status = ao_pad_query.igniter_status[c];
- else
- status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
- if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
- ao_led_on(continuity_led[c]);
+ if (!(ao_lco_valid[ao_lco_box] & AO_LCO_VALID_LAST)) {
+ ao_led_on(AO_LED_RED);
+ ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
+ continue;
+ }
+ if (ao_radio_cmac_rssi < -90) {
+ ao_led_on(AO_LED_AMBER);
+ ao_led_off(AO_LED_RED|AO_LED_GREEN);
+ } else {
+ ao_led_on(AO_LED_GREEN);
+ ao_led_off(AO_LED_RED|AO_LED_AMBER);
+ }
+ if (ao_pad_query.arm_status)
+ ao_led_on(AO_LED_REMOTE_ARM);
else
- ao_led_off(continuity_led[c]);
+ ao_led_off(AO_LED_REMOTE_ARM);
+
+ for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
+ uint8_t status;
+
+ if (ao_lco_drag_race) {
+ if (ao_lco_selected[ao_lco_box] & (1 << c) && t)
+ ao_led_on(continuity_led[c]);
+ else
+ ao_led_off(continuity_led[c]);
+ } else {
+ if (ao_pad_query.channels & (1 << c))
+ status = ao_pad_query.igniter_status[c];
+ else
+ status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+ if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
+ ao_led_on(continuity_led[c]);
+ else
+ ao_led_off(continuity_led[c]);
+ }
+ }
+ t = 1-t;
}
}
}
@@ -374,34 +648,33 @@ static void
ao_lco_monitor(void)
{
uint16_t delay;
+ uint8_t box;
ao_lco_search();
ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
+ ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
for (;;) {
- PRINTD("monitor armed %d firing %d offset %d\n",
- ao_lco_armed, ao_lco_firing, ao_lco_tick_offset);
+ PRINTD("monitor armed %d firing %d\n",
+ ao_lco_armed, ao_lco_firing);
if (ao_lco_armed && ao_lco_firing) {
- PRINTD("Firing box %d pad %d: valid %d\n",
- ao_lco_box, ao_lco_pad, ao_lco_valid);
- if (!ao_lco_valid)
- ao_lco_update();
- if (ao_lco_valid && ao_lco_pad)
- ao_lco_ignite(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset);
- } else if (ao_lco_armed) {
- PRINTD("Arming box %d pad %d\n",
- ao_lco_box, ao_lco_pad);
- if (!ao_lco_valid)
- ao_lco_update();
- if (ao_lco_pad) {
- ao_lco_arm(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset);
- ao_delay(AO_MS_TO_TICKS(30));
- ao_lco_update();
- }
+ ao_lco_ignite();
} else {
ao_lco_update();
+ if (ao_lco_armed) {
+ for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
+ if (ao_lco_selected[box]) {
+ PRINTD("Arming box %d pads %x\n",
+ box, ao_lco_selected[box]);
+ if (ao_lco_valid[box] & AO_LCO_VALID_EVER) {
+ ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]);
+ ao_delay(AO_MS_TO_TICKS(10));
+ }
+ }
+ }
+ }
}
if (ao_lco_armed && ao_lco_firing)
delay = AO_MS_TO_TICKS(100);
diff --git a/src/drivers/ao_lco_cmd.c b/src/drivers/ao_lco_cmd.c
index acbf589a..6a365687 100644
--- a/src/drivers/ao_lco_cmd.c
+++ b/src/drivers/ao_lco_cmd.c
@@ -62,7 +62,7 @@ lco_arm(void)
static void
lco_ignite(void)
{
- ao_lco_ignite(lco_box, lco_channels, tick_offset);
+ ao_lco_ignite();
}
static void
diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c
index 32c00068..08d45467 100644
--- a/src/drivers/ao_lco_func.c
+++ b/src/drivers/ao_lco_func.c
@@ -44,7 +44,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
}
#endif
ao_mutex_get(&ao_lco_mutex);
- command.tick = ao_time() - *tick_offset;
+ command.tick = ao_time();
command.box = box;
command.cmd = AO_LAUNCH_QUERY;
command.channels = 0;
@@ -70,14 +70,13 @@ ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset)
}
void
-ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset)
+ao_lco_ignite(void)
{
ao_mutex_get(&ao_lco_mutex);
- command.tick = ao_time() - tick_offset;
- command.box = box;
+ command.tick = 0;
+ command.box = 0;
command.cmd = AO_LAUNCH_FIRE;
- command.channels = channels;
+ command.channels = 0;
ao_radio_cmac_send(&command, sizeof (command));
ao_mutex_put(&ao_lco_mutex);
}
-
diff --git a/src/drivers/ao_lco_func.h b/src/drivers/ao_lco_func.h
index dccf602a..42754352 100644
--- a/src/drivers/ao_lco_func.h
+++ b/src/drivers/ao_lco_func.h
@@ -27,6 +27,6 @@ void
ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset);
void
-ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset);
+ao_lco_ignite(void);
#endif /* _AO_LCO_FUNC_H_ */
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index ffe46c68..419ea8d3 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -288,8 +288,7 @@ ao_pad(void)
PRINTD ("armed\n");
ao_pad_armed = command.channels;
ao_pad_arm_time = ao_time();
-
- /* fall through ... */
+ break;
case AO_LAUNCH_QUERY:
if (command.box != ao_pad_box) {
@@ -320,13 +319,6 @@ ao_pad(void)
ao_pad_arm_time, ao_time());
break;
}
- time_difference = command.tick - ao_time();
- if (time_difference < 0)
- time_difference = -time_difference;
- if (time_difference > 10) {
- PRINTD ("time different too large %d\n", time_difference);
- break;
- }
PRINTD ("ignite\n");
ao_pad_ignite = ao_pad_armed;
ao_pad_arm_time = ao_time();
diff --git a/src/drivers/ao_pwm.h b/src/drivers/ao_pwm.h
new file mode 100644
index 00000000..2dd2ffd5
--- /dev/null
+++ b/src/drivers/ao_pwm.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright © 2015 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.
+ */
+
+#ifndef _AO_PWM_H_
+#define _AO_PWM_H_
+
+#include <stdint.h>
+
+void
+ao_pwm_set(uint8_t pwm, uint16_t value);
+
+void
+ao_pwm_init(void);
+
+#endif /* _AO_PWM_H_ */
diff --git a/src/drivers/ao_seven_segment.c b/src/drivers/ao_seven_segment.c
index 961fbb84..f1339ee5 100644
--- a/src/drivers/ao_seven_segment.c
+++ b/src/drivers/ao_seven_segment.c
@@ -168,10 +168,20 @@ static const uint8_t ao_segments[] = {
(0 << 6), /* F */
};
+
void
-ao_seven_segment_set(uint8_t digit, uint8_t value)
+ao_seven_segment_direct(uint8_t digit, uint8_t segments)
{
uint8_t s;
+
+ for (s = 0; s <= 7; s++)
+ ao_lcd_set(digit, s, !!(segments & (1 << s)));
+ ao_lcd_flush();
+}
+
+void
+ao_seven_segment_set(uint8_t digit, uint8_t value)
+{
uint8_t segments;
if (value == AO_SEVEN_SEGMENT_CLEAR)
@@ -183,10 +193,7 @@ ao_seven_segment_set(uint8_t digit, uint8_t value)
if (value & 0x10)
segments |= (1 << 7);
}
-
- for (s = 0; s <= 7; s++)
- ao_lcd_set(digit, s, !!(segments & (1 << s)));
- ao_lcd_flush();
+ ao_seven_segment_direct(digit, segments);
}
void
diff --git a/src/drivers/ao_seven_segment.h b/src/drivers/ao_seven_segment.h
index 5b29deaf..f997f3b5 100644
--- a/src/drivers/ao_seven_segment.h
+++ b/src/drivers/ao_seven_segment.h
@@ -23,6 +23,9 @@
#define AO_SEVEN_SEGMENT_CLEAR 0xff
void
+ao_seven_segment_direct(uint8_t digit, uint8_t segments);
+
+void
ao_seven_segment_set(uint8_t digit, uint8_t value);
void
diff --git a/src/easymega-v1.0/ao_pins.h b/src/easymega-v1.0/ao_pins.h
index d6490ba5..a5e55638 100644
--- a/src/easymega-v1.0/ao_pins.h
+++ b/src/easymega-v1.0/ao_pins.h
@@ -78,6 +78,7 @@
#define HAS_RADIO 0
#define HAS_TELEMETRY 0
#define HAS_APRS 0
+#define HAS_COMPANION 1
#define HAS_SPI_1 1
#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 854ac898..16363f75 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -75,6 +75,13 @@ static __pdata uint16_t ao_aprs_time;
static __xdata union ao_telemetry_all telemetry;
+static void
+ao_telemetry_send(void)
+{
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_delay(1);
+}
+
#if defined AO_TELEMETRY_SENSOR
/* Send sensor packet */
static void
@@ -117,7 +124,7 @@ ao_send_sensor(void)
telemetry.sensor.accel_minus_g = 0;
#endif
- ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_send();
}
#endif
@@ -156,7 +163,7 @@ ao_send_mega_sensor(void)
telemetry.mega_sensor.mag_z = packet->hmc5883.z;
#endif
- ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_send();
}
static __pdata int8_t ao_telemetry_mega_data_max;
@@ -190,8 +197,8 @@ ao_send_mega_data(void)
telemetry.mega_data.speed = ao_speed;
telemetry.mega_data.height = ao_height;
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
+ ao_telemetry_send();
}
}
#endif /* AO_SEND_MEGA */
@@ -221,7 +228,7 @@ ao_send_metrum_sensor(void)
telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
- ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_send();
}
static __pdata int8_t ao_telemetry_metrum_data_max;
@@ -248,8 +255,8 @@ ao_send_metrum_data(void)
telemetry.metrum_data.accel_minus_g = 2;
#endif
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
+ ao_telemetry_send();
}
}
#endif /* AO_SEND_METRUM */
@@ -279,7 +286,7 @@ ao_send_mini(void)
telemetry.mini.ground_pres = ao_ground_pres;
- ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_send();
}
#endif /* AO_SEND_MINI */
@@ -316,8 +323,8 @@ ao_send_configuration(void)
ao_xmemcpy (telemetry.configuration.version,
CODE_TO_XDATA(ao_version),
AO_MAX_VERSION);
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_config_cur = ao_telemetry_config_max;
+ ao_telemetry_send();
}
}
@@ -339,8 +346,8 @@ ao_send_location(void)
27);
telemetry.location.tick = ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_loc_cur = ao_telemetry_gps_max;
+ ao_telemetry_send();
}
}
@@ -356,8 +363,8 @@ ao_send_satellite(void)
&ao_gps_tracking_data.sats,
AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_sat_cur = ao_telemetry_gps_max;
+ ao_telemetry_send();
}
}
#endif
@@ -380,8 +387,8 @@ ao_send_companion(void)
ao_companion_data,
ao_companion_setup.channels * 2);
ao_mutex_put(&ao_companion_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_companion_cur = ao_telemetry_companion_max;
+ ao_telemetry_send();
}
}
#endif
diff --git a/src/stm/ao_pwm_stm.c b/src/stm/ao_pwm_stm.c
new file mode 100644
index 00000000..ce1fa6f3
--- /dev/null
+++ b/src/stm/ao_pwm_stm.c
@@ -0,0 +1,192 @@
+/*
+ * Copyright © 2015 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 "ao.h"
+#include "ao_pwm.h"
+
+static uint8_t pwm_running;
+
+static uint16_t pwm_value[NUM_PWM];
+
+static void
+ao_pwm_up(void)
+{
+ if (pwm_running++ == 0) {
+ struct stm_tim234 *tim = &AO_PWM_TIMER;
+
+ tim->ccr1 = 0;
+ tim->ccr2 = 0;
+ tim->ccr3 = 0;
+ tim->ccr4 = 0;
+ tim->arr = PWM_MAX - 1; /* turn on the timer */
+ tim->cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
+ (0 << STM_TIM234_CR1_ARPE) |
+ (STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) |
+ (STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) |
+ (0 << STM_TIM234_CR1_OPM) |
+ (0 << STM_TIM234_CR1_URS) |
+ (0 << STM_TIM234_CR1_UDIS) |
+ (1 << STM_TIM234_CR1_CEN));
+
+ /* Set the timer running */
+ tim->egr = (1 << STM_TIM234_EGR_UG);
+ }
+}
+
+static void
+ao_pwm_down(void)
+{
+ if (--pwm_running == 0) {
+ struct stm_tim234 *tim = &AO_PWM_TIMER;
+
+ tim->arr = 0;
+ tim->cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
+ (0 << STM_TIM234_CR1_ARPE) |
+ (STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) |
+ (STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) |
+ (0 << STM_TIM234_CR1_OPM) |
+ (0 << STM_TIM234_CR1_URS) |
+ (0 << STM_TIM234_CR1_UDIS) |
+ (0 << STM_TIM234_CR1_CEN));
+
+ /* Stop the timer */
+ tim->egr = (1 << STM_TIM234_EGR_UG);
+ }
+}
+
+void
+ao_pwm_set(uint8_t pwm, uint16_t value)
+{
+ struct stm_tim234 *tim = &AO_PWM_TIMER;
+
+ if (value > PWM_MAX)
+ value = PWM_MAX;
+ if (value != 0) {
+ if (pwm_value[pwm] == 0)
+ ao_pwm_up();
+ }
+ switch (pwm) {
+ case 0:
+ tim->ccr1 = value;
+ break;
+ case 1:
+ tim->ccr2 = value;
+ break;
+ case 2:
+ tim->ccr3 = value;
+ break;
+ case 3:
+ tim->ccr4 = value;
+ break;
+ }
+ if (value == 0) {
+ if (pwm_value[pwm] != 0)
+ ao_pwm_down();
+ }
+ pwm_value[pwm] = value;
+}
+
+static void
+ao_pwm_cmd(void)
+{
+ uint8_t ch;
+ uint16_t val;
+
+ ao_cmd_decimal();
+ ch = ao_cmd_lex_u32;
+ ao_cmd_decimal();
+ val = ao_cmd_lex_u32;
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+
+ printf("Set channel %d to %d\n", ch, val);
+ ao_pwm_set(ch, val);
+}
+
+static const struct ao_cmds ao_pwm_cmds[] = {
+ { ao_pwm_cmd, "P <ch> <val>\0Set PWM ch to val" },
+ { 0, NULL },
+};
+
+void
+ao_pwm_init(void)
+{
+ struct stm_tim234 *tim = &AO_PWM_TIMER;
+
+ stm_rcc.apb1enr |= (1 << AO_PWM_TIMER_ENABLE);
+
+ tim->cr1 = 0;
+ tim->psc = AO_PWM_TIMER_SCALE - 1;
+ tim->cnt = 0;
+ tim->ccer = ((1 << STM_TIM234_CCER_CC1E) |
+ (0 << STM_TIM234_CCER_CC1P) |
+ (1 << STM_TIM234_CCER_CC2E) |
+ (0 << STM_TIM234_CCER_CC2P) |
+ (1 << STM_TIM234_CCER_CC3E) |
+ (0 << STM_TIM234_CCER_CC3P) |
+ (1 << STM_TIM234_CCER_CC4E) |
+ (0 << STM_TIM234_CCER_CC4P));
+
+ tim->ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) |
+ (STM_TIM234_CCMR1_OC2M_PWM_MODE_1 << STM_TIM234_CCMR1_OC2M) |
+ (0 << STM_TIM234_CCMR1_OC2PE) |
+ (0 << STM_TIM234_CCMR1_OC2FE) |
+ (STM_TIM234_CCMR1_CC2S_OUTPUT << STM_TIM234_CCMR1_CC2S) |
+
+ (0 << STM_TIM234_CCMR1_OC1CE) |
+ (STM_TIM234_CCMR1_OC1M_PWM_MODE_1 << STM_TIM234_CCMR1_OC1M) |
+ (0 << STM_TIM234_CCMR1_OC1PE) |
+ (0 << STM_TIM234_CCMR1_OC1FE) |
+ (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S));
+
+
+ tim->ccmr2 = ((0 << STM_TIM234_CCMR2_OC4CE) |
+ (STM_TIM234_CCMR2_OC4M_PWM_MODE_1 << STM_TIM234_CCMR2_OC4M) |
+ (0 << STM_TIM234_CCMR2_OC4PE) |
+ (0 << STM_TIM234_CCMR2_OC4FE) |
+ (STM_TIM234_CCMR2_CC4S_OUTPUT << STM_TIM234_CCMR2_CC4S) |
+
+ (0 << STM_TIM234_CCMR2_OC3CE) |
+ (STM_TIM234_CCMR2_OC3M_PWM_MODE_1 << STM_TIM234_CCMR2_OC3M) |
+ (0 << STM_TIM234_CCMR2_OC3PE) |
+ (0 << STM_TIM234_CCMR2_OC3FE) |
+ (STM_TIM234_CCMR2_CC3S_OUTPUT << STM_TIM234_CCMR2_CC3S));
+ tim->egr = 0;
+
+ tim->sr = 0;
+ tim->dier = 0;
+ tim->smcr = 0;
+ tim->cr2 = ((0 << STM_TIM234_CR2_TI1S) |
+ (STM_TIM234_CR2_MMS_RESET<< STM_TIM234_CR2_MMS) |
+ (0 << STM_TIM234_CR2_CCDS));
+
+ stm_afr_set(AO_PWM_0_GPIO, AO_PWM_0_PIN, STM_AFR_AF2);
+ stm_ospeedr_set(AO_PWM_0_GPIO, AO_PWM_0_PIN, STM_OSPEEDR_40MHz);
+#if NUM_PWM > 1
+ stm_afr_set(AO_PWM_1_GPIO, AO_PWM_1_PIN, STM_AFR_AF2);
+ stm_ospeedr_set(AO_PWM_1_GPIO, AO_PWM_1_PIN, STM_OSPEEDR_40MHz);
+#endif
+#if NUM_PWM > 2
+ stm_afr_set(AO_PWM_2_GPIO, AO_PWM_2_PIN, STM_AFR_AF2);
+ stm_ospeedr_set(AO_PWM_2_GPIO, AO_PWM_2_PIN, STM_OSPEEDR_40MHz);
+#endif
+#if NUM_PWM > 3
+ stm_afr_set(AO_PWM_3_GPIO, AO_PWM_3_PIN, STM_AFR_AF2);
+ stm_ospeedr_set(AO_PWM_3_GPIO, AO_PWM_3_PIN, STM_OSPEEDR_40MHz);
+#endif
+ ao_cmd_register(&ao_pwm_cmds[0]);
+}
diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h
index 799cccbd..01afedc6 100644
--- a/src/stm/stm32l.h
+++ b/src/stm/stm32l.h
@@ -1775,7 +1775,7 @@ extern struct stm_tim234 stm_tim2, stm_tim3, stm_tim4;
#define STM_TIM234_CCMR1_OC1M_PWM_MODE_1 6
#define STM_TIM234_CCMR1_OC1M_PWM_MODE_2 7
#define STM_TIM234_CCMR1_OC1M_MASK 7
-#define STM_TIM234_CCMR1_OC1PE 11
+#define STM_TIM234_CCMR1_OC1PE 3
#define STM_TIM234_CCMR1_OC1FE 2
#define STM_TIM234_CCMR1_CC1S 0
#define STM_TIM234_CCMR1_CC1S_OUTPUT 0
@@ -1815,7 +1815,7 @@ extern struct stm_tim234 stm_tim2, stm_tim3, stm_tim4;
#define STM_TIM234_CCMR2_OC3M_PWM_MODE_1 6
#define STM_TIM234_CCMR2_OC3M_PWM_MODE_2 7
#define STM_TIM234_CCMR2_OC3M_MASK 7
-#define STM_TIM234_CCMR2_OC3PE 11
+#define STM_TIM234_CCMR2_OC3PE 3
#define STM_TIM234_CCMR2_OC3FE 2
#define STM_TIM234_CCMR2_CC3S 0
#define STM_TIM234_CCMR2_CC3S_OUTPUT 0
diff --git a/src/teleballoon-v2.0/ao_pins.h b/src/teleballoon-v2.0/ao_pins.h
index a369070f..b62b5580 100644
--- a/src/teleballoon-v2.0/ao_pins.h
+++ b/src/teleballoon-v2.0/ao_pins.h
@@ -75,6 +75,7 @@
#define HAS_RADIO 1
#define HAS_TELEMETRY 1
#define HAS_APRS 1
+#define HAS_COMPANION 1
#define HAS_SPI_1 1
#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
diff --git a/src/telemega-v0.1/ao_pins.h b/src/telemega-v0.1/ao_pins.h
index 2616e906..7ccc6085 100644
--- a/src/telemega-v0.1/ao_pins.h
+++ b/src/telemega-v0.1/ao_pins.h
@@ -79,6 +79,7 @@
#define HAS_RADIO 1
#define HAS_TELEMETRY 1
#define HAS_APRS 1
+#define HAS_COMPANION 1
#define HAS_SPI_1 1
#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
diff --git a/src/telemega-v1.0/ao_pins.h b/src/telemega-v1.0/ao_pins.h
index 77b753d1..664546c2 100644
--- a/src/telemega-v1.0/ao_pins.h
+++ b/src/telemega-v1.0/ao_pins.h
@@ -79,6 +79,7 @@
#define HAS_RADIO 1
#define HAS_TELEMETRY 1
#define HAS_APRS 1
+#define HAS_COMPANION 1
#define HAS_SPI_1 1
#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
diff --git a/src/telemega-v2.0/.gitignore b/src/telemega-v2.0/.gitignore
new file mode 100644
index 00000000..e67759a2
--- /dev/null
+++ b/src/telemega-v2.0/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+telemega-*.elf
diff --git a/src/telemega-v2.0/Makefile b/src/telemega-v2.0/Makefile
new file mode 100644
index 00000000..6a1c05b0
--- /dev/null
+++ b/src/telemega-v2.0/Makefile
@@ -0,0 +1,156 @@
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_companion.h \
+ ao_data.h \
+ ao_sample.h \
+ ao_pins.h \
+ altitude-pa.h \
+ ao_kalman.h \
+ ao_product.h \
+ ao_ms5607.h \
+ ao_hmc5883.h \
+ ao_mpu6000.h \
+ ao_mma655x.h \
+ ao_cc1200_CC1200.h \
+ ao_profile.h \
+ ao_task.h \
+ ao_whiten.h \
+ ao_sample_profile.h \
+ ao_quaternion.h \
+ math.h \
+ ao_mpu.h \
+ stm32l.h \
+ math.h \
+ ao_ms5607_convert.c \
+ Makefile
+
+#
+# Common AltOS sources
+#
+# ao_hmc5883.c
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+# ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+MATH_SRC=\
+ ef_acos.c \
+ ef_sqrt.c \
+ ef_rem_pio2.c \
+ kf_cos.c \
+ kf_sin.c \
+ kf_rem_pio2.c \
+ sf_copysign.c \
+ sf_cos.c \
+ sf_fabs.c \
+ sf_floor.c \
+ sf_scalbn.c \
+ sf_sin.c \
+ ef_log.c
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_config.c \
+ ao_task.c \
+ ao_led.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_serial_stm.c \
+ ao_gps_ublox.c \
+ ao_gps_show.c \
+ ao_gps_report_mega.c \
+ ao_ignite.c \
+ ao_freq.c \
+ ao_dma_stm.c \
+ ao_spi_stm.c \
+ ao_cc1200.c \
+ ao_data.c \
+ ao_ms5607.c \
+ ao_mma655x.c \
+ ao_hmc5883.c \
+ ao_adc_stm.c \
+ ao_beep_stm.c \
+ ao_eeprom_stm.c \
+ ao_storage.c \
+ ao_m25.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ ao_report.c \
+ ao_i2c_stm.c \
+ ao_mpu6000.c \
+ ao_convert_pa.c \
+ ao_convert_volt.c \
+ ao_log.c \
+ ao_log_mega.c \
+ ao_sample.c \
+ ao_kalman.c \
+ ao_flight.c \
+ ao_telemetry.c \
+ ao_packet_slave.c \
+ ao_packet.c \
+ ao_companion.c \
+ ao_pyro.c \
+ ao_aprs.c \
+ ao_pwm_stm.c \
+ $(MATH_SRC) \
+ $(PROFILE) \
+ $(SAMPLE_PROFILE) \
+ $(STACK_GUARD)
+
+PRODUCT=TeleMega-v2.0
+PRODUCT_DEF=-DTELEMEGA
+IDPRODUCT=0x0023
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=telemega-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telemega.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+../altitude-pa.h: make-altitude-pa
+ nickle $< > $@
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean: clean
+
+clean:
+ rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+ rm -f ao_product.h
+
+install:
+
+uninstall:
diff --git a/src/telemega-v2.0/ao_pins.h b/src/telemega-v2.0/ao_pins.h
new file mode 100644
index 00000000..9095a350
--- /dev/null
+++ b/src/telemega-v2.0/ao_pins.h
@@ -0,0 +1,407 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE 1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE 8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 12
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1 0
+#define USE_SERIAL_1_STDIN 0
+#define SERIAL_1_PB6_PB7 0
+#define SERIAL_1_PA9_PA10 1
+
+#define HAS_SERIAL_2 0
+#define USE_SERIAL_2_STDIN 0
+#define SERIAL_2_PA2_PA3 0
+#define SERIAL_2_PD5_PD6 0
+
+#define HAS_SERIAL_3 1
+#define USE_SERIAL_3_STDIN 0
+#define SERIAL_3_PB10_PB11 0
+#define SERIAL_3_PC10_PC11 1
+#define SERIAL_3_PD8_PD9 0
+
+#define ao_gps_getchar ao_serial3_getchar
+#define ao_gps_putchar ao_serial3_putchar
+#define ao_gps_set_speed ao_serial3_set_speed
+#define ao_gps_fifo (ao_stm_usart3.rx_fifo)
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024)
+#define AO_CONFIG_MAX_SIZE 1024
+#define LOG_ERASE_MARK 0x55
+#define LOG_MAX_ERASE 128
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 0
+#define USE_EEPROM_CONFIG 1
+#define USE_STORAGE_CONFIG 0
+#define HAS_USB 1
+#define HAS_BEEP 1
+#define HAS_BATTERY_REPORT 1
+#define HAS_RADIO 1
+#define HAS_TELEMETRY 1
+#define HAS_APRS 1
+#define HAS_COMPANION 1
+
+#define HAS_SPI_1 1
+#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
+#define SPI_1_PB3_PB4_PB5 0
+#define SPI_1_PE13_PE14_PE15 1 /* Accelerometer, Gyro */
+#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2 1
+#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */
+#define SPI_2_PD1_PD3_PD4 0
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
+
+#define SPI_2_PORT (&stm_gpiob)
+#define SPI_2_SCK_PIN 13
+#define SPI_2_MISO_PIN 14
+#define SPI_2_MOSI_PIN 15
+
+#define HAS_I2C_1 1
+#define I2C_1_PB8_PB9 1
+
+#define HAS_I2C_2 0
+#define I2C_2_PB10_PB11 0
+
+#define PACKET_HAS_SLAVE 1
+#define PACKET_HAS_MASTER 0
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT (&stm_gpioc)
+#define LED_PIN_RED 8
+#define LED_PIN_GREEN 9
+#define AO_LED_RED (1 << LED_PIN_RED)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS 1
+#define HAS_FLIGHT 1
+#define HAS_ADC 1
+#define HAS_ADC_TEMP 1
+#define HAS_LOG 1
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE 1
+#define HAS_IGNITE_REPORT 1
+
+#define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n])
+#define AO_SENSE_DROGUE(p) ((p)->adc.sense[4])
+#define AO_SENSE_MAIN(p) ((p)->adc.sense[5])
+#define AO_IGNITER_CLOSED 400
+#define AO_IGNITER_OPEN 60
+
+/* Pyro A */
+#define AO_PYRO_PORT_0 (&stm_gpiod)
+#define AO_PYRO_PIN_0 6
+
+/* Pyro B */
+#define AO_PYRO_PORT_1 (&stm_gpiod)
+#define AO_PYRO_PIN_1 7
+
+/* Pyro C */
+#define AO_PYRO_PORT_2 (&stm_gpiob)
+#define AO_PYRO_PIN_2 5
+
+/* Pyro D */
+#define AO_PYRO_PORT_3 (&stm_gpioe)
+#define AO_PYRO_PIN_3 4
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT (&stm_gpioe)
+#define AO_IGNITER_DROGUE_PIN 6
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT (&stm_gpioe)
+#define AO_IGNITER_MAIN_PIN 5
+
+/* Number of general purpose pyro channels available */
+#define AO_PYRO_NUM 4
+
+#define AO_IGNITER_SET_DROGUE(v) stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
+#define AO_IGNITER_SET_MAIN(v) stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING 32
+#define AO_ADC_NUM_SENSE 6
+
+struct ao_adc {
+ int16_t sense[AO_ADC_NUM_SENSE];
+ int16_t v_batt;
+ int16_t v_pbatt;
+ int16_t temp;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+ (p)->tick, \
+ (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
+ (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
+ (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
+
+#define AO_ADC_SENSE_A 0
+#define AO_ADC_SENSE_A_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_A_PIN 0
+
+#define AO_ADC_SENSE_B 1
+#define AO_ADC_SENSE_B_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_B_PIN 1
+
+#define AO_ADC_SENSE_C 2
+#define AO_ADC_SENSE_C_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_C_PIN 2
+
+#define AO_ADC_SENSE_D 3
+#define AO_ADC_SENSE_D_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_D_PIN 3
+
+#define AO_ADC_SENSE_DROGUE 4
+#define AO_ADC_SENSE_DROGUE_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_DROGUE_PIN 4
+
+#define AO_ADC_SENSE_MAIN 22
+#define AO_ADC_SENSE_MAIN_PORT (&stm_gpioe)
+#define AO_ADC_SENSE_MAIN_PIN 7
+
+#define AO_ADC_V_BATT 8
+#define AO_ADC_V_BATT_PORT (&stm_gpiob)
+#define AO_ADC_V_BATT_PIN 0
+
+#define AO_ADC_V_PBATT 9
+#define AO_ADC_V_PBATT_PORT (&stm_gpiob)
+#define AO_ADC_V_PBATT_PIN 1
+
+#define AO_ADC_TEMP 16
+
+#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \
+ (1 << STM_RCC_AHBENR_GPIOEEN) | \
+ (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2)
+
+#define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN
+#define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT
+#define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN
+#define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT
+#define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN
+#define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT
+#define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN
+#define AO_ADC_PIN4_PORT AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN4_PIN AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN5_PORT AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN5_PIN AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN
+#define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT
+#define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN
+
+#define AO_NUM_ADC (AO_ADC_NUM_SENSE + 3)
+
+#define AO_ADC_SQ1 AO_ADC_SENSE_A
+#define AO_ADC_SQ2 AO_ADC_SENSE_B
+#define AO_ADC_SQ3 AO_ADC_SENSE_C
+#define AO_ADC_SQ4 AO_ADC_SENSE_D
+#define AO_ADC_SQ5 AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ6 AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ7 AO_ADC_V_BATT
+#define AO_ADC_SQ8 AO_ADC_V_PBATT
+#define AO_ADC_SQ9 AO_ADC_TEMP
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS 56 /* 5.6k */
+#define AO_BATTERY_DIV_MINUS 100 /* 10k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS 100 /* 100k */
+#define AO_IGNITE_DIV_MINUS 27 /* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV 33
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define AO_MS5607_PRIVATE_PINS 1
+#define AO_MS5607_CS_PORT (&stm_gpioc)
+#define AO_MS5607_CS_PIN 4
+#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS)
+#define AO_MS5607_MISO_PORT (&stm_gpioa)
+#define AO_MS5607_MISO_PIN 6
+#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO)
+#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT (&stm_gpiod)
+#define AO_M25_SPI_CS_MASK (1 << 3)
+#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Radio (cc1120)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 5695733
+
+#define AO_FEC_DEBUG 0
+#define AO_CC1200_SPI_CS_PORT (&stm_gpioc)
+#define AO_CC1200_SPI_CS_PIN 5
+#define AO_CC1200_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1200_SPI stm_spi2
+
+#define AO_CC1200_INT_PORT (&stm_gpioe)
+#define AO_CC1200_INT_PIN 1
+#define AO_CC1200_MCU_WAKEUP_PORT (&stm_gpioc)
+#define AO_CC1200_MCU_WAKEUP_PIN (0)
+
+#define AO_CC1200_INT_GPIO 2
+#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
+
+#define AO_CC1200_MARC_GPIO 3
+#define AO_CC1200_MARC_GPIO_IOCFG CC1200_IOCFG3
+
+#define HAS_BOOT_RADIO 0
+
+/*
+ * Mag sensor (hmc5883)
+ */
+
+#define HAS_HMC5883 1
+#define AO_HMC5883_INT_PORT (&stm_gpioc)
+#define AO_HMC5883_INT_PIN 12
+#define AO_HMC5883_I2C_INDEX STM_I2C_INDEX(1)
+
+/*
+ * mpu6000
+ */
+
+#define HAS_MPU6000 1
+#define AO_MPU6000_INT_PORT (&stm_gpioe)
+#define AO_MPU6000_INT_PIN 0
+#define AO_MPU6000_SPI_BUS AO_SPI_1_PE13_PE14_PE15
+#define AO_MPU6000_SPI_CS_PORT (&stm_gpiod)
+#define AO_MPU6000_SPI_CS_PIN 2
+#define HAS_IMU 1
+
+/*
+ * mma655x
+ */
+
+#define HAS_MMA655X 1
+#define AO_MMA655X_SPI_INDEX AO_SPI_1_PE13_PE14_PE15
+#define AO_MMA655X_CS_PORT (&stm_gpiod)
+#define AO_MMA655X_CS_PIN 4
+
+#define NUM_CMDS 16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT (&stm_gpiob)
+#define AO_COMPANION_CS_PIN_0 (6)
+#define AO_COMPANION_CS_PIN AO_COMPANION_CS_PIN_0
+#define AO_COMPANION_CS_PIN_1 (7)
+#define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR 0
+#define LEGACY_MONITOR 0
+#define HAS_MONITOR_PUT 1
+#define AO_MONITOR_LED 0
+#define HAS_RSSI 0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE 0
+#endif
+
+/*
+ * PWM output
+ */
+
+#define NUM_PWM 4
+#define PWM_MAX 20000
+#define AO_PWM_TIMER stm_tim4
+#define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM4EN
+#define AO_PWM_TIMER_SCALE 32
+
+#define AO_PWM_0_GPIO (&stm_gpiod)
+#define AO_PWM_0_PIN 12
+
+#define AO_PWM_1_GPIO (&stm_gpiod)
+#define AO_PWM_1_PIN 13
+
+#define AO_PWM_2_GPIO (&stm_gpiod)
+#define AO_PWM_2_PIN 14
+
+#define AO_PWM_3_GPIO (&stm_gpiod)
+#define AO_PWM_3_PIN 15
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telemega-v2.0/ao_telemega.c b/src/telemega-v2.0/ao_telemega.c
new file mode 100644
index 00000000..86427107
--- /dev/null
+++ b/src/telemega-v2.0/ao_telemega.c
@@ -0,0 +1,105 @@
+/*
+ * Copyright © 2011 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 <ao.h>
+#include <ao_hmc5883.h>
+#include <ao_mpu6000.h>
+#include <ao_mma655x.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_packet.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#include <ao_eeprom.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#include <ao_pyro.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+#include <ao_pwm.h>
+
+int
+main(void)
+{
+ ao_clock_init();
+
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+
+ ao_task_init();
+ ao_serial_init();
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_GREEN);
+ ao_timer_init();
+
+ ao_i2c_init();
+ ao_spi_init();
+ ao_dma_init();
+ ao_exti_init();
+
+ ao_adc_init();
+#if HAS_BEEP
+ ao_beep_init();
+#endif
+ ao_cmd_init();
+
+#if HAS_MS5607
+ ao_ms5607_init();
+#endif
+#if HAS_HMC5883
+ ao_hmc5883_init();
+#endif
+#if HAS_MPU6000
+ ao_mpu6000_init();
+#endif
+#if HAS_MMA655X
+ ao_mma655x_init();
+#endif
+
+ ao_eeprom_init();
+ ao_storage_init();
+
+ ao_flight_init();
+ ao_log_init();
+ ao_report_init();
+
+ ao_usb_init();
+ ao_gps_init();
+ ao_gps_report_mega_init();
+ ao_telemetry_init();
+ ao_radio_init();
+ ao_packet_slave_init(FALSE);
+ ao_igniter_init();
+ ao_companion_init();
+ ao_pyro_init();
+
+ ao_config_init();
+#if AO_PROFILE
+ ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+ ao_sample_profile_init();
+#endif
+
+ ao_pwm_init();
+
+ ao_start_scheduler();
+ return 0;
+}
diff --git a/src/telemega-v2.0/flash-loader/Makefile b/src/telemega-v2.0/flash-loader/Makefile
new file mode 100644
index 00000000..d667c18e
--- /dev/null
+++ b/src/telemega-v2.0/flash-loader/Makefile
@@ -0,0 +1,8 @@
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telemega-v2.0
+include $(TOPDIR)/stm/Makefile-flash.defs
diff --git a/src/telemega-v2.0/flash-loader/ao_pins.h b/src/telemega-v2.0/flash-loader/ao_pins.h
new file mode 100644
index 00000000..304bb7c3
--- /dev/null
+++ b/src/telemega-v2.0/flash-loader/ao_pins.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+/* External crystal at 8MHz */
+#define AO_HSE 8000000
+
+#include <ao_flash_stm_pins.h>
+
+/* Companion port cs_companion0 PB6 */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO stm_gpiob
+#define AO_BOOT_APPLICATION_PIN 6
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telemetrum-v2.0/ao_pins.h b/src/telemetrum-v2.0/ao_pins.h
index a9a4b243..fbb38df2 100644
--- a/src/telemetrum-v2.0/ao_pins.h
+++ b/src/telemetrum-v2.0/ao_pins.h
@@ -75,6 +75,7 @@
#define HAS_RADIO 1
#define HAS_TELEMETRY 1
#define HAS_APRS 1
+#define HAS_COMPANION 1
#define HAS_SPI_1 1
#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 14:58:41 +0000