From 2424c0e6fe53789dc83d1e96439dcdc13e847b07 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 4 Apr 2014 23:37:15 -0700
Subject: ao-tools: Use 'program' command in ao-flash-lpc instead of 'flash'

The program meta-command is supposed to do the whole thing, and seems
more reliable in actually getting what we want flashed to the board.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/ao-flash/ao-flash-lpc | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)
 mode change 100644 => 100755 ao-tools/ao-flash/ao-flash-lpc

(limited to 'ao-tools')

diff --git a/ao-tools/ao-flash/ao-flash-lpc b/ao-tools/ao-flash/ao-flash-lpc
old mode 100644
new mode 100755
index 57f632b4..7ac5b523
--- a/ao-tools/ao-flash/ao-flash-lpc
+++ b/ao-tools/ao-flash/ao-flash-lpc
@@ -7,15 +7,10 @@ case "$#" in
 esac
 cmds=/tmp/flash$$
 trap "rm $cmds" 0 1 15
-for file in "$@"; do
-	echo "flash write_image $file"
-done > $cmds
+file="$1"
+echo "program $file verify reset" > $cmds
 openocd \
 	-f interface/stlink-v2.cfg \
 	-f target/lpc11u14.cfg \
-	-c init \
-	-c 'reset halt' \
 	-f $cmds \
-	-c 'reset init' \
-        -c 'reset run' \
 	-c shutdown
-- 
cgit v1.2.3


From ca4b20f9781b1dc6974d26952973dfe0d607478c Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 4 Apr 2014 23:38:40 -0700
Subject: ao-tools: Wait for device to become ready instead of failing

For some reason, USB devices take 'a while' to become usable; instead
of bailing immediately, sit around waiting to see if the device
becomes usable if we get an EBUSY or EACCES error.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/lib/cc-usb.c | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

(limited to 'ao-tools')

diff --git a/ao-tools/lib/cc-usb.c b/ao-tools/lib/cc-usb.c
index d7ac138c..a3a19d5c 100644
--- a/ao-tools/lib/cc-usb.c
+++ b/ao-tools/lib/cc-usb.c
@@ -412,19 +412,35 @@ cc_usb_close_remote(struct cc_usb *cc)
 
 static struct termios	save_termios;
 
+#include <errno.h>
+
 struct cc_usb *
 cc_usb_open(char *tty)
 {
 	struct cc_usb	*cc;
 	struct termios	termios;
+	int		i;
 
 	if (!tty)
 		tty = DEFAULT_TTY;
 	cc = calloc (sizeof (struct cc_usb), 1);
 	if (!cc)
 		return NULL;
-	cc->fd = open(tty, O_RDWR | O_NONBLOCK);
-	if (cc->fd < 0) {
+	i = 0;
+	for (;;) {
+		cc->fd = open(tty, O_RDWR | O_NONBLOCK);
+		if (cc->fd >= 0)
+			break;
+		i++;
+		if (errno == EBUSY || errno == EPERM || errno == EACCES) {
+			fprintf(stderr, "open failed, pausing");
+			perror(tty);
+			if (i < 20) {
+				sleep(3);
+				continue;
+			}
+		}
+
 		perror(tty);
 		free (cc);
 		return NULL;
-- 
cgit v1.2.3


From fd406000659a11862e05c22dbb20cdb738f56b01 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 30 Apr 2014 22:11:39 -0700
Subject: ao-telem: Dump orientation field from TeleMega sensor telemetry
 packet

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/ao-telem/ao-telem.c | 3 ++-
 ao-tools/lib/cc-telemetry.h  | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

(limited to 'ao-tools')

diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
index f1755b82..da873838 100644
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -158,7 +158,8 @@ main (int argc, char **argv)
 					printf ("\n");
 					break;
 				case AO_TELEMETRY_MEGA_SENSOR:
-					printf ("accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
+					printf ("orient %3d accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
+						telem.mega_sensor.orient,
 						telem.mega_sensor.accel,
 						telem.mega_sensor.pres,
 						telem.mega_sensor.temp,
diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
index c28aceb8..d64c4b30 100644
--- a/ao-tools/lib/cc-telemetry.h
+++ b/ao-tools/lib/cc-telemetry.h
@@ -157,7 +157,7 @@ struct ao_telemetry_mega_sensor {
 	uint16_t	tick;		/*  2 */
 	uint8_t		type;		/*  4 */
 
-	uint8_t		pad5;		/*  5 */
+	uint8_t		orient;		/*  5 angle from vertical */
 	int16_t		accel;		/*  6 Z axis */
 
 	int32_t		pres;		/*  8 Pa * 10 */
-- 
cgit v1.2.3


From 35efd4e51ece706234f80c076eb7f4f70c66098d Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 30 Apr 2014 22:12:30 -0700
Subject: ao-load: Make ao_sym static to avoid collision with ao-editaltos

ao-load doesn't use ao-editaltos at this point, but does share the
same name for the symbol table. To make the linker happier, make the
ao-load version static.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/ao-load/ao-load.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'ao-tools')

diff --git a/ao-tools/ao-load/ao-load.c b/ao-tools/ao-load/ao-load.c
index c1f55149..0cf03772 100644
--- a/ao-tools/ao-load/ao-load.c
+++ b/ao-tools/ao-load/ao-load.c
@@ -26,7 +26,7 @@
 
 #define AO_USB_DESC_STRING		3
 
-struct sym {
+static struct sym {
 	unsigned	addr;
 	char		*name;
 	int		required;
-- 
cgit v1.2.3


From 0223fced2c6d2b9f63ede6258afae46c3f55c200 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 30 Apr 2014 22:13:44 -0700
Subject: ao-tools: Clean up ao-sym structure an initializers

Remove unused 'default_addr' field. Use named initializers when
setting up the struct.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/lib/ao-editaltos.c | 26 ++++++++++++++++++++------
 ao-tools/lib/ao-hex.h       |  1 -
 2 files changed, 20 insertions(+), 7 deletions(-)

(limited to 'ao-tools')

diff --git a/ao-tools/lib/ao-editaltos.c b/ao-tools/lib/ao-editaltos.c
index a8b64098..7547c82c 100644
--- a/ao-tools/lib/ao-editaltos.c
+++ b/ao-tools/lib/ao-editaltos.c
@@ -20,12 +20,26 @@
 #include "ao-editaltos.h"
 
 struct ao_sym ao_symbols[] = {
-
-	{ 0, 0,	"ao_romconfig_version",	1 },
-	{ 0, 0,	"ao_romconfig_check",	1 },
-	{ 0, 0,	"ao_serial_number", 1 },
-	{ 0, 0,	"ao_radio_cal", 0 },
-	{ 0, 0,	"ao_usb_descriptors", 0 },
+	{
+		.name = "ao_romconfig_version",
+		.required = 1
+	},
+	{
+		.name = "ao_romconfig_check",
+		.required = 1
+	},
+	{
+		.name = "ao_serial_number",
+		.required = 1
+	},
+	{
+		.name = "ao_radio_cal",
+		.required = 0
+	},
+	{
+		.name = "ao_usb_descriptors",
+		.required = 0
+	},
 };
 
 #define NUM_SYMBOLS		5
diff --git a/ao-tools/lib/ao-hex.h b/ao-tools/lib/ao-hex.h
index 98497460..eb510ba2 100644
--- a/ao-tools/lib/ao-hex.h
+++ b/ao-tools/lib/ao-hex.h
@@ -51,7 +51,6 @@ struct ao_hex_image {
 
 struct ao_sym {
 	unsigned	addr;
-	unsigned	default_addr;
 	char		*name;
 	bool		required;
 	bool		found;
-- 
cgit v1.2.3


From 6dd7eae5e4752d2098797e96953db8923e26835b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 12 May 2014 23:20:08 -0700
Subject: ao-tools/ao-usbload: Check image flash usage against device flash
 availability

For devices which report the range of valid flash addresses from their
boot loader, check the loaded image to make sure it fits within that range.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/ao-usbload/ao-usbload.c | 28 +++++++++++++++++++++++++++-
 1 file changed, 27 insertions(+), 1 deletion(-)

(limited to 'ao-tools')

diff --git a/ao-tools/ao-usbload/ao-usbload.c b/ao-tools/ao-usbload/ao-usbload.c
index 0c8a23df..fd34fbdc 100644
--- a/ao-tools/ao-usbload/ao-usbload.c
+++ b/ao-tools/ao-usbload/ao-usbload.c
@@ -142,6 +142,8 @@ main (int argc, char **argv)
 	int			verbose = 0;
 	struct ao_sym		*file_symbols;
 	int			num_file_symbols;
+	uint32_t		flash_base, flash_bound;
+	int			has_flash_size = 0;
 
 	while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) {
 		switch (c) {
@@ -222,6 +224,14 @@ main (int argc, char **argv)
 				cc_usb_getline(cc, line, sizeof(line));
 				if (!strncmp(line, "altos-loader", 12))
 					is_loader = 1;
+				if (!strncmp(line, "flash-range", 11)) {
+					int i;
+					for (i = 11; i < strlen(line); i++)
+						if (line[i] != ' ')
+							break;
+					if (sscanf(line + i, "%x %x", &flash_base, &flash_bound) == 2)
+						has_flash_size = 1;
+				}
 				if (!strncmp(line, "software-version", 16))
 					break;
 			}
@@ -262,6 +272,22 @@ main (int argc, char **argv)
 #endif
 	}
 
+	/* If the device can tell us the size of flash, make sure
+	 * the image fits in that
+	 */
+	if (has_flash_size) {
+		if (load->address < flash_base ||
+		    load->address + load->length > flash_bound)
+		{
+			fprintf(stderr, "Image does not fit on device.\n");
+			fprintf(stderr, "  Image base:  %08x bounds %08x\n",
+				load->address, load->address + load->length);
+			fprintf(stderr, "  Device base: %08x bounds %08x\n",
+				flash_base, flash_bound);
+			done(cc, 1);
+		}
+	}
+
 	if (!raw) {
 		/* Go fetch existing config values
 		 * if available
@@ -295,7 +321,7 @@ main (int argc, char **argv)
 	/* And flash the resulting image to the device
 	 */
 	success = ao_self_write(cc, load);
-		
+
 	if (!success) {
 		fprintf (stderr, "\"%s\": Write failed\n", filename);
 		done(cc, 1);
-- 
cgit v1.2.3


From d63319f6f29ef714bb1d5c359c2448f63e7a4534 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 25 May 2014 20:58:24 -0700
Subject: ao-tools: Add cc_usb_write function

This writes raw bytes to the USB port; useful for sending binary data
for flashing or the upcoming flight test stuff.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/lib/cc-usb.c | 40 ++++++++++++++++++++++++++++++++++------
 ao-tools/lib/cc-usb.h |  3 +++
 2 files changed, 37 insertions(+), 6 deletions(-)

(limited to 'ao-tools')

diff --git a/ao-tools/lib/cc-usb.c b/ao-tools/lib/cc-usb.c
index a3a19d5c..38dfff04 100644
--- a/ao-tools/lib/cc-usb.c
+++ b/ao-tools/lib/cc-usb.c
@@ -53,6 +53,7 @@ struct cc_usb {
 
 	struct cc_hex_read	hex_buf[CC_NUM_HEX_READ];
 	int			hex_count;
+	int			show_input;
 
 	int			remote;
 };
@@ -156,7 +157,7 @@ cc_usb_dbg(int indent, uint8_t *bytes, int len)
  */
 
 static int
-_cc_usb_sync(struct cc_usb *cc, int wait_for_input)
+_cc_usb_sync(struct cc_usb *cc, int wait_for_input, int write_timeout)
 {
 	int		ret;
 	struct pollfd	fds;
@@ -165,7 +166,7 @@ _cc_usb_sync(struct cc_usb *cc, int wait_for_input)
 	fds.fd = cc->fd;
 	for (;;) {
 		if (cc->hex_count || cc->out_count)
-			timeout = 5000;
+			timeout = write_timeout;
 		else if (wait_for_input && cc->in_pos == cc->in_count)
 			timeout = wait_for_input;
 		else
@@ -200,6 +201,10 @@ _cc_usb_sync(struct cc_usb *cc, int wait_for_input)
 				cc->in_count += ret;
 				if (cc->hex_count)
 					cc_handle_hex_read(cc);
+				if (cc->show_input && cc->in_count) {
+					write(2, cc->in_buf, cc->in_count);
+					cc->in_count = 0;
+				}
 			} else if (ret < 0)
 				perror("read");
 		}
@@ -222,7 +227,7 @@ _cc_usb_sync(struct cc_usb *cc, int wait_for_input)
 void
 cc_usb_sync(struct cc_usb *cc)
 {
-	if (_cc_usb_sync(cc, 0) < 0) {
+	if (_cc_usb_sync(cc, 0, 5000) < 0) {
 		fprintf(stderr, "USB link timeout\n");
 		exit(1);
 	}
@@ -263,7 +268,7 @@ int
 cc_usb_getchar_timeout(struct cc_usb *cc, int timeout)
 {
 	while (cc->in_pos == cc->in_count) {
-		if (_cc_usb_sync(cc, timeout) < 0) {
+		if (_cc_usb_sync(cc, timeout, 5000) < 0) {
 			fprintf(stderr, "USB link timeout\n");
 			exit(1);
 		}
@@ -395,7 +400,7 @@ cc_usb_open_remote(struct cc_usb *cc, int freq, char *call)
 		cc_usb_printf(cc, "\nc F %d\nc c %s\np\nE 0\n", freq, call);
 		do {
 			cc->in_count = cc->in_pos = 0;
-			_cc_usb_sync(cc, 100);
+			_cc_usb_sync(cc, 100, 5000);
 		} while (cc->in_count > 0);
 		cc->remote = 1;
 	}
@@ -454,7 +459,7 @@ cc_usb_open(char *tty)
 	cc_usb_printf(cc, "\nE 0\nm 0\n");
 	do {
 		cc->in_count = cc->in_pos = 0;
-		_cc_usb_sync(cc, 100);
+		_cc_usb_sync(cc, 100, 5000);
 	} while (cc->in_count > 0);
 	return cc;
 }
@@ -468,3 +473,26 @@ cc_usb_close(struct cc_usb *cc)
 	close (cc->fd);
 	free (cc);
 }
+
+int
+cc_usb_write(struct cc_usb *cc, void *buf, int c)
+{
+	uint8_t	*b;
+	int this_time;
+
+	b = buf;
+	cc->show_input = 1;
+	while (c > 0) {
+		this_time = c;
+		if (this_time > CC_OUT_BUF - cc->out_count)
+			this_time = CC_OUT_BUF - cc->out_count;
+		memcpy(cc->out_buf + cc->out_count, b, this_time);
+		cc->out_count += this_time;
+		c -= this_time;
+		b += this_time;
+		while (cc->out_count >= CC_OUT_BUF) {
+			_cc_usb_sync(cc, 0, -1);
+		}
+	}
+	return 1;
+}
diff --git a/ao-tools/lib/cc-usb.h b/ao-tools/lib/cc-usb.h
index f1193456..e08a956b 100644
--- a/ao-tools/lib/cc-usb.h
+++ b/ao-tools/lib/cc-usb.h
@@ -65,6 +65,9 @@ cc_usb_getline(struct cc_usb *cc, char *line, int max);
 void
 cc_usb_printf(struct cc_usb *cc, char *format, ...);
 
+int
+cc_usb_write(struct cc_usb *cc, void *buf, int c);
+
 void
 cc_usb_open_remote(struct cc_usb *cc, int freq, char *call);
 
-- 
cgit v1.2.3


From 428d09294ba0395fedd71346ad00fd90a4cdde97 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 7 Jun 2014 21:12:44 -0700
Subject: ao-tools: Parse TeleGPS state value from gps location packet

TeleGPS encodes state in a spare gps location packet byte, masking in
0x80 to signify that the state value is valid

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 ao-tools/ao-telem/ao-telem.c | 2 ++
 ao-tools/lib/cc-telemetry.h  | 4 +++-
 2 files changed, 5 insertions(+), 1 deletion(-)

(limited to 'ao-tools')

diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
index da873838..75f94ec1 100644
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -145,6 +145,8 @@ main (int argc, char **argv)
 							telem.location.ground_speed / 100.0,
 							telem.location.climb_rate / 100.0,
 							telem.location.course * 2);
+					if ((telem.location.state & AO_GPS_STATE_VALID))
+						printf (" state %1d", telem.location.state & ~(AO_GPS_STATE_VALID));
 					printf ("\n");
 					break;
 				case AO_TELEMETRY_SATELLITE:
diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
index d64c4b30..35cca13b 100644
--- a/ao-tools/lib/cc-telemetry.h
+++ b/ao-tools/lib/cc-telemetry.h
@@ -90,6 +90,8 @@ struct ao_telemetry_configuration {
 #define AO_GPS_MODE_MANUAL		'M'
 #define AO_GPS_MODE_SIMULATED		'S'
 
+#define AO_GPS_STATE_VALID		0x80
+
 struct ao_telemetry_location {
 	uint16_t	serial;		/*  0 */
 	uint16_t	tick;		/*  2 */
@@ -112,7 +114,7 @@ struct ao_telemetry_location {
 	uint16_t	ground_speed;	/* 26 cm/s */
 	int16_t		climb_rate;	/* 28 cm/s */
 	uint8_t		course;		/* 30 degrees / 2 */
-	uint8_t		unused[1];	/* 31 */
+	uint8_t		state;		/* 31 */
 	/* 32 */
 };
 
-- 
cgit v1.2.3


From f6d633d73a8f826cf2a3128e3e234bd11af49718 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 10 Jun 2014 09:44:57 -0700
Subject: Revert "ao-tools: Parse TeleGPS state value from gps location packet"

This reverts commit 428d09294ba0395fedd71346ad00fd90a4cdde97.
---
 ao-tools/ao-telem/ao-telem.c | 2 --
 ao-tools/lib/cc-telemetry.h  | 4 +---
 2 files changed, 1 insertion(+), 5 deletions(-)

(limited to 'ao-tools')

diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
index 75f94ec1..da873838 100644
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -145,8 +145,6 @@ main (int argc, char **argv)
 							telem.location.ground_speed / 100.0,
 							telem.location.climb_rate / 100.0,
 							telem.location.course * 2);
-					if ((telem.location.state & AO_GPS_STATE_VALID))
-						printf (" state %1d", telem.location.state & ~(AO_GPS_STATE_VALID));
 					printf ("\n");
 					break;
 				case AO_TELEMETRY_SATELLITE:
diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
index 35cca13b..d64c4b30 100644
--- a/ao-tools/lib/cc-telemetry.h
+++ b/ao-tools/lib/cc-telemetry.h
@@ -90,8 +90,6 @@ struct ao_telemetry_configuration {
 #define AO_GPS_MODE_MANUAL		'M'
 #define AO_GPS_MODE_SIMULATED		'S'
 
-#define AO_GPS_STATE_VALID		0x80
-
 struct ao_telemetry_location {
 	uint16_t	serial;		/*  0 */
 	uint16_t	tick;		/*  2 */
@@ -114,7 +112,7 @@ struct ao_telemetry_location {
 	uint16_t	ground_speed;	/* 26 cm/s */
 	int16_t		climb_rate;	/* 28 cm/s */
 	uint8_t		course;		/* 30 degrees / 2 */
-	uint8_t		state;		/* 31 */
+	uint8_t		unused[1];	/* 31 */
 	/* 32 */
 };
 
-- 
cgit v1.2.3