diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/core/ao_log_big.c | 2 | ||||
| -rw-r--r-- | src/core/ao_telemetry.c | 2 | ||||
| -rw-r--r-- | src/teleballoon-v1.1/.gitignore | 2 | ||||
| -rw-r--r-- | src/teleballoon-v1.1/Makefile | 122 | ||||
| -rw-r--r-- | src/teleballoon-v1.1/ao_balloon.c | 155 | ||||
| -rw-r--r-- | src/teleballoon-v1.1/ao_pins.h | 220 | ||||
| -rw-r--r-- | src/teleballoon-v1.1/ao_teleballoon.c | 77 |
7 files changed, 579 insertions, 1 deletions
diff --git a/src/core/ao_log_big.c b/src/core/ao_log_big.c index 74d94c4b..43b3aa0c 100644 --- a/src/core/ao_log_big.c +++ b/src/core/ao_log_big.c @@ -65,9 +65,11 @@ static __data uint8_t ao_log_adc_pos; /* a hack to make sure that ao_log_records fill the eeprom block in even units */ typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ; +#ifndef AO_SENSOR_INTERVAL_ASCENT #define AO_SENSOR_INTERVAL_ASCENT 1 #define AO_SENSOR_INTERVAL_DESCENT 10 #define AO_OTHER_INTERVAL 32 +#endif void ao_log(void) diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c index d909bea5..e66598d1 100644 --- a/src/core/ao_telemetry.c +++ b/src/core/ao_telemetry.c @@ -35,7 +35,7 @@ static __pdata uint16_t ao_rdf_time; #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5) #define AO_RDF_LENGTH_MS 500 -#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) +#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM #endif diff --git a/src/teleballoon-v1.1/.gitignore b/src/teleballoon-v1.1/.gitignore new file mode 100644 index 00000000..21b236c0 --- /dev/null +++ b/src/teleballoon-v1.1/.gitignore @@ -0,0 +1,2 @@ +teleballoon-* +ao_product.h diff --git a/src/teleballoon-v1.1/Makefile b/src/teleballoon-v1.1/Makefile new file mode 100644 index 00000000..89471cf4 --- /dev/null +++ b/src/teleballoon-v1.1/Makefile @@ -0,0 +1,122 @@ +# +# TeleBalloon build file +# +# The various telemetrum versions differ only +# in which flash and GPS drivers are included, +# so the per-board makefiles simply define +# TM_VER, TM_DEF, TM_INC and TM_SRC and include +# this file + +TELEBALLOON_VER=1.1 +TELEBALLOON_DEF=1_1 + +TELEBALLOON_INC = + +TELEBALLOON_SRC = \ + ao_companion.c \ + ao_gps_skytraq.c \ + ao_m25.c + +vpath %.c ..:../core:../cc1111:../drivers:../product:. +vpath %.h ..:../core:../cc1111:../drivers:../product:. +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + cc1111.h \ + altitude.h \ + ao_kalman.h \ + ao_product.h \ + $(TELEBALLOON_INC) + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_convert.c \ + ao_gps_report.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_balloon.c \ + ao_sample.c \ + ao_kalman.c \ + ao_log.c \ + ao_log_big.c \ + ao_report.c \ + ao_telemetry.c + +CC1111_SRC = \ + ao_adc.c \ + ao_beep.c \ + ao_dbg.c \ + ao_dma.c \ + ao_led.c \ + ao_packet.c \ + ao_packet_slave.c \ + ao_radio.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_string.c \ + ao_spi.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = \ + $(TELEBALLOON_SRC) + +PRODUCT_SRC = \ + ao_teleballoon.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROG = teleballoon-v$(TELEBALLOON_VER)-$(VERSION).ihx +PRODUCT=TeleBalloon-v$(TELEBALLOON_VER) +PRODUCT_DEF=-DTELEBALLOON_V_$(TELEBALLOON_DEF) +IDPRODUCT=0x000b + +include ../cc1111/Makefile.cc1111 + +NICKLE=nickle +CHECK_STACK=sh ../util/check-stack + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: ../$(PROG) + +../$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) + +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 $(ADB) $(ASM) $(LNK) $(LST) $(REL) $(RST) $(SYM) + rm -f $(PROG) $(PCDB) $(PLNK) $(PMAP) $(PMEM) $(PAOM) + rm -f ao_product.h + rm -f ../$(PROG) ../$(PMAP) + +install: + +uninstall: + diff --git a/src/teleballoon-v1.1/ao_balloon.c b/src/teleballoon-v1.1/ao_balloon.c new file mode 100644 index 00000000..08a3ae1e --- /dev/null +++ b/src/teleballoon-v1.1/ao_balloon.c @@ -0,0 +1,155 @@ +/* + * Copyright © 2009 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_FLIGHT_TEST +#include "ao.h" +#endif + +#ifndef HAS_ACCEL +#error Please define HAS_ACCEL +#endif + +#ifndef HAS_GPS +#error Please define HAS_GPS +#endif + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +/* Main flight thread. */ + +__pdata enum ao_flight_state ao_flight_state; /* current flight state */ + +__pdata uint8_t ao_flight_force_idle; + +void +ao_flight(void) +{ + ao_sample_init(); + ao_flight_state = ao_flight_startup; + for (;;) { + + /* + * Process ADC samples, just looping + * until the sensors are calibrated. + */ + if (!ao_sample()) + continue; + + switch (ao_flight_state) { + case ao_flight_startup: + + /* Check to see what mode we should go to. + * - Invalid mode if accel cal appears to be out + * - pad mode if we're upright, + * - idle mode otherwise + */ +#if HAS_ACCEL + if (ao_config.accel_plus_g == 0 || + ao_config.accel_minus_g == 0 || + ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || + ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP) + { + /* Detected an accel value outside -1.5g to 1.5g + * (or uncalibrated values), so we go into invalid mode + */ + ao_flight_state = ao_flight_invalid; + + /* Turn on packet system in invalid mode on TeleMetrum */ + ao_packet_slave_start(); + } else +#endif + if (!ao_flight_force_idle +#if HAS_ACCEL + && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP +#endif + ) + { + /* Set pad mode - we can fly! */ + ao_flight_state = ao_flight_pad; +#if HAS_USB + /* Disable the USB controller in flight mode + * to save power + */ + ao_usb_disable(); +#endif + +#if !HAS_ACCEL + /* Disable packet mode in pad state on TeleMini */ + ao_packet_slave_stop(); +#endif + + /* Turn on telemetry system */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON); + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } else { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + +#if HAS_ACCEL + /* Turn on packet system in idle mode on TeleMetrum */ + ao_packet_slave_start(); +#endif + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + + break; + case ao_flight_pad: + + /* pad to coast: + * + * barometer: > 20m vertical motion + */ + if (ao_height > AO_M_TO_HEIGHT(20)) + { + ao_flight_state = ao_flight_drogue; + + /* start logging data */ + ao_log_start(); + +#if HAS_GPS + /* Record current GPS position by waking up GPS log tasks */ + ao_wakeup(&ao_gps_data); + ao_wakeup(&ao_gps_tracking_data); +#endif + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_drogue: + break; + + } + } +} + +static __xdata struct ao_task flight_task; + +void +ao_flight_init(void) +{ + ao_flight_state = ao_flight_startup; + ao_add_task(&flight_task, ao_flight, "flight"); +} diff --git a/src/teleballoon-v1.1/ao_pins.h b/src/teleballoon-v1.1/ao_pins.h new file mode 100644 index 00000000..a96c6f2b --- /dev/null +++ b/src/teleballoon-v1.1/ao_pins.h @@ -0,0 +1,220 @@ +/* + * Copyright © 2010 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#if defined(TELEBALLOON_V_1_1) + + #define AO_SENSOR_INTERVAL_ASCENT AO_MS_TO_TICKS(1000) + #define AO_SENSOR_INTERVAL_DESCENT AO_MS_TO_TICKS(1000) + #define AO_OTHER_INTERVAL AO_MS_TO_TICKS(1000) + #define AO_TELEMETRY_INTERVAL_BALLOON AO_MS_TO_TICKS(1000) + + #define HAS_FLIGHT 1 + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 + #define HAS_SERIAL_1 1 + #define USE_SERIAL_STDIN 0 + #define HAS_ADC 1 + #define HAS_EEPROM 1 + #define HAS_LOG 1 + #define USE_INTERNAL_FLASH 0 + #define HAS_DBG 1 + #define DBG_ON_P1 1 + #define DBG_ON_P0 0 + #define IGNITE_ON_P2 1 + #define IGNITE_ON_P0 0 + #define PACKET_HAS_MASTER 0 + #define PACKET_HAS_SLAVE 1 + + #define HAS_COMPANION 1 + #define COMPANION_CS_ON_P1 1 + #define COMPANION_CS_MASK 0x4 /* CS1 is P1_2 */ + #define COMPANION_CS P1_2 + + #define AO_LED_RED 1 + #define LEDS_AVAILABLE (AO_LED_RED) + #define HAS_EXTERNAL_TEMP 0 + #define HAS_ACCEL_REF 1 + #define SPI_CS_ON_P1 1 + #define SPI_CS_ON_P0 0 + #define M25_CS_MASK 0x02 /* CS0 is P1_1 */ + #define M25_MAX_CHIPS 1 + #define HAS_ACCEL 1 + #define HAS_IGNITE 0 + #define HAS_MONITOR 0 +#endif + +#if DBG_ON_P1 + + #define DBG_CLOCK (1 << 4) /* mi0 */ + #define DBG_DATA (1 << 5) /* mo0 */ + #define DBG_RESET_N (1 << 3) /* c0 */ + + #define DBG_CLOCK_PIN (P1_4) + #define DBG_DATA_PIN (P1_5) + #define DBG_RESET_N_PIN (P1_3) + + #define DBG_PORT_NUM 1 + #define DBG_PORT P1 + #define DBG_PORT_SEL P1SEL + #define DBG_PORT_INP P1INP + #define DBG_PORT_DIR P1DIR + +#endif /* DBG_ON_P1 */ + +#if DBG_ON_P0 + + #define DBG_CLOCK (1 << 3) + #define DBG_DATA (1 << 4) + #define DBG_RESET_N (1 << 5) + + #define DBG_CLOCK_PIN (P0_3) + #define DBG_DATA_PIN (P0_4) + #define DBG_RESET_N_PIN (P0_5) + + #define DBG_PORT_NUM 0 + #define DBG_PORT P0 + #define DBG_PORT_SEL P0SEL + #define DBG_PORT_INP P0INP + #define DBG_PORT_DIR P0DIR + +#endif /* DBG_ON_P0 */ + +#if COMPANION_CS_ON_P1 + #define COMPANION_CS_PORT P1 + #define COMPANION_CS_SEL P1SEL + #define COMPANION_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P1 + #define SPI_CS_PORT P1 + #define SPI_CS_SEL P1SEL + #define SPI_CS_DIR P1DIR +#endif + +#if SPI_CS_ON_P0 + #define SPI_CS_PORT P0 + #define SPI_CS_SEL P0SEL + #define SPI_CS_DIR P0DIR +#endif + +#ifndef IGNITE_ON_P2 +#error Please define IGNITE_ON_P2 +#endif + +#ifndef IGNITE_ON_P0 +#error Please define IGNITE_ON_P0 +#endif + +#ifndef HAS_SERIAL_1 +#error Please define HAS_SERIAL_1 +#endif + +#ifndef USE_SERIAL_STDIN +#error Please define USE_SERIAL_STDIN +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#ifndef HAS_EEPROM +#error Please define HAS_EEPROM +#endif + +#ifndef HAS_LOG +#error Please define HAS_LOG +#endif + +#if HAS_EEPROM +#ifndef USE_INTERNAL_FLASH +#error Please define USE_INTERNAL_FLASH +#endif +#endif + +#ifndef HAS_DBG +#error Please define HAS_DBG +#endif + +#ifndef HAS_IGNITE +#error Please define HAS_IGNITE +#endif + +#if HAS_IGNITE +#define HAS_IGNITE_REPORT 1 +#endif + +#ifndef PACKET_HAS_MASTER +#error Please define PACKET_HAS_MASTER +#endif + +#ifndef PACKET_HAS_SLAVE +#error Please define PACKET_HAS_SLAVE +#endif + +#ifndef HAS_MONITOR +#error Please define HAS_MONITOR +#endif + +#if HAS_MONITOR +#ifndef HAS_RSSI +#error Please define HAS_RSSI +#endif +#endif + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#if HAS_ADC + +#if HAS_ACCEL +#ifndef HAS_ACCEL_REF +#error Please define HAS_ACCEL_REF +#endif +#else +#define HAS_ACCEL_REF 0 +#endif + +#endif /* HAS_ADC */ + +#if IGNITE_ON_P2 +#define AO_IGNITER_DROGUE P2_3 +#define AO_IGNITER_MAIN P2_4 +#define AO_IGNITER_DIR P2DIR +#define AO_IGNITER_DROGUE_BIT (1 << 3) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +#if IGNITE_ON_P0 +#define AO_IGNITER_DROGUE P0_5 +#define AO_IGNITER_MAIN P0_4 +#define AO_IGNITER_DIR P0DIR +#define AO_IGNITER_DROGUE_BIT (1 << 5) +#define AO_IGNITER_MAIN_BIT (1 << 4) +#endif + +/* test these values with real igniters */ +#define AO_IGNITER_OPEN 1000 +#define AO_IGNITER_CLOSED 7000 +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) + +#endif /* _AO_PINS_H_ */ diff --git a/src/teleballoon-v1.1/ao_teleballoon.c b/src/teleballoon-v1.1/ao_teleballoon.c new file mode 100644 index 00000000..a48e21d2 --- /dev/null +++ b/src/teleballoon-v1.1/ao_teleballoon.c @@ -0,0 +1,77 @@ +/* + * Copyright © 2009 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" +#include "ao_pins.h" + +void +ao_ignite_set_pins(void) +{ + AO_IGNITER_DROGUE = 0; + AO_IGNITER_MAIN = 0; + AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT; +} + +void +main(void) +{ + /* + * Reduce the transient on the ignite pins at startup by + * pulling the pins low as soon as possible at power up + */ + ao_ignite_set_pins(); + + ao_clock_init(); + + /* Turn on the red LED until the system is stable */ + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_RED); + + /* A hack -- look at the SPI clock pin, if it's sitting at + * ground, then we force the computer to idle mode instead of + * flight mode + */ + if (P1_3 == 0) { + ao_flight_force_idle = 1; + while (P1_3 == 0) + ; + } + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_storage_init(); + ao_flight_init(); + ao_log_init(); + ao_report_init(); + ao_usb_init(); + ao_serial_init(); + ao_gps_init(); + ao_gps_report_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(FALSE); +#if HAS_DBG + ao_dbg_init(); +#endif +#if HAS_COMPANION + ao_companion_init(); +#endif + ao_config_init(); + ao_start_scheduler(); +} |