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* altos: Keep 9 more bits of average pad IMU gyro dataKeith Packard2013-10-27
| | | | | | This reduces the offset error by a bit, minimizing gyro drift. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Rename ao_orient to ao_sample_orientKeith Packard2013-10-27
| | | | | | Keeps it clear where this name comes from. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add functions to init quaternions from vector pairs and euler anglesKeith Packard2013-10-27
| | | | | | | | Our low sampling rate means that the "cheap" hack for integrating quaternion rotations by using sin(x) ≃ x doesn't work, so instead we have to compute the partial rotation the hard way. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add some comments describing quaternion multiplicationKeith Packard2013-10-27
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Mark arguments to quaternion functions as constKeith Packard2013-10-27
| | | | | | Lets us pass constants without the compile whinging Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: IMU accel calibration values need to be signedKeith Packard2013-10-27
| | | | | | The MPU6000 reports signed values. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Calibrate IMU accelerometers tooKeith Packard2013-10-25
| | | | | | | | Average the IMU accelerometer values pointing up and down so that we have a zero-g offset for all three axes. This can then be used to compute which direction the rocket is pointing while sitting on the pad. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add gyro-based orientation trackingKeith Packard2013-10-25
| | | | | | | This tracks the angle-from-vertical as an additional input to the pyro channels. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Merge GPS logging into a single functionKeith Packard2013-10-14
| | | | | | | | | | | | Create a new global, ao_gps_new, which indicates new GPS position and satellite data. Use ao_gps_new as the new sleep/wakeup address. Merge the separate gps position/satellite logging tasks into a single function which waits for new data and writes out the changed values. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/micropeak: Increase boost detect to 30mKeith Packard2013-10-13
| | | | | | | | | | | | | This meant increasing the data buffering as well so that we could reliably capture the flight data back to the ground, even for slow flights. And, with the buffer extra large, we work backwards from the current buffer location to find the last ground location rather than working forwards from the first buffered location. This ensures that we don't capture noise before boost and instead capture a nice flight curve instead. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Don't require an LED for ao_flightKeith Packard2013-10-07
| | | | | | EasyMini has no LEDs. Deal with it. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Move micropeak sources aroundKeith Packard2013-09-15
| | | | | | | | This sticks the micropeak sources in appropriate directories, rather than in the micropeak product directory so that they can be shared with future micropeak-style products. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Set tick value in new TeleMetrum v2 sensor packetsKeith Packard2013-09-05
| | | | | | Was getting left with the old value, which wasn't very useful Signed-off-by: Keith Packard <keithp@keithp.com>
* altoslib/altosui: Further AltosState transition workKeith Packard2013-08-31
| | | | | | | Parses most eeprom and telem records now; altosui updated to show from AltosState info. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Split EasyMini and TeleMini log formatsKeith Packard2013-08-29
| | | | | | | Same data, but EasyMini uses a 3.0V supply while TeleMini uses 3.3V, which changes the intepretation of all of the ADC values Signed-off-by: Keith Packard <keithp@keithp.com>
* Merge remote-tracking branch 'origin/telemini'Keith Packard2013-08-28
|\ | | | | | | | | | | | | | | | | | | Signed-off-by: Keith Packard <keithp@keithp.com> Conflicts: src/core/ao_telemetry.c src/core/ao_telemetry.h Added both Mini and Metrum telemetry defines
| * altos: Make ao_wakeup reentrantKeith Packard2013-08-26
| | | | | | | | | | | | In case we end up invoking it from two places at once. Signed-off-by: Keith Packard <keithp@keithp.com>
| * altos: Make TeleMini v2.0 fitKeith Packard2013-08-25
| | | | | | | | | | | | Mash lots of storage locations and code around to shrink stuff down to size Signed-off-by: Keith Packard <keithp@keithp.com>
| * altos: Add 64-bit subtractionKeith Packard2013-08-25
| | | | | | | | Signed-off-by: Keith Packard <keithp@keithp.com>
| * altos: Add 64x64 multiply. Test 64 ops for dest same as either sourceKeith Packard2013-08-25
| | | | | | | | | | | | | | The test change is to ensure that the destination may be one of the 64 bit sources. Signed-off-by: Keith Packard <keithp@keithp.com>
| * altos: Make 64x16 mul a bit fasterKeith Packard2013-08-25
| | | | | | | | | | | | the unsigned 32x32 multiply really does work, just use it Signed-off-by: Keith Packard <keithp@keithp.com>
| * altos: Add 64-bit add/mul/shift for SDCCKeith Packard2013-08-25
| | | | | | | | | | | | | | | | SDCC doeesn't provide a native 64-bit type (sigh), so implement the minimal operations necessary for the MS5607 conversion routine. Signed-off-by: Keith Packard <keithp@keithp.com>
| * Initial TeleMini bitsKeith Packard2013-08-25
| | | | | | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* | altos: Update time for next alarm each time a task is addedKeith Packard2013-08-28
| | | | | | | | | | | | | | | | Adding a task with a sooner timeout than existing alarm tasks was not correctly updating the time to fire the next alarm, causing tasks to be delayed by the wrong amount. Signed-off-by: Keith Packard <keithp@keithp.com>
* | altos: TM v2 places the MMA6555 upside down compared to TmegaKeith Packard2013-08-28
| | | | | | | | | | | | Means we need to invert the data coming out to make it work Signed-off-by: Keith Packard <keithp@keithp.com>
* | altos: Rename TeleMetrum v2.0 ADC sense membersKeith Packard2013-08-27
| | | | | | | | | | | | Use sense_a and sense_m instead of sense[2] Signed-off-by: Keith Packard <keithp@keithp.com>
* | altos: Initial TeleMetrum v2.0 bitsKeith Packard2013-08-27
|/ | | | | | | Adds new telemetry and logging formats along with code for TeleMetrum v2.0 design. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Allow products to disable RDF entirelytelegps-v0.3Keith Packard2013-08-24
| | | | | | TeleGPS doesn't ever want RDF Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: allow projects to override default config valuesKeith Packard2013-08-17
| | | | | | Override default radio power and APRS interval Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Support mega-style logging without ADCKeith Packard2013-06-24
| | | | | | | Used for TeleGPS, just exposes the necessary log writing function without also including the ADC writing code. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Disable USB on all flight computers when in flight modeKeith Packard2013-06-17
| | | | | | | There was a check to only disable USB on boards with radios, but for EasyMini, we want to disable USB too for flight mode. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add fast-timer API. Use for quadrature and button driversKeith Packard2013-06-09
| | | | | | | This splits the fast-timer portion out of the debounce helper code and shares that with the quadrature driver which now uses it directly. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add debounce helper. Use in button and quadrature drivers for TeleLCOKeith Packard2013-06-09
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add pyro operations to regular ignite commandsKeith Packard2013-05-26
| | | | | | Instead of having separate commands, just mix the two sets together. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Make manual pyro firing command work againKeith Packard2013-05-26
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: write pyro fired to correct log fieldKeith Packard2013-05-26
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Light pyro charges simultaneously if so configuredKeith Packard2013-05-26
| | | | | | | | Don't try to be nice to the battery, just let the pyro circuit deal with it and try to get all of the specified circuits going at the same time if they're configured to do so. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos,altosui: Add pyro state logging for TeleMegaKeith Packard2013-05-26
| | | | | | | Only in the log file (no obvious space in the telem packets), but at least we should be able to check for pyro failures. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add pyro code testing to ao_flight_test for TeleMegaKeith Packard2013-05-26
| | | | | | | This parses the pyro settings and signals when the pyro channels are fired in the output. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Can't use inline functions because SDCC doesn't do thatKeith Packard2013-05-21
| | | | | | Sigh. Signed-off-by: Keith Packard <keithp@keithp.com>
* Add Mini logging format. Use in EasyMinilpcKeith Packard2013-05-19
| | | | | | | This is a 16-byte record that includes all of the sensor data in each sensor record, along with records for flight state changes. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Use ao_data_pres macro in ao_log_tinyKeith Packard2013-05-18
| | | | | | Now it works on easymini too Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Check for packet mode before trying to disable it in flight codeKeith Packard2013-05-18
| | | | | | This is only relevant for telemini Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: ao_data_get is in ao_data.c now, not ao_adc.cKeith Packard2013-05-18
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Allow architecture to define the type of port registersKeith Packard2013-05-18
| | | | | | LPC11U14 has 32-bit ports, STM32 has 16 bit ports. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Move ao_data.c from stm to coreKeith Packard2013-05-18
| | | | | | This should be used on every processor Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Allow target-specific USB endpoint specificationsKeith Packard2013-05-17
| | | | | | | The LPC has only a small number of endpoints, and those are not configurable. Let the LPC USB driver pick the IN and OUT endpoints by itself. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/cc1111: Hack on USB driver to make Windows happyKeith Packard2013-05-17
| | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | The Windows modem driver is quite chatty at startup time, getting and setting the comm parameters each time the device is opened. Sometimes, when setting the parameters, the cc1111 would STALL EP0. Most of the time, Windows would happily pass this as an error back to AltosUI which would then re-try the open (and succeed, most of the time). Sometimes, Windows would stall for 30 seconds before passing the error back. This made the whole UI freeze, and I suspect most people assumed our app had died. A bit of analysis with the beagle USB sniffer and I discovered the STALL settings, but there wasn't any correlation between the data on the wire and when the STALL would be generated. So, I found a couple of other cc1111 USB stacks on the net and just looked to see how our driver differed. There wasn't anything clearly related, but there were a list of small differences: 1) Other drivers didn't bother waiting for the hardware to ack the USBADDR setting; doing it this way means we can set the address *before* acking the setup packet. It'll get set eventually, at which point the device will start responding to packets again. Easy to fix, and saves a bit of code space too. 2) The other drivers set the STALL bit for setup packets which aren't understood. This shouldn't have any effect on 'good' systems as those shouldn't ever be generating bogus setup packets anyways. The driver already handled the STALL state in the interrupt handler, the only requirement was to figure out when to explicitly set the STALL bit. That required moving the state updating code from the start of the ep0 setup handling to the end, after the setup packet had been examined and data queued in or out as appropriate. 3) Our driver explicitly queued an IN packet for any setup request that wasn't waiting for an OUT pack. This appears to tie in with the USBADDR change above as before I made that change, this change caused the driver to fail to respond to most setup packets. This was simple once the above change was made, just move the generation of the IN packet inside the code that switched to the IN state. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Move MS5607 info from 'v' to 'c s'Keith Packard2013-05-15
| | | | | | Makes more sense there. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add 'g' command to ublox GPS code.Keith Packard2013-05-15
| | | | | | | | Take the gps_dump function from ao_gps_skytraq.c and move it to a new file so it can be shared with the u-blox driver. That affects every skytraq and u-blox user as they need to include the new file. Signed-off-by: Keith Packard <keithp@keithp.com>
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