diff options
Diffstat (limited to 'src')
35 files changed, 1380 insertions, 204 deletions
diff --git a/src/Makefile b/src/Makefile index ee76c325..af2630fc 100644 --- a/src/Makefile +++ b/src/Makefile @@ -20,7 +20,8 @@ SDCCDIRS=\ telemini-v1.0 \ telebt-v1.0 \ teleterra-v0.2 teleshield-v0.1 \ - telefire-v0.1 telefire-v0.2 + telefire-v0.1 telefire-v0.2 \ + telemini-v2.0 AVRDIRS=\ telescience-v0.1 telescience-pwm micropeak @@ -29,10 +30,11 @@ ARMDIRS=\ telemega-v0.1 telemega-v0.1/flash-loader \ telemega-v0.3 telemega-v0.3/flash-loader \ megadongle-v0.1 megadongle-v0.1/flash-loader \ - telegps-v0.1 telegps-v0.1/flash-loader \ + telegps-v0.3 telegps-v0.3/flash-loader \ stm-bringup stm-demo \ telelco-v0.2 telelco-v0.2/flash-loader \ - telescience-v0.2 telescience-v0.2/flash-loader + telescience-v0.2 telescience-v0.2/flash-loader \ + easymini-v0.1 easymini-v0.1/flash-loader ARMM0DIRS=\ easymini-v0.1 diff --git a/src/attiny/ao_arch_funcs.h b/src/attiny/ao_arch_funcs.h index 76dc7820..d4584a9f 100644 --- a/src/attiny/ao_arch_funcs.h +++ b/src/attiny/ao_arch_funcs.h @@ -41,6 +41,8 @@ PORTB &= ~(1 << bit); \ } while (0) +#define ao_gpio_get(port, bit, pin) ((PORTB >> (bit)) & 1) + /* * The SPI mutex must be held to call either of these * functions -- this mutex covers the entire SPI operation, diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c index 4a58023d..15429677 100644 --- a/src/cc1111/ao_adc.c +++ b/src/cc1111/ao_adc.c @@ -19,23 +19,26 @@ volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; volatile __data uint8_t ao_data_head; +#if (AO_DATA_ALL & ~(AO_DATA_ADC)) +volatile __data uint8_t ao_data_present; +#endif + +#ifdef TELENANO_V_0_1 +# define AO_ADC_FIRST_PIN 1 +#endif + +#if HAS_ACCEL_REF +# define AO_ADC_FIRST_PIN 2 +#endif #ifndef AO_ADC_FIRST_PIN -#define AO_ADC_FIRST_PIN 0 +# define AO_ADC_FIRST_PIN 0 #endif void ao_adc_poll(void) { -#if HAS_ACCEL_REF - ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 2; -#else -# ifdef TELENANO_V_0_1 - ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 1; -# else ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | AO_ADC_FIRST_PIN; -# endif -#endif } void @@ -141,6 +144,7 @@ ao_adc_isr(void) __interrupt 1 if (sequence) { /* Start next conversion */ ADCCON3 = sequence; + return; } #endif /* telemini || telenano */ @@ -148,8 +152,10 @@ ao_adc_isr(void) __interrupt 1 a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.sense[0] + sequence - AO_ADC_FIRST_PIN); a[0] = ADCL; a[1] = ADCH; - if (sequence < 5) + if (sequence < 5) { ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | (sequence + 1); + return; + } #define GOT_ADC #endif /* TELEFIRE_V_0_1 */ @@ -157,21 +163,22 @@ ao_adc_isr(void) __interrupt 1 a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.batt); a[0] = ADCL; a[1] = ADCH; - if (0) - ; #define GOT_ADC #endif +#ifdef FETCH_ADC + FETCH_ADC(); +#define GOT_ADC +#endif + #ifndef GOT_ADC #error No known ADC configuration set #endif - else { - /* record this conversion series */ - ao_data_ring[ao_data_head].tick = ao_time(); - ao_data_head = ao_data_ring_next(ao_data_head); - ao_wakeup(DATA_TO_XDATA(&ao_data_head)); - } + /* record this conversion series */ + ao_data_ring[ao_data_head].tick = ao_time(); + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup(DATA_TO_XDATA(&ao_data_head)); } static void diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h index 9097557f..34235b08 100644 --- a/src/cc1111/ao_arch.h +++ b/src/cc1111/ao_arch.h @@ -321,4 +321,9 @@ void ao_serial1_tx_isr(void) ao_arch_interrupt(14); #endif +#if HAS_EXTI_0 +void +ao_p0_isr(void) __interrupt(13); +#endif + #endif /* _AO_ARCH_H_ */ diff --git a/src/cc1111/ao_arch_funcs.h b/src/cc1111/ao_arch_funcs.h index 8f1cc094..ea340dfd 100644 --- a/src/cc1111/ao_arch_funcs.h +++ b/src/cc1111/ao_arch_funcs.h @@ -19,46 +19,74 @@ * ao_spi.c */ -extern __xdata uint8_t ao_spi_mutex; +#if !HAS_SPI_0 && !HAS_SPI_1 +#define HAS_SPI_0 1 +#define SPI_0_ALT_2 1 +#endif + +#if HAS_SPI_0 && HAS_SPI_1 +#define MULTI_SPI 1 +#define N_SPI 2 +#else +#define MULTI_SPI 0 +#define N_SPI 1 +#endif + +extern __xdata uint8_t ao_spi_mutex[N_SPI]; + +#if MULTI_SPI +#define ao_spi_get(bus) ao_mutex_get(&ao_spi_mutex[bus]) +#define ao_spi_put(bus) ao_mutex_put(&ao_spi_mutex[bus]) +#else +#define ao_spi_get(bus) ao_mutex_get(&ao_spi_mutex[0]) +#define ao_spi_put(bus) ao_mutex_put(&ao_spi_mutex[0]) +#endif #define AO_SPI_SPEED_FAST 17 #define AO_SPI_SPEED_200kHz 13 -#define ao_spi_set_speed(speed) (U0GCR = (UxGCR_CPOL_NEGATIVE | \ - UxGCR_CPHA_FIRST_EDGE | \ - UxGCR_ORDER_MSB | \ - ((speed) << UxGCR_BAUD_E_SHIFT))) +#if MULTI_SPI +#define ao_spi_set_speed(bus,speed) (*(bus ? &U1GCR : &U0GCR) =(UxGCR_CPOL_NEGATIVE | \ + UxGCR_CPHA_FIRST_EDGE | \ + UxGCR_ORDER_MSB | \ + ((speed) << UxGCR_BAUD_E_SHIFT))) +#else +#define ao_spi_set_speed(bus,speed) (U0GCR = (UxGCR_CPOL_NEGATIVE | \ + UxGCR_CPHA_FIRST_EDGE | \ + UxGCR_ORDER_MSB | \ + ((speed) << UxGCR_BAUD_E_SHIFT))) +#endif #define ao_spi_get_slave(bus) do { \ - ao_mutex_get(&ao_spi_mutex); \ - ao_spi_set_speed(AO_SPI_SPEED_FAST); \ + ao_spi_get(bus); \ + ao_spi_set_speed(bus,AO_SPI_SPEED_FAST); \ } while (0) #define ao_spi_put_slave(bus) do { \ - ao_mutex_put(&ao_spi_mutex); \ + ao_spi_put(bus); \ } while (0) #define ao_spi_get_mask(reg,mask,bus,speed) do { \ - ao_mutex_get(&ao_spi_mutex); \ - ao_spi_set_speed(speed); \ + ao_spi_get(bus); \ + ao_spi_set_speed(bus,speed); \ (reg) &= ~(mask); \ } while (0) #define ao_spi_put_mask(reg,mask,bus) do { \ (reg) |= (mask); \ - ao_mutex_put(&ao_spi_mutex); \ + ao_spi_put(bus); \ } while (0) #define ao_spi_get_bit(reg,bit,pin,bus,speed) do { \ - ao_mutex_get(&ao_spi_mutex); \ - ao_spi_set_speed(speed); \ - pin = 0; \ + ao_spi_get(bus); \ + ao_spi_set_speed(bus,speed); \ + pin = 0; \ } while (0) #define ao_spi_put_bit(reg,bit,pin,bus) do { \ pin = 1; \ - ao_mutex_put(&ao_spi_mutex); \ + ao_spi_put(bus); \ } while (0) @@ -68,6 +96,13 @@ extern __xdata uint8_t ao_spi_mutex; * from chip select low to chip select high */ +#if MULTI_SPI +void +ao_spi_send(void __xdata *block, uint16_t len, uint8_t bus) __reentrant; + +void +ao_spi_recv(void __xdata *block, uint16_t len, uint8_t bus) __reentrant; +#else void ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant; @@ -76,6 +111,7 @@ ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant; #define ao_spi_send(block, len, bus) ao_spi_send_bus(block, len) #define ao_spi_recv(block, len, bus) ao_spi_recv_bus(block, len) +#endif #if AO_SPI_SLAVE void @@ -88,10 +124,15 @@ ao_spi_recv_wait(void); void ao_spi_init(void); -#define ao_spi_init_cs(port, mask) do { \ - SPI_CS_PORT |= mask; \ - SPI_CS_DIR |= mask; \ - SPI_CS_SEL &= ~mask; \ +#define token_paster(x,y) x ## y +#define token_paster3(x,y,z) x ## y ## z +#define token_evaluator(x,y) token_paster(x,y) +#define token_evaluator3(x,y,z) token_paster3(x,y,z) + +#define ao_spi_init_cs(port, mask) do { \ + port |= mask; \ + token_evaluator(port,DIR) |= mask; \ + token_evaluator(port,SEL) &= ~mask; \ } while (0) #define cc1111_enable_output(port,dir,sel,pin,bit,v) do { \ @@ -102,7 +143,7 @@ ao_spi_init(void); #define disable_unreachable _Pragma("disable_warning 126") -#define token_paster(x,y) x ## y -#define token_evaluator(x,y) token_paster(x,y) #define ao_enable_output(port,bit,pin,v) cc1111_enable_output(port,token_evaluator(port,DIR), token_evaluator(port,SEL), pin, bit, v) #define ao_gpio_set(port, bit, pin, v) ((pin) = (v)) +#define ao_gpio_get(port, bit, pin) (pin) + diff --git a/src/cc1111/ao_exti.c b/src/cc1111/ao_exti.c new file mode 100644 index 00000000..537f6252 --- /dev/null +++ b/src/cc1111/ao_exti.c @@ -0,0 +1,33 @@ +/* + * 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. + */ + +#include <ao.h> +#include <ao_exti.h> + +#if HAS_EXTI_0 +__xdata void (*ao_int_callback)(void); + +void +ao_p0_isr(void) __interrupt(13) +{ + if (P0IF && (P0IFG & (AO_MS5607_MISO_MASK))) { + (*ao_int_callback)(); + } + P0IFG = 0; + P0IF = 0; +} +#endif diff --git a/src/cc1111/ao_exti.h b/src/cc1111/ao_exti.h new file mode 100644 index 00000000..49fca5d2 --- /dev/null +++ b/src/cc1111/ao_exti.h @@ -0,0 +1,56 @@ +/* + * 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_EXTI_H_ +#define _AO_EXTI_H_ + +#define AO_EXTI_MODE_RISING 1 +#define AO_EXTI_MODE_FALLING 2 +#define AO_EXTI_MODE_PULL_UP 4 +#define AO_EXTI_MODE_PULL_DOWN 8 +#define AO_EXTI_PRIORITY_LOW 16 +#define AO_EXTI_PRIORITY_MED 0 +#define AO_EXTI_PRIORITY_HIGH 32 + +extern void (*ao_int_callback)(void); + +#define ao_exti_setup(gpio, pin, mode, callback) do { \ + ao_int_callback = callback; \ + } while (0) + +#define ao_exti_set_mode(gpio, pin, mode) do { \ + } while (0) + +#define ao_exti_set_callback(port, pin, callback) do { \ + ao_int_callback = callback; \ + } while (0) + +#define ao_exti_init() + +#define ao_exti_enable(port, pin) do { \ + P0IFG &= ~(1 << pin); \ + P0IF = 0; \ + PICTL |= PICTL_P0IENL; \ + IEN1 |= IEN1_P0IE; \ + } while (0) + +#define ao_exti_disable(port, pin) do { \ + IEN1 &= ~IEN1_P0IE; \ + PICTL &= ~PICTL_P0IENL; \ + } while (0) + +#endif /* _AO_EXTI_H_ */ diff --git a/src/cc1111/ao_spi.c b/src/cc1111/ao_spi.c index cdef6bda..fb08f3f5 100644 --- a/src/cc1111/ao_spi.c +++ b/src/cc1111/ao_spi.c @@ -18,10 +18,6 @@ #include "ao.h" /* Default pin usage for existing Altus Metrum devices */ -#if !HAS_SPI_0 && !HAS_SPI_1 -#define HAS_SPI_0 1 -#define SPI_0_ALT_2 1 -#endif #ifndef SPI_CONST #define SPI_CONST 0xff @@ -61,62 +57,107 @@ */ #if HAS_SPI_0 -#define SPI_CSR U0CSR -#define SPI_BUF U0DBUFXADDR -#define SPI_BAUD U0BAUD -#define SPI_GCR U0GCR -#define SPI_CFG_MASK PERCFG_U0CFG_ALT_MASK -#define SPI_DMA_TX DMA_CFG0_TRIGGER_UTX0 -#define SPI_DMA_RX DMA_CFG0_TRIGGER_URX0 +#define SPI_BUF_0 &U0DBUFXADDR +#define SPI_CSR_0 U0CSR +#define SPI_BAUD_0 U0BAUD +#define SPI_GCR_0 U0GCR +#define SPI_CFG_MASK_0 PERCFG_U0CFG_ALT_MASK +#define SPI_DMA_TX_0 DMA_CFG0_TRIGGER_UTX0 +#define SPI_DMA_RX_0 DMA_CFG0_TRIGGER_URX0 #if SPI_0_ALT_1 -#define SPI_CFG PERCFG_U0CFG_ALT_1 -#define SPI_SEL P0SEL -#define SPI_BITS (1 << 3) | (1 << 2) | (1 << 5) -#define SPI_CSS_BIT (1 << 4) +#define SPI_CFG_0 PERCFG_U0CFG_ALT_1 +#define SPI_SEL_0 P0SEL +#define SPI_BITS_0 (1 << 3) | (1 << 2) | (1 << 5) +#define SPI_CSS_BIT_0 (1 << 4) #endif #if SPI_0_ALT_2 -#define SPI_CFG PERCFG_U0CFG_ALT_2 -#define SPI_SEL P1SEL -#define SPI_PRI P2SEL_PRI3P1_USART0 -#define SPI_BITS (1 << 5) | (1 << 4) | (1 << 3) -#define SPI_CSS_BIT (1 << 2) +#define SPI_CFG_0 PERCFG_U0CFG_ALT_2 +#define SPI_SEL_0 P1SEL +#define SPI_PRI_0 P2SEL_PRI3P1_USART0 +#define SPI_BITS_0 (1 << 5) | (1 << 4) | (1 << 3) +#define SPI_CSS_BIT_0 (1 << 2) #endif #endif #if HAS_SPI_1 -#define SPI_CSR U1CSR -#define SPI_BUF U1DBUFXADDR -#define SPI_BAUD U1BAUD -#define SPI_GCR U1GCR -#define SPI_CFG_MASK PERCFG_U1CFG_ALT_MASK -#define SPI_DMA_TX DMA_CFG0_TRIGGER_UTX1 -#define SPI_DMA_RX DMA_CFG0_TRIGGER_URX1 +#define SPI_BUF_1 &U1DBUFXADDR +#define SPI_CSR_1 U1CSR +#define SPI_BAUD_1 U1BAUD +#define SPI_GCR_1 U1GCR +#define SPI_CFG_MASK_1 PERCFG_U1CFG_ALT_MASK +#define SPI_DMA_TX_1 DMA_CFG0_TRIGGER_UTX1 +#define SPI_DMA_RX_1 DMA_CFG0_TRIGGER_URX1 #if SPI_1_ALT_1 -#define SPI_CFG PERCFG_U1CFG_ALT_1 -#define SPI_SEL P0SEL -#define SPI_BITS (1 << 4) | (1 << 5) | (1 << 3) -#define SPI_CSS_BIT (1 << 2) +#define SPI_CFG_1 PERCFG_U1CFG_ALT_1 +#define SPI_SEL_1 P0SEL +#define SPI_BITS_1 (1 << 4) | (1 << 5) | (1 << 3) +#define SPI_CSS_BIT_1 (1 << 2) #endif #if SPI_1_ALT_2 -#define SPI_CFG PERCFG_U1CFG_ALT_2 -#define SPI_SEL P1SEL -#define SPI_PRI P2SEL_PRI3P1_USART1 -#define SPI_BITS (1 << 6) | (1 << 7) | (1 << 5) -#define SPI_CSS_BIT (1 << 4) +#define SPI_CFG_1 PERCFG_U1CFG_ALT_2 +#define SPI_SEL_1 P1SEL +#define SPI_PRI_1 P2SEL_PRI3P1_USART1 +#define SPI_BITS_1 (1 << 6) | (1 << 7) | (1 << 5) +#define SPI_CSS_BIT_1 (1 << 4) #endif #endif +#if MULTI_SPI + +#define SPI_BUF(bus) ((bus) ? SPI_BUF_1 : SPI_BUF_0) +#define SPI_CSR(bus) ((bus) ? SPI_CSR_1 : SPI_CSR_0) +#define SPI_BAUD(bus) ((bus) ? SPI_BAUD_1 : SPI_BAUD_0) +#define SPI_GCR(bus) ((bus) ? SPI_GCR_1 : SPI_GCR_0) +#define SPI_CFG_MASK(bus) ((bus) ? SPI_CFG_MASK_1 : SPI_CFG_MASK_0) +#define SPI_DMA_TX(bus) ((bus) ? SPI_DMA_TX_1 : SPI_DMA_TX_0) +#define SPI_DMA_RX(bus) ((bus) ? SPI_DMA_RX_1 : SPI_DMA_RX_0) +#define SPI_CFG(bus) ((bus) ? SPI_CFG_1 : SPI_CFG_0) +#define SPI_SEL(bus) ((bus) ? SPI_SEL_1 : SPI_SEL_0) +#define SPI_BITS(bus) ((bus) ? SPI_BITS_1 : SPI_BITS_0) +#define SPI_CSS_BIT(bus) ((bus) ? SPI_CSS_BIT_1 : SPI_CSS_BIT_0) + +#else + +#if HAS_SPI_0 +#define SPI_BUF(bus) SPI_BUF_0 +#define SPI_CSR(bus) SPI_CSR_0 +#define SPI_BAUD(bus) SPI_BAUD_0 +#define SPI_GCR(bus) SPI_GCR_0 +#define SPI_CFG_MASK(bus) SPI_CFG_MASK_0 +#define SPI_DMA_TX(bus) SPI_DMA_TX_0 +#define SPI_DMA_RX(bus) SPI_DMA_RX_0 +#define SPI_CFG(bus) SPI_CFG_0 +#define SPI_SEL(bus) SPI_SEL_0 +#define SPI_BITS(bus) SPI_BITS_0 +#define SPI_CSS_BIT(bus) SPI_CSS_BIT_0 +#endif +#if HAS_SPI_1 +#define SPI_BUF(bus) SPI_BUF_1 +#define SPI_CSR(bus) SPI_CSR_1 +#define SPI_BAUD(bus) SPI_BAUD_1 +#define SPI_GCR(bus) SPI_GCR_1 +#define SPI_CFG_MASK(bus) SPI_CFG_MASK_1 +#define SPI_DMA_TX(bus) SPI_DMA_TX_1 +#define SPI_DMA_RX(bus) SPI_DMA_RX_1 +#define SPI_CFG(bus) SPI_CFG_1 +#define SPI_SEL(bus) SPI_SEL_1 +#define SPI_BITS(bus) SPI_BITS_1 +#define SPI_CSS_BIT(bus) SPI_CSS_BIT_1 +#endif + +#endif /* MULTI_SPI */ + #if AO_SPI_SLAVE -#define CSS SPI_CSS_BIT +#define CSS(bus) SPI_CSS_BIT(bus) #define UxCSR_DIRECTION UxCSR_SLAVE #else -#define CSS 0 +#define CSS(bus) 0 #define UxCSR_DIRECTION UxCSR_MASTER #endif @@ -124,15 +165,16 @@ * operation, from CS low to CS high. This means that any SPI * user must protect the SPI bus with this mutex */ -__xdata uint8_t ao_spi_mutex; -__xdata uint8_t ao_spi_dma_in_done; -__xdata uint8_t ao_spi_dma_out_done; +__xdata uint8_t ao_spi_mutex[N_SPI]; +__xdata uint8_t ao_spi_dma_in_done[N_SPI]; +__xdata uint8_t ao_spi_dma_out_done[N_SPI]; -uint8_t ao_spi_dma_out_id; -uint8_t ao_spi_dma_in_id; +uint8_t ao_spi_dma_out_id[N_SPI]; +uint8_t ao_spi_dma_in_id[N_SPI]; static __xdata uint8_t ao_spi_const; + /* Send bytes over SPI. * * This sets up two DMA engines, one writing the data and another reading @@ -140,45 +182,52 @@ static __xdata uint8_t ao_spi_const; * is complete, as the transmit register is double buffered and hence signals * completion one byte before the transfer is actually complete */ +#if MULTI_SPI +void +ao_spi_send(void __xdata *block, uint16_t len, uint8_t bus) __reentrant +#else void ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant +#define bus 0 +#endif { - ao_dma_set_transfer(ao_spi_dma_in_id, - &SPI_BUF, + ao_dma_set_transfer(ao_spi_dma_in_id[bus], + SPI_BUF(bus), &ao_spi_const, len, DMA_CFG0_WORDSIZE_8 | DMA_CFG0_TMODE_SINGLE | - SPI_DMA_RX, + SPI_DMA_RX(bus), DMA_CFG1_SRCINC_0 | DMA_CFG1_DESTINC_0 | DMA_CFG1_PRIORITY_NORMAL); - ao_dma_set_transfer(ao_spi_dma_out_id, + ao_dma_set_transfer(ao_spi_dma_out_id[bus], block, - &SPI_BUF, + SPI_BUF(bus), len, DMA_CFG0_WORDSIZE_8 | DMA_CFG0_TMODE_SINGLE | - SPI_DMA_TX, + SPI_DMA_TX(bus), DMA_CFG1_SRCINC_1 | DMA_CFG1_DESTINC_0 | DMA_CFG1_PRIORITY_NORMAL); - ao_dma_start(ao_spi_dma_in_id); - ao_dma_start(ao_spi_dma_out_id); - ao_dma_trigger(ao_spi_dma_out_id); + ao_dma_start(ao_spi_dma_in_id[bus]); + ao_dma_start(ao_spi_dma_out_id[bus]); + ao_dma_trigger(ao_spi_dma_out_id[bus]); #if !AO_SPI_SLAVE - __critical while (!ao_spi_dma_in_done) - ao_sleep(&ao_spi_dma_in_done); + __critical while (!ao_spi_dma_in_done[bus]) + ao_sleep(&ao_spi_dma_in_done[bus]); #endif +#undef bus } #if AO_SPI_SLAVE void ao_spi_send_wait(void) { - __critical while (!ao_spi_dma_in_done) - ao_sleep(&ao_spi_dma_in_done); + __critical while (!ao_spi_dma_in_done[0]) + ao_sleep(&ao_spi_dma_in_done[0]); } #endif @@ -188,16 +237,22 @@ ao_spi_send_wait(void) * writing constant values to the SPI transmitter as that is what * clocks the data coming in. */ +#if MULTI_SPI +void +ao_spi_recv(void __xdata *block, uint16_t len, uint8_t bus) __reentrant +#else void ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant +#define bus 0 +#endif { - ao_dma_set_transfer(ao_spi_dma_in_id, - &SPI_BUF, + ao_dma_set_transfer(ao_spi_dma_in_id[bus], + SPI_BUF(bus), block, len, DMA_CFG0_WORDSIZE_8 | DMA_CFG0_TMODE_SINGLE | - SPI_DMA_RX, + SPI_DMA_RX(bus), DMA_CFG1_SRCINC_0 | DMA_CFG1_DESTINC_1 | DMA_CFG1_PRIORITY_NORMAL); @@ -205,24 +260,24 @@ ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant ao_spi_const = SPI_CONST; #if !AO_SPI_SLAVE - ao_dma_set_transfer(ao_spi_dma_out_id, + ao_dma_set_transfer(ao_spi_dma_out_id[bus], &ao_spi_const, - &SPI_BUF, + SPI_BUF(bus), len, DMA_CFG0_WORDSIZE_8 | DMA_CFG0_TMODE_SINGLE | - SPI_DMA_TX, + SPI_DMA_TX(bus), DMA_CFG1_SRCINC_0 | DMA_CFG1_DESTINC_0 | DMA_CFG1_PRIORITY_NORMAL); #endif - ao_dma_start(ao_spi_dma_in_id); + ao_dma_start(ao_spi_dma_in_id[bus]); #if !AO_SPI_SLAVE - ao_dma_start(ao_spi_dma_out_id); - ao_dma_trigger(ao_spi_dma_out_id); - __critical while (!ao_spi_dma_in_done) - ao_sleep(&ao_spi_dma_in_done); + ao_dma_start(ao_spi_dma_out_id[bus]); + ao_dma_trigger(ao_spi_dma_out_id[bus]); + __critical while (!ao_spi_dma_in_done[bus]) + ao_sleep(&ao_spi_dma_in_done[bus]); #endif } @@ -230,17 +285,43 @@ ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant void ao_spi_recv_wait(void) { - __critical while (!ao_spi_dma_in_done) - ao_sleep(&ao_spi_dma_in_done); + __critical while (!ao_spi_dma_in_done[0]) + ao_sleep(&ao_spi_dma_in_done[0]); } #endif +/* Set up the USART. + * + * SPI master/slave mode + */ +/* Set the baud rate and signal parameters + * + * The cc1111 is limited to a 24/8 MHz SPI clock. + * Every peripheral I've ever seen goes faster than that, + * so set the clock to 3MHz (BAUD_E 17, BAUD_M 0) + */ +#define SPI_INIT(bus,o) do { \ + /* Set up the USART pin assignment */ \ + PERCFG = (PERCFG & ~SPI_CFG_MASK(bus)) | SPI_CFG(bus); \ + \ + /* Make the SPI pins be controlled by the USART peripheral */ \ + SPI_SEL(bus) |= SPI_BITS(bus) | CSS(bus); \ + SPI_CSR(bus) = (UxCSR_MODE_SPI | UxCSR_RE | UxCSR_DIRECTION); \ + SPI_BAUD(bus) = 0; \ + SPI_GCR(bus) = (UxGCR_CPOL_NEGATIVE | \ + UxGCR_CPHA_FIRST_EDGE | \ + UxGCR_ORDER_MSB | \ + (17 << UxGCR_BAUD_E_SHIFT)); \ + /* Set up OUT DMA */ \ + ao_spi_dma_out_id[o] = ao_dma_alloc(&ao_spi_dma_out_done[o]); \ + \ + /* Set up IN DMA */ \ + ao_spi_dma_in_id[o] = ao_dma_alloc(&ao_spi_dma_in_done[o]); \ + } while (0) + void ao_spi_init(void) { - /* Set up the USART pin assignment */ - PERCFG = (PERCFG & ~SPI_CFG_MASK) | SPI_CFG; - /* Ensure that SPI USART takes precidence over the other USART * for pins that they share */ @@ -248,30 +329,10 @@ ao_spi_init(void) P2SEL = (P2SEL & ~P2SEL_PRI3P1_MASK) | SPI_PRI; #endif - /* Make the SPI pins be controlled by the USART peripheral */ - SPI_SEL |= SPI_BITS | CSS; - - /* Set up OUT DMA */ - ao_spi_dma_out_id = ao_dma_alloc(&ao_spi_dma_out_done); - - /* Set up IN DMA */ - ao_spi_dma_in_id = ao_dma_alloc(&ao_spi_dma_in_done); - - /* Set up the USART. - * - * SPI master/slave mode - */ - SPI_CSR = (UxCSR_MODE_SPI | UxCSR_RE | UxCSR_DIRECTION); - - /* Set the baud rate and signal parameters - * - * The cc1111 is limited to a 24/8 MHz SPI clock. - * Every peripheral I've ever seen goes faster than that, - * so set the clock to 3MHz (BAUD_E 17, BAUD_M 0) - */ - SPI_BAUD = 0; - SPI_GCR = (UxGCR_CPOL_NEGATIVE | - UxGCR_CPHA_FIRST_EDGE | - UxGCR_ORDER_MSB | - (17 << UxGCR_BAUD_E_SHIFT)); +#if HAS_SPI_0 + SPI_INIT(0, 0); +#endif +#if HAS_SPI_1 + SPI_INIT(1, MULTI_SPI); +#endif } diff --git a/src/cc1111/ao_timer.c b/src/cc1111/ao_timer.c index a64b5aba..54af9605 100644 --- a/src/cc1111/ao_timer.c +++ b/src/cc1111/ao_timer.c @@ -39,6 +39,9 @@ void ao_timer_isr(void) __interrupt 9 if (++ao_adc_count == ao_adc_interval) { ao_adc_count = 0; ao_adc_poll(); +#if (AO_DATA_ALL & ~(AO_DATA_ADC)) + ao_wakeup(DATA_TO_XDATA(&ao_adc_count)); +#endif } #endif } diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c index a655d1be..b0ab409d 100644 --- a/src/cc1111/ao_usb.c +++ b/src/cc1111/ao_usb.c @@ -201,6 +201,11 @@ ao_usb_ep0_setup(void) ao_usb_ep0_queue_byte(0); break; case AO_USB_REQ_SET_ADDRESS: +#if USB_FORCE_FLIGHT_IDLE + /* Go to idle mode if USB is connected + */ + ao_flight_force_idle = 1; +#endif ao_usb_set_address(ao_usb_setup.value); break; case AO_USB_REQ_GET_DESCRIPTOR: diff --git a/src/core/ao.h b/src/core/ao.h index caa0ec19..e7320327 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -182,7 +182,7 @@ void ao_cmd_hex(void); void -ao_cmd_decimal(void); +ao_cmd_decimal(void) __reentrant; /* Read a single hex nibble off stdin. */ uint8_t diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c index 5113548b..4ebaa607 100644 --- a/src/core/ao_cmd.c +++ b/src/core/ao_cmd.c @@ -206,9 +206,9 @@ ao_cmd_hex(void) } void -ao_cmd_decimal(void) +ao_cmd_decimal(void) __reentrant { - __pdata uint8_t r = ao_cmd_lex_error; + uint8_t r = ao_cmd_lex_error; ao_cmd_lex_u32 = 0; ao_cmd_white(); diff --git a/src/core/ao_data.c b/src/core/ao_data.c index 38d2f7ff..6a3d02a1 100644 --- a/src/core/ao_data.c +++ b/src/core/ao_data.c @@ -22,6 +22,7 @@ volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; volatile __data uint8_t ao_data_head; volatile __data uint8_t ao_data_present; +#ifndef ao_data_count void ao_data_get(__xdata struct ao_data *packet) { @@ -32,3 +33,4 @@ ao_data_get(__xdata struct ao_data *packet) #endif memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); } +#endif diff --git a/src/core/ao_data.h b/src/core/ao_data.h index c873e9d3..339afe69 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -101,7 +101,7 @@ extern volatile __data uint8_t ao_data_count; * signaled by the timer tick */ #define AO_DATA_WAIT() do { \ - ao_sleep((void *) &ao_data_count); \ + ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count)); \ } while (0) #endif /* AO_DATA_RING */ diff --git a/src/core/ao_int64.c b/src/core/ao_int64.c new file mode 100644 index 00000000..aa23dbe0 --- /dev/null +++ b/src/core/ao_int64.c @@ -0,0 +1,158 @@ +/* + * 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. + */ + +#include <ao_int64.h> + +__pdata ao_int64_t *__data ao_64r, *__data ao_64a, *__data ao_64b; + +void ao_plus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR { + __LOCAL uint32_t t; + + r->high = a->high + b->high; + t = a->low + b->low; + if (t < a->low) + r->high++; + r->low = t; +} + +void ao_minus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR { + __LOCAL uint32_t t; + + r->high = a->high - b->high; + t = a->low - b->low; + if (t > a->low) + r->high--; + r->low = t; +} + +void ao_rshift64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, uint8_t d) __FATTR { + if (d < 32) { + r->low = a->low >> d; + if (d) + r->low |= a->high << (32 - d); + r->high = (int32_t) a->high >> d; + } else { + d &= 0x1f; + r->low = (int32_t) a->high >> d; + r->high = 0; + } +} + +void ao_lshift64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, uint8_t d) __FATTR { + if (d < 32) { + r->high = a->high << d; + if (d) + r->high |= a->low >> (32 - d); + r->low = a->low << d; + } else { + d &= 0x1f; + r->high = a->low << d; + r->low = 0; + } +} + +static void ao_umul64_32_32(__ARG ao_int64_t *r, uint32_t a, uint32_t b) __reentrant { + __LOCAL uint32_t s; + __LOCAL ao_int64_t t; + r->low = (uint32_t) (uint16_t) a * (uint16_t) b; + r->high = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) (b >> 16); + + s = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) b; + + t.high = s >> 16; + t.low = s << 16; + ao_plus64(r, r, &t); + + s = (uint32_t) (uint16_t) a * (uint16_t) (b >> 16); + + t.high = s >> 16; + t.low = s << 16; + ao_plus64(r, r, &t); +} + +void ao_neg64(__pdata ao_int64_t *r, __pdata ao_int64_t *a) __FATTR { + r->high = ~a->high; + if (!(r->low = ~a->low + 1)) + r->high++; +} + +void ao_mul64_32_32(__ARG ao_int64_t *r, int32_t a, int32_t b) __FATTR { + uint8_t negative = 0; + + if (a < 0) { + a = -a; + ++negative; + } + if (b < 0) { + b = -b; + --negative; + } + ao_umul64_32_32(r, a, b); + if (negative) + ao_neg64(r, r); +} + +static void ao_umul64(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG ao_int64_t *b) __reentrant { + __LOCAL ao_int64_t r2, r3; + + ao_umul64_32_32(&r2, a->high, b->low); + ao_umul64_32_32(&r3, a->low, b->high); + ao_umul64_32_32(r, a->low, b->low); + + r->high += r2.low + r3.low; +} + +static __ARG ao_int64_t ap, bp; + +void ao_mul64(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG ao_int64_t *b) __FATTR { + uint8_t negative = 0; + + if (ao_int64_negativep(a)) { + ao_neg64(&ap, a); + a = ≈ + ++negative; + } + if (ao_int64_negativep(b)) { + ao_neg64(&bp, b); + b = &bp; + --negative; + } + ao_umul64(r, a, b); + if (negative) + ao_neg64(r, r); +} + +static void ao_umul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, uint16_t b) __reentrant { + __LOCAL uint32_t h; + + h = a->high * b; + ao_umul64_32_32(r, a->low, b); + r->high += h; +} + +void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR { + uint8_t negative = 0; + + if ((int32_t) a->high < 0) { + ao_neg64(&ap, a); + a = ≈ + negative++; + } else + ao_umul64_64_16(r, a, b); + if (negative) + ao_neg64(r, r); +} diff --git a/src/core/ao_int64.h b/src/core/ao_int64.h new file mode 100644 index 00000000..b16db58c --- /dev/null +++ b/src/core/ao_int64.h @@ -0,0 +1,48 @@ +/* + * 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_INT64_H_ +#define _AO_INT64_H_ + +#include <stdint.h> + +typedef struct { + uint32_t high; + uint32_t low; +} ao_int64_t; + +#define __FATTR +#define __ARG __pdata +#define __LOCAL static __pdata + +void ao_plus64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, __pdata ao_int64_t *ao_64b) __FATTR; +void ao_minus64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, __pdata ao_int64_t *ao_64b) __FATTR; +void ao_neg64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a) __FATTR; +void ao_rshift64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, uint8_t d) __FATTR; +void ao_lshift64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, uint8_t d) __FATTR; +void ao_mul64_32_32(__ARG ao_int64_t *r, __ARG int32_t a, __ARG int32_t b) __FATTR; +void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR; +void ao_mul64(__ARG ao_int64_t * __ARG r, __ARG ao_int64_t * __ARG a, __ARG ao_int64_t *__ARG b) __FATTR; + +#define ao_int64_init32(r, a) (((r)->high = 0), (r)->low = (a)) +#define ao_int64_init64(r, a, b) (((r)->high = (a)), (r)->low = (b)) + +#define ao_cast64(a) (((int64_t) (a)->high << 32) | (a)->low) + +#define ao_int64_negativep(a) (((int32_t) (a)->high) < 0) + +#endif /* _AO_INT64_H_ */ diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c index 59ffd8b2..762b2c0a 100644 --- a/src/core/ao_kalman.c +++ b/src/core/ao_kalman.c @@ -40,9 +40,9 @@ static __pdata int32_t ao_k_accel; __pdata int16_t ao_height; __pdata int16_t ao_speed; __pdata int16_t ao_accel; -__pdata int16_t ao_max_height; +__xdata int16_t ao_max_height; static __pdata int32_t ao_avg_height_scaled; -__pdata int16_t ao_avg_height; +__xdata int16_t ao_avg_height; __pdata int16_t ao_error_h; __pdata int16_t ao_error_h_sq_avg; diff --git a/src/core/ao_log_mini.c b/src/core/ao_log_mini.c index 1273b0e3..46b285f3 100644 --- a/src/core/ao_log_mini.c +++ b/src/core/ao_log_mini.c @@ -79,7 +79,6 @@ void ao_log(void) { __pdata uint16_t next_sensor, next_other; - uint8_t i; ao_storage_setup(); diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c index 23ebf7dd..095aca37 100644 --- a/src/core/ao_log_telem.c +++ b/src/core/ao_log_telem.c @@ -23,7 +23,7 @@ __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRY; static __data uint8_t ao_log_monitor_pos; __pdata enum ao_flight_state ao_flight_state; -__pdata int16_t ao_max_height; /* max of ao_height */ +__xdata int16_t ao_max_height; /* max of ao_height */ __pdata int16_t sense_d, sense_m; __pdata uint8_t ao_igniter_present; diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h index a2dac979..5bd29536 100644 --- a/src/core/ao_sample.h +++ b/src/core/ao_sample.h @@ -136,8 +136,8 @@ uint8_t ao_sample(void); extern __pdata int16_t ao_height; /* meters */ extern __pdata int16_t ao_speed; /* m/s * 16 */ extern __pdata int16_t ao_accel; /* m/s² * 16 */ -extern __pdata int16_t ao_max_height; /* max of ao_height */ -extern __pdata int16_t ao_avg_height; /* running average of height */ +extern __xdata int16_t ao_max_height; /* max of ao_height */ +extern __xdata int16_t ao_avg_height; /* running average of height */ extern __pdata int16_t ao_error_h; extern __pdata int16_t ao_error_h_sq_avg; diff --git a/src/core/ao_task.c b/src/core/ao_task.c index 4f48e32d..bafb4943 100644 --- a/src/core/ao_task.c +++ b/src/core/ao_task.c @@ -423,7 +423,7 @@ ao_sleep(__xdata void *wchan) } void -ao_wakeup(__xdata void *wchan) +ao_wakeup(__xdata void *wchan) __reentrant { #if HAS_TASK_QUEUE struct ao_task *sleep, *next; diff --git a/src/core/ao_task.h b/src/core/ao_task.h index 1a4b5b6b..9c56b480 100644 --- a/src/core/ao_task.h +++ b/src/core/ao_task.h @@ -45,7 +45,10 @@ struct ao_task { #endif }; +#ifndef AO_NUM_TASKS #define AO_NUM_TASKS 16 /* maximum number of tasks */ +#endif + #define AO_NO_TASK 0 /* no task id */ extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS]; @@ -67,7 +70,7 @@ ao_sleep(__xdata void *wchan); /* Wake all tasks sleeping on wchan */ void -ao_wakeup(__xdata void *wchan); +ao_wakeup(__xdata void *wchan) __reentrant; /* set an alarm to go off in 'delay' ticks */ void diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c index 65d7d08f..cd95aa6b 100644 --- a/src/core/ao_telemetry.c +++ b/src/core/ao_telemetry.c @@ -181,8 +181,7 @@ static void ao_send_metrum_sensor(void) { __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)]; - - telemetry.generic.tick = packet->tick; + telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR; telemetry.metrum_sensor.state = ao_flight_state; @@ -213,7 +212,7 @@ ao_send_metrum_data(void) uint8_t i; telemetry.generic.tick = packet->tick; - telemetry.generic.type = AO_TELEMETRY_MEGA_DATA; + telemetry.generic.type = AO_TELEMETRY_METRUM_DATA; telemetry.metrum_data.ground_pres = ao_ground_pres; telemetry.metrum_data.ground_accel = ao_ground_accel; @@ -224,7 +223,37 @@ ao_send_metrum_data(void) ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max; } } -#endif /* AO_SEND_MEGA */ +#endif /* AO_SEND_METRUM */ + +#ifdef AO_SEND_MINI + +static void +ao_send_mini(void) +{ + __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)]; + + telemetry.generic.tick = packet->tick; + telemetry.generic.type = AO_TELEMETRY_MINI; + + telemetry.mini.state = ao_flight_state; + + telemetry.mini.v_batt = packet->adc.v_batt; + telemetry.mini.sense_a = packet->adc.sense_a; + telemetry.mini.sense_m = packet->adc.sense_m; + + telemetry.mini.pres = ao_data_pres(packet); + telemetry.mini.temp = ao_data_temp(packet); + + telemetry.mini.acceleration = ao_accel; + telemetry.mini.speed = ao_speed; + telemetry.mini.height = ao_height; + + telemetry.mini.ground_pres = ao_ground_pres; + + ao_radio_send(&telemetry, sizeof (telemetry)); +} + +#endif /* AO_SEND_MINI */ #ifdef AO_SEND_ALL_BARO static uint8_t ao_baro_sample; @@ -369,7 +398,6 @@ ao_telemetry(void) ao_aprs_time = time; #endif while (ao_telemetry_interval) { - #if HAS_APRS if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY)) #endif @@ -377,19 +405,23 @@ ao_telemetry(void) #ifdef AO_SEND_ALL_BARO ao_send_baro(); #endif + #if HAS_FLIGHT -#ifdef AO_SEND_MEGA +# ifdef AO_SEND_MEGA ao_send_mega_sensor(); ao_send_mega_data(); -#else -#ifdef AO_SEND_METRUM +# endif +# ifdef AO_SEND_METRUM ao_send_metrum_sensor(); ao_send_metrum_data(); -#else +# endif +# ifdef AO_SEND_MINI + ao_send_mini(); +# endif +# ifdef AO_TELEMETRY_SENSOR ao_send_sensor(); -#endif -#endif -#endif +# endif +#endif /* HAS_FLIGHT */ #if HAS_COMPANION if (ao_companion_running) @@ -406,18 +438,18 @@ ao_telemetry(void) if (ao_rdf && #if HAS_APRS !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) && -#endif +#endif /* HAS_APRS */ (int16_t) (ao_time() - ao_rdf_time) >= 0) { #if HAS_IGNITE_REPORT uint8_t c; -#endif +#endif /* HAS_IGNITE_REPORT */ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS; #if HAS_IGNITE_REPORT if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter())) ao_radio_continuity(c); else -#endif +#endif /* HAS_IGNITE_REPORT*/ ao_radio_rdf(); } #endif /* HAS_RDF */ @@ -428,8 +460,8 @@ ao_telemetry(void) ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval); ao_aprs_send(); } -#endif -#endif +#endif /* HAS_APRS */ +#endif /* !AO_SEND_ALL_BARO */ time += ao_telemetry_interval; delay = time - ao_time(); if (delay > 0) { diff --git a/src/core/ao_telemetry.h b/src/core/ao_telemetry.h index 17dc3e93..fd6b76b3 100644 --- a/src/core/ao_telemetry.h +++ b/src/core/ao_telemetry.h @@ -248,6 +248,30 @@ struct ao_telemetry_metrum_data { /* 32 */ }; +#define AO_TELEMETRY_MINI 0x10 + +struct ao_telemetry_mini { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + int16_t v_batt; /* 6 battery voltage */ + int16_t sense_a; /* 8 apogee continuity */ + int16_t sense_m; /* 10 main continuity */ + + int32_t pres; /* 12 Pa * 10 */ + int16_t temp; /* 16 °C * 100 */ + + int16_t acceleration; /* 18 m/s² * 16 */ + int16_t speed; /* 20 m/s * 16 */ + int16_t height; /* 22 m */ + + int32_t ground_pres; /* 24 average pres on pad */ + + int32_t pad28; /* 28 */ + /* 32 */ +}; /* #define AO_SEND_ALL_BARO */ @@ -284,6 +308,7 @@ union ao_telemetry_all { struct ao_telemetry_mega_data mega_data; struct ao_telemetry_metrum_sensor metrum_sensor; struct ao_telemetry_metrum_data metrum_data; + struct ao_telemetry_mini mini; struct ao_telemetry_baro baro; }; diff --git a/src/drivers/ao_74hc165.c b/src/drivers/ao_74hc165.c index f24fce37..143f4e3f 100644 --- a/src/drivers/ao_74hc165.c +++ b/src/drivers/ao_74hc165.c @@ -27,12 +27,12 @@ uint8_t ao_74hc165_read(void) { static __xdata state; - ao_mutex_get(&ao_spi_mutex); - ao_spi_set_speed(AO_SPI_SPEED_FAST); + ao_spi_get(AO_74HC165_SPI_BUS); + ao_spi_set_speed(AO_74HC165_SPI_BUS, AO_SPI_SPEED_FAST); AO_74HC165_CS = 1; ao_spi_recv(&state, 1, AO_74HC165_SPI_BUS); AO_74HC165_CS = 0; - ao_mutex_put(&ao_spi_mutex); + ao_spi_put(AO_74HC165_SPI_BUS); return state; } diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c index 8f1dcbe1..58ab9197 100644 --- a/src/drivers/ao_ms5607.c +++ b/src/drivers/ao_ms5607.c @@ -21,8 +21,8 @@ #if HAS_MS5607 || HAS_MS5611 -static struct ao_ms5607_prom ms5607_prom; -static uint8_t ms5607_configured; +static __xdata struct ao_ms5607_prom ms5607_prom; +static __xdata uint8_t ms5607_configured; static void ao_ms5607_start(void) { @@ -40,7 +40,7 @@ ao_ms5607_reset(void) { cmd = AO_MS5607_RESET; ao_ms5607_start(); - ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX); ao_delay(AO_MS_TO_TICKS(10)); ao_ms5607_stop(); } @@ -69,17 +69,17 @@ ao_ms5607_crc(uint8_t *prom) } static void -ao_ms5607_prom_read(struct ao_ms5607_prom *prom) +ao_ms5607_prom_read(__xdata struct ao_ms5607_prom *prom) { - uint8_t addr; - uint8_t crc; - uint16_t *r; + uint8_t addr; + uint8_t crc; + __xdata uint16_t *r; - r = (uint16_t *) prom; + r = (__xdata uint16_t *) prom; for (addr = 0; addr < 8; addr++) { uint8_t cmd = AO_MS5607_PROM_READ(addr); ao_ms5607_start(); - ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX); ao_spi_recv(r, 2, AO_MS5607_SPI_INDEX); ao_ms5607_stop(); r++; @@ -114,25 +114,25 @@ ao_ms5607_setup(void) ao_ms5607_prom_read(&ms5607_prom); } -static volatile uint8_t ao_ms5607_done; +static __xdata volatile uint8_t ao_ms5607_done; static void ao_ms5607_isr(void) { ao_exti_disable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN); ao_ms5607_done = 1; - ao_wakeup((void *) &ao_ms5607_done); + ao_wakeup((__xdata void *) &ao_ms5607_done); } static uint32_t ao_ms5607_get_sample(uint8_t cmd) { - uint8_t reply[3]; - uint8_t read; + __xdata uint8_t reply[3]; + __xdata uint8_t read; ao_ms5607_done = 0; ao_ms5607_start(); - ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX); + ao_spi_send(DATA_TO_XDATA(&cmd), 1, AO_MS5607_SPI_INDEX); ao_exti_enable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN); @@ -140,7 +140,8 @@ ao_ms5607_get_sample(uint8_t cmd) { ao_spi_put(AO_MS5607_SPI_INDEX); #endif ao_arch_block_interrupts(); - while (!ao_ms5607_done) + while (!ao_gpio_get(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN, AO_MS5607_MISO) && + !ao_ms5607_done) ao_sleep((void *) &ao_ms5607_done); ao_arch_release_interrupts(); #if AO_MS5607_PRIVATE_PINS @@ -173,16 +174,20 @@ ao_ms5607_get_sample(uint8_t cmd) { #define AO_CONVERT_D2 token_evaluator(AO_MS5607_CONVERT_D2_, AO_MS5607_TEMP_OVERSAMPLE) void -ao_ms5607_sample(struct ao_ms5607_sample *sample) +ao_ms5607_sample(__xdata struct ao_ms5607_sample *sample) { sample->pres = ao_ms5607_get_sample(AO_CONVERT_D1); sample->temp = ao_ms5607_get_sample(AO_CONVERT_D2); } +#ifdef _CC1111_H_ +#include "ao_ms5607_convert_8051.c" +#else #include "ao_ms5607_convert.c" +#endif #if HAS_TASK -struct ao_ms5607_sample ao_ms5607_current; +__xdata struct ao_ms5607_sample ao_ms5607_current; static void ao_ms5607(void) @@ -191,10 +196,10 @@ ao_ms5607(void) for (;;) { ao_ms5607_sample(&ao_ms5607_current); - ao_arch_critical( - AO_DATA_PRESENT(AO_DATA_MS5607); - AO_DATA_WAIT(); - ); + ao_arch_block_interrupts(); + AO_DATA_PRESENT(AO_DATA_MS5607); + AO_DATA_WAIT(); + ao_arch_release_interrupts(); } } @@ -216,11 +221,11 @@ ao_ms5607_info(void) static void ao_ms5607_dump(void) { - struct ao_ms5607_value value; + __xdata struct ao_ms5607_value value; ao_ms5607_convert(&ao_ms5607_current, &value); - printf ("Pressure: %8u %8d\n", ao_ms5607_current.pres, value.pres); - printf ("Temperature: %8u %8d\n", ao_ms5607_current.temp, value.temp); + printf ("Pressure: %8lu %8ld\n", ao_ms5607_current.pres, value.pres); + printf ("Temperature: %8lu %8ld\n", ao_ms5607_current.temp, value.temp); printf ("Altitude: %ld\n", ao_pa_to_altitude(value.pres)); } diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h index b2f98a59..206efd64 100644 --- a/src/drivers/ao_ms5607.h +++ b/src/drivers/ao_ms5607.h @@ -56,7 +56,7 @@ struct ao_ms5607_value { int32_t temp; /* in °C * 100 */ }; -extern struct ao_ms5607_sample ao_ms5607_current; +extern __xdata struct ao_ms5607_sample ao_ms5607_current; void ao_ms5607_setup(void); @@ -68,12 +68,13 @@ void ao_ms5607_info(void); void -ao_ms5607_sample(struct ao_ms5607_sample *sample); +ao_ms5607_sample(__xdata struct ao_ms5607_sample *sample); void -ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value); +ao_ms5607_convert(__xdata struct ao_ms5607_sample *sample, + __xdata struct ao_ms5607_value *value); void -ao_ms5607_get_prom(struct ao_ms5607_prom *prom); +ao_ms5607_get_prom(__data struct ao_ms5607_prom *prom); #endif /* _AO_MS5607_H_ */ diff --git a/src/drivers/ao_ms5607_convert_8051.c b/src/drivers/ao_ms5607_convert_8051.c new file mode 100644 index 00000000..f3a48c46 --- /dev/null +++ b/src/drivers/ao_ms5607_convert_8051.c @@ -0,0 +1,136 @@ +/* + * 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. + */ + +#include <ao_ms5607.h> +#include <ao_int64.h> + +#if HAS_MS5611 +#define SHIFT_OFF 16 +#define SHIFT_TCO 7 +#define SHIFT_SENS 15 +#define SHFIT_TCS 8 +#else +#define SHIFT_OFF 17 +#define SHIFT_TCO 6 +#define SHIFT_SENS 16 +#define SHIFT_TCS 7 +#endif + +void +ao_ms5607_convert(__xdata struct ao_ms5607_sample *sample, + __xdata struct ao_ms5607_value *value) +{ + __LOCAL int32_t dT; + __LOCAL int32_t TEMP; + __LOCAL ao_int64_t OFF; + __LOCAL ao_int64_t SENS; + __LOCAL ao_int64_t a; + + dT = sample->temp - ((int32_t) ms5607_prom.tref << 8); + + /* TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23); */ + ao_mul64_32_32(&a, dT, ms5607_prom.tempsens); + ao_rshift64(&a, &a, 23); + TEMP = 2000 + a.low; + /* */ + + /* OFF = ((int64_t) ms5607_prom.off << SHIFT_OFF) + (((int64_t) ms5607_prom.tco * dT) >> SHIFT_TCO);*/ +#if SHIFT_OFF > 16 + OFF.high = ms5607_prom.off >> (32 - SHIFT_OFF); +#else + OFF.high = 0; +#endif + OFF.low = (uint32_t) ms5607_prom.off << SHIFT_OFF; + ao_mul64_32_32(&a, ms5607_prom.tco, dT); + ao_rshift64(&a, &a, SHIFT_TCO); + ao_plus64(&OFF, &OFF, &a); + /**/ + + /* SENS = ((int64_t) ms5607_prom.sens << SHIFT_SENS) + (((int64_t) ms5607_prom.tcs * dT) >> SHIFT_TCS); */ + SENS.high = 0; + SENS.low = (uint32_t) ms5607_prom.sens << SHIFT_SENS; + ao_mul64_32_32(&a, ms5607_prom.tcs, dT); + ao_rshift64(&a, &a, SHIFT_TCS); + ao_plus64(&SENS, &SENS, &a); + /**/ + + if (TEMP < 2000) { + __LOCAL int32_t T2; + __LOCAL int32_t TEMPM; + __LOCAL ao_int64_t OFF2; + __LOCAL ao_int64_t SENS2; + + /* T2 = ((int64_t) dT * (int64_t) dT) >> 31; */ + ao_mul64_32_32(&a, dT, dT); + T2 = (a.low >> 31) | (a.high << 1); + /**/ + + TEMPM = TEMP - 2000; + + /* OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4; */ + ao_mul64_32_32(&OFF2, TEMPM, TEMPM); + ao_mul64_64_16(&OFF2, &OFF2, 61); + ao_rshift64(&OFF2, &OFF2, 4); + /**/ + + /* SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM; */ + ao_mul64_32_32(&SENS2, TEMPM, TEMPM); + ao_lshift64(&SENS2, &SENS2, 1); + /**/ + + if (TEMP < -1500) { + int32_t TEMPP; + int32_t TEMPP2; + + TEMPP = TEMP + 1500; + TEMPP2 = TEMPP * TEMPP; + + /* OFF2 = OFF2 + 15 * TEMPP2; */ + ao_mul64_32_32(&a, 15, TEMPP2); + ao_plus64(&OFF2, &OFF2, &a); + /**/ + + /* SENS2 = SENS2 + 8 * TEMPP2; */ + a.high = 0; + a.low = TEMPP2; + ao_lshift64(&a, &a, 3); + ao_plus64(&SENS2, &SENS2, &a); + /**/ + } + TEMP -= T2; + + /* OFF -= OFF2; */ + ao_minus64(&OFF, &OFF, &OFF2); + /**/ + + /* SENS -= SENS2; */ + ao_minus64(&SENS, &SENS, &SENS2); + /**/ + } + + /* value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15; */ + a.high = 0; + a.low = sample->pres; + ao_mul64(&a, &a, &SENS); + ao_rshift64(&a, &a, 21); + ao_minus64(&a, &a, &OFF); + ao_rshift64(&a, &a, 15); + value->pres = a.low; + /**/ + + value->temp = TEMP; +} diff --git a/src/drivers/ao_pca9922.c b/src/drivers/ao_pca9922.c index fe070b88..d376b968 100644 --- a/src/drivers/ao_pca9922.c +++ b/src/drivers/ao_pca9922.c @@ -30,12 +30,12 @@ ao_led_apply(void) /* Don't try the SPI bus during initialization */ if (!ao_cur_task) return; - ao_mutex_get(&ao_spi_mutex); - ao_spi_set_speed(AO_SPI_SPEED_FAST); + ao_spi_get(AO_PCA9922_SPI_BUS); + ao_spi_set_speed(AO_PCA9922_SPI_BUS,AO_SPI_SPEED_FAST); AO_PCA9922_CS = 1; ao_spi_send(&ao_led_state, 1, AO_PCA9922_SPI_BUS); AO_PCA9922_CS = 0; - ao_mutex_put(&ao_spi_mutex); + ao_spi_put(AO_PCA9922_SPI_BUS); } void diff --git a/src/telemini-v2.0/Makefile b/src/telemini-v2.0/Makefile new file mode 100644 index 00000000..40878778 --- /dev/null +++ b/src/telemini-v2.0/Makefile @@ -0,0 +1,115 @@ +# +# TeleMini build file +# + +TELEMINI_VER=2.0 +TELEMINI_DEF=2_0 + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../cc1111:../drivers:../product +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + cc1111.h \ + ao_ms5607.h \ + ao_ms5607_convert_8051.c \ + ao_product.h \ + ao_int64.h \ + ao_sample.h \ + ao_exti.h \ + ao_task.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_convert.c \ + ao_flight.c \ + ao_kalman.c \ + ao_log.c \ + ao_log_mini.c \ + ao_mutex.c \ + ao_panic.c \ + ao_report.c \ + ao_sample.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_telemetry.c \ + ao_freq.c \ + ao_int64.c + +CC1111_SRC = \ + ao_adc.c \ + ao_dma.c \ + ao_ignite.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_slave.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_string.c \ + ao_spi.c \ + ao_usb.c \ + ao_convert_pa.c \ + ao_beep.c \ + ao_timer.c \ + ao_exti.c \ + _bp.c + +DRIVER_SRC = \ + ao_ms5607.c \ + ao_m25.c + +PRODUCT_SRC = \ + ao_telemini.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telemini-v$(TELEMINI_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleMini-v$(TELEMINI_VER) +PRODUCT_DEF=-DTELEMINI_V_$(TELEMINI_DEF) +IDPRODUCT=0x000a + +include ../cc1111/Makefile.cc1111 + +NICKLE=nickle +CHECK_STACK=sh ../util/check-stack + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: ../$(PROG) + +../$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: clean-cc1111 + +install: + +uninstall: + diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h new file mode 100644 index 00000000..264ad16d --- /dev/null +++ b/src/telemini-v2.0/ao_pins.h @@ -0,0 +1,160 @@ +/* + * Copyright © 2010 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_RADIO 1 + +#define HAS_FLIGHT 1 +#define HAS_USB 1 +#define USB_FORCE_FLIGHT_IDLE 1 +#define HAS_BEEP 1 +#define HAS_GPS 0 +#define HAS_SERIAL_1 0 +#define HAS_EEPROM 1 +#define HAS_LOG 1 +#define USE_INTERNAL_FLASH 0 +#define HAS_DBG 0 +#define PACKET_HAS_SLAVE 1 + +#define AO_LED_GREEN 1 +#define AO_LED_RED 2 +#define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) +#define HAS_EXTERNAL_TEMP 0 +#define HAS_ACCEL 0 +#define HAS_IGNITE 1 +#define HAS_IGNITE_REPORT 1 +#define HAS_MONITOR 0 + +/* + * SPI + */ + +#define HAS_SPI_0 1 +#define SPI_0_ALT_1 1 +#define HAS_SPI_1 1 +#define SPI_1_ALT_2 1 +#define SPI_CS_PORT P1 +#define SPI_CS_SEL P1SEL +#define SPI_CS_DIR P1DIR + +/* + * Flash + */ +#define AO_M25_SPI_BUS 1 +#define AO_M25_SPI_CS_PORT SPI_CS_PORT +#define AO_M25_SPI_CS_MASK 0x04 /* cs_flash is P1_2 */ +#define M25_MAX_CHIPS 1 + +/* + * MS5607 + */ + +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define AO_MS5607_PRIVATE_PINS 0 +#define AO_MS5607_CS_PORT P1 +#define AO_MS5607_CS_PIN 3 +#define AO_MS5607_CS P1_3 +#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN) +#define AO_MS5607_MISO_PORT P0 +#define AO_MS5607_MISO_PIN 2 +#define AO_MS5607_MISO P0_2 +#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN) +#define AO_MS5607_SPI_INDEX 0 +#define HAS_EXTI_0 1 + +/* + * Igniters + */ +#define AO_IGNITER_PORT P2 +#define AO_IGNITER_DROGUE_PORT AO_IGNITER_PORT +#define AO_IGNITER_DROGUE P2_3 +#define AO_IGNITER_MAIN P2_4 +#define AO_IGNITER_DIR P2DIR +#define AO_IGNITER_DROGUE_BIT (1 << 3) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#define AO_IGNITER_DROGUE_PIN 3 +#define AO_IGNITER_MAIN_PIN 4 + +#define AO_IGNITER_DROGUE_PORT AO_IGNITER_PORT +#define AO_IGNITER_MAIN_PORT AO_IGNITER_PORT + +/* test these values with real igniters */ +#define AO_IGNITER_OPEN 1000 +#define AO_IGNITER_CLOSED 7000 +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) + +#define AO_SEND_MINI + +/* + * ADC + */ + +#define HAS_ADC 1 +#define AO_ADC_FIRST_PIN 0 + +struct ao_adc { + int16_t sense_a; /* apogee continuity sense */ + int16_t sense_m; /* main continuity sense */ + int16_t v_batt; /* battery voltage */ +}; + +#define ao_data_count ao_adc_count + +#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a) +#define AO_SENSE_MAIN(p) ((p)->adc.sense_m) + +#define AO_NUM_TASKS 10 + +#define AO_ADC_DUMP(p) \ + printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \ + (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt) + +#define AO_ADC_PINS ((1 << 0) | (1 << 1) | (1 << 4)) + +#define FETCH_ADC() do { \ + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc); \ + switch (sequence) { \ + case 4: \ + a += 4; \ + sequence = 0; \ + break; \ + case 1: \ + a += 2; \ + sequence = 4; \ + break; \ + case 0: \ + sequence = 1; \ + break; \ + } \ + a[0] = ADCL; \ + a[1] = ADCH; \ + if (sequence) { \ + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | sequence; \ + return; \ + } \ + AO_DATA_PRESENT(AO_DATA_ADC); \ + if (ao_data_present != AO_DATA_ALL) \ + return; \ + ao_data_ring[ao_data_head].ms5607_raw.pres = ao_ms5607_current.pres; \ + ao_data_ring[ao_data_head].ms5607_raw.temp = ao_ms5607_current.temp; \ + } while (0) + +#endif /* _AO_PINS_H_ */ diff --git a/src/telemini-v2.0/ao_telemini.c b/src/telemini-v2.0/ao_telemini.c new file mode 100644 index 00000000..294f768a --- /dev/null +++ b/src/telemini-v2.0/ao_telemini.c @@ -0,0 +1,59 @@ +/* + * 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_pins.h" +#include <ao_exti.h> + +__xdata uint8_t ao_force_freq; + +void +main(void) +{ + /* + * Reduce the transient on the ignite pins at startup by + * pulling the pins low as soon as possible at power up + */ + ao_ignite_set_pins(); + + ao_clock_init(); + + /* Turn on the red LED until the system is stable */ + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_RED); + + ao_task_init(); + + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_exti_init(); + ao_ms5607_init(); + ao_storage_init(); + ao_flight_init(); + ao_log_init(); + ao_report_init(); + ao_usb_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(TRUE); + ao_igniter_init(); + ao_config_init(); + ao_start_scheduler(); +} diff --git a/src/test/Makefile b/src/test/Makefile index 75b1f848..5eee6bbb 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -2,7 +2,8 @@ vpath % ..:../core:../drivers:../util:../micropeak:../aes PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \ 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_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \ + ao_ms5607_convert_test INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h @@ -73,3 +74,9 @@ ao_fat_test: ao_fat_test.c ao_fat.c ao_bufio.c ao_aes_test: ao_aes_test.c ao_aes.c ao_aes_tables.c cc $(CFLAGS) -o $@ ao_aes_test.c + +ao_int64_test: ao_int64_test.c ao_int64.c ao_int64.h + cc $(CFLAGS) -o $@ ao_int64_test.c + +ao_ms5607_convert_test: ao_ms5607_convert_test.c ao_ms5607_convert_8051.c ao_int64.c ao_int64.h + cc $(CFLAGS) -o $@ ao_ms5607_convert_test.c diff --git a/src/test/ao_int64_test.c b/src/test/ao_int64_test.c new file mode 100644 index 00000000..8557a1c7 --- /dev/null +++ b/src/test/ao_int64_test.c @@ -0,0 +1,115 @@ +/* + * 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. + */ + +#define __data +#define __pdata +#define __xdata +#define __reentrant + +#include <ao_int64.h> +#include <ao_int64.c> +#include <stdio.h> +#include <stdlib.h> + +int errors; + +#define test_o(op,func,mod,a,b,ao_a,ao_b) do { \ + r = (a) op (b); \ + func(&ao_r, ao_a, ao_b); \ + c = ao_cast64(&ao_r); \ + if (c != r) { \ + printf ("trial %4d: %lld " #func mod " %lld = %lld (should be %lld)\n", \ + trial, (int64_t) (a), (int64_t) b, c, r); \ + ++errors; \ + } \ + } while (0) + +#define test(op,func,a,b,ao_a,ao_b) test_o(op,func,"",a,b,ao_a,ao_b) + +#define test_a(op,func,a,b,ao_a,ao_b) do { \ + ao_r = *ao_a; \ + test_o(op,func,"_a",a,b,&ao_r,ao_b); \ + } while (0) + +#define test_b(op,func,a,b,ao_a,ao_b) do { \ + ao_r = *ao_b; \ + test_o(op,func,"_b",a,b,ao_a,&ao_r); \ + } while (0) + +#define test_x(op,func,a,b,ao_a,ao_b) do { \ + ao_r = *ao_a; \ + test_o(op,func,"_xa",a,a,&ao_r,&ao_r); \ + ao_r = *ao_b; \ + test_o(op,func,"_xb",b,b,&ao_r,&ao_r); \ + } while (0) + +void +do_test(int trial, int64_t a, int64_t b) +{ + int64_t r, c; + ao_int64_t ao_a, ao_b, ao_r; + + ao_int64_init64(&ao_a, a >> 32, a); + ao_int64_init64(&ao_b, b >> 32, b); + + test(+, ao_plus64, a, b, &ao_a, &ao_b); + test_a(+, ao_plus64, a, b, &ao_a, &ao_b); + test_b(+, ao_plus64, a, b, &ao_a, &ao_b); + test_x(+, ao_plus64, a, b, &ao_a, &ao_b); + test(-, ao_minus64, a, b, &ao_a, &ao_b); + test_a(-, ao_minus64, a, b, &ao_a, &ao_b); + test_b(-, ao_minus64, a, b, &ao_a, &ao_b); + test_x(-, ao_minus64, a, b, &ao_a, &ao_b); + test(*, ao_mul64_32_32,(int64_t) (int32_t) a, (int32_t) b, (int32_t) a, (int32_t) b); + test(*, ao_mul64, a, b, &ao_a, &ao_b); + test_a(*, ao_mul64, a, b, &ao_a, &ao_b); + test_b(*, ao_mul64, a, b, &ao_a, &ao_b); + test_x(*, ao_mul64, a, b, &ao_a, &ao_b); + test(*, ao_mul64_64_16, a, (uint16_t) b, &ao_a, (uint16_t) b); + test_a(*, ao_mul64_64_16, a, (uint16_t) b, &ao_a, (uint16_t) b); + test(>>, ao_rshift64, a, (uint8_t) b & 0x3f, &ao_a, (uint8_t) b & 0x3f); + test_a(>>, ao_rshift64, a, (uint8_t) b & 0x3f, &ao_a, (uint8_t) b & 0x3f); + test(<<, ao_lshift64, a, (uint8_t) b & 0x3f, &ao_a, (uint8_t) b & 0x3f); + test_a(<<, ao_lshift64, a, (uint8_t) b & 0x3f, &ao_a, (uint8_t) b & 0x3f); +} + +#define TESTS 10000000 + +static int64_t +random64(void) +{ + return (int64_t) random() + ((int64_t) random() << 31) /* + ((int64_t) random() << 33) */; +} + +int +main (int argc, char **argv) +{ + int i, start; + + if (argv[1]) + start = atoi(argv[1]); + else + start = 0; + srandom(1000); + for (i = 0; i < TESTS; i++) { + int64_t a = random64(); + int64_t b = random64(); + if (i >= start) + do_test(i, a, b); + } + return errors; +} diff --git a/src/test/ao_ms5607_convert_test.c b/src/test/ao_ms5607_convert_test.c new file mode 100644 index 00000000..ad593204 --- /dev/null +++ b/src/test/ao_ms5607_convert_test.c @@ -0,0 +1,96 @@ +/* + * 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. + */ + +#define __xdata +#define __data +#define __pdata +#define __reentrant + +#include <stdint.h> +#include <ao_ms5607.h> + +struct ao_ms5607_prom ms5607_prom = { + 0x002c, + 0xa6e0, + 0x988e, + 0x6814, + 0x5eff, + 0x8468, + 0x6c86, + 0xa271, +}; + +int32_t D1_mm = 6179630; +int32_t D2_mm = 8933155; + +#include <ao_ms5607_convert.c> +#define ao_ms5607_convert ao_ms5607_convert_8051 +#include <ao_ms5607_convert_8051.c> +#include <ao_int64.c> +#include <stdio.h> +#include <stdlib.h> + +struct ao_ms5607_sample ao_sample = { + 6179630, + 8933155 +}; + +int errors; + +void test(int trial, struct ao_ms5607_sample *sample) +{ + struct ao_ms5607_value value, value_8051; + + ao_ms5607_convert(sample, &value); + ao_ms5607_convert_8051(sample, &value_8051); + if (value.temp != value_8051.temp || value.pres != value_8051.pres) { + ++errors; + printf ("trial %d: %d, %d -> %d, %d (should be %d, %d)\n", + trial, + sample->pres, sample->temp, + value_8051.pres, value_8051.temp, + value.pres, value.temp); + } +} + +#define TESTS 10000000 + +#include <stdlib.h> + +static int32_t rand24(void) { return random() & 0xffffff; } + +int +main(int argc, char **argv) +{ + struct ao_ms5607_sample sample; + int i, start; + + if (argv[1]) + start = atoi(argv[1]); + else + start = 0; + + srandom(10000); + test(-1, &ao_sample); + for (i = 0; i < TESTS; i++) { + sample.pres = rand24(); + sample.temp = rand24(); + if (i >= start) + test(i, &sample); + } + return errors; +} |