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path: root/src/ao.h
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* altos: Hook up the P1 ISR for TeleBT v0.1 bt_link lineKeith Packard2011-05-06
| | | | | | Otherwise, we're heading off into the weeds... Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Solidify BT connectionsKeith Packard2011-04-19
| | | | | | | | | Use delays while sending commands to BT module. Don't use BT for stdio until the module is initialized. Add \r to name setting command Don't require 'connected' signal for command input. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Use PIO(6) on BTM to monitor BT connection. Fix BTM init.Keith Packard2011-04-07
| | | | | | | | PIo(6) appears to be an active-low indication of the Bluetooth connection status. Hook this up using an interrupt to track the link state instead of using in-band status messages. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Make cmd echo per-connection instead of globalKeith Packard2011-04-01
| | | | | | | Allow different connections to use different echo values, permitting the packet link to turn off echo while the USB link still has it on. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Make ao_serial_drain publicKeith Packard2011-04-01
| | | | | | Allow external code to discard serial input Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Provide for a pre-filter on commandsKeith Packard2011-04-01
| | | | | | | This allows for external code to see each command line before it is processed and potentially skip it. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: expose set of available stdio valuesKeith Packard2011-04-01
| | | | | | | This lets external code manipulate which connection to communicate over. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add initial TeleBT codeKeith Packard2011-03-31
| | | | | | | Prototyping with a TeleMetrum v0.1 board and a serial link to a bluetooth module. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Create custom nano flight codeKeith Packard2011-03-28
| | | | | | | No igniters, just 'pad/drogue/landed' modes (where 'drogue' == 'flying'). A constant 1Hz telemetry and RDF rate. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Split up flight code into separate flight/sample/kalman bitsKeith Packard2011-03-28
| | | | | | | | | | | | | | | The flight code mashed together data processing, filtering and actual flight managament into one giant pile. Split things up so that we have: ao_sample.c: Sensor data processing. Reads the ring, handles calibration ao_kalman.c: Filter the data to track the accel/speed/height values ao_flight.c: Flight state management, specific to rocketry. The plan is to re-use ao_sample.c and ao_kalman.c for hardware not specifically designed for rocketry, like TeleNano. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Switch telemetrum over to kalman filterKeith Packard2011-03-22
| | | | | | | | | | | | This changes the full telemetry stream to include kalman data instead of the old ad-hoc flight data. It's compatible in that the packet sizes are the same so teledongle can receive either and figure out which it has received. A few plotting and testing tools are added to make validating the new code easier. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: New telemetry report format (version 4). Supports tiny telemetry.Keith Packard2011-03-19
| | | | | | | | | | | This completely replaces the version 3 format with a much simpler and easier to parse scheme. It's described in detail in ao_telem.h, but the basic idea is that the whole line is split into name/value pairs, separated by whitespace. Every name is unique, and the values are either strings or integers. No extraneous formatting or units are provided. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Split out tiny telemetry from full telemetryKeith Packard2011-03-19
| | | | | | | | | | | | | | | The TeleMini and TeleNano boards do not have either GPS or accelermeters, and they also run the kalman filter which produces standard unit measurements for the flight height/speed/accel values. This makes the telemetry significantly different. ao_telemetry_tiny.c sends the required data. Note that TeleNano sends the same telemetry as telemini at this point; there are a couple of values which are not useful, but the overhead of sending them is small enough that the hassle of having three telemetry formats seemed excessive. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Make telemetry interval more consistentKeith Packard2011-03-19
| | | | | | | | | | | | | | | Instead of using a delay between telemetry packets, use a telemetry period and compute an appropriate delay each time. This requires changing the ascent telemetry from a 50ms delay to a 100ms interval, to provide a regular 10 packets-per-second rate. Before, we counted on the telemetry packet taking about 50ms to send so that we would receive about 10 per second. This also eliminates delays during descent for RDF tones -- those will get transmitted in the interval between telemetry packets without interrupting the spacing of those packets. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Configure packet size from send/recv parameters.Keith Packard2011-03-19
| | | | | | | | | | Instead of setting the packet size at configuration time, use the provided packet size to the send/recv functions to configure the radio. This eliminates many configuration calls, leaving us with 'RDF' mode and 'packet' mode, the latter working for telemetry and the bi-directional link. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Don't init packet slave on TD. Make slave start optionalKeith Packard2011-03-19
| | | | | | | | | | | Oops. TeleDongle was starting the packet slave code, which kinda wrecked its ability to receive telemetry packets. This patch simply removes the packet slave code from teledongle as it cannot be used (yet), it also makes the packet slave code initialization take a parameter which controls whether to start that by default; in the future, perhaps TeleDongle will gain a command to start packet slave mode. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Write height values to log for nano/miniKeith Packard2011-03-18
| | | | | | This is a lot more useful than the old filtered pressure data. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add tiny logging for TeleMini/TeleNanoKeith Packard2011-03-17
| | | | | | | | | | This splits the logging code into management of the log space within storage and separate code to actually write suitable log entries. A new log writing module, ao_log_tiny, is added which writes only altimeter data at a fairly low data rate for devices using on-chip storage. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Make serial, usb, beeper and accelerometer optional componentsKeith Packard2011-03-16
| | | | | | | Not all boards will have these, so fix places that use them to deal with that. Signed-off-by: Keith Packard <keithp@keithp.com>
* src/ao_cmd: Shave off bytes from doc stringsAnthony Towns2011-03-07
| | | | | | Switch to using { func, "X args\0Desc" } to specify command, saving a char field by looking at help[0] instead, and reduce help length by doing alignment with printf instead of hardcoded spaces.
* ao_radio: generalise setup of packet sizeAnthony Towns2011-02-18
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* altos: Sample the accelerometer reference voltage on v1.1 boardsKeith Packard2011-01-16
| | | | | | | This places the 5v reference samples in an array parallel to the basic ADC values. It doesn't do anything with the values, just stores them. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Ensure flight code gets first crack at new ADC dataKeith Packard2011-01-16
| | | | | | | | Instead of having everyone wait on the raw ADC ring, have the flight code wait on that and have everyone else wait for the flight code to finish looking at the data and move its pointer forwards. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: TELEMETRY PROTOCOL CHANGE. Switch to 16-bit serial numbers.Keith Packard2011-01-16
| | | | | | | | | | What a terrible mistake! The flight computer serial numbers were recorded in only 8 bits, so serial numbers > 255 would get truncated. There's really no fix other than bumping the field to 16 bits and reflashing every TM and TD on the planet. Very unfortunate. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Check for full log and complainKeith Packard2011-01-07
| | | | | | | Reports special tone along with the continuity checks. Reports flight 0 in telemetry. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: support storage of multiple flights.Keith Packard2011-01-07
| | | | | | This adds the logging support for dealing with multiple flights Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add configuration parameter for maximum flight log sizeKeith Packard2011-01-07
| | | | | | | This parameter will permit available storage to be split into multiple separate flight logs. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Move common storage code to ao_storage.c. Add M25P80 driverKeith Packard2011-01-06
| | | | | | | This reworks the storage API so that you erase blocks and then store data to them so that the M25P80 driver will work. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Require manual flight erasing.Keith Packard2011-01-06
| | | | | | This supports flash chips that require larger erase blocks. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Simplify storage APIKeith Packard2011-01-06
| | | | | | | This removes the config-specific APIs and exposes global variables for the available storage space, block size and config storage location. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Split out SPI driver.Keith Packard2010-12-22
| | | | | | | | For TM with the companion connector, the SPI bus will be shared among multiple devices. Split out the existing SPI code into a common driver, with the SPI bus protected by a mutex. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: eliminate ao_wake_taskKeith Packard2010-12-22
| | | | | | | Waking up a task waiting on some random object is a bad idea. Fix the waiters to look for suitable signalling. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: clean up radio abort paths. Share radio code.Keith Packard2010-12-22
| | | | | | | | | | | | | Instead of aborting the DMA and radio operation and expecting that to be handled reasonably by the radio receiving task, rewrite things so that the abort function just wakes the receiving task while that terminates the DMA and cleans up the radio. This eliminates all kinds of nasty bugs dealing with radio abort smashing the radio registers at the wrong time, or interrupting a radio transmission. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Bounds check Skytraq GPS tracking data arrayKeith Packard2010-09-01
| | | | | | | | | | | | | Missing GPS serial data could cause the tracking array reset to get skipped, causing the array to be overrun, smashing critical data beyond the array. This was detected using the 'altosui' flash command to program a device from TM. Hitting the USB that hard caused TM to crash with a mutex error (3 beeps) after the ao_gps_task structure was overwritten with zeros. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: prepare for sdcc 2.9.1Keith Packard2010-08-27
| | | | | | | A few minor language changes -- non-standard keywords are now prefixed with __, such as 'at', 'interrupt', 'naked'. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: mark gps date written only after it gets into eepromKeith Packard2010-08-26
| | | | | | | | Data logging doesn't start until boost detect occurs. As the GPS date is only logged once, if that happens before logging is written to the flash, then the GPS date will never get saved. Signed-off-by: Keith Packard <keithp@keithp.com>
* altosui: write USB serial number string while flashingKeith Packard2010-08-24
| | | | | | | | USB serial number is encoded in UCS2 as a part of the string descriptors. Place those right after the other rom config bits so that altosui can find it. altosui is changed to write the serial number there. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Place rom config variables in fixed locationKeith Packard2010-08-23
| | | | | | | | | | | | | | | The device serial number and radio calibration values are stored in flash, mostly so that TeleDongle gets them saved. Placing them in well-known locations (starting at 0xa0) makes it possible to find the previous configuration and to re-write it easily, without requiring the .map file. altosui doesn't have the .map file parsing code, so it relies upon this new technique. As a benefit, it reads the old values from the device before reprogramming it. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: add callsign to packet mode, increase payload to 64 bytesKeith Packard2010-08-07
| | | | | | | Untested, but it 'should' work. Need to add callsign setting to packet mode users. Signed-off-by: Keith Packard <keithp@keithp.com>
* Make ao_log_data re-entrant as it is used for both sensor and GPS logsKeith Packard2010-07-28
| | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | Because ao_log_data is called from two different threads, failing to make it re-entrant would cause the 'log' pointer parameter to get overwritten if another thread asked to log data while the eeprom was busy writing out a block. This would cause the second thread to re-writing data from the first thread's address, but without re-checksumming the data as the checksum is computed before the log mutex is taken. The bug can be seen by log blocks with invalid checksums. Here's what happens with the ao_gps_tracking_report and ao_log threads: ao_gps_tracking_report ao_log Writes a bunch of records *blocks* in the eeprom flush sets ao_log_data 'log' to global 'log' computes checksum for 'log' block *blocks* on ao_log_mutex Wakes up sets ao_log_data 'log' to 'gps_log' writes remaining records 'gps_log' is left with svid = 0 *blocks* on ao_gps_tracking_data writes data, reading from the current ao_log_data 'log' pointer which points at 'gps_log' Making ao_log_data re-entrant fixes this by ensuring that the 'ao_log' thread has its own copy of the ao_log_data 'log' parameter. I made this function take an __xdata restricted pointer so that it could be passed in the dptr register instead of needing to go on the stack. Signed-off-by: Keith Packard <keithp@keithp.com>
* Telemetry code was mis-computing RSSIKeith Packard2010-07-14
| | | | | | | The RSSI data from the hardware reports in 1/2 dBm increments, and so must be divided to report plain RSSI numbers. Signed-off-by: Keith Packard <keithp@keithp.com>
* Add special code for USB panic's.Keith Packard2010-06-16
| | | | | | | | The USB system may panic if the hardware isn't ready for IN data when the driver thinks it should be. This adds a special panic code to make figuring this out easier. Signed-off-by: Keith Packard <keithp@keithp.com>
* Tasks may move in task structure as a result of ao_exitKeith Packard2010-04-06
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* Fix up LED colors for each product.Keith Packard2010-02-27
| | | | | | | | Different products assign different color LEDs to the two available LED drivers (P1_0, P1_1). Make the LED color pin assignments per-product (in ao_pins.h), then deal with not always having a green LED. Signed-off-by: Keith Packard <keithp@keithp.com>
* Change altos build process to support per-product compile-time changesKeith Packard2010-02-20
| | | | | | | | This creates per-product subdirectories and recompiles everything for each product, allowing per-product compile-time changes for things like peripheral pin assignments and attached serial devices. Signed-off-by: Keith Packard <keithp@keithp.com>
* Log GPS data on pad after boost detect.Keith Packard2010-02-13
| | | | | | | | | This wakes up the two GPS reporting tasks and gets them to report out any existing GPS data to the log file. To make sure the timestamps in that GPS data are accurate, this also records GPS time on receipt of the GPS data instead of when that is logged. Signed-off-by: Keith Packard <keithp@keithp.com>
* Force idle mode by shorting the SPI clock to ground at boot time.Keith Packard2010-01-09
| | | | | | | | This allows you to override the flight mode detection code in case the accelerometer calibration is broken somehow. Hold the SPI clock shoted to ground until the LED comes on, then remove it. Signed-off-by: Keith Packard <keithp@keithp.com>
* Add AT45DBxx1D driverKeith Packard2010-01-09
| | | | | | | This driver supports the AT45DB011D through AT45DB321D DataFlash parts as found in TeleMetrum v0.2 Signed-off-by: Keith Packard <keithp@keithp.com>
* Use ao_radio_get/ao_radio_put in packet code.Keith Packard2009-12-19
| | | | | | | | The ao_radio_get function both acquires the mutex *and* configures the radio channel and frequency. Failing to use this in the packet code would leave the radio frequency unconfigured. Signed-off-by: Keith Packard <keithp@keithp.com>
* Re-order config values. Change frequency to calKeith Packard2009-12-05
| | | | | | | Place more often used values at top, and consistently call the radio value 'calibration' instead of 'frequency'. Signed-off-by: Keith Packard <keithp@keithp.com>
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