From 5001a0f882af53dde33fc531215944c9d727baf4 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 9 Feb 2014 22:53:05 -0800
Subject: altos: Re-send previous GPS position in APRS if lock is lost

APRS radios often show only the last received APRS packet, which means
that erasing the last known GPS position when we lose lock by sending
0/0/0 is unhelpful. Instead, just send the last known position, and
make sure that we send 0/0/0 before we're locked the first time.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_aprs.c | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index c327c897..d472af4e 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -531,9 +531,10 @@ static int tncComment(uint8_t *buf)
  */
 static int tncPositionPacket(void)
 {
-    int32_t	latitude = 0;
-    int32_t	longitude = 0;
-    int32_t	altitude = 0;
+    static int32_t	latitude;
+    static int32_t	longitude;
+    static int32_t	altitude;
+    int32_t		lat, lon, alt;
     uint8_t	*buf;
 
     if (ao_gps_data.flags & AO_GPS_VALID) {
@@ -544,30 +545,29 @@ static int tncPositionPacket(void)
 	    altitude = 0;
     }
 
-    altitude = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
-    
     buf = tncBuffer;
     *buf++ = '!';
 
     /* Symbol table ID */
     *buf++ = '/';
 
-    latitude = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
-    longitude = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
+    lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
+    lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
 
 #define ALTITUDE_LOG_BASE	0.001998002662673f	/* log(1.002) */
 
-    altitude = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
+    alt = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
+    alt = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
 
-    tncCompressInt(buf, latitude, 4);
+    tncCompressInt(buf, lat, 4);
     buf += 4;
-    tncCompressInt(buf, longitude, 4);
+    tncCompressInt(buf, lon, 4);
     buf += 4;
 
     /* Symbol code */
     *buf++ = '\'';
 
-    tncCompressInt(buf, altitude, 2);
+    tncCompressInt(buf, alt, 2);
     buf += 2;
 
     *buf++ = 33 + ((1 << 5) | (2 << 3));
-- 
cgit v1.2.3


From e76948d382cf6980c3a5b6c48405d71c8811780b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 9 Feb 2014 22:54:31 -0800
Subject: altos: Put locked/unlocked GPS status in APRS comments

Replace the 'S' (which marks the field showing sats in view) with
either 'L' or 'U' to tell the user whether the GPS receiver is locked
or unlocked.

This also removes the colons in the comment field to shorten it. This
makes it fit on one line of my FT1D display.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_aprs.c | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index d472af4e..0a6c72ce 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -500,6 +500,14 @@ static int ao_num_sats(void)
     return n;
 }
 
+static char ao_gps_locked(void)
+{
+    if (ao_gps_data.flags & AO_GPS_VALID)
+	return 'L';
+    else
+	return 'U';
+}
+
 static int tncComment(uint8_t *buf)
 {
 #if HAS_ADC
@@ -512,7 +520,8 @@ static int tncComment(uint8_t *buf)
 	int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
 
 	return sprintf((char *) buf,
-		       "S: %d B:%d.%d A:%d.%d M:%d.%d",
+		       "%c%d B%d.%d A%d.%d M%d.%d",
+		       ao_gps_locked(),
 		       ao_num_sats(),
 		       battery/10,
 		       battery % 10,
@@ -522,7 +531,9 @@ static int tncComment(uint8_t *buf)
 		       main%10);
 #else
 	return sprintf((char *) buf,
-		       "S: %d", ao_num_sats());
+		       "%c%d",
+		       ao_gps_locked(),
+		       ao_num_sats());
 #endif
 }
 
-- 
cgit v1.2.3


From 8e3842660274ac4bcd7b5a78f5db215222b1c4de Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 30 Apr 2014 22:14:37 -0700
Subject: altos: For telelco discovery packets, retry 5 times with shorter
 timeout

A timeout of 10ms is more than enough to receive a query packet, but
if we miss it during device discovery, it's a pain, so retry 5 times
to make sure we find everyone.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_lco_func.c |  2 +-
 src/telelco-v0.2/ao_lco.c | 16 ++++++++++------
 2 files changed, 11 insertions(+), 7 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c
index a5d28e61..9e642836 100644
--- a/src/drivers/ao_lco_func.c
+++ b/src/drivers/ao_lco_func.c
@@ -36,7 +36,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
 	command.channels = 0;
 	ao_radio_cmac_send(&command, sizeof (command));
 	sent_time = ao_time();
-	r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(20));
+	r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(10));
 	if (r == AO_RADIO_CMAC_OK)
 		*tick_offset = sent_time - query->tick;
 	ao_mutex_put(&ao_lco_mutex);
diff --git a/src/telelco-v0.2/ao_lco.c b/src/telelco-v0.2/ao_lco.c
index 0bbb76f1..b3f5bb16 100644
--- a/src/telelco-v0.2/ao_lco.c
+++ b/src/telelco-v0.2/ao_lco.c
@@ -251,18 +251,22 @@ ao_lco_search(void)
 {
 	uint16_t	tick_offset;
 	int8_t		r;
+	int8_t		try;
 	uint8_t		box;
 
 	ao_lco_box_reset_present();
 	for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
 		if ((box % 10) == 0)
 			ao_lco_set_box(box);
-		tick_offset = 0;
-		r = ao_lco_query(box, &ao_pad_query, &tick_offset);
-		PRINTD("box %d result %d\n", box, r);
-		if (r == AO_RADIO_CMAC_OK) {
-			ao_lco_box_set_present(box);
-			ao_delay(AO_MS_TO_TICKS(30));
+		for (try = 0; try < 5; try++) {
+			tick_offset = 0;
+			r = ao_lco_query(box, &ao_pad_query, &tick_offset);
+			PRINTD("box %d result %d\n", box, r);
+			if (r == AO_RADIO_CMAC_OK) {
+				ao_lco_box_set_present(box);
+				ao_delay(AO_MS_TO_TICKS(30));
+				break;
+			}
 		}
 	}
 	if (ao_lco_min_box <= ao_lco_max_box)
-- 
cgit v1.2.3


From b22dff94778b1f15a6ad1989d526b936f0fa09ea Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 5 May 2014 23:43:44 -0700
Subject: altos: ublox driver always offers course data when it has a fix

Set the AO_GPS_COURSE_VALID bit to signal that this part of the GPS
data is valid.

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

(limited to 'src/drivers')

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 01169522..8676a670 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -713,7 +713,7 @@ ao_gps(void) __reentrant
 				ao_gps_data.flags |= AO_GPS_RUNNING;
 				if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
 					uint8_t	nsat = nav_sol.nsat;
-					ao_gps_data.flags |= AO_GPS_VALID;
+					ao_gps_data.flags |= AO_GPS_VALID | AO_GPS_COURSE_VALID;
 					if (nsat > 15)
 						nsat = 15;
 					ao_gps_data.flags |= nsat;
-- 
cgit v1.2.3


From ef48e1bb73c791d731b0d2c0e5beef1539103049 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 5 May 2014 23:46:34 -0700
Subject: altos: Clean up trailing whitespace in ao_pad.c

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_pad.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index 62ae68e9..144cbd70 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -153,11 +153,11 @@ ao_pad_monitor(void)
 			 *
 			 *		v_pyro \
 			 *	100k		igniter
-			 *		output /	
+			 *		output /
 			 *	100k           \
 			 *		sense   relay
-			 *	27k            / 
-			 *		gnd ---   
+			 *	27k            /
+			 *		gnd ---
 			 *
 			 *	If the relay is closed, then sense will be 0
 			 *	If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
-- 
cgit v1.2.3


From 8d9c79f5c162e07d57d42c6ba5825a3327a911d5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 9 May 2014 00:05:39 -0700
Subject: altos: Simplify quadrature tracking

Set the timer to 200Hz for a 5ms debounce interval. Then, simply look
for transitions ending in both bits in the encoder being off, which
indicates the the encoder is resting in a detent. If bit '2' is
turning off, the encoder was rotated clockwise, otherwise the encoder
was rotated counter clockwise.

This is a lot more reliable, although still not perfect.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_quadrature.c | 66 +++++++++++++++++----------------------------
 src/stm/ao_fast_timer.c     |  8 ++++--
 src/telelco-v0.2/ao_pins.h  |  2 ++
 3 files changed, 33 insertions(+), 43 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index d07488d0..66a77dfa 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -22,11 +22,7 @@
 #include <ao_event.h>
 
 __xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
-static uint8_t	ao_quadrature_state[AO_QUADRATURE_COUNT];
-static int8_t	ao_quadrature_raw[AO_QUADRATURE_COUNT];
-
-#define BIT(a,b)	((a) | ((b) << 1))
-#define STATE(old_a, old_b, new_a, new_b)	(((BIT(old_a, old_b) << 2) | BIT(new_a, new_b)))
+static uint8_t  ao_quadrature_state[AO_QUADRATURE_COUNT];
 
 #define port(q)	AO_QUADRATURE_ ## q ## _PORT
 #define bita(q) AO_QUADRATURE_ ## q ## _A
@@ -54,51 +50,29 @@ _ao_quadrature_queue(uint8_t q, int8_t step)
 	ao_wakeup(&ao_quadrature_count[q]);
 }
 
-static const int8_t	step[16] = {
-	[STATE(0,0,0,0)] = 0,
-	[STATE(0,0,0,1)] = -1,
-	[STATE(0,0,1,0)] = 1,
-	[STATE(0,0,1,1)] = 0,
-	[STATE(0,1,0,0)] = 1,
-	[STATE(0,1,1,0)] = 0,
-	[STATE(0,1,1,1)] = -1,
-	[STATE(1,0,0,0)] = -1,
-	[STATE(1,0,0,1)] = 0,
-	[STATE(1,0,1,0)] = 0,
-	[STATE(1,0,1,1)] = 1,
-	[STATE(1,1,0,0)] = 0,
-	[STATE(1,1,0,1)] = 1,
-	[STATE(1,1,1,0)] = -1,
-	[STATE(1,1,1,1)] = 0
-};
 
 static void
-_ao_quadrature_set(uint8_t q, uint8_t value) {
-	uint8_t v;
-	
-	v = ao_quadrature_state[q] & 3;
-	value = value & 3;
+_ao_quadrature_set(uint8_t q, uint8_t new) {
+	uint8_t	old = ao_quadrature_state[q];
 
-	if (v == value)
-		return;
-	
-	ao_quadrature_state[q] = (v << 2) | value;
-
-	ao_quadrature_raw[q] += step[ao_quadrature_state[q]];
-	if (value == 0) {
-		if (ao_quadrature_raw[q] == 4)
+	if (old != new && new == 0) {
+		if (old & 2)
 			_ao_quadrature_queue(q, 1);
-		else if (ao_quadrature_raw[q] == -4)
+		else if (old & 1)
 			_ao_quadrature_queue(q, -1);
-		ao_quadrature_raw[q] = 0;
 	}
+	ao_quadrature_state[q] = new;
 }
 
 static void
 ao_quadrature_isr(void)
 {
+#if AO_QUADRATURE_COUNT > 0
 	_ao_quadrature_set(0, _ao_quadrature_get(0));
+#endif
+#if AO_QUADRATURE_COUNT > 1
 	_ao_quadrature_set(1, _ao_quadrature_get(1));
+#endif
 }
 
 int32_t
@@ -120,6 +94,8 @@ static void
 ao_quadrature_test(void)
 {
 	uint8_t	q;
+	int32_t	c;
+	uint8_t	s;
 
 	ao_cmd_decimal();
 	q = ao_cmd_lex_i;
@@ -127,10 +103,18 @@ ao_quadrature_test(void)
 		ao_cmd_status = ao_cmd_syntax_error;
 		return;
 	}
-	printf ("count %d state %x raw %d\n",
-		ao_quadrature_count[q],
-		ao_quadrature_state[q],
-		ao_quadrature_raw[q]);
+
+	c = -10000;
+	s = 0;
+	while (ao_quadrature_count[q] != 10) {
+		if (ao_quadrature_count[q] != c ||
+		    ao_quadrature_state[q] != s) {
+			c = ao_quadrature_count[q];
+			s = ao_quadrature_state[q];
+			printf ("count %3d state %2x\n", c, s);
+			flush();
+		}
+	}
 #if 0
 	for (;;) {
 		int32_t	c;
diff --git a/src/stm/ao_fast_timer.c b/src/stm/ao_fast_timer.c
index d61b40c9..9a73eb51 100644
--- a/src/stm/ao_fast_timer.c
+++ b/src/stm/ao_fast_timer.c
@@ -88,7 +88,11 @@ void stm_tim6_isr(void)
 #define TIMER_23467_SCALER 1
 #endif
 
-#define TIMER_10kHz	((AO_PCLK1 * TIMER_23467_SCALER) / 10000)
+#ifndef FAST_TIMER_FREQ
+#define FAST_TIMER_FREQ	10000
+#endif
+
+#define TIMER_FAST	((AO_PCLK1 * TIMER_23467_SCALER) / FAST_TIMER_FREQ)
 
 void
 ao_fast_timer_init(void)
@@ -100,7 +104,7 @@ ao_fast_timer_init(void)
 		/* Turn on timer 6 */
 		stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN);
 
-		stm_tim6.psc = TIMER_10kHz;
+		stm_tim6.psc = TIMER_FAST;
 		stm_tim6.arr = 9;
 		stm_tim6.cnt = 0;
 
diff --git a/src/telelco-v0.2/ao_pins.h b/src/telelco-v0.2/ao_pins.h
index 62f221a1..609e5494 100644
--- a/src/telelco-v0.2/ao_pins.h
+++ b/src/telelco-v0.2/ao_pins.h
@@ -72,6 +72,8 @@
 #define PACKET_HAS_SLAVE	0
 #define PACKET_HAS_MASTER	0
 
+#define FAST_TIMER_FREQ		200	/* 5ms for debouncing */
+
 /*
  * Radio is a cc1120 connected via SPI
  */
-- 
cgit v1.2.3


From 3af4e824938fe07fe75c6d24d9906aebfbe578f3 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 12 May 2014 22:50:41 -0700
Subject: altos: Add LED test command to pca9922 driver

This lets you control the LEDs from the command line to test things.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_pca9922.c | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_pca9922.c b/src/drivers/ao_pca9922.c
index d376b968..6d1b5fae 100644
--- a/src/drivers/ao_pca9922.c
+++ b/src/drivers/ao_pca9922.c
@@ -66,6 +66,24 @@ ao_led_set_mask(uint8_t colors, uint8_t mask)
 	ao_led_apply();
 }
 
+#define LED_TEST	1
+#if LED_TEST
+static void
+ao_led_test(void)
+{
+	ao_cmd_hexbyte();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	ao_led_set(ao_cmd_lex_i);
+	printf("LEDs set to %02x\n", ao_cmd_lex_i);
+}
+
+static const struct ao_cmds ao_led_cmds[] = {
+	{ ao_led_test,	"l <value>\0Set LEDs to <value>" },
+	{ 0, NULL }
+};
+#endif
+
 void
 ao_led_toggle(uint8_t colors)
 {
@@ -86,4 +104,7 @@ ao_led_init(uint8_t enable)
 {
 	(void) enable;
 	ao_enable_output(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, 1);
+#if LED_TEST
+	ao_cmd_register(&ao_led_cmds[0]);
+#endif
 }
-- 
cgit v1.2.3


From 819f73698f57e76dca50fe4fadccebd23ffb776d Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 15 May 2014 09:31:24 -0600
Subject: altos: Make quadrature debounce per-pin rather than per-device

Debouncing per-pin means we don't lose transitions, which makes
counting a lot more precise.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_quadrature.c | 39 +++++++++++++++++++++++++++++++++------
 src/telelco-v0.2/ao_pins.h  |  2 +-
 2 files changed, 34 insertions(+), 7 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index 66a77dfa..0cdcc9fb 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -24,6 +24,13 @@
 __xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
 static uint8_t  ao_quadrature_state[AO_QUADRATURE_COUNT];
 
+struct ao_debounce {
+	uint8_t	state;
+	uint8_t	count;
+};
+
+static struct ao_debounce ao_debounce_state[AO_QUADRATURE_COUNT][2];
+
 #define port(q)	AO_QUADRATURE_ ## q ## _PORT
 #define bita(q) AO_QUADRATURE_ ## q ## _A
 #define bitb(q) AO_QUADRATURE_ ## q ## _B
@@ -31,14 +38,35 @@ static uint8_t  ao_quadrature_state[AO_QUADRATURE_COUNT];
 #define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN
 #define isr(q)  ao_quadrature_isr_ ## q
 
-static inline uint16_t
-ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b) {
-	uint16_t	v = stm_gpio_get_all(gpio);
+#define DEBOUNCE	10
 
-	return ~((((v >> pin_a) & 1) | (((v >> pin_b) & 1) << 1))) & 3;
+static uint8_t
+ao_debounce(uint8_t cur, struct ao_debounce *debounce)
+{
+	if (cur == debounce->state)
+		debounce->count = 0;
+	else {
+		if (++debounce->count == DEBOUNCE) {
+			debounce->state = cur;
+			debounce->count = 0;
+		}
+	}
+	return debounce->state;
 }
 
-#define _ao_quadrature_get(q)	ao_quadrature_read(port(q), bita(q), bitb(q))
+static uint16_t
+ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b, struct ao_debounce debounce_state[2]) {
+	uint16_t	v = ~stm_gpio_get_all(gpio);
+	uint8_t		a = (v >> pin_a) & 1;
+	uint8_t		b = (v >> pin_b) & 1;
+
+	a = ao_debounce(a, &debounce_state[0]);
+	b = ao_debounce(b, &debounce_state[1]);
+
+	return a | (b << 1);
+}
+
+#define _ao_quadrature_get(q)	ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[q])
 
 static void
 _ao_quadrature_queue(uint8_t q, int8_t step)
@@ -50,7 +78,6 @@ _ao_quadrature_queue(uint8_t q, int8_t step)
 	ao_wakeup(&ao_quadrature_count[q]);
 }
 
-
 static void
 _ao_quadrature_set(uint8_t q, uint8_t new) {
 	uint8_t	old = ao_quadrature_state[q];
diff --git a/src/telelco-v0.2/ao_pins.h b/src/telelco-v0.2/ao_pins.h
index 609e5494..a6fd4ff8 100644
--- a/src/telelco-v0.2/ao_pins.h
+++ b/src/telelco-v0.2/ao_pins.h
@@ -72,7 +72,7 @@
 #define PACKET_HAS_SLAVE	0
 #define PACKET_HAS_MASTER	0
 
-#define FAST_TIMER_FREQ		200	/* 5ms for debouncing */
+#define FAST_TIMER_FREQ		10000	/* .1ms for debouncing */
 
 /*
  * Radio is a cc1120 connected via SPI
-- 
cgit v1.2.3


From cb228304d8df3063914ab505a530d4ea79ca027d Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 21 May 2014 01:34:27 -0700
Subject: altos: Allow APRS to send just battery voltage

Don't require apogee and main voltages as well

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_aprs.c | 31 +++++++++++++++++++++++--------
 1 file changed, 23 insertions(+), 8 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index 0a6c72ce..679dd7bc 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -512,23 +512,38 @@ static int tncComment(uint8_t *buf)
 {
 #if HAS_ADC
 	struct ao_data packet;
-	
+
 	ao_arch_critical(ao_data_get(&packet););
 
 	int16_t battery = ao_battery_decivolt(packet.adc.v_batt);
+#ifdef AO_SENSE_DROGUE
 	int16_t apogee = ao_ignite_decivolt(AO_SENSE_DROGUE(&packet));
+#endif
+#ifdef AO_SENSE_MAIN
 	int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
+#endif
 
 	return sprintf((char *) buf,
-		       "%c%d B%d.%d A%d.%d M%d.%d",
-		       ao_gps_locked(),
+		       "%c%d B%d.%d"
+#ifdef AO_SENSE_DROGUE
+		       " A%d.%d"
+#endif
+#ifdef AO_SENSE_MAIN
+		       " M%d.%d"
+#endif
+		       , ao_gps_locked(),
 		       ao_num_sats(),
 		       battery/10,
-		       battery % 10,
-		       apogee/10,
-		       apogee%10,
-		       main/10,
-		       main%10);
+		       battery % 10
+#ifdef AO_SENSE_DROGUE
+		       , apogee/10,
+		       apogee%10
+#endif
+#ifdef AO_SENSE_MAIN
+		       , main/10,
+		       main%10
+#endif
+		);
 #else
 	return sprintf((char *) buf,
 		       "%c%d",
-- 
cgit v1.2.3


From 8b488bdd0f5c91be7e5aae1c8f0193e713734b14 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 21 May 2014 01:35:33 -0700
Subject: altos: Fix cc115l debug build

New compiler warning flags and moving to the nxp require a few minor
changes in the code to make it work.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_cc115l.c | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_cc115l.c b/src/drivers/ao_cc115l.c
index f0f72d4d..d9b9a89b 100644
--- a/src/drivers/ao_cc115l.c
+++ b/src/drivers/ao_cc115l.c
@@ -52,8 +52,8 @@ struct ao_cc115l_reg {
 
 #if CC115L_TRACE
 
-const static struct ao_cc115l_reg ao_cc115l_reg[];
-const static char *cc115l_state_name[];
+static const struct ao_cc115l_reg ao_cc115l_reg[];
+static const char *cc115l_state_name[];
 
 enum ao_cc115l_trace_type {
 	trace_strobe,
@@ -88,6 +88,8 @@ static void trace_add(enum ao_cc115l_trace_type type, int16_t addr, int16_t valu
 	case trace_strobe:
 		comment = cc115l_state_name[(value >> 4) & 0x7];
 		break;
+	default:
+		break;
 	}
 	trace[trace_i].type = type;
 	trace[trace_i].addr = addr;
@@ -197,24 +199,22 @@ ao_radio_tx_fifo_space(void)
 	return CC115L_FIFO_SIZE - (ao_radio_reg_read(CC115L_TXBYTES) & CC115L_TXBYTES_NUM_TX_BYTES_MASK);
 }
 
-#if UNUSED
+#if CC115L_DEBUG
 static uint8_t
 ao_radio_status(void)
 {
 	return ao_radio_strobe (CC115L_SNOP);
 }
-#endif
-
-#define ao_radio_rdf_value 0x55
 
-#if UNUSED
 static uint8_t
 ao_radio_get_marcstate(void)
 {
 	return ao_radio_reg_read(CC115L_MARCSTATE) & CC115L_MARCSTATE_MASK;
 }
 #endif
-	  
+
+#define ao_radio_rdf_value 0x55
+
 static void
 ao_radio_done_isr(void)
 {
@@ -668,8 +668,8 @@ ao_radio_test_cmd(void)
 static inline int16_t
 ao_radio_gpio_bits(void)
 {
-	return AO_CC115L_DONE_INT_PORT->idr & ((1 << AO_CC115L_FIFO_INT_PIN) |
-					       (1 << AO_CC115L_DONE_INT_PIN));
+	return ((ao_gpio_get(AO_CC115L_DONE_INT_PORT, AO_CC115L_DONE_INT_PIN, AO_CC115L_DONE_INT) << 1) |
+		ao_gpio_get(AO_CC115L_FIFO_INT_PORT, AO_CC115L_FIFO_INT_PIN, AO_CC115L_FIFO_INT));
 }
 #endif
 
@@ -819,7 +819,7 @@ ao_radio_send_aprs(ao_radio_fill_func fill)
 }
 
 #if CC115L_DEBUG
-const static char *cc115l_state_name[] = {
+static const char *cc115l_state_name[] = {
 	[CC115L_STATUS_STATE_IDLE] = "IDLE",
 	[CC115L_STATUS_STATE_TX] = "TX",
 	[CC115L_STATUS_STATE_FSTXON] = "FSTXON",
@@ -828,7 +828,7 @@ const static char *cc115l_state_name[] = {
 	[CC115L_STATUS_STATE_TX_FIFO_UNDERFLOW] = "TX_FIFO_UNDERFLOW",
 };
 
-const static struct ao_cc115l_reg ao_cc115l_reg[] = {
+static const struct ao_cc115l_reg ao_cc115l_reg[] = {
 	{ .addr = CC115L_IOCFG2, .name = "IOCFG2" },
 	{ .addr = CC115L_IOCFG1, .name = "IOCFG1" },
 	{ .addr = CC115L_IOCFG0, .name = "IOCFG0" },
@@ -874,7 +874,7 @@ const static struct ao_cc115l_reg ao_cc115l_reg[] = {
 
 static void ao_radio_show(void) {
 	uint8_t	status = ao_radio_status();
-	int	i;
+	unsigned int	i;
 
 	ao_radio_get();
 	status = ao_radio_status();
-- 
cgit v1.2.3


From af782e92c6a0c0a6b0fc2fa52519749a88ca8fb8 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 21 May 2014 01:36:40 -0700
Subject: altos: Expose ao_gps_set_rate from u-blox driver

This lets applications set the desired GPS update rate to reduce power usage

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_gps_ublox.c | 11 +++++++++--
 src/kernel/ao.h            |  3 +++
 2 files changed, 12 insertions(+), 2 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 8676a670..077698a9 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -600,6 +600,14 @@ static const uint8_t ublox_enable_nav[] = {
 	UBLOX_NAV_TIMEUTC
 };
 
+void
+ao_gps_set_rate(uint8_t rate)
+{
+	uint8_t	i;
+	for (i = 0; i < sizeof (ublox_enable_nav); i++)
+		ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate);
+}
+
 void
 ao_gps(void) __reentrant
 {
@@ -616,8 +624,7 @@ ao_gps(void) __reentrant
 		ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
 
 	/* Enable all of the messages we want */
-	for (i = 0; i < sizeof (ublox_enable_nav); i++)
-		ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
+	ao_gps_set_rate(1);
 
 	ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
 					 UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 9169bd84..b1f850ba 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -393,6 +393,9 @@ struct ao_gps_tracking_orig {
 	struct ao_gps_sat_orig	sats[AO_MAX_GPS_TRACKING];
 };
 
+void
+ao_gps_set_rate(uint8_t rate);
+
 void
 ao_gps(void);
 
-- 
cgit v1.2.3


From 3d5db24708b37d86eac187169e2553a408dfeb83 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 25 May 2014 21:11:23 -0700
Subject: altos: Make MS5607 PROM a public variable

This will let the fake flight code update it as necessary, without
creating a new interface in ao_ms5607.c

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_ms5607.c              | 22 +++++++++++-----------
 src/drivers/ao_ms5607.h              |  4 +---
 src/drivers/ao_ms5607_convert.c      | 12 ++++++------
 src/drivers/ao_ms5607_convert_8051.c | 20 ++++++++++----------
 src/test/ao_flight_test.c            | 18 +++++++++---------
 src/test/ao_ms5607_convert_test.c    |  2 +-
 6 files changed, 38 insertions(+), 40 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 58ab9197..6098699e 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -21,8 +21,8 @@
 
 #if HAS_MS5607 || HAS_MS5611
 
-static __xdata struct ao_ms5607_prom	ms5607_prom;
-static __xdata uint8_t	  		ms5607_configured;
+__xdata struct ao_ms5607_prom	ao_ms5607_prom;
+static __xdata uint8_t	  	ms5607_configured;
 
 static void
 ao_ms5607_start(void) {
@@ -111,7 +111,7 @@ ao_ms5607_setup(void)
 		return;
 	ms5607_configured = 1;
 	ao_ms5607_reset();
-	ao_ms5607_prom_read(&ms5607_prom);
+	ao_ms5607_prom_read(&ao_ms5607_prom);
 }
 
 static __xdata volatile uint8_t	ao_ms5607_done;
@@ -208,14 +208,14 @@ __xdata struct ao_task ao_ms5607_task;
 void
 ao_ms5607_info(void)
 {
-	printf ("ms5607 reserved: %u\n", ms5607_prom.reserved);
-	printf ("ms5607 sens: %u\n", ms5607_prom.sens);
-	printf ("ms5607 off: %u\n", ms5607_prom.off);
-	printf ("ms5607 tcs: %u\n", ms5607_prom.tcs);
-	printf ("ms5607 tco: %u\n", ms5607_prom.tco);
-	printf ("ms5607 tref: %u\n", ms5607_prom.tref);
-	printf ("ms5607 tempsens: %u\n", ms5607_prom.tempsens);
-	printf ("ms5607 crc: %u\n", ms5607_prom.crc);
+	printf ("ms5607 reserved: %u\n", ao_ms5607_prom.reserved);
+	printf ("ms5607 sens: %u\n", ao_ms5607_prom.sens);
+	printf ("ms5607 off: %u\n", ao_ms5607_prom.off);
+	printf ("ms5607 tcs: %u\n", ao_ms5607_prom.tcs);
+	printf ("ms5607 tco: %u\n", ao_ms5607_prom.tco);
+	printf ("ms5607 tref: %u\n", ao_ms5607_prom.tref);
+	printf ("ms5607 tempsens: %u\n", ao_ms5607_prom.tempsens);
+	printf ("ms5607 crc: %u\n", ao_ms5607_prom.crc);
 }
 
 static void
diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h
index 206efd64..b58178fd 100644
--- a/src/drivers/ao_ms5607.h
+++ b/src/drivers/ao_ms5607.h
@@ -57,6 +57,7 @@ struct ao_ms5607_value {
 };
 
 extern __xdata struct ao_ms5607_sample	ao_ms5607_current;
+extern __xdata struct ao_ms5607_prom	ao_ms5607_prom;
 
 void
 ao_ms5607_setup(void);
@@ -74,7 +75,4 @@ void
 ao_ms5607_convert(__xdata struct ao_ms5607_sample *sample,
 		  __xdata struct ao_ms5607_value *value);
 
-void
-ao_ms5607_get_prom(__data struct ao_ms5607_prom *prom);
-
 #endif /* _AO_MS5607_H_ */
diff --git a/src/drivers/ao_ms5607_convert.c b/src/drivers/ao_ms5607_convert.c
index bfb952a4..4d412cbe 100644
--- a/src/drivers/ao_ms5607_convert.c
+++ b/src/drivers/ao_ms5607_convert.c
@@ -25,16 +25,16 @@ ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value
 	int64_t OFF;
 	int64_t SENS;
 
-	dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
+	dT = sample->temp - ((int32_t) ao_ms5607_prom.tref << 8);
 	
-	TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23);
+	TEMP = 2000 + (((int64_t) dT * ao_ms5607_prom.tempsens) >> 23);
 
 #if HAS_MS5611
-	OFF = ((int64_t) ms5607_prom.off << 16) + (((int64_t) ms5607_prom.tco * dT) >> 7);
-	SENS = ((int64_t) ms5607_prom.sens << 15) + (((int64_t) ms5607_prom.tcs * dT) >> 8);
+	OFF = ((int64_t) ao_ms5607_prom.off << 16) + (((int64_t) ao_ms5607_prom.tco * dT) >> 7);
+	SENS = ((int64_t) ao_ms5607_prom.sens << 15) + (((int64_t) ao_ms5607_prom.tcs * dT) >> 8);
 #else
-	OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6);
-	SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7);
+	OFF = ((int64_t) ao_ms5607_prom.off << 17) + (((int64_t) ao_ms5607_prom.tco * dT) >> 6);
+	SENS = ((int64_t) ao_ms5607_prom.sens << 16) + (((int64_t) ao_ms5607_prom.tcs * dT) >> 7);
 #endif
 
 	if (TEMP < 2000) {
diff --git a/src/drivers/ao_ms5607_convert_8051.c b/src/drivers/ao_ms5607_convert_8051.c
index f3a48c46..a74086d9 100644
--- a/src/drivers/ao_ms5607_convert_8051.c
+++ b/src/drivers/ao_ms5607_convert_8051.c
@@ -40,30 +40,30 @@ ao_ms5607_convert(__xdata struct ao_ms5607_sample *sample,
 	__LOCAL ao_int64_t SENS;
 	__LOCAL ao_int64_t a;
 
-	dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
+	dT = sample->temp - ((int32_t) ao_ms5607_prom.tref << 8);
 	
-	/* TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23); */
-	ao_mul64_32_32(&a, dT, ms5607_prom.tempsens);
+	/* TEMP = 2000 + (((int64_t) dT * ao_ms5607_prom.tempsens) >> 23); */
+	ao_mul64_32_32(&a, dT, ao_ms5607_prom.tempsens);
 	ao_rshift64(&a, &a, 23);
 	TEMP = 2000 + a.low;
 	/* */
 
-	/* OFF = ((int64_t) ms5607_prom.off << SHIFT_OFF) + (((int64_t) ms5607_prom.tco * dT) >> SHIFT_TCO);*/
+	/* OFF = ((int64_t) ao_ms5607_prom.off << SHIFT_OFF) + (((int64_t) ao_ms5607_prom.tco * dT) >> SHIFT_TCO);*/
 #if SHIFT_OFF > 16
-	OFF.high = ms5607_prom.off >> (32 - SHIFT_OFF);
+	OFF.high = ao_ms5607_prom.off >> (32 - SHIFT_OFF);
 #else
 	OFF.high = 0;
 #endif
-	OFF.low = (uint32_t) ms5607_prom.off << SHIFT_OFF;
-	ao_mul64_32_32(&a, ms5607_prom.tco, dT);
+	OFF.low = (uint32_t) ao_ms5607_prom.off << SHIFT_OFF;
+	ao_mul64_32_32(&a, ao_ms5607_prom.tco, dT);
 	ao_rshift64(&a, &a, SHIFT_TCO);
 	ao_plus64(&OFF, &OFF, &a);
 	/**/
 
-	/* SENS = ((int64_t) ms5607_prom.sens << SHIFT_SENS) + (((int64_t) ms5607_prom.tcs * dT) >> SHIFT_TCS); */
+	/* SENS = ((int64_t) ao_ms5607_prom.sens << SHIFT_SENS) + (((int64_t) ao_ms5607_prom.tcs * dT) >> SHIFT_TCS); */
 	SENS.high = 0;
-	SENS.low = (uint32_t) ms5607_prom.sens << SHIFT_SENS;
-	ao_mul64_32_32(&a, ms5607_prom.tcs, dT);
+	SENS.low = (uint32_t) ao_ms5607_prom.sens << SHIFT_SENS;
+	ao_mul64_32_32(&a, ao_ms5607_prom.tcs, dT);
 	ao_rshift64(&a, &a, SHIFT_TCS);
 	ao_plus64(&SENS, &SENS, &a);
 	/**/
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 3995d98d..1ee3ad27 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -309,7 +309,7 @@ struct ao_cmds {
 #if TELEMEGA
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
-struct ao_ms5607_prom	ms5607_prom;
+struct ao_ms5607_prom	ao_ms5607_prom;
 #include "ao_ms5607_convert.c"
 #define AO_PYRO_NUM	4
 #include <ao_pyro.h>
@@ -780,21 +780,21 @@ ao_sleep(void *wchan)
 				continue;
 			} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 				if (strcmp(words[1], "reserved:") == 0)
-					ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "sens:") == 0)
-					ms5607_prom.sens = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "off:") == 0)
-					ms5607_prom.off = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tcs:") == 0)
-					ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tco:") == 0)
-					ms5607_prom.tco = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tref:") == 0)
-					ms5607_prom.tref = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tempsens:") == 0)
-					ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "crc:") == 0)
-					ms5607_prom.crc = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 				continue;
 			} else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 				int	p = strtoul(words[1], NULL, 10);
diff --git a/src/test/ao_ms5607_convert_test.c b/src/test/ao_ms5607_convert_test.c
index ad593204..1c571f1c 100644
--- a/src/test/ao_ms5607_convert_test.c
+++ b/src/test/ao_ms5607_convert_test.c
@@ -23,7 +23,7 @@
 #include <stdint.h>
 #include <ao_ms5607.h>
 
-struct ao_ms5607_prom ms5607_prom = {
+struct ao_ms5607_prom ao_ms5607_prom = {
 	0x002c,
 	0xa6e0,
 	0x988e,
-- 
cgit v1.2.3


From a7b0a5613c8e59b4c672b21f8d0890fd5cffd4dc Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 30 May 2014 17:24:51 -0700
Subject: altos: Switch APRS altitude encoding computation to fixed point

APRS altitude is logarithmically encoded, so this implementation
includes a fixed point log-base-2 function along with a bit of other
fixed point stuff. This eliminates all floating point from TeleGPS,
saving around 4kB of code space.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_aprs.c | 144 ++++++++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 139 insertions(+), 5 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index 679dd7bc..8a1b6a4d 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -144,7 +144,6 @@
 #endif
 
 #include <ao_aprs.h>
-#include <math.h>
 
 // Public methods, constants, and data structures for each class.
 
@@ -552,6 +551,144 @@ static int tncComment(uint8_t *buf)
 #endif
 }
 
+/*
+ * APRS use a log encoding of altitude with a base of 1.002, such that
+ *
+ *	feet = 1.002 ** encoded_altitude
+ *
+ *	meters = (1.002 ** encoded_altitude) * 0.3048
+ *
+ *	log2(meters) = log2(1.002 ** encoded_altitude) + log2(0.3048)
+ *
+ *	log2(meters) = encoded_altitude * log2(1.002) + log2(0.3048)
+ *
+ *	encoded_altitude = (log2(meters) - log2(0.3048)) / log2(1.002)
+ *
+ *	encoded_altitude = (log2(meters) + log2(1/0.3048)) * (1/log2(1.002))
+ *
+ * We need 9 bits of mantissa to hold 1/log2(1.002) (~ 347), which leaves us
+ * 23 bits of fraction. That turns out to be *just* enough to avoid any
+ * errors in the result (cool, huh?).
+ */
+
+#define fixed23_int(x)		((uint32_t) ((x) << 23))
+#define fixed23_one		fixed23_int(1)
+#define fixed23_two 		fixed23_int(2)
+#define fixed23_half		(fixed23_one >> 1)
+#define fixed23_floor(x)	((x) >> 23)
+#define fixed23_real(x)		((uint32_t) ((x) * fixed23_one + 0.5))
+
+static inline uint64_t
+fixed23_mul(uint32_t x, uint32_t y)
+{
+	return ((uint64_t) x * y + fixed23_half) >> 23;
+}
+
+/*
+ * Use 30 fraction bits for the altitude. We need two bits at the
+ * top as we need to handle x, where 0 <= x < 4. We don't
+ * need 30 bits, but it's actually easier this way as we normalize
+ * the incoming value to 1 <= x < 2, and having the integer portion
+ * way up high means we don't have to deal with shifting in both
+ * directions to cover from 0 to 2**30-1.
+ */
+
+#define fixed30_int(x)	((uint32_t) ((x) << 30))
+#define fixed30_one 	fixed30_int(1)
+#define fixed30_half 	(fixed30_one >> 1)
+#define fixed30_two	fixed30_int(2)
+
+static inline uint32_t
+fixed30_mul(uint32_t x, uint32_t y)
+{
+	return ((uint64_t) x * y + fixed30_half) >> 30;
+}
+
+/*
+ * Fixed point log2. Takes integer argument, returns
+ * fixed point result with 23 bits of fraction
+ */
+
+static uint32_t
+ao_fixed_log2(uint32_t x)
+{
+	uint32_t	result;
+	uint32_t	frac = fixed23_one;
+
+	/* Bounds check for sanity */
+	if (x <= 0)
+		return 0;
+
+	if (x >= fixed30_one)
+		return 0xffffffff;
+
+	/*
+	 * Normalize and compute integer log portion
+	 *
+	 * This makes 1 <= x < 2, and computes result to be
+	 * the integer portion of the log2 of x
+	 */
+
+	for (result = fixed23_int(30); x < fixed30_one; result -= fixed23_one, x <<= 1)
+		;
+
+	/*
+	 * Given x, find y and n such that:
+	 *
+	 *	x = y * 2**n 		1 <= y < 2
+	 *
+	 * That means:
+	 *
+	 *	lb(x) = n + lb(y)
+	 *
+	 * Now, repeatedly square y to find find z and m such that:
+	 *
+	 *	z = y ** (2**m)	2 <= z < 4
+	 *
+	 * This is possible because 1 <= y < 2
+	 *
+	 *	lb(y) = lb(z) / 2**m
+ 	 *
+	 *	        (1 + lb(z/2))
+	 *	      = -------------
+	 *                  2**m
+	 *
+	 *            = 2**-m + 2**-m * lb(z/2)
+	 *
+	 * Note that if 2 <= z < 4, then 1 <= (z/2) < 2, so we can
+	 * iterate to find lb(z/2)
+	 *
+	 * In this implementation, we don't care about the 'm' value,
+	 * instead we only care about 2**-m, which we store in 'frac'
+	 */
+
+	while (frac != 0 && x != fixed30_one) {
+		/* Repeatedly square x until 2 <= x < 4 */
+		while (x < fixed30_two) {
+			x = fixed30_mul(x, x);
+
+			/* Divide the fractional result bit by 2 */
+			frac >>= 1;
+		}
+
+		/* Add in this result bit */
+		result |= frac;
+
+		/* Make 1 <= x < 2 again and iterate */
+		x >>= 1;
+	}
+	return result;
+}
+
+#define APRS_LOG_CONVERT	fixed23_real(1.714065192056127)
+#define APRS_LOG_BASE		fixed23_real(346.920048461100941)
+
+static int
+ao_aprs_encode_altitude(int meters)
+{
+	return fixed23_floor(fixed23_mul(ao_fixed_log2(meters) + APRS_LOG_CONVERT, APRS_LOG_BASE) + fixed23_half);
+}
+
 /**
  *   Generate the plain text position packet.
  */
@@ -580,10 +717,7 @@ static int tncPositionPacket(void)
     lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
     lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
 
-#define ALTITUDE_LOG_BASE	0.001998002662673f	/* log(1.002) */
-
-    alt = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
-    alt = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
+    alt = ao_aprs_encode_altitude(altitude);
 
     tncCompressInt(buf, lat, 4);
     buf += 4;
-- 
cgit v1.2.3


From 2db2b75f8847ca0066bb19771653a65c9098ae52 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 5 Jun 2014 17:24:57 -0700
Subject: altos: Allow cc115l driver to be built without radio power control

TeleGPS just wants full power, so remove the configuration option

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_cc115l.c | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_cc115l.c b/src/drivers/ao_cc115l.c
index d9b9a89b..f250e714 100644
--- a/src/drivers/ao_cc115l.c
+++ b/src/drivers/ao_cc115l.c
@@ -612,6 +612,12 @@ ao_radio_rdf_abort(void)
 
 #define POWER_STEP	0x08
 
+#if HAS_RADIO_POWER
+#define RADIO_POWER	ao_config.radio_power
+#else
+#define RADIO_POWER	0xc0
+#endif
+
 static void
 ao_radio_stx(void)
 {
@@ -619,9 +625,10 @@ ao_radio_stx(void)
 	ao_radio_pa_on();
 	ao_radio_reg_write(CC115L_PA, 0);
 	ao_radio_strobe(CC115L_STX);
-	for (power = POWER_STEP; power < ao_config.radio_power; power += POWER_STEP)
+	for (power = POWER_STEP; power < RADIO_POWER; power += POWER_STEP)
 		ao_radio_reg_write(CC115L_PA, power);
-	ao_radio_reg_write(CC115L_PA, ao_config.radio_power);
+	if (power != RADIO_POWER)
+		ao_radio_reg_write(CC115L_PA, RADIO_POWER);
 }
 
 static void
-- 
cgit v1.2.3


From db6003d34595fbd103d5b131912b6a797254f1c5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 7 Jun 2014 11:39:10 -0700
Subject: altos: Write current flight state to GPS data from GPS drivers

This will be useful with TeleGPS which has no other packet containing
flight state.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_gps_sirf.c    | 3 +++
 src/drivers/ao_gps_skytraq.c | 3 +++
 src/drivers/ao_gps_ublox.c   | 4 +++-
 3 files changed, 9 insertions(+), 1 deletion(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_gps_sirf.c b/src/drivers/ao_gps_sirf.c
index d89435b9..344b7121 100644
--- a/src/drivers/ao_gps_sirf.c
+++ b/src/drivers/ao_gps_sirf.c
@@ -413,6 +413,9 @@ ao_gps(void) __reentrant
 			ao_gps_data.hdop = ao_sirf_data.hdop;
 			ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
 			ao_gps_data.flags |= AO_GPS_COURSE_VALID;
+#if HAS_FLIGHT || HAS_TRACKER
+			ao_gps_data.state = ao_flight_state;
+#endif
 #if 0
 			if (ao_sirf_data.h_error > 6553500)
 				ao_gps_data.h_error = 65535;
diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 944a37f9..d789974d 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -259,6 +259,9 @@ ao_nmea_gga(void)
 	ao_gps_next.minute = ao_gps_decimal(2);
 	ao_gps_next.second = ao_gps_decimal(2);
 	ao_gps_skip_field();	/* skip seconds fraction */
+#if HAS_FLIGHT || HAS_TRACKER
+				ao_gps_data.state = ao_flight_state;
+#endif
 
 	ao_gps_next.latitude = ao_gps_parse_pos(2);
 	if (ao_gps_parse_flag('N', 'S'))
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 077698a9..6c42c1ba 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -749,7 +749,9 @@ ao_gps(void) __reentrant
 				ao_gps_data.ground_speed = nav_velned.g_speed;
 				ao_gps_data.climb_rate = -nav_velned.vel_d;
 				ao_gps_data.course = nav_velned.heading / 200000;
-
+#if HAS_FLIGHT || HAS_TRACKER
+				ao_gps_data.state = ao_flight_state;
+#endif
 				ao_gps_tracking_data.channels = 0;
 
 				struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
-- 
cgit v1.2.3


From 998eae61ecf56dd6ead4ec6ad82c952ae84170df Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 10 Jun 2014 09:36:59 -0700
Subject: Revert "altos: Write current flight state to GPS data from GPS
 drivers"

This reverts commit db6003d34595fbd103d5b131912b6a797254f1c5.
---
 src/drivers/ao_gps_sirf.c    | 3 ---
 src/drivers/ao_gps_skytraq.c | 3 ---
 src/drivers/ao_gps_ublox.c   | 4 +---
 3 files changed, 1 insertion(+), 9 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/ao_gps_sirf.c b/src/drivers/ao_gps_sirf.c
index 344b7121..d89435b9 100644
--- a/src/drivers/ao_gps_sirf.c
+++ b/src/drivers/ao_gps_sirf.c
@@ -413,9 +413,6 @@ ao_gps(void) __reentrant
 			ao_gps_data.hdop = ao_sirf_data.hdop;
 			ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
 			ao_gps_data.flags |= AO_GPS_COURSE_VALID;
-#if HAS_FLIGHT || HAS_TRACKER
-			ao_gps_data.state = ao_flight_state;
-#endif
 #if 0
 			if (ao_sirf_data.h_error > 6553500)
 				ao_gps_data.h_error = 65535;
diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index d789974d..944a37f9 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -259,9 +259,6 @@ ao_nmea_gga(void)
 	ao_gps_next.minute = ao_gps_decimal(2);
 	ao_gps_next.second = ao_gps_decimal(2);
 	ao_gps_skip_field();	/* skip seconds fraction */
-#if HAS_FLIGHT || HAS_TRACKER
-				ao_gps_data.state = ao_flight_state;
-#endif
 
 	ao_gps_next.latitude = ao_gps_parse_pos(2);
 	if (ao_gps_parse_flag('N', 'S'))
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 6c42c1ba..077698a9 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -749,9 +749,7 @@ ao_gps(void) __reentrant
 				ao_gps_data.ground_speed = nav_velned.g_speed;
 				ao_gps_data.climb_rate = -nav_velned.vel_d;
 				ao_gps_data.course = nav_velned.heading / 200000;
-#if HAS_FLIGHT || HAS_TRACKER
-				ao_gps_data.state = ao_flight_state;
-#endif
+
 				ao_gps_tracking_data.channels = 0;
 
 				struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
-- 
cgit v1.2.3