diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/ao_cc1120.c | 10 | ||||
| -rw-r--r-- | src/megadongle-v0.1/ao_pins.h | 1 | ||||
| -rw-r--r-- | src/megametrum-v0.1/ao_pins.h | 1 | ||||
| -rw-r--r-- | src/micropeak/Makefile | 14 | ||||
| -rw-r--r-- | src/micropeak/ao_async.c | 43 | ||||
| -rw-r--r-- | src/micropeak/ao_async.h | 6 | ||||
| -rw-r--r-- | src/micropeak/ao_log_micro.c | 116 | ||||
| -rw-r--r-- | src/micropeak/ao_log_micro.h | 19 | ||||
| -rw-r--r-- | src/micropeak/ao_micropeak.c | 151 | ||||
| -rw-r--r-- | src/micropeak/ao_micropeak.h | 56 |
10 files changed, 254 insertions, 163 deletions
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c index 63d2f955..8068740f 100644 --- a/src/drivers/ao_cc1120.c +++ b/src/drivers/ao_cc1120.c @@ -834,8 +834,8 @@ ao_radio_rx_isr(void) { uint8_t d; - d = stm_spi2.dr; - stm_spi2.dr = 0; + d = AO_CC1120_SPI.dr; + AO_CC1120_SPI.dr = 0; if (rx_ignore == 0) { if (rx_data_cur >= rx_data_count) ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); @@ -862,6 +862,7 @@ ao_radio_rx_wait(void) do { if (ao_radio_mcu_wake) ao_radio_check_marc_status(); + ao_alarm(AO_MS_TO_TICKS(100)); ao_arch_block_interrupts(); rx_waiting = 1; while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK && @@ -873,6 +874,7 @@ ao_radio_rx_wait(void) } rx_waiting = 0; ao_arch_release_interrupts(); + ao_clear_alarm(); } while (ao_radio_mcu_wake); if (ao_radio_abort) return 0; @@ -922,10 +924,10 @@ ao_radio_recv(__xdata void *d, uint8_t size) ao_radio_wake = 0; ao_radio_mcu_wake = 0; - stm_spi2.cr2 = 0; + AO_CC1120_SPI.cr2 = 0; /* clear any RXNE */ - (void) stm_spi2.dr; + (void) AO_CC1120_SPI.dr; /* Have the radio signal when the preamble quality goes high */ ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_PQT_REACHED); diff --git a/src/megadongle-v0.1/ao_pins.h b/src/megadongle-v0.1/ao_pins.h index 9fc93fb1..c766a48c 100644 --- a/src/megadongle-v0.1/ao_pins.h +++ b/src/megadongle-v0.1/ao_pins.h @@ -135,6 +135,7 @@ #define AO_CC1120_SPI_CS_PORT (&stm_gpioa) #define AO_CC1120_SPI_CS_PIN 0 #define AO_CC1120_SPI_BUS AO_SPI_2_PB13_PB14_PB15 +#define AO_CC1120_SPI stm_spi2 #define AO_CC1120_INT_PORT (&stm_gpioc) #define AO_CC1120_INT_PIN 13 diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h index b1a70ea2..64da41a9 100644 --- a/src/megametrum-v0.1/ao_pins.h +++ b/src/megametrum-v0.1/ao_pins.h @@ -281,6 +281,7 @@ struct ao_adc { #define AO_CC1120_SPI_CS_PORT (&stm_gpioc) #define AO_CC1120_SPI_CS_PIN 5 #define AO_CC1120_SPI_BUS AO_SPI_2_PB13_PB14_PB15 +#define AO_CC1120_SPI stm_spi2 #define AO_CC1120_INT_PORT (&stm_gpioc) #define AO_CC1120_INT_PIN 14 diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile index 0c48ed66..ff0a4499 100644 --- a/src/micropeak/Makefile +++ b/src/micropeak/Makefile @@ -20,13 +20,6 @@ ifndef VERSION include ../Version endif -# Support for a logging EEPROM -# -#EEPROM_SRC=ao_async.c \ -# ao_i2c_attiny.c \ -# ao_at24c.c -# - ALTOS_SRC = \ ao_micropeak.c \ ao_spi_attiny.c \ @@ -39,7 +32,8 @@ ALTOS_SRC = \ ao_notask.c \ ao_eeprom_tiny.c \ ao_panic.c \ - $(EEPROM_SRC) + ao_log_micro.c \ + ao_async.c INC=\ ao.h \ @@ -48,13 +42,15 @@ INC=\ ao_arch_funcs.h \ ao_exti.h \ ao_ms5607.h \ + ao_log_micro.h \ + ao_micropeak.h \ altitude-pa.h IDPRODUCT=0 PRODUCT=MicroPeak-v0.1 PRODUCT_DEF=-DMICROPEAK CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DATTINY +CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY NICKLE=nickle diff --git a/src/micropeak/ao_async.c b/src/micropeak/ao_async.c index 04bba9e8..3556f54c 100644 --- a/src/micropeak/ao_async.c +++ b/src/micropeak/ao_async.c @@ -21,20 +21,51 @@ #define AO_ASYNC_BAUD 38400l #define AO_ASYNC_DELAY (uint8_t) (1000000l / AO_ASYNC_BAUD) +#define LED_PORT PORTB + +void +ao_async_start(void) +{ + LED_PORT |= (1 << AO_LED_SERIAL); +} + +void +ao_async_stop(void) +{ + LED_PORT &= ~(1 << AO_LED_SERIAL); +} + void ao_async_byte(uint8_t byte) { uint8_t b; uint16_t w; - /* start bit */ - - /* start data stop */ - w = 0x001 | (byte << 1) | 0x000; + /* start data stop */ + w = (0x000 << 0) | (byte << 1) | (0x001 << 9); + ao_arch_block_interrupts(); for (b = 0; b < 10; b++) { - ao_led_set((w & 1) << AO_LED_SERIAL); + uint8_t v = LED_PORT & ~(1 << AO_LED_SERIAL); + v |= (w & 1) << AO_LED_SERIAL; + LED_PORT = v; w >>= 1; - ao_delay_us(26); + + /* Carefully timed to hit around 9600 baud */ + asm volatile ("nop"); + asm volatile ("nop"); + + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); } + ao_arch_release_interrupts(); } diff --git a/src/micropeak/ao_async.h b/src/micropeak/ao_async.h index a06d2e1a..1b239712 100644 --- a/src/micropeak/ao_async.h +++ b/src/micropeak/ao_async.h @@ -19,6 +19,12 @@ #define _AO_ASYNC_H_ void +ao_async_start(void); + +void +ao_async_stop(void); + +void ao_async_byte(uint8_t byte); #endif /* _AO_ASYNC_H_ */ diff --git a/src/micropeak/ao_log_micro.c b/src/micropeak/ao_log_micro.c index eda0d1d2..d665efb5 100644 --- a/src/micropeak/ao_log_micro.c +++ b/src/micropeak/ao_log_micro.c @@ -16,58 +16,106 @@ */ #include <ao.h> +#include <ao_micropeak.h> #include <ao_log_micro.h> #include <ao_async.h> -#if HAS_EEPROM - -ao_pos_t ao_log_micro_pos; +static uint16_t ao_log_offset = STARTING_LOG_OFFSET; void -ao_log_micro_data(uint32_t data) +ao_log_micro_save(void) { - ao_storage_write(ao_log_micro_pos, &data, sizeof (data)); - ao_log_micro_pos += sizeof (data); + uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t); + ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); + ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); + ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); } -uint32_t ao_log_last_ground; -uint32_t ao_log_last_done; +void +ao_log_micro_restore(void) +{ + ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); + ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); +} -uint8_t -ao_log_micro_scan(void) +void +ao_log_micro_data(void) { - uint32_t data; - ao_pos_t pos; + uint16_t low_bits = pa; - ao_storage_read(0, &data, sizeof (data)); - if ((data & AO_LOG_MICRO_MASK) != AO_LOG_MICRO_GROUND) - return 0; + if (ao_log_offset < MAX_LOG_OFFSET) { + ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits)); + ao_log_offset += sizeof (low_bits); + } +} + +#define POLY 0x8408 + +static uint16_t +ao_log_micro_crc(uint16_t crc, uint8_t byte) +{ + uint8_t i; - ao_log_last_ground = data & ~(AO_LOG_MICRO_MASK); - for (pos = 4; pos < ao_storage_total; pos += 4) { - ao_storage_read(pos, &data, sizeof (data)); - if ((data & AO_LOG_MICRO_MASK) == AO_LOG_MICRO_GROUND) { - ao_log_last_done = data & ~(AO_LOG_MICRO_MASK); - return 1; - } + for (i = 0; i < 8; i++) { + if ((crc & 0x0001) ^ (byte & 0x0001)) + crc = (crc >> 1) ^ POLY; + else + crc = crc >> 1; + byte >>= 1; } - return 0; + return crc; +} + +static void +ao_log_hex_nibble(uint8_t b) +{ + if (b < 10) + ao_async_byte('0' + b); + else + ao_async_byte('a' - 10 + b); +} + +static void +ao_log_hex(uint8_t b) +{ + ao_log_hex_nibble(b>>4); + ao_log_hex_nibble(b&0xf); +} + +static void +ao_log_newline(void) +{ + ao_async_byte('\r'); + ao_async_byte('\n'); } void ao_log_micro_dump(void) { - ao_pos_t pos; - uint8_t data[4]; - uint8_t i; + uint16_t n_samples; + uint16_t nbytes; + uint8_t byte; + uint16_t b; + uint16_t crc = 0xffff; - for (pos = 0; pos < ao_storage_total; pos += 4) { - ao_storage_read(pos, data, 4); - for (i = 0; i < 4; i++) - ao_async_byte(data[i]); - if (data[3] == (uint8_t) (AO_LOG_MICRO_GROUND >> 24)) - break; + ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); + if (n_samples == 0xffff) + n_samples = 0; + nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples; + ao_async_start(); + ao_async_byte('M'); + ao_async_byte('P'); + for (b = 0; b < nbytes; b++) { + if ((b & 0xf) == 0) + ao_log_newline(); + ao_eeprom_read(b, &byte, 1); + ao_log_hex(byte); + crc = ao_log_micro_crc(crc, byte); } + ao_log_newline(); + crc = ~crc; + ao_log_hex(crc >> 8); + ao_log_hex(crc); + ao_log_newline(); + ao_async_stop(); } - -#endif diff --git a/src/micropeak/ao_log_micro.h b/src/micropeak/ao_log_micro.h index 15b2d178..976852ee 100644 --- a/src/micropeak/ao_log_micro.h +++ b/src/micropeak/ao_log_micro.h @@ -18,19 +18,20 @@ #ifndef _AO_LOG_MICRO_H_ #define _AO_LOG_MICRO_H_ -#define AO_LOG_MICRO_GROUND (0l << 24) -#define AO_LOG_MICRO_DATA (1l << 24) -#define AO_LOG_MICRO_DONE (0xaal << 24) -#define AO_LOG_MICRO_MASK (0xffl << 24) +#define PA_GROUND_OFFSET 0 +#define PA_MIN_OFFSET 4 +#define N_SAMPLES_OFFSET 8 +#define STARTING_LOG_OFFSET 10 +#define MAX_LOG_OFFSET 512 void -ao_log_micro_data(uint32_t data); +ao_log_micro_save(void); -extern uint32_t ao_log_last_ground; -extern uint32_t ao_log_last_done; +void +ao_log_micro_restore(void); -uint8_t -ao_log_micro_scan(void); +void +ao_log_micro_data(void); void ao_log_micro_dump(void); diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c index 525cfa42..f361aa26 100644 --- a/src/micropeak/ao_micropeak.c +++ b/src/micropeak/ao_micropeak.c @@ -16,22 +16,23 @@ */ #include <ao.h> +#include <ao_micropeak.h> #include <ao_ms5607.h> #include <ao_log_micro.h> +#include <ao_async.h> static struct ao_ms5607_sample sample; static struct ao_ms5607_value value; -static uint32_t pa; -static uint32_t pa_sum; -static uint32_t pa_avg; -static int32_t pa_diff; -static uint32_t pa_ground; -static uint32_t pa_min; -static uint32_t pa_interval_min, pa_interval_max; -static alt_t ground_alt, max_alt; +uint32_t pa; +uint32_t pa_avg; +uint32_t pa_ground; +uint32_t pa_min; +alt_t ground_alt, max_alt; alt_t ao_max_height; +static uint32_t pa_sum; + static void ao_pa_get(void) { @@ -40,22 +41,6 @@ ao_pa_get(void) pa = value.pres; } -#define FILTER_SHIFT 3 -#define SAMPLE_SLEEP AO_MS_TO_TICKS(96) - -/* 16 sample, or about two seconds worth */ -#define GROUND_AVG_SHIFT 4 -#define GROUND_AVG (1 << GROUND_AVG_SHIFT) - -/* Pressure change (in Pa) to detect boost */ -#define BOOST_DETECT 120 /* 10m at sea level, 12m at 2000m */ - -/* Wait after power on before doing anything to give the user time to assemble the rocket */ -#define BOOST_DELAY AO_SEC_TO_TICKS(30) - -/* Pressure change (in Pa) to detect landing */ -#define LAND_DETECT 12 /* 1m at sea level, 1.2m at 2000m */ - static void ao_compute_height(void) { @@ -64,96 +49,56 @@ ao_compute_height(void) ao_max_height = max_alt - ground_alt; } -#if !HAS_EEPROM - -#define PA_GROUND_OFFSET 0 -#define PA_MIN_OFFSET 4 -#define N_SAMPLES_OFFSET 8 -#define STARTING_LOG_OFFSET 10 -#define MAX_LOG_OFFSET 512 - -static uint16_t ao_log_offset = STARTING_LOG_OFFSET; - -void -ao_save_flight(void) +static void +ao_pips(void) { - uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t); - ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); - ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); - ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); + 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_restore_flight(void) -{ - ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); - ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); -} +#define NUM_PA_HIST 16 -void -ao_log_micro(void) -{ - uint16_t low_bits = pa; +#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1)) - if (ao_log_offset < MAX_LOG_OFFSET) { - ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits)); - ao_log_offset += sizeof (low_bits); - } -} -#endif +static uint32_t pa_hist[NUM_PA_HIST]; int main(void) { int16_t sample_count; uint16_t time; -#if HAS_EEPROM - uint8_t dump_eeprom = 0; -#endif + uint32_t pa_interval_min, pa_interval_max; + int32_t pa_diff; + uint8_t h, i; + ao_led_init(LEDS_AVAILABLE); ao_timer_init(); -#if HAS_EEPROM - - /* Set MOSI and CLK as inputs with pull-ups */ - DDRB &= ~(1 << 0) | (1 << 2); - PORTB |= (1 << 0) | (1 << 2); - - /* Check to see if either MOSI or CLK are pulled low by the - * user shorting them to ground. If so, dump the eeprom out - * via the LED. Wait for the shorting wire to go away before - * continuing. - */ - while ((PINB & ((1 << 0) | (1 << 2))) != ((1 << 0) | (1 << 2))) - dump_eeprom = 1; - PORTB &= ~(1 << 0) | (1 << 2); - - ao_i2c_init(); -#endif - ao_restore_flight(); - ao_compute_height(); - /* Give the person a second to get their finger out of the way */ - ao_delay(AO_MS_TO_TICKS(1000)); - ao_report_altitude(); - + /* Init external hardware */ ao_spi_init(); ao_ms5607_init(); ao_ms5607_setup(); -#if HAS_EEPROM - ao_storage_init(); - - /* Check to see if there's a flight recorded in memory */ - if (dump_eeprom && ao_log_micro_scan()) - ao_log_micro_dump(); -#endif + /* Give the person a second to get their finger out of the way */ + ao_delay(AO_MS_TO_TICKS(1000)); + ao_log_micro_restore(); + ao_compute_height(); + ao_report_altitude(); + ao_pips(); + ao_log_micro_dump(); + ao_delay(BOOST_DELAY); /* Wait for motion, averaging values to get ground pressure */ time = ao_time(); ao_pa_get(); pa_avg = pa_ground = pa << FILTER_SHIFT; sample_count = 0; + h = 0; for (;;) { time += SAMPLE_SLEEP; if (sample_count == 0) @@ -162,6 +107,8 @@ main(void) ao_pa_get(); if (sample_count == 0) ao_led_off(AO_LED_REPORT); + pa_hist[h] = pa; + h = SKIP_PA_HIST(h,1); pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa; pa_diff = pa_ground - pa_avg; @@ -182,9 +129,18 @@ main(void) pa_ground >>= FILTER_SHIFT; -#if HAS_EEPROM - ao_log_micro_data(AO_LOG_MICRO_GROUND | pa_ground); -#endif + /* Go back and find the first sample a decent interval above the ground */ + pa_min = pa_ground - LAND_DETECT; + for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) { + if (pa_hist[i] < pa_min) + break; + } + + /* Log the remaining samples so we get a complete history since leaving the ground */ + for (; i != h; i = SKIP_PA_HIST(i,2)) { + pa = pa_hist[i]; + ao_log_micro_data(); + } /* Now sit around until the pressure is stable again and record the max */ @@ -200,12 +156,8 @@ main(void) ao_pa_get(); if ((sample_count & 3) == 0) ao_led_off(AO_LED_REPORT); -#if HAS_EEPROM - ao_log_micro_data(AO_LOG_MICRO_DATA | pa); -#else if (sample_count & 1) - ao_log_micro(); -#endif + ao_log_micro_data(); pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa; if (pa_avg < pa_min) pa_min = pa_avg; @@ -228,10 +180,7 @@ main(void) } } pa_min >>= FILTER_SHIFT; -#if HAS_EEPROM - ao_log_micro_data(AO_LOG_MICRO_DONE | pa_min); -#endif - ao_save_flight(); + ao_log_micro_save(); ao_compute_height(); ao_report_altitude(); for (;;) { diff --git a/src/micropeak/ao_micropeak.h b/src/micropeak/ao_micropeak.h new file mode 100644 index 00000000..e408d7c5 --- /dev/null +++ b/src/micropeak/ao_micropeak.h @@ -0,0 +1,56 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_MICROPEAK_H_ +#define _AO_MICROPEAK_H_ + +#define FILTER_SHIFT 3 +#define SAMPLE_SLEEP AO_MS_TO_TICKS(96) + +/* 16 sample, or about two seconds worth */ +#define GROUND_AVG_SHIFT 4 +#define GROUND_AVG (1 << GROUND_AVG_SHIFT) + +/* Pressure change (in Pa) to detect boost */ +#define BOOST_DETECT 120 /* 10m at sea level, 12m at 2000m */ + +/* Wait after power on before doing anything to give the user time to assemble the rocket */ +#define BOOST_DELAY AO_SEC_TO_TICKS(30) + +/* Pressure change (in Pa) to detect landing */ +#define LAND_DETECT 12 /* 1m at sea level, 1.2m at 2000m */ + +/* Current sensor pressure value */ +extern uint32_t pa; + +/* IIR filtered pressure value */ +extern uint32_t pa_avg; + +/* Average pressure value on ground */ +extern uint32_t pa_ground; + +/* Minimum recorded filtered pressure value */ +extern uint32_t pa_min; + +/* Pressure values converted to altitudes */ +extern alt_t ground_alt, max_alt; + +/* max_alt - ground_alt */ +extern alt_t ao_max_height; + +#endif + |