From f491eec1b950e4ad35a535db254a27a3dd2ad430 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 20 Aug 2015 23:02:04 -0700 Subject: altos: Add HAS_COMPANION to new boards with companion connectors Thanks much to Rob Derstadt for discovering this bug! TeleMetrum v2.0, TeleMega, EasyMega, TeleBalloon v2.0 all have companion connectors and yet HAS_COMPANION was not defined. This disabled companion telemetry packets on these products, but otherwise didn't have any effect. Signed-off-by: Keith Packard --- src/drivers/ao_companion.c | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'src/drivers') diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c index 7e02939b..5f07e8b0 100644 --- a/src/drivers/ao_companion.c +++ b/src/drivers/ao_companion.c @@ -23,6 +23,10 @@ #define ao_spi_fast(b) #endif +#if !HAS_COMPANION +#error HAS_COMPANION not set in ao_companion.c +#endif + #define COMPANION_SELECT() do { \ ao_spi_get_bit(AO_COMPANION_CS_PORT, \ AO_COMPANION_CS_PIN, \ -- cgit v1.2.3 From 368f87918547f89e7eb2a92990621e75e07a3b25 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 29 Aug 2015 13:18:46 -0700 Subject: altos/telefire: No reply for ARMED. Ignore time for FIRE. This will let us do drag races by letting the LCO arm multiple boxes and fire them all with a single command. Signed-off-by: Keith Packard --- src/drivers/ao_pad.c | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c index ffe46c68..419ea8d3 100644 --- a/src/drivers/ao_pad.c +++ b/src/drivers/ao_pad.c @@ -288,8 +288,7 @@ ao_pad(void) PRINTD ("armed\n"); ao_pad_armed = command.channels; ao_pad_arm_time = ao_time(); - - /* fall through ... */ + break; case AO_LAUNCH_QUERY: if (command.box != ao_pad_box) { @@ -320,13 +319,6 @@ ao_pad(void) ao_pad_arm_time, ao_time()); break; } - time_difference = command.tick - ao_time(); - if (time_difference < 0) - time_difference = -time_difference; - if (time_difference > 10) { - PRINTD ("time different too large %d\n", time_difference); - break; - } PRINTD ("ignite\n"); ao_pad_ignite = ao_pad_armed; ao_pad_arm_time = ao_time(); -- cgit v1.2.3 From 2839796ca5ace5f0c79643afc1a868893246b621 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 29 Aug 2015 13:20:16 -0700 Subject: altos: Provide direct segment driving interface for LCD displays This exposes a simple bit-mask for setting the seven segments instead of just allowing hex-decimal values. Signed-off-by: Keith Packard --- src/drivers/ao_seven_segment.c | 17 ++++++++++++----- src/drivers/ao_seven_segment.h | 3 +++ 2 files changed, 15 insertions(+), 5 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_seven_segment.c b/src/drivers/ao_seven_segment.c index 961fbb84..f1339ee5 100644 --- a/src/drivers/ao_seven_segment.c +++ b/src/drivers/ao_seven_segment.c @@ -168,10 +168,20 @@ static const uint8_t ao_segments[] = { (0 << 6), /* F */ }; + void -ao_seven_segment_set(uint8_t digit, uint8_t value) +ao_seven_segment_direct(uint8_t digit, uint8_t segments) { uint8_t s; + + for (s = 0; s <= 7; s++) + ao_lcd_set(digit, s, !!(segments & (1 << s))); + ao_lcd_flush(); +} + +void +ao_seven_segment_set(uint8_t digit, uint8_t value) +{ uint8_t segments; if (value == AO_SEVEN_SEGMENT_CLEAR) @@ -183,10 +193,7 @@ ao_seven_segment_set(uint8_t digit, uint8_t value) if (value & 0x10) segments |= (1 << 7); } - - for (s = 0; s <= 7; s++) - ao_lcd_set(digit, s, !!(segments & (1 << s))); - ao_lcd_flush(); + ao_seven_segment_direct(digit, segments); } void diff --git a/src/drivers/ao_seven_segment.h b/src/drivers/ao_seven_segment.h index 5b29deaf..f997f3b5 100644 --- a/src/drivers/ao_seven_segment.h +++ b/src/drivers/ao_seven_segment.h @@ -22,6 +22,9 @@ #define AO_SEVEN_SEGMENT_CLEAR 0xff +void +ao_seven_segment_direct(uint8_t digit, uint8_t segments); + void ao_seven_segment_set(uint8_t digit, uint8_t value); -- cgit v1.2.3 From 55c1be449ef7ce389a3d94686051d272c858bee4 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 29 Aug 2015 13:21:19 -0700 Subject: altos/telelco: Infrastructure changes for drag racing This makes the lco management code support arming multiple pads and firing all of them at once. The UI code does not expose this yet. Signed-off-by: Keith Packard --- src/drivers/ao_lco.c | 119 ++++++++++++++++++++++++---------------------- src/drivers/ao_lco_cmd.c | 2 +- src/drivers/ao_lco_func.c | 11 ++--- src/drivers/ao_lco_func.h | 2 +- 4 files changed, 68 insertions(+), 66 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c index b8698a80..464e05ab 100644 --- a/src/drivers/ao_lco.c +++ b/src/drivers/ao_lco.c @@ -37,14 +37,15 @@ static uint8_t ao_lco_debug; #define AO_LCO_BOX_DIGIT_10 2 static uint8_t ao_lco_min_box, ao_lco_max_box; -static uint8_t ao_lco_pad; -static uint8_t ao_lco_box; +static uint8_t ao_lco_selected[AO_PAD_MAX_BOXES]; static uint8_t ao_lco_armed; static uint8_t ao_lco_firing; -static uint8_t ao_lco_valid; -static uint8_t ao_lco_got_channels; -static uint16_t ao_lco_tick_offset; +static uint8_t ao_lco_valid[AO_PAD_MAX_BOXES]; +static uint8_t ao_lco_channels[AO_PAD_MAX_BOXES]; +static uint16_t ao_lco_tick_offset[AO_PAD_MAX_BOXES]; +static uint8_t ao_lco_pad; +static uint8_t ao_lco_box; static struct ao_pad_query ao_pad_query; static void @@ -99,25 +100,25 @@ ao_lco_box_present(uint8_t box) } static uint8_t -ao_lco_pad_present(uint8_t pad) +ao_lco_pad_present(uint8_t box, uint8_t pad) { - if (!ao_lco_got_channels || !ao_pad_query.channels) - return pad == 0; /* voltage measurement is always valid */ if (pad == 0) return 1; + if (!ao_lco_channels[box]) + return 0; if (pad > AO_PAD_MAX_CHANNELS) return 0; - return (ao_pad_query.channels >> (pad - 1)) & 1; + return (ao_lco_channels[box] >> (pad - 1)) & 1; } static uint8_t -ao_lco_pad_first(void) +ao_lco_pad_first(uint8_t box) { uint8_t pad; for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++) - if (ao_lco_pad_present(pad)) + if (ao_lco_pad_present(box, pad)) return pad; return 0; } @@ -148,7 +149,7 @@ ao_lco_input(void) new_pad = AO_PAD_MAX_CHANNELS; if (new_pad == ao_lco_pad) break; - } while (!ao_lco_pad_present(new_pad)); + } while (!ao_lco_pad_present(ao_lco_box, new_pad)); if (new_pad != ao_lco_pad) { ao_lco_pad = new_pad; ao_lco_set_display(); @@ -171,7 +172,7 @@ ao_lco_input(void) if (ao_lco_box != new_box) { ao_lco_box = new_box; ao_lco_pad = 1; - ao_lco_got_channels = 0; + ao_lco_channels[ao_lco_box] = 0; ao_lco_set_display(); } } @@ -183,7 +184,11 @@ ao_lco_input(void) case AO_BUTTON_ARM: ao_lco_armed = event.value; PRINTD("Armed %d\n", ao_lco_armed); - ao_wakeup(&ao_lco_armed); + if (ao_lco_pad != 0) { + memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); + ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1)); + ao_wakeup(&ao_lco_armed); + } break; case AO_BUTTON_FIRE: if (ao_lco_armed) { @@ -225,37 +230,36 @@ static AO_LED_TYPE continuity_led[AO_LED_CONTINUITY_NUM] = { #endif }; -static void -ao_lco_update(void) +static uint8_t +ao_lco_get_channels(uint8_t box, struct ao_pad_query *query) { int8_t r; - uint8_t c; - r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset); + r = ao_lco_query(box, query, &ao_lco_tick_offset[box]); if (r == AO_RADIO_CMAC_OK) { - c = ao_lco_got_channels; - ao_lco_got_channels = 1; - ao_lco_valid = 1; - if (!c) { + ao_lco_channels[box] = query->channels; + ao_lco_valid[box] = 1; + } else + ao_lco_valid[box] = 0; + PRINTD("ao_lco_get_channels(%d) valid %d\n", box, ao_lco_valid[box]); + ao_wakeup(&ao_pad_query); + return ao_lco_valid[box]; +} + +static void +ao_lco_update(void) +{ + uint8_t previous_valid = ao_lco_valid[ao_lco_box]; + + if (ao_lco_get_channels(ao_lco_box, &ao_pad_query)) { + if (!previous_valid) { if (ao_lco_pad != 0) - ao_lco_pad = ao_lco_pad_first(); + ao_lco_pad = ao_lco_pad_first(ao_lco_box); ao_lco_set_display(); } if (ao_lco_pad == 0) ao_lco_set_display(); - } else - ao_lco_valid = 0; - -#if 0 - PRINTD("lco_query success arm_status %d i0 %d i1 %d i2 %d i3 %d\n", - query.arm_status, - query.igniter_status[0], - query.igniter_status[1], - query.igniter_status[2], - query.igniter_status[3]); -#endif - PRINTD("ao_lco_update valid %d\n", ao_lco_valid); - ao_wakeup(&ao_pad_query); + } } static void @@ -309,8 +313,8 @@ ao_lco_search(void) ao_lco_box = ao_lco_min_box; else ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0; - ao_lco_valid = 0; - ao_lco_got_channels = 0; + memset(ao_lco_valid, 0, sizeof (ao_lco_valid)); + memset(ao_lco_channels, 0, sizeof (ao_lco_channels)); ao_lco_pad = 1; ao_lco_set_display(); } @@ -322,8 +326,8 @@ ao_lco_igniter_status(void) for (;;) { ao_sleep(&ao_pad_query); - PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid); - if (!ao_lco_valid) { + PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid[ao_lco_box]); + if (!ao_lco_valid[ao_lco_box]) { ao_led_on(AO_LED_RED); ao_led_off(AO_LED_GREEN|AO_LED_AMBER); continue; @@ -374,33 +378,32 @@ static void ao_lco_monitor(void) { uint16_t delay; + uint8_t box; + struct ao_pad_query pad_query; ao_lco_search(); ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input"); ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn"); ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status"); for (;;) { - PRINTD("monitor armed %d firing %d offset %d\n", - ao_lco_armed, ao_lco_firing, ao_lco_tick_offset); + PRINTD("monitor armed %d firing %d\n", + ao_lco_armed, ao_lco_firing); if (ao_lco_armed && ao_lco_firing) { - PRINTD("Firing box %d pad %d: valid %d\n", - ao_lco_box, ao_lco_pad, ao_lco_valid); - if (!ao_lco_valid) - ao_lco_update(); - if (ao_lco_valid && ao_lco_pad) - ao_lco_ignite(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset); - } else if (ao_lco_armed) { - PRINTD("Arming box %d pad %d\n", - ao_lco_box, ao_lco_pad); - if (!ao_lco_valid) - ao_lco_update(); - if (ao_lco_pad) { - ao_lco_arm(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset); - ao_delay(AO_MS_TO_TICKS(30)); - ao_lco_update(); - } + ao_lco_ignite(); } else { + if (ao_lco_armed) { + for (box = 0; box < AO_PAD_MAX_BOXES; box++) { + if (ao_lco_selected[box]) { + PRINTD("Arming box %d pads %x\n", + box, ao_lco_selected[box]); + if (!ao_lco_valid[box]) + ao_lco_get_channels(box, &pad_query); + if (ao_lco_valid[box]) + ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[ao_lco_box]); + } + } + } ao_lco_update(); } if (ao_lco_armed && ao_lco_firing) diff --git a/src/drivers/ao_lco_cmd.c b/src/drivers/ao_lco_cmd.c index acbf589a..6a365687 100644 --- a/src/drivers/ao_lco_cmd.c +++ b/src/drivers/ao_lco_cmd.c @@ -62,7 +62,7 @@ lco_arm(void) static void lco_ignite(void) { - ao_lco_ignite(lco_box, lco_channels, tick_offset); + ao_lco_ignite(); } static void diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c index 32c00068..08d45467 100644 --- a/src/drivers/ao_lco_func.c +++ b/src/drivers/ao_lco_func.c @@ -44,7 +44,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset) } #endif ao_mutex_get(&ao_lco_mutex); - command.tick = ao_time() - *tick_offset; + command.tick = ao_time(); command.box = box; command.cmd = AO_LAUNCH_QUERY; command.channels = 0; @@ -70,14 +70,13 @@ ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset) } void -ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset) +ao_lco_ignite(void) { ao_mutex_get(&ao_lco_mutex); - command.tick = ao_time() - tick_offset; - command.box = box; + command.tick = 0; + command.box = 0; command.cmd = AO_LAUNCH_FIRE; - command.channels = channels; + command.channels = 0; ao_radio_cmac_send(&command, sizeof (command)); ao_mutex_put(&ao_lco_mutex); } - diff --git a/src/drivers/ao_lco_func.h b/src/drivers/ao_lco_func.h index dccf602a..42754352 100644 --- a/src/drivers/ao_lco_func.h +++ b/src/drivers/ao_lco_func.h @@ -27,6 +27,6 @@ void ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset); void -ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset); +ao_lco_ignite(void); #endif /* _AO_LCO_FUNC_H_ */ -- cgit v1.2.3 From dda3f459eaff8d4e41cb44584c8ef77b8e2b3b1c Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 29 Aug 2015 17:29:00 -0700 Subject: altos/telelco: Add drag race UI With the unit disarmed, press and hold the fire button for five seconds to enable drag race mode. The display will show 'dr' for five seconds and beep five times to indicate that drag race mode is enabled. The decimal points in the display will all be displayed as an additional visual aid. Once every five seconds, it will beep. With drag race mode enabled, you can select a box/pad pair and press the 'fire' button to add it to the drag race group. For the current box, all members of the drag race group will have their continuity LEDs blink slowly. There will be no indication of continuity in this mode; you'll want to check that before enabling drag race mode. If you want to de-select a member of the group, just press the fire button again. Each time you push the fire button, it will beep out the pad number added or removed. Arm the box and you will not be able to add or remove members from the drag race group. Firing will simultaneously fire all members of the drag race group. To disable drag race mode, press and hold the fire button for two seconds. It will beep twice and turn off the decimal points in the display. Signed-off-by: Keith Packard --- src/drivers/ao_lco.c | 310 +++++++++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 287 insertions(+), 23 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c index 464e05ab..8180c49d 100644 --- a/src/drivers/ao_lco.c +++ b/src/drivers/ao_lco.c @@ -36,29 +36,42 @@ static uint8_t ao_lco_debug; #define AO_LCO_BOX_DIGIT_1 1 #define AO_LCO_BOX_DIGIT_10 2 +#define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5) +#define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2) + static uint8_t ao_lco_min_box, ao_lco_max_box; static uint8_t ao_lco_selected[AO_PAD_MAX_BOXES]; -static uint8_t ao_lco_armed; -static uint8_t ao_lco_firing; static uint8_t ao_lco_valid[AO_PAD_MAX_BOXES]; static uint8_t ao_lco_channels[AO_PAD_MAX_BOXES]; static uint16_t ao_lco_tick_offset[AO_PAD_MAX_BOXES]; +/* UI values */ +static uint8_t ao_lco_armed; +static uint8_t ao_lco_firing; +static uint16_t ao_lco_fire_tick; +static uint8_t ao_lco_fire_down; +static uint8_t ao_lco_drag_race; static uint8_t ao_lco_pad; static uint8_t ao_lco_box; static struct ao_pad_query ao_pad_query; +static uint8_t ao_lco_display_mutex; + static void ao_lco_set_pad(uint8_t pad) { - ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad); + ao_mutex_get(&ao_lco_display_mutex); + ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad | (ao_lco_drag_race << 4)); + ao_mutex_put(&ao_lco_display_mutex); } static void ao_lco_set_box(uint8_t box) { - ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10); - ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10); + ao_mutex_get(&ao_lco_display_mutex); + ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10 | (ao_lco_drag_race << 4)); + ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10 | (ao_lco_drag_race << 4)); + ao_mutex_put(&ao_lco_display_mutex); } static void @@ -69,9 +82,11 @@ ao_lco_set_voltage(uint16_t decivolts) tenths = decivolts % 10; ones = (decivolts / 10) % 10; tens = (decivolts / 100) % 10; + ao_mutex_get(&ao_lco_display_mutex); ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths); ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10); ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens); + ao_mutex_put(&ao_lco_display_mutex); } static void @@ -85,6 +100,33 @@ ao_lco_set_display(void) } } +#define SEVEN_SEGMENT_d ((0 << 0) | \ + (0 << 1) | \ + (1 << 2) | \ + (1 << 3) | \ + (1 << 4) | \ + (1 << 5) | \ + (1 << 6)) + + +#define SEVEN_SEGMENT_r ((0 << 0) | \ + (0 << 1) | \ + (0 << 2) | \ + (1 << 3) | \ + (1 << 4) | \ + (0 << 5) | \ + (0 << 6)) + +static void +ao_lco_set_display_drag(void) +{ + ao_mutex_get(&ao_lco_display_mutex); + ao_seven_segment_direct(AO_LCO_BOX_DIGIT_10, SEVEN_SEGMENT_d | 0x80); + ao_seven_segment_direct(AO_LCO_BOX_DIGIT_1, SEVEN_SEGMENT_r | 0x80); + ao_mutex_put(&ao_lco_display_mutex); + ao_lco_set_pad(ao_lco_pad); +} + #define MASK_SIZE(n) (((n) + 7) >> 3) #define MASK_ID(n) ((n) >> 3) #define MASK_SHIFT(n) ((n) & 7) @@ -123,6 +165,188 @@ ao_lco_pad_first(uint8_t box) return 0; } +static struct ao_task ao_lco_drag_task; +static uint8_t ao_lco_drag_active; +static uint8_t ao_lco_drag_beep_count; +static uint8_t ao_lco_drag_beep_on; +static uint16_t ao_lco_drag_beep_time; +static uint16_t ao_lco_drag_warn_time; +static uint16_t ao_lco_drag_display_time; +static uint8_t ao_lco_drag_display_on; + +#define AO_LCO_DRAG_BEEP_TIME AO_MS_TO_TICKS(50) +#define AO_LCO_DRAG_WARN_TIME AO_SEC_TO_TICKS(5) + +static void +ao_lco_drag_beep_start(void) +{ + ao_beep(AO_BEEP_HIGH); + PRINTD("beep start\n"); + ao_lco_drag_beep_on = 1; + ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME; +} + +static void +ao_lco_drag_beep_stop(void) +{ + ao_beep(0); + PRINTD("beep stop\n"); + ao_lco_drag_beep_on = 0; + if (ao_lco_drag_beep_count) { + --ao_lco_drag_beep_count; + if (ao_lco_drag_beep_count) + ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME; + } +} + +static void +ao_lco_drag_beep(uint8_t beeps) +{ + PRINTD("beep %d\n", beeps); + if (!ao_lco_drag_beep_count) + ao_lco_drag_beep_start(); + ao_lco_drag_beep_count += beeps; +} + +static uint16_t +ao_lco_drag_beep_check(uint16_t now, uint16_t delay) +{ + PRINTD("beep check count %d delta %d\n", + ao_lco_drag_beep_count, + (int16_t) (now - ao_lco_drag_beep_time)); + if (ao_lco_drag_beep_count) { + if ((int16_t) (now - ao_lco_drag_beep_time) >= 0) { + if (ao_lco_drag_beep_on) + ao_lco_drag_beep_stop(); + else + ao_lco_drag_beep_start(); + } + } + + if (ao_lco_drag_beep_count) { + if (delay > AO_LCO_DRAG_BEEP_TIME) + delay = AO_LCO_DRAG_BEEP_TIME; + } + return delay; +} + +static void +ao_lco_drag_enable(void) +{ + PRINTD("Drag enable\n"); + ao_lco_drag_race = 1; + memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); + ao_lco_drag_beep(5); + ao_lco_set_display_drag(); + ao_lco_fire_down = 0; + ao_lco_drag_display_on = 1; + ao_lco_drag_display_time = ao_time() + AO_SEC_TO_TICKS(5); +} + +static void +ao_lco_drag_disable(void) +{ + PRINTD("Drag disable\n"); + ao_lco_drag_race = 0; + memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); + ao_lco_drag_beep(2); + ao_lco_set_display(); + ao_lco_fire_down = 0; +} + +static uint16_t +ao_lco_drag_button_check(uint16_t now, uint16_t delay) +{ + uint16_t button_delay = ~0; + + /* + * Check to see if the button has been held down long enough + * to switch in/out of drag race mode + */ + if (ao_lco_fire_down) { + if (ao_lco_drag_race) { + if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_STOP_TIME) + ao_lco_drag_disable(); + else + button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_STOP_TIME - now; + } else { + if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_START_TIME) + ao_lco_drag_enable(); + else + button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_START_TIME - now; + } + if (delay > button_delay) + delay = button_delay; + } + return delay; +} + +static uint16_t +ao_lco_drag_warn_check(uint16_t now, uint16_t delay) +{ + uint16_t warn_delay = ~0; + + if (ao_lco_drag_race) { + if ((int16_t) (now - ao_lco_drag_warn_time) >= 0) { + ao_lco_drag_beep(1); + ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME; + } + warn_delay = ao_lco_drag_warn_time - now; + } + if (delay > warn_delay) + delay = warn_delay; + return delay; +} + +static uint16_t +ao_lco_drag_display_check(uint16_t now, uint16_t delay) +{ + uint16_t display_delay; + + if (ao_lco_drag_display_on) { + if ((int16_t) (now - ao_lco_drag_display_time) >= 0) { + ao_lco_drag_display_on = 0; + ao_lco_set_display(); + } else { + display_delay = ao_lco_drag_display_time - now; + if (delay > display_delay) + delay = display_delay; + } + } + return delay; +} + +static void +ao_lco_drag_monitor(void) +{ + uint16_t delay = ~0; + uint16_t now; + + for (;;) { + PRINTD("Drag monitor active %d delay %d\n", ao_lco_drag_active, delay); + if (delay == (uint16_t) ~0) + ao_sleep(&ao_lco_drag_active); + else + ao_sleep_for(&ao_lco_drag_active, delay); + + delay = ~0; + if (!ao_lco_drag_active) + continue; + + now = ao_time(); + delay = ao_lco_drag_button_check(now, delay); + delay = ao_lco_drag_warn_check(now, delay); + delay = ao_lco_drag_beep_check(now, delay); + delay = ao_lco_drag_display_check(now, delay); + + /* check to see if there's anything left to do here */ + if (!ao_lco_fire_down && !ao_lco_drag_race && !ao_lco_drag_beep_count) { + delay = ~0; + ao_lco_drag_active = 0; + } + } +} + static void ao_lco_input(void) { @@ -184,17 +408,49 @@ ao_lco_input(void) case AO_BUTTON_ARM: ao_lco_armed = event.value; PRINTD("Armed %d\n", ao_lco_armed); - if (ao_lco_pad != 0) { - memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); - ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1)); - ao_wakeup(&ao_lco_armed); + if (ao_lco_armed) { + if (ao_lco_drag_race) { + uint8_t box; + + for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) { + if (ao_lco_selected[box]) { + ao_wakeup(&ao_lco_armed); + break; + } + } + } else if (ao_lco_pad != 0) { + memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); + ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1)); + } } + ao_wakeup(&ao_lco_armed); break; case AO_BUTTON_FIRE: if (ao_lco_armed) { + ao_lco_fire_down = 0; ao_lco_firing = event.value; PRINTD("Firing %d\n", ao_lco_firing); ao_wakeup(&ao_lco_armed); + } else { + if (event.value) { + ao_lco_fire_down = 1; + ao_lco_fire_tick = ao_time(); + ao_lco_drag_active = 1; + /* ao_lco_fire_down will already be off if we just enabled drag mode */ + if (ao_lco_fire_down && ao_lco_drag_race) { + if (ao_lco_pad != 0) { + ao_lco_selected[ao_lco_box] ^= (1 << (ao_lco_pad - 1)); + PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n", + ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]); + ao_lco_drag_beep(ao_lco_pad); + } + } + ao_wakeup(&ao_lco_drag_active); + } else { + ao_lco_fire_down = 0; + if (ao_lco_drag_active) + ao_wakeup(&ao_lco_drag_active); + } } break; } @@ -241,7 +497,7 @@ ao_lco_get_channels(uint8_t box, struct ao_pad_query *query) ao_lco_valid[box] = 1; } else ao_lco_valid[box] = 0; - PRINTD("ao_lco_get_channels(%d) valid %d\n", box, ao_lco_valid[box]); + PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r); ao_wakeup(&ao_pad_query); return ao_lco_valid[box]; } @@ -323,6 +579,7 @@ static void ao_lco_igniter_status(void) { uint8_t c; + uint8_t t = 0; for (;;) { ao_sleep(&ao_pad_query); @@ -343,18 +600,27 @@ ao_lco_igniter_status(void) ao_led_on(AO_LED_REMOTE_ARM); else ao_led_off(AO_LED_REMOTE_ARM); + for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) { uint8_t status; - if (ao_pad_query.channels & (1 << c)) - status = ao_pad_query.igniter_status[c]; - else - status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN; - if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) - ao_led_on(continuity_led[c]); - else - ao_led_off(continuity_led[c]); + if (ao_lco_drag_race) { + if (ao_lco_selected[ao_lco_box] & (1 << c) && t) + ao_led_on(continuity_led[c]); + else + ao_led_off(continuity_led[c]); + } else { + if (ao_pad_query.channels & (1 << c)) + status = ao_pad_query.igniter_status[c]; + else + status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN; + if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) + ao_led_on(continuity_led[c]); + else + ao_led_off(continuity_led[c]); + } } + t = 1-t; } } @@ -379,12 +645,12 @@ ao_lco_monitor(void) { uint16_t delay; uint8_t box; - struct ao_pad_query pad_query; ao_lco_search(); ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input"); ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn"); ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status"); + ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race"); for (;;) { PRINTD("monitor armed %d firing %d\n", ao_lco_armed, ao_lco_firing); @@ -392,19 +658,17 @@ ao_lco_monitor(void) if (ao_lco_armed && ao_lco_firing) { ao_lco_ignite(); } else { + ao_lco_update(); if (ao_lco_armed) { - for (box = 0; box < AO_PAD_MAX_BOXES; box++) { + for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) { if (ao_lco_selected[box]) { PRINTD("Arming box %d pads %x\n", box, ao_lco_selected[box]); - if (!ao_lco_valid[box]) - ao_lco_get_channels(box, &pad_query); if (ao_lco_valid[box]) ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[ao_lco_box]); } } } - ao_lco_update(); } if (ao_lco_armed && ao_lco_firing) delay = AO_MS_TO_TICKS(100); -- cgit v1.2.3 From 9dae5f76c5691dc94c02839eb1321426f96f2134 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 13 Sep 2015 22:24:47 -0700 Subject: altos/telelco: Adjust drag race UI Enter/leave drag race is done by rotating the box selector knob to a new 'dr' position and then holding down the firing button; this avoids a potential accidental firing if you somehow don't realize you've armed the box before selecting drag race mode. Signed-off-by: Keith Packard --- src/drivers/ao_lco.c | 234 ++++++++++++++++++++++++++------------------------- 1 file changed, 118 insertions(+), 116 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c index 8180c49d..e2039604 100644 --- a/src/drivers/ao_lco.c +++ b/src/drivers/ao_lco.c @@ -52,7 +52,10 @@ static uint16_t ao_lco_fire_tick; static uint8_t ao_lco_fire_down; static uint8_t ao_lco_drag_race; static uint8_t ao_lco_pad; -static uint8_t ao_lco_box; +static int16_t ao_lco_box; + +#define AO_LCO_BOX_DRAG 0x1000 + static struct ao_pad_query ao_pad_query; static uint8_t ao_lco_display_mutex; @@ -65,12 +68,34 @@ ao_lco_set_pad(uint8_t pad) ao_mutex_put(&ao_lco_display_mutex); } +#define SEVEN_SEGMENT_d ((0 << 0) | \ + (0 << 1) | \ + (1 << 2) | \ + (1 << 3) | \ + (1 << 4) | \ + (1 << 5) | \ + (1 << 6)) + + +#define SEVEN_SEGMENT_r ((0 << 0) | \ + (0 << 1) | \ + (0 << 2) | \ + (1 << 3) | \ + (1 << 4) | \ + (0 << 5) | \ + (0 << 6)) + static void -ao_lco_set_box(uint8_t box) +ao_lco_set_box(uint16_t box) { ao_mutex_get(&ao_lco_display_mutex); - ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10 | (ao_lco_drag_race << 4)); - ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10 | (ao_lco_drag_race << 4)); + if (box == AO_LCO_BOX_DRAG) { + ao_seven_segment_direct(AO_LCO_BOX_DIGIT_10, SEVEN_SEGMENT_d | (ao_lco_drag_race << 7)); + ao_seven_segment_direct(AO_LCO_BOX_DIGIT_1, SEVEN_SEGMENT_r | (ao_lco_drag_race << 7)); + } else { + ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10 | (ao_lco_drag_race << 4)); + ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10 | (ao_lco_drag_race << 4)); + } ao_mutex_put(&ao_lco_display_mutex); } @@ -92,41 +117,17 @@ ao_lco_set_voltage(uint16_t decivolts) static void ao_lco_set_display(void) { - if (ao_lco_pad == 0) { + if (ao_lco_pad == 0 && ao_lco_box != AO_LCO_BOX_DRAG) { ao_lco_set_voltage(ao_pad_query.battery); } else { - ao_lco_set_pad(ao_lco_pad); + if (ao_lco_box == AO_LCO_BOX_DRAG) + ao_lco_set_pad(ao_lco_drag_race); + else + ao_lco_set_pad(ao_lco_pad); ao_lco_set_box(ao_lco_box); } } -#define SEVEN_SEGMENT_d ((0 << 0) | \ - (0 << 1) | \ - (1 << 2) | \ - (1 << 3) | \ - (1 << 4) | \ - (1 << 5) | \ - (1 << 6)) - - -#define SEVEN_SEGMENT_r ((0 << 0) | \ - (0 << 1) | \ - (0 << 2) | \ - (1 << 3) | \ - (1 << 4) | \ - (0 << 5) | \ - (0 << 6)) - -static void -ao_lco_set_display_drag(void) -{ - ao_mutex_get(&ao_lco_display_mutex); - ao_seven_segment_direct(AO_LCO_BOX_DIGIT_10, SEVEN_SEGMENT_d | 0x80); - ao_seven_segment_direct(AO_LCO_BOX_DIGIT_1, SEVEN_SEGMENT_r | 0x80); - ao_mutex_put(&ao_lco_display_mutex); - ao_lco_set_pad(ao_lco_pad); -} - #define MASK_SIZE(n) (((n) + 7) >> 3) #define MASK_ID(n) ((n) >> 3) #define MASK_SHIFT(n) ((n) & 7) @@ -134,8 +135,11 @@ ao_lco_set_display_drag(void) static uint8_t ao_lco_box_mask[MASK_SIZE(AO_PAD_MAX_BOXES)]; static uint8_t -ao_lco_box_present(uint8_t box) +ao_lco_box_present(uint16_t box) { + if (box == AO_LCO_BOX_DRAG) + return 1; + if (box >= AO_PAD_MAX_BOXES) return 0; return (ao_lco_box_mask[MASK_ID(box)] >> MASK_SHIFT(box)) & 1; @@ -171,8 +175,6 @@ static uint8_t ao_lco_drag_beep_count; static uint8_t ao_lco_drag_beep_on; static uint16_t ao_lco_drag_beep_time; static uint16_t ao_lco_drag_warn_time; -static uint16_t ao_lco_drag_display_time; -static uint8_t ao_lco_drag_display_on; #define AO_LCO_DRAG_BEEP_TIME AO_MS_TO_TICKS(50) #define AO_LCO_DRAG_WARN_TIME AO_SEC_TO_TICKS(5) @@ -237,10 +239,8 @@ ao_lco_drag_enable(void) ao_lco_drag_race = 1; memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); ao_lco_drag_beep(5); - ao_lco_set_display_drag(); + ao_lco_set_display(); ao_lco_fire_down = 0; - ao_lco_drag_display_on = 1; - ao_lco_drag_display_time = ao_time() + AO_SEC_TO_TICKS(5); } static void @@ -298,24 +298,6 @@ ao_lco_drag_warn_check(uint16_t now, uint16_t delay) return delay; } -static uint16_t -ao_lco_drag_display_check(uint16_t now, uint16_t delay) -{ - uint16_t display_delay; - - if (ao_lco_drag_display_on) { - if ((int16_t) (now - ao_lco_drag_display_time) >= 0) { - ao_lco_drag_display_on = 0; - ao_lco_set_display(); - } else { - display_delay = ao_lco_drag_display_time - now; - if (delay > display_delay) - delay = display_delay; - } - } - return delay; -} - static void ao_lco_drag_monitor(void) { @@ -337,7 +319,6 @@ ao_lco_drag_monitor(void) delay = ao_lco_drag_button_check(now, delay); delay = ao_lco_drag_warn_check(now, delay); delay = ao_lco_drag_beep_check(now, delay); - delay = ao_lco_drag_display_check(now, delay); /* check to see if there's anything left to do here */ if (!ao_lco_fire_down && !ao_lco_drag_race && !ao_lco_drag_beep_count) { @@ -351,7 +332,8 @@ static void ao_lco_input(void) { static struct ao_event event; - int8_t dir, new_box, new_pad; + int8_t dir, new_pad; + int16_t new_box; ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); for (;;) { @@ -385,18 +367,26 @@ ao_lco_input(void) dir = (int8_t) event.value; new_box = ao_lco_box; do { - new_box += dir; - if (new_box > ao_lco_max_box) - new_box = ao_lco_min_box; - else if (new_box < ao_lco_min_box) - new_box = ao_lco_max_box; + if (new_box == AO_LCO_BOX_DRAG) { + if (dir < 0) + new_box = ao_lco_max_box; + else + new_box = ao_lco_min_box; + } else { + new_box += dir; + if (new_box > ao_lco_max_box) + new_box = AO_LCO_BOX_DRAG; + else if (new_box < ao_lco_min_box) + new_box = AO_LCO_BOX_DRAG; + } if (new_box == ao_lco_box) break; } while (!ao_lco_box_present(new_box)); if (ao_lco_box != new_box) { ao_lco_box = new_box; ao_lco_pad = 1; - ao_lco_channels[ao_lco_box] = 0; + if (ao_lco_box != AO_LCO_BOX_DRAG) + ao_lco_channels[ao_lco_box] = 0; ao_lco_set_display(); } } @@ -418,9 +408,12 @@ ao_lco_input(void) break; } } - } else if (ao_lco_pad != 0) { + } else { memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); - ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1)); + if (ao_lco_pad != 0 && ao_lco_box != AO_LCO_BOX_DRAG) + ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1)); + else + ao_lco_armed = 0; } } ao_wakeup(&ao_lco_armed); @@ -433,12 +426,13 @@ ao_lco_input(void) ao_wakeup(&ao_lco_armed); } else { if (event.value) { - ao_lco_fire_down = 1; - ao_lco_fire_tick = ao_time(); - ao_lco_drag_active = 1; - /* ao_lco_fire_down will already be off if we just enabled drag mode */ - if (ao_lco_fire_down && ao_lco_drag_race) { - if (ao_lco_pad != 0) { + if (ao_lco_box == AO_LCO_BOX_DRAG) { + ao_lco_fire_down = 1; + ao_lco_fire_tick = ao_time(); + ao_lco_drag_active = 1; + } + if (ao_lco_drag_race) { + if (ao_lco_pad != 0 && ao_lco_box != AO_LCO_BOX_DRAG) { ao_lco_selected[ao_lco_box] ^= (1 << (ao_lco_pad - 1)); PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n", ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]); @@ -505,16 +499,18 @@ ao_lco_get_channels(uint8_t box, struct ao_pad_query *query) static void ao_lco_update(void) { - uint8_t previous_valid = ao_lco_valid[ao_lco_box]; - - if (ao_lco_get_channels(ao_lco_box, &ao_pad_query)) { - if (!previous_valid) { - if (ao_lco_pad != 0) - ao_lco_pad = ao_lco_pad_first(ao_lco_box); - ao_lco_set_display(); + if (ao_lco_box != AO_LCO_BOX_DRAG) { + uint8_t previous_valid = ao_lco_valid[ao_lco_box]; + + if (ao_lco_get_channels(ao_lco_box, &ao_pad_query)) { + if (!previous_valid) { + if (ao_lco_pad != 0) + ao_lco_pad = ao_lco_pad_first(ao_lco_box); + ao_lco_set_display(); + } + if (ao_lco_pad == 0) + ao_lco_set_display(); } - if (ao_lco_pad == 0) - ao_lco_set_display(); } } @@ -583,44 +579,50 @@ ao_lco_igniter_status(void) for (;;) { ao_sleep(&ao_pad_query); - PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid[ao_lco_box]); - if (!ao_lco_valid[ao_lco_box]) { - ao_led_on(AO_LED_RED); - ao_led_off(AO_LED_GREEN|AO_LED_AMBER); - continue; - } - if (ao_radio_cmac_rssi < -90) { - ao_led_on(AO_LED_AMBER); - ao_led_off(AO_LED_RED|AO_LED_GREEN); + PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_box == AO_LCO_BOX_DRAG ? -1 : ao_lco_valid[ao_lco_box]); + if (ao_lco_box == AO_LCO_BOX_DRAG) { + ao_led_off(AO_LED_RED|AO_LED_GREEN|AO_LED_AMBER); + for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) + ao_led_off(continuity_led[c]); } else { - ao_led_on(AO_LED_GREEN); - ao_led_off(AO_LED_RED|AO_LED_AMBER); - } - if (ao_pad_query.arm_status) - ao_led_on(AO_LED_REMOTE_ARM); - else - ao_led_off(AO_LED_REMOTE_ARM); + if (!ao_lco_valid[ao_lco_box]) { + ao_led_on(AO_LED_RED); + ao_led_off(AO_LED_GREEN|AO_LED_AMBER); + continue; + } + if (ao_radio_cmac_rssi < -90) { + ao_led_on(AO_LED_AMBER); + ao_led_off(AO_LED_RED|AO_LED_GREEN); + } else { + ao_led_on(AO_LED_GREEN); + ao_led_off(AO_LED_RED|AO_LED_AMBER); + } + if (ao_pad_query.arm_status) + ao_led_on(AO_LED_REMOTE_ARM); + else + ao_led_off(AO_LED_REMOTE_ARM); - for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) { - uint8_t status; + for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) { + uint8_t status; - if (ao_lco_drag_race) { - if (ao_lco_selected[ao_lco_box] & (1 << c) && t) - ao_led_on(continuity_led[c]); - else - ao_led_off(continuity_led[c]); - } else { - if (ao_pad_query.channels & (1 << c)) - status = ao_pad_query.igniter_status[c]; - else - status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN; - if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) - ao_led_on(continuity_led[c]); - else - ao_led_off(continuity_led[c]); + if (ao_lco_drag_race) { + if (ao_lco_selected[ao_lco_box] & (1 << c) && t) + ao_led_on(continuity_led[c]); + else + ao_led_off(continuity_led[c]); + } else { + if (ao_pad_query.channels & (1 << c)) + status = ao_pad_query.igniter_status[c]; + else + status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN; + if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) + ao_led_on(continuity_led[c]); + else + ao_led_off(continuity_led[c]); + } } + t = 1-t; } - t = 1-t; } } @@ -665,7 +667,7 @@ ao_lco_monitor(void) PRINTD("Arming box %d pads %x\n", box, ao_lco_selected[box]); if (ao_lco_valid[box]) - ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[ao_lco_box]); + ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]); } } } -- cgit v1.2.3 From 0ae116dd8779fd0594d443a735e7b6834ea9b713 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 10 Oct 2015 14:10:59 -0700 Subject: telelco: Fix pad reset to one on radio signal loss The pad number was getting reset back to one when signal was lost, causing pad one to get fired in this case even when already set to arm mode. Signed-off-by: Keith Packard --- src/drivers/ao_lco.c | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c index e2039604..6c192537 100644 --- a/src/drivers/ao_lco.c +++ b/src/drivers/ao_lco.c @@ -39,6 +39,9 @@ static uint8_t ao_lco_debug; #define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5) #define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2) +#define AO_LCO_VALID_LAST 1 +#define AO_LCO_VALID_EVER 2 + static uint8_t ao_lco_min_box, ao_lco_max_box; static uint8_t ao_lco_selected[AO_PAD_MAX_BOXES]; static uint8_t ao_lco_valid[AO_PAD_MAX_BOXES]; @@ -488,10 +491,10 @@ ao_lco_get_channels(uint8_t box, struct ao_pad_query *query) r = ao_lco_query(box, query, &ao_lco_tick_offset[box]); if (r == AO_RADIO_CMAC_OK) { ao_lco_channels[box] = query->channels; - ao_lco_valid[box] = 1; + ao_lco_valid[box] = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER; } else - ao_lco_valid[box] = 0; - PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r); + ao_lco_valid[box] &= ~AO_LCO_VALID_LAST; + PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d offset %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r, ao_lco_tick_offset[box]); ao_wakeup(&ao_pad_query); return ao_lco_valid[box]; } @@ -502,8 +505,8 @@ ao_lco_update(void) if (ao_lco_box != AO_LCO_BOX_DRAG) { uint8_t previous_valid = ao_lco_valid[ao_lco_box]; - if (ao_lco_get_channels(ao_lco_box, &ao_pad_query)) { - if (!previous_valid) { + if (ao_lco_get_channels(ao_lco_box, &ao_pad_query) & AO_LCO_VALID_LAST) { + if (!(previous_valid & AO_LCO_VALID_EVER)) { if (ao_lco_pad != 0) ao_lco_pad = ao_lco_pad_first(ao_lco_box); ao_lco_set_display(); @@ -537,7 +540,6 @@ ao_lco_box_set_present(uint8_t box) static void ao_lco_search(void) { - uint16_t tick_offset; int8_t r; int8_t try; uint8_t box; @@ -549,9 +551,9 @@ ao_lco_search(void) if ((box % 10) == 0) ao_lco_set_box(box); for (try = 0; try < 3; try++) { - tick_offset = 0; - r = ao_lco_query(box, &ao_pad_query, &tick_offset); - PRINTD("box %d result %d\n", box, r); + ao_lco_tick_offset[box] = 0; + r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]); + PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]); if (r == AO_RADIO_CMAC_OK) { ++boxes; ao_lco_box_set_present(box); @@ -585,7 +587,7 @@ ao_lco_igniter_status(void) for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) ao_led_off(continuity_led[c]); } else { - if (!ao_lco_valid[ao_lco_box]) { + if (!(ao_lco_valid[ao_lco_box] & AO_LCO_VALID_LAST)) { ao_led_on(AO_LED_RED); ao_led_off(AO_LED_GREEN|AO_LED_AMBER); continue; @@ -666,8 +668,10 @@ ao_lco_monitor(void) if (ao_lco_selected[box]) { PRINTD("Arming box %d pads %x\n", box, ao_lco_selected[box]); - if (ao_lco_valid[box]) + if (ao_lco_valid[box] & AO_LCO_VALID_EVER) { ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]); + ao_delay(AO_MS_TO_TICKS(10)); + } } } } -- cgit v1.2.3 From 8aa0ab9fe9ca41f6d520d388973164bc0c599a06 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 24 Dec 2015 00:28:59 -0800 Subject: altos: Add TeleMega v2.0, including PWM driver Signed-off-by: Keith Packard --- src/Makefile | 1 + src/drivers/ao_pwm.h | 29 +++ src/stm/ao_pwm_stm.c | 174 ++++++++++++++ src/telemega-v2.0/.gitignore | 2 + src/telemega-v2.0/Makefile | 158 +++++++++++++ src/telemega-v2.0/ao_pins.h | 394 +++++++++++++++++++++++++++++++ src/telemega-v2.0/ao_telemega.c | 105 ++++++++ src/telemega-v2.0/flash-loader/Makefile | 8 + src/telemega-v2.0/flash-loader/ao_pins.h | 34 +++ 9 files changed, 905 insertions(+) create mode 100644 src/drivers/ao_pwm.h create mode 100644 src/stm/ao_pwm_stm.c create mode 100644 src/telemega-v2.0/.gitignore create mode 100644 src/telemega-v2.0/Makefile create mode 100644 src/telemega-v2.0/ao_pins.h create mode 100644 src/telemega-v2.0/ao_telemega.c create mode 100644 src/telemega-v2.0/flash-loader/Makefile create mode 100644 src/telemega-v2.0/flash-loader/ao_pins.h (limited to 'src/drivers') diff --git a/src/Makefile b/src/Makefile index dc74bf8c..ebe1df9c 100644 --- a/src/Makefile +++ b/src/Makefile @@ -29,6 +29,7 @@ ARMM3DIRS=\ easymega-v1.0 easymega-v1.0/flash-loader \ telemega-v0.1 telemega-v0.1/flash-loader \ telemega-v1.0 telemega-v1.0/flash-loader \ + telemega-v2.0 telemega-v2.0/flash-loader \ telemetrum-v2.0 telemetrum-v2.0/flash-loader \ megadongle-v0.1 megadongle-v0.1/flash-loader \ telegps-v0.3 telegps-v0.3/flash-loader \ diff --git a/src/drivers/ao_pwm.h b/src/drivers/ao_pwm.h new file mode 100644 index 00000000..2dd2ffd5 --- /dev/null +++ b/src/drivers/ao_pwm.h @@ -0,0 +1,29 @@ +/* + * Copyright © 2015 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_PWM_H_ +#define _AO_PWM_H_ + +#include + +void +ao_pwm_set(uint8_t pwm, uint16_t value); + +void +ao_pwm_init(void); + +#endif /* _AO_PWM_H_ */ diff --git a/src/stm/ao_pwm_stm.c b/src/stm/ao_pwm_stm.c new file mode 100644 index 00000000..cea21030 --- /dev/null +++ b/src/stm/ao_pwm_stm.c @@ -0,0 +1,174 @@ +/* + * Copyright © 2015 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_pwm.h" + +static uint8_t pwm_running; + +static uint16_t pwm_value[NUM_PWM]; + +static void +ao_pwm_up(void) +{ + if (pwm_running++ == 0) { + struct stm_tim234 *tim = &AO_PWM_TIMER; + tim->ccr1 = 0; + tim->ccr2 = 0; + tim->ccr3 = 0; + tim->ccr4 = 0; + tim->arr = PWM_MAX; /* turn on the timer */ + } +} + +static void +ao_pwm_down(void) +{ + if (--pwm_running == 0) { + struct stm_tim234 *tim = &AO_PWM_TIMER; + tim->arr = 0; /* turn off the timer */ + } +} + +void +ao_pwm_set(uint8_t pwm, uint16_t value) +{ + struct stm_tim234 *tim = &AO_PWM_TIMER; + + if (value != 0) { + if (pwm_value[pwm] == 0) + ao_pwm_up(); + } else { + if (pwm_value[pwm] != 0) + ao_pwm_down(); + } + pwm_value[pwm] = value; + switch (pwm) { + case 0: + tim->ccr1 = value; + break; + case 1: + tim->ccr2 = value; + break; + case 2: + tim->ccr3 = value; + break; + case 3: + tim->ccr4 = value; + break; + } +} + +static void +ao_pwm_cmd(void) +{ + uint8_t ch; + uint16_t val; + + ao_cmd_decimal(); + ch = ao_cmd_lex_u32; + ao_cmd_decimal(); + val = ao_cmd_lex_u32; + if (ao_cmd_status != ao_cmd_success) + return; + + printf("Set channel %d to %d\n", ch, val); + ao_pwm_set(ch, val); +} + +static const struct ao_cmds ao_pwm_cmds[] = { + { ao_pwm_cmd, "P \0Set PWM ch to val" }, + { 0, NULL }, +}; + +void +ao_pwm_init(void) +{ + struct stm_tim234 *tim = &AO_PWM_TIMER; + + stm_rcc.apb1enr |= AO_PWM_TIMER_ENABLE; + tim->ccr1 = 0; + tim->ccr2 = 0; + tim->ccr3 = 0; + tim->ccr4 = 0; + tim->arr = 0; /* turn off the timer */ + tim->psc = 0; + tim->cnt = 0; + tim->ccer = ((1 << STM_TIM234_CCER_CC1E) | + (0 << STM_TIM234_CCER_CC1P) | + (1 << STM_TIM234_CCER_CC2E) | + (0 << STM_TIM234_CCER_CC2P) | + (1 << STM_TIM234_CCER_CC3E) | + (0 << STM_TIM234_CCER_CC3P) | + (1 << STM_TIM234_CCER_CC4E) | + (0 << STM_TIM234_CCER_CC4P)); + + tim->ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) | + (STM_TIM234_CCMR1_OC2M_PWM_MODE_1 << STM_TIM234_CCMR1_OC2M) | + (1 << STM_TIM234_CCMR1_OC2PE) | + (0 << STM_TIM234_CCMR1_OC2FE) | + (STM_TIM234_CCMR1_CC2S_OUTPUT << STM_TIM234_CCMR1_CC2S) | + + (0 << STM_TIM234_CCMR1_OC1CE) | + (STM_TIM234_CCMR1_OC1M_PWM_MODE_1 << STM_TIM234_CCMR1_OC1M) | + (1 << STM_TIM234_CCMR1_OC1PE) | + (0 << STM_TIM234_CCMR1_OC1FE) | + (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S)); + + + tim->ccmr2 = ((0 << STM_TIM234_CCMR2_OC4CE) | + (STM_TIM234_CCMR2_OC4M_PWM_MODE_1 << STM_TIM234_CCMR2_OC4M) | + (1 << STM_TIM234_CCMR2_OC4PE) | + (0 << STM_TIM234_CCMR2_OC4FE) | + (STM_TIM234_CCMR2_CC4S_OUTPUT << STM_TIM234_CCMR2_CC4S) | + + (0 << STM_TIM234_CCMR2_OC3CE) | + (STM_TIM234_CCMR2_OC3M_PWM_MODE_1 << STM_TIM234_CCMR2_OC3M) | + (1 << STM_TIM234_CCMR2_OC3PE) | + (0 << STM_TIM234_CCMR2_OC3FE) | + (STM_TIM234_CCMR2_CC3S_OUTPUT << STM_TIM234_CCMR2_CC3S)); + tim->egr = 0; + + tim->sr = 0; + tim->dier = 0; + tim->smcr = 0; + tim->cr2 = ((0 << STM_TIM234_CR2_TI1S) | + (STM_TIM234_CR2_MMS_RESET<< STM_TIM234_CR2_MMS) | + (0 << STM_TIM234_CR2_CCDS)); + + tim->cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) | + (1 << STM_TIM234_CR1_ARPE) | + (STM_TIM234_CR1_CMS_EDGE << STM_TIM234_CR1_CMS) | + (STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) | + (0 << STM_TIM234_CR1_OPM) | + (0 << STM_TIM234_CR1_URS) | + (0 << STM_TIM234_CR1_UDIS) | + (1 << STM_TIM234_CR1_CEN)); + + stm_afr_set(&stm_gpiod, 12, STM_AFR_AF2); +#if NUM_PWM > 1 + stm_afr_set(&stm_gpiod, 13, STM_AFR_AF2); +#endif +#if NUM_PWM > 2 + stm_afr_set(&stm_gpiod, 14, STM_AFR_AF2); +#endif +#if NUM_PWM > 3 + stm_afr_set(&stm_gpiod, 15, STM_AFR_AF2); +#endif + + ao_cmd_register(&ao_pwm_cmds[0]); +} diff --git a/src/telemega-v2.0/.gitignore b/src/telemega-v2.0/.gitignore new file mode 100644 index 00000000..e67759a2 --- /dev/null +++ b/src/telemega-v2.0/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +telemega-*.elf diff --git a/src/telemega-v2.0/Makefile b/src/telemega-v2.0/Makefile new file mode 100644 index 00000000..2e0e8908 --- /dev/null +++ b/src/telemega-v2.0/Makefile @@ -0,0 +1,158 @@ +# +# AltOS build +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_boot.h \ + ao_companion.h \ + ao_data.h \ + ao_sample.h \ + ao_pins.h \ + altitude-pa.h \ + ao_kalman.h \ + ao_product.h \ + ao_ms5607.h \ + ao_hmc5883.h \ + ao_mpu6000.h \ + ao_mma655x.h \ + ao_cc1120_CC1120.h \ + ao_profile.h \ + ao_task.h \ + ao_whiten.h \ + ao_sample_profile.h \ + ao_quaternion.h \ + math.h \ + ao_mpu.h \ + stm32l.h \ + math.h \ + ao_ms5607_convert.c \ + Makefile + +# +# Common AltOS sources +# +# ao_hmc5883.c + +#PROFILE=ao_profile.c +#PROFILE_DEF=-DAO_PROFILE=1 + +#SAMPLE_PROFILE=ao_sample_profile.c \ +# ao_sample_profile_timer.c +#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1 + +#STACK_GUARD=ao_mpu_stm.c +#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 + +MATH_SRC=\ + ef_acos.c \ + ef_sqrt.c \ + ef_rem_pio2.c \ + kf_cos.c \ + kf_sin.c \ + kf_rem_pio2.c \ + sf_copysign.c \ + sf_cos.c \ + sf_fabs.c \ + sf_floor.c \ + sf_scalbn.c \ + sf_sin.c \ + ef_log.c + +ALTOS_SRC = \ + ao_boot_chain.c \ + ao_interrupt.c \ + ao_product.c \ + ao_romconfig.c \ + ao_cmd.c \ + ao_config.c \ + ao_task.c \ + ao_led.c \ + ao_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_mutex.c \ + ao_serial_stm.c \ + ao_gps_ublox.c \ + ao_gps_show.c \ + ao_gps_report_mega.c \ + ao_ignite.c \ + ao_freq.c \ + ao_dma_stm.c \ + ao_spi_stm.c \ + ao_cc1120.c \ + ao_fec_tx.c \ + ao_fec_rx.c \ + ao_data.c \ + ao_ms5607.c \ + ao_mma655x.c \ + ao_hmc5883.c \ + ao_adc_stm.c \ + ao_beep_stm.c \ + ao_eeprom_stm.c \ + ao_storage.c \ + ao_m25.c \ + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_report.c \ + ao_i2c_stm.c \ + ao_mpu6000.c \ + ao_convert_pa.c \ + ao_convert_volt.c \ + ao_log.c \ + ao_log_mega.c \ + ao_sample.c \ + ao_kalman.c \ + ao_flight.c \ + ao_telemetry.c \ + ao_packet_slave.c \ + ao_packet.c \ + ao_companion.c \ + ao_pyro.c \ + ao_aprs.c \ + ao_pwm_stm.c \ + $(MATH_SRC) \ + $(PROFILE) \ + $(SAMPLE_PROFILE) \ + $(STACK_GUARD) + +PRODUCT=TeleMega-v2.0 +PRODUCT_DEF=-DTELEMEGA +IDPRODUCT=0x0023 + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g + +PROGNAME=telemega-v2.0 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SRC=$(ALTOS_SRC) ao_telemega.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) $(HEX) + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS) + +../altitude-pa.h: make-altitude-pa + nickle $< > $@ + +$(OBJ): $(INC) + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/telemega-v2.0/ao_pins.h b/src/telemega-v2.0/ao_pins.h new file mode 100644 index 00000000..b88dd08c --- /dev/null +++ b/src/telemega-v2.0/ao_pins.h @@ -0,0 +1,394 @@ +/* + * 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_PINS_H_ +#define _AO_PINS_H_ + +#define HAS_TASK_QUEUE 1 + +/* 8MHz High speed external crystal */ +#define AO_HSE 8000000 + +/* PLLVCO = 96MHz (so that USB will work) */ +#define AO_PLLMUL 12 +#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12) + +/* SYSCLK = 32MHz (no need to go faster than CPU) */ +#define AO_PLLDIV 3 +#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) + +/* HCLK = 32MHz (CPU clock) */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* Run APB1 at 16MHz (HCLK/2) */ +#define AO_APB1_PRESCALER 2 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +/* Run APB2 at 16MHz (HCLK/2) */ +#define AO_APB2_PRESCALER 2 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +#define HAS_SERIAL_1 0 +#define USE_SERIAL_1_STDIN 0 +#define SERIAL_1_PB6_PB7 0 +#define SERIAL_1_PA9_PA10 1 + +#define HAS_SERIAL_2 0 +#define USE_SERIAL_2_STDIN 0 +#define SERIAL_2_PA2_PA3 0 +#define SERIAL_2_PD5_PD6 0 + +#define HAS_SERIAL_3 1 +#define USE_SERIAL_3_STDIN 0 +#define SERIAL_3_PB10_PB11 0 +#define SERIAL_3_PC10_PC11 1 +#define SERIAL_3_PD8_PD9 0 + +#define ao_gps_getchar ao_serial3_getchar +#define ao_gps_putchar ao_serial3_putchar +#define ao_gps_set_speed ao_serial3_set_speed +#define ao_gps_fifo (ao_stm_usart3.rx_fifo) + +#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024) +#define AO_CONFIG_MAX_SIZE 1024 +#define LOG_ERASE_MARK 0x55 +#define LOG_MAX_ERASE 128 + +#define HAS_EEPROM 1 +#define USE_INTERNAL_FLASH 0 +#define USE_EEPROM_CONFIG 1 +#define USE_STORAGE_CONFIG 0 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define HAS_BATTERY_REPORT 1 +#define HAS_RADIO 1 +#define HAS_TELEMETRY 1 +#define HAS_APRS 1 +#define HAS_COMPANION 1 + +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 1 /* Barometer */ +#define SPI_1_PB3_PB4_PB5 0 +#define SPI_1_PE13_PE14_PE15 1 /* Accelerometer, Gyro */ +#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz + +#define HAS_SPI_2 1 +#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */ +#define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz + +#define SPI_2_PORT (&stm_gpiob) +#define SPI_2_SCK_PIN 13 +#define SPI_2_MISO_PIN 14 +#define SPI_2_MOSI_PIN 15 + +#define HAS_I2C_1 1 +#define I2C_1_PB8_PB9 1 + +#define HAS_I2C_2 0 +#define I2C_2_PB10_PB11 0 + +#define PACKET_HAS_SLAVE 1 +#define PACKET_HAS_MASTER 0 + +#define LOW_LEVEL_DEBUG 0 + +#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN +#define LED_PORT (&stm_gpioc) +#define LED_PIN_RED 8 +#define LED_PIN_GREEN 9 +#define AO_LED_RED (1 << LED_PIN_RED) +#define AO_LED_GREEN (1 << LED_PIN_GREEN) + +#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN) + +#define HAS_GPS 1 +#define HAS_FLIGHT 1 +#define HAS_ADC 1 +#define HAS_ADC_TEMP 1 +#define HAS_LOG 1 + +/* + * Igniter + */ + +#define HAS_IGNITE 1 +#define HAS_IGNITE_REPORT 1 + +#define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n]) +#define AO_SENSE_DROGUE(p) ((p)->adc.sense[4]) +#define AO_SENSE_MAIN(p) ((p)->adc.sense[5]) +#define AO_IGNITER_CLOSED 400 +#define AO_IGNITER_OPEN 60 + +/* Pyro A */ +#define AO_PYRO_PORT_0 (&stm_gpiod) +#define AO_PYRO_PIN_0 6 + +/* Pyro B */ +#define AO_PYRO_PORT_1 (&stm_gpiod) +#define AO_PYRO_PIN_1 7 + +/* Pyro C */ +#define AO_PYRO_PORT_2 (&stm_gpiob) +#define AO_PYRO_PIN_2 5 + +/* Pyro D */ +#define AO_PYRO_PORT_3 (&stm_gpioe) +#define AO_PYRO_PIN_3 4 + +/* Drogue */ +#define AO_IGNITER_DROGUE_PORT (&stm_gpioe) +#define AO_IGNITER_DROGUE_PIN 6 + +/* Main */ +#define AO_IGNITER_MAIN_PORT (&stm_gpioe) +#define AO_IGNITER_MAIN_PIN 5 + +/* Number of general purpose pyro channels available */ +#define AO_PYRO_NUM 4 + +#define AO_IGNITER_SET_DROGUE(v) stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v) +#define AO_IGNITER_SET_MAIN(v) stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v) + +/* + * ADC + */ +#define AO_DATA_RING 32 +#define AO_ADC_NUM_SENSE 6 + +struct ao_adc { + int16_t sense[AO_ADC_NUM_SENSE]; + int16_t v_batt; + int16_t v_pbatt; + int16_t temp; +}; + +#define AO_ADC_DUMP(p) \ + printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \ + (p)->tick, \ + (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \ + (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \ + (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp) + +#define AO_ADC_SENSE_A 0 +#define AO_ADC_SENSE_A_PORT (&stm_gpioa) +#define AO_ADC_SENSE_A_PIN 0 + +#define AO_ADC_SENSE_B 1 +#define AO_ADC_SENSE_B_PORT (&stm_gpioa) +#define AO_ADC_SENSE_B_PIN 1 + +#define AO_ADC_SENSE_C 2 +#define AO_ADC_SENSE_C_PORT (&stm_gpioa) +#define AO_ADC_SENSE_C_PIN 2 + +#define AO_ADC_SENSE_D 3 +#define AO_ADC_SENSE_D_PORT (&stm_gpioa) +#define AO_ADC_SENSE_D_PIN 3 + +#define AO_ADC_SENSE_DROGUE 4 +#define AO_ADC_SENSE_DROGUE_PORT (&stm_gpioa) +#define AO_ADC_SENSE_DROGUE_PIN 4 + +#define AO_ADC_SENSE_MAIN 22 +#define AO_ADC_SENSE_MAIN_PORT (&stm_gpioe) +#define AO_ADC_SENSE_MAIN_PIN 7 + +#define AO_ADC_V_BATT 8 +#define AO_ADC_V_BATT_PORT (&stm_gpiob) +#define AO_ADC_V_BATT_PIN 0 + +#define AO_ADC_V_PBATT 9 +#define AO_ADC_V_PBATT_PORT (&stm_gpiob) +#define AO_ADC_V_PBATT_PIN 1 + +#define AO_ADC_TEMP 16 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \ + (1 << STM_RCC_AHBENR_GPIOEEN) | \ + (1 << STM_RCC_AHBENR_GPIOBEN)) + +#define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2) + +#define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT +#define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN +#define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT +#define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN +#define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT +#define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN +#define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT +#define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN +#define AO_ADC_PIN4_PORT AO_ADC_SENSE_DROGUE_PORT +#define AO_ADC_PIN4_PIN AO_ADC_SENSE_DROGUE_PIN +#define AO_ADC_PIN5_PORT AO_ADC_SENSE_MAIN_PORT +#define AO_ADC_PIN5_PIN AO_ADC_SENSE_MAIN_PIN +#define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT +#define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN +#define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT +#define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN + +#define AO_NUM_ADC (AO_ADC_NUM_SENSE + 3) + +#define AO_ADC_SQ1 AO_ADC_SENSE_A +#define AO_ADC_SQ2 AO_ADC_SENSE_B +#define AO_ADC_SQ3 AO_ADC_SENSE_C +#define AO_ADC_SQ4 AO_ADC_SENSE_D +#define AO_ADC_SQ5 AO_ADC_SENSE_DROGUE +#define AO_ADC_SQ6 AO_ADC_SENSE_MAIN +#define AO_ADC_SQ7 AO_ADC_V_BATT +#define AO_ADC_SQ8 AO_ADC_V_PBATT +#define AO_ADC_SQ9 AO_ADC_TEMP + +/* + * Voltage divider on ADC battery sampler + */ +#define AO_BATTERY_DIV_PLUS 56 /* 5.6k */ +#define AO_BATTERY_DIV_MINUS 100 /* 10k */ + +/* + * Voltage divider on ADC igniter samplers + */ +#define AO_IGNITE_DIV_PLUS 100 /* 100k */ +#define AO_IGNITE_DIV_MINUS 27 /* 27k */ + +/* + * ADC reference in decivolts + */ +#define AO_ADC_REFERENCE_DV 33 + +/* + * Pressure sensor settings + */ +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define AO_MS5607_PRIVATE_PINS 1 +#define AO_MS5607_CS_PORT (&stm_gpioc) +#define AO_MS5607_CS_PIN 4 +#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS) +#define AO_MS5607_MISO_PORT (&stm_gpioa) +#define AO_MS5607_MISO_PIN 6 +#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO) +#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7 + +/* + * SPI Flash memory + */ + +#define M25_MAX_CHIPS 1 +#define AO_M25_SPI_CS_PORT (&stm_gpiod) +#define AO_M25_SPI_CS_MASK (1 << 3) +#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15 + +/* + * Radio (cc1120) + */ + +/* gets pretty close to 434.550 */ + +#define AO_RADIO_CAL_DEFAULT 0x6ca333 + +#define AO_FEC_DEBUG 0 +#define AO_CC1120_SPI_CS_PORT (&stm_gpioc) +#define AO_CC1120_SPI_CS_PIN 5 +#define AO_CC1120_SPI_BUS AO_SPI_2_PB13_PB14_PB15 +#define AO_CC1120_SPI stm_spi2 + +#define AO_CC1120_INT_PORT (&stm_gpioe) +#define AO_CC1120_INT_PIN 1 +#define AO_CC1120_MCU_WAKEUP_PORT (&stm_gpioc) +#define AO_CC1120_MCU_WAKEUP_PIN (0) + +#define AO_CC1120_INT_GPIO 2 +#define AO_CC1120_INT_GPIO_IOCFG CC1120_IOCFG2 + +#define AO_CC1120_MARC_GPIO 3 +#define AO_CC1120_MARC_GPIO_IOCFG CC1120_IOCFG3 + +#define HAS_BOOT_RADIO 0 + +/* + * Mag sensor (hmc5883) + */ + +#define HAS_HMC5883 1 +#define AO_HMC5883_INT_PORT (&stm_gpioc) +#define AO_HMC5883_INT_PIN 12 +#define AO_HMC5883_I2C_INDEX STM_I2C_INDEX(1) + +/* + * mpu6000 + */ + +#define HAS_MPU6000 1 +#define AO_MPU6000_INT_PORT (&stm_gpioe) +#define AO_MPU6000_INT_PIN 0 +#define AO_MPU6000_SPI_BUS AO_SPI_1_PE13_PE14_PE15 +#define AO_MPU6000_SPI_CS_PORT (&stm_gpiod) +#define AO_MPU6000_SPI_CS_PIN 2 +#define HAS_IMU 1 + +/* + * mma655x + */ + +#define HAS_MMA655X 1 +#define AO_MMA655X_SPI_INDEX AO_SPI_1_PE13_PE14_PE15 +#define AO_MMA655X_CS_PORT (&stm_gpiod) +#define AO_MMA655X_CS_PIN 4 + +#define NUM_CMDS 16 + +/* + * Companion + */ + +#define AO_COMPANION_CS_PORT (&stm_gpiob) +#define AO_COMPANION_CS_PIN_0 (6) +#define AO_COMPANION_CS_PIN AO_COMPANION_CS_PIN_0 +#define AO_COMPANION_CS_PIN_1 (7) +#define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15 + +/* + * Monitor + */ + +#define HAS_MONITOR 0 +#define LEGACY_MONITOR 0 +#define HAS_MONITOR_PUT 1 +#define AO_MONITOR_LED 0 +#define HAS_RSSI 0 + +/* + * Profiling Viterbi decoding + */ + +#ifndef AO_PROFILE +#define AO_PROFILE 0 +#endif + +/* + * PWM output + */ + +#define NUM_PWM 4 +#define PWM_MAX 1024 +#define AO_PWM_TIMER stm_tim4 +#define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM4EN + +#endif /* _AO_PINS_H_ */ diff --git a/src/telemega-v2.0/ao_telemega.c b/src/telemega-v2.0/ao_telemega.c new file mode 100644 index 00000000..86427107 --- /dev/null +++ b/src/telemega-v2.0/ao_telemega.c @@ -0,0 +1,105 @@ +/* + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#if HAS_SAMPLE_PROFILE +#include +#endif +#include +#if HAS_STACK_GUARD +#include +#endif +#include + +int +main(void) +{ + ao_clock_init(); + +#if HAS_STACK_GUARD + ao_mpu_init(); +#endif + + ao_task_init(); + ao_serial_init(); + ao_led_init(LEDS_AVAILABLE); + ao_led_on(AO_LED_GREEN); + ao_timer_init(); + + ao_i2c_init(); + ao_spi_init(); + ao_dma_init(); + ao_exti_init(); + + ao_adc_init(); +#if HAS_BEEP + ao_beep_init(); +#endif + ao_cmd_init(); + +#if HAS_MS5607 + ao_ms5607_init(); +#endif +#if HAS_HMC5883 + ao_hmc5883_init(); +#endif +#if HAS_MPU6000 + ao_mpu6000_init(); +#endif +#if HAS_MMA655X + ao_mma655x_init(); +#endif + + ao_eeprom_init(); + ao_storage_init(); + + ao_flight_init(); + ao_log_init(); + ao_report_init(); + + ao_usb_init(); + ao_gps_init(); + ao_gps_report_mega_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(FALSE); + ao_igniter_init(); + ao_companion_init(); + ao_pyro_init(); + + ao_config_init(); +#if AO_PROFILE + ao_profile_init(); +#endif +#if HAS_SAMPLE_PROFILE + ao_sample_profile_init(); +#endif + + ao_pwm_init(); + + ao_start_scheduler(); + return 0; +} diff --git a/src/telemega-v2.0/flash-loader/Makefile b/src/telemega-v2.0/flash-loader/Makefile new file mode 100644 index 00000000..d667c18e --- /dev/null +++ b/src/telemega-v2.0/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=telemega-v2.0 +include $(TOPDIR)/stm/Makefile-flash.defs diff --git a/src/telemega-v2.0/flash-loader/ao_pins.h b/src/telemega-v2.0/flash-loader/ao_pins.h new file mode 100644 index 00000000..304bb7c3 --- /dev/null +++ b/src/telemega-v2.0/flash-loader/ao_pins.h @@ -0,0 +1,34 @@ +/* + * Copyright © 2013 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_PINS_H_ +#define _AO_PINS_H_ + +/* External crystal at 8MHz */ +#define AO_HSE 8000000 + +#include + +/* Companion port cs_companion0 PB6 */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO stm_gpiob +#define AO_BOOT_APPLICATION_PIN 6 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +#endif /* _AO_PINS_H_ */ -- cgit v1.2.3