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-rw-r--r--src/drivers/ao_hmc5883.c18
-rw-r--r--src/drivers/ao_hmc5883.h2
-rw-r--r--src/drivers/ao_mpu6000.c39
-rw-r--r--src/drivers/ao_ms5607.c4
-rw-r--r--src/drivers/ao_rn4678.c193
-rw-r--r--src/drivers/ao_rn4678.h7
-rw-r--r--src/easymini-v1.0/ao_pins.h2
-rw-r--r--src/easymini-v2.0/ao_pins.h2
-rw-r--r--src/kernel/ao_log.h7
-rw-r--r--src/kernel/ao_log_mega.c2
-rw-r--r--src/kernel/ao_telemetry.c2
-rw-r--r--src/kernel/ao_telemetry.h4
-rw-r--r--src/micropeak-v2.0/ao_pins.h3
-rw-r--r--src/stm/ao_serial_stm.c17
-rw-r--r--src/stmf0/ao_serial_stm.c74
-rw-r--r--src/telebt-v3.0/Makefile1
-rw-r--r--src/telebt-v3.0/ao_telebt.c2
-rw-r--r--src/telebt-v4.0/Makefile1
-rw-r--r--src/telebt-v4.0/ao_pins.h3
-rw-r--r--src/telefireone-v1.0/ao_pins.h2
-rw-r--r--src/test/Makefile5
-rw-r--r--src/test/ao_flight_test.c101
22 files changed, 305 insertions, 186 deletions
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index f668fb66..c33aa536 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -126,13 +126,15 @@ struct ao_hmc5883_sample ao_hmc5883_current;
static void
ao_hmc5883(void)
{
+ struct ao_hmc5883_sample sample;
ao_hmc5883_setup();
for (;;) {
- ao_hmc5883_sample(&ao_hmc5883_current);
- ao_arch_critical(
- AO_DATA_PRESENT(AO_DATA_HMC5883);
- AO_DATA_WAIT();
- );
+ ao_hmc5883_sample(&sample);
+ ao_arch_block_interrupts();
+ ao_hmc5883_current = sample;
+ AO_DATA_PRESENT(AO_DATA_HMC5883);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
}
}
@@ -141,10 +143,8 @@ static struct ao_task ao_hmc5883_task;
static void
ao_hmc5883_show(void)
{
- struct ao_data sample;
- ao_data_get(&sample);
- printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
- sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
+ printf ("X: %d Z: %d Y: %d missed irq: %lu\n",
+ ao_hmc5883_current.x, ao_hmc5883_current.z, ao_hmc5883_current.y, ao_hmc5883_missed_irq);
}
static const struct ao_cmds ao_hmc5883_cmds[] = {
diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h
index 78637b02..b90733df 100644
--- a/src/drivers/ao_hmc5883.h
+++ b/src/drivers/ao_hmc5883.h
@@ -77,7 +77,7 @@
#define HMC5883_ID_C 12
struct ao_hmc5883_sample {
- int16_t x, y, z;
+ int16_t x, z, y;
};
extern struct ao_hmc5883_sample ao_hmc5883_current;
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 650407ad..81d3c16c 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -192,7 +192,7 @@ _ao_mpu6000_setup(void)
_ao_mpu6000_wait_alive();
/* Reset the whole chip */
-
+
_ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
(1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
@@ -292,7 +292,7 @@ _ao_mpu6000_setup(void)
ao_delay(AO_MS_TO_TICKS(200));
_ao_mpu6000_sample(&normal_mode);
-
+
errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x);
errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y);
errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z);
@@ -315,7 +315,7 @@ _ao_mpu6000_setup(void)
/* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
_ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
1000 / 200 - 1);
-
+
ao_delay(AO_MS_TO_TICKS(100));
ao_mpu6000_configured = 1;
}
@@ -325,6 +325,7 @@ struct ao_mpu6000_sample ao_mpu6000_current;
static void
ao_mpu6000(void)
{
+ struct ao_mpu6000_sample sample;
/* ao_mpu6000_init already grabbed the SPI bus and mutex */
_ao_mpu6000_setup();
#if AO_MPU6000_SPI
@@ -335,14 +336,15 @@ ao_mpu6000(void)
#if AO_MPU6000_SPI
ao_mpu6000_spi_get();
#endif
- _ao_mpu6000_sample(&ao_mpu6000_current);
+ _ao_mpu6000_sample(&sample);
#if AO_MPU6000_SPI
ao_mpu6000_spi_put();
-#endif
- ao_arch_critical(
- AO_DATA_PRESENT(AO_DATA_MPU6000);
- AO_DATA_WAIT();
- );
+#endif
+ ao_arch_block_interrupts();
+ ao_mpu6000_current = sample;
+ AO_DATA_PRESENT(AO_DATA_MPU6000);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
}
}
@@ -351,16 +353,13 @@ static struct ao_task ao_mpu6000_task;
static void
ao_mpu6000_show(void)
{
- struct ao_data sample;
-
- ao_data_get(&sample);
printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
- sample.mpu6000.accel_x,
- sample.mpu6000.accel_y,
- sample.mpu6000.accel_z,
- sample.mpu6000.gyro_x,
- sample.mpu6000.gyro_y,
- sample.mpu6000.gyro_z);
+ ao_mpu6000_current.accel_x,
+ ao_mpu6000_current.accel_y,
+ ao_mpu6000_current.accel_z,
+ ao_mpu6000_current.gyro_x,
+ ao_mpu6000_current.gyro_y,
+ ao_mpu6000_current.gyro_z);
}
static const struct ao_cmds ao_mpu6000_cmds[] = {
@@ -374,7 +373,7 @@ ao_mpu6000_init(void)
ao_mpu6000_configured = 0;
ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
-
+
#if AO_MPU6000_SPI
ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN));
@@ -386,7 +385,7 @@ ao_mpu6000_init(void)
ao_cur_task = &ao_mpu6000_task;
ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
ao_cur_task = NULL;
-#endif
+#endif
ao_cmd_register(&ao_mpu6000_cmds[0]);
}
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 0afdf012..914e0c1b 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -201,11 +201,13 @@ __xdata struct ao_ms5607_sample ao_ms5607_current;
static void
ao_ms5607(void)
{
+ struct ao_ms5607_sample sample;
ao_ms5607_setup();
for (;;)
{
- ao_ms5607_sample(&ao_ms5607_current);
+ ao_ms5607_sample(&sample);
ao_arch_block_interrupts();
+ ao_ms5607_current = sample;
AO_DATA_PRESENT(AO_DATA_MS5607);
AO_DATA_WAIT();
ao_arch_release_interrupts();
diff --git a/src/drivers/ao_rn4678.c b/src/drivers/ao_rn4678.c
index 4e3d12cb..98dc35b5 100644
--- a/src/drivers/ao_rn4678.c
+++ b/src/drivers/ao_rn4678.c
@@ -39,7 +39,7 @@ static void
ao_rn_log_char(char c, char dir)
{
if (dir != ao_rn_dir) {
- putchar(dir);
+ putchar(dir); putchar('\n');
ao_rn_dir = dir;
}
switch (c) {
@@ -100,84 +100,81 @@ static const char *status_strings[] = {
"RFCOMM_CLOSE",
"RFCOMM_OPEN",
"CONNECT",
+ "LCONNECT",
"DISCONN",
"BONDED",
};
#define NUM_STATUS_STRING (sizeof status_strings/sizeof status_strings[0])
+static char ao_rn_buffer[64];
+static int ao_rn_buf_cnt, ao_rn_buf_ptr;
+static int ao_rn_draining;
+static AO_TICK_TYPE ao_rn_buf_time;
+
+/* Well, this is annoying. The status strings from the RN4678 can't be
+ * disabled due to a firmware bug. So, this code finds those in the
+ * input and strips them out.
+ */
int
_ao_wrap_rn_pollchar(void)
{
- static char buffer[64];
- static int buf_cnt, buf_ptr;
- static int draining;
int c = AO_READ_AGAIN;
unsigned i;
int done = 0;
- while (!done && !draining) {
+ while (!done && !ao_rn_draining) {
c = _ao_serial_rn_pollchar();
- if (c == AO_READ_AGAIN)
+ if (c == AO_READ_AGAIN) {
+ if (ao_rn_buf_cnt && (ao_time() - ao_rn_buf_time) > AO_MS_TO_TICKS(1000)) {
+ ao_rn_draining = 1;
+ continue;
+ }
return AO_READ_AGAIN;
+ }
- if (buf_cnt) {
+ if (ao_rn_buf_cnt) {
/* buffering chars */
if (c == STATUS_CHAR) {
/* End of status string, drop it and carry on */
- buffer[buf_cnt] = '\0';
- ao_rn_dbg("discard %s\n", buffer);
- buf_cnt = 0;
- } else if (buf_cnt == sizeof(buffer)) {
+ ao_rn_buffer[ao_rn_buf_cnt] = '\0';
+// ao_rn_dbg("discard %s\n", ao_rn_buffer);
+ ao_rn_buf_cnt = 0;
+ } else if (ao_rn_buf_cnt == sizeof(ao_rn_buffer)) {
/* If we filled the buffer, just give up */
- draining = 1;
+ ao_rn_draining = 1;
} else {
- buffer[buf_cnt++] = c;
+ ao_rn_buffer[ao_rn_buf_cnt++] = c;
for (i = 0; i < NUM_STATUS_STRING; i++) {
int cmp = strlen(status_strings[i]);
- if (cmp >= buf_cnt)
- cmp = buf_cnt-1;
- if (memcmp(buffer+1, status_strings[i], cmp) == 0)
+ if (cmp >= ao_rn_buf_cnt)
+ cmp = ao_rn_buf_cnt-1;
+ if (memcmp(ao_rn_buffer+1, status_strings[i], cmp) == 0)
break;
}
if (i == NUM_STATUS_STRING)
- draining = 1;
+ ao_rn_draining = 1;
}
} else if (c == STATUS_CHAR) {
- buffer[0] = c;
- buf_cnt = 1;
- buf_ptr = 0;
+ ao_rn_buffer[0] = c;
+ ao_rn_buf_cnt = 1;
+ ao_rn_buf_ptr = 0;
+ ao_rn_buf_time = ao_time();
} else
done = 1;
}
- if (draining) {
- c = buffer[buf_ptr++] & 0xff;
- if (buf_ptr == buf_cnt) {
- buf_ptr = buf_cnt = 0;
- draining = 0;
+ if (ao_rn_draining) {
+ c = ao_rn_buffer[ao_rn_buf_ptr++] & 0xff;
+ if (ao_rn_buf_ptr == ao_rn_buf_cnt) {
+ ao_rn_buf_ptr = ao_rn_buf_cnt = 0;
+ ao_rn_draining = 0;
}
}
-#if AO_RN_DEBUG
- ao_arch_release_interrupts();
- ao_usb_putchar(c); ao_usb_flush();
- ao_arch_block_interrupts();
-#endif
return c;
}
-#if AO_RN_DEBUG
-static void
-ao_wrap_rn_putchar(char c)
-{
- ao_usb_putchar(c); ao_usb_flush();
- ao_serial_rn_putchar(c);
-}
-#else
-#define ao_wrap_rn_putchar ao_serial_rn_putchar
-#endif
-
static void
ao_rn_puts(char *s)
{
@@ -192,7 +189,7 @@ ao_rn_drain(void)
{
int timeout = 0;
- ao_rn_dbg("drain...\n");
+// ao_rn_dbg("drain...\n");
ao_serial_rn_drain();
while (!timeout) {
ao_arch_block_interrupts();
@@ -204,13 +201,13 @@ ao_rn_drain(void)
}
ao_arch_release_interrupts();
}
- ao_rn_dbg("drain done\n");
+// ao_rn_dbg("drain done\n");
}
static void
ao_rn_send_cmd(char *cmd, char *param)
{
- ao_rn_dbg("send_cmd %s%s\n", cmd, param ? param : "");
+// ao_rn_dbg("send_cmd %s%s\n", cmd, param ? param : "");
ao_rn_drain();
ao_rn_puts(cmd);
if (param)
@@ -244,20 +241,20 @@ ao_rn_wait_for(int timeout, char *match)
AO_TICK_TYPE giveup_time = ao_time() + timeout;
int c;
- ao_rn_dbg("wait for %d, \"%s\"\n", timeout, match);
+// ao_rn_dbg("wait for %d, \"%s\"\n", timeout, match);
memset(reply, ' ', sizeof(reply));
while (memcmp(reply, match, match_len) != 0) {
c = ao_rn_wait_char(giveup_time);
if (c == AO_READ_AGAIN) {
- ao_rn_dbg("\twait for timeout\n");
+// ao_rn_dbg("\twait for timeout\n");
return AO_RN_TIMEOUT;
}
reply[match_len] = (char) c;
memmove(reply, reply+1, match_len);
reply[match_len] = '\0';
- ao_rn_dbg("\tmatch now \"%s\"\n", reply);
+// ao_rn_dbg("\tmatch now \"%s\"\n", reply);
}
- ao_rn_dbg("\twait for ok\n");
+// ao_rn_dbg("\twait for ok\n");
return AO_RN_OK;
}
@@ -266,20 +263,20 @@ ao_rn_wait_line(AO_TICK_TYPE giveup_time, char *line, int len)
{
char *l = line;
- ao_rn_dbg("wait line\n");
+// ao_rn_dbg("wait line\n");
for (;;) {
int c = ao_rn_wait_char(giveup_time);
/* timeout */
if (c == AO_READ_AGAIN) {
- ao_rn_dbg("\twait line timeout\n");
+// ao_rn_dbg("\twait line timeout\n");
return AO_RN_TIMEOUT;
}
/* done */
if (c == '\r') {
*l = '\0';
- ao_rn_dbg("\twait line \"%s\"\n", line);
+// ao_rn_dbg("\twait line \"%s\"\n", line);
return AO_RN_OK;
}
@@ -302,7 +299,7 @@ ao_rn_wait_status(void)
AO_TICK_TYPE giveup_time = ao_time() + AO_RN_CMD_TIMEOUT;
int status;
- ao_rn_dbg("wait status\n");
+// ao_rn_dbg("wait status\n");
status = ao_rn_wait_line(giveup_time, message, sizeof (message));
if (status == AO_RN_OK)
if (strncmp(message, "AOK", 3) != 0)
@@ -317,7 +314,7 @@ ao_rn_set_name(void)
char *s = sn + 8;
int n;
- ao_rn_dbg("set name...\n");
+// ao_rn_dbg("set name...\n");
*--s = '\0';
n = ao_serial_number;
do {
@@ -330,7 +327,7 @@ ao_rn_set_name(void)
static int
ao_rn_get_name(char *name, int len)
{
- ao_rn_dbg("get name...\n");
+// ao_rn_dbg("get name...\n");
ao_rn_send_cmd(AO_RN_GET_NAME_CMD, NULL);
return ao_rn_wait_line(ao_time() + AO_RN_CMD_TIMEOUT, name, len);
}
@@ -404,12 +401,18 @@ ao_rn(void)
continue;
}
- ao_rn_puts("$$$");
-
/* After it reboots, it can take a moment before it responds
* to commands
*/
- (void) ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> ");
+ status = ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> ");
+
+ if (status == AO_RN_TIMEOUT) {
+ ao_rn_puts("$$$");
+ (void) ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> ");
+ }
+
+ ao_rn_send_cmd(AO_RN_VERSION_CMD, NULL);
+ (void) ao_rn_wait_status();
/* Check to see if the name is already set and assume
* that the device is ready to go
@@ -417,7 +420,9 @@ ao_rn(void)
status = ao_rn_get_name(name, sizeof (name));
if (status != AO_RN_OK) {
ao_rn_dbg("get name failed\n");
- continue;
+ status = ao_rn_get_name(name, sizeof (name));
+ if (status != AO_RN_OK)
+ continue;
}
if (strncmp(name, "TeleBT-", 7) == 0) {
@@ -433,6 +438,12 @@ ao_rn(void)
continue;
}
+ ao_rn_send_cmd(AO_RN_SET_STATUS_STRING, AO_RN_STATUS_STRING_ENABLE);
+ if (ao_rn_wait_status() != AO_RN_OK) {
+ ao_rn_dbg("set status string\n");
+ continue;
+ }
+
/* Select 'fast' mode to ignore command sequence (more or less) */
ao_rn_send_cmd(AO_RN_SET_FAST_MODE, NULL);
if (ao_rn_wait_status() != AO_RN_OK) {
@@ -465,17 +476,27 @@ ao_rn(void)
ao_exti_enable(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN);
-#if 1
+#if AO_RN_DEBUG
+
+ /*
+ * Separate debug code when things aren't working. Just dump
+ * inbound bluetooth characters to stdout
+ */
+ for (;;) {
+ int c;
+
+ ao_arch_block_interrupts();
+ while ((c = _ao_rn_pollchar()) == AO_READ_AGAIN)
+ ao_sleep(&ao_serial_rn_rx_fifo);
+ ao_arch_release_interrupts();
+ }
+#else
ao_rn_stdio = ao_add_stdio(_ao_wrap_rn_pollchar,
- ao_wrap_rn_putchar,
+ ao_serial_rn_putchar,
NULL);
ao_rn_echo(0);
-
ao_rn_check_link();
-
- ao_rn_dbg("RN running\n");
-
/*
* Now just hang around and flash the blue LED when we've got
* a connection
@@ -487,27 +508,11 @@ ao_rn(void)
ao_arch_release_interrupts();
while (ao_rn_connected) {
ao_led_for(AO_BT_LED, AO_MS_TO_TICKS(20));
+ if (ao_rn_buf_cnt != 0)
+ ao_wakeup(&ao_stdin_ready);
ao_delay(AO_SEC_TO_TICKS(3));
}
}
-#else
-
- /*
- * Separate debug code when things aren't working. Just dump
- * inbound bluetooth characters to stdout
- */
- for (;;) {
- int c;
-
- while (rn_cmd_running)
- ao_delay(AO_MS_TO_TICKS(1000));
-
- ao_arch_block_interrupts();
- while ((c = _ao_wrap_rn_pollchar()) == AO_READ_AGAIN)
- ao_sleep(&ao_serial_rn_rx_fifo);
- ao_arch_release_interrupts();
- putchar(c); flush();
- }
#endif
}
@@ -539,19 +544,39 @@ ao_rn_factory(void)
/* Right after power on, poke P3_1 five times to force a
* factory reset
*/
- for (i = 0; i < 10; i++) {
+ for (i = 0; i < 20; i++) {
v = 1-v;
- ao_delay(AO_MS_TO_TICKS(100));
+ ao_delay(AO_MS_TO_TICKS(50));
ao_gpio_set(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, foo, v);
ao_led_toggle(AO_BT_LED);
}
/* And let P3_1 float again */
ao_enable_input(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, AO_EXTI_MODE_PULL_NONE);
+
+ printf("Reboot BT\n"); flush();
+ ao_delay(AO_MS_TO_TICKS(100));
+ ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 0);
+ ao_delay(AO_MS_TO_TICKS(100));
+ ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 1);
}
+#if AO_RN_DEBUG
+static void
+ao_rn_send(void)
+{
+ int c;
+
+ while ((c = getchar()) != '~')
+ ao_rn_putchar(c);
+}
+#endif
+
static const struct ao_cmds rn_cmds[] = {
{ ao_rn_factory, "F\0Factory reset rn4678" },
+#if AO_RN_DEBUG
+ { ao_rn_send, "B\0Send data to rn4678. End with ~" },
+#endif
{ 0 },
};
diff --git a/src/drivers/ao_rn4678.h b/src/drivers/ao_rn4678.h
index d6fea23a..a4dcea38 100644
--- a/src/drivers/ao_rn4678.h
+++ b/src/drivers/ao_rn4678.h
@@ -56,7 +56,7 @@
*/
-#define AO_RN_REBOOT_MSG "%REBOOT%"
+#define AO_RN_REBOOT_MSG "REBOOT"
#define AO_RN_CMD_TIMEOUT AO_MS_TO_TICKS(200)
@@ -67,11 +67,14 @@
#define AO_RN_SET_NAME_CMD "SN,"
#define AO_RN_GET_NAME_CMD "GN"
-#define AO_RN_SET_STATUS_STRING "SO,"
+#define AO_RN_SET_STATUS_STRING "so,"
#define AO_RN_STATUS_STRING_DISABLE " "
+#define AO_RN_STATUS_STRING_ENABLE "%,%"
#define AO_RN_REBOOT_CMD "R,1"
+#define AO_RN_VERSION_CMD "V"
+
#define AO_RN_TIMEOUT -1
#define AO_RN_ERROR 0
#define AO_RN_OK 1
diff --git a/src/easymini-v1.0/ao_pins.h b/src/easymini-v1.0/ao_pins.h
index 5983bb9e..45c6891d 100644
--- a/src/easymini-v1.0/ao_pins.h
+++ b/src/easymini-v1.0/ao_pins.h
@@ -42,7 +42,7 @@
#define PACKET_HAS_SLAVE 0
-#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMINI
+#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMINI1
/* USART */
diff --git a/src/easymini-v2.0/ao_pins.h b/src/easymini-v2.0/ao_pins.h
index c141d1a6..2ec0e90b 100644
--- a/src/easymini-v2.0/ao_pins.h
+++ b/src/easymini-v2.0/ao_pins.h
@@ -44,7 +44,7 @@
#define AO_PA11_PA12_RMP 1
#define AO_USB_FORCE_IDLE 1
-#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMINI
+#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMINI2
#define HAS_BOOT_RADIO 0
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 5c568c99..aca669db 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -45,7 +45,7 @@ extern __pdata enum ao_flight_state ao_log_state;
#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
#define AO_LOG_FORMAT_TELEMEGA_OLD 5 /* 32 byte typed telemega records */
-#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */
+#define AO_LOG_FORMAT_EASYMINI1 6 /* 16-byte MS5607 baro only, 3.0V supply */
#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
#define AO_LOG_FORMAT_TELEMINI2 8 /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
#define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */
@@ -53,6 +53,7 @@ extern __pdata enum ao_flight_state ao_log_state;
#define AO_LOG_FORMAT_DETHERM 11 /* 16-byte MS5607 baro only, no ADC */
#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_NONE 127 /* No log at all */
extern __code uint8_t ao_log_format;
@@ -252,8 +253,8 @@ struct ao_log_mega {
int16_t gyro_y; /* 20 */
int16_t gyro_z; /* 22 */
int16_t mag_x; /* 24 */
- int16_t mag_y; /* 26 */
- int16_t mag_z; /* 28 */
+ int16_t mag_z; /* 26 */
+ int16_t mag_y; /* 28 */
int16_t accel; /* 30 */
} sensor; /* 32 */
/* AO_LOG_TEMP_VOLT */
diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c
index a0212198..b86abe7a 100644
--- a/src/kernel/ao_log_mega.c
+++ b/src/kernel/ao_log_mega.c
@@ -135,8 +135,8 @@ ao_log(void)
#endif
#if HAS_HMC5883
log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
- log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
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
log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
ao_log_mega(&log);
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index a4c73a86..2ae1e41b 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -160,8 +160,8 @@ ao_send_mega_sensor(void)
#if HAS_HMC5883
telemetry.mega_sensor.mag_x = packet->hmc5883.x;
- telemetry.mega_sensor.mag_y = packet->hmc5883.y;
telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+ telemetry.mega_sensor.mag_y = packet->hmc5883.y;
#endif
ao_telemetry_send();
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 45aaeb07..23e3ed7d 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -198,8 +198,8 @@ struct ao_telemetry_mega_sensor {
int16_t gyro_z; /* 24 */
int16_t mag_x; /* 26 */
- int16_t mag_y; /* 28 */
- int16_t mag_z; /* 30 */
+ int16_t mag_z; /* 28 */
+ int16_t mag_y; /* 30 */
/* 32 */
};
diff --git a/src/micropeak-v2.0/ao_pins.h b/src/micropeak-v2.0/ao_pins.h
index 13a4fd10..fa2ed804 100644
--- a/src/micropeak-v2.0/ao_pins.h
+++ b/src/micropeak-v2.0/ao_pins.h
@@ -53,7 +53,8 @@ extern uint8_t ao_on_battery;
#define HAS_SERIAL_1 0
#define HAS_SERIAL_2 1
#define USE_SERIAL_2_STDIN 0
-#define HAS_SERIAL_SW_FLOW 0
+#define USE_SERIAL_2_FLOW 0
+#define USE_SERIAL_2_SW_FLOW 0
#define SERIAL_2_PA2_PA3 1
#define SERIAL_2_PA14_PA15 0
#define USE_SERIAL2_FLOW 0
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index c625471e..ef562313 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -195,7 +195,7 @@ ao_usart_set_speed(struct ao_stm_usart *usart, uint8_t speed)
}
static void
-ao_usart_init(struct ao_stm_usart *usart)
+ao_usart_init(struct ao_stm_usart *usart, int hw_flow)
{
usart->reg->cr1 = ((0 << STM_USART_CR1_OVER8) |
(1 << STM_USART_CR1_UE) |
@@ -236,6 +236,10 @@ ao_usart_init(struct ao_stm_usart *usart)
(0 << STM_USART_CR3_IREN) |
(0 << STM_USART_CR3_EIE));
+ if (hw_flow)
+ usart->reg->cr3 |= ((1 << STM_USART_CR3_CTSE) |
+ (1 << STM_USART_CR3_RTSE));
+
/* Pick a 9600 baud rate */
ao_usart_set_speed(usart, AO_SERIAL_SPEED_9600);
}
@@ -244,8 +248,6 @@ ao_usart_init(struct ao_stm_usart *usart)
static void
ao_usart_set_flow(struct ao_stm_usart *usart)
{
- usart->reg->cr3 |= ((1 << STM_USART_CR3_CTSE) |
- (1 << STM_USART_CR3_RTSE));
}
#endif
@@ -441,7 +443,7 @@ ao_serial_init(void)
stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_USART1EN);
ao_stm_usart1.reg = &stm_usart1;
- ao_usart_init(&ao_stm_usart1);
+ ao_usart_init(&ao_stm_usart1, 0);
stm_nvic_set_enable(STM_ISR_USART1_POS);
stm_nvic_set_priority(STM_ISR_USART1_POS, AO_STM_NVIC_MED_PRIORITY);
@@ -494,10 +496,7 @@ ao_serial_init(void)
stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USART2EN);
ao_stm_usart2.reg = &stm_usart2;
- ao_usart_init(&ao_stm_usart2);
-#if USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW
- ao_usart_set_flow(&ao_stm_usart2);
-#endif
+ ao_usart_init(&ao_stm_usart2, USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW);
stm_nvic_set_enable(STM_ISR_USART2_POS);
stm_nvic_set_priority(STM_ISR_USART2_POS, AO_STM_NVIC_MED_PRIORITY);
@@ -541,7 +540,7 @@ ao_serial_init(void)
stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USART3EN);
ao_stm_usart3.reg = &stm_usart3;
- ao_usart_init(&ao_stm_usart3);
+ ao_usart_init(&ao_stm_usart3, 0);
stm_nvic_set_enable(STM_ISR_USART3_POS);
stm_nvic_set_priority(STM_ISR_USART3_POS, AO_STM_NVIC_MED_PRIORITY);
diff --git a/src/stmf0/ao_serial_stm.c b/src/stmf0/ao_serial_stm.c
index e20b5755..59cfde2e 100644
--- a/src/stmf0/ao_serial_stm.c
+++ b/src/stmf0/ao_serial_stm.c
@@ -180,7 +180,7 @@ ao_usart_set_speed(struct ao_stm_usart *usart, uint8_t speed)
}
static void
-ao_usart_init(struct ao_stm_usart *usart)
+ao_usart_init(struct ao_stm_usart *usart, int hw_flow)
{
usart->reg->cr1 = ((0 << STM_USART_CR1_M1) |
(0 << STM_USART_CR1_EOBIE) |
@@ -223,44 +223,39 @@ ao_usart_init(struct ao_stm_usart *usart)
(0 << STM_USART_CR2_LBDL) |
(0 << STM_USART_CR2_ADDM7));
- usart->reg->cr3 = ((0 << STM_USART_CR3_WUFIE) |
- (0 << STM_USART_CR3_WUS) |
- (0 << STM_USART_CR3_SCARCNT) |
- (0 << STM_USART_CR3_DEP) |
- (0 << STM_USART_CR3_DEM) |
- (0 << STM_USART_CR3_DDRE) |
- (0 << STM_USART_CR3_OVRDIS) |
- (0 << STM_USART_CR3_ONEBIT) |
- (0 << STM_USART_CR3_CTIIE) |
- (0 << STM_USART_CR3_CTSE) |
- (0 << STM_USART_CR3_RTSE) |
- (0 << STM_USART_CR3_DMAT) |
- (0 << STM_USART_CR3_DMAR) |
- (0 << STM_USART_CR3_SCEN) |
- (0 << STM_USART_CR3_NACK) |
- (0 << STM_USART_CR3_HDSEL) |
- (0 << STM_USART_CR3_IRLP) |
- (0 << STM_USART_CR3_IREN) |
- (0 << STM_USART_CR3_EIE));
-
+ uint32_t cr3 = ((0 << STM_USART_CR3_WUFIE) |
+ (0 << STM_USART_CR3_WUS) |
+ (0 << STM_USART_CR3_SCARCNT) |
+ (0 << STM_USART_CR3_DEP) |
+ (0 << STM_USART_CR3_DEM) |
+ (0 << STM_USART_CR3_DDRE) |
+ (0 << STM_USART_CR3_OVRDIS) |
+ (0 << STM_USART_CR3_ONEBIT) |
+ (0 << STM_USART_CR3_CTIIE) |
+ (0 << STM_USART_CR3_CTSE) |
+ (0 << STM_USART_CR3_RTSE) |
+ (0 << STM_USART_CR3_DMAT) |
+ (0 << STM_USART_CR3_DMAR) |
+ (0 << STM_USART_CR3_SCEN) |
+ (0 << STM_USART_CR3_NACK) |
+ (0 << STM_USART_CR3_HDSEL) |
+ (0 << STM_USART_CR3_IRLP) |
+ (0 << STM_USART_CR3_IREN) |
+ (0 << STM_USART_CR3_EIE));
+
+ if (hw_flow)
+ cr3 |= ((1 << STM_USART_CR3_CTSE) |
+ (1 << STM_USART_CR3_RTSE));
+
+ usart->reg->cr3 = cr3;
/* Pick a 9600 baud rate */
ao_usart_set_speed(usart, AO_SERIAL_SPEED_9600);
/* Enable the usart */
usart->reg->cr1 |= (1 << STM_USART_CR1_UE);
-
}
-#if HAS_SERIAL_HW_FLOW
-static void
-ao_usart_set_flow(struct ao_stm_usart *usart)
-{
- usart->reg->cr3 |= ((1 << STM_USART_CR3_CTSE) |
- (1 << STM_USART_CR3_RTSE));
-}
-#endif
-
#if HAS_SERIAL_1
struct ao_stm_usart ao_stm_usart1;
@@ -391,13 +386,13 @@ ao_serial_init(void)
*/
#if SERIAL_1_PA9_PA10
- stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
+ ao_enable_port(&stm_gpioa);
stm_afr_set(&stm_gpioa, 9, STM_AFR_AF1);
stm_afr_set(&stm_gpioa, 10, STM_AFR_AF1);
#else
#if SERIAL_1_PB6_PB7
- stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPBEN);
+ ao_enable_port(&stm_gpiob);
stm_afr_set(&stm_gpiob, 6, STM_AFR_AF0);
stm_afr_set(&stm_gpiob, 7, STM_AFR_AF0);
@@ -409,7 +404,7 @@ ao_serial_init(void)
stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_USART1EN);
ao_stm_usart1.reg = &stm_usart1;
- ao_usart_init(&ao_stm_usart1);
+ ao_usart_init(&ao_stm_usart1, 0);
stm_nvic_set_enable(STM_ISR_USART1_POS);
stm_nvic_set_priority(STM_ISR_USART1_POS, 4);
@@ -428,8 +423,7 @@ ao_serial_init(void)
*/
# if SERIAL_2_PA2_PA3
- stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
-
+ ao_enable_port(&stm_gpioa);
stm_afr_set(&stm_gpioa, 2, STM_AFR_AF1);
stm_afr_set(&stm_gpioa, 3, STM_AFR_AF1);
# if USE_SERIAL_2_FLOW
@@ -447,8 +441,7 @@ ao_serial_init(void)
# endif
# else
# if SERIAL_2_PA14_PA15
- stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
-
+ ao_enable_port(&stm_gpioa);
stm_afr_set(&stm_gpioa, 14, STM_AFR_AF1);
stm_afr_set(&stm_gpioa, 15, STM_AFR_AF1);
# if USE_SERIAL_2_FLOW
@@ -472,10 +465,7 @@ ao_serial_init(void)
stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_USART2EN);
ao_stm_usart2.reg = &stm_usart2;
- ao_usart_init(&ao_stm_usart2);
-# if USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW
- ao_usart_set_flow(&ao_stm_usart2);
-# endif
+ ao_usart_init(&ao_stm_usart2, USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW);
stm_nvic_set_enable(STM_ISR_USART2_POS);
stm_nvic_set_priority(STM_ISR_USART2_POS, 4);
diff --git a/src/telebt-v3.0/Makefile b/src/telebt-v3.0/Makefile
index 40d1f6e4..4636c046 100644
--- a/src/telebt-v3.0/Makefile
+++ b/src/telebt-v3.0/Makefile
@@ -55,6 +55,7 @@ ALTOS_SRC = \
ao_convert_volt.c \
ao_packet_master.c \
ao_packet.c \
+ ao_send_packet.c \
ao_monitor.c \
$(PROFILE) \
$(SAMPLE_PROFILE) \
diff --git a/src/telebt-v3.0/ao_telebt.c b/src/telebt-v3.0/ao_telebt.c
index 8775d993..63633c90 100644
--- a/src/telebt-v3.0/ao_telebt.c
+++ b/src/telebt-v3.0/ao_telebt.c
@@ -23,6 +23,7 @@
#include <ao_profile.h>
#include <ao_btm.h>
#include <ao_lco_cmd.h>
+#include <ao_send_packet.h>
#if HAS_SAMPLE_PROFILE
#include <ao_sample_profile.h>
#endif
@@ -53,6 +54,7 @@ main(void)
ao_radio_init();
ao_packet_master_init();
ao_monitor_init();
+ ao_send_packet_init();
ao_config_init();
diff --git a/src/telebt-v4.0/Makefile b/src/telebt-v4.0/Makefile
index 31651120..38ac7513 100644
--- a/src/telebt-v4.0/Makefile
+++ b/src/telebt-v4.0/Makefile
@@ -14,6 +14,7 @@ INC = \
ao_product.h \
ao_cc1200_CC1200.h \
ao_task.h \
+ ao_rn4678.h \
stm32f0.h \
Makefile
diff --git a/src/telebt-v4.0/ao_pins.h b/src/telebt-v4.0/ao_pins.h
index baf3db69..f3d70d1a 100644
--- a/src/telebt-v4.0/ao_pins.h
+++ b/src/telebt-v4.0/ao_pins.h
@@ -54,7 +54,7 @@
#define USE_SERIAL_2_STDIN 1
#define DELAY_SERIAL_2_STDIN 1
#define USE_SERIAL_2_FLOW 1
-#define USE_SERIAL_2_SW_FLOW 1
+#define USE_SERIAL_2_SW_FLOW 0
#define SERIAL_2_PA2_PA3 1
#define SERIAL_2_PD5_PD6 0
#define SERIAL_2_PORT_RTS (&stm_gpioa)
@@ -75,7 +75,6 @@
#define HAS_APRS 0
#define HAS_ACCEL 0
#define HAS_AES 0
-#define HAS_POLLCHAR 1
#define HAS_SPI_1 1
#define SPI_1_PA5_PA6_PA7 1 /* CC1200 */
diff --git a/src/telefireone-v1.0/ao_pins.h b/src/telefireone-v1.0/ao_pins.h
index b2f5a5ab..d36d9d82 100644
--- a/src/telefireone-v1.0/ao_pins.h
+++ b/src/telefireone-v1.0/ao_pins.h
@@ -34,7 +34,7 @@
#define HAS_EEPROM 1
#define HAS_LOG 1
#define HAS_PAD 1
-#define USE_INTERNAL_FLASH 0
+#define USE_INTERNAL_FLASH 1
#define IGNITE_ON_P0 0
#define PACKET_HAS_MASTER 0
#define PACKET_HAS_SLAVE 0
diff --git a/src/test/Makefile b/src/test/Makefile
index a22abe46..a0c2d5fe 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,7 +1,7 @@
vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp
PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
- ao_flight_test_metrum \
+ ao_flight_test_metrum ao_flight_test_mini \
ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \
ao_ms5607_convert_test ao_quaternion_test ao_lisp_test
@@ -37,6 +37,9 @@ ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.
ao_flight_test_metrum: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
cc -DTELEMETRUM_V2=1 $(CFLAGS) -o $@ $< -lm
+ao_flight_test_mini: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
+ cc -DEASYMINI=1 -DHAS_ACCEL=0 $(CFLAGS) -o $@ $< -lm
+
ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
cc $(CFLAGS) -o $@ $<
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 25ddb48f..d3d39f2a 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -46,7 +46,7 @@
int ao_gps_new;
-#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2)
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
#define TELEMETRUM_V1 1
#endif
@@ -84,6 +84,18 @@ struct ao_adc {
};
#endif
+#if EASYMINI
+#define AO_ADC_NUM_SENSE 2
+#define HAS_MS5607 1
+#define HAS_BEEP 1
+#define AO_CONFIG_MAX_SIZE 1024
+
+struct ao_adc {
+ int16_t sense_a;
+ int16_t sense_m;
+ int16_t v_batt;
+};
+#endif
#if TELEMETRUM_V1
/*
@@ -323,7 +335,7 @@ struct ao_cmds {
#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
#define AO_NEED_ALTITUDE_TO_PRES 1
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
#include "ao_convert_pa.c"
#include <ao_ms5607.h>
struct ao_ms5607_prom ao_ms5607_prom;
@@ -475,7 +487,7 @@ ao_insert(void)
#else
double accel = 0.0;
#endif
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
double height;
ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -670,6 +682,19 @@ int32(uint8_t *bytes, int off)
return (int32_t) uint32(bytes, off);
}
+uint32_t
+uint24(uint8_t *bytes, int off)
+{
+ return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
+ (((uint32_t) bytes[off+2]) << 16);
+}
+
+int32_t
+int24(uint8_t *bytes, int off)
+{
+ return (int32_t) uint24(bytes, off);
+}
+
static int log_format;
void
@@ -694,12 +719,14 @@ ao_sleep(void *wchan)
for (;;) {
if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
{
+
#if TELEMEGA
ao_data_static.mpu6000 = ao_ground_mpu6000;
#endif
#if TELEMETRUM_V1
ao_data_static.adc.accel = ao_flight_ground_accel;
#endif
+
ao_insert();
return;
}
@@ -829,6 +856,72 @@ ao_sleep(void *wchan)
}
}
#endif
+#if EASYMINI
+ if ((log_format == AO_LOG_FORMAT_EASYMINI1 || log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && strlen(words[0]) == 1) {
+ int i;
+ struct ao_ms5607_value value;
+
+ type = words[0][0];
+ tick = strtoul(words[1], NULL, 16);
+// printf ("%c %04x", type, tick);
+ for (i = 2; i < nword; i++) {
+ bytes[i - 2] = strtoul(words[i], NULL, 16);
+// printf(" %02x", bytes[i-2]);
+ }
+// printf ("\n");
+ switch (type) {
+ case 'F':
+ ao_flight_started = 1;
+ ao_ground_pres = uint32(bytes, 4);
+ ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+#if 0
+ printf("ground pres %d height %d\n", ao_ground_pres, ao_ground_height);
+ printf("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d\n",
+ ao_ms5607_prom.sens,
+ ao_ms5607_prom.off,
+ ao_ms5607_prom.tcs,
+ ao_ms5607_prom.tco,
+ ao_ms5607_prom.tref,
+ ao_ms5607_prom.tempsens,
+ ao_ms5607_prom.crc);
+#endif
+ break;
+ case 'A':
+ ao_data_static.tick = tick;
+ ao_data_static.ms5607_raw.pres = int24(bytes, 0);
+ ao_data_static.ms5607_raw.temp = int24(bytes, 3);
+#if 0
+ printf("raw pres %d temp %d\n",
+ ao_data_static.ms5607_raw.pres,
+ ao_data_static.ms5607_raw.temp);
+#endif
+ ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
+// printf("pres %d height %d\n", value.pres, ao_pa_to_altitude(value.pres));
+ ao_records_read++;
+ ao_insert();
+ return;
+ }
+ continue;
+ } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
+ if (strcmp(words[1], "reserved:") == 0)
+ ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "sens:") == 0)
+ ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "off:") == 0)
+ ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tcs:") == 0)
+ ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tco:") == 0)
+ ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tref:") == 0)
+ ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tempsens:") == 0)
+ ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "crc:") == 0)
+ ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
+ continue;
+ }
+#endif
#if TELEMETRUM_V2
if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
int i;
@@ -1007,7 +1100,7 @@ ao_sleep(void *wchan)
if (type != 'F' && !ao_flight_started)
continue;
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
(void) a;
(void) b;
#else
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 18:55:21 +0000