From c32893ce79835a8f861d6ef414644c2ff9769ff6 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 26 Aug 2011 15:02:43 -0700 Subject: altos: Integrate telescience support Adds a few drivers including an LCD driver Signed-off-by: Keith Packard --- src/core/ao_log_telescience.c | 274 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 274 insertions(+) create mode 100644 src/core/ao_log_telescience.c (limited to 'src/core/ao_log_telescience.c') diff --git a/src/core/ao_log_telescience.c b/src/core/ao_log_telescience.c new file mode 100644 index 00000000..aac780fa --- /dev/null +++ b/src/core/ao_log_telescience.c @@ -0,0 +1,274 @@ +/* + * Copyright © 2011 Keith Packard + * + * 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_product.h" + +static struct ao_task ao_log_task; +//static struct ao_task ao_spi_task; + +uint8_t ao_log_running; +uint8_t ao_log_mutex; +uint32_t ao_log_start_pos; +uint32_t ao_log_end_pos; +uint32_t ao_log_current_pos; + +#define AO_LOG_TELESCIENCE_START ((uint8_t) 's') +#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') + +struct ao_log_telescience ao_log_store; +struct ao_log_telescience ao_log_fetch; + +static uint8_t ao_log_adc_pos; + +__code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE; + +static uint8_t +ao_log_csum(__xdata uint8_t *b) __reentrant +{ + uint8_t sum = 0x5a; + uint8_t i; + + for (i = 0; i < sizeof (struct ao_log_telescience); i++) + sum += *b++; + return -sum; +} + +static uint8_t +ao_log_telescience_write(void) +{ + uint8_t wrote = 0; + + ao_log_store.csum = 0; + ao_log_store.csum = ao_log_csum((__xdata uint8_t *) &ao_log_store); + ao_mutex_get(&ao_log_mutex); { + if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) + ao_log_stop(); + if (ao_log_running) { + wrote = 1; + ao_storage_write(ao_log_current_pos, + (__xdata uint8_t *) &ao_log_store, + sizeof (struct ao_log_telescience)); + ao_log_current_pos += sizeof (struct ao_log_telescience); + } + } ao_mutex_put(&ao_log_mutex); + return wrote; +} + +static uint8_t +ao_log_valid(struct ao_log_telescience *log) +{ + uint8_t *d; + uint8_t i; + d = (uint8_t *) log; + for (i = 0; i < sizeof (struct ao_log_telescience); i++) + if (d[i] != 0xff) + return 1; + return 0; +} + +static uint8_t +ao_log_telescience_read(uint32_t pos) +{ + if (!ao_storage_read(pos, &ao_log_fetch, sizeof (struct ao_log_telescience))) + return 0; + return ao_log_valid(&ao_log_fetch); +} + +void +ao_log_start(void) +{ + if (!ao_log_running) { + ao_log_running = 1; + ao_wakeup(&ao_log_running); + } +} + +void +ao_log_stop(void) +{ + if (ao_log_running) { + ao_log_running = 0; + } +} + +void +ao_log_restart(void) +{ + /* Find end of data */ + ao_log_end_pos = ao_storage_config; + for (ao_log_current_pos = 0; + ao_log_current_pos < ao_storage_config; + ao_log_current_pos += ao_storage_block) + { + if (!ao_log_telescience_read(ao_log_current_pos)) + break; + } + if (ao_log_current_pos > 0) { + ao_log_current_pos -= ao_storage_block; + for (; ao_log_current_pos < ao_storage_config; + ao_log_current_pos += sizeof (struct ao_log_telescience)) + { + if (!ao_log_telescience_read(ao_log_current_pos)) + break; + } + } +} + +void +ao_log_telescience(void) +{ + ao_storage_setup(); + + /* This can take a while, so let the rest + * of the system finish booting before we start + */ + ao_delay(AO_SEC_TO_TICKS(10)); + + ao_log_restart(); + for (;;) { + while (!ao_log_running) + ao_sleep(&ao_log_running); + + ao_log_start_pos = ao_log_current_pos; + ao_log_store.type = AO_LOG_TELESCIENCE_START; + ao_log_store.tick = ao_time(); + ao_log_store.adc[0] = ao_companion_command.serial; + ao_log_store.adc[1] = ao_companion_command.flight; + ao_log_telescience_write(); + /* Write the whole contents of the ring to the log + * when starting up. + */ + ao_log_adc_pos = ao_adc_ring_next(ao_adc_head); + ao_log_store.type = AO_LOG_TELESCIENCE_DATA; + while (ao_log_running) { + /* Write samples to EEPROM */ + while (ao_log_adc_pos != ao_adc_head) { + ao_log_store.tick = ao_adc_ring[ao_log_adc_pos].tick; + memcpy(&ao_log_store.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc, + AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); + ao_log_telescience_write(); + ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos); + } + /* Wait for more ADC data to arrive */ + ao_sleep((void *) &ao_adc_head); + } + memset(&ao_log_store.adc, '\0', sizeof (ao_log_store.adc)); + } +} + +void +ao_log_set(void) +{ + printf("Logging currently %s\n", ao_log_running ? "on" : "off"); + ao_cmd_hex(); + if (ao_cmd_status == ao_cmd_success) { + if (ao_cmd_lex_i) { + printf("Logging from %ld to %ld\n", ao_log_current_pos, ao_log_end_pos); + ao_log_start(); + } else { + printf ("Log stopped at %ld\n", ao_log_current_pos); + ao_log_stop(); + } + } + ao_cmd_status = ao_cmd_success; +} + +void +ao_log_list(void) +{ + uint32_t pos; + uint32_t start = 0; + uint8_t flight = 0; + + for (pos = 0; ; pos += sizeof (struct ao_log_telescience)) { + if (pos >= ao_storage_config || + !ao_log_telescience_read(pos) || + ao_log_fetch.type == AO_LOG_TELESCIENCE_START) + { + if (pos != start) { + printf("flight %d start %x end %x\n", + flight, + (uint16_t) (start >> 8), + (uint16_t) ((pos + 0xff) >> 8)); flush(); + } + if (ao_log_fetch.type != AO_LOG_TELESCIENCE_START) + break; + start = pos; + flight++; + } + } + printf ("done\n"); +} + +void +ao_log_delete(void) +{ + uint32_t pos; + + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + if (ao_cmd_lex_i != 1) { + ao_cmd_status = ao_cmd_syntax_error; + printf("No such flight: %d\n", ao_cmd_lex_i); + return; + } + ao_log_stop(); + for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) { + if (!ao_log_telescience_read(pos)) + break; + ao_storage_erase(pos); + } + ao_log_current_pos = ao_log_start_pos = 0; + if (pos == 0) + printf("No such flight: %d\n", ao_cmd_lex_i); + else + printf ("Erased\n"); +} + +static void +ao_log_query(void) +{ + printf("Logging enabled: %d\n", ao_log_running); + printf("Log start: %ld\n", ao_log_start_pos); + printf("Log cur: %ld\n", ao_log_current_pos); + printf("Log end: %ld\n", ao_log_end_pos); + printf("log data tick: %04x\n", ao_log_store.tick); + printf("TM data tick: %04x\n", ao_log_store.tm_tick); + printf("TM state: %d\n", ao_log_store.tm_state); + printf("TM serial: %d\n", ao_companion_command.serial); + printf("TM flight: %d\n", ao_companion_command.flight); +} + +const struct ao_cmds ao_log_cmds[] = { + { ao_log_set, "L <0 off, 1 on>\0Set logging mode" }, + { ao_log_list, "l\0List stored flight logs" }, + { ao_log_delete, "d 1\0Delete all stored flights" }, + { ao_log_query, "q\0Query log status" }, + { 0, NULL }, +}; + +void +ao_log_init(void) +{ + ao_log_running = 0; + + ao_cmd_register(&ao_log_cmds[0]); + + ao_add_task(&ao_log_task, ao_log_telescience, "log"); +} -- cgit v1.2.3 From b33a92e372327158ab21c1bb2d091c58761efe10 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 27 Aug 2011 15:19:43 -0700 Subject: altos: Share log code between telescience and telebt. Add telebt log Telescience and telebt both log data in 32-byte chunks, so share some code which manages that between the two products. Add simple telemetry logging to telebt. Signed-off-by: Keith Packard --- src/avr/ao_spi_slave.c | 14 +-- src/core/ao.h | 97 +++++++++++++++---- src/core/ao_log_telem.c | 48 +++++++++- src/core/ao_log_telescience.c | 211 ++++++------------------------------------ src/core/ao_monitor.c | 10 +- src/product/ao_telebt.c | 3 + src/product/ao_telescience.c | 2 +- src/telebt-v0.1/Makefile | 1 + src/telescience-v0.1/Makefile | 1 + 9 files changed, 164 insertions(+), 223 deletions(-) (limited to 'src/core/ao_log_telescience.c') diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c index 4dde09f3..e4d866a8 100644 --- a/src/avr/ao_spi_slave.c +++ b/src/avr/ao_spi_slave.c @@ -74,9 +74,9 @@ static uint8_t ao_spi_slave_recv(void) return 0; } - ao_log_store.tm_tick = ao_companion_command.tick; - if (ao_log_store.tm_state != ao_companion_command.flight_state) { - ao_log_store.tm_state = ao_companion_command.flight_state; + ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick; + if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) { + ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state; return 1; } return 0; @@ -93,11 +93,11 @@ ISR(PCINT0_vect) cli(); changed = ao_spi_slave_recv(); sei(); - if (changed && ao_flight_boost <= ao_log_store.tm_state) { - if (ao_log_store.tm_state < ao_flight_landed) - ao_log_start(); + if (changed && ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) { + if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed) + ao_log_single_start(); else - ao_log_stop(); + ao_log_single_stop(); } } } else { diff --git a/src/core/ao.h b/src/core/ao.h index a5bbb6f1..8b978272 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -505,23 +505,6 @@ extern __pdata uint32_t ao_log_start_pos; extern __xdata uint8_t ao_log_running; extern __pdata enum flight_state ao_log_state; -#define AO_LOG_TELESCIENCE_START ((uint8_t) 's') -#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') - -#define AO_LOG_TELESCIENCE_NUM_ADC 12 - -struct ao_log_telescience { - uint8_t type; - uint8_t csum; - uint16_t tick; - uint16_t tm_tick; - uint8_t tm_state; - uint8_t unused; - uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC]; -}; - -extern struct ao_log_telescience ao_log_store; - /* required functions from the underlying log system */ #define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ @@ -1365,6 +1348,20 @@ ao_radio_init(void); extern const char const * const ao_state_names[]; +#define AO_MONITOR_RING 8 + +union ao_monitor { + struct ao_telemetry_raw_recv raw; + struct ao_telemetry_orig_recv orig; + struct ao_telemetry_tiny_recv tiny; +}; + +extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; + +#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) + +extern __data uint8_t ao_monitor_head; + void ao_monitor(void); @@ -1724,4 +1721,70 @@ struct ao_launch_query { void ao_launch_init(void); +/* + * ao_log_single.c + */ + +#define AO_LOG_TELESCIENCE_START ((uint8_t) 's') +#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') + +#define AO_LOG_TELESCIENCE_NUM_ADC 12 + +struct ao_log_telescience { + uint8_t type; + uint8_t csum; + uint16_t tick; + uint16_t tm_tick; + uint8_t tm_state; + uint8_t unused; + uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC]; +}; + +#define AO_LOG_SINGLE_SIZE 32 + +union ao_log_single { + struct ao_log_telescience telescience; + union ao_telemetry_all telemetry; + uint8_t bytes[AO_LOG_SINGLE_SIZE]; +}; + +extern __xdata union ao_log_single ao_log_single_write_data; +extern __xdata union ao_log_single ao_log_single_read_data; + +void +ao_log_single_extra_query(void); + +void +ao_log_single_list(void); + +void +ao_log_single_main(void); + +uint8_t +ao_log_single_write(void); + +uint8_t +ao_log_single_read(uint32_t pos); + +void +ao_log_single_start(void); + +void +ao_log_single_stop(void); + +void +ao_log_single_restart(void); + +void +ao_log_single_set(void); + +void +ao_log_single_delete(void); + +void +ao_log_single_init(void); + +void +ao_log_single(void); + #endif /* _AO_H_ */ diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c index 1b472efe..34abe879 100644 --- a/src/core/ao_log_telem.c +++ b/src/core/ao_log_telem.c @@ -17,14 +17,52 @@ #include "ao.h" +__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRY; + +static __data uint8_t ao_log_monitor_pos; + +void +ao_log_single(void) +{ + ao_storage_setup(); + + /* This can take a while, so let the rest + * of the system finish booting before we start + */ + ao_delay(AO_SEC_TO_TICKS(2)); + + ao_log_single_restart(); + for (;;) { + while (!ao_log_running) + ao_sleep(&ao_log_running); + + ao_log_monitor_pos = ao_monitor_head; + while (ao_log_running) { + /* Write samples to EEPROM */ + while (ao_log_monitor_pos != ao_monitor_head) { + memcpy(&ao_log_single_write_data.telemetry, + &ao_monitor_ring[ao_log_monitor_pos], + AO_LOG_SINGLE_SIZE); + ao_log_single_write(); + ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos); + } + /* Wait for more ADC data to arrive */ + ao_sleep(DATA_TO_XDATA(&ao_monitor_head)); + } + } +} + void -ao_log_write_erase(uint8_t pos) +ao_log_single_list(void) { - (void) pos; + if (ao_log_current_pos != 0) + printf("flight 1 start %x end %x\n", + 0, + (uint16_t) ((ao_log_current_pos + 0xff) >> 8)); + printf ("done\n"); } -uint8_t -ao_log_present(void) +void +ao_log_single_extra_query(void) { - return 0; } diff --git a/src/core/ao_log_telescience.c b/src/core/ao_log_telescience.c index aac780fa..31eda381 100644 --- a/src/core/ao_log_telescience.c +++ b/src/core/ao_log_telescience.c @@ -18,119 +18,25 @@ #include "ao.h" #include "ao_product.h" -static struct ao_task ao_log_task; -//static struct ao_task ao_spi_task; - -uint8_t ao_log_running; -uint8_t ao_log_mutex; -uint32_t ao_log_start_pos; -uint32_t ao_log_end_pos; -uint32_t ao_log_current_pos; - -#define AO_LOG_TELESCIENCE_START ((uint8_t) 's') -#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') - -struct ao_log_telescience ao_log_store; -struct ao_log_telescience ao_log_fetch; - static uint8_t ao_log_adc_pos; __code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE; -static uint8_t -ao_log_csum(__xdata uint8_t *b) __reentrant +static void +ao_log_telescience_csum(void) __reentrant { + __xdata uint8_t *b = ao_log_single_write_data.bytes; uint8_t sum = 0x5a; uint8_t i; + ao_log_single_write_data.telescience.csum = 0; for (i = 0; i < sizeof (struct ao_log_telescience); i++) sum += *b++; - return -sum; -} - -static uint8_t -ao_log_telescience_write(void) -{ - uint8_t wrote = 0; - - ao_log_store.csum = 0; - ao_log_store.csum = ao_log_csum((__xdata uint8_t *) &ao_log_store); - ao_mutex_get(&ao_log_mutex); { - if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) - ao_log_stop(); - if (ao_log_running) { - wrote = 1; - ao_storage_write(ao_log_current_pos, - (__xdata uint8_t *) &ao_log_store, - sizeof (struct ao_log_telescience)); - ao_log_current_pos += sizeof (struct ao_log_telescience); - } - } ao_mutex_put(&ao_log_mutex); - return wrote; -} - -static uint8_t -ao_log_valid(struct ao_log_telescience *log) -{ - uint8_t *d; - uint8_t i; - d = (uint8_t *) log; - for (i = 0; i < sizeof (struct ao_log_telescience); i++) - if (d[i] != 0xff) - return 1; - return 0; -} - -static uint8_t -ao_log_telescience_read(uint32_t pos) -{ - if (!ao_storage_read(pos, &ao_log_fetch, sizeof (struct ao_log_telescience))) - return 0; - return ao_log_valid(&ao_log_fetch); -} - -void -ao_log_start(void) -{ - if (!ao_log_running) { - ao_log_running = 1; - ao_wakeup(&ao_log_running); - } -} - -void -ao_log_stop(void) -{ - if (ao_log_running) { - ao_log_running = 0; - } -} - -void -ao_log_restart(void) -{ - /* Find end of data */ - ao_log_end_pos = ao_storage_config; - for (ao_log_current_pos = 0; - ao_log_current_pos < ao_storage_config; - ao_log_current_pos += ao_storage_block) - { - if (!ao_log_telescience_read(ao_log_current_pos)) - break; - } - if (ao_log_current_pos > 0) { - ao_log_current_pos -= ao_storage_block; - for (; ao_log_current_pos < ao_storage_config; - ao_log_current_pos += sizeof (struct ao_log_telescience)) - { - if (!ao_log_telescience_read(ao_log_current_pos)) - break; - } - } + ao_log_single_write_data.telescience.csum = -sum; } void -ao_log_telescience(void) +ao_log_single(void) { ao_storage_setup(); @@ -139,57 +45,42 @@ ao_log_telescience(void) */ ao_delay(AO_SEC_TO_TICKS(10)); - ao_log_restart(); + ao_log_single_restart(); for (;;) { while (!ao_log_running) ao_sleep(&ao_log_running); ao_log_start_pos = ao_log_current_pos; - ao_log_store.type = AO_LOG_TELESCIENCE_START; - ao_log_store.tick = ao_time(); - ao_log_store.adc[0] = ao_companion_command.serial; - ao_log_store.adc[1] = ao_companion_command.flight; - ao_log_telescience_write(); + ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_START; + ao_log_single_write_data.telescience.tick = ao_time(); + ao_log_single_write_data.telescience.adc[0] = ao_companion_command.serial; + ao_log_single_write_data.telescience.adc[1] = ao_companion_command.flight; + ao_log_telescience_csum(); + ao_log_single_write(); /* Write the whole contents of the ring to the log * when starting up. */ ao_log_adc_pos = ao_adc_ring_next(ao_adc_head); - ao_log_store.type = AO_LOG_TELESCIENCE_DATA; + ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_DATA; while (ao_log_running) { /* Write samples to EEPROM */ while (ao_log_adc_pos != ao_adc_head) { - ao_log_store.tick = ao_adc_ring[ao_log_adc_pos].tick; - memcpy(&ao_log_store.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc, + ao_log_single_write_data.telescience.tick = ao_adc_ring[ao_log_adc_pos].tick; + memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc, AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); - ao_log_telescience_write(); + ao_log_telescience_csum(); + ao_log_single_write(); ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos); } /* Wait for more ADC data to arrive */ ao_sleep((void *) &ao_adc_head); } - memset(&ao_log_store.adc, '\0', sizeof (ao_log_store.adc)); + memset(&ao_log_single_write_data.telescience.adc, '\0', sizeof (ao_log_single_write_data.telescience.adc)); } } void -ao_log_set(void) -{ - printf("Logging currently %s\n", ao_log_running ? "on" : "off"); - ao_cmd_hex(); - if (ao_cmd_status == ao_cmd_success) { - if (ao_cmd_lex_i) { - printf("Logging from %ld to %ld\n", ao_log_current_pos, ao_log_end_pos); - ao_log_start(); - } else { - printf ("Log stopped at %ld\n", ao_log_current_pos); - ao_log_stop(); - } - } - ao_cmd_status = ao_cmd_success; -} - -void -ao_log_list(void) +ao_log_single_list(void) { uint32_t pos; uint32_t start = 0; @@ -197,8 +88,8 @@ ao_log_list(void) for (pos = 0; ; pos += sizeof (struct ao_log_telescience)) { if (pos >= ao_storage_config || - !ao_log_telescience_read(pos) || - ao_log_fetch.type == AO_LOG_TELESCIENCE_START) + !ao_log_single_read(pos) || + ao_log_single_read_data.telescience.type == AO_LOG_TELESCIENCE_START) { if (pos != start) { printf("flight %d start %x end %x\n", @@ -206,7 +97,7 @@ ao_log_list(void) (uint16_t) (start >> 8), (uint16_t) ((pos + 0xff) >> 8)); flush(); } - if (ao_log_fetch.type != AO_LOG_TELESCIENCE_START) + if (ao_log_single_read_data.telescience.type != AO_LOG_TELESCIENCE_START) break; start = pos; flight++; @@ -216,59 +107,11 @@ ao_log_list(void) } void -ao_log_delete(void) +ao_log_single_extra_query(void) { - uint32_t pos; - - ao_cmd_hex(); - if (ao_cmd_status != ao_cmd_success) - return; - if (ao_cmd_lex_i != 1) { - ao_cmd_status = ao_cmd_syntax_error; - printf("No such flight: %d\n", ao_cmd_lex_i); - return; - } - ao_log_stop(); - for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) { - if (!ao_log_telescience_read(pos)) - break; - ao_storage_erase(pos); - } - ao_log_current_pos = ao_log_start_pos = 0; - if (pos == 0) - printf("No such flight: %d\n", ao_cmd_lex_i); - else - printf ("Erased\n"); -} - -static void -ao_log_query(void) -{ - printf("Logging enabled: %d\n", ao_log_running); - printf("Log start: %ld\n", ao_log_start_pos); - printf("Log cur: %ld\n", ao_log_current_pos); - printf("Log end: %ld\n", ao_log_end_pos); - printf("log data tick: %04x\n", ao_log_store.tick); - printf("TM data tick: %04x\n", ao_log_store.tm_tick); - printf("TM state: %d\n", ao_log_store.tm_state); + printf("log data tick: %04x\n", ao_log_single_write_data.telescience.tick); + printf("TM data tick: %04x\n", ao_log_single_write_data.telescience.tm_tick); + printf("TM state: %d\n", ao_log_single_write_data.telescience.tm_state); printf("TM serial: %d\n", ao_companion_command.serial); printf("TM flight: %d\n", ao_companion_command.flight); } - -const struct ao_cmds ao_log_cmds[] = { - { ao_log_set, "L <0 off, 1 on>\0Set logging mode" }, - { ao_log_list, "l\0List stored flight logs" }, - { ao_log_delete, "d 1\0Delete all stored flights" }, - { ao_log_query, "q\0Query log status" }, - { 0, NULL }, -}; - -void -ao_log_init(void) -{ - ao_log_running = 0; - - ao_cmd_register(&ao_log_cmds[0]); - - ao_add_task(&ao_log_task, ao_log_telescience, "log"); -} diff --git a/src/core/ao_monitor.c b/src/core/ao_monitor.c index 69eb58e8..6f2d9dbb 100644 --- a/src/core/ao_monitor.c +++ b/src/core/ao_monitor.c @@ -25,15 +25,7 @@ __xdata uint8_t ao_monitoring; __pdata uint8_t ao_monitor_led; -#define AO_MONITOR_RING 8 - -__xdata union ao_monitor { - struct ao_telemetry_raw_recv raw; - struct ao_telemetry_orig_recv orig; - struct ao_telemetry_tiny_recv tiny; -} ao_monitor_ring[AO_MONITOR_RING]; - -#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) +__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; __data uint8_t ao_monitor_head; diff --git a/src/product/ao_telebt.c b/src/product/ao_telebt.c index 5bbbf71b..cb23f391 100644 --- a/src/product/ao_telebt.c +++ b/src/product/ao_telebt.c @@ -42,6 +42,9 @@ main(void) ao_radio_init(); ao_packet_master_init(); ao_btm_init(); +#if HAS_LOG + ao_log_single_init(); +#endif #if HAS_DBG ao_dbg_init(); #endif diff --git a/src/product/ao_telescience.c b/src/product/ao_telescience.c index 4dec3a18..45b6d40e 100644 --- a/src/product/ao_telescience.c +++ b/src/product/ao_telescience.c @@ -33,7 +33,7 @@ main(void) ao_storage_init(); ao_usb_init(); ao_adc_init(); - ao_log_init(); + ao_log_single_init(); ao_start_scheduler(); return 0; } diff --git a/src/telebt-v0.1/Makefile b/src/telebt-v0.1/Makefile index a34e8912..01fbaf52 100644 --- a/src/telebt-v0.1/Makefile +++ b/src/telebt-v0.1/Makefile @@ -10,6 +10,7 @@ TELEBT_INC = \ TELEBT_SRC = \ ao_beep.c \ + ao_log_single.c \ ao_log_telem.c \ ao_spi.c \ ao_storage.c \ diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile index 3ccbb787..282829e7 100644 --- a/src/telescience-v0.1/Makefile +++ b/src/telescience-v0.1/Makefile @@ -46,6 +46,7 @@ ALTOS_SRC = \ ao_usb_avr.c \ ao_adc_avr.c \ ao_spi_slave.c \ + ao_log_single.c \ ao_log_telescience.c \ $(TELESCIENCE_STORAGE) -- cgit v1.2.3 From 0667261e03b3fd403e97d02ea6204b007bb13f58 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 13 Apr 2012 09:39:20 -0700 Subject: altos: Pull more interfaces out of ao.h and move to separate files This moves the aes, btm, companion, lcd and packet interfaces out of ao.h Signed-off-by: Keith Packard --- src/core/ao.h | 199 +++------------------------------------- src/core/ao_aes.h | 69 ++++++++++++++ src/core/ao_btm.h | 36 ++++++++ src/core/ao_companion.h | 51 ++++++++++ src/core/ao_lcd.h | 60 ++++++++++++ src/core/ao_log_telescience.c | 2 + src/core/ao_packet.h | 88 ++++++++++++++++++ src/drivers/ao_pyro_slave.c | 5 +- src/drivers/ao_science_slave.c | 1 + src/product/Makefile.telelaunch | 2 - src/teleterra-v0.2/ao_pins.h | 1 + 11 files changed, 323 insertions(+), 191 deletions(-) create mode 100644 src/core/ao_aes.h create mode 100644 src/core/ao_btm.h create mode 100644 src/core/ao_companion.h create mode 100644 src/core/ao_lcd.h create mode 100644 src/core/ao_packet.h (limited to 'src/core/ao_log_telescience.c') diff --git a/src/core/ao.h b/src/core/ao.h index 28d0ba87..27b9c5c4 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -900,201 +900,26 @@ struct ao_fifo { #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) #define ao_fifo_empty(f) ((f).insert == (f).remove) -/* - * ao_packet.c - * - * Packet-based command interface - */ - -#define AO_PACKET_MAX 64 -#define AO_PACKET_SYN (uint8_t) 0xff - -struct ao_packet { - uint8_t addr; - uint8_t len; - uint8_t seq; - uint8_t ack; - uint8_t d[AO_PACKET_MAX]; - uint8_t callsign[AO_MAX_CALLSIGN]; -}; - -struct ao_packet_recv { - struct ao_packet packet; - int8_t rssi; - uint8_t status; -}; - -extern __xdata struct ao_packet_recv ao_rx_packet; -extern __xdata struct ao_packet ao_tx_packet; -extern __xdata struct ao_task ao_packet_task; -extern __xdata uint8_t ao_packet_enable; -extern __xdata uint8_t ao_packet_master_sleeping; -extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; - -void -ao_packet_send(void); - -uint8_t -ao_packet_recv(void); - -void -ao_packet_flush(void); - -void -ao_packet_putchar(char c) __reentrant; - -char -ao_packet_pollchar(void) __critical; - -/* ao_packet_master.c */ - -void -ao_packet_master_init(void); - -/* ao_packet_slave.c */ - -void -ao_packet_slave_start(void); - -void -ao_packet_slave_stop(void); - -void -ao_packet_slave_init(uint8_t enable); - -/* ao_btm.c */ - -/* If bt_link is on P2, this interrupt is shared by USB, so the USB - * code calls this function. Otherwise, it's a regular ISR. - */ - -void -ao_btm_isr(void) -#if BT_LINK_ON_P1 - __interrupt 15 +#if PACKET_HAS_MASTER || PACKET_HAS_SLAVE +#include #endif - ; - -void -ao_btm_init(void); - -/* ao_companion.c */ - -#define AO_COMPANION_SETUP 1 -#define AO_COMPANION_FETCH 2 -#define AO_COMPANION_NOTIFY 3 - -struct ao_companion_command { - uint8_t command; - uint8_t flight_state; - uint16_t tick; - uint16_t serial; - uint16_t flight; -}; - -struct ao_companion_setup { - uint16_t board_id; - uint16_t board_id_inverse; - uint8_t update_period; - uint8_t channels; -}; - -extern __pdata uint8_t ao_companion_running; -extern __xdata uint8_t ao_companion_mutex; -extern __xdata struct ao_companion_command ao_companion_command; -extern __xdata struct ao_companion_setup ao_companion_setup; -extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; - -void -ao_companion_init(void); - -/* ao_lcd.c */ - -void -ao_lcd_putchar(uint8_t d); - -void -ao_lcd_putstring(char *string); - -void -ao_lcd_contrast_set(uint8_t contrast); - -void -ao_lcd_clear(void); - -void -ao_lcd_cursor_on(void); - -void -ao_lcd_cursor_off(void); - -#define AO_LCD_ADDR(row,col) ((row << 6) | (col)) - -void -ao_lcd_goto(uint8_t addr); - -void -ao_lcd_start(void); - -void -ao_lcd_init(void); - -/* ao_lcd_port.c */ - -void -ao_lcd_port_put_nibble(uint8_t rs, uint8_t d); - -void -ao_lcd_port_init(void); - -/* ao_aes.c */ -extern __xdata uint8_t ao_aes_mutex; +#if HAS_BTM +#include +#endif -/* AES keys and blocks are 128 bits */ +#if HAS_COMPANION +#include +#endif -enum ao_aes_mode { - ao_aes_mode_cbc_mac -}; +#if HAS_LCD +#include +#endif #if HAS_AES -void -ao_aes_isr(void) __interrupt 4; +#include #endif -void -ao_aes_set_mode(enum ao_aes_mode mode); - -void -ao_aes_set_key(__xdata uint8_t *in); - -void -ao_aes_zero_iv(void); - -void -ao_aes_run(__xdata uint8_t *in, - __xdata uint8_t *out); - -void -ao_aes_init(void); - -/* ao_radio_cmac.c */ - -int8_t -ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant; - -#define AO_RADIO_CMAC_OK 0 -#define AO_RADIO_CMAC_LEN_ERROR -1 -#define AO_RADIO_CMAC_CRC_ERROR -2 -#define AO_RADIO_CMAC_MAC_ERROR -3 -#define AO_RADIO_CMAC_TIMEOUT -4 - -int8_t -ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant; - -void -ao_radio_cmac_init(void); - /* ao_launch.c */ struct ao_launch_command { diff --git a/src/core/ao_aes.h b/src/core/ao_aes.h new file mode 100644 index 00000000..7f67374d --- /dev/null +++ b/src/core/ao_aes.h @@ -0,0 +1,69 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_AES_H_ +#define _AO_AES_H_ + +/* ao_aes.c */ + +extern __xdata uint8_t ao_aes_mutex; + +/* AES keys and blocks are 128 bits */ + +enum ao_aes_mode { + ao_aes_mode_cbc_mac +}; + +#if HAS_AES +void +ao_aes_isr(void) __interrupt 4; +#endif + +void +ao_aes_set_mode(enum ao_aes_mode mode); + +void +ao_aes_set_key(__xdata uint8_t *in); + +void +ao_aes_zero_iv(void); + +void +ao_aes_run(__xdata uint8_t *in, + __xdata uint8_t *out); + +void +ao_aes_init(void); + +/* ao_radio_cmac.c */ + +int8_t +ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant; + +#define AO_RADIO_CMAC_OK 0 +#define AO_RADIO_CMAC_LEN_ERROR -1 +#define AO_RADIO_CMAC_CRC_ERROR -2 +#define AO_RADIO_CMAC_MAC_ERROR -3 +#define AO_RADIO_CMAC_TIMEOUT -4 + +int8_t +ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant; + +void +ao_radio_cmac_init(void); + +#endif /* _AO_AES_H_ */ diff --git a/src/core/ao_btm.h b/src/core/ao_btm.h new file mode 100644 index 00000000..484e5d7f --- /dev/null +++ b/src/core/ao_btm.h @@ -0,0 +1,36 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_BTM_H_ +#define _AO_BTM_H_ + +/* ao_btm.c */ + +/* If bt_link is on P2, this interrupt is shared by USB, so the USB + * code calls this function. Otherwise, it's a regular ISR. + */ + +void +ao_btm_isr(void) +#if BT_LINK_ON_P1 + __interrupt 15 +#endif + ; +void +ao_btm_init(void); + +#endif /* _AO_BTM_H_ */ diff --git a/src/core/ao_companion.h b/src/core/ao_companion.h new file mode 100644 index 00000000..47e0acf5 --- /dev/null +++ b/src/core/ao_companion.h @@ -0,0 +1,51 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_COMPANION_H_ +#define _AO_COMPANION_H_ + +/* ao_companion.c */ + +#define AO_COMPANION_SETUP 1 +#define AO_COMPANION_FETCH 2 +#define AO_COMPANION_NOTIFY 3 + +struct ao_companion_command { + uint8_t command; + uint8_t flight_state; + uint16_t tick; + uint16_t serial; + uint16_t flight; +}; + +struct ao_companion_setup { + uint16_t board_id; + uint16_t board_id_inverse; + uint8_t update_period; + uint8_t channels; +}; + +extern __pdata uint8_t ao_companion_running; +extern __xdata uint8_t ao_companion_mutex; +extern __xdata struct ao_companion_command ao_companion_command; +extern __xdata struct ao_companion_setup ao_companion_setup; +extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; + +void +ao_companion_init(void); + +#endif /* _AO_COMPANION_H_ */ diff --git a/src/core/ao_lcd.h b/src/core/ao_lcd.h new file mode 100644 index 00000000..f7e1391a --- /dev/null +++ b/src/core/ao_lcd.h @@ -0,0 +1,60 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_LCD_H_ +#define _AO_LCD_H_ + +/* ao_lcd.c */ + +void +ao_lcd_putchar(uint8_t d); + +void +ao_lcd_putstring(char *string); + +void +ao_lcd_contrast_set(uint8_t contrast); + +void +ao_lcd_clear(void); + +void +ao_lcd_cursor_on(void); + +void +ao_lcd_cursor_off(void); + +#define AO_LCD_ADDR(row,col) ((row << 6) | (col)) + +void +ao_lcd_goto(uint8_t addr); + +void +ao_lcd_start(void); + +void +ao_lcd_init(void); + +/* ao_lcd_port.c */ + +void +ao_lcd_port_put_nibble(uint8_t rs, uint8_t d); + +void +ao_lcd_port_init(void); + +#endif /* _AO_LCD_H_ */ diff --git a/src/core/ao_log_telescience.c b/src/core/ao_log_telescience.c index 31eda381..ae045281 100644 --- a/src/core/ao_log_telescience.c +++ b/src/core/ao_log_telescience.c @@ -17,6 +17,8 @@ #include "ao.h" #include "ao_product.h" +#include "ao_log.h" +#include "ao_companion.h" static uint8_t ao_log_adc_pos; diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h new file mode 100644 index 00000000..618ccda4 --- /dev/null +++ b/src/core/ao_packet.h @@ -0,0 +1,88 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_PACKET_H_ +#define _AO_PACKET_H_ + +/* + * ao_packet.c + * + * Packet-based command interface + */ + +#define AO_PACKET_MAX 64 +#define AO_PACKET_SYN (uint8_t) 0xff + +struct ao_packet { + uint8_t addr; + uint8_t len; + uint8_t seq; + uint8_t ack; + uint8_t d[AO_PACKET_MAX]; + uint8_t callsign[AO_MAX_CALLSIGN]; +}; + +struct ao_packet_recv { + struct ao_packet packet; + int8_t rssi; + uint8_t status; +}; + +extern __xdata struct ao_packet_recv ao_rx_packet; +extern __xdata struct ao_packet ao_tx_packet; +extern __xdata struct ao_task ao_packet_task; +extern __xdata uint8_t ao_packet_enable; +extern __xdata uint8_t ao_packet_master_sleeping; +extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; + +void +ao_packet_send(void); + +uint8_t +ao_packet_recv(void); + +void +ao_packet_flush(void); + +void +ao_packet_putchar(char c) __reentrant; + +char +ao_packet_pollchar(void) __critical; + +#if PACKET_HAS_MASTER +/* ao_packet_master.c */ + +void +ao_packet_master_init(void); +#endif + +#if PACKET_HAS_SLAVE +/* ao_packet_slave.c */ + +void +ao_packet_slave_start(void); + +void +ao_packet_slave_stop(void); + +void +ao_packet_slave_init(uint8_t enable); + +#endif + +#endif /* _AO_PACKET_H_ */ diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c index 5ef42b5a..5a8ab922 100644 --- a/src/drivers/ao_pyro_slave.c +++ b/src/drivers/ao_pyro_slave.c @@ -15,8 +15,9 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -#include "ao.h" -#include "ao_product.h" +#include +#include +#include struct ao_companion_command ao_companion_command; diff --git a/src/drivers/ao_science_slave.c b/src/drivers/ao_science_slave.c index fa9db98b..a86b5151 100644 --- a/src/drivers/ao_science_slave.c +++ b/src/drivers/ao_science_slave.c @@ -18,6 +18,7 @@ #include "ao.h" #include "ao_product.h" #include "ao_flight.h" +#include "ao_companion.h" struct ao_companion_command ao_companion_command; diff --git a/src/product/Makefile.telelaunch b/src/product/Makefile.telelaunch index 8aab50e0..688ac5f3 100644 --- a/src/product/Makefile.telelaunch +++ b/src/product/Makefile.telelaunch @@ -39,8 +39,6 @@ CC1111_SRC = \ ao_ignite.c \ ao_intflash.c \ ao_led.c \ - ao_packet.c \ - ao_packet_slave.c \ ao_radio.c \ ao_radio_cmac.c \ ao_romconfig.c \ diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h index 2bea4e04..bcabdfee 100644 --- a/src/teleterra-v0.2/ao_pins.h +++ b/src/teleterra-v0.2/ao_pins.h @@ -25,6 +25,7 @@ #define HAS_GPS 1 #define HAS_SERIAL_1 1 #define HAS_ADC 0 + #define HAS_LCD 1 #define HAS_EEPROM 1 #define HAS_LOG 1 #define USE_INTERNAL_FLASH 0 -- cgit v1.2.3 From 29edf6d901432a1afc65900ff599c963edac5a2b Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 27 May 2012 17:44:01 -0600 Subject: altos: Make telescience-v0.1 build with new ao_data struct Signed-off-by: Keith Packard --- src/avr/ao_adc_avr.c | 24 ++++++++--------- src/avr/ao_pins.h | 3 +-- src/core/ao_log_telescience.c | 14 +++++----- src/core/ao_stdio.c | 16 ++++++------ src/drivers/ao_science_slave.c | 2 +- src/test/Makefile | 4 +-- src/test/ao_flight_test.c | 58 ++++++++++++++++++++++-------------------- 7 files changed, 61 insertions(+), 60 deletions(-) (limited to 'src/core/ao_log_telescience.c') diff --git a/src/avr/ao_adc_avr.c b/src/avr/ao_adc_avr.c index 4f6f0e60..928cd3e1 100644 --- a/src/avr/ao_adc_avr.c +++ b/src/avr/ao_adc_avr.c @@ -17,8 +17,8 @@ #include "ao.h" -volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; -volatile __data uint8_t ao_adc_head; +volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; +volatile __data uint8_t ao_data_head; #ifdef TELESCIENCE const uint8_t adc_channels[AO_LOG_TELESCIENCE_NUM_ADC] = { @@ -92,14 +92,14 @@ ISR(ADC_vect) /* Must read ADCL first or the value there will be lost */ value = ADCL; value |= (ADCH << 8); - ao_adc_ring[ao_adc_head].adc[ao_adc_channel] = value; + ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value; if (++ao_adc_channel < NUM_ADC) ao_adc_start(); else { ADCSRA = ADCSRA_INIT; - ao_adc_ring[ao_adc_head].tick = ao_time(); - ao_adc_head = ao_adc_ring_next(ao_adc_head); - ao_wakeup((void *) &ao_adc_head); + ao_data_ring[ao_data_head].tick = ao_time(); + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup((void *) &ao_data_head); ao_cpu_sleep_disable = 0; } } @@ -113,18 +113,18 @@ ao_adc_poll(void) } void -ao_adc_get(__xdata struct ao_adc *packet) +ao_data_get(__xdata struct ao_data *packet) { - uint8_t i = ao_adc_ring_prev(ao_adc_head); - memcpy(packet, (void *) &ao_adc_ring[i], sizeof (struct ao_adc)); + uint8_t i = ao_data_ring_prev(ao_data_head); + memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); } static void ao_adc_dump(void) __reentrant { - static __xdata struct ao_adc packet; + static __xdata struct ao_data packet; uint8_t i; - ao_adc_get(&packet); + ao_data_get(&packet); #ifdef TELEPYRO printf("ADMUX: %02x\n", ADMUX); printf("ADCSRA: %02x\n", ADCSRA); @@ -137,7 +137,7 @@ ao_adc_dump(void) __reentrant #endif printf("tick: %5u", packet.tick); for (i = 0; i < NUM_ADC; i++) - printf (" %2d: %5u", i, packet.adc[i]); + printf (" %2d: %5u", i, packet.adc.adc[i]); printf("\n"); diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h index f2b40fb4..850a08ec 100644 --- a/src/avr/ao_pins.h +++ b/src/avr/ao_pins.h @@ -91,10 +91,9 @@ #define AO_TELESCIENCE_NUM_ADC 12 struct ao_adc { - uint16_t tick; /* tick when the sample was read */ uint16_t adc[AO_TELESCIENCE_NUM_ADC]; /* samples */ }; -#define AO_ADC_RING 16 +#define AO_DATA_RING 16 #endif /* _AO_PINS_H_ */ diff --git a/src/core/ao_log_telescience.c b/src/core/ao_log_telescience.c index ae045281..002a10bd 100644 --- a/src/core/ao_log_telescience.c +++ b/src/core/ao_log_telescience.c @@ -20,7 +20,7 @@ #include "ao_log.h" #include "ao_companion.h" -static uint8_t ao_log_adc_pos; +static uint8_t ao_log_data_pos; __code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE; @@ -62,20 +62,20 @@ ao_log_single(void) /* Write the whole contents of the ring to the log * when starting up. */ - ao_log_adc_pos = ao_adc_ring_next(ao_adc_head); + ao_log_data_pos = ao_data_ring_next(ao_data_head); ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_DATA; while (ao_log_running) { /* Write samples to EEPROM */ - while (ao_log_adc_pos != ao_adc_head) { - ao_log_single_write_data.telescience.tick = ao_adc_ring[ao_log_adc_pos].tick; - memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc, + while (ao_log_data_pos != ao_data_head) { + ao_log_single_write_data.telescience.tick = ao_data_ring[ao_log_data_pos].tick; + memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_data_ring[ao_log_data_pos].adc.adc, AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); ao_log_telescience_csum(); ao_log_single_write(); - ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos); + ao_log_data_pos = ao_data_ring_next(ao_log_data_pos); } /* Wait for more ADC data to arrive */ - ao_sleep((void *) &ao_adc_head); + ao_sleep((void *) &ao_data_head); } memset(&ao_log_single_write_data.telescience.adc, '\0', sizeof (ao_log_single_write_data.telescience.adc)); } diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c index 9b4ea473..656b23c9 100644 --- a/src/core/ao_stdio.c +++ b/src/core/ao_stdio.c @@ -53,14 +53,14 @@ #endif #define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN + \ - USE_SERIAL_1_STDIN | \ - USE_SERIAL_2_STDIN | \ - USE_SERIAL_3_STDIN | \ - USE_SERIAL_4_STDIN | \ - USE_SERIAL_5_STDIN | \ - USE_SERIAL_6_STDIN | \ - USE_SERIAL_7_STDIN | \ - USE_SERIAL_8_STDIN | \ + USE_SERIAL_1_STDIN + \ + USE_SERIAL_2_STDIN + \ + USE_SERIAL_3_STDIN + \ + USE_SERIAL_4_STDIN + \ + USE_SERIAL_5_STDIN + \ + USE_SERIAL_6_STDIN + \ + USE_SERIAL_7_STDIN + \ + USE_SERIAL_8_STDIN + \ USE_SERIAL_9_STDIN) #define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN) diff --git a/src/drivers/ao_science_slave.c b/src/drivers/ao_science_slave.c index a86b5151..996e98d9 100644 --- a/src/drivers/ao_science_slave.c +++ b/src/drivers/ao_science_slave.c @@ -42,7 +42,7 @@ void ao_spi_slave(void) sizeof (ao_telescience_setup)); break; case AO_COMPANION_FETCH: - ao_spi_slave_send((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc, + ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc, AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t)); break; case AO_COMPANION_NOTIFY: diff --git a/src/test/Makefile b/src/test/Makefile index 3c2b8732..1e54f5e0 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -13,10 +13,10 @@ clean: install: -ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h +ao_flight_test: ao_flight_test.c ao_host.h ao_flight_mm.c ao_sample_mm.c ao_kalman.c altitude.h ao_kalman.h cc $(CFLAGS) -o $@ $< -ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h +ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight_mm.c ao_sample_mm.c ao_kalman.c altitude.h ao_kalman.h cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $< ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 4a8625cf..baf2ad1d 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -26,9 +26,10 @@ #define AO_HERTZ 100 -#define AO_ADC_RING 64 -#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) -#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) +#define HAS_ADC 1 +#define AO_DATA_RING 64 +#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) +#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) #define AO_M_TO_HEIGHT(m) ((int16_t) (m)) #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) @@ -38,7 +39,6 @@ * One set of samples read from the A/D converter */ struct ao_adc { - uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ int16_t pres; /* pressure sensor */ int16_t pres_real; /* unclipped */ @@ -54,6 +54,8 @@ struct ao_adc { #define __code #define __reentrant +#include + #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix(x) ((x) >> 16) @@ -90,8 +92,8 @@ extern enum ao_flight_state ao_flight_state; #define FALSE 0 #define TRUE 1 -struct ao_adc ao_adc_ring[AO_ADC_RING]; -uint8_t ao_adc_head; +volatile struct ao_data ao_data_ring[AO_DATA_RING]; +volatile uint8_t ao_data_head; int ao_summary = 0; #define ao_led_on(l) @@ -110,7 +112,7 @@ enum ao_igniter { ao_igniter_main = 1 }; -struct ao_adc ao_adc_static; +struct ao_data ao_data_static; int drogue_height; double drogue_time; @@ -124,7 +126,7 @@ static int32_t ao_k_height; void ao_ignite(enum ao_igniter igniter) { - double time = (double) (ao_adc_static.tick + tick_offset) / 100; + double time = (double) (ao_data_static.tick + tick_offset) / 100; if (igniter == ao_igniter_drogue) { drogue_time = time; @@ -221,8 +223,8 @@ int ao_sample_prev_tick; uint16_t prev_tick; #include "ao_kalman.c" -#include "ao_sample.c" -#include "ao_flight.c" +#include "ao_sample_mm.c" +#include "ao_flight_mm.c" #define to_double(f) ((f) / 65536.0) @@ -282,19 +284,19 @@ ao_insert(void) { double time; - ao_adc_ring[ao_adc_head] = ao_adc_static; - ao_adc_head = ao_adc_ring_next(ao_adc_head); + ao_data_ring[ao_data_head] = ao_data_static; + ao_data_head = ao_data_ring_next(ao_data_head); if (ao_flight_state != ao_flight_startup) { - double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height; - double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) / + double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height; + double accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) / (ao_config.accel_minus_g - ao_config.accel_plus_g); if (!tick_offset) - tick_offset = -ao_adc_static.tick; - if ((prev_tick - ao_adc_static.tick) > 0x400) + tick_offset = -ao_data_static.tick; + if ((prev_tick - ao_data_static.tick) > 0x400) tick_offset += 65536; - prev_tick = ao_adc_static.tick; - time = (double) (ao_adc_static.tick + tick_offset) / 100; + prev_tick = ao_data_static.tick; + time = (double) (ao_data_static.tick + tick_offset) / 100; if (ao_test_max_height < height) { ao_test_max_height = height; @@ -474,7 +476,7 @@ int16(uint8_t *bytes, int off) void ao_sleep(void *wchan) { - if (wchan == &ao_adc_head) { + if (wchan == &ao_data_head) { char type; uint16_t tick; uint16_t a, b; @@ -490,7 +492,7 @@ ao_sleep(void *wchan) for (;;) { if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) { - ao_adc_static.accel = ao_flight_ground_accel; + ao_data_static.adc.accel = ao_flight_ground_accel; ao_insert(); return; } @@ -501,7 +503,7 @@ ao_sleep(void *wchan) printf ("no more data, exiting simulation\n"); ao_test_exit(); } - ao_adc_static.tick += 10; + ao_data_static.tick += 10; ao_insert(); return; } @@ -639,19 +641,19 @@ ao_sleep(void *wchan) case 'S': break; case 'A': - ao_adc_static.tick = tick; - ao_adc_static.accel = a; - ao_adc_static.pres_real = b; + ao_data_static.tick = tick; + ao_data_static.adc.accel = a; + ao_data_static.adc.pres_real = b; if (b < AO_MIN_BARO_VALUE) b = AO_MIN_BARO_VALUE; - ao_adc_static.pres = b; + ao_data_static.adc.pres = b; ao_records_read++; ao_insert(); return; case 'T': - ao_adc_static.tick = tick; - ao_adc_static.temp = a; - ao_adc_static.v_batt = b; + ao_data_static.tick = tick; + ao_data_static.adc.temp = a; + ao_data_static.adc.v_batt = b; break; case 'D': case 'G': -- cgit v1.2.3