diff options
Diffstat (limited to 'src')
86 files changed, 3087 insertions, 217 deletions
diff --git a/src/Makefile b/src/Makefile index 5bc0a7a0..25e43a0e 100644 --- a/src/Makefile +++ b/src/Makefile @@ -41,13 +41,17 @@ ARMM3DIRS=\ teledongle-v3.0 teledongle-v3.0/flash-loader \ teleballoon-v2.0 \ telebt-v3.0 telebt-v3.0/flash-loader \ + telebt-v4.0 telebt-v4.0/flash-loader \ telelcotwo-v0.1 telelcotwo-v0.1/flash-loader \ telefiretwo-v0.1 telefiretwo-v0.1/flash-loader \ ARMM0DIRS=\ easymini-v1.0 easymini-v1.0/flash-loader \ chaoskey-v0.1 chaoskey-v0.1/flash-loader \ - chaoskey-v1.0 chaoskey-v1.0/flash-loader + chaoskey-v1.0 chaoskey-v1.0/flash-loader \ + telemini-v3.0 telemini-v3.0/flash-loader \ + easymini-v2.0 easymini-v2.0/flash-loader \ + micropeak-v2.0 micropeak-v2.0/flash-loader AVRDIRS=\ telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1 microkite diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c index 08950a97..41d3c1be 100644 --- a/src/avr/ao_usb_avr.c +++ b/src/avr/ao_usb_avr.c @@ -136,7 +136,7 @@ ISR(USB_GEN_vect) } -__xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; +struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; /* Walk through the list of descriptors and find a match */ diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c index 7d363c08..259f6512 100644 --- a/src/cc1111/ao_usb.c +++ b/src/cc1111/ao_usb.c @@ -112,7 +112,7 @@ ao_usb_ep0_flush(void) USBCS0 = cs0; } -__xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; +__xdata struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; /* Walk through the list of descriptors and find a match */ 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 261df67f..914e0c1b 100644 --- a/src/drivers/ao_ms5607.c +++ b/src/drivers/ao_ms5607.c @@ -191,17 +191,23 @@ ao_ms5607_sample(__xdata struct ao_ms5607_sample *sample) #include "ao_ms5607_convert.c" #endif -#if HAS_TASK +#ifndef HAS_MS5607_TASK +#define HAS_MS5607_TASK HAS_TASK +#endif + __xdata struct ao_ms5607_sample ao_ms5607_current; +#if HAS_MS5607_TASK 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(); @@ -209,7 +215,9 @@ ao_ms5607(void) } __xdata struct ao_task ao_ms5607_task; +#endif +#if HAS_TASK void ao_ms5607_info(void) { @@ -248,6 +256,8 @@ ao_ms5607_init(void) #if HAS_TASK ao_cmd_register(&ao_ms5607_cmds[0]); +#endif +#if HAS_MS5607_TASK ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607"); #endif diff --git a/src/drivers/ao_rn4678.c b/src/drivers/ao_rn4678.c new file mode 100644 index 00000000..98dc35b5 --- /dev/null +++ b/src/drivers/ao_rn4678.c @@ -0,0 +1,606 @@ +/* + * Copyright © 2017 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + */ + +#include <ao.h> +#include <ao_rn4678.h> +#include <ao_exti.h> +#include <stdarg.h> + +static uint8_t ao_rn_connected; + +#define AO_RN_DEBUG 0 + +#if AO_RN_DEBUG +static void ao_rn_dbg(char *format, ...) { + va_list a; + uint32_t irq = ao_arch_irqsave(); + ao_arch_release_interrupts(); + va_start(a, format); + vprintf(format, a); + va_end(a); + flush(); + ao_arch_irqrestore(irq); +} + +static char ao_rn_dir; + +static void +ao_rn_log_char(char c, char dir) +{ + if (dir != ao_rn_dir) { + putchar(dir); putchar('\n'); + ao_rn_dir = dir; + } + switch (c) { + case '\r': + putchar('\\'); putchar('r'); + break; + case '\n': + putchar('\\'); putchar('n'); + break; + default: + putchar(c); + } + flush(); +} + +static void +ao_rn_log_out_char(char c) +{ + ao_rn_log_char(c, '}'); +} + +static void +ao_rn_log_in_char(char c) +{ + ao_rn_log_char(c, '{'); +} + +static inline void +ao_rn_putchar(char c) +{ + ao_rn_log_out_char(c); + ao_serial_rn_putchar(c); +} + +static inline int +_ao_rn_pollchar(void) +{ + int c = _ao_serial_rn_pollchar(); + + if (c != AO_READ_AGAIN) { + ao_arch_release_interrupts(); + ao_rn_log_in_char((char) c); + ao_arch_block_interrupts(); + } + return c; +} +#else +#define ao_rn_dbg(fmt, ...) +#define ao_rn_putchar(c) ao_serial_rn_putchar(c) +#define _ao_rn_pollchar() _ao_serial_rn_pollchar() +#endif + +/* For stdio, this skips all status messages *sigh* */ + +#define STATUS_CHAR '%' + +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) +{ + int c = AO_READ_AGAIN; + unsigned i; + int done = 0; + + while (!done && !ao_rn_draining) { + c = _ao_serial_rn_pollchar(); + + 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 (ao_rn_buf_cnt) { + /* buffering chars */ + + if (c == STATUS_CHAR) { + /* End of status string, drop it and carry on */ + 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 */ + ao_rn_draining = 1; + } else { + ao_rn_buffer[ao_rn_buf_cnt++] = c; + for (i = 0; i < NUM_STATUS_STRING; i++) { + int cmp = strlen(status_strings[i]); + 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) + ao_rn_draining = 1; + } + } else if (c == STATUS_CHAR) { + 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 (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; + } + } + return c; +} + +static void +ao_rn_puts(char *s) +{ + char c; + + while ((c = *s++)) + ao_rn_putchar(c); +} + +static void +ao_rn_drain(void) +{ + int timeout = 0; + +// ao_rn_dbg("drain...\n"); + ao_serial_rn_drain(); + while (!timeout) { + ao_arch_block_interrupts(); + while (_ao_rn_pollchar() == AO_READ_AGAIN) { + if (_ao_serial_rn_sleep_for(AO_MS_TO_TICKS(10))) { + timeout = 1; + break; + } + } + ao_arch_release_interrupts(); + } +// 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_drain(); + ao_rn_puts(cmd); + if (param) + ao_rn_puts(param); + ao_rn_putchar('\r'); +} + +static int +ao_rn_wait_char(AO_TICK_TYPE giveup_time) +{ + int c; + + ao_arch_block_interrupts(); + while ((c = _ao_rn_pollchar()) == AO_READ_AGAIN) { + AO_TICK_SIGNED delay = (AO_TICK_SIGNED) (giveup_time - ao_time()); + if (delay < 0) { + ao_arch_release_interrupts(); + return AO_READ_AGAIN; + } + _ao_serial_rn_sleep_for(delay); + } + ao_arch_release_interrupts(); + return c; +} + +static int +ao_rn_wait_for(int timeout, char *match) +{ + char reply[AO_RN_MAX_REPLY_LEN + 1]; + int match_len = strlen(match); + AO_TICK_TYPE giveup_time = ao_time() + timeout; + int c; + +// 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"); + 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("\twait for ok\n"); + return AO_RN_OK; +} + +static int +ao_rn_wait_line(AO_TICK_TYPE giveup_time, char *line, int len) +{ + char *l = line; + +// 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"); + return AO_RN_TIMEOUT; + } + + /* done */ + if (c == '\r') { + *l = '\0'; +// ao_rn_dbg("\twait line \"%s\"\n", line); + return AO_RN_OK; + } + + if (c == '\n') + continue; + + /* buffer overrun */ + if (len <= 1) + return AO_RN_ERROR; + + *l++ = (char) c; + len--; + } +} + +static int +ao_rn_wait_status(void) +{ + char message[AO_RN_MAX_REPLY_LEN]; + AO_TICK_TYPE giveup_time = ao_time() + AO_RN_CMD_TIMEOUT; + int status; + +// 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) + status = AO_RN_ERROR; + return status; +} + +static int +ao_rn_set_name(void) +{ + char sn[8]; + char *s = sn + 8; + int n; + +// ao_rn_dbg("set name...\n"); + *--s = '\0'; + n = ao_serial_number; + do { + *--s = '0' + n % 10; + } while (n /= 10); + ao_rn_send_cmd(AO_RN_SET_NAME_CMD "TeleBT-", s); + return ao_rn_wait_status(); +} + +static int +ao_rn_get_name(char *name, int len) +{ +// 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); +} + +static void +ao_rn_check_link(void) +{ + ao_rn_connected = 1 - ao_gpio_get(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN, foo); +} + +static void +ao_rn_isr(void) +{ + ao_rn_check_link(); + ao_wakeup(&ao_rn_connected); +} + +static void +ao_bt_panic(int where) +{ + int i; + for (;;) { + for (i = 0; i < 50; i++) { + ao_led_toggle(AO_BT_LED); + ao_delay(AO_MS_TO_TICKS(10)); + } + ao_led_off(AO_BT_LED); + ao_delay(AO_MS_TO_TICKS(500)); + for (i = 0; i < where; i++) { + ao_led_for(AO_BT_LED, AO_MS_TO_TICKS(200)); + ao_delay(AO_MS_TO_TICKS(200)); + } + } +} + +static uint8_t ao_rn_stdio; + +/* + * Set the stdio echo for the bluetooth link + */ +void +ao_rn_echo(uint8_t echo) +{ + ao_stdios[ao_rn_stdio].echo = echo; +} + +static void +ao_rn(void) +{ + int status = AO_RN_ERROR; + char name[17]; + int i; + + ao_rn_dbg("ao_rn top\n"); + + /* Select CMD mode after the device gets out of reset */ + ao_gpio_set(AO_RN_CMD_PORT, AO_RN_CMD_PIN, foo, AO_RN_CMD_CMD); + + for (i = 0; i < 3; i++) { + ao_rn_dbg("reset device\n"); + + ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 0); + ao_delay(AO_MS_TO_TICKS(100)); + + /* Reboot the RN4678 and wait for it to start talking */ + ao_rn_drain(); + ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 1); + status = ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, AO_RN_REBOOT_MSG); + if (status != AO_RN_OK) { + ao_rn_dbg("reboot failed\n"); + continue; + } + + /* After it reboots, it can take a moment before it responds + * to commands + */ + 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 + */ + status = ao_rn_get_name(name, sizeof (name)); + if (status != AO_RN_OK) { + ao_rn_dbg("get name failed\n"); + status = ao_rn_get_name(name, sizeof (name)); + if (status != AO_RN_OK) + continue; + } + + if (strncmp(name, "TeleBT-", 7) == 0) { + ao_rn_dbg("name is set\n"); + status = AO_RN_OK; + break; + } + + /* Make the command pin control command/data mode */ + ao_rn_send_cmd(AO_RN_SET_COMMAND_PIN, NULL); + if (ao_rn_wait_status() != AO_RN_OK) { + ao_rn_dbg("set command pin failed\n"); + 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) { + ao_rn_dbg("set fast mode failed\n"); + continue; + } + + /* Finally, set the name. Doing this last makes it possible to check + * if the whole sequence has been done + */ + if (ao_rn_set_name() != AO_RN_OK) { + ao_rn_dbg("set name failed\n"); + continue; + } + + /* After we've configured the device, go back around and reboot it + * as that's how we get the new configuration to take effect + */ + } + ao_rn_dbg("ao_rn status %d\n", status); + + if (status != AO_RN_OK) + ao_bt_panic(4); + + ao_gpio_set(AO_RN_CMD_PORT, AO_RN_CMD_PIN, foo, AO_RN_CMD_DATA); + + /* Wait for the hardware to finish sending messages, then clear the queue */ + ao_delay(AO_MS_TO_TICKS(200)); + ao_rn_drain(); + + ao_exti_enable(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN); + +#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_serial_rn_putchar, + NULL); + + ao_rn_echo(0); + ao_rn_check_link(); + /* + * Now just hang around and flash the blue LED when we've got + * a connection + */ + for (;;) { + ao_arch_block_interrupts(); + while (!ao_rn_connected) + ao_sleep(&ao_rn_connected); + 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)); + } + } +#endif +} + +static struct ao_task ao_rn_task; + +static void +ao_rn_factory(void) +{ + int i; + int v = 0; + + /* + * Factory reset. Flip pin P3_1 5 times within the first five + * seconds of power-on + */ + + /* Select our target output pin */ + ao_enable_output(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, foo, v); + + /* Turn off the BT device using the SW_BTN pin */ + printf("Power down BT\n"); flush(); + ao_gpio_set(AO_RN_SW_BTN_PORT, AO_RN_SW_BTN_PIN, foo, 0); + ao_delay(AO_MS_TO_TICKS(1000)); + + /* And turn it back on */ + printf("Power up BT\n"); flush(); + ao_gpio_set(AO_RN_SW_BTN_PORT, AO_RN_SW_BTN_PIN, foo, 1); + + /* Right after power on, poke P3_1 five times to force a + * factory reset + */ + for (i = 0; i < 20; i++) { + v = 1-v; + 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 }, +}; + +void +ao_rn4678_init(void) +{ + (void) ao_rn_set_name; + + ao_serial_rn_set_speed(AO_SERIAL_SPEED_115200); + + /* Reset line */ + ao_enable_output(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 0); + + /* SW_BTN */ + ao_enable_output(AO_RN_SW_BTN_PORT, AO_RN_SW_BTN_PIN, foo, 1); + + /* P3_7 command/data selector */ + ao_enable_output(AO_RN_CMD_PORT, AO_RN_CMD_PIN, foo, AO_RN_CMD_CMD); + + ao_enable_input(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN, AO_EXTI_MODE_PULL_NONE); + ao_exti_setup(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN, + AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_LOW, + ao_rn_isr); + + ao_cmd_register(rn_cmds); + ao_add_task(&ao_rn_task, ao_rn, "bluetooth"); +} diff --git a/src/drivers/ao_rn4678.h b/src/drivers/ao_rn4678.h new file mode 100644 index 00000000..a4dcea38 --- /dev/null +++ b/src/drivers/ao_rn4678.h @@ -0,0 +1,101 @@ +/* + * Copyright © 2017 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + */ + +#ifndef _AO_RN4678_H_ +#define _AO_RN4678_H_ + +/* From the rn4678 pictail board + + 1 SW_BTN 0-off/1-on 2 P2_0 1-app/0-test (boot time) + 3 P2_4 1-app/0-WF 4 EAN 0-app/1-WF (reboots) + 5 6 RTS 0 + 7 8 P3_2 1 (NC) + 9 TXD 10 P3_3 1 (NC) + 11 RXD 12 P3_4 1 (NC) + 13 14 + 15 16 P3_7 1 (NC) + 17 P0_5 1 (NC) 18 RST_N 1 run/0 reset + 19 WAKE_UP 1 run/0 btn 20 + 21 P0_4 0 (NC) 22 + 23 P1_5 1 (NC) 24 P3_1 1 (NC) + 25 CTS 0 26 3.3V + 27 28 GND + + + Interesting pins: + + Not connected to microcontroller: + + SW_BTN 0-off 1-on + P2_4 0 write-flash 1-app + WAKE_UP 0-stop 1-run + P2_0 0 test 1-run + EAN 1-WF (reboots) 0-run + RST_N 0 reset 1 run + + Connected to microcontroller: + + CTS mostly 0 + RTS mostly 1 + + TXD + RXD + + Other connections -- LDO33_O to VDD_IO + +*/ + +#define AO_RN_REBOOT_MSG "REBOOT" + +#define AO_RN_CMD_TIMEOUT AO_MS_TO_TICKS(200) + +#define AO_RN_REBOOT_TIMEOUT AO_MS_TO_TICKS(2000) + +#define AO_RN_MAX_REPLY_LEN 10 + +#define AO_RN_SET_NAME_CMD "SN," +#define AO_RN_GET_NAME_CMD "GN" + +#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 + +#define AO_RN_SET_COMMAND_PIN "SX,07,0B" + +#define AO_RN_SET_AUTH_JUST_WORKS "SA,2" +#define AO_RN_SET_FAST_MODE "SQ,9000" + +/* This pin is configured to control cmd/data mode */ +#define AO_RN_CMD_PORT AO_RN_P3_7_PORT +#define AO_RN_CMD_PIN AO_RN_P3_7_PIN + +#define AO_RN_CMD_CMD 0 +#define AO_RN_CMD_DATA 1 + +/* This pin indicates BT connection status */ +#define AO_RN_CONNECTED_PORT AO_RN_P1_5_PORT +#define AO_RN_CONNECTED_PIN AO_RN_P1_5_PIN + +void +ao_rn4678_init(void); + +#endif /* _AO_RN_H_ */ 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/.gitignore b/src/easymini-v2.0/.gitignore new file mode 100644 index 00000000..e5f7d586 --- /dev/null +++ b/src/easymini-v2.0/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +*.elf diff --git a/src/easymini-v2.0/Makefile b/src/easymini-v2.0/Makefile new file mode 100644 index 00000000..9b4cc6d7 --- /dev/null +++ b/src/easymini-v2.0/Makefile @@ -0,0 +1,83 @@ +# +# AltOS build +# +# + +include ../stmf0/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_pins.h \ + ao_product.h \ + stm32f0.h + +# +# Common AltOS sources +# + +ALTOS_SRC = \ + ao_interrupt.c \ + ao_boot_chain.c \ + ao_romconfig.c \ + ao_product.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_report.c \ + ao_ignite.c \ + ao_flight.c \ + ao_kalman.c \ + ao_sample.c \ + ao_data.c \ + ao_convert_pa.c \ + ao_convert_volt.c \ + ao_task.c \ + ao_log.c \ + ao_log_mini.c \ + ao_cmd.c \ + ao_config.c \ + ao_dma_stm.c \ + ao_timer.c \ + ao_exti_stm.c \ + ao_spi_stm.c \ + ao_adc_stm.c \ + ao_usb_stm.c \ + ao_m25.c \ + ao_ms5607.c \ + ao_beep_stm.c + +PRODUCT=EasyMini-v2.0 +PRODUCT_DEF=-DEASYMINI_V_2_0 +IDPRODUCT=0x0026 + +CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -g -Os + +PROGNAME=easymini-v2.0 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SRC=$(ALTOS_SRC) ao_easymini.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) $(HEX) + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS) + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +$(OBJ): $(INC) + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/easymini-v2.0/ao_easymini.c b/src/easymini-v2.0/ao_easymini.c new file mode 100644 index 00000000..7246cae2 --- /dev/null +++ b/src/easymini-v2.0/ao_easymini.c @@ -0,0 +1,53 @@ +/* + * 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; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_exti.h> + +void +main(void) +{ + ao_clock_init(); + ao_task_init(); + ao_timer_init(); + + ao_dma_init(); + ao_spi_init(); + ao_exti_init(); + + ao_adc_init(); + +#if HAS_BEEP + ao_beep_init(); +#endif +#if HAS_USB + ao_usb_init(); +#endif + ao_cmd_init(); + + ao_ms5607_init(); + + ao_storage_init(); + ao_flight_init(); + ao_log_init(); + ao_report_init(); + ao_igniter_init(); + ao_config_init(); + + ao_start_scheduler(); +} diff --git a/src/easymini-v2.0/ao_pins.h b/src/easymini-v2.0/ao_pins.h new file mode 100644 index 00000000..2ec0e90b --- /dev/null +++ b/src/easymini-v2.0/ao_pins.h @@ -0,0 +1,163 @@ +/* + * Copyright © 2017 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#define HAS_BEEP 1 +#define HAS_BATTERY_REPORT 1 + +#define AO_STACK_SIZE 448 + +#define IS_FLASH_LOADER 0 + +/* 48MHz clock based on 16MHz reference */ +//#define AO_HSI48 1 +#define AO_HSE 16000000 +#define AO_RCC_CFGR_PLLMUL STM_RCC_CFGR_PLLMUL_3 +#define AO_RCC_CFGR2_PLLDIV STM_RCC_CFGR2_PREDIV_1 +#define AO_PLLMUL 3 +#define AO_PLLDIV 1 + +/* HCLK = 48MHz */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* APB = 40MHz */ +#define AO_APB_PRESCALER 1 +#define AO_RCC_CFGR_PPRE_DIV STM_RCC_CFGR_PPRE_DIV_1 + +#define HAS_USB 1 +#define AO_USB_DIRECTIO 0 +#define AO_PA11_PA12_RMP 1 +#define AO_USB_FORCE_IDLE 1 + +#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMINI2 + +#define HAS_BOOT_RADIO 0 + +#define HAS_ACCEL 0 +#define HAS_GPS 0 +#define HAS_RADIO 0 +#define HAS_FLIGHT 1 +#define HAS_EEPROM 1 +#define HAS_TELEMETRY 0 +#define HAS_APRS 0 +#define HAS_LOG 1 +#define USE_INTERNAL_FLASH 0 +#define HAS_IGNITE 1 +#define HAS_IGNITE_REPORT 1 + +/* Beeper is on Tim3 CH3 */ +#define BEEPER_TIMER 3 +#define BEEPER_CHANNEL 3 +#define BEEPER_PORT (&stm_gpiob) +#define BEEPER_PIN 0 +#define BEEPER_AFR STM_AFR_AF1 + +/* SPI */ + +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 1 +#define SPI_1_PB3_PB4_PB5 1 +#define SPI_1_OSPEEDR STM_OSPEEDR_MEDIUM + +/* M25 */ + +#define M25_MAX_CHIPS 1 +#define AO_M25_SPI_CS_PORT (&stm_gpioa) +#define AO_M25_SPI_CS_MASK (1 << 15) +#define AO_M25_SPI_BUS AO_SPI_1_PB3_PB4_PB5 + +/* MS5607 */ + +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define AO_MS5607_PRIVATE_PINS 1 +#define AO_MS5607_CS_PORT (&stm_gpioa) +#define AO_MS5607_CS_PIN 4 +#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN) +#define AO_MS5607_MISO_PORT (&stm_gpioa) +#define AO_MS5607_MISO_PIN 6 +#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN) +#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7 +#define AO_MS5607_SPI_SPEED AO_SPI_SPEED_12MHz + +#define AO_DATA_RING 64 + +/* + * ADC + */ + +#define HAS_ADC 1 + +#define AO_ADC_PIN0_PORT (&stm_gpioa) /* sense_m */ +#define AO_ADC_PIN0_PIN 0 +#define AO_ADC_PIN0_CH 0 +#define AO_ADC_PIN1_PORT (&stm_gpioa) /* sense_a */ +#define AO_ADC_PIN1_PIN 1 +#define AO_ADC_PIN1_CH 1 +#define AO_ADC_PIN2_PORT (&stm_gpioa) /* v_batt */ +#define AO_ADC_PIN2_PIN 2 +#define AO_ADC_PIN2_CH 2 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_IOPAEN)) + +#define AO_NUM_ADC 3 + +struct ao_adc { + int16_t sense_m; + int16_t sense_a; + int16_t v_batt; +}; + +/* + * Igniter + */ + +#define AO_IGNITER_CLOSED 400 +#define AO_IGNITER_OPEN 60 + +#define AO_IGNITER_DROGUE_PORT (&stm_gpiob) +#define AO_IGNITER_DROGUE_PIN 6 +#define AO_IGNITER_SET_DROGUE(v) ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, v) + +#define AO_IGNITER_MAIN_PORT (&stm_gpiob) +#define AO_IGNITER_MAIN_PIN 7 +#define AO_IGNITER_SET_MAIN(v) ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, v) + +#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a) +#define AO_SENSE_MAIN(p) ((p)->adc.sense_m) + +#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) + +/* + * Voltage divider on ADC battery sampler + */ +#define AO_BATTERY_DIV_PLUS 100 /* 100k */ +#define AO_BATTERY_DIV_MINUS 27 /* 27k */ + +/* + * Voltage divider on ADC igniter samplers + */ +#define AO_IGNITE_DIV_PLUS 100 /* 100k */ +#define AO_IGNITE_DIV_MINUS 27 /* 27k */ + +/* + * ADC reference in decivolts + */ +#define AO_ADC_REFERENCE_DV 33 diff --git a/src/easymini-v2.0/flash-loader/.gitignore b/src/easymini-v2.0/flash-loader/.gitignore new file mode 100644 index 00000000..a8a0dcec --- /dev/null +++ b/src/easymini-v2.0/flash-loader/.gitignore @@ -0,0 +1 @@ +*.bin diff --git a/src/easymini-v2.0/flash-loader/Makefile b/src/easymini-v2.0/flash-loader/Makefile new file mode 100644 index 00000000..8a611751 --- /dev/null +++ b/src/easymini-v2.0/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=easymini-v2.0 +include $(TOPDIR)/stmf0/Makefile-flash.defs diff --git a/src/easymini-v2.0/flash-loader/ao_pins.h b/src/easymini-v2.0/flash-loader/ao_pins.h new file mode 100644 index 00000000..3098fc22 --- /dev/null +++ b/src/easymini-v2.0/flash-loader/ao_pins.h @@ -0,0 +1,37 @@ +/* + * 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; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#include <ao_flash_stm_pins.h> + +/* pin 5 (PB1) on debug header to gnd for boot mode */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO stm_gpiob +#define AO_BOOT_APPLICATION_PIN 1 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +/* USB */ +#define HAS_USB 1 +#define AO_USB_DIRECTIO 0 +#define AO_PA11_PA12_RMP 1 + +#endif /* _AO_PINS_H_ */ diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index 5dda1c85..25634ffc 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -35,6 +35,10 @@ __pdata uint8_t ao_config_loaded; __pdata uint8_t ao_config_dirty; __xdata uint8_t ao_config_mutex; +#if HAS_FORCE_FREQ +__xdata uint8_t ao_force_freq; +#endif + #ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL #define AO_CONFIG_DEFAULT_APRS_INTERVAL 0 #endif diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h index a2f2c6ca..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 */ @@ -309,9 +310,7 @@ struct ao_log_firetwo { /* AO_LOG_FLIGHT */ struct { uint16_t flight; /* 4 */ - uint16_t idle_pressure; /* 6 */ - uint16_t idle_thrust; /* 8 */ - } flight; /* 16 */ + } flight; /* 6 */ /* AO_LOG_STATE */ struct { uint16_t state; /* 4 */ diff --git a/src/kernel/ao_log_firetwo.c b/src/kernel/ao_log_fireone.c index 4b42abe4..1a82673d 100644 --- a/src/kernel/ao_log_firetwo.c +++ b/src/kernel/ao_log_fireone.c @@ -75,8 +75,6 @@ typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_firetwo))] ; void ao_log(void) { - uint16_t ao_idle_pressure = 0; // write code to capture pre-test values someday - uint16_t ao_idle_thrust = 0; uint16_t ao_flight_state = ao_flight_startup; ao_storage_setup(); @@ -89,8 +87,6 @@ ao_log(void) log.type = AO_LOG_FLIGHT; log.tick = ao_time(); - log.u.flight.idle_pressure = ao_idle_pressure; - log.u.flight.idle_thrust = ao_idle_thrust; log.u.flight.flight = ao_flight_number; ao_log_firetwo(&log); 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_log_micro.c b/src/kernel/ao_log_micro.c index aa0f5c76..d6f9c5a8 100644 --- a/src/kernel/ao_log_micro.c +++ b/src/kernel/ao_log_micro.c @@ -19,7 +19,12 @@ #include <ao.h> #include <ao_micropeak.h> #include <ao_log_micro.h> +#ifndef ao_async_byte #include <ao_async.h> +#else +#include <ao_serial.h> +#endif +#include <ao_storage.h> static uint16_t ao_log_offset = STARTING_LOG_OFFSET; diff --git a/src/kernel/ao_log_micro.h b/src/kernel/ao_log_micro.h index ec5cf3ed..f0243028 100644 --- a/src/kernel/ao_log_micro.h +++ b/src/kernel/ao_log_micro.h @@ -23,7 +23,9 @@ #define PA_MIN_OFFSET 4 #define N_SAMPLES_OFFSET 8 #define STARTING_LOG_OFFSET 10 +#ifndef MAX_LOG_OFFSET #define MAX_LOG_OFFSET 512 +#endif void ao_log_micro_save(void); diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c index ff543cc4..3cfb87cc 100644 --- a/src/kernel/ao_microkalman.c +++ b/src/kernel/ao_microkalman.c @@ -32,10 +32,32 @@ #include <ao_kalman.h> +#ifndef AO_MK_STEP_96MS +#define AO_MK_STEP_96MS 1 + +#endif + +#if AO_MK_STEP_100MS +#define AO_MK_TIME_STEP 0.1 + +#define AO_K0_10 AO_MK2_BARO_K0_10 +#define AO_K1_10 AO_MK2_BARO_K1_10 +#define AO_K2_10 AO_MK2_BARO_K2_10 +#endif + +#if AO_MK_STEP_96MS +#define AO_MK_TIME_STEP 0.096 + +#define AO_K0_10 AO_MK_BARO_K0_10 +#define AO_K1_10 AO_MK_BARO_K1_10 +#define AO_K2_10 AO_MK_BARO_K2_10 +#endif + /* Basic time step (96ms) */ -#define AO_MK_STEP to_fix_v(0.096) +#define AO_MK_STEP to_fix_v(AO_MK_TIME_STEP) + /* step ** 2 / 2 */ -#define AO_MK_STEP_2_2 to_fix_v(0.004608) +#define AO_MK_STEP_2_2 to_fix_v(AO_MK_TIME_STEP * AO_MK_TIME_STEP / 2.0) uint32_t ao_k_pa; /* 24.8 fixed point */ int32_t ao_k_pa_speed; /* 16.16 fixed point */ @@ -66,9 +88,9 @@ ao_microkalman_correct(void) e = pa - from_fix8(ao_k_pa); - ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10); - ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10; - ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10; + ao_k_pa += fix16_to_fix8((int32_t) e * AO_K0_10); + ao_k_pa_speed += (int32_t) e * AO_K1_10; + ao_k_pa_accel += (int32_t) e * AO_K2_10; ao_pa = from_fix8(ao_k_pa); ao_pa_speed = from_fix(ao_k_pa_speed); ao_pa_accel = from_fix(ao_k_pa_accel); diff --git a/src/kernel/ao_report_micro.c b/src/kernel/ao_report_micro.c index af68457d..9c7afdc5 100644 --- a/src/kernel/ao_report_micro.c +++ b/src/kernel/ao_report_micro.c @@ -17,6 +17,7 @@ */ #include <ao.h> +#include <ao_report_micro.h> #define mid(time) ao_led_for(AO_LED_REPORT, time) #define pause(time) ao_delay(time) diff --git a/src/kernel/ao_report_micro.h b/src/kernel/ao_report_micro.h new file mode 100644 index 00000000..bd6c0622 --- /dev/null +++ b/src/kernel/ao_report_micro.h @@ -0,0 +1,21 @@ +/* + * Copyright © 2017 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + */ + +#ifndef _AO_REPORT_MICRO_H_ +#define _AO_REPORT_MICRO_H_ + +void +ao_report_altitude(void); + +#endif /* _AO_REPORT_MICRO_H_ */ diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index fa817824..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(); @@ -296,6 +296,10 @@ static __pdata int8_t ao_telemetry_config_max; static __pdata int8_t ao_telemetry_config_cur; static __pdata uint16_t ao_telemetry_flight_number; +#ifndef ao_telemetry_battery_convert +#define ao_telemetry_battery_convert(a) (a) +#endif + static void ao_send_configuration(void) { @@ -308,7 +312,7 @@ ao_send_configuration(void) telemetry.configuration.config_minor = AO_CONFIG_MINOR; #if AO_idProduct_NUMBER == 0x25 && HAS_ADC /* TeleGPS gets battery voltage instead of apogee delay */ - telemetry.configuration.apogee_delay = ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt; + telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt); #else telemetry.configuration.apogee_delay = ao_config.apogee_delay; telemetry.configuration.main_deploy = ao_config.main_deploy; 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/kernel/ao_tracker.c b/src/kernel/ao_tracker.c index 4abd309a..46278530 100644 --- a/src/kernel/ao_tracker.c +++ b/src/kernel/ao_tracker.c @@ -164,6 +164,25 @@ ao_tracker(void) } } +#ifdef AO_LED_GPS_LOCK + +static struct ao_task ao_gps_lock_task; + +static void +ao_gps_lock(void) +{ + for (;;) { + if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) == + (AO_GPS_VALID|AO_GPS_COURSE_VALID)) + { + ao_led_for(AO_LED_GPS_LOCK, AO_MS_TO_TICKS(20)); + } + ao_delay(AO_SEC_TO_TICKS(3)); + } +} +#endif + + static uint8_t erasing_current; void @@ -222,4 +241,7 @@ ao_tracker_init(void) #endif ao_cmd_register(&ao_tracker_cmds[0]); ao_add_task(&ao_tracker_task, ao_tracker, "tracker"); +#ifdef AO_LED_GPS_LOCK + ao_add_task(&ao_gps_lock_task, ao_gps_lock, "gps lock"); +#endif } diff --git a/src/kernel/ao_usb.h b/src/kernel/ao_usb.h index cdea5178..936d939b 100644 --- a/src/kernel/ao_usb.h +++ b/src/kernel/ao_usb.h @@ -155,6 +155,8 @@ struct ao_usb_line_coding { uint8_t data_bits; } ; +extern __xdata struct ao_usb_line_coding ao_usb_line_coding; + extern __pdata uint8_t ao_usb_running; #endif /* _AO_USB_H_ */ diff --git a/src/lpc/ao_usb_lpc.c b/src/lpc/ao_usb_lpc.c index 5c13eb4b..c50e7528 100644 --- a/src/lpc/ao_usb_lpc.c +++ b/src/lpc/ao_usb_lpc.c @@ -477,7 +477,7 @@ ao_usb_ep0_in_start(uint16_t max) ao_usb_ep0_flush(); } -static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; +struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; /* Walk through the list of descriptors and find a match */ diff --git a/src/micropeak-v2.0/.gitignore b/src/micropeak-v2.0/.gitignore new file mode 100644 index 00000000..c2062c34 --- /dev/null +++ b/src/micropeak-v2.0/.gitignore @@ -0,0 +1,3 @@ +ao_product.h +microsplash-v* +microsplash-load diff --git a/src/micropeak-v2.0/Makefile b/src/micropeak-v2.0/Makefile new file mode 100644 index 00000000..32154fa6 --- /dev/null +++ b/src/micropeak-v2.0/Makefile @@ -0,0 +1,100 @@ +# +# Tiny AltOS build +# +# + +include ../stmf0/Makefile.defs + +PUBLISH_DIR=$(HOME)/altusmetrumllc/Binaries +PUBLISH_HEX=$(PUBLISH_DIR)/$(HEX) + +MICRO_SRC=\ + ao_report_micro.c \ + ao_log_micro.c \ + ao_microflight.c \ + ao_microkalman.c + +ALTOS_SRC = \ + ao_micropeak.c \ + ao_spi_stm.c \ + ao_dma_stm.c \ + ao_led.c \ + ao_timer.c \ + ao_ms5607.c \ + ao_exti_stm.c \ + ao_convert_pa.c \ + ao_romconfig.c \ + ao_product.c \ + ao_panic.c \ + ao_stdio.c \ + ao_serial_stm.c \ + ao_usb_stm.c \ + ao_mutex.c \ + ao_interrupt.c \ + ao_cmd.c \ + ao_task.c \ + ao_data.c \ + ao_boot_chain.c \ + ao_microflight.c \ + ao_report_micro.c \ + ao_storage_stm.c \ + ao_storage.c \ + ao_log_micro.c \ + ao_microkalman.c + +INC=\ + ao.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_exti.h \ + ao_ms5607.h \ + ao_log_micro.h \ + ao_micropeak.h \ + altitude-pa.h \ + stm32f0.h + +IDPRODUCT=0x14 +PRODUCT=MicroPeak-v2.0 +PRODUCT_DEF=-DMICROPEAK + +CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -g -Os + +PROGNAME=micropeak-v2.0 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SRC=$(ALTOS_SRC) +OBJ=$(SRC:.c=.o) + +all: $(PROG) $(HEX) + +LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tmicropeak.ld -n + +$(PROG): Makefile $(OBJ) micropeak.ld + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS) + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +ao_product.o: ao_product.c ao_product.h + +distclean: clean + +clean: + rm -f *.o *.elf *.ihx + rm -f ao_product.h + +publish: $(PUBLISH_HEX) + +$(PUBLISH_HEX): $(HEX) + cp -a $(HEX) $@ + +../altitude-pa.h: make-altitude-pa + nickle $< > $@ + +install: + +uninstall: + +$(OBJ): ao_product.h $(INC) diff --git a/src/micropeak-v2.0/ao_micropeak.c b/src/micropeak-v2.0/ao_micropeak.c new file mode 100644 index 00000000..1cfa1209 --- /dev/null +++ b/src/micropeak-v2.0/ao_micropeak.c @@ -0,0 +1,278 @@ +/* + * Copyright © 2017 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_exti.h> +#include <ao_micropeak.h> +#include <ao_report_micro.h> +#include <ao_log_micro.h> +#include <ao_storage.h> + +static struct ao_ms5607_value value; + +alt_t ground_alt, max_alt; +alt_t ao_max_height; + +void +ao_pa_get(void) +{ + ao_ms5607_sample(&ao_ms5607_current); + ao_ms5607_convert(&ao_ms5607_current, &value); + pa = value.pres; +} + +static void +ao_compute_height(void) +{ + ground_alt = ao_pa_to_altitude(pa_ground); + max_alt = ao_pa_to_altitude(pa_min); + ao_max_height = max_alt - ground_alt; +} + +static void +ao_pips(void) +{ + uint8_t i; + for (i = 0; i < 10; i++) { + ao_led_toggle(AO_LED_REPORT); + ao_delay(AO_MS_TO_TICKS(80)); + } + ao_delay(AO_MS_TO_TICKS(200)); +} + +void +ao_delay_until(uint16_t target) { + int16_t delay = target - ao_time(); + if (delay > 0) { + ao_sleep_for(ao_delay_until, delay); + } +} + +static struct ao_task mp_task; + +static void +ao_battery_disable(void) +{ + /* Disable */ + if (stm_adc.cr & (1 << STM_ADC_CR_ADEN)) { + stm_adc.cr |= (1 << STM_ADC_CR_ADDIS); + while (stm_adc.cr & (1 << STM_ADC_CR_ADDIS)) + ; + } + + /* Turn off everything */ + stm_adc.cr &= ~((1 << STM_ADC_CR_ADCAL) | + (1 << STM_ADC_CR_ADSTP) | + (1 << STM_ADC_CR_ADSTART) | + (1 << STM_ADC_CR_ADEN)); +} + +static void +ao_battery_init(void) +{ + stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADCEN); + + ao_battery_disable(); + + /* Configure */ + stm_adc.cfgr1 = ((0 << STM_ADC_CFGR1_AWDCH) | /* analog watchdog channel 0 */ + (0 << STM_ADC_CFGR1_AWDEN) | /* Disable analog watchdog */ + (0 << STM_ADC_CFGR1_AWDSGL) | /* analog watchdog on all channels */ + (0 << STM_ADC_CFGR1_DISCEN) | /* Not discontinuous mode. All channels converted with one trigger */ + (0 << STM_ADC_CFGR1_AUTOOFF) | /* Leave ADC running */ + (1 << STM_ADC_CFGR1_WAIT) | /* Wait for data to be read before next conversion */ + (0 << STM_ADC_CFGR1_CONT) | /* only one set of conversions per trigger */ + (1 << STM_ADC_CFGR1_OVRMOD) | /* overwrite on overrun */ + (STM_ADC_CFGR1_EXTEN_DISABLE << STM_ADC_CFGR1_EXTEN) | /* SW trigger */ + (0 << STM_ADC_CFGR1_ALIGN) | /* Align to LSB */ + (STM_ADC_CFGR1_RES_12 << STM_ADC_CFGR1_RES) | /* 12 bit resolution */ + (STM_ADC_CFGR1_SCANDIR_UP << STM_ADC_CFGR1_SCANDIR) | /* scan 0 .. n */ + (STM_ADC_CFGR1_DMACFG_ONESHOT << STM_ADC_CFGR1_DMACFG) | /* one set of conversions then stop */ + (1 << STM_ADC_CFGR1_DMAEN)); /* enable DMA */ + + /* Set the clock */ + stm_adc.cfgr2 = STM_ADC_CFGR2_CKMODE_PCLK_2 << STM_ADC_CFGR2_CKMODE; + + /* Shortest sample time */ + stm_adc.smpr = STM_ADC_SMPR_SMP_71_5 << STM_ADC_SMPR_SMP; + + /* Select Vref */ + stm_adc.chselr = 1 << 17; + + stm_adc.ccr = ((0 << STM_ADC_CCR_VBATEN) | + (0 << STM_ADC_CCR_TSEN) | + (1 << STM_ADC_CCR_VREFEN)); + + /* Calibrate */ + stm_adc.cr |= (1 << STM_ADC_CR_ADCAL); + while ((stm_adc.cr & (1 << STM_ADC_CR_ADCAL)) != 0) + ; + + /* Enable */ + stm_adc.cr |= (1 << STM_ADC_CR_ADEN); + while ((stm_adc.isr & (1 << STM_ADC_ISR_ADRDY)) == 0) + ; + + /* Clear any stale status bits */ + stm_adc.isr = 0; + + /* Turn on syscfg */ + stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGCOMPEN); +} + +static void +ao_battery_fini(void) +{ + /* Disable */ + ao_battery_disable(); + + /* Power down */ + stm_rcc.apb2enr &= ~(1 << STM_RCC_APB2ENR_ADCEN); +} + +static uint16_t +ao_battery_voltage(void) +{ + uint16_t vrefint; + + ao_battery_init(); + + stm_adc.cr |= (1 << STM_ADC_CR_ADSTART); + + while ((stm_adc.isr & (1 << STM_ADC_ISR_EOC)) == 0) + ao_arch_nop(); + + vrefint = stm_adc.dr; + + ao_battery_fini(); + + return 330 * stm_cal.vrefint_cal / vrefint; +} + + +uint8_t ao_on_battery; + +static void +ao_micropeak(void) +{ + ao_ms5607_setup(); + ao_storage_setup(); + + /* Give the person a second to get their finger out of the way */ + ao_delay(AO_MS_TO_TICKS(1000)); + + ao_pips(); + + ao_log_micro_restore(); + ao_compute_height(); + ao_report_altitude(); + ao_log_micro_dump(); + +#if BOOST_DELAY + ao_delay(BOOST_DELAY); +#endif + + ao_microflight(); + + ao_log_micro_save(); + ao_compute_height(); + ao_report_altitude(); + + ao_sleep(&ao_on_battery); +} + +static void +ao_show_bat(void) +{ + printf("battery: %u\n", ao_battery_voltage()); +} + +static struct ao_cmds mp_cmd[] = { + { ao_show_bat, "b\0Show battery voltage" }, + { 0 } +}; + +static void +ao_hsi_init(void) +{ + uint32_t cfgr; + + /* Disable all interrupts */ + stm_rcc.cir = 0; + + /* Enable prefetch */ + stm_flash.acr |= (1 << STM_FLASH_ACR_PRFTBE); + + /* Enable power interface clock */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN); + + /* HCLK to 48MHz -> AHB prescaler = /1 */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE); + cfgr |= (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE); + stm_rcc.cfgr = cfgr; + while ((stm_rcc.cfgr & (STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE)) != + (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE)) + ao_arch_nop(); + + /* APB Prescaler = AO_APB_PRESCALER */ + cfgr = stm_rcc.cfgr; + cfgr &= ~(STM_RCC_CFGR_PPRE_MASK << STM_RCC_CFGR_PPRE); + cfgr |= (AO_RCC_CFGR_PPRE_DIV << STM_RCC_CFGR_PPRE); + stm_rcc.cfgr = cfgr; + + /* Clear reset flags */ + stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF); +} + +void +main(void) +{ + if (ao_battery_voltage() < 320) + ao_on_battery = 1; + + /* Leave the system running on the HSI if we're on battery */ + if (!ao_on_battery) + ao_clock_init(); + else + ao_hsi_init(); + + ao_led_init(LEDS_AVAILABLE); + ao_task_init(); + ao_timer_init(); + ao_serial_init(); + stm_moder_set(&stm_gpioa, 2, STM_MODER_OUTPUT); + + ao_dma_init(); + ao_spi_init(); + ao_exti_init(); + + /* Leave USB disabled on battery */ + if (!ao_on_battery) { + ao_usb_init(); + ao_cmd_init(); + } + + ao_ms5607_init(); + + ao_storage_init(); + + ao_add_task(&mp_task, ao_micropeak, "micropeak"); + ao_cmd_register(mp_cmd); + ao_start_scheduler(); +} diff --git a/src/micropeak-v2.0/ao_pins.h b/src/micropeak-v2.0/ao_pins.h new file mode 100644 index 00000000..fa2ed804 --- /dev/null +++ b/src/micropeak-v2.0/ao_pins.h @@ -0,0 +1,145 @@ +/* + * 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. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +extern uint8_t ao_on_battery; + +#define AO_SYSCLK (ao_on_battery ? STM_HSI_FREQ : 48000000) + +#define LED_PORT_ENABLE STM_RCC_AHBENR_IOPAEN +#define LED_PORT (&stm_gpioa) +#define LED_PIN_ORANGE 2 +#define AO_LED_ORANGE (1 << LED_PIN_ORANGE) +#define AO_LED_REPORT AO_LED_ORANGE +#define AO_LED_PANIC AO_LED_ORANGE + +#define LEDS_AVAILABLE (AO_LED_ORANGE) + +#define AO_POWER_MANAGEMENT 0 + +/* 48MHz clock based on USB */ +#define AO_HSI48 1 +/* Need HSI running to flash */ +#define AO_NEED_HSI 1 + +/* HCLK = 12MHz usb / 2MHz battery */ +#define AO_AHB_PRESCALER (ao_on_battery ? 16 : 1) +#define AO_RCC_CFGR_HPRE_DIV (ao_on_battery ? STM_RCC_CFGR_HPRE_DIV_16 : STM_RCC_CFGR_HPRE_DIV_1) + +/* APB = 12MHz usb / 2MHz battery */ +#define AO_APB_PRESCALER 1 +#define AO_RCC_CFGR_PPRE_DIV STM_RCC_CFGR_PPRE_DIV_1 + +#define HAS_USB 1 +#define AO_PA11_PA12_RMP 1 + +#define PACKET_HAS_SLAVE 0 +#define HAS_SERIAL_1 0 +#define HAS_SERIAL_2 1 +#define USE_SERIAL_2_STDIN 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 +#define USE_SERIAL2_SW_FLOW 0 + +#define IS_FLASH_LOADER 0 + +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define HAS_MS5607_TASK 0 +#define HAS_EEPROM 0 +#define HAS_BEEP 0 + +/* Logging */ +#define LOG_INTERVAL 1 +#define SAMPLE_SLEEP AO_MS_TO_TICKS(100) +#define BOOST_DELAY AO_SEC_TO_TICKS(60) +#define AO_LOG_ID AO_LOG_ID_MICRO_PEAK2 + +/* Kalman filter */ + +#define AO_MK_STEP_100MS 1 +#define AO_MK_STEP_96MS 0 + +/* SPI */ +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 1 +#define SPI_1_PB3_PB4_PB5 0 +#define SPI_1_OSPEEDR STM_OSPEEDR_MEDIUM + +#define HAS_SPI_2 0 + +/* MS5607 */ +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define AO_MS5607_PRIVATE_PINS 0 +#define AO_MS5607_CS_PORT (&stm_gpioa) +#define AO_MS5607_CS_PIN 4 +#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN) +#define AO_MS5607_MISO_PORT (&stm_gpioa) +#define AO_MS5607_MISO_PIN 6 +#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN) +#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7 + +typedef int32_t alt_t; + +#define AO_ALT_VALUE(x) ((x) * (alt_t) 10) + +#define AO_DATA_RING 32 + +#define HAS_ADC 0 + +static inline void +ao_power_off(void) __attribute((noreturn)); + +static inline void +ao_power_off(void) { + for (;;) { + } +} + +extern alt_t ao_max_height; + +void ao_delay_until(uint16_t target); + +#define ao_async_stop() do { \ + ao_serial2_drain(); \ + stm_moder_set(&stm_gpioa, 2, STM_MODER_OUTPUT); \ + } while (0) + +#define ao_async_start() do { \ + stm_moder_set(&stm_gpioa, 2, STM_MODER_ALTERNATE); \ + ao_delay(AO_MS_TO_TICKS(100)); \ + } while (0) + +#define ao_async_byte(b) ao_serial2_putchar((char) (b)) + +#define ao_eeprom_read(pos, ptr, size) ao_storage_read(pos, ptr, size) +#define ao_eeprom_write(pos, ptr, size) ao_storage_write(pos, ptr, size) +#define MAX_LOG_OFFSET ao_storage_total + +extern uint32_t __flash__[]; +extern uint32_t __flash_end__[]; + +#define AO_BOOT_APPLICATION_BOUND ((uint32_t *) __flash__) +#define USE_STORAGE_CONFIG 0 + +#endif /* _AO_PINS_H_ */ diff --git a/src/micropeak-v2.0/flash-loader/.gitignore b/src/micropeak-v2.0/flash-loader/.gitignore new file mode 100644 index 00000000..43f0aa8d --- /dev/null +++ b/src/micropeak-v2.0/flash-loader/.gitignore @@ -0,0 +1,2 @@ +*.bin +*.elf diff --git a/src/micropeak-v2.0/flash-loader/Makefile b/src/micropeak-v2.0/flash-loader/Makefile new file mode 100644 index 00000000..4e30c1c6 --- /dev/null +++ b/src/micropeak-v2.0/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=micropeak-v2.0 +include $(TOPDIR)/stmf0/Makefile-flash.defs diff --git a/src/micropeak-v2.0/flash-loader/ao_pins.h b/src/micropeak-v2.0/flash-loader/ao_pins.h new file mode 100644 index 00000000..196a8b1d --- /dev/null +++ b/src/micropeak-v2.0/flash-loader/ao_pins.h @@ -0,0 +1,37 @@ +/* + * 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; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#include <ao_flash_stm_pins.h> + +/* LED anode (PA2) to 3.3 for boot mode */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO stm_gpioa +#define AO_BOOT_APPLICATION_PIN 2 +#define AO_BOOT_APPLICATION_VALUE 0 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_DOWN + +/* USB */ +#define HAS_USB 1 +#define AO_USB_DIRECTIO 0 +#define AO_PA11_PA12_RMP 1 + +#endif /* _AO_PINS_H_ */ diff --git a/src/micropeak-v2.0/micropeak.ld b/src/micropeak-v2.0/micropeak.ld new file mode 100644 index 00000000..77717e16 --- /dev/null +++ b/src/micropeak-v2.0/micropeak.ld @@ -0,0 +1,123 @@ +/* + * 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; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +MEMORY { + rom (rx) : ORIGIN = 0x08001000, LENGTH = 20K + flash(rx) : ORIGIN = 0x08006000, LENGTH = 8K + ram (!w) : ORIGIN = 0x20000000, LENGTH = 6k - 128 + stack (!w) : ORIGIN = 0x20000000 + 6k - 128, LENGTH = 128 +} + +INCLUDE registers.ld + +EXTERN (stm_interrupt_vector) + +SECTIONS { + /* + * Rom contents + */ + + .interrupt ORIGIN(ram) : AT (ORIGIN(rom)) { + __interrupt_start__ = .; + __interrupt_rom__ = ORIGIN(rom); + *(.interrupt) /* Interrupt vectors */ + __interrupt_end__ = .; + } > ram + + .text ORIGIN(rom) + 0x100 : { + __text_start__ = .; + + /* Ick. What I want is to specify the + * addresses of some global constants so + * that I can find them across versions + * of the application. I can't figure out + * how to make gnu ld do that, so instead + * we just load the two files that include + * these defines in the right order here and + * expect things to 'just work'. Don't change + * the contents of those files, ok? + */ + ao_romconfig.o(.romconfig*) + ao_product.o(.romconfig*) + + *(.text*) /* Executable code */ + } > rom + + .ARM.exidx : { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + } > rom + + .rodata : { + *(.rodata*) /* Constants */ + } > rom + + __text_end__ = .; + + /* Boot data which must live at the start of ram so that + * the application and bootloader share the same addresses. + * This must be all uninitialized data + */ + .boot (NOLOAD) : { + __boot_start__ = .; + *(.boot) + . = ALIGN(4); + __boot_end__ = .; + } >ram + + /* Functions placed in RAM (required for flashing) + * + * Align to 8 bytes as that's what the ARM likes text + * segment alignments to be, and if we don't, then + * we end up with a mismatch between the location in + * ROM and the desired location in RAM. I don't + * entirely understand this, but at least this appears + * to work... + */ + + .textram BLOCK(8): { + __data_start__ = .; + *(.ramtext) + } >ram AT>rom + + /* Data -- relocated to RAM, but written to ROM + */ + .data : { + *(.data) /* initialized data */ + . = ALIGN(4); + __data_end__ = .; + } >ram AT>rom + + .bss : { + __bss_start__ = .; + *(.bss) + *(COMMON) + . = ALIGN(4); + __bss_end__ = .; + } >ram + + PROVIDE(end = .); + + PROVIDE(__flash__ = ORIGIN(flash)); + PROVIDE(__flash_end__ = ORIGIN(flash) + LENGTH(flash)); + + PROVIDE(__stack__ = ORIGIN(stack) + LENGTH(stack)); +} + +ENTRY(start); + + diff --git a/src/nucleao-32/Makefile b/src/nucleao-32/Makefile index 69049982..2b9fe14f 100644 --- a/src/nucleao-32/Makefile +++ b/src/nucleao-32/Makefile @@ -60,7 +60,7 @@ IDPRODUCT=0x000a CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -Os -g -LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tload.ld +LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tload.ld -n PROGNAME=nucleo-32 PROG=$(PROGNAME)-$(VERSION).elf diff --git a/src/nucleao-32/ao_lisp_os.h b/src/nucleao-32/ao_lisp_os.h new file mode 100644 index 00000000..1993ac44 --- /dev/null +++ b/src/nucleao-32/ao_lisp_os.h @@ -0,0 +1,62 @@ +/* + * Copyright © 2016 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_LISP_OS_H_ +#define _AO_LISP_OS_H_ + +#include "ao.h" + +static inline int +ao_lisp_getc() { + static uint8_t at_eol; + int c; + + if (at_eol) { + ao_cmd_readline(); + at_eol = 0; + } + c = ao_cmd_lex(); + if (c == '\n') + at_eol = 1; + return c; +} + +static inline void +ao_lisp_os_flush(void) +{ + flush(); +} + +static inline void +ao_lisp_abort(void) +{ + ao_panic(1); +} + +static inline void +ao_lisp_os_led(int led) +{ + ao_led_set(led); +} + +static inline void +ao_lisp_os_delay(int delay) +{ + ao_delay(AO_MS_TO_TICKS(delay)); +} + +#endif diff --git a/src/nucleao-32/ao_lisp_os_save.c b/src/nucleao-32/ao_lisp_os_save.c new file mode 100644 index 00000000..cd740ccd --- /dev/null +++ b/src/nucleao-32/ao_lisp_os_save.c @@ -0,0 +1,53 @@ +/* + * Copyright © 2016 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + */ + +#include <ao.h> +#include <ao_lisp.h> +#include <ao_flash.h> + +extern uint8_t __flash__[] __attribute__((aligned(4))); + +/* saved variables to rebuild the heap + + ao_lisp_atoms + ao_lisp_frame_global + */ + +int +ao_lisp_os_save(void) +{ + int i; + + for (i = 0; i < AO_LISP_POOL_TOTAL; i += 256) { + uint32_t *dst = (uint32_t *) (void *) &__flash__[i]; + uint32_t *src = (uint32_t *) (void *) &ao_lisp_pool[i]; + + ao_flash_page(dst, src); + } + return 1; +} + +int +ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset) +{ + memcpy(save, &__flash__[offset], sizeof (struct ao_lisp_os_save)); + return 1; +} + +int +ao_lisp_os_restore(void) +{ + memcpy(ao_lisp_pool, __flash__, AO_LISP_POOL_TOTAL); + return 1; +} diff --git a/src/nucleao-32/load.ld b/src/nucleao-32/load.ld new file mode 100644 index 00000000..02a23a95 --- /dev/null +++ b/src/nucleao-32/load.ld @@ -0,0 +1,108 @@ +/* + * 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; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +MEMORY { + rom (rx) : ORIGIN = 0x08001000, LENGTH = 27K + flash (rx) : ORIGIN = 0x08007c00, LENGTH = 1K + ram (!w) : ORIGIN = 0x20000000, LENGTH = 6k - 128 + stack (!w) : ORIGIN = 0x20000000 + 6k - 128, LENGTH = 128 +} + +INCLUDE registers.ld + +EXTERN (stm_interrupt_vector) + +SECTIONS { + /* + * Rom contents + */ + + .interrupt ORIGIN(ram) : AT (ORIGIN(rom)) { + __interrupt_start__ = .; + __interrupt_rom__ = ORIGIN(rom); + *(.interrupt) /* Interrupt vectors */ + __interrupt_end__ = .; + } > ram + + .text ORIGIN(rom) + 0x100 : { + __text_start__ = .; + + /* Ick. What I want is to specify the + * addresses of some global constants so + * that I can find them across versions + * of the application. I can't figure out + * how to make gnu ld do that, so instead + * we just load the two files that include + * these defines in the right order here and + * expect things to 'just work'. Don't change + * the contents of those files, ok? + */ + ao_romconfig.o(.romconfig*) + ao_product.o(.romconfig*) + + *(.text*) /* Executable code */ + } > rom + + .ARM.exidx : { + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + } > rom + + .rodata : { + *(.rodata*) /* Constants */ + } > rom + + __text_end__ = .; + + /* Boot data which must live at the start of ram so that + * the application and bootloader share the same addresses. + * This must be all uninitialized data + */ + .boot (NOLOAD) : { + __boot_start__ = .; + *(.boot) + . = ALIGN(4); + __boot_end__ = .; + } >ram + + /* Data -- relocated to RAM, but written to ROM + */ + .data : { + __data_start__ = .; + *(.data) /* initialized data */ + . = ALIGN(4); + __data_end__ = .; + } >ram AT>rom + + .bss : { + __bss_start__ = .; + *(.bss) + *(COMMON) + . = ALIGN(4); + __bss_end__ = .; + } >ram + + PROVIDE(end = .); + + PROVIDE(__stack__ = ORIGIN(stack) + LENGTH(stack)); + + __flash__ = ORIGIN(flash); +} + +ENTRY(start); + + diff --git a/src/product/ao_micropeak.c b/src/product/ao_micropeak.c index f9960eb8..8aac79cd 100644 --- a/src/product/ao_micropeak.c +++ b/src/product/ao_micropeak.c @@ -22,7 +22,6 @@ #include <ao_log_micro.h> #include <ao_async.h> -static struct ao_ms5607_sample sample; static struct ao_ms5607_value value; alt_t ground_alt, max_alt; @@ -31,8 +30,8 @@ alt_t ao_max_height; void ao_pa_get(void) { - ao_ms5607_sample(&sample); - ao_ms5607_convert(&sample, &value); + ao_ms5607_sample(&ao_ms5607_current); + ao_ms5607_convert(&ao_ms5607_current, &value); pa = value.pres; } diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h index 6dc7a465..240eed59 100644 --- a/src/product/ao_micropeak.h +++ b/src/product/ao_micropeak.h @@ -19,7 +19,9 @@ #ifndef _AO_MICROPEAK_H_ #define _AO_MICROPEAK_H_ +#ifndef SAMPLE_SLEEP #define SAMPLE_SLEEP AO_MS_TO_TICKS(96) +#endif /* 64 sample, or about six seconds worth */ #define GROUND_AVG_SHIFT 6 @@ -36,6 +38,7 @@ #define AO_LOG_ID_MICROPEAK 0 #define AO_LOG_ID_MICROKITE 1 +#define AO_LOG_ID_MICROPEAK2 2 #ifndef AO_LOG_ID #define AO_LOG_ID AO_LOG_ID_MICROPEAK diff --git a/src/product/ao_telemini.c b/src/product/ao_telemini.c index b192763d..14414a48 100644 --- a/src/product/ao_telemini.c +++ b/src/product/ao_telemini.c @@ -19,8 +19,6 @@ #include "ao.h" #include "ao_pins.h" -__xdata uint8_t ao_force_freq; - void main(void) { 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/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c index 33e0617c..595bddac 100644 --- a/src/stm/ao_usb_stm.c +++ b/src/stm/ao_usb_stm.c @@ -598,7 +598,7 @@ ao_usb_ep0_in_start(uint16_t max) ao_usb_ep0_flush(); } -static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; +struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; /* Walk through the list of descriptors and find a match */ diff --git a/src/stmf0/ao_arch.h b/src/stmf0/ao_arch.h index c5f451f5..5c5085d9 100644 --- a/src/stmf0/ao_arch.h +++ b/src/stmf0/ao_arch.h @@ -94,12 +94,17 @@ extern const uint32_t ao_radio_cal; * For the stm32f042, we want to use the USB-based HSI48 clock */ -#if AO_HSI48 +#ifndef AO_SYSCLK +#if AO_HSI +#define AO_SYSCLK STM_HSI_FREQ +#endif +#if AO_HSI48 #define AO_SYSCLK 48000000 -#define AO_HCLK (AO_SYSCLK / AO_AHB_PRESCALER) - #endif +#endif + +#define AO_HCLK (AO_SYSCLK / AO_AHB_PRESCALER) #if AO_HSE || AO_HSI @@ -150,7 +155,9 @@ ao_adc_init(); #if HAS_BOOT_LOADER #define AO_BOOT_APPLICATION_BASE ((uint32_t *) 0x08001000) +#ifndef AO_BOOT_APPLICATION_BOUND #define AO_BOOT_APPLICATION_BOUND ((uint32_t *) (0x08000000 + stm_flash_size())) +#endif #define AO_BOOT_LOADER_BASE ((uint32_t *) 0x08000000) #endif diff --git a/src/stmf0/ao_arch_funcs.h b/src/stmf0/ao_arch_funcs.h index c38ce41a..01d51f90 100644 --- a/src/stmf0/ao_arch_funcs.h +++ b/src/stmf0/ao_arch_funcs.h @@ -310,6 +310,27 @@ void ao_i2c_init(void); /* ao_serial_stm.c */ + +#if USE_SERIAL_1_FLOW && USE_SERIAL_1_SW_FLOW || USE_SERIAL_2_FLOW && USE_SERIAL_2_SW_FLOW +#define HAS_SERIAL_SW_FLOW 1 +#else +#define HAS_SERIAL_SW_FLOW 0 +#endif + +#if USE_SERIAL_2_FLOW && !USE_SERIAL_2_SW_FLOW +#define USE_SERIAL_2_HW_FLOW 1 +#endif + +#if USE_SERIAL_1_FLOW && !USE_SERIAL_1_SW_FLOW +#define USE_SERIAL_1_HW_FLOW 1 +#endif + +#if USE_SERIAL_1_HW_FLOW || USE_SERIAL_2_HW_FLOW +#define HAS_SERIAL_HW_FLOW 1 +#else +#define HAS_SERIAL_HW_FLOW 0 +#endif + struct ao_stm_usart { struct ao_fifo rx_fifo; struct ao_fifo tx_fifo; diff --git a/src/stmf0/ao_beep_stm.c b/src/stmf0/ao_beep_stm.c index 610f4a31..15137230 100644 --- a/src/stmf0/ao_beep_stm.c +++ b/src/stmf0/ao_beep_stm.c @@ -25,6 +25,10 @@ #define BEEPER_TIMER 1 #endif +#ifndef BEEPER_AFR +#define BEEPER_AFR STM_AFR_AF2 +#endif + #if BEEPER_TIMER == 1 #define timer stm_tim1 #define STM_RCC_TIMER STM_RCC_APB2ENR_TIM1EN @@ -366,7 +370,7 @@ ao_beep(uint8_t beep) timer.egr = (1 << STM_TIM23_EGR_UG); /* Hook the timer up to the beeper pin */ - stm_afr_set(BEEPER_PORT, BEEPER_PIN, STM_AFR_AF2); + stm_afr_set(BEEPER_PORT, BEEPER_PIN, BEEPER_AFR); #endif } } diff --git a/src/stmf0/ao_exti.h b/src/stmf0/ao_exti.h index 7452af8e..36c3f7ca 100644 --- a/src/stmf0/ao_exti.h +++ b/src/stmf0/ao_exti.h @@ -21,6 +21,7 @@ #define AO_EXTI_MODE_RISING 1 #define AO_EXTI_MODE_FALLING 2 +#define AO_EXTI_MODE_PULL_NONE 0 #define AO_EXTI_MODE_PULL_UP 4 #define AO_EXTI_MODE_PULL_DOWN 8 #define AO_EXTI_PRIORITY_LOW 16 diff --git a/src/stmf0/ao_serial_stm.c b/src/stmf0/ao_serial_stm.c index 30b0dbd2..59cfde2e 100644 --- a/src/stmf0/ao_serial_stm.c +++ b/src/stmf0/ao_serial_stm.c @@ -163,24 +163,12 @@ ao_usart_drain(struct ao_stm_usart *usart) ao_arch_release_interrupts(); } -static const struct { - uint32_t brr; -} ao_usart_speeds[] = { - [AO_SERIAL_SPEED_4800] = { - AO_PCLK / 4800 - }, - [AO_SERIAL_SPEED_9600] = { - AO_PCLK / 9600 - }, - [AO_SERIAL_SPEED_19200] = { - AO_PCLK / 19200 - }, - [AO_SERIAL_SPEED_57600] = { - AO_PCLK / 57600 - }, - [AO_SERIAL_SPEED_115200] = { - AO_PCLK / 115200 - }, +static const uint32_t ao_usart_speeds[] = { + [AO_SERIAL_SPEED_4800] = 4800, + [AO_SERIAL_SPEED_9600] = 9600, + [AO_SERIAL_SPEED_19200] = 19200, + [AO_SERIAL_SPEED_57600] = 57600, + [AO_SERIAL_SPEED_115200] = 115200, }; static void @@ -188,11 +176,11 @@ ao_usart_set_speed(struct ao_stm_usart *usart, uint8_t speed) { if (speed > AO_SERIAL_SPEED_115200) return; - usart->reg->brr = ao_usart_speeds[speed].brr; + usart->reg->brr = AO_PCLK / ao_usart_speeds[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) | @@ -235,44 +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; @@ -360,7 +343,7 @@ ao_serial2_set_speed(uint8_t speed) ao_usart_set_speed(&ao_stm_usart2, speed); } -#if HAS_SERIAL_SW_FLOW +#if USE_SERIAL_2_FLOW && USE_SERIAL_2_SW_FLOW void ao_serial2_cts(void) { @@ -403,13 +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); @@ -421,7 +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); @@ -440,8 +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 @@ -459,8 +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 @@ -484,10 +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/stmf0/ao_storage_stm.c b/src/stmf0/ao_storage_stm.c new file mode 100644 index 00000000..1a6198a7 --- /dev/null +++ b/src/stmf0/ao_storage_stm.c @@ -0,0 +1,191 @@ +/* + * Copyright © 2017 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + */ + +#include <ao.h> +#include <ao_storage.h> + +uint32_t ao_storage_block; +ao_pos_t ao_storage_total; +uint16_t ao_storage_unit; + +/* Note that the HSI clock must be running for this code to work. + * Also, special care must be taken with the linker to ensure that the + * functions marked 'ramtext' land in ram and not rom. An example of that + * can be found in altos-loader.ld + */ + +static uint8_t +ao_flash_is_locked(void) +{ + return (stm_flash.cr & (1 << STM_FLASH_CR_LOCK)) != 0; +} + +static void +ao_flash_unlock(void) +{ + if (!ao_flash_is_locked()) + return; + + /* Unlock FLASH_CR register */ + stm_flash.keyr = STM_FLASH_KEYR_KEY1; + stm_flash.keyr = STM_FLASH_KEYR_KEY2; + if (ao_flash_is_locked()) + ao_panic(AO_PANIC_FLASH); +} + +static void +ao_flash_lock(void) +{ + stm_flash.cr |= (1 << STM_FLASH_CR_LOCK); +} + +static uint32_t +stm_flash_page_size(void) +{ + uint16_t dev_id = stm_dev_id(); + + switch (dev_id) { + case 0x440: /* stm32f05x */ + case 0x444: /* stm32f03x */ + case 0x445: /* stm32f04x */ + return 1024; + case 0x442: /* stm32f09x */ + case 0x448: /* stm32f07x */ + return 2048; + } + ao_panic(AO_PANIC_FLASH); + return 0; +} + +#define ao_flash_wait_bsy() do { while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)); } while (0) + +static void __attribute__ ((section(".ramtext"),noinline)) +_ao_flash_erase_page(uint16_t *page) +{ + stm_flash.cr |= (1 << STM_FLASH_CR_PER); + + stm_flash.ar = (uintptr_t) page; + + stm_flash.cr |= (1 << STM_FLASH_CR_STRT); + + ao_flash_wait_bsy(); + + stm_flash.cr &= ~(1 << STM_FLASH_CR_PER); +} + +#define _ao_flash_addr(pos) ((uint16_t *) (void *) ((uint8_t *) __flash__ + (pos))) + +static void __attribute ((section(".ramtext"), noinline)) _ao_flash_byte(uint32_t pos, uint8_t b) +{ + uint16_t v; + uint16_t *a = _ao_flash_addr(pos & ~1); + + if (pos & 1) + v = (*a & 0xff) | (b << 8); + else + v = (*a & 0xff00) | b; + *a = v; + ao_flash_wait_bsy(); +} + +static void __attribute__ ((section(".ramtext"), noinline)) +_ao_flash_write(uint32_t pos, void *sv, uint16_t len) +{ + uint8_t *s = sv; + uint16_t *f16; + uint16_t v; + + stm_flash.cr |= (1 << STM_FLASH_CR_PG); + + if (pos & 1) { + _ao_flash_byte(pos++, *s++); + len--; + } + f16 = _ao_flash_addr(pos); + while(len > 1) { + v = s[0] | (s[1] << 8); + s += 2; + *f16++ = v; + ao_flash_wait_bsy(); + len -= 2; + pos += 2; + } + if (len) + _ao_flash_byte(pos, *s++); + + stm_flash.cr &= ~(1 << STM_FLASH_CR_PG); +} + +uint8_t +ao_storage_erase(uint32_t pos) +{ + ao_arch_block_interrupts(); + ao_flash_unlock(); + + _ao_flash_erase_page(_ao_flash_addr(pos)); + + ao_flash_lock(); + ao_arch_release_interrupts(); + return 1; +} + +uint8_t +ao_storage_device_write(uint32_t pos, void *v, uint16_t len) +{ + if (len == 0) + return 1; + + ao_arch_block_interrupts(); + ao_flash_unlock(); + + _ao_flash_write(pos, v, len); + + ao_flash_lock(); + ao_arch_release_interrupts(); + return 1; +} + +uint8_t +ao_storage_device_read(uint32_t pos, __xdata void *d, uint16_t len) __reentrant +{ + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + memcpy(d, _ao_flash_addr(pos), len); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ +} + +void +ao_storage_setup(void) +{ + ao_storage_block = stm_flash_page_size(); + ao_storage_total = ((uint8_t *) __flash_end__) - ((uint8_t *) __flash__); + ao_storage_unit = ao_storage_total; +} + +void +ao_storage_device_info(void) __reentrant +{ + printf ("Using internal flash, page %d bytes, total %d bytes\n", + ao_storage_block, ao_storage_total); +} + +void +ao_storage_device_init(void) +{ +} diff --git a/src/stmf0/ao_timer.c b/src/stmf0/ao_timer.c index 5c05e4f1..50fd67b8 100644 --- a/src/stmf0/ao_timer.c +++ b/src/stmf0/ao_timer.c @@ -86,6 +86,7 @@ ao_timer_set_adc_interval(uint8_t interval) void ao_timer_init(void) { + stm_systick.csr = 0; stm_systick.rvr = SYSTICK_RELOAD; stm_systick.cvr = 0; stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) | diff --git a/src/stmf0/ao_usb_stm.c b/src/stmf0/ao_usb_stm.c index 652b3b6c..59aed3aa 100644 --- a/src/stmf0/ao_usb_stm.c +++ b/src/stmf0/ao_usb_stm.c @@ -655,7 +655,7 @@ ao_usb_ep0_in_start(uint16_t max) ao_usb_ep0_flush(); } -static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; +struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8}; #if AO_USB_DEVICE_ID_SERIAL static uint8_t ao_usb_serial[2 + 48]; diff --git a/src/stmf0/stm32f0.h b/src/stmf0/stm32f0.h index e53a5dfd..61faf2e4 100644 --- a/src/stmf0/stm32f0.h +++ b/src/stmf0/stm32f0.h @@ -282,8 +282,8 @@ struct stm_rcc { extern struct stm_rcc stm_rcc; -/* Nominal high speed internal oscillator frequency is 16MHz */ -#define STM_HSI_FREQ 16000000 +/* Nominal high speed internal oscillator frequency is 8MHz */ +#define STM_HSI_FREQ 8000000 #define STM_RCC_CR_PLLRDY (25) #define STM_RCC_CR_PLLON (24) 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/.gitignore b/src/telebt-v4.0/.gitignore new file mode 100644 index 00000000..d1cf2326 --- /dev/null +++ b/src/telebt-v4.0/.gitignore @@ -0,0 +1,4 @@ +ao_product.h +*.bin +*.ihx +*.elf diff --git a/src/telebt-v4.0/Makefile b/src/telebt-v4.0/Makefile new file mode 100644 index 00000000..38ac7513 --- /dev/null +++ b/src/telebt-v4.0/Makefile @@ -0,0 +1,81 @@ +# +# AltOS build +# +# + +include ../stmf0/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_boot.h \ + ao_pins.h \ + ao_product.h \ + ao_cc1200_CC1200.h \ + ao_task.h \ + ao_rn4678.h \ + stm32f0.h \ + Makefile + +ALTOS_SRC = \ + ao_boot_chain.c \ + ao_interrupt.c \ + ao_product.c \ + ao_romconfig.c \ + ao_cmd.c \ + ao_config.c \ + ao_data.c \ + ao_task.c \ + ao_led.c \ + ao_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_mutex.c \ + ao_serial_stm.c \ + ao_rn4678.c \ + ao_freq.c \ + ao_dma_stm.c \ + ao_spi_stm.c \ + ao_cc1200.c \ + ao_adc_stm.c \ + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_convert_volt.c \ + ao_packet_master.c \ + ao_packet.c \ + ao_monitor.c \ + ao_send_packet.c + +PRODUCT=TeleBT-v4.0 +PRODUCT_DEF=-DTELEBT_V_4_0 +IDPRODUCT=0x000e + +CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -Os -g + +PROGNAME=telebt-v4.0 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SRC=$(ALTOS_SRC) ao_telebt.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) $(HEX) + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS) + +$(OBJ): $(INC) + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/telebt-v4.0/ao_pins.h b/src/telebt-v4.0/ao_pins.h new file mode 100644 index 00000000..f3d70d1a --- /dev/null +++ b/src/telebt-v4.0/ao_pins.h @@ -0,0 +1,290 @@ +/* + * Copyright © 2017 Bdale Garbee <bdale@gag.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#define AO_STACK_SIZE 512 + +#define AO_HSE 32000000 +#define AO_RCC_CFGR_PLLMUL STM_RCC_CFGR_PLLMUL_3 +#define AO_RCC_CFGR2_PLLDIV STM_RCC_CFGR2_PREDIV_2 +#define AO_PLLMUL 3 +#define AO_PLLDIV 2 + +/* HCLK = 48MHz */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* APB = 48MHz */ +#define AO_APB_PRESCALER 1 +#define AO_RCC_CFGR_PPRE_DIV STM_RCC_CFGR_PPRE_DIV_1 + +#define HAS_USB 1 +#define AO_USB_DIRECTIO 0 +#define AO_PA11_PA12_RMP 0 + +#define IS_FLASH_LOADER 0 +#define HAS_TASK_QUEUE 1 + +/* + * Serial ports + */ +#define HAS_SERIAL_1 0 +#define USE_SERIAL_1_STDIN 0 +#define SERIAL_1_PB6_PB7 0 +#define SERIAL_1_PA9_PA10 0 + +#define HAS_SERIAL_2 1 +#define USE_SERIAL_2_STDIN 1 +#define DELAY_SERIAL_2_STDIN 1 +#define USE_SERIAL_2_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) +#define SERIAL_2_PIN_RTS 1 +#define SERIAL_2_PORT_CTS (&stm_gpioa) +#define SERIAL_2_PIN_CTS 0 + +#define AO_CONFIG_MAX_SIZE 1024 + +#define HAS_EEPROM 0 +#define USE_INTERNAL_FLASH 0 +#define USE_EEPROM_CONFIG 0 +#define USE_STORAGE_CONFIG 0 +#define HAS_BEEP 0 +#define HAS_BATTERY_REPORT 0 +#define HAS_RADIO 1 +#define HAS_TELEMETRY 0 +#define HAS_APRS 0 +#define HAS_ACCEL 0 +#define HAS_AES 0 + +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 1 /* CC1200 */ +#define SPI_1_PB3_PB4_PB5 0 +#define SPI_1_PE13_PE14_PE15 0 +#define SPI_1_OSPEEDR STM_OSPEEDR_HIGH + +#define HAS_SPI_2 0 +#define SPI_2_PB13_PB14_PB15 0 +#define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_OSPEEDR STM_OSPEEDR_HIGH + +#define HAS_I2C_1 0 +#define I2C_1_PB8_PB9 0 + +#define HAS_I2C_2 0 +#define I2C_2_PB10_PB11 0 + +#define PACKET_HAS_SLAVE 0 +#define PACKET_HAS_MASTER 1 + +#define LOW_LEVEL_DEBUG 0 + +#define LED_PORT_0_ENABLE STM_RCC_AHBENR_IOPBEN +#define LED_PORT_1_ENABLE STM_RCC_AHBENR_IOPCEN +#define LED_PORT_0 (&stm_gpiob) +#define LED_PORT_1 (&stm_gpioc) +#define LED_PORT_0_SHIFT 0 +#define LED_PORT_1_SHIFT 0 +#define LED_PIN_RED (0 + LED_PORT_0_SHIFT) +#define LED_PIN_BLUE (15 + LED_PORT_1_SHIFT) +#define AO_LED_RED (1 << LED_PIN_RED) +#define AO_LED_BLUE (1 << LED_PIN_BLUE) +#define LED_PORT_0_MASK (AO_LED_RED) +#define LED_PORT_1_MASK (AO_LED_BLUE) +#define AO_BT_LED AO_LED_BLUE + +#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_BLUE) + +#define HAS_GPS 0 +#define HAS_FLIGHT 0 +#define HAS_ADC 1 +#define HAS_ADC_TEMP 0 +#define HAS_LOG 0 + +/* + * ADC + */ +#define AO_DATA_RING 32 +#define AO_ADC_NUM_SENSE 2 + +struct ao_adc { + int16_t v_batt; +}; + +#define AO_ADC_DUMP(p) \ + printf("tick: %5u batt %5d\n", \ + (p)->tick, \ + (p)->adc.v_batt); + +#define AO_ADC_V_BATT 4 +#define AO_ADC_V_BATT_PORT (&stm_gpioa) +#define AO_ADC_V_BATT_PIN 4 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_IOPAEN)) + +#define AO_NUM_ADC_PIN 1 + +#define AO_ADC_PIN0_PORT AO_ADC_V_BATT_PORT +#define AO_ADC_PIN0_PIN AO_ADC_V_BATT_PIN +#define AO_ADC_PIN0_CH AO_ADC_V_BATT_PIN + +#define AO_NUM_ADC (AO_NUM_ADC_PIN) + +#define AO_ADC_SQ1 AO_ADC_V_BATT + +/* + * Voltage divider on ADC battery sampler + */ +#define AO_BATTERY_DIV_PLUS 51 /* 5.1k */ +#define AO_BATTERY_DIV_MINUS 100 /* 10k */ + +/* + * ADC reference in decivolts + */ +#define AO_ADC_REFERENCE_DV 33 + +/* + * RN4678 + */ +#define HAS_RN 1 + +#define ao_serial_rn_getchar ao_serial2_getchar +#define ao_serial_rn_putchar ao_serial2_putchar +#define _ao_serial_rn_pollchar _ao_serial2_pollchar +#define _ao_serial_rn_sleep_for _ao_serial2_sleep_for +#define ao_serial_rn_set_speed ao_serial2_set_speed +#define ao_serial_rn_drain ao_serial2_drain +#define ao_serial_rn_rx_fifo (ao_stm_usart2.rx_fifo) + +/* Pin 5. BM70 P2_2 */ +#define AO_RN_SW_BTN_PORT (&stm_gpioc) +#define AO_RN_SW_BTN_PIN 14 + +/* Pin 9. BM70 P2_3 */ +#define AO_RN_WAKEUP_PORT (&stm_gpiob) +#define AO_RN_WAKEUP_PIN 9 + +/* Pin 11. BM70 P2_7/tx_ind. Status indication along with P1_5 */ +#define AO_RN_P0_4_PORT (&stm_gpioc) +#define AO_RN_P0_4_PIN 13 + +/* Pin 12. BM70 P1_1. Status indication along with P0_4 */ +#define AO_RN_P1_5_PORT (&stm_gpiob) +#define AO_RN_P1_5_PIN 6 + +/* Pin 13. BM70 P1_2. Also I2C SCL */ +#define AO_RN_P1_2_PORT (&stm_gpiob) +#define AO_RN_P1_2_PIN 7 + +/* Pin 14. BM70 P1_3. Also I2C SDA */ +#define AO_RN_P1_3_PORT (&stm_gpiob) +#define AO_RN_P1_3_PIN 8 + +/* Pin 15. BM70 P0_0/cts. */ +#define AO_RN_CTS_PORT (&stm_gpioa) +#define AO_RN_CTS_PIN 1 + +/* Pin 16. BM70 P1_0. */ +#define AO_RN_P0_5_PORT (&stm_gpiob) +#define AO_RN_P0_5_PIN 5 + +/* Pin 17. BM70 P3_6. */ +#define AO_RN_RTS_PORT (&stm_gpioa) +#define AO_RN_RTS_PIN 0 + +/* Pin 18. BM70 P2_0. */ +#define AO_RN_P2_0_PORT (&stm_gpiob) +#define AO_RN_P2_0_PIN 3 + +/* Pin 19. BM70 P2_4. */ +#define AO_RN_P2_4_PORT (&stm_gpioa) +#define AO_RN_P2_4_PIN 10 + +/* Pin 20. BM70 NC. */ +#define AO_RN_EAN_PORT +#define AO_RN_EAN_PIN + +/* Pin 21. BM70 RST_N. */ +#define AO_RN_RST_N_PORT (&stm_gpioa) +#define AO_RN_RST_N_PIN 15 + +/* Pin 22. BM70 RXD. */ +#define AO_RN_RXD_PORT (&stm_gpioa) +#define AO_RN_RXD_PIN 2 + +/* Pin 23. BM70 TXD. */ +#define AO_RN_TXD_PORT (&stm_gpioa) +#define AO_RN_TXD_PIN 3 + +/* Pin 24. BM70 P3_1/RSSI_IND. */ +#define AO_RN_P3_1_PORT (&stm_gpiob) +#define AO_RN_P3_1_PIN 2 + +/* Pin 25. BM70 P3_2/LINK_DROP. */ +#define AO_RN_P3_2_PORT (&stm_gpioa) +#define AO_RN_P3_2_PIN 8 + +/* Pin 26. BM70 P3_3/UART_RX_IND. */ +#define AO_RN_P3_3_PORT (&stm_gpiob) +#define AO_RN_P3_3_PIN 15 + +/* Pin 27. BM70 P3_4/PAIRING_KEY. */ +#define AO_RN_P3_4_PORT (&stm_gpiob) +#define AO_RN_P3_4_PIN 14 + +/* Pin 28. BM70 P3_5. */ +#define AO_RN_P3_6_PORT (&stm_gpiob) +#define AO_RN_P3_6_PIN 13 + +/* Pin 29. BM70 P0_7. */ +#define AO_RN_P3_7_PORT (&stm_gpiob) +#define AO_RN_P3_7_PIN 12 + +/* + * Radio (cc1200) + */ + +/* gets pretty close to 434.550 */ + +#define AO_RADIO_CAL_DEFAULT 5695485 + +#define AO_FEC_DEBUG 0 +#define AO_CC1200_SPI_CS_PORT (&stm_gpiob) +#define AO_CC1200_SPI_CS_PIN 11 +#define AO_CC1200_SPI_BUS AO_SPI_1_PA5_PA6_PA7 +#define AO_CC1200_SPI stm_spi1 +#define AO_CC1200_SPI_SPEED AO_SPI_SPEED_6MHz + +#define AO_CC1200_INT_PORT (&stm_gpiob) +#define AO_CC1200_INT_PIN (10) + +#define AO_CC1200_INT_GPIO 2 +#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2 + +#define HAS_BOOT_RADIO 0 + +/* Monitor bits */ +#define HAS_MONITOR 1 +#define LEGACY_MONITOR 0 +#define AO_MONITOR_LED AO_LED_RED + +#endif /* _AO_PINS_H_ */ diff --git a/src/telebt-v4.0/ao_telebt.c b/src/telebt-v4.0/ao_telebt.c new file mode 100644 index 00000000..953ec4bc --- /dev/null +++ b/src/telebt-v4.0/ao_telebt.c @@ -0,0 +1,58 @@ +/* + * Copyright © 2015 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_exti.h> +#include <ao_packet.h> +#include <ao_send_packet.h> +#include <ao_usb.h> +#include <ao_rn4678.h> + +int +main(void) +{ + ao_clock_init(); + + ao_task_init(); + ao_led_init(LEDS_AVAILABLE); + ao_led_on(LEDS_AVAILABLE); + ao_timer_init(); + + ao_spi_init(); + ao_dma_init(); + ao_exti_init(); + + ao_adc_init(); + ao_cmd_init(); + ao_send_packet_init(); + + ao_usb_init(); + ao_serial_init(); + + ao_radio_init(); + ao_packet_master_init(); + ao_monitor_init(); + ao_rn4678_init(); + + ao_config_init(); + + ao_led_off(LEDS_AVAILABLE); + + ao_start_scheduler(); + return 0; +} diff --git a/src/telebt-v4.0/flash-loader/Makefile b/src/telebt-v4.0/flash-loader/Makefile new file mode 100644 index 00000000..1a3c8c49 --- /dev/null +++ b/src/telebt-v4.0/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=telebt-v4.0 +include $(TOPDIR)/stmf0/Makefile-flash.defs diff --git a/src/telebt-v4.0/flash-loader/ao_pins.h b/src/telebt-v4.0/flash-loader/ao_pins.h new file mode 100644 index 00000000..8f4d6f81 --- /dev/null +++ b/src/telebt-v4.0/flash-loader/ao_pins.h @@ -0,0 +1,37 @@ +/* + * 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; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#include <ao_flash_stm_pins.h> + +/* ground U7 pin 30 to force bootload */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO stm_gpioa +#define AO_BOOT_APPLICATION_PIN 9 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +/* USB */ +#define HAS_USB 1 +#define AO_USB_DIRECTIO 0 +#define AO_PA11_PA12_RMP 0 + +#endif /* _AO_PINS_H_ */ diff --git a/src/telefiretwo-v1.0/Makefile b/src/telefireone-v1.0/Makefile index 87d5d477..53f088cb 100644 --- a/src/telefiretwo-v1.0/Makefile +++ b/src/telefireone-v1.0/Makefile @@ -55,18 +55,18 @@ ALTOS_SRC = \ ao_pad.c \ ao_radio_cmac_cmd.c \ ao_log.c \ - ao_log_firetwo.c + ao_log_fireone.c PRODUCT_SRC = \ - ao_telefiretwo.c + ao_telefireone.c -PRODUCT=TeleFireTwo-v1.0 -PRODUCT_DEF=-DTELEFIRETWO_V_1_0 +PRODUCT=TeleFireOne-v1.0 +PRODUCT_DEF=-DTELEFIREONE_V_1_0 IDPRODUCT=0x000f CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g -PROGNAME = telefiretwo-v1.0 +PROGNAME = telefireone-v1.0 PROG = $(PROGNAME)-$(VERSION).elf HEX = $(PROGNAME)-$(VERSION).ihx diff --git a/src/telefiretwo-v1.0/ao_pins.h b/src/telefireone-v1.0/ao_pins.h index b2f5a5ab..d36d9d82 100644 --- a/src/telefiretwo-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/telefiretwo-v1.0/ao_telefiretwo.c b/src/telefireone-v1.0/ao_telefireone.c index 115b3e91..115b3e91 100644 --- a/src/telefiretwo-v1.0/ao_telefiretwo.c +++ b/src/telefireone-v1.0/ao_telefireone.c diff --git a/src/telefiretwo-v1.0/flash-loader/.gitignore b/src/telefireone-v1.0/flash-loader/.gitignore index 65fe7eab..65fe7eab 100644 --- a/src/telefiretwo-v1.0/flash-loader/.gitignore +++ b/src/telefireone-v1.0/flash-loader/.gitignore diff --git a/src/telefiretwo-v1.0/flash-loader/Makefile b/src/telefireone-v1.0/flash-loader/Makefile index d429dcc4..d429dcc4 100644 --- a/src/telefiretwo-v1.0/flash-loader/Makefile +++ b/src/telefireone-v1.0/flash-loader/Makefile diff --git a/src/telefiretwo-v1.0/flash-loader/ao_pins.h b/src/telefireone-v1.0/flash-loader/ao_pins.h index ded45a40..ded45a40 100644 --- a/src/telefiretwo-v1.0/flash-loader/ao_pins.h +++ b/src/telefireone-v1.0/flash-loader/ao_pins.h diff --git a/src/telegps-v2.0/.gitignore b/src/telegps-v2.0/.gitignore new file mode 100644 index 00000000..892c3acc --- /dev/null +++ b/src/telegps-v2.0/.gitignore @@ -0,0 +1,3 @@ +ao_product.h +ao_serial_lpc.h +*.elf diff --git a/src/telegps-v2.0/ao_pins.h b/src/telegps-v2.0/ao_pins.h index c51f0afb..f92564d6 100644 --- a/src/telegps-v2.0/ao_pins.h +++ b/src/telegps-v2.0/ao_pins.h @@ -21,18 +21,23 @@ #define LED_PORT_ENABLE STM_RCC_AHBENR_IOPBEN #define LED_PORT (&stm_gpiob) -#define LED_PIN_RED 5 -#define AO_LED_RED (1 << LED_PIN_RED) +#define LED_PIN_GREEN 5 +#define AO_LED_GREEN (1 << LED_PIN_GREEN) +#define AO_LED_PANIC AO_LED_GREEN +#define AO_LED_GPS_LOCK AO_LED_GREEN -#define LEDS_AVAILABLE (AO_LED_RED) +#define LEDS_AVAILABLE (AO_LED_GREEN) + +#define AO_STACK_SIZE 512 #define IS_FLASH_LOADER 0 #define HAS_BEEP 0 #define AO_HSE 32000000 #define AO_RCC_CFGR_PLLMUL STM_RCC_CFGR_PLLMUL_3 +#define AO_RCC_CFGR2_PLLDIV STM_RCC_CFGR2_PREDIV_2 #define AO_PLLMUL 3 -#define AO_PLLDIV 1 +#define AO_PLLDIV 2 /* HCLK = 48MHz */ #define AO_AHB_PRESCALER 1 @@ -42,8 +47,6 @@ #define AO_APB_PRESCALER 1 #define AO_RCC_CFGR_PPRE_DIV STM_RCC_CFGR_PPRE_DIV_1 -#define AO_RCC_CFGR2_PLLDIV STM_RCC_CFGR2_PREDIV_1 - #define HAS_USB 1 #define AO_USB_DIRECTIO 0 #define AO_PA11_PA12_RMP 1 @@ -53,11 +56,13 @@ /* ADC */ #define HAS_ADC 1 -#define AO_ADC_PIN0_PORT (&stm_gpioa) -#define AO_ADC_PIN0_PIN 0 -#define AO_ADC_PIN0_CH 0 +#define AO_ADC_PIN0_PORT (&stm_gpiob) +#define AO_ADC_PIN0_PIN 1 +#define AO_ADC_PIN0_CH 9 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_IOPBEN)) -#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_IOPAEN)) +#define ao_telemetry_battery_convert(a) ((a) << 3) #define AO_NUM_ADC 1 @@ -90,8 +95,6 @@ struct ao_adc { #define SPI_1_PB3_PB4_PB5 0 #define SPI_1_OSPEEDR STM_OSPEEDR_HIGH -#define HAS_MS5607 0 - /* Flash */ #define M25_MAX_CHIPS 1 @@ -99,14 +102,18 @@ struct ao_adc { #define AO_M25_SPI_CS_MASK (1 << 0) #define AO_M25_SPI_BUS AO_SPI_1_PA5_PA6_PA7 -#define HAS_SERIAL_1 1 +/* Serial */ +#define HAS_SERIAL_1 0 #define SERIAL_1_PB6_PB7 1 #define USE_SERIAL_1_STDIN 0 -#define ao_gps_getchar ao_serial1_getchar -#define ao_gps_putchar ao_serial1_putchar -#define ao_gps_set_speed ao_serial1_set_speed -#define ao_gps_fifo (ao_usart_rx_fifo) +#define HAS_SERIAL_2 1 +#define SERIAL_2_PA2_PA3 1 +#define USE_SERIAL_2_STDIN 0 + +#define ao_gps_getchar ao_serial2_getchar +#define ao_gps_putchar ao_serial2_putchar +#define ao_gps_set_speed ao_serial2_set_speed #define HAS_EEPROM 1 #define USE_INTERNAL_FLASH 0 @@ -114,7 +121,6 @@ struct ao_adc { #define HAS_TELEMETRY 1 #define HAS_RDF 1 #define HAS_APRS 1 -#define HAS_RADIO_RECV 0 #define HAS_GPS 1 #define HAS_FLIGHT 0 @@ -143,22 +149,17 @@ struct ao_adc { #define AO_FEC_DEBUG 0 #define AO_CC1200_SPI_CS_PORT (&stm_gpioa) -#define AO_CC1200_SPI_CS_PIN 5 +#define AO_CC1200_SPI_CS_PIN 1 #define AO_CC1200_SPI_BUS AO_SPI_1_PA5_PA6_PA7 #define AO_CC1200_SPI stm_spi1 -#define AO_CC1200_SPI_SPEED AO_SPI_SPEED_FAST +#define AO_CC1200_SPI_SPEED AO_SPI_SPEED_6MHz #define AO_CC1200_INT_PORT (&stm_gpioa) #define AO_CC1200_INT_PIN 4 -#define AO_CC1200_MCU_WAKEUP_PORT (&stm_gpioa) -#define AO_CC1200_MCU_WAKEUP_PIN (0) #define AO_CC1200_INT_GPIO 2 #define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2 -#define AO_CC1200_MARC_GPIO 3 -#define AO_CC1200_MARC_GPIO_IOCFG CC1200_IOCFG3 - #define HAS_BOOT_RADIO 0 #endif /* _AO_PINS_H_ */ diff --git a/src/telegps-v2.0/ao_telegps.c b/src/telegps-v2.0/ao_telegps.c index 7a923d11..998c2008 100644 --- a/src/telegps-v2.0/ao_telegps.c +++ b/src/telegps-v2.0/ao_telegps.c @@ -25,43 +25,35 @@ int main(void) { ao_clock_init(); + ao_task_init(); + ao_cmd_init(); + ao_config_init(); -#if HAS_STACK_GUARD - ao_mpu_init(); -#endif + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_GREEN); - ao_task_init(); + /* internal systems */ ao_timer_init(); - - ao_spi_init(); + ao_dma_init(); ao_exti_init(); - ao_storage_init(); - + /* SoC hardware */ + ao_adc_init(); ao_serial_init(); - - ao_cmd_init(); - + ao_spi_init(); ao_usb_init(); - ao_radio_init(); - -#if HAS_ADC - ao_adc_init(); -#endif + /* External hardware */ + ao_storage_init(); + ao_radio_init(); ao_gps_init(); -#if HAS_LOG - ao_log_init(); -#endif - - ao_tracker_init(); + /* Services */ + ao_log_init(); ao_telemetry_init(); + ao_tracker_init(); -#if HAS_SAMPLE_PROFILE - ao_sample_profile_init(); -#endif - ao_config_init(); + ao_led_off(AO_LED_GREEN); ao_start_scheduler(); return 0; diff --git a/src/telegps-v2.0/flash-loader/.gitignore b/src/telegps-v2.0/flash-loader/.gitignore new file mode 100644 index 00000000..7bbed045 --- /dev/null +++ b/src/telegps-v2.0/flash-loader/.gitignore @@ -0,0 +1,2 @@ +*.elf +*.bin diff --git a/src/telemini-v2.0/ao_telemini.c b/src/telemini-v2.0/ao_telemini.c index 68bc3dfe..a9ee423c 100644 --- a/src/telemini-v2.0/ao_telemini.c +++ b/src/telemini-v2.0/ao_telemini.c @@ -20,8 +20,6 @@ #include "ao_pins.h" #include <ao_exti.h> -__xdata uint8_t ao_force_freq; - void main(void) { diff --git a/src/telemini-v3.0/.gitignore b/src/telemini-v3.0/.gitignore new file mode 100644 index 00000000..57946eb5 --- /dev/null +++ b/src/telemini-v3.0/.gitignore @@ -0,0 +1,3 @@ +ao_product.h +*.bin +*.elf diff --git a/src/telemini-v3.0/ao_pins.h b/src/telemini-v3.0/ao_pins.h index 351d28d8..17cff2ae 100644 --- a/src/telemini-v3.0/ao_pins.h +++ b/src/telemini-v3.0/ao_pins.h @@ -1,9 +1,10 @@ /* - * Copyright © 2013 Keith Packard <keithp@keithp.com> + * Copyright © 2017 Keith Packard <keithp@keithp.com> * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -66,6 +67,13 @@ #define HAS_IGNITE_REPORT 1 #define AO_SMALL_ALTITUDE_TABLE 1 +/* Use debug connector clock for recovery mode */ +#define HAS_FORCE_FREQ 1 +#define AO_RECOVERY_PORT (&stm_gpioa) +#define AO_RECOVERY_PIN 14 +#define AO_RECOVERY_VALUE 0 +#define AO_RECOVERY_MODE AO_EXTI_MODE_PULL_UP + /* Beeper is on Tim1 CH3 */ #define BEEPER_CHANNEL 4 #define BEEPER_TIMER 2 diff --git a/src/telemini-v3.0/ao_telemini.c b/src/telemini-v3.0/ao_telemini.c index 82c1acd4..a50268b9 100644 --- a/src/telemini-v3.0/ao_telemini.c +++ b/src/telemini-v3.0/ao_telemini.c @@ -1,9 +1,10 @@ /* - * Copyright © 2011 Keith Packard <keithp@keithp.com> + * Copyright © 2017 Keith Packard <keithp@keithp.com> * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -18,9 +19,26 @@ #include <ao.h> #include <ao_exti.h> +static void +ao_check_recovery(void) +{ + int i; + ao_enable_input(AO_RECOVERY_PORT, AO_RECOVERY_PIN, AO_RECOVERY_MODE); + for (i = 0; i < 100; i++) + ao_arch_nop(); + if (ao_gpio_get(AO_RECOVERY_PORT, AO_RECOVERY_PIN, AO_RECOVERY) == AO_RECOVERY_VALUE) { + ao_flight_force_idle = 1; + ao_force_freq = 1; + } + ao_gpio_set_mode(AO_RECOVERY_PORT, AO_RECOVERY_PIN, 0); + ao_disable_port(AO_RECOVERY_PORT); +} + void main(void) { + ao_check_recovery(); + ao_clock_init(); ao_task_init(); ao_timer_init(); diff --git a/src/telemini-v3.0/flash-loader/ao_pins.h b/src/telemini-v3.0/flash-loader/ao_pins.h index fea9a645..c523d413 100644 --- a/src/telemini-v3.0/flash-loader/ao_pins.h +++ b/src/telemini-v3.0/flash-loader/ao_pins.h @@ -21,13 +21,13 @@ #include <ao_flash_stm_pins.h> -/* beeper to 3.3V for boot loader mode */ +/* SWDIO to gnd for boot loader mode */ #define AO_BOOT_PIN 1 #define AO_BOOT_APPLICATION_GPIO stm_gpioa -#define AO_BOOT_APPLICATION_PIN 3 -#define AO_BOOT_APPLICATION_VALUE 0 -#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_DOWN +#define AO_BOOT_APPLICATION_PIN 13 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP /* USB */ #define HAS_USB 1 diff --git a/src/test/.gitignore b/src/test/.gitignore index 9237780b..56f532ef 100644 --- a/src/test/.gitignore +++ b/src/test/.gitignore @@ -18,3 +18,4 @@ ao_flight_test_noisy_accel ao_flight_test_metrum ao_micropeak_test ao_aes_test +ao_lisp_test 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_aes_test.c b/src/test/ao_aes_test.c index 4b65df8d..135c6f1a 100644 --- a/src/test/ao_aes_test.c +++ b/src/test/ao_aes_test.c @@ -30,7 +30,7 @@ #include "../aes/ao_aes_tables.c" #include "../aes/ao_aes.c" -static uint8_t key[16]; +static uint8_t my_key[64]; static uint8_t text[16]; static uint8_t cbc[16]; @@ -41,7 +41,7 @@ main (int argc, char **argv) ao_aes_init(); ao_aes_set_mode(ao_aes_mode_cbc_mac); - ao_aes_set_key(key); + ao_aes_set_key(my_key); ao_aes_zero_iv(); ao_aes_run(text, cbc); 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 diff --git a/src/test/ao_int64_test.c b/src/test/ao_int64_test.c index 07538ee0..d329f67b 100644 --- a/src/test/ao_int64_test.c +++ b/src/test/ao_int64_test.c @@ -34,7 +34,7 @@ int errors; 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); \ + trial, (long long) (a), (long long) b, (long long) c, (long long) r); \ ++errors; \ } \ } while (0) diff --git a/src/util/make-kalman b/src/util/make-kalman index 580a4515..c630e9cb 100644 --- a/src/util/make-kalman +++ b/src/util/make-kalman @@ -40,4 +40,5 @@ nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO -nickle kalman_micro.5c -p AO_MK_BARO -c baro -t 0.096 $SIGMA_MICRO
\ No newline at end of file +nickle kalman_micro.5c -p AO_MK_BARO -c baro -t 0.096 $SIGMA_MICRO +nickle kalman_micro.5c -p AO_MK2_BARO -c baro -t 0.1 $SIGMA_MICRO |