From 3f3382126bf1122b1a78abe8458af5ec112a1f95 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 22 Jun 2014 21:05:05 -0700
Subject: altos: Make APRS SSID configurable

This uses the low-digit from the serial number by default, but lets
the user change it if desired.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_config.c | 34 ++++++++++++++++++++++++++++++++++
 src/kernel/ao_config.h |  5 ++++-
 2 files changed, 38 insertions(+), 1 deletion(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 71445335..58fa7354 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -61,6 +61,7 @@ __xdata uint8_t ao_config_mutex;
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0x60
 #endif
 #define AO_CONFIG_DEFAULT_RADIO_AMP		0
+#define AO_CONFIG_DEFAULT_APRS_SSID		(ao_serial_number % 10)
 
 #if HAS_EEPROM
 static void
@@ -191,6 +192,10 @@ _ao_config_get(void)
 #if AO_PYRO_NUM
 		if (minor < 18)
 			ao_config.pyro_time = AO_CONFIG_DEFAULT_PYRO_TIME;
+#endif
+#if HAS_APRS
+		if (minor < 19)
+			ao_config.aprs_ssid = AO_CONFIG_DEFAULT_APRS_SSID;
 #endif
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
@@ -283,6 +288,7 @@ ao_config_frequency_set(void) __reentrant
 	ao_radio_recv_abort();
 #endif
 }
+
 #endif
 
 #if HAS_FLIGHT
@@ -737,6 +743,30 @@ ao_config_pyro_time_set(void)
 }
 #endif
 
+#if HAS_APRS
+void
+ao_config_aprs_ssid_show(void)
+{
+	printf ("APRS SSID: %d\n",
+		ao_config.aprs_ssid);
+}
+
+void
+ao_config_aprs_ssid_set(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	if (15 < ao_cmd_lex_i) {
+		ao_cmd_status = ao_cmd_lex_error;
+		return;
+	}
+	_ao_config_edit_start();
+	ao_config.aprs_ssid = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
+#endif /* HAS_APRS */
+
 struct ao_config_var {
 	__code char	*str;
 	void		(*set)(void) __reentrant;
@@ -816,6 +846,10 @@ __code struct ao_config_var ao_config_vars[] = {
 #if HAS_TRACKER
 	{ "t <motion> <interval>\0Tracker configuration",
 	  ao_config_tracker_set, ao_config_tracker_show },
+#endif
+#if HAS_APRS
+	{ "S <ssid>\0Set APRS SSID (0-15)",
+	  ao_config_aprs_ssid_set, ao_config_aprs_ssid_show },
 #endif
 	{ "s\0Show",
 	  ao_config_show,		0 },
diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
index 2b5cd352..70f9f33b 100644
--- a/src/kernel/ao_config.h
+++ b/src/kernel/ao_config.h
@@ -53,7 +53,7 @@
 #endif
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	18
+#define AO_CONFIG_MINOR	19
 
 #define AO_AES_LEN 16
 
@@ -102,6 +102,9 @@ struct ao_config {
 #if AO_PYRO_NUM
 	uint16_t	pyro_time;		/* minor version 18 */
 #endif
+#if HAS_APRS
+	uint8_t		aprs_ssid;		/* minor version 19 */
+#endif
 };
 
 #define AO_IGNITE_MODE_DUAL		0
-- 
cgit v1.2.3


From 443bbb09468df7c1a10f2c76996c92380d8b8c23 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 24 Jun 2014 15:56:11 -0700
Subject: altos: Add optional debugging to print out pyro firing status

This dumps pyro check failures for ao_flight_test so you can see why
pyro charges aren't firing.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_pyro.c | 28 +++++++++++++++++++++++++---
 1 file changed, 25 insertions(+), 3 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 85d88d98..0b286466 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -69,6 +69,16 @@ ao_pyro_print_status(void)
 
 uint16_t	ao_pyro_fired;
 
+#ifndef PYRO_DBG
+#define PYRO_DBG	0
+#endif
+
+#if PYRO_DBG
+#define DBG(...)	do { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+#else
+#define DBG(...)
+#endif
+
 /*
  * Given a pyro structure, figure out
  * if the current flight state satisfies all
@@ -88,63 +98,73 @@ ao_pyro_ready(struct ao_pyro *pyro)
 		case ao_pyro_accel_less:
 			if (ao_accel <= pyro->accel_less)
 				continue;
+			DBG("accel %d > %d\n", ao_accel, pyro->accel_less);
 			break;
 		case ao_pyro_accel_greater:
 			if (ao_accel >= pyro->accel_greater)
 				continue;
+			DBG("accel %d < %d\n", ao_accel, pyro->accel_greater);
 			break;
-
-
 		case ao_pyro_speed_less:
 			if (ao_speed <= pyro->speed_less)
 				continue;
+			DBG("speed %d > %d\n", ao_speed, pyro->speed_less);
 			break;
 		case ao_pyro_speed_greater:
 			if (ao_speed >= pyro->speed_greater)
 				continue;
+			DBG("speed %d < %d\n", ao_speed, pyro->speed_greater);
 			break;
-
 		case ao_pyro_height_less:
 			if (ao_height <= pyro->height_less)
 				continue;
+			DBG("height %d > %d\n", ao_height, pyro->height_less);
 			break;
 		case ao_pyro_height_greater:
 			if (ao_height >= pyro->height_greater)
 				continue;
+			DBG("height %d < %d\n", ao_height, pyro->height_greater);
 			break;
 
 #if HAS_GYRO
 		case ao_pyro_orient_less:
 			if (ao_sample_orient <= pyro->orient_less)
 				continue;
+			DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
 			break;
 		case ao_pyro_orient_greater:
 			if (ao_sample_orient >= pyro->orient_greater)
 				continue;
+			DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
 			break;
 #endif
 
 		case ao_pyro_time_less:
 			if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
 				continue;
+			DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less);
 			break;
 		case ao_pyro_time_greater:
 			if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
 				continue;
+			DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater);
 			break;
 
 		case ao_pyro_ascending:
 			if (ao_speed > 0)
 				continue;
+			DBG("not ascending speed %d\n", ao_speed);
 			break;
 		case ao_pyro_descending:
 			if (ao_speed < 0)
 				continue;
+			DBG("not descending speed %d\n", ao_speed);
 			break;
 
 		case ao_pyro_after_motor:
 			if (ao_motor_number == pyro->motor)
 				continue;
+			DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
 			break;
 
 		case ao_pyro_delay:
@@ -154,10 +174,12 @@ ao_pyro_ready(struct ao_pyro *pyro)
 		case ao_pyro_state_less:
 			if (ao_flight_state < pyro->state_less)
 				continue;
+			DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
 			break;
 		case ao_pyro_state_greater_or_equal:
 			if (ao_flight_state >= pyro->state_greater_or_equal)
 				continue;
+			DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
 			break;
 
 		default:
-- 
cgit v1.2.3


From 500353ec83af0da7fce3d67f2707f4725b1f50ba Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 2 Jul 2014 22:42:43 -0700
Subject: altos: ao_rssi subsystem needs to use AO_LED_TYPE instead of uint8_t

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao.h      | 2 +-
 src/kernel/ao_rssi.c | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 5ff9b518..b8189e43 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -761,7 +761,7 @@ void
 ao_rssi_set(int rssi_value);
 
 void
-ao_rssi_init(uint8_t rssi_led);
+ao_rssi_init(AO_LED_TYPE rssi_led);
 
 /*
  * ao_product.c
diff --git a/src/kernel/ao_rssi.c b/src/kernel/ao_rssi.c
index 244a84fe..f8eeb217 100644
--- a/src/kernel/ao_rssi.c
+++ b/src/kernel/ao_rssi.c
@@ -17,9 +17,9 @@
 
 #include "ao.h"
 
-static __xdata uint16_t	ao_rssi_time;
-static __pdata uint16_t	ao_rssi_delay;
-static __pdata uint8_t	ao_rssi_led;
+static __xdata uint16_t		ao_rssi_time;
+static __pdata uint16_t		ao_rssi_delay;
+static __pdata AO_LED_TYPE	ao_rssi_led;
 
 void
 ao_rssi(void)
@@ -45,7 +45,7 @@ ao_rssi_set(int rssi_value)
 __xdata struct ao_task ao_rssi_task;
 
 void
-ao_rssi_init(uint8_t rssi_led)
+ao_rssi_init(AO_LED_TYPE rssi_led)
 {
 	ao_rssi_led = rssi_led;
 	ao_rssi_delay = 0;
-- 
cgit v1.2.3


From 657d455a2fad36193e6b3a7037d9ba7f09ae1168 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 2 Jul 2014 22:46:07 -0700
Subject: altos: Use TeleMetrum v1.9 board for MegaDongle experiments

This configures the MegaDongle v0.1 directory to use the pin
assignments in TeleMetrum v1.9 boards.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao.h                     |  4 ++-
 src/kernel/ao_monitor.c             |  4 ++-
 src/kernel/ao_rssi.c                |  2 +-
 src/megadongle-v0.1/Makefile        |  1 +
 src/megadongle-v0.1/ao_megadongle.c |  4 +--
 src/megadongle-v0.1/ao_pins.h       | 49 +++++++++++++++----------------------
 6 files changed, 30 insertions(+), 34 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index b8189e43..1df2ea8b 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -757,11 +757,13 @@ extern __xdata uint8_t ao_force_freq;
  * ao_rssi.c
  */
 
+#ifdef AO_LED_TYPE
 void
-ao_rssi_set(int rssi_value);
+ao_rssi_set(int16_t rssi_value);
 
 void
 ao_rssi_init(AO_LED_TYPE rssi_led);
+#endif
 
 /*
  * ao_product.c
diff --git a/src/kernel/ao_monitor.c b/src/kernel/ao_monitor.c
index 18f170b4..2d75c41c 100644
--- a/src/kernel/ao_monitor.c
+++ b/src/kernel/ao_monitor.c
@@ -115,6 +115,8 @@ ao_monitor_put(void)
 {
 #if LEGACY_MONITOR
 	__xdata char callsign[AO_MAX_CALLSIGN+1];
+#endif
+#if LEGACY_MONITOR || HAS_RSSI
 	int16_t rssi;
 #endif
 	uint8_t ao_monitor_tail;
@@ -240,7 +242,7 @@ ao_monitor_put(void)
 			hex(sum);
 			putchar ('\n');
 #if HAS_RSSI
-			if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
+			if (recv_raw.packet[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK) {
 				rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
 				ao_rssi_set(rssi);
 			}
diff --git a/src/kernel/ao_rssi.c b/src/kernel/ao_rssi.c
index f8eeb217..793b190b 100644
--- a/src/kernel/ao_rssi.c
+++ b/src/kernel/ao_rssi.c
@@ -33,7 +33,7 @@ ao_rssi(void)
 }
 
 void
-ao_rssi_set(int rssi_value)
+ao_rssi_set(int16_t rssi_value)
 {
 	if (rssi_value > 0)
 		rssi_value = 0;
diff --git a/src/megadongle-v0.1/Makefile b/src/megadongle-v0.1/Makefile
index ade8e496..bbe2ea58 100644
--- a/src/megadongle-v0.1/Makefile
+++ b/src/megadongle-v0.1/Makefile
@@ -53,6 +53,7 @@ ALTOS_SRC = \
 	ao_rssi.c \
 	ao_send_packet.c \
 	ao_packet_master.c \
+	ao_eeprom_stm.c \
 	ao_packet.c
 
 PRODUCT=MegaDongle-v0.1
diff --git a/src/megadongle-v0.1/ao_megadongle.c b/src/megadongle-v0.1/ao_megadongle.c
index 2792af22..68d6de60 100644
--- a/src/megadongle-v0.1/ao_megadongle.c
+++ b/src/megadongle-v0.1/ao_megadongle.c
@@ -24,7 +24,7 @@ int
 main(void)
 {
 	ao_clock_init();
-	
+
 #if HAS_STACK_GUARD
 	ao_mpu_init();
 #endif
@@ -48,7 +48,7 @@ main(void)
 	ao_send_packet_init();
 
 	ao_config_init();
-	
+
 	ao_start_scheduler();
 	return 0;
 }
diff --git a/src/megadongle-v0.1/ao_pins.h b/src/megadongle-v0.1/ao_pins.h
index d460a490..9edd91f4 100644
--- a/src/megadongle-v0.1/ao_pins.h
+++ b/src/megadongle-v0.1/ao_pins.h
@@ -15,6 +15,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
+/* Using TeleMetrum v1.9 board */
+
 #ifndef _AO_PINS_H_
 #define _AO_PINS_H_
 
@@ -46,7 +48,7 @@
 #define HAS_SERIAL_1		0
 #define USE_SERIAL_1_STDIN	0
 #define SERIAL_1_PB6_PB7	0
-#define SERIAL_1_PA9_PA10	1
+#define SERIAL_1_PA9_PA10	0
 
 #define HAS_SERIAL_2		0
 #define USE_SERIAL_2_STDIN	0
@@ -56,19 +58,18 @@
 #define HAS_SERIAL_3		0
 #define USE_SERIAL_3_STDIN	0
 #define SERIAL_3_PB10_PB11	0
-#define SERIAL_3_PC10_PC11	1
+#define SERIAL_3_PC10_PC11	0
 #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 HAS_EEPROM		0
-#define USE_INTERNAL_FLASH	0
+#define HAS_EEPROM		1
+#define USE_INTERNAL_FLASH	1
+#define USE_STORAGE_CONFIG	0
+#define USE_EEPROM_CONFIG	1
 #define HAS_USB			1
 #define HAS_BEEP		0
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		0
+#define HAS_RSSI		1
 
 #define HAS_SPI_1		0
 #define SPI_1_PA5_PA6_PA7	0	/* Barometer */
@@ -76,7 +77,7 @@
 #define SPI_1_PE13_PE14_PE15	0	/* Accelerometer */
 
 #define HAS_SPI_2		1
-#define SPI_2_PB13_PB14_PB15	1	/* Flash, Companion */
+#define SPI_2_PB13_PB14_PB15	1	/* Radio */
 #define SPI_2_PD1_PD3_PD4	0
 #define SPI_2_OSPEEDR		STM_OSPEEDR_10MHz
 
@@ -85,27 +86,17 @@
 #define SPI_2_MISO_PIN		14
 #define SPI_2_MOSI_PIN		15
 
-#define HAS_I2C_1		0
-#define I2C_1_PB8_PB9		1
-
-#define HAS_I2C_2		0
-#define I2C_2_PB10_PB11		1
-
 #define PACKET_HAS_SLAVE	0
 #define PACKET_HAS_MASTER	1
 
 #define LOW_LEVEL_DEBUG		0
 
-#define LED_PORT_0_ENABLE	STM_RCC_AHBENR_GPIOAEN
-#define LED_PORT_1_ENABLE	STM_RCC_AHBENR_GPIOBEN
-#define LED_PORT_0		(&stm_gpioa)
-#define LED_PORT_0_MASK		(0xff)
+#define LED_PORT_0_ENABLE	STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT_0		(&stm_gpioc)
+#define LED_PORT_0_MASK		(0xffff)
 #define LED_PORT_0_SHIFT	0
-#define LED_PORT_1_MASK		(0xff00)
-#define LED_PORT_1_SHIFT	0
-#define LED_PORT_1		(&stm_gpiob)
-#define LED_PIN_RED		1
-#define LED_PIN_GREEN		12
+#define LED_PIN_RED		14
+#define LED_PIN_GREEN		15
 #define AO_LED_RED		(1 << LED_PIN_RED)
 #define AO_LED_GREEN		(1 << LED_PIN_GREEN)
 
@@ -134,15 +125,15 @@
 
 #define AO_FEC_DEBUG		0
 #define AO_CC1120_SPI_CS_PORT	(&stm_gpioa)
-#define AO_CC1120_SPI_CS_PIN	0
+#define AO_CC1120_SPI_CS_PIN	2
 #define AO_CC1120_SPI_BUS	AO_SPI_2_PB13_PB14_PB15
 #define AO_CC1120_SPI		stm_spi2
 
-#define AO_CC1120_INT_PORT	(&stm_gpioc)
-#define AO_CC1120_INT_PIN	13
+#define AO_CC1120_INT_PORT	(&stm_gpioa)
+#define AO_CC1120_INT_PIN	3
 
-#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioc)
-#define AO_CC1120_MCU_WAKEUP_PIN	(0)
+#define AO_CC1120_MCU_WAKEUP_PORT	(&stm_gpioa)
+#define AO_CC1120_MCU_WAKEUP_PIN	(4)
 
 #define AO_CC1120_INT_GPIO	2
 #define AO_CC1120_INT_GPIO_IOCFG	CC1120_IOCFG2
-- 
cgit v1.2.3


From f8567a7be7ccd5dcc57ab65e63efe45e62008127 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 4 Jul 2014 23:26:57 -0700
Subject: altos: Reduce configuration data telemetry to once per 5 seconds

This data is constant, so we don't need to send it very often. Once
every five seconds should be plenty.

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

(limited to 'src/kernel')

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 9f778b09..6fb30069 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -521,7 +521,7 @@ ao_telemetry_set_interval(uint16_t interval)
 	ao_telemetry_companion_cur = cur;
 #endif
 
-	ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
+	ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval;
 #if HAS_COMPANION
 	if (ao_telemetry_config_max > cur)
 		cur++;
-- 
cgit v1.2.3


From 0605b5a1cdff5cfd71fc9ef3161a62d74a1124b4 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 2 Jul 2014 22:42:10 -0700
Subject: altos: Add defines for 2400 and 9600 baud telemetry rates

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao.h | 13 +++++++++++++
 1 file changed, 13 insertions(+)

(limited to 'src/kernel')

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 1df2ea8b..6c6abd36 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -521,6 +521,10 @@ struct ao_telemetry_raw_recv {
 #define AO_TELEMETRY_INTERVAL_RECOVER	AO_MS_TO_TICKS(1000)
 #endif
 
+#define AO_RADIO_RATE_38400	0
+#define AO_RADIO_RATE_9600	1
+#define AO_RADIO_RATE_2400	2
+
 void
 ao_telemetry_set_interval(uint16_t interval);
 
@@ -558,6 +562,15 @@ extern __xdata int8_t	ao_radio_rssi;
 #define HAS_RADIO_XMIT HAS_RADIO
 #endif
 
+#define AO_RADIO_RATE_38400	0
+#define AO_RADIO_RATE_9600	1
+#define AO_RADIO_RATE_2400	2
+#define AO_RADIO_RATE_MAX	AO_RADIO_RATE_2400
+
+#if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
+#define HAS_RADIO_RATE	HAS_RADIO
+#endif
+
 void
 ao_radio_general_isr(void) ao_arch_interrupt(16);
 
-- 
cgit v1.2.3


From 214a38eb2b084baec526aa42016eddb954038639 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 2 Jul 2014 22:44:07 -0700
Subject: altos: Add config support for 2400 and 9600 baud telemetry rates

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_config.c | 33 +++++++++++++++++++++++++++++++++
 src/kernel/ao_config.h |  5 ++++-
 2 files changed, 37 insertions(+), 1 deletion(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 58fa7354..52c0c4f6 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -62,6 +62,7 @@ __xdata uint8_t ao_config_mutex;
 #endif
 #define AO_CONFIG_DEFAULT_RADIO_AMP		0
 #define AO_CONFIG_DEFAULT_APRS_SSID		(ao_serial_number % 10)
+#define AO_CONFIG_DEFAULT_RADIO_RATE		AO_RADIO_RATE_38400
 
 #if HAS_EEPROM
 static void
@@ -196,6 +197,10 @@ _ao_config_get(void)
 #if HAS_APRS
 		if (minor < 19)
 			ao_config.aprs_ssid = AO_CONFIG_DEFAULT_APRS_SSID;
+#endif
+#if HAS_RADIO_RATE
+		if (minor < 20)
+			ao_config.radio_rate = AO_CONFIG_DEFAULT_RADIO_RATE;
 #endif
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
@@ -483,6 +488,30 @@ ao_config_radio_cal_set(void) __reentrant
 	ao_config_set_radio();
 	_ao_config_edit_finish();
 }
+
+#endif
+
+#if HAS_RADIO_RATE
+void
+ao_config_radio_rate_show(void) __reentrant
+{
+	printf("Telemetry rate: %d\n", ao_config.radio_rate);
+}
+
+void
+ao_config_radio_rate_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	if (AO_RADIO_RATE_MAX < ao_cmd_lex_i) {
+		ao_cmd_status = ao_cmd_lex_error;
+		return;
+	}
+	_ao_config_edit_start();
+	ao_config.radio_rate = ao_cmd_lex_i;
+	_ao_config_edit_finish();
+}
 #endif
 
 #if HAS_LOG
@@ -802,6 +831,10 @@ __code struct ao_config_var ao_config_vars[] = {
 	  ao_config_radio_enable_set, ao_config_radio_enable_show },
 	{ "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
 	  ao_config_radio_cal_set,  	ao_config_radio_cal_show },
+#if HAS_RADIO_RATE
+	{ "T <rate>\0Telemetry rate (0=38.4, 1=9.6, 2=2.4)",
+	  ao_config_radio_rate_set,	ao_config_radio_rate_show },
+#endif
 #if HAS_RADIO_POWER
 	{ "p <setting>\0Radio power setting (0-255)",
 	  ao_config_radio_power_set,	ao_config_radio_power_show },
diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
index 70f9f33b..a650ffc6 100644
--- a/src/kernel/ao_config.h
+++ b/src/kernel/ao_config.h
@@ -53,7 +53,7 @@
 #endif
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	19
+#define AO_CONFIG_MINOR	20
 
 #define AO_AES_LEN 16
 
@@ -105,6 +105,9 @@ struct ao_config {
 #if HAS_APRS
 	uint8_t		aprs_ssid;		/* minor version 19 */
 #endif
+#if HAS_RADIO_RATE
+	uint8_t		radio_rate;		/* minor version 20 */
+#endif
 };
 
 #define AO_IGNITE_MODE_DUAL		0
-- 
cgit v1.2.3


From ea5887027e7a39da2b7d84a142d74950b7a24703 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 5 Jul 2014 00:09:25 -0700
Subject: altos: Call ao_telemetry_reset_interval when telemetry rate changes

This lets the radio code adjust the telemetry packet sending pattern
when the data rate changes.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_pins.h          | 15 +++++++++++++++
 src/kernel/ao.h               |  5 ++---
 src/kernel/ao_config.c        |  7 +++++++
 src/kernel/ao_telemetry.c     | 34 ++++++++++++++++++++++++++++++----
 src/telebt-v1.0/ao_pins.h     |  1 +
 src/telefire-v0.1/ao_pins.h   |  3 ++-
 src/telefire-v0.2/ao_pins.h   |  3 ++-
 src/telemini-v2.0/ao_pins.h   |  1 +
 src/teleshield-v0.1/ao_pins.h |  1 +
 src/teleterra-v0.2/ao_pins.h  |  2 +-
 10 files changed, 62 insertions(+), 10 deletions(-)

(limited to 'src/kernel')

diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h
index 2b19f1f6..b40acbbd 100644
--- a/src/cc1111/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -56,6 +56,7 @@
 	#define HAS_ACCEL		1
 	#define HAS_IGNITE		1
 	#define HAS_MONITOR		0
+	#define HAS_TELEMETRY		1
 #endif
 
 #if defined(TELEMETRUM_V_1_1)
@@ -96,6 +97,7 @@
 	#define HAS_ACCEL		1
 	#define HAS_IGNITE		1
 	#define HAS_MONITOR		0
+	#define HAS_TELEMETRY		1
 #endif
 
 #if defined(TELEMETRUM_V_1_2)
@@ -136,6 +138,7 @@
 	#define HAS_ACCEL		1
 	#define HAS_IGNITE		1
 	#define HAS_MONITOR		0
+	#define HAS_TELEMETRY		1
 #endif
 
 #if defined(TELEDONGLE_V_0_2)
@@ -164,6 +167,7 @@
 	#define LEGACY_MONITOR		1
 	#define HAS_RSSI		1
 	#define HAS_AES			0
+	#define HAS_TELEMETRY		0
 #endif
 
 #if defined(TELEMINI_V_1_0)
@@ -193,6 +197,8 @@
 	#define HAS_ACCEL		0
 	#define HAS_IGNITE		1
 	#define HAS_MONITOR		0
+	#define HAS_TELEMETRY		1
+	#define HAS_RADIO_RATE		0	/* not enough space for this */
 #endif
 
 #if defined(TELENANO_V_0_1)
@@ -220,6 +226,8 @@
 	#define HAS_ACCEL		0
 	#define HAS_IGNITE		0
 	#define HAS_MONITOR		0
+	#define HAS_TELEMETRY		1
+	#define HAS_RADIO_RATE		0	/* not enough space for this */
 #endif
 
 #if defined(TELEMETRUM_V_0_1)
@@ -252,6 +260,8 @@
 	#define HAS_ACCEL		1
 	#define HAS_IGNITE		1
 	#define HAS_MONITOR		0
+	#define HAS_TELEMETRY		1
+	#define HAS_RADIO_RATE		0	/* not enough space for this */
 	#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	((uint32_t) 127 * (uint32_t) 1024)
 #endif
 
@@ -283,6 +293,7 @@
 	#define LEGACY_MONITOR		1
 	#define HAS_RSSI		1
 	#define HAS_AES			0
+	#define HAS_TELEMETRY		0
 #endif
 
 #if defined(TIDONGLE)
@@ -312,6 +323,7 @@
 	#define LEGACY_MONITOR		1
 	#define HAS_RSSI		1
 	#define HAS_AES			0
+	#define HAS_TELEMETRY		0
 #endif
 
 #if defined(TELEBT_V_0_0)
@@ -350,6 +362,7 @@
 	#define LEGACY_MONITOR		1
 	#define HAS_RSSI		0
 	#define HAS_AES			0
+	#define HAS_TELEMETRY		0
 #endif
 
 #if defined(TELEBT_V_0_1)
@@ -396,6 +409,7 @@
 	#define LEGACY_MONITOR		1
 	#define HAS_RSSI		0
 	#define HAS_AES			0
+	#define HAS_TELEMETRY		0
 #endif
 
 #if defined(TELELAUNCH_V_0_1)
@@ -428,6 +442,7 @@
 	#define HAS_IGNITE		1
 	#define HAS_MONITOR		0
 	#define HAS_AES			1
+	#define HAS_TELEMETRY		0
 #endif
 
 #if DBG_ON_P1
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 6c6abd36..c11aa028 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -521,9 +521,8 @@ struct ao_telemetry_raw_recv {
 #define AO_TELEMETRY_INTERVAL_RECOVER	AO_MS_TO_TICKS(1000)
 #endif
 
-#define AO_RADIO_RATE_38400	0
-#define AO_RADIO_RATE_9600	1
-#define AO_RADIO_RATE_2400	2
+void
+ao_telemetry_reset_interval(void);
 
 void
 ao_telemetry_set_interval(uint16_t interval);
diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 52c0c4f6..32a0967c 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -492,6 +492,10 @@ ao_config_radio_cal_set(void) __reentrant
 #endif
 
 #if HAS_RADIO_RATE
+#ifndef HAS_TELEMETRY
+#error Please define HAS_TELEMETRY
+#endif
+
 void
 ao_config_radio_rate_show(void) __reentrant
 {
@@ -510,6 +514,9 @@ ao_config_radio_rate_set(void) __reentrant
 	}
 	_ao_config_edit_start();
 	ao_config.radio_rate = ao_cmd_lex_i;
+#if HAS_TELEMETRY
+	ao_telemetry_reset_interval();
+#endif
 	_ao_config_edit_finish();
 }
 #endif
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 6fb30069..f4fcf400 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -25,6 +25,10 @@
 
 static __pdata uint16_t ao_telemetry_interval;
 
+#if HAS_RADIO_RATE
+static __pdata uint16_t ao_telemetry_desired_interval;
+#endif
+
 #if HAS_RDF
 static __pdata uint8_t ao_rdf = 0;
 static __pdata uint16_t ao_rdf_time;
@@ -64,7 +68,7 @@ static void
 ao_send_sensor(void)
 {
 	__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-			
+
 	telemetry.generic.tick = packet->tick;
 	telemetry.generic.type = AO_TELEMETRY_SENSOR;
 
@@ -106,12 +110,13 @@ ao_send_sensor(void)
 
 
 #ifdef AO_SEND_MEGA
+
 /* Send mega sensor packet */
 static void
 ao_send_mega_sensor(void)
 {
 	__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-			
+
 	telemetry.generic.tick = packet->tick;
 	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 
@@ -240,7 +245,7 @@ static void
 ao_send_mini(void)
 {
 	__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-			
+
 	telemetry.generic.tick = packet->tick;
 	telemetry.generic.type = AO_TELEMETRY_MINI;
 
@@ -490,12 +495,33 @@ ao_telemetry(void)
 	}
 }
 
+#if HAS_RADIO_RATE
+void
+ao_telemetry_reset_interval(void)
+{
+	ao_telemetry_set_interval(ao_telemetry_desired_interval);
+}
+#endif
+
 void
 ao_telemetry_set_interval(uint16_t interval)
 {
 	int8_t	cur = 0;
+
+#if HAS_RADIO_RATE
+	/* Limit max telemetry rate based on available radio bandwidth.
+	 */
+	static const uint16_t min_interval[] = {
+		/* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
+		/* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
+		/* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
+	};
+
+	ao_telemetry_desired_interval = interval;
+	if (interval < min_interval[ao_config.radio_rate])
+		interval = min_interval[ao_config.radio_rate];
+#endif
 	ao_telemetry_interval = interval;
-	
 #if AO_SEND_MEGA
 	if (interval > 1)
 		ao_telemetry_mega_data_max = 1;
diff --git a/src/telebt-v1.0/ao_pins.h b/src/telebt-v1.0/ao_pins.h
index 9e47f3b8..b5562573 100644
--- a/src/telebt-v1.0/ao_pins.h
+++ b/src/telebt-v1.0/ao_pins.h
@@ -48,6 +48,7 @@
 #define BT_LINK_PIN		P1_7
 #define HAS_MONITOR		1
 #define LEGACY_MONITOR		0
+#define HAS_TELEMETRY		0
 
 #define HAS_ADC			1
 #define AO_PAD_ADC_BATT		0
diff --git a/src/telefire-v0.1/ao_pins.h b/src/telefire-v0.1/ao_pins.h
index f7a3ff2c..47ae663f 100644
--- a/src/telefire-v0.1/ao_pins.h
+++ b/src/telefire-v0.1/ao_pins.h
@@ -18,7 +18,8 @@
 #ifndef _AO_PINS_H_
 #define _AO_PINS_H_
 
-#define HAS_RADIO	1
+#define HAS_RADIO		1
+#define HAS_TELEMETRY		0
 
 #define HAS_FLIGHT		0
 #define HAS_USB			1
diff --git a/src/telefire-v0.2/ao_pins.h b/src/telefire-v0.2/ao_pins.h
index 96e6b066..9e6631ce 100644
--- a/src/telefire-v0.2/ao_pins.h
+++ b/src/telefire-v0.2/ao_pins.h
@@ -18,7 +18,8 @@
 #ifndef _AO_PINS_H_
 #define _AO_PINS_H_
 
-#define HAS_RADIO	1
+#define HAS_RADIO		1
+#define HAS_TELEMETRY		0
 
 #define HAS_FLIGHT		0
 #define HAS_USB			1
diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h
index f202ccd1..c9f9de62 100644
--- a/src/telemini-v2.0/ao_pins.h
+++ b/src/telemini-v2.0/ao_pins.h
@@ -39,6 +39,7 @@
 #define USE_INTERNAL_FLASH	0
 #define HAS_DBG			0
 #define PACKET_HAS_SLAVE	1
+#define HAS_RADIO_RATE		0	/* not enough space for this */
 
 #define AO_LED_RED		2
 #define LEDS_AVAILABLE		AO_LED_RED
diff --git a/src/teleshield-v0.1/ao_pins.h b/src/teleshield-v0.1/ao_pins.h
index 30239afc..68bb44ee 100644
--- a/src/teleshield-v0.1/ao_pins.h
+++ b/src/teleshield-v0.1/ao_pins.h
@@ -62,6 +62,7 @@
 	#define HAS_RSSI		0
 	#define HAS_AES			0
 	#define HAS_RADIO		1
+	#define HAS_TELEMETRY		0
 #endif
 
 #if DBG_ON_P1
diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h
index 1c12c437..60d627ad 100644
--- a/src/teleterra-v0.2/ao_pins.h
+++ b/src/teleterra-v0.2/ao_pins.h
@@ -71,7 +71,7 @@
 	#define HAS_P2_ISR		1
 
 	#define BATTERY_PIN		5
-	
+	#define HAS_TELEMETRY		0
 #endif
 
 #if DBG_ON_P1
-- 
cgit v1.2.3


From 292cb8380b478542555b5f370e8252eafa2f74ac Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 5 Jul 2014 00:04:06 -0700
Subject: altos: Rework packet receive for cc1120

Instead of blocking on PQT, just set up the receiver to start going
and when the first bit interrupt comes in, grab the SPI bus if
possible and configure it for reception. This improves sensitivity in
the radio by a significant amount while making the code conceptually a
bit nicer.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_pins.h    |   3 +
 src/drivers/ao_cc1120.c | 160 +++++++++++++++++++++++++++++++-----------------
 src/kernel/ao.h         |   3 +
 src/kernel/ao_mutex.c   |  23 +++++++
 src/lpc/ao_arch_funcs.h |  17 ++---
 src/stm/ao_arch_funcs.h |  25 ++++++--
 src/stm/ao_spi_stm.c    |  51 +++++++++++++--
 7 files changed, 208 insertions(+), 74 deletions(-)

(limited to 'src/kernel')

diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h
index 83a3c774..1bc3d716 100644
--- a/src/cc1111/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -58,6 +58,7 @@
 	#define HAS_MONITOR		0
 	#define HAS_TELEMETRY		1
 	#define HAS_RADIO_RATE		0	/* not enough space for this */
+	#define HAS_MUTEX_TRY		0
 #endif
 
 #if defined(TELEMETRUM_V_1_1)
@@ -100,6 +101,7 @@
 	#define HAS_MONITOR		0
 	#define HAS_TELEMETRY		1
 	#define HAS_RADIO_RATE		0	/* not enough space for this */
+	#define HAS_MUTEX_TRY		0
 #endif
 
 #if defined(TELEMETRUM_V_1_2)
@@ -142,6 +144,7 @@
 	#define HAS_MONITOR		0
 	#define HAS_TELEMETRY		1
 	#define HAS_RADIO_RATE		0	/* not enough space for this */
+	#define HAS_MUTEX_TRY		0
 #endif
 
 #if defined(TELEDONGLE_V_0_2)
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 5d51fbcd..1b907940 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -41,8 +41,10 @@ extern const uint32_t	ao_radio_cal;
 
 #define FOSC	32000000
 
+#define ao_radio_try_select(task_id)	ao_spi_try_get_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS,AO_SPI_SPEED_4MHz, task_id)
 #define ao_radio_select()	ao_spi_get_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS,AO_SPI_SPEED_4MHz)
 #define ao_radio_deselect()	ao_spi_put_mask(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN),AO_CC1120_SPI_BUS)
+#define ao_radio_spi_send_sync(d,l)	ao_spi_send_sync((d), (l), AO_CC1120_SPI_BUS)
 #define ao_radio_spi_send(d,l)	ao_spi_send((d), (l), AO_CC1120_SPI_BUS)
 #define ao_radio_spi_send_fixed(d,l) ao_spi_send_fixed((d), (l), AO_CC1120_SPI_BUS)
 #define ao_radio_spi_recv(d,l)	ao_spi_recv((d), (l), AO_CC1120_SPI_BUS)
@@ -107,7 +109,7 @@ ao_radio_reg_write(uint16_t addr, uint8_t value)
 }
 
 static void
-ao_radio_burst_read_start (uint16_t addr)
+_ao_radio_burst_read_start (uint16_t addr)
 {
 	uint8_t data[2];
 	uint8_t d;
@@ -124,8 +126,8 @@ ao_radio_burst_read_start (uint16_t addr)
 			   addr);
 		d = 1;
 	}
-	ao_radio_select();
-	ao_radio_spi_send(data, d);
+
+	ao_radio_spi_send_sync(data, d);
 }
 
 static void
@@ -209,7 +211,7 @@ ao_radio_tx_fifo_space(void)
 	return CC1120_FIFO_SIZE - ao_radio_reg_read(CC1120_NUM_TXBYTES);
 }
 
-#if 0
+#if CC1120_DEBUG
 static uint8_t
 ao_radio_status(void)
 {
@@ -275,11 +277,13 @@ static void
 ao_radio_idle(void)
 {
 	for (;;) {
-		uint8_t	state = ao_radio_strobe(CC1120_SIDLE);
-		if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_IDLE)
+		uint8_t	state = (ao_radio_strobe(CC1120_SIDLE) >> CC1120_STATUS_STATE) & CC1120_STATUS_STATE_MASK;
+		if (state == CC1120_STATUS_STATE_IDLE)
 			break;
-		if ((state >> CC1120_STATUS_STATE) == CC1120_STATUS_STATE_TX_FIFO_ERROR)
+		if (state == CC1120_STATUS_STATE_TX_FIFO_ERROR)
 			ao_radio_strobe(CC1120_SFTX);
+		if (state == CC1120_STATUS_STATE_RX_FIFO_ERROR)
+			ao_radio_strobe(CC1120_SFRX);
 	}
 	/* Flush any pending TX bytes */
 	ao_radio_strobe(CC1120_SFTX);
@@ -948,6 +952,11 @@ static uint16_t	rx_data_consumed;
 static uint16_t rx_data_cur;
 static uint8_t	rx_ignore;
 static uint8_t	rx_waiting;
+static uint8_t	rx_starting;
+static uint8_t	rx_task_id;
+static uint32_t	rx_fast_start;
+static uint32_t rx_slow_start;
+static uint32_t	rx_missed;
 
 #if AO_PROFILE
 static uint32_t	rx_start_tick, rx_packet_tick, rx_done_tick, rx_last_done_tick;
@@ -962,13 +971,34 @@ ao_radio_rx_isr(void)
 {
 	uint8_t	d;
 
+	if (rx_task_id) {
+		if (ao_radio_try_select(rx_task_id)) {
+			++rx_fast_start;
+			rx_task_id = 0;
+			_ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT);
+		} else {
+			if (rx_ignore)
+				--rx_ignore;
+			else {
+				ao_radio_abort = 1;
+				rx_missed++;
+			}
+			return;
+		}
+	}
+	if (rx_starting) {
+		rx_starting = 0;
+		ao_wakeup(&ao_radio_wake);
+	}
 	d = AO_CC1120_SPI.dr;
 	AO_CC1120_SPI.dr = 0;
 	if (rx_ignore == 0) {
-		if (rx_data_cur >= rx_data_count)
-			ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
-		else
+		if (rx_data_cur < rx_data_count)
 			rx_data[rx_data_cur++] = d;
+		if (rx_data_cur >= rx_data_count) {
+			ao_spi_clr_cs(AO_CC1120_SPI_CS_PORT,(1 << AO_CC1120_SPI_CS_PIN));
+			ao_exti_disable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
+		}
 		if (rx_waiting && rx_data_cur - rx_data_consumed >= AO_FEC_DECODE_BLOCK) {
 #if AO_PROFILE
 			if (!rx_packet_tick)
@@ -987,24 +1017,20 @@ ao_radio_rx_isr(void)
 static uint16_t
 ao_radio_rx_wait(void)
 {
-	do {
-		if (ao_radio_mcu_wake)
-			ao_radio_check_marc_status();
-		ao_alarm(AO_MS_TO_TICKS(100));
-		ao_arch_block_interrupts();
-		rx_waiting = 1;
-		while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
-		       !ao_radio_abort &&
-		       !ao_radio_mcu_wake)
-		{
-			if (ao_sleep(&ao_radio_wake))
-				ao_radio_abort = 1;
-		}
-		rx_waiting = 0;
-		ao_arch_release_interrupts();
-		ao_clear_alarm();
-	} while (ao_radio_mcu_wake);
-	if (ao_radio_abort)
+	ao_alarm(AO_MS_TO_TICKS(100));
+	ao_arch_block_interrupts();
+	rx_waiting = 1;
+	while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
+	       !ao_radio_abort &&
+	       !ao_radio_mcu_wake)
+	{
+		if (ao_sleep(&ao_radio_wake))
+			ao_radio_abort = 1;
+	}
+	rx_waiting = 0;
+	ao_arch_release_interrupts();
+	ao_clear_alarm();
+	if (ao_radio_abort || ao_radio_mcu_wake)
 		return 0;
 	rx_data_consumed += AO_FEC_DECODE_BLOCK;
 #if AO_PROFILE
@@ -1044,48 +1070,67 @@ ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout)
 	 */
 	ao_radio_abort = 0;
 
-	/* configure interrupt pin */
 	ao_radio_get(len);
-	ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX);
 
 	ao_radio_wake = 0;
 	ao_radio_mcu_wake = 0;
 
-	AO_CC1120_SPI.cr2 = 0;
-
-	/* clear any RXNE */
-	(void) AO_CC1120_SPI.dr;
+	ao_radio_set_mode(AO_RADIO_MODE_PACKET_RX);
 
-	/* Have the radio signal when the preamble quality goes high */
-	ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_PQT_REACHED);
+	/* configure interrupt pin */
+	ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT);
 	ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN,
-			 AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_HIGH);
-	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_isr);
+			 AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH);
+
+	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr);
 	ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
-	ao_exti_enable(AO_CC1120_MCU_WAKEUP_PORT, AO_CC1120_MCU_WAKEUP_PIN);
+
+	rx_starting = 1;
+	rx_task_id = ao_cur_task->task_id;
 
 	ao_radio_strobe(CC1120_SRX);
 
-	/* Wait for the preamble to appear */
-	ao_radio_wait_isr(timeout);
+	if (timeout)
+		ao_alarm(timeout);
+	ao_arch_block_interrupts();
+	while (rx_starting && !ao_radio_abort) {
+		if (ao_sleep(&ao_radio_wake))
+			ao_radio_abort = 1;
+	}
+	uint8_t	rx_task_id_save = rx_task_id;
+	rx_task_id = 0;
+	rx_starting = 0;
+	ao_arch_release_interrupts();
+	if (timeout)
+		ao_clear_alarm();
+
 	if (ao_radio_abort) {
 		ret = 0;
+		rx_task_id = 0;
 		goto abort;
 	}
 
-	ao_radio_reg_write(AO_CC1120_INT_GPIO_IOCFG, CC1120_IOCFG_GPIO_CFG_CLKEN_SOFT);
-	ao_exti_set_mode(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN,
-			 AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH);
-
-	ao_exti_set_callback(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN, ao_radio_rx_isr);
-	ao_exti_enable(AO_CC1120_INT_PORT, AO_CC1120_INT_PIN);
-
-	ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT);
+	if (rx_task_id_save) {
+		++rx_slow_start;
+		ao_radio_select();
+		_ao_radio_burst_read_start(CC1120_SOFT_RX_DATA_OUT);
+		if (rx_ignore) {
+			uint8_t ignore = AO_CC1120_SPI.dr;
+			(void) ignore;
+			AO_CC1120_SPI.dr = 0;
+			--rx_ignore;
+		}
+	}
 
 	ret = ao_fec_decode(rx_data, rx_data_count, d, size + 2, ao_radio_rx_wait);
 
 	ao_radio_burst_read_stop();
 
+	if (ao_radio_mcu_wake)
+		ao_radio_check_marc_status();
+	if (ao_radio_abort)
+		ret = 0;
+
 abort:
 	/* Convert from 'real' rssi to cc1111-style values */
 
@@ -1100,7 +1145,7 @@ abort:
 		radio_rssi = AO_RADIO_FROM_RSSI (rssi);
 	}
 
-	ao_radio_strobe(CC1120_SIDLE);
+	ao_radio_idle();
 
 	ao_radio_put();
 
@@ -1139,7 +1184,7 @@ struct ao_cc1120_reg {
 	char		*name;
 };
 
-const static struct ao_cc1120_reg ao_cc1120_reg[] = {
+static const struct ao_cc1120_reg ao_cc1120_reg[] = {
 	{ .addr = CC1120_IOCFG3,	.name = "IOCFG3" },
 	{ .addr = CC1120_IOCFG2,	.name = "IOCFG2" },
 	{ .addr = CC1120_IOCFG1,	.name = "IOCFG1" },
@@ -1320,7 +1365,7 @@ const static struct ao_cc1120_reg ao_cc1120_reg[] = {
 
 static void ao_radio_show(void) {
 	uint8_t	status = ao_radio_status();
-	int	i;
+	unsigned int	i;
 
 	ao_radio_get(0xff);
 	status = ao_radio_status();
@@ -1331,6 +1376,10 @@ static void ao_radio_show(void) {
 
 	for (i = 0; i < AO_NUM_CC1120_REG; i++)
 		printf ("\t%02x %-20.20s\n", ao_radio_reg_read(ao_cc1120_reg[i].addr), ao_cc1120_reg[i].name);
+
+	printf("RX fast start: %u\n", rx_fast_start);
+	printf("RX slow start: %u\n", rx_slow_start);
+	printf("RX missed:     %u\n", rx_missed);
 	ao_radio_put();
 }
 
@@ -1354,12 +1403,12 @@ static void ao_radio_packet(void) {
 }
 
 void
-ao_radio_test_recv()
+ao_radio_test_recv(void)
 {
 	uint8_t	bytes[34];
 	uint8_t	b;
 
-	if (ao_radio_recv(bytes, 34)) {
+	if (ao_radio_recv(bytes, 34, 0)) {
 		if (bytes[33] & 0x80)
 			printf ("CRC OK");
 		else
@@ -1375,13 +1424,12 @@ ao_radio_test_recv()
 #include <ao_aprs.h>
 
 static void
-ao_radio_aprs()
+ao_radio_aprs(void)
 {
 	ao_packet_slave_stop();
 	ao_aprs_send();
 }
 #endif
-
 #endif
 
 static const struct ao_cmds ao_radio_cmds[] = {
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index c11aa028..a225bc4a 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -132,6 +132,9 @@ ao_clock_init(void);
  */
 
 #ifndef ao_mutex_get
+uint8_t
+ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant;
+
 void
 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
 
diff --git a/src/kernel/ao_mutex.c b/src/kernel/ao_mutex.c
index 952ff462..a36fe939 100644
--- a/src/kernel/ao_mutex.c
+++ b/src/kernel/ao_mutex.c
@@ -17,6 +17,29 @@
 
 #include "ao.h"
 
+#ifndef HAS_MUTEX_TRY
+#define HAS_MUTEX_TRY 1
+#endif
+
+#if HAS_MUTEX_TRY
+
+uint8_t
+ao_mutex_try(__xdata uint8_t *mutex, uint8_t task_id) __reentrant
+{
+	uint8_t	ret;
+	if (*mutex == task_id)
+		ao_panic(AO_PANIC_MUTEX);
+	ao_arch_critical(
+		if (*mutex)
+			ret = 0;
+		else {
+			*mutex = task_id;
+			ret = 1;
+		});
+	return ret;
+}
+#endif
+
 void
 ao_mutex_get(__xdata uint8_t *mutex) __reentrant
 {
diff --git a/src/lpc/ao_arch_funcs.h b/src/lpc/ao_arch_funcs.h
index 0891903e..21a7a8e5 100644
--- a/src/lpc/ao_arch_funcs.h
+++ b/src/lpc/ao_arch_funcs.h
@@ -161,16 +161,17 @@ static inline void ao_arch_restore_stack(void) {
 
 #endif /* HAS_TASK */
 
-#define ao_arch_wait_interrupt() do {			\
-		asm(".global ao_idle_loc\n\twfi\nao_idle_loc:");	\
-		ao_arch_release_interrupts();				\
-		ao_arch_block_interrupts();				\
+#define ao_arch_wait_interrupt() do {				\
+		asm("\twfi\n");					\
+		ao_arch_release_interrupts();			\
+		asm(".global ao_idle_loc\n\nao_idle_loc:");	\
+		ao_arch_block_interrupts();			\
 	} while (0)
 
-#define ao_arch_critical(b) do {				\
-		ao_arch_block_interrupts();			\
-		do { b } while (0);				\
-		ao_arch_release_interrupts();			\
+#define ao_arch_critical(b) do {			\
+		uint32_t __mask = ao_arch_irqsave();	\
+		do { b } while (0);			\
+		ao_arch_irqrestore(__mask);		\
 	} while (0)
 
 /*
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index b461cd3f..7ad3b4b8 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -64,6 +64,9 @@
 #define AO_SPI_INDEX(id)	((id) & AO_SPI_INDEX_MASK)
 #define AO_SPI_CONFIG(id)	((id) & AO_SPI_CONFIG_MASK)
 
+uint8_t
+ao_spi_try_get(uint8_t spi_index, uint32_t speed, uint8_t task_id);
+
 void
 ao_spi_get(uint8_t spi_index, uint32_t speed);
 
@@ -76,6 +79,9 @@ ao_spi_send(void *block, uint16_t len, uint8_t spi_index);
 void
 ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index);
 
+void
+ao_spi_send_sync(void *block, uint16_t len, uint8_t spi_index);
+
 void
 ao_spi_recv(void *block, uint16_t len, uint8_t spi_index);
 
@@ -95,6 +101,15 @@ ao_spi_init(void);
 		ao_spi_set_cs(reg,mask);			\
 	} while (0)
 
+static inline uint8_t
+ao_spi_try_get_mask(struct stm_gpio *reg, uint16_t mask, uint8_t bus, uint32_t speed, uint8_t task_id)
+{
+	if (!ao_spi_try_get(bus, speed, task_id))
+		return 0;
+	ao_spi_set_cs(reg, mask);
+	return 1;
+}
+
 #define ao_spi_put_mask(reg,mask,bus) do {	\
 		ao_spi_clr_cs(reg,mask);	\
 		ao_spi_put(bus);		\
@@ -252,6 +267,8 @@ extern struct ao_stm_usart	ao_stm_usart3;
 
 #define ARM_PUSH32(stack, val)	(*(--(stack)) = (val))
 
+typedef uint32_t	ao_arch_irq_t;
+
 static inline uint32_t
 ao_arch_irqsave(void) {
 	uint32_t	primask;
@@ -369,10 +386,10 @@ static inline void ao_arch_start_scheduler(void) {
 		ao_arch_block_interrupts();			\
 	} while (0)
 
-#define ao_arch_critical(b) do {				\
-		ao_arch_block_interrupts();			\
-		do { b } while (0);				\
-		ao_arch_release_interrupts();			\
+#define ao_arch_critical(b) do {			\
+		uint32_t __mask = ao_arch_irqsave();	\
+		do { b } while (0);			\
+		ao_arch_irqrestore(__mask);		\
 	} while (0)
 
 #endif /* _AO_ARCH_FUNCS_H_ */
diff --git a/src/stm/ao_spi_stm.c b/src/stm/ao_spi_stm.c
index 56329c24..885af544 100644
--- a/src/stm/ao_spi_stm.c
+++ b/src/stm/ao_spi_stm.c
@@ -153,6 +153,28 @@ ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index)
 	ao_dma_done_transfer(miso_dma_index);
 }
 
+void
+ao_spi_send_sync(void *block, uint16_t len, uint8_t spi_index)
+{
+	uint8_t		*b = block;
+	struct stm_spi	*stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi;
+
+	stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+			(0 << STM_SPI_CR2_RXNEIE) |
+			(0 << STM_SPI_CR2_ERRIE) |
+			(0 << STM_SPI_CR2_SSOE) |
+			(0 << STM_SPI_CR2_TXDMAEN) |
+			(0 << STM_SPI_CR2_RXDMAEN));
+
+	/* Clear RXNE */
+	(void) stm_spi->dr;
+
+	while (len--) {
+		while (!(stm_spi->sr & (1 << STM_SPI_SR_TXE)));
+		stm_spi->dr = *b++;
+	}
+}
+
 void
 ao_spi_recv(void *block, uint16_t len, uint8_t spi_index)
 {
@@ -356,13 +378,11 @@ ao_spi_enable_index(uint8_t spi_index)
 	}
 }
 
-void
-ao_spi_get(uint8_t spi_index, uint32_t speed)
+static void
+ao_spi_config(uint8_t spi_index, uint32_t speed)
 {
 	uint8_t		id = AO_SPI_INDEX(spi_index);
 	struct stm_spi	*stm_spi = ao_spi_stm_info[id].stm_spi;
-
-	ao_mutex_get(&ao_spi_mutex[id]);
 	stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) |			/* Three wire mode */
 			(0 << STM_SPI_CR1_BIDIOE) |
 			(0 << STM_SPI_CR1_CRCEN) |			/* CRC disabled */
@@ -378,7 +398,7 @@ ao_spi_get(uint8_t spi_index, uint32_t speed)
 			(0 << STM_SPI_CR1_CPOL) |			/* Format 0 */
 			(0 << STM_SPI_CR1_CPHA));
 	if (spi_index != ao_spi_index[id]) {
-		
+
 		/* Disable old config
 		 */
 		ao_spi_disable_index(ao_spi_index[id]);
@@ -386,13 +406,32 @@ ao_spi_get(uint8_t spi_index, uint32_t speed)
 		/* Enable new config
 		 */
 		ao_spi_enable_index(spi_index);
-		
+
 		/* Remember current config
 		 */
 		ao_spi_index[id] = spi_index;
 	}
 }
 
+uint8_t
+ao_spi_try_get(uint8_t spi_index, uint32_t speed, uint8_t task_id)
+{
+	uint8_t		id = AO_SPI_INDEX(spi_index);
+
+	if (!ao_mutex_try(&ao_spi_mutex[id], task_id))
+		return 0;
+	ao_spi_config(spi_index, speed);
+	return 1;
+}
+
+void
+ao_spi_get(uint8_t spi_index, uint32_t speed)
+{
+	uint8_t		id = AO_SPI_INDEX(spi_index);
+	ao_mutex_get(&ao_spi_mutex[id]);
+	ao_spi_config(spi_index, speed);
+}
+
 void
 ao_spi_put(uint8_t spi_index)
 {
-- 
cgit v1.2.3


From d1527a5457210eb914312cf8857bfb88982a8462 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 6 Jul 2014 12:35:13 -0700
Subject: Add support for the "kite" micropeak variant

This uses a 100m 'launch detect' altitude and logs data every 19.2s
instead of every .192s.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 micropeak/MicroData.java          |  26 ++++++--
 micropeak/MicroPeak.java          |   4 +-
 src/Makefile                      |   2 +-
 src/kernel/ao_log_micro.c         |  11 ++++
 src/kernel/ao_microflight.c       |  15 ++++-
 src/microkite/.gitignore          |   2 +
 src/microkite/Makefile            | 134 ++++++++++++++++++++++++++++++++++++++
 src/microkite/ao_pins.h           |  70 ++++++++++++++++++++
 src/microkite/microkite-load.tmpl |  20 ++++++
 src/product/ao_micropeak.h        |  11 ++++
 10 files changed, 284 insertions(+), 11 deletions(-)
 create mode 100644 src/microkite/.gitignore
 create mode 100644 src/microkite/Makefile
 create mode 100644 src/microkite/ao_pins.h
 create mode 100644 src/microkite/microkite-load.tmpl

(limited to 'src/kernel')

diff --git a/micropeak/MicroData.java b/micropeak/MicroData.java
index 6c9447aa..c38ada91 100644
--- a/micropeak/MicroData.java
+++ b/micropeak/MicroData.java
@@ -97,9 +97,15 @@ public class MicroData implements AltosUIDataSet {
 	private double		time_step;
 	private double		ground_altitude;
 	private ArrayList<Integer>	bytes;
+	public int		log_id;
 	String			name;
 	MicroStats		stats;
-	
+
+	public static final int LOG_ID_MICROPEAK = 0;
+	public static final int LOG_ID_MICROKITE = 1;
+
+	public static final double CLOCK = 0.096;
+
 	public class FileEndedException extends Exception {
 	}
 
@@ -172,7 +178,7 @@ public class MicroData implements AltosUIDataSet {
 			if (get_nonwhite(f) == 'M' && get_nonwhite(f) == 'P')
 				return true;
 		}
-	} 
+	}
 
 	private int get_32(InputStream f)  throws IOException, FileEndedException, NonHexcharException {
 		int	v = 0;
@@ -345,6 +351,9 @@ public class MicroData implements AltosUIDataSet {
 			ground_pressure = get_32(f);
 			min_pressure = get_32(f);
 			int nsamples = get_16(f);
+
+			log_id = nsamples >> 12;
+			nsamples &= 0xfff;
 			pressures = new int[nsamples + 1];
 
 			ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
@@ -367,7 +376,7 @@ public class MicroData implements AltosUIDataSet {
 					else
 						cur = down;
 				}
-				
+
 				pressures[i+1] = cur;
 			}
 
@@ -376,7 +385,14 @@ public class MicroData implements AltosUIDataSet {
 
 			crc_valid = crc == current_crc;
 
-			time_step = 0.192;
+			switch (log_id) {
+			case LOG_ID_MICROPEAK:
+				time_step = 2 * CLOCK;
+				break;
+			case LOG_ID_MICROKITE:
+				time_step = 200 * CLOCK;
+				break;
+			}
 			stats = new MicroStats(this);
 		} catch (FileEndedException fe) {
 			throw new IOException("File Ended Unexpectedly");
@@ -389,5 +405,5 @@ public class MicroData implements AltosUIDataSet {
 		pressures = new int[1];
 		pressures[0] = 101000;
 	}
-	
+
 }
diff --git a/micropeak/MicroPeak.java b/micropeak/MicroPeak.java
index 8bdf4b77..1744e803 100644
--- a/micropeak/MicroPeak.java
+++ b/micropeak/MicroPeak.java
@@ -107,7 +107,7 @@ public class MicroPeak extends MicroFrame implements ActionListener, ItemListene
 
 	private void DownloadData() {
 		AltosDevice	device = MicroDeviceDialog.show(this);
-		
+
 		if (device != null)
 			new MicroDownload(this, device);
 	}
@@ -128,7 +128,7 @@ public class MicroPeak extends MicroFrame implements ActionListener, ItemListene
 		if (save.runDialog())
 			SetName(data.name);
 	}
-	
+
 	private void Export() {
 		if (data == null) {
 			no_data();
diff --git a/src/Makefile b/src/Makefile
index 4e8b3c20..df7a31ee 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -39,7 +39,7 @@ ARMM0DIRS=\
 	easymini-v1.0 easymini-v1.0/flash-loader
 
 AVRDIRS=\
-	telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1
+	telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1 microkite
 
 SUBDIRS=
 
diff --git a/src/kernel/ao_log_micro.c b/src/kernel/ao_log_micro.c
index d665efb5..aef78def 100644
--- a/src/kernel/ao_log_micro.c
+++ b/src/kernel/ao_log_micro.c
@@ -22,10 +22,17 @@
 
 static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
 
+#define AO_LOG_ID_SHIFT	12
+#define AO_LOG_ID_MASK	((1 << AO_LOG_ID_SHIFT) - 1)
+
 void
 ao_log_micro_save(void)
 {
 	uint16_t	n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
+
+#if AO_LOG_ID
+	n_samples |= AO_LOG_ID << AO_LOG_ID_SHIFT;
+#endif
 	ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
 	ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
 	ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
@@ -99,8 +106,12 @@ ao_log_micro_dump(void)
 	uint16_t	crc = 0xffff;
 
 	ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+
 	if (n_samples == 0xffff)
 		n_samples = 0;
+#if AO_LOG_ID
+	n_samples &= AO_LOG_ID_MASK;
+#endif
 	nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
 	ao_async_start();
 	ao_async_byte('M');
diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c
index f680e400..df624e79 100644
--- a/src/kernel/ao_microflight.c
+++ b/src/kernel/ao_microflight.c
@@ -43,10 +43,12 @@ void
 ao_microflight(void)
 {
 	int16_t		sample_count;
+	int16_t		log_count;
 	uint16_t	time;
 	uint32_t	pa_interval_min, pa_interval_max;
 	int32_t		pa_diff;
-	uint8_t		h, i;
+	uint8_t		h;
+	uint8_t		i;
 	uint8_t		accel_lock = 0;
 	uint32_t	pa_sum = 0;
 
@@ -93,7 +95,10 @@ ao_microflight(void)
 	}
 
 	/* Log the remaining samples so we get a complete history since leaving the ground */
-	for (; i != h; i = SKIP_PA_HIST(i,2)) {
+#if LOG_INTERVAL < NUM_PA_HIST
+	for (; i != h; i = SKIP_PA_HIST(i,2))
+#endif
+	{
 		pa = pa_hist[i];
 		ao_log_micro_data();
 	}
@@ -101,6 +106,7 @@ ao_microflight(void)
 	/* Now sit around until the pressure is stable again and record the max */
 
 	sample_count = 0;
+	log_count = 0;
 	pa_min = ao_pa;
 	pa_interval_min = ao_pa;
 	pa_interval_max = ao_pa;
@@ -112,8 +118,11 @@ ao_microflight(void)
 		ao_microsample();
 		if ((sample_count & 3) == 0)
 			ao_led_off(AO_LED_REPORT);
-		if (sample_count & 1)
+		if (log_count == LOG_INTERVAL - 1) {
 			ao_log_micro_data();
+			log_count = 0;
+		} else
+			log_count++;
 
 		/* If accelerating upwards, don't look for min pressure */
 		if (ao_pa_accel < ACCEL_LOCK_PA)
diff --git a/src/microkite/.gitignore b/src/microkite/.gitignore
new file mode 100644
index 00000000..7a5d0a1f
--- /dev/null
+++ b/src/microkite/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+microkite-*
diff --git a/src/microkite/Makefile b/src/microkite/Makefile
new file mode 100644
index 00000000..b7523758
--- /dev/null
+++ b/src/microkite/Makefile
@@ -0,0 +1,134 @@
+#
+# Tiny AltOS build
+#
+#
+vpath % ../attiny:../drivers:../kernel:../product:..
+vpath ao-make-product.5c ../util
+vpath make-altitude-pa ../util
+
+include ../avr/Makefile.defs
+
+PROGNAME=microkite-v0.1
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SCRIPT=microkite-load
+
+PUBLISH_DIR=$(HOME)/altusmetrumllc/Binaries
+PUBLISH_HEX=$(PUBLISH_DIR)/$(HEX)
+PUBLISH_SCRIPT=$(PUBLISH_DIR)/$(SCRIPT)
+
+MCU=attiny85
+DUDECPUTYPE=t85
+#PROGRAMMER=stk500v2 -P usb
+LOADSLOW=-i 32 -B 32
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+
+#LDFLAGS=-L$(LDSCRIPTS) -Tavr25.x
+
+ALTOS_SRC = \
+	ao_micropeak.c \
+	ao_spi_attiny.c \
+	ao_led.c \
+	ao_clock.c \
+	ao_ms5607.c \
+	ao_exti.c \
+	ao_convert_pa.c \
+	ao_report_micro.c \
+	ao_notask.c \
+	ao_eeprom_tiny.c \
+	ao_panic.c \
+	ao_log_micro.c \
+	ao_async.c \
+	ao_microflight.c \
+	ao_microkalman.c
+
+INC=\
+	ao.h \
+	ao_pins.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_exti.h \
+	ao_ms5607.h \
+	ao_log_micro.h \
+	ao_micropeak.h \
+	altitude-pa.h
+
+IDPRODUCT=0
+PRODUCT=MicroKite-v0.1
+PRODUCT_DEF=-DMICROPEAK
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../kernel -I.. -I../drivers -I../product
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
+
+NICKLE=nickle
+
+SRC=$(ALTOS_SRC)
+OBJ=$(SRC:.c=.o)
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG) $(HEX) microkite-load
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+	$(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(HEX): $(PROG)
+	avr-size $(PROG)
+	$(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(HEX)
+	$(LOADCMD) $(LOADARG)$(HEX)
+
+load-slow: $(HEX)
+	$(LOADCMD) $(LOADSLOW) $(LOADARG)$(HEX)
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.o: ao_product.c ao_product.h
+
+%.o : %.c $(INC)
+	$(call quiet,CC) -c $(CFLAGS) $<
+
+distclean:	clean
+
+clean:
+	rm -f *.o $(PROG) $(HEX) $(SCRIPT)
+	rm -f ao_product.h
+
+publish: $(PUBLISH_HEX) $(PUBLISH_SCRIPT)
+
+$(PUBLISH_HEX): $(HEX)
+	cp -a $(HEX) $@
+
+$(PUBLISH_SCRIPT): $(SCRIPT)
+	cp -a $(SCRIPT) $@
+
+load-product:
+	./$(SCRIPT) fast
+
+load-product-slow:
+	./$(SCRIPT) slow
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+$(SCRIPT): $(SCRIPT).tmpl Makefile ../Version
+	sed -e 's/%HEX%/$(HEX)/' -e 's/%LOADCMD%/$(LOADCMD)/' -e 's/%LOADARG%/$(LOADARG)/' -e 's/%LOADSLOW%/$(LOADSLOW)/' $(SCRIPT).tmpl > $@ || (rm $@ && exit 1)
+	chmod +x $@
+
+install:
+
+uninstall:
+
+$(OBJ): ao_product.h $(INC)
diff --git a/src/microkite/ao_pins.h b/src/microkite/ao_pins.h
new file mode 100644
index 00000000..3c56dfb8
--- /dev/null
+++ b/src/microkite/ao_pins.h
@@ -0,0 +1,70 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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_
+#include <avr/pgmspace.h>
+
+#define AO_LED_ORANGE		(1<<4)
+#define AO_LED_SERIAL		4
+#define AO_LED_PANIC		AO_LED_ORANGE
+#define AO_LED_REPORT		AO_LED_ORANGE
+#define LEDS_AVAILABLE		(AO_LED_ORANGE)
+#define USE_SERIAL_1_STDIN	0
+#define HAS_USB			0
+#define PACKET_HAS_SLAVE	0
+#define HAS_SERIAL_1		0
+#define HAS_TASK		0
+#define HAS_MS5607		1
+#define HAS_MS5611		0
+#define HAS_EEPROM		0
+#define HAS_BEEP		0
+#define AVR_CLOCK		250000UL
+
+/* SPI */
+#define SPI_PORT		PORTB
+#define SPI_PIN			PINB
+#define SPI_DIR			DDRB
+#define AO_MS5607_CS_PORT	PORTB
+#define AO_MS5607_CS_PIN	3
+
+/* MS5607 */
+#define AO_MS5607_SPI_INDEX	0
+#define AO_MS5607_MISO_PORT	PORTB
+#define AO_MS5607_MISO_PIN	0
+#define AO_MS5607_BARO_OVERSAMPLE	4096
+#define AO_MS5607_TEMP_OVERSAMPLE	1024
+
+/* I2C */
+#define I2C_PORT		PORTB
+#define I2C_PIN			PINB
+#define I2C_DIR			DDRB
+#define I2C_PIN_SCL		PINB2
+#define I2C_PIN_SDA		PINB0
+
+#define AO_CONST_ATTRIB		PROGMEM
+typedef int32_t alt_t;
+#define FETCH_ALT(o)		((alt_t) pgm_read_dword(&altitude_table[o]))
+
+#define AO_ALT_VALUE(x)		((x) * (alt_t) 10)
+
+#define BOOST_DETECT		1200	/* 100m (ish) */
+#define LOG_INTERVAL		 200	/* 19.2 seconds */
+
+#define AO_LOG_ID		AO_LOG_ID_MICROKITE
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/microkite/microkite-load.tmpl b/src/microkite/microkite-load.tmpl
new file mode 100644
index 00000000..08236a15
--- /dev/null
+++ b/src/microkite/microkite-load.tmpl
@@ -0,0 +1,20 @@
+#!/bin/sh
+dir=`dirname $0`
+
+HEX="$dir"/"%HEX%"
+LOADCMD="%LOADCMD%"
+LOADARG="%LOADARG%"
+LOADSLOW="%LOADSLOW%"
+LOADFAST=""
+
+case "$1" in
+fast)
+	LOADSPEED="$LOADFAST"
+	;;
+*)
+	LOADSPEED="$LOADSLOW"
+	;;
+esac
+
+echo ${LOADCMD} ${LOADSPEED} ${LOADARG}${HEX}
+${LOADCMD} ${LOADSPEED} ${LOADARG}${HEX}
diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h
index 0ec407d7..396b9a23 100644
--- a/src/product/ao_micropeak.h
+++ b/src/product/ao_micropeak.h
@@ -29,6 +29,17 @@
 #define BOOST_DETECT		360	/* 30m at sea level, 36m at 2000m */
 #endif
 
+#ifndef LOG_INTERVAL
+#define LOG_INTERVAL		 2	/* 192 ms */
+#endif
+
+#define AO_LOG_ID_MICROPEAK	0
+#define AO_LOG_ID_MICROKITE	1
+
+#ifndef AO_LOG_ID
+#define AO_LOG_ID		AO_LOG_ID_MICROPEAK
+#endif
+
 /* Wait after power on before doing anything to give the user time to assemble the rocket */
 #define BOOST_DELAY		AO_SEC_TO_TICKS(60)
 
-- 
cgit v1.2.3


From 1a55cbe1923280f7009c13d5eb5b2ccac89219c2 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 8 Jul 2014 23:45:10 -0700
Subject: altos/telemini-v2.0: Add memory decorations to new telemetry
 variables

This lets TeleMini-v2.0 compile.

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

(limited to 'src/kernel')

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index f4fcf400..d321c8ff 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -1,5 +1,5 @@
 /*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ * Copyright © 2011 Keth Packard <keithp@keithp.com>
  *
  * 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
@@ -26,7 +26,7 @@
 static __pdata uint16_t ao_telemetry_interval;
 
 #if HAS_RADIO_RATE
-static __pdata uint16_t ao_telemetry_desired_interval;
+static __xdata uint16_t ao_telemetry_desired_interval;
 #endif
 
 #if HAS_RDF
@@ -511,7 +511,7 @@ ao_telemetry_set_interval(uint16_t interval)
 #if HAS_RADIO_RATE
 	/* Limit max telemetry rate based on available radio bandwidth.
 	 */
-	static const uint16_t min_interval[] = {
+	static __xdata const uint16_t min_interval[] = {
 		/* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
 		/* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
 		/* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
-- 
cgit v1.2.3


From d926ccfbd4596eb3f981d2fcf8f6fc6ccc427db6 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 8 Jul 2014 23:46:24 -0700
Subject: altos: Add smaller pa to altitude table for TeleMini

TeleMini doesn't have space for the larger table, and the smaller one
isn't that much less accurate at lower altitudes.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/Makefile               |   5 +-
 src/kernel/ao_convert_pa.c |   4 +
 src/util/make-altitude-pa  | 184 ++++++++++++++++++++++++++-------------------
 3 files changed, 115 insertions(+), 78 deletions(-)

(limited to 'src/kernel')

diff --git a/src/Makefile b/src/Makefile
index df7a31ee..a7a26b26 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -98,7 +98,7 @@ uninstall:
 
 all-recursive: all-local
 
-all-local: altitude.h altitude-pa.h ao_kalman.h ao_whiten.h $(PDCLIB)
+all-local: altitude.h altitude-pa.h altitude-pa-small.h ao_kalman.h ao_whiten.h $(PDCLIB)
 
 altitude.h: make-altitude
 	nickle $< > $@
@@ -106,6 +106,9 @@ altitude.h: make-altitude
 altitude-pa.h: make-altitude-pa
 	nickle $< > $@
 
+altitude-pa-small.h: make-altitude-pa
+	nickle $< --sample 3 > $@
+
 ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
 	bash $< kalman > $@
 
diff --git a/src/kernel/ao_convert_pa.c b/src/kernel/ao_convert_pa.c
index fe6e0ef6..20162c1f 100644
--- a/src/kernel/ao_convert_pa.c
+++ b/src/kernel/ao_convert_pa.c
@@ -24,7 +24,11 @@
 #endif
 
 static const alt_t altitude_table[] AO_CONST_ATTRIB = {
+#if AO_SMALL_ALTITUDE_TABLE
+#include "altitude-pa-small.h"
+#else
 #include "altitude-pa.h"
+#endif
 };
 
 #ifndef FETCH_ALT
diff --git a/src/util/make-altitude-pa b/src/util/make-altitude-pa
index 22831d50..d36f3f41 100644
--- a/src/util/make-altitude-pa
+++ b/src/util/make-altitude-pa
@@ -185,105 +185,135 @@ line_t best_fit(real[] values, int first, int last) {
        return (line_t) { m = m, b = b };
 }
 
-real	min_Pa = 0;
-real	max_Pa = 120000;
+void print_table (int pa_sample_shift, int pa_part_shift)
+{
+	real	min_Pa = 0;
+	real	max_Pa = 120000;
 
-/* Target is an array of < 1000 entries */
-int pa_sample_shift = 2;
-int pa_part_shift = 6;
-int pa_part_mask = (1 << pa_part_shift) - 1;
+	int pa_part_mask = (1 << pa_part_shift) - 1;
 
-int num_part = ceil(max_Pa / (2 ** (pa_part_shift + pa_sample_shift)));
+	int num_part = ceil(max_Pa / (2 ** (pa_part_shift + pa_sample_shift)));
 
-int num_samples = num_part << pa_part_shift;
+	int num_samples = num_part << pa_part_shift;
 
-real sample_to_Pa(int sample) = sample << pa_sample_shift;
+	real sample_to_Pa(int sample) = sample << pa_sample_shift;
 
-real sample_to_altitude(int sample) = pressure_to_altitude(sample_to_Pa(sample));
+	real sample_to_altitude(int sample) = pressure_to_altitude(sample_to_Pa(sample));
 
-int part_to_sample(int part) = part << pa_part_shift;
+	int part_to_sample(int part) = part << pa_part_shift;
 
-int sample_to_part(int sample) = sample >> pa_part_shift;
+	int sample_to_part(int sample) = sample >> pa_part_shift;
 
-bool is_part(int sample) = (sample & pa_part_mask) == 0;
+	bool is_part(int sample) = (sample & pa_part_mask) == 0;
 
-real[num_samples] alt = { [n] = sample_to_altitude(n) };
+	real[num_samples] alt = { [n] = sample_to_altitude(n) };
 
-int seg_len = 1 << pa_part_shift;
+	int seg_len = 1 << pa_part_shift;
 
-line_t [num_part] fit = {
-	[n] = best_fit(alt, n * seg_len, n * seg_len + seg_len - 1)
-};
-
-real[num_samples/seg_len + 1]	alt_part;
-real[dim(alt_part)]		alt_error = {0...};
-
-alt_part[0] = fit[0].b;
-alt_part[dim(fit)] = fit[dim(fit)-1].m * dim(fit) * seg_len + fit[dim(fit)-1].b;
+	line_t [num_part] fit = {
+		[n] = best_fit(alt, n * seg_len, n * seg_len + seg_len - 1)
+	};
 
-for (int i = 0; i < dim(fit) - 1; i++) {
-	real	here, there;
-	here = fit[i].m * (i+1) * seg_len + fit[i].b;
-	there = fit[i+1].m * (i+1) * seg_len + fit[i+1].b;
-#	printf ("at %d mis-fit %8.2f\n", i, there - here);
-	alt_part[i+1] = (here + there) / 2;
-}
+	real[num_samples/seg_len + 1]	alt_part;
+	real[dim(alt_part)]		alt_error = {0...};
 
-real round(real x) = floor(x + 0.5);
+	alt_part[0] = fit[0].b;
+	alt_part[dim(fit)] = fit[dim(fit)-1].m * dim(fit) * seg_len + fit[dim(fit)-1].b;
 
-real sample_to_fit_altitude(int sample) {
-	int	sub = sample // seg_len;
-	int	off = sample % seg_len;
-	line_t	l = fit[sub];
-	real r_v;
-	real i_v;
+	for (int i = 0; i < dim(fit) - 1; i++) {
+		real	here, there;
+		here = fit[i].m * (i+1) * seg_len + fit[i].b;
+		there = fit[i+1].m * (i+1) * seg_len + fit[i+1].b;
+#		printf ("at %d mis-fit %8.2f\n", i, there - here);
+		alt_part[i+1] = (here + there) / 2;
+	}
 
-	r_v = sample * l.m + l.b;
-	i_v = (round(alt_part[sub]*10) * (seg_len - off) + round(alt_part[sub+1]*10) * off) / seg_len;
-	return i_v/10;
-}
+	real round(real x) = floor(x + 0.5);
 
-real max_error = 0;
-int max_error_sample = 0;
-real total_error = 0;
+	real sample_to_fit_altitude(int sample) {
+		int	sub = sample // seg_len;
+			int	off = sample % seg_len;
+		line_t	l = fit[sub];
+		real r_v;
+		real i_v;
 
-for (int sample = 0; sample < num_samples; sample++) {
-	real	Pa = sample_to_Pa(sample);
-	real	meters = alt[sample];
+		r_v = sample * l.m + l.b;
+		i_v = (round(alt_part[sub]*10) * (seg_len - off) + round(alt_part[sub+1]*10) * off) / seg_len;
+		return i_v/10;
+	}
 
-	real	meters_approx = sample_to_fit_altitude(sample);
-	real	error = abs(meters - meters_approx);
+	real max_error = 0;
+	int max_error_sample = 0;
+	real total_error = 0;
+
+	for (int sample = 0; sample < num_samples; sample++) {
+		real	Pa = sample_to_Pa(sample);
+		real	meters = alt[sample];
+
+		real	meters_approx = sample_to_fit_altitude(sample);
+		real	error = abs(meters - meters_approx);
+
+		int	part = sample_to_part(sample);
+
+		if (error > alt_error[part])
+			alt_error[part] = error;
+
+		total_error += error;
+		if (error > max_error) {
+			max_error = error;
+			max_error_sample = sample;
+		}
+		if (false) {
+			printf ("	%8.1f %8.2f %8.2f %8.2f %s\n",
+				Pa,
+				meters,
+				meters_approx,
+				meters - meters_approx,
+				is_part(sample) ? "*" : "");
+		}
+	}
 
-	int	part = sample_to_part(sample);
+	printf ("/*max error %f at %7.3f kPa. Average error %f*/\n",
+		max_error, sample_to_Pa(max_error_sample) / 1000, total_error / num_samples);
 
-	if (error > alt_error[part])
-		alt_error[part] = error;
+	printf ("#define NALT %d\n", dim(alt_part));
+	printf ("#define ALT_SHIFT %d\n", pa_part_shift + pa_sample_shift);
+	printf ("#ifndef AO_ALT_VALUE\n#define AO_ALT_VALUE(x) (alt_t) (x)\n#endif\n");
 
-	total_error += error;
-	if (error > max_error) {
-		max_error = error;
-		max_error_sample = sample;
-	}
-	if (false) {
-		printf ("	%8.1f %8.2f %8.2f %8.2f %s\n",
-			Pa,
-			meters,
-			meters_approx,
-			meters - meters_approx,
-			is_part(sample) ? "*" : "");
+	for (int part = 0; part < dim(alt_part); part++) {
+		real kPa = sample_to_Pa(part_to_sample(part)) / 1000;
+		printf ("AO_ALT_VALUE(%10.1f), /* %6.2f kPa error %6.2fm */\n",
+			round (alt_part[part]*10) / 10, kPa,
+			alt_error[part]);
 	}
 }
 
-printf ("/*max error %f at %7.3f kPa. Average error %f*/\n",
-	max_error, sample_to_Pa(max_error_sample) / 1000, total_error / num_samples);
-
-printf ("#define NALT %d\n", dim(alt_part));
-printf ("#define ALT_SHIFT %d\n", pa_part_shift + pa_sample_shift);
-printf ("#ifndef AO_ALT_VALUE\n#define AO_ALT_VALUE(x) (alt_t) (x)\n#endif\n");
-
-for (int part = 0; part < dim(alt_part); part++) {
-	real kPa = sample_to_Pa(part_to_sample(part)) / 1000;
-	printf ("AO_ALT_VALUE(%10.1f), /* %6.2f kPa error %6.2fm */\n",
-		round (alt_part[part]*10) / 10, kPa,
-		alt_error[part]);
+autoload ParseArgs;
+
+void main()
+{
+	/* Target is an array of < 1000 entries */
+	int pa_sample_shift = 2;
+	int pa_part_shift = 6;
+
+	ParseArgs::argdesc argd = {
+		.args = {
+			{ .var = { .arg_int = &pa_sample_shift },
+			  .abbr = 's',
+			  .name = "sample",
+			  .expr_name = "sample_shift",
+			  .desc = "sample shift value" },
+			{ .var = { .arg_int = &pa_part_shift },
+			  .abbr = 'p',
+			  .name = "part",
+			  .expr_name = "part_shift",
+			  .desc = "part shift value" },
+		}
+	};
+
+	ParseArgs::parseargs(&argd, &argv);
+
+	print_table(pa_sample_shift, pa_part_shift);
 }
+
+main();
-- 
cgit v1.2.3


From 34d5be68ca23e8beb05db9a480faef63ecc911d0 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 10 Jul 2014 17:07:48 -0700
Subject: altos: Extend GPS altitudes to at least 24 bits everywhere

Telemetry gets a special 'mode' flag indicating that 24-bit data is
present; log files get new data and log readers are expected to detect
that via the firmware version number.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_pins.h              |  1 +
 src/drivers/ao_aprs.c             |  2 +-
 src/drivers/ao_gps_skytraq.c      |  3 ++-
 src/drivers/ao_gps_ublox.c        |  2 +-
 src/kernel/ao_gps_report.c        |  8 ++++++--
 src/kernel/ao_gps_report_mega.c   |  7 ++++---
 src/kernel/ao_gps_report_metrum.c |  3 ++-
 src/kernel/ao_gps_show.c          |  8 +++++++-
 src/kernel/ao_log.h               | 23 +++++++++++++++--------
 src/kernel/ao_log_gps.c           |  3 ++-
 src/kernel/ao_log_gps.h           |  3 ---
 src/kernel/ao_telemetry.c         |  2 +-
 src/kernel/ao_telemetry.h         | 34 ++++++++++++++++++++++++++--------
 src/kernel/ao_tracker.c           | 13 +++++++------
 src/test/ao_aprs_test.c           |  7 +++----
 src/test/ao_flight_test.c         |  7 +++++--
 src/test/ao_gps_test.c            |  5 ++++-
 src/test/ao_gps_test_skytraq.c    |  4 ++++
 src/test/ao_gps_test_ublox.c      |  9 ++++++++-
 19 files changed, 99 insertions(+), 45 deletions(-)

(limited to 'src/kernel')

diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h
index 1bc3d716..4db49215 100644
--- a/src/cc1111/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -20,6 +20,7 @@
 
 #define HAS_RADIO		1
 #define DISABLE_LOG_SPACE	1
+#define HAS_WIDE_GPS		0
 
 #if defined(TELEMETRUM_V_1_0)
 	/* Discontinued and was never built with CC1111 chips needing this */
diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index a9047149..19beb78f 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -713,7 +713,7 @@ static int tncPositionPacket(void)
     if (ao_gps_data.flags & AO_GPS_VALID) {
 	latitude = ao_gps_data.latitude;
 	longitude = ao_gps_data.longitude;
-	altitude = ao_gps_data.altitude;
+	altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data);
 	if (altitude < 0)
 	    altitude = 0;
     }
diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 944a37f9..81178051 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -287,7 +287,8 @@ ao_nmea_gga(void)
 	ao_gps_next.hdop = i;
 	ao_gps_skip_field();
 
-	ao_gps_next.altitude = ao_gps_decimal(0xff);
+	AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff));
+
 	ao_gps_skip_field();	/* skip any fractional portion */
 
 	ao_nmea_finish();
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 077698a9..48765998 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -728,7 +728,7 @@ ao_gps(void) __reentrant
 				if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
 					ao_gps_data.flags |= AO_GPS_DATE_VALID;
 
-				ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
+				AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000);
 				ao_gps_data.latitude = nav_posllh.lat;
 				ao_gps_data.longitude = nav_posllh.lon;
 
diff --git a/src/kernel/ao_gps_report.c b/src/kernel/ao_gps_report.c
index 07201ac2..7ef98a97 100644
--- a/src/kernel/ao_gps_report.c
+++ b/src/kernel/ao_gps_report.c
@@ -52,8 +52,12 @@ ao_gps_report(void)
 			gps_log.u.gps_longitude = gps_data.longitude;
 			ao_log_data(&gps_log);
 			gps_log.type = AO_LOG_GPS_ALT;
-			gps_log.u.gps_altitude.altitude = gps_data.altitude;
-			gps_log.u.gps_altitude.unused = 0xffff;
+			gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
+#if HAS_WIDE_GPS
+			gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high;
+#else
+			gps_log.u.gps_altitude.altitude_high = 0xffff;
+#endif
 			ao_log_data(&gps_log);
 			if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
 				gps_log.type = AO_LOG_GPS_DATE;
diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c
index cb0c0fd9..f3711fb1 100644
--- a/src/kernel/ao_gps_report_mega.c
+++ b/src/kernel/ao_gps_report_mega.c
@@ -78,7 +78,8 @@ ao_gps_report_mega(void)
 #if GPS_SPARSE_LOG
 		/* Don't log data if GPS has a fix and hasn't moved for a while */
 		if ((gps_data.flags & AO_GPS_VALID) &&
-		    !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, gps_data.altitude))
+		    !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude,
+					      AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data))
 			continue;
 #endif
 		if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
@@ -87,8 +88,8 @@ ao_gps_report_mega(void)
 			gps_log.type = AO_LOG_GPS_TIME;
 			gps_log.u.gps.latitude = gps_data.latitude;
 			gps_log.u.gps.longitude = gps_data.longitude;
-			gps_log.u.gps.altitude = gps_data.altitude;
-
+			gps_log.u.gps.altitude_low = gps_data.altitude_low;
+			gps_log.u.gps.altitude_high = gps_data.altitude_high;
 			gps_log.u.gps.hour = gps_data.hour;
 			gps_log.u.gps.minute = gps_data.minute;
 			gps_log.u.gps.second = gps_data.second;
diff --git a/src/kernel/ao_gps_report_metrum.c b/src/kernel/ao_gps_report_metrum.c
index 696a833b..31939385 100644
--- a/src/kernel/ao_gps_report_metrum.c
+++ b/src/kernel/ao_gps_report_metrum.c
@@ -44,7 +44,8 @@ ao_gps_report_metrum(void)
 			gps_log.type = AO_LOG_GPS_POS;
 			gps_log.u.gps.latitude = gps_data.latitude;
 			gps_log.u.gps.longitude = gps_data.longitude;
-			gps_log.u.gps.altitude = gps_data.altitude;
+			gps_log.u.gps.altitude_low = gps_data.altitude_low;
+			gps_log.u.gps.altitude_high = gps_data.altitude_high;
 			ao_log_metrum(&gps_log);
 
 			gps_log.type = AO_LOG_GPS_TIME;
diff --git a/src/kernel/ao_gps_show.c b/src/kernel/ao_gps_show.c
index 3a05e35a..e45cd795 100644
--- a/src/kernel/ao_gps_show.c
+++ b/src/kernel/ao_gps_show.c
@@ -19,6 +19,8 @@
 #include <ao.h>
 #endif
 
+#include <ao_data.h>
+
 void
 ao_gps_show(void) __reentrant
 {
@@ -27,7 +29,11 @@ ao_gps_show(void) __reentrant
 	printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
 	printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
 	printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude);
-	printf ("Alt: %d\n", ao_gps_data.altitude);
+#if HAS_WIDE_GPS
+	printf ("Alt: %ld\n", (long) AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data));
+#else
+	printf ("Alt: %d\n", AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data));
+#endif
 	printf ("Flags: 0x%x\n", ao_gps_data.flags);
 	printf ("Sats: %d", ao_gps_tracking_data.channels);
 	for (i = 0; i < ao_gps_tracking_data.channels; i++)
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 33cda3eb..080cfb02 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -176,8 +176,8 @@ struct ao_log_record {
 		int32_t		gps_latitude;
 		int32_t		gps_longitude;
 		struct {
-			int16_t		altitude;
-			uint16_t	unused;
+			uint16_t	altitude_low;
+			int16_t		altitude_high;
 		} gps_altitude;
 		struct {
 			uint16_t	svid;
@@ -246,7 +246,7 @@ struct ao_log_mega {
 		struct {
 			int32_t		latitude;	/* 4 */
 			int32_t		longitude;	/* 8 */
-			int16_t		altitude;	/* 12 */
+			uint16_t	altitude_low;	/* 12 */
 			uint8_t		hour;		/* 14 */
 			uint8_t		minute;		/* 15 */
 			uint8_t		second;		/* 16 */
@@ -261,7 +261,8 @@ struct ao_log_mega {
 			uint8_t		hdop;		/* 27 */
 			uint8_t		vdop;		/* 28 */
 			uint8_t		mode;		/* 29 */
-		} gps;	/* 30 */
+			int16_t		altitude_high;	/* 30 */
+		} gps;	/* 32 */
 		/* AO_LOG_GPS_SAT */
 		struct {
 			uint16_t	channels;	/* 4 */
@@ -273,6 +274,11 @@ struct ao_log_mega {
 	} u;
 };
 
+#define AO_LOG_MEGA_GPS_ALTITUDE(l)	((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
+#define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)	(((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
+						 ((l)->u.gps.altitude_high = (a) >> 16), \
+						 (l)->u.gps.altitude_low = (a))
+
 struct ao_log_metrum {
 	char			type;			/* 0 */
 	uint8_t			csum;			/* 1 */
@@ -306,8 +312,9 @@ struct ao_log_metrum {
 		struct {
 			int32_t		latitude;	/* 4 */
 			int32_t		longitude;	/* 8 */
-			int16_t		altitude;	/* 12 */
-		} gps;		/* 14 */
+			uint16_t	altitude_low;	/* 12 */
+			int16_t		altitude_high;	/* 14 */
+		} gps;		/* 16 */
 		/* AO_LOG_GPS_TIME */
 		struct {
 			uint8_t		hour;		/* 4 */
@@ -381,7 +388,7 @@ struct ao_log_gps {
 		struct {
 			int32_t		latitude;	/* 4 */
 			int32_t		longitude;	/* 8 */
-			int16_t		altitude;	/* 12 */
+			uint16_t	altitude_low;	/* 12 */
 			uint8_t		hour;		/* 14 */
 			uint8_t		minute;		/* 15 */
 			uint8_t		second;		/* 16 */
@@ -396,7 +403,7 @@ struct ao_log_gps {
 			uint8_t		hdop;		/* 27 */
 			uint8_t		vdop;		/* 28 */
 			uint8_t		mode;		/* 29 */
-			uint8_t		state;		/* 30 */
+			int16_t		altitude_high;	/* 30 */
 		} gps;	/* 31 */
 		/* AO_LOG_GPS_SAT */
 		struct {
diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index 3b728c25..a5a6358b 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.c
@@ -75,7 +75,8 @@ ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
 	log.type = AO_LOG_GPS_TIME;
 	log.u.gps.latitude = gps_data->latitude;
 	log.u.gps.longitude = gps_data->longitude;
-	log.u.gps.altitude = gps_data->altitude;
+	log.u.gps.altitude_low = gps_data->altitude_low;
+	log.u.gps.altitude_high = gps_data->altitude_high;
 
 	log.u.gps.hour = gps_data->hour;
 	log.u.gps.minute = gps_data->minute;
diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h
index 5851f4d1..a9e8c831 100644
--- a/src/kernel/ao_log_gps.h
+++ b/src/kernel/ao_log_gps.h
@@ -21,9 +21,6 @@
 #ifndef _AO_LOG_GPS_H_
 #define _AO_LOG_GPS_H_
 
-uint8_t
-ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt);
-
 void
 ao_log_gps_flight(void);
 
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index d321c8ff..56bd715e 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -344,7 +344,7 @@ ao_send_location(void)
 		ao_mutex_get(&ao_gps_mutex);
 		ao_xmemcpy(&telemetry.location.flags,
 		       &ao_gps_data.flags,
-		       26);
+		       27);
 		telemetry.location.tick = ao_gps_tick;
 		ao_mutex_put(&ao_gps_mutex);
 		ao_radio_send(&telemetry, sizeof (telemetry));
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index be7d0340..83d432cf 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -86,12 +86,9 @@ struct ao_telemetry_configuration {
 
 #define AO_TELEMETRY_LOCATION		0x05
 
-#define AO_GPS_MODE_NOT_VALID		'N'
-#define AO_GPS_MODE_AUTONOMOUS		'A'
-#define AO_GPS_MODE_DIFFERENTIAL	'D'
-#define AO_GPS_MODE_ESTIMATED		'E'
-#define AO_GPS_MODE_MANUAL		'M'
-#define AO_GPS_MODE_SIMULATED		'S'
+/* Mode bits */
+
+#define AO_GPS_MODE_ALTITUDE_24		(1 << 0)	/* reports 24-bits of altitude */
 
 struct ao_telemetry_location {
 	uint16_t	serial;		/*  0 */
@@ -99,7 +96,7 @@ struct ao_telemetry_location {
 	uint8_t		type;		/*  4 */
 
 	uint8_t         flags;		/*  5 Number of sats and other flags */
-	int16_t         altitude;	/*  6 GPS reported altitude (m) */
+	uint16_t        altitude_low;	/*  6 GPS reported altitude (m) */
 	int32_t         latitude;	/*  8 latitude (degrees * 10⁷) */
 	int32_t         longitude;	/* 12 longitude (degrees * 10⁷) */
 	uint8_t         year;		/* 16 (- 2000) */
@@ -115,10 +112,31 @@ struct ao_telemetry_location {
 	uint16_t	ground_speed;	/* 26 cm/s */
 	int16_t		climb_rate;	/* 28 cm/s */
 	uint8_t		course;		/* 30 degrees / 2 */
-	uint8_t		unused;		/* 31 unused */
+	int8_t		altitude_high;	/* 31 high byte of altitude */
 	/* 32 */
 };
 
+#if HAS_GPS
+
+#ifndef HAS_WIDE_GPS
+#define HAS_WIDE_GPS	1
+#endif
+
+#if HAS_WIDE_GPS
+typedef int32_t		gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	(((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \
+						 ((l)->altitude_high = (a) >> 16), \
+						 ((l)->altitude_low = (a)))
+#else
+typedef int16_t		gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l)	((gps_alt_t) (l)->altitude_low)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a)	(((l)->mode = 0, \
+						  (l)->altitude_low = (a)))
+#endif /* HAS_WIDE_GPS */
+
+#endif /* HAS_GPS */
+
 #define AO_TELEMETRY_SATELLITE		0x06
 
 struct ao_telemetry_satellite_info {
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 9febc7f0..d9434048 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -36,9 +36,9 @@ ao_usb_connected(void)
 #endif
 
 struct gps_position {
-	int32_t	latitude;
-	int32_t	longitude;
-	int16_t	altitude;
+	int32_t		latitude;
+	int32_t		longitude;
+	gps_alt_t	altitude;
 };
 
 #define GPS_RING	16
@@ -122,12 +122,13 @@ ao_tracker(void)
 			{
 				uint8_t	ring;
 				uint8_t	moving = 0;
+				gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data);
 
 				for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
 					ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
 								      gps_position[ring].latitude,
 								      gps_position[ring].longitude);
-					height = gps_position[ring].altitude - gps_data.altitude;
+					height = gps_position[ring].altitude - altitude;
 					if (height < 0)
 						height = -height;
 
@@ -153,7 +154,7 @@ ao_tracker(void)
 					ao_log_gps_data(gps_tick, &gps_data);
 					gps_position[gps_head].latitude = gps_data.latitude;
 					gps_position[gps_head].longitude = gps_data.longitude;
-					gps_position[gps_head].altitude = gps_data.altitude;
+					gps_position[gps_head].altitude = altitude;
 					gps_head = ao_gps_ring_next(gps_head);
 					ao_mutex_put(&tracker_mutex);
 				}
@@ -203,7 +204,7 @@ ao_tracker_set_telem(void)
 	printf ("log_started: %d\n", log_started);
 	printf ("latitude: %ld\n", (long) gps_data.latitude);
 	printf ("longitude: %ld\n", (long) gps_data.longitude);
-	printf ("altitude: %d\n", gps_data.altitude);
+	printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data));
 	printf ("log_running: %d\n", ao_log_running);
 	printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
 	printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
index 573b5cb2..ae505dea 100644
--- a/src/test/ao_aprs_test.c
+++ b/src/test/ao_aprs_test.c
@@ -21,6 +21,8 @@
 #include <stdint.h>
 #include <stdarg.h>
 
+#define HAS_GPS	1
+
 #include <ao_telemetry.h>
 
 #define AO_GPS_NUM_SAT_MASK	(0xf << 0)
@@ -100,14 +102,11 @@ audio_gap(int secs)
 // This is where we go after reset.
 int main(int argc, char **argv)
 {
-	int	e, x;
-	int	a;
-
     audio_gap(1);
 
     ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000;
     ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000;
-    ao_gps_data.altitude = 84;
+    AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, 84);
     ao_gps_data.flags = (AO_GPS_VALID|AO_GPS_RUNNING);
 
     /* Transmit one packet */
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 1ab22e5b..314998c1 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -175,7 +175,7 @@ ao_gps_angle(void)
 			ao_gps_static.latitude / 1e7,
 			ao_gps_static.longitude / 1e7,
 			&dist, &bearing);
-	height = ao_gps_static.altitude - ao_gps_prev.altitude;
+	height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 
 	angle = atan2(dist, height);
 	return angle * 180/M_PI;
@@ -756,7 +756,10 @@ ao_sleep(void *wchan)
 					ao_gps_static.tick = tick;
 					ao_gps_static.latitude = int32(bytes, 0);
 					ao_gps_static.longitude = int32(bytes, 4);
-					ao_gps_static.altitude = int32(bytes, 8);
+					{
+						int32_t	altitude = int32(bytes, 8);
+						AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
+					}
 					ao_gps_static.flags = bytes[13];
 					if (!ao_gps_count)
 						ao_gps_first = ao_gps_static;
diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c
index e799ab0f..543bbcc3 100644
--- a/src/test/ao_gps_test.c
+++ b/src/test/ao_gps_test.c
@@ -53,6 +53,9 @@ struct ao_gps_orig {
 	uint16_t		v_error;	/* m */
 };
 
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	((l)->altitude)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
+
 #define SIRF_SAT_STATE_ACQUIRED			(1 << 0)
 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define SIRF_SAT_BIT_SYNC_COMPLETE		(1 << 2)
@@ -433,7 +436,7 @@ ao_dump_state(void *wchan)
 
 	if (wchan != &ao_gps_new)
 		return;
-	
+
 	if (ao_gps_new & AO_GPS_NEW_DATA) {
 		ao_gps_print(&ao_gps_data);
 		putchar('\n');
diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index 1b590d5e..5eb7118d 100644
--- a/src/test/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
@@ -16,6 +16,7 @@
  */
 
 #define AO_GPS_TEST
+#define HAS_GPS 1
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -53,6 +54,9 @@ struct ao_gps_orig {
 	uint16_t		v_error;	/* m */
 };
 
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	((l)->altitude)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
+
 #define SIRF_SAT_STATE_ACQUIRED			(1 << 0)
 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define SIRF_SAT_BIT_SYNC_COMPLETE		(1 << 2)
diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c
index 4eb4b837..5ea205d6 100644
--- a/src/test/ao_gps_test_ublox.c
+++ b/src/test/ao_gps_test_ublox.c
@@ -16,6 +16,7 @@
  */
 
 #define AO_GPS_TEST
+#define HAS_GPS	1
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -44,7 +45,7 @@ struct ao_telemetry_location {
 	uint8_t			flags;
 	int32_t			latitude;	/* degrees * 10⁷ */
 	int32_t			longitude;	/* degrees * 10⁷ */
-	int16_t			altitude;	/* m */
+	int16_t			altitude_low;	/* m */
 	uint16_t		ground_speed;	/* cm/s */
 	uint8_t			course;		/* degrees / 2 */
 	uint8_t			pdop;		/* * 5 */
@@ -53,8 +54,14 @@ struct ao_telemetry_location {
 	int16_t			climb_rate;	/* cm/s */
 	uint16_t		h_error;	/* m */
 	uint16_t		v_error;	/* m */
+	int16_t			altitude_high;	/* m */
 };
 
+typedef int32_t		gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	(((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \
+						 ((l)->altitude_low = (a)))
+
 #define UBLOX_SAT_STATE_ACQUIRED		(1 << 0)
 #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define UBLOX_SAT_BIT_SYNC_COMPLETE		(1 << 2)
-- 
cgit v1.2.3


From 31ae24b5da3e198e7555ea3768d3cbdec3a28a5f Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 10 Jul 2014 17:15:09 -0700
Subject: altos: Record pdop value in TeleMetrumV2 log

There's only one byte free, so we'll record the pdop value

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_gps_report_metrum.c | 1 +
 src/kernel/ao_log.h               | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_gps_report_metrum.c b/src/kernel/ao_gps_report_metrum.c
index 31939385..8ce074fe 100644
--- a/src/kernel/ao_gps_report_metrum.c
+++ b/src/kernel/ao_gps_report_metrum.c
@@ -56,6 +56,7 @@ ao_gps_report_metrum(void)
 			gps_log.u.gps_time.year = gps_data.year;
 			gps_log.u.gps_time.month = gps_data.month;
 			gps_log.u.gps_time.day = gps_data.day;
+			gps_log.u.gps_time.pdop = gps_data.pdop;
 			ao_log_metrum(&gps_log);
 		}
 
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 080cfb02..da20e067 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -324,7 +324,7 @@ struct ao_log_metrum {
 			uint8_t		year;		/* 8 */
 			uint8_t		month;		/* 9 */
 			uint8_t		day;		/* 10 */
-			uint8_t		pad;		/* 11 */
+			uint8_t		pdop;		/* 11 */
 		} gps_time;	/* 12 */
 		/* AO_LOG_GPS_SAT (up to three packets) */
 		struct {
-- 
cgit v1.2.3


From 013e9ccfbe76dc46e8c69ea314950bed83d9a39f Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 10 Jul 2014 17:18:38 -0700
Subject: altos: Use 32-bits for flight state data (alt/speed/accel)

Stores 32-bits for all of the flight parameters. Uses 64-bit
intermediates for kalman computation.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/Makefile                    |   2 +-
 src/cc1111/ao_pins.h            |   1 +
 src/kalman/kalman.5c            |   2 +-
 src/kalman/kalman_micro.5c      |   2 +-
 src/kernel/ao.h                 |  14 ++--
 src/kernel/ao_cmd.c             |   3 +
 src/kernel/ao_convert.c         |  10 +--
 src/kernel/ao_convert_pa.c      |  16 ++---
 src/kernel/ao_convert_pa_test.c |   1 +
 src/kernel/ao_data.h            |   6 --
 src/kernel/ao_flight.c          |  12 ++--
 src/kernel/ao_kalman.c          | 147 ++++++++++++++++++++--------------------
 src/kernel/ao_microkalman.c     |  12 ++--
 src/kernel/ao_sample.c          |   2 +-
 src/kernel/ao_sample.h          |  56 +++++++++++----
 src/product/Makefile.telemetrum |   1 +
 src/telefire-v0.1/Makefile      |   1 -
 src/telefire-v0.2/Makefile      |   1 -
 src/telemega-v1.0/Makefile      |   1 +
 src/telemini-v2.0/ao_pins.h     |   1 +
 src/teleterra-v0.2/ao_pins.h    |   2 +
 src/test/ao_flight_test.c       |   5 +-
 src/test/ao_micropeak_test.c    |   1 +
 23 files changed, 170 insertions(+), 129 deletions(-)

(limited to 'src/kernel')

diff --git a/src/Makefile b/src/Makefile
index a7a26b26..3494ba62 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -109,7 +109,7 @@ altitude-pa.h: make-altitude-pa
 altitude-pa-small.h: make-altitude-pa
 	nickle $< --sample 3 > $@
 
-ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
+ao_kalman.h: make-kalman kalman.5c kalman_micro.5c kalman_filter.5c load_csv.5c matrix.5c
 	bash $< kalman > $@
 
 ao_whiten.h: make-whiten
diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h
index 4db49215..e12f813f 100644
--- a/src/cc1111/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -20,6 +20,7 @@
 
 #define HAS_RADIO		1
 #define DISABLE_LOG_SPACE	1
+#define AO_VALUE_32		0
 #define HAS_WIDE_GPS		0
 
 #if defined(TELEMETRUM_V_1_0)
diff --git a/src/kalman/kalman.5c b/src/kalman/kalman.5c
index 46fa8e1f..55fde04c 100755
--- a/src/kalman/kalman.5c
+++ b/src/kalman/kalman.5c
@@ -457,7 +457,7 @@ void main() {
 					name = sprintf("%s_K%d_%d", prefix, i, time_inc);
 				else
 					name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc);
-				printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]);
+				printf ("#define %s to_fix_k(%12.10f)\n", name, k[i,j]);
 			}
 		printf ("\n");
 		exit(0);
diff --git a/src/kalman/kalman_micro.5c b/src/kalman/kalman_micro.5c
index 266a1182..1b080384 100644
--- a/src/kalman/kalman_micro.5c
+++ b/src/kalman/kalman_micro.5c
@@ -307,7 +307,7 @@ void main() {
 					name = sprintf("%s_K%d_%d", prefix, i, time_inc);
 				else
 					name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc);
-				printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]);
+				printf ("#define %s to_fix_k(%12.10f)\n", name, k[i,j]);
 			}
 		printf ("\n");
 		exit(0);
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index a225bc4a..ad5bbf8e 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -278,15 +278,17 @@ ao_report_init(void);
  * Given raw data, convert to SI units
  */
 
+#if HAS_BARO
 /* pressure from the sensor to altitude in meters */
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant;
+alt_t
+ao_pres_to_altitude(pres_t pres) __reentrant;
 
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant;
+pres_t
+ao_altitude_to_pres(alt_t alt) __reentrant;
 
 int16_t
 ao_temp_to_dC(int16_t temp) __reentrant;
+#endif
 
 /*
  * ao_convert_pa.c
@@ -296,11 +298,13 @@ ao_temp_to_dC(int16_t temp) __reentrant;
 
 #include <ao_data.h>
 
+#if HAS_BARO
 alt_t
-ao_pa_to_altitude(int32_t pa);
+ao_pa_to_altitude(pres_t pa);
 
 int32_t
 ao_altitude_to_pa(alt_t alt);
+#endif
 
 #if HAS_DBG
 #include <ao_dbg.h>
diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c
index 0052bdce..d2f583ef 100644
--- a/src/kernel/ao_cmd.c
+++ b/src/kernel/ao_cmd.c
@@ -289,6 +289,9 @@ version(void)
 #endif
 #if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND)
 	       "program-space    %u\n"
+#endif
+#if AO_VALUE_32
+	       "altitude-32      1\n"
 #endif
 	       , ao_manufacturer
 	       , ao_product
diff --git a/src/kernel/ao_convert.c b/src/kernel/ao_convert.c
index aa9b5f48..db1f2301 100644
--- a/src/kernel/ao_convert.c
+++ b/src/kernel/ao_convert.c
@@ -19,14 +19,16 @@
 #include "ao.h"
 #endif
 
-static const int16_t altitude_table[] = {
+#include <ao_sample.h>
+
+static const ao_v_t altitude_table[] = {
 #include "altitude.h"
 };
 
 #define ALT_FRAC_SCALE	(1 << ALT_FRAC_BITS)
 #define ALT_FRAC_MASK	(ALT_FRAC_SCALE - 1)
 
-int16_t
+ao_v_t
 ao_pres_to_altitude(int16_t pres) __reentrant
 {
 	uint8_t	o;
@@ -43,9 +45,9 @@ ao_pres_to_altitude(int16_t pres) __reentrant
 
 #if AO_NEED_ALTITUDE_TO_PRES
 int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant
+ao_altitude_to_pres(ao_v_t alt) __reentrant
 {
-	int16_t span, sub_span;
+	ao_v_t span, sub_span;
 	uint8_t	l, h, m;
 	int32_t pres;
 
diff --git a/src/kernel/ao_convert_pa.c b/src/kernel/ao_convert_pa.c
index 20162c1f..410815b6 100644
--- a/src/kernel/ao_convert_pa.c
+++ b/src/kernel/ao_convert_pa.c
@@ -39,11 +39,11 @@ static const alt_t altitude_table[] AO_CONST_ATTRIB = {
 #define ALT_MASK	(ALT_SCALE - 1)
 
 alt_t
-ao_pa_to_altitude(int32_t pa)
+ao_pa_to_altitude(pres_t pa)
 {
 	int16_t	o;
 	int16_t	part;
-	int32_t low, high;
+	alt_t low, high;
 
 	if (pa < 0)
 		pa = 0;
@@ -52,16 +52,16 @@ ao_pa_to_altitude(int32_t pa)
 	o = pa >> ALT_SHIFT;
 	part = pa & ALT_MASK;
 
-	low = (int32_t) FETCH_ALT(o) * (ALT_SCALE - part);
-	high = (int32_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
+	low = (alt_t) FETCH_ALT(o) * (ALT_SCALE - part);
+	high = (alt_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
 	return (low + high) >> ALT_SHIFT;
 }
 
 #ifdef AO_CONVERT_TEST
-int32_t
-ao_altitude_to_pa(int32_t alt)
+pres_t
+ao_altitude_to_pa(alt_t alt)
 {
-	int32_t 	span, sub_span;
+	alt_t 	span, sub_span;
 	uint16_t	l, h, m;
 	int32_t 	pa;
 
@@ -76,7 +76,7 @@ ao_altitude_to_pa(int32_t alt)
 	}
 	span = altitude_table[l] - altitude_table[h];
 	sub_span = altitude_table[l] - alt;
-	pa = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span;
+	pa = ((((alt_t) l * (span - sub_span) + (alt_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span;
 	if (pa > 120000)
 		pa = 120000;
 	if (pa < 0)
diff --git a/src/kernel/ao_convert_pa_test.c b/src/kernel/ao_convert_pa_test.c
index 7d5b1922..95422862 100644
--- a/src/kernel/ao_convert_pa_test.c
+++ b/src/kernel/ao_convert_pa_test.c
@@ -18,6 +18,7 @@
 #include <stdint.h>
 #define AO_CONVERT_TEST
 typedef int32_t alt_t;
+typedef int32_t pres_t;
 #include "ao_host.h"
 #include "ao_convert_pa.c"
 
diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index c4b062fd..8f75ad87 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -117,9 +117,7 @@ extern volatile __data uint8_t		ao_data_count;
 
 typedef int32_t	pres_t;
 
-#ifndef AO_ALT_TYPE
 #define AO_ALT_TYPE	int32_t
-#endif
 
 typedef AO_ALT_TYPE	alt_t;
 
@@ -146,10 +144,6 @@ typedef int16_t alt_t;
 
 #endif
 
-#if !HAS_BARO
-typedef int16_t alt_t;
-#endif
-
 /*
  * Need a few macros to pull data from the sensors:
  *
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 2b433ee9..251dbc02 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -60,10 +60,10 @@ __xdata uint8_t			ao_sensor_errors;
  * resting
  */
 static __data uint16_t		ao_interval_end;
-static __data int16_t		ao_interval_min_height;
-static __data int16_t		ao_interval_max_height;
+static __data ao_v_t		ao_interval_min_height;
+static __data ao_v_t		ao_interval_max_height;
 #if HAS_ACCEL
-static __data int16_t		ao_coast_avg_accel;
+static __data ao_v_t		ao_coast_avg_accel;
 #endif
 
 __pdata uint8_t			ao_flight_force_idle;
@@ -398,14 +398,14 @@ ao_flight(void)
 }
 
 #if HAS_FLIGHT_DEBUG
-static inline int int_part(int16_t i)	{ return i >> 4; }
-static inline int frac_part(int16_t i)	{ return ((i & 0xf) * 100 + 8) / 16; }
+static inline int int_part(ao_v_t i)	{ return i >> 4; }
+static inline int frac_part(ao_v_t i)	{ return ((i & 0xf) * 100 + 8) / 16; }
 
 static void
 ao_flight_dump(void)
 {
 #if HAS_ACCEL
-	int16_t	accel;
+	ao_v_t	accel;
 
 	accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 #endif
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 9aea1f14..7b0f8145 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -23,32 +23,31 @@
 #include "ao_sample.h"
 #include "ao_kalman.h"
 
+static __pdata ao_k_t		ao_k_height;
+static __pdata ao_k_t		ao_k_speed;
+static __pdata ao_k_t		ao_k_accel;
 
-static __pdata int32_t		ao_k_height;
-static __pdata int32_t		ao_k_speed;
-static __pdata int32_t		ao_k_accel;
+#define AO_K_STEP_100		to_fix_v(0.01)
+#define AO_K_STEP_2_2_100	to_fix_v(0.00005)
 
-#define AO_K_STEP_100		to_fix16(0.01)
-#define AO_K_STEP_2_2_100	to_fix16(0.00005)
+#define AO_K_STEP_10		to_fix_v(0.1)
+#define AO_K_STEP_2_2_10	to_fix_v(0.005)
 
-#define AO_K_STEP_10		to_fix16(0.1)
-#define AO_K_STEP_2_2_10	to_fix16(0.005)
+#define AO_K_STEP_1		to_fix_v(1)
+#define AO_K_STEP_2_2_1		to_fix_v(0.5)
 
-#define AO_K_STEP_1		to_fix16(1)
-#define AO_K_STEP_2_2_1		to_fix16(0.5)
+__pdata ao_v_t			ao_height;
+__pdata ao_v_t			ao_speed;
+__pdata ao_v_t			ao_accel;
+__xdata ao_v_t			ao_max_height;
+static __pdata ao_k_t		ao_avg_height_scaled;
+__xdata ao_v_t			ao_avg_height;
 
-__pdata int16_t			ao_height;
-__pdata int16_t			ao_speed;
-__pdata int16_t			ao_accel;
-__xdata int16_t			ao_max_height;
-static __pdata int32_t		ao_avg_height_scaled;
-__xdata int16_t			ao_avg_height;
-
-__pdata int16_t			ao_error_h;
-__pdata int16_t			ao_error_h_sq_avg;
+__pdata ao_v_t			ao_error_h;
+__pdata ao_v_t			ao_error_h_sq_avg;
 
 #if HAS_ACCEL
-__pdata int16_t			ao_error_a;
+__pdata ao_v_t			ao_error_a;
 #endif
 
 static void
@@ -56,40 +55,40 @@ ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
 	if (ao_sample_tick - ao_sample_prev_tick > 50) {
-		ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 +
-				(int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
-		ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1;
+		ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
+				(ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
+		ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
 
 		return;
 	}
 	if (ao_sample_tick - ao_sample_prev_tick > 5) {
-		ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
-				(int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
-		ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
+		ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
+				(ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
+		ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
 
 		return;
 	}
 	if (ao_flight_debug) {
 		printf ("predict speed %g + (%g * %g) = %g\n",
 			ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
-			(ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
+			(ao_k_speed + (ao_k_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
 	}
 #endif
-	ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
-			(int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
-	ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
+	ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_100 +
+			(ao_k_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
+	ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100;
 }
 
 static void
 ao_kalman_err_height(void)
 {
-	int16_t	e;
-	int16_t height_distrust;
+	ao_v_t	e;
+	ao_v_t height_distrust;
 #if HAS_ACCEL
-	int16_t	speed_distrust;
+	ao_v_t	speed_distrust;
 #endif
 
-	ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16);
+	ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
 	e = ao_error_h;
 	if (e < 0)
@@ -123,7 +122,7 @@ ao_kalman_err_height(void)
 #endif
 		if (height_distrust > 0x100)
 			height_distrust = 0x100;
-		ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8);
+		ao_error_h = (ao_v_t) (((ao_k_t) ao_error_h * (0x100 - height_distrust)) >> 8);
 #ifdef AO_FLIGHT_TEST
 		if (ao_flight_debug) {
 			printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
@@ -142,21 +141,21 @@ ao_kalman_correct_baro(void)
 	ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
 	if (ao_sample_tick - ao_sample_prev_tick > 50) {
-		ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h;
-		ao_k_speed  += (int32_t) AO_BARO_K1_1 * ao_error_h;
-		ao_k_accel  += (int32_t) AO_BARO_K2_1 * ao_error_h;
+		ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
+		ao_k_speed  += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
+		ao_k_accel  += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
 		return;
 	}
 	if (ao_sample_tick - ao_sample_prev_tick > 5) {
-		ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
-		ao_k_speed  += (int32_t) AO_BARO_K1_10 * ao_error_h;
-		ao_k_accel  += (int32_t) AO_BARO_K2_10 * ao_error_h;
+		ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
+		ao_k_speed  += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
+		ao_k_accel  += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
 		return;
 	}
 #endif
-	ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
-	ao_k_speed  += (int32_t) AO_BARO_K1_100 * ao_error_h;
-	ao_k_accel  += (int32_t) AO_BARO_K2_100 * ao_error_h;
+	ao_k_height += (ao_k_t) AO_BARO_K0_100 * ao_error_h;
+	ao_k_speed  += (ao_k_t) AO_BARO_K1_100 * ao_error_h;
+	ao_k_accel  += (ao_k_t) AO_BARO_K2_100 * ao_error_h;
 }
 
 #if HAS_ACCEL
@@ -164,7 +163,7 @@ ao_kalman_correct_baro(void)
 static void
 ao_kalman_err_accel(void)
 {
-	int32_t	accel;
+	ao_k_t	accel;
 
 	accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
@@ -187,18 +186,18 @@ ao_kalman_correct_both(void)
 				(double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
 				(double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
 				(ao_k_speed +
-				 (int32_t) AO_BOTH_K10_1 * ao_error_h +
-				 (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
+				 (ao_k_t) AO_BOTH_K10_1 * ao_error_h +
+				 (ao_k_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
 		}
 		ao_k_height +=
-			(int32_t) AO_BOTH_K00_1 * ao_error_h +
-			(int32_t) AO_BOTH_K01_1 * ao_error_a;
+			(ao_k_t) AO_BOTH_K00_1 * ao_error_h +
+			(ao_k_t) AO_BOTH_K01_1 * ao_error_a;
 		ao_k_speed +=
-			(int32_t) AO_BOTH_K10_1 * ao_error_h +
-			(int32_t) AO_BOTH_K11_1 * ao_error_a;
+			(ao_k_t) AO_BOTH_K10_1 * ao_error_h +
+			(ao_k_t) AO_BOTH_K11_1 * ao_error_a;
 		ao_k_accel +=
-			(int32_t) AO_BOTH_K20_1 * ao_error_h +
-			(int32_t) AO_BOTH_K21_1 * ao_error_a;
+			(ao_k_t) AO_BOTH_K20_1 * ao_error_h +
+			(ao_k_t) AO_BOTH_K21_1 * ao_error_a;
 		return;
 	}
 	if (ao_sample_tick - ao_sample_prev_tick > 5) {
@@ -208,18 +207,18 @@ ao_kalman_correct_both(void)
 				(double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
 				(double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
 				(ao_k_speed +
-				 (int32_t) AO_BOTH_K10_10 * ao_error_h +
-				 (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
+				 (ao_k_t) AO_BOTH_K10_10 * ao_error_h +
+				 (ao_k_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
 		}
 		ao_k_height +=
-			(int32_t) AO_BOTH_K00_10 * ao_error_h +
-			(int32_t) AO_BOTH_K01_10 * ao_error_a;
+			(ao_k_t) AO_BOTH_K00_10 * ao_error_h +
+			(ao_k_t) AO_BOTH_K01_10 * ao_error_a;
 		ao_k_speed +=
-			(int32_t) AO_BOTH_K10_10 * ao_error_h +
-			(int32_t) AO_BOTH_K11_10 * ao_error_a;
+			(ao_k_t) AO_BOTH_K10_10 * ao_error_h +
+			(ao_k_t) AO_BOTH_K11_10 * ao_error_a;
 		ao_k_accel +=
-			(int32_t) AO_BOTH_K20_10 * ao_error_h +
-			(int32_t) AO_BOTH_K21_10 * ao_error_a;
+			(ao_k_t) AO_BOTH_K20_10 * ao_error_h +
+			(ao_k_t) AO_BOTH_K21_10 * ao_error_a;
 		return;
 	}
 	if (ao_flight_debug) {
@@ -228,19 +227,19 @@ ao_kalman_correct_both(void)
 			(double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
 			(double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
 			(ao_k_speed +
-			 (int32_t) AO_BOTH_K10_100 * ao_error_h +
-			 (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
+			 (ao_k_t) AO_BOTH_K10_100 * ao_error_h +
+			 (ao_k_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
 	}
 #endif
 	ao_k_height +=
-		(int32_t) AO_BOTH_K00_100 * ao_error_h +
-		(int32_t) AO_BOTH_K01_100 * ao_error_a;
+		(ao_k_t) AO_BOTH_K00_100 * ao_error_h +
+		(ao_k_t) AO_BOTH_K01_100 * ao_error_a;
 	ao_k_speed +=
-		(int32_t) AO_BOTH_K10_100 * ao_error_h +
-		(int32_t) AO_BOTH_K11_100 * ao_error_a;
+		(ao_k_t) AO_BOTH_K10_100 * ao_error_h +
+		(ao_k_t) AO_BOTH_K11_100 * ao_error_a;
 	ao_k_accel +=
-		(int32_t) AO_BOTH_K20_100 * ao_error_h +
-		(int32_t) AO_BOTH_K21_100 * ao_error_a;
+		(ao_k_t) AO_BOTH_K20_100 * ao_error_h +
+		(ao_k_t) AO_BOTH_K21_100 * ao_error_a;
 }
 
 #else
@@ -251,14 +250,14 @@ ao_kalman_correct_accel(void)
 	ao_kalman_err_accel();
 
 	if (ao_sample_tick - ao_sample_prev_tick > 5) {
-		ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
-		ao_k_speed  += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
-		ao_k_accel  += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
+		ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
+		ao_k_speed  += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
+		ao_k_accel  += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
 		return;
 	}
-	ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
-	ao_k_speed  += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
-	ao_k_accel  += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
+	ao_k_height += (ao_k_t) AO_ACCEL_K0_100 * ao_error_a;
+	ao_k_speed  += (ao_k_t) AO_ACCEL_K1_100 * ao_error_a;
+	ao_k_accel  += (ao_k_t) AO_ACCEL_K2_100 * ao_error_a;
 }
 
 #endif /* else FORCE_ACCEL */
diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c
index 0684ea2b..75a29cc4 100644
--- a/src/kernel/ao_microkalman.c
+++ b/src/kernel/ao_microkalman.c
@@ -22,19 +22,19 @@
 
 #define FIX_BITS	16
 
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define to_fix_v(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix_k(x) ((int32_t) ((x) * 65536.0 + 0.5))
 #define from_fix8(x)	((x) >> 8)
 #define from_fix(x)	((x) >> 16)
-#define fix8_to_fix16(x)	((x) << 8)
+#define fix8_to_fix_v(x)	((x) << 8)
 #define fix16_to_fix8(x)	((x) >> 8)
 
 #include <ao_kalman.h>
 
 /* Basic time step (96ms) */
-#define AO_MK_STEP	to_fix16(0.096)
+#define AO_MK_STEP	to_fix_v(0.096)
 /* step ** 2 / 2 */
-#define AO_MK_STEP_2_2	to_fix16(0.004608)
+#define AO_MK_STEP_2_2	to_fix_v(0.004608)
 
 uint32_t	ao_k_pa;		/* 24.8 fixed point */
 int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
@@ -49,7 +49,7 @@ ao_microkalman_init(void)
 {
 	ao_pa = pa;
 	ao_k_pa = pa << 8;
-}	
+}
 
 void
 ao_microkalman_predict(void)
diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 34658951..29bf2bf6 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -245,7 +245,7 @@ ao_sample_preflight(void)
 	} else {
 #if HAS_ACCEL
 		ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-		ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+		ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g;
 #endif
 		ao_sample_preflight_set();
 		ao_preflight = FALSE;
diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index 16d4c507..2ec998bd 100644
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -24,6 +24,24 @@
  * ao_sample.c
  */
 
+#ifndef AO_VALUE_32
+#define AO_VALUE_32	1
+#endif
+
+#if AO_VALUE_32
+/*
+ * For 32-bit computed values, use 64-bit intermediates.
+ */
+typedef int64_t			ao_k_t;
+typedef int32_t			ao_v_t;
+#else
+/*
+ * For 16-bit computed values, use 32-bit intermediates.
+ */
+typedef int32_t			ao_k_t;
+typedef int16_t			ao_v_t;
+#endif
+
 /*
  * Barometer calibration
  *
@@ -87,9 +105,9 @@
  * 2047m/s² (over 200g)
  */
 
-#define AO_M_TO_HEIGHT(m)	((int16_t) (m))
-#define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
-#define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
+#define AO_M_TO_HEIGHT(m)	((ao_v_t) (m))
+#define AO_MS_TO_SPEED(ms)	((ao_v_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss)	((ao_v_t) ((mss) * 16))
 
 extern __pdata uint16_t	ao_sample_tick;		/* time of last data */
 extern __data uint8_t	ao_sample_adc;		/* Ring position of last processed sample */
@@ -134,21 +152,33 @@ uint8_t ao_sample(void);
  * ao_kalman.c
  */
 
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define to_fix_16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix_32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define to_fix_64(x) ((int64_t) ((x) * 65536.0 + 0.5))
+
+#ifdef AO_VALUE_32
+#if AO_VALUE_32
+#define to_fix_v(x)	to_fix_32(x)
+#define to_fix_k(x)	to_fix_64(x)
+#else
+#define to_fix_v(x)	to_fix_16(x)
+#define to_fix_k(x)	to_fix_32(x)
+#endif
+
 #define from_fix(x)	((x) >> 16)
 
-extern __pdata int16_t			ao_height;	/* meters */
-extern __pdata int16_t			ao_speed;	/* m/s * 16 */
-extern __pdata int16_t			ao_accel;	/* m/s² * 16 */
-extern __xdata int16_t			ao_max_height;	/* max of ao_height */
-extern __xdata int16_t			ao_avg_height;	/* running average of height */
+extern __pdata ao_v_t			ao_height;	/* meters */
+extern __pdata ao_v_t			ao_speed;	/* m/s * 16 */
+extern __pdata ao_v_t			ao_accel;	/* m/s² * 16 */
+extern __xdata ao_v_t			ao_max_height;	/* max of ao_height */
+extern __xdata ao_v_t			ao_avg_height;	/* running average of height */
 
-extern __pdata int16_t			ao_error_h;
-extern __pdata int16_t			ao_error_h_sq_avg;
+extern __pdata ao_v_t			ao_error_h;
+extern __pdata ao_v_t			ao_error_h_sq_avg;
 
 #if HAS_ACCEL
-extern __pdata int16_t			ao_error_a;
+extern __pdata ao_v_t			ao_error_a;
+#endif
 #endif
 
 void ao_kalman(void);
diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum
index dbbf57d8..e9b144c0 100644
--- a/src/product/Makefile.telemetrum
+++ b/src/product/Makefile.telemetrum
@@ -24,6 +24,7 @@ INC = \
 	altitude.h \
 	ao_kalman.h \
 	ao_product.h \
+	ao_telemetry.h \
 	$(TM_INC)
 
 CORE_SRC = \
diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile
index 25267268..99d29826 100644
--- a/src/telefire-v0.1/Makefile
+++ b/src/telefire-v0.1/Makefile
@@ -25,7 +25,6 @@ INC = \
 CORE_SRC = \
 	ao_cmd.c \
 	ao_config.c \
-	ao_convert.c \
 	ao_mutex.c \
 	ao_panic.c \
 	ao_stdio.c \
diff --git a/src/telefire-v0.2/Makefile b/src/telefire-v0.2/Makefile
index ad5065c1..944543c5 100644
--- a/src/telefire-v0.2/Makefile
+++ b/src/telefire-v0.2/Makefile
@@ -25,7 +25,6 @@ INC = \
 CORE_SRC = \
 	ao_cmd.c \
 	ao_config.c \
-	ao_convert.c \
 	ao_mutex.c \
 	ao_panic.c \
 	ao_stdio.c \
diff --git a/src/telemega-v1.0/Makefile b/src/telemega-v1.0/Makefile
index 46c768e4..4a1b3908 100644
--- a/src/telemega-v1.0/Makefile
+++ b/src/telemega-v1.0/Makefile
@@ -31,6 +31,7 @@ INC = \
 	ao_mpu.h \
 	stm32l.h \
 	math.h \
+	ao_ms5607_convert.c \
 	Makefile
 
 #
diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h
index 948310e5..ed911798 100644
--- a/src/telemini-v2.0/ao_pins.h
+++ b/src/telemini-v2.0/ao_pins.h
@@ -22,6 +22,7 @@
 
 #define HAS_FLIGHT		1
 #define HAS_USB			1
+#define AO_VALUE_32		0
 
 #define HAS_USB_PULLUP	1
 #define AO_USB_PULLUP_PORT	P1
diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h
index 60d627ad..472af534 100644
--- a/src/teleterra-v0.2/ao_pins.h
+++ b/src/teleterra-v0.2/ao_pins.h
@@ -72,6 +72,8 @@
 
 	#define BATTERY_PIN		5
 	#define HAS_TELEMETRY		0
+
+	#define AO_VALUE_32		0
 #endif
 
 #if DBG_ON_P1
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 314998c1..bb5c3a7d 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -34,9 +34,11 @@
 #define ao_data_ring_next(n)	(((n) + 1) & (AO_DATA_RING - 1))
 #define ao_data_ring_prev(n)	(((n) - 1) & (AO_DATA_RING - 1))
 
+#if 0
 #define AO_M_TO_HEIGHT(m)	((int16_t) (m))
 #define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
+#endif
 
 #define AO_GPS_NEW_DATA		1
 #define AO_GPS_NEW_TRACKING	2
@@ -93,6 +95,7 @@ struct ao_adc {
 #include <ao_data.h>
 #include <ao_log.h>
 #include <ao_telemetry.h>
+#include <ao_sample.h>
 
 #if TELEMEGA
 int ao_gps_count;
@@ -234,7 +237,7 @@ double	main_time;
 
 int	tick_offset;
 
-static int32_t	ao_k_height;
+static ao_k_t	ao_k_height;
 
 int16_t
 ao_time(void)
diff --git a/src/test/ao_micropeak_test.c b/src/test/ao_micropeak_test.c
index 5961bd93..f4af707e 100644
--- a/src/test/ao_micropeak_test.c
+++ b/src/test/ao_micropeak_test.c
@@ -33,6 +33,7 @@ uint8_t ao_flight_debug;
 #define AO_FLIGHT_TEST
 
 typedef int32_t alt_t;
+typedef int32_t pres_t;
 
 #define AO_MS_TO_TICKS(ms)	((ms) / 10)
 
-- 
cgit v1.2.3


From 6c3d09bf40f2af6e8722f33a70b41e5d94ceaf9f Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 13 Jul 2014 20:42:41 -0700
Subject: altos: Interrupt radio receive when changing data rate

This aborts any pending radio receive when changing the data rate so
that the radio can be reprogrammed to receive at the correct rate.

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

(limited to 'src/kernel')

diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 32a0967c..d73a3733 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -518,6 +518,9 @@ ao_config_radio_rate_set(void) __reentrant
 	ao_telemetry_reset_interval();
 #endif
 	_ao_config_edit_finish();
+#if HAS_RADIO_RECV
+	ao_radio_recv_abort();
+#endif
 }
 #endif
 
-- 
cgit v1.2.3


From 50aec54bdc35962145eff9b465f9cd7b3d9fea0b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 13 Jul 2014 20:43:27 -0700
Subject: altos: Make ao_gps_print deal with telem containing 32-bit altitude
 values

ao_gps_print is used with new telem packets from a few places; use
AO_TELEMETRY_LOCATION_ALTITUDE when necessary.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_gps_print.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_gps_print.c b/src/kernel/ao_gps_print.c
index 47c945d7..d26021da 100644
--- a/src/kernel/ao_gps_print.c
+++ b/src/kernel/ao_gps_print.c
@@ -20,6 +20,10 @@
 #endif
 #include "ao_telem.h"
 
+#ifndef AO_TELEMETRY_LOCATION_ALTITUDE
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l)	((l)->altitude)
+#endif
+
 void
 ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant
 {
@@ -42,7 +46,7 @@ ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant
 	       AO_TELEM_GPS_ALTITUDE " %d ",
 	       (long) gps_data->latitude,
 	       (long) gps_data->longitude,
-	       gps_data->altitude);
+	       AO_TELEMETRY_LOCATION_ALTITUDE(gps_data));
 
 	if (gps_data->flags & AO_GPS_DATE_VALID)
 		printf(AO_TELEM_GPS_YEAR " %d "
-- 
cgit v1.2.3


From d8e2b661e895fc59ded002a02191dcccce75f548 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 19 Jul 2014 22:35:30 -0700
Subject: altos: Have MicroKite just start recording at startup

This avoids having MicroKite try to detect boost and has it just start
recording data immediately.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_microflight.c | 9 +++++++++
 src/microkite/ao_pins.h     | 3 ++-
 src/product/ao_micropeak.c  | 3 ++-
 src/product/ao_micropeak.h  | 2 ++
 4 files changed, 15 insertions(+), 2 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c
index df624e79..f7521f21 100644
--- a/src/kernel/ao_microflight.c
+++ b/src/kernel/ao_microflight.c
@@ -62,19 +62,25 @@ ao_microflight(void)
 	h = 0;
 	for (;;) {
 		time += SAMPLE_SLEEP;
+#if BOOST_DETECT
 		if ((sample_count & 0x1f) == 0)
 			ao_led_on(AO_LED_REPORT);
+#endif
 		ao_delay_until(time);
 		ao_microsample();
+#if BOOST_DETECT
 		if ((sample_count & 0x1f) == 0)
 			ao_led_off(AO_LED_REPORT);
+#endif
 		pa_hist[h] = pa;
 		h = SKIP_PA_HIST(h,1);
 		pa_diff = pa_ground - ao_pa;
 
+#if BOOST_DETECT
 		/* Check for a significant pressure change */
 		if (pa_diff > BOOST_DETECT)
 			break;
+#endif
 
 		if (sample_count < GROUND_AVG * 2) {
 			if (sample_count < GROUND_AVG)
@@ -84,6 +90,9 @@ ao_microflight(void)
 			pa_ground = pa_sum >> GROUND_AVG_SHIFT;
 			pa_sum = 0;
 			sample_count = 0;
+#if !BOOST_DETECT
+			break;
+#endif
 		}
 	}
 
diff --git a/src/microkite/ao_pins.h b/src/microkite/ao_pins.h
index 3c56dfb8..346b63a1 100644
--- a/src/microkite/ao_pins.h
+++ b/src/microkite/ao_pins.h
@@ -62,8 +62,9 @@ typedef int32_t alt_t;
 
 #define AO_ALT_VALUE(x)		((x) * (alt_t) 10)
 
-#define BOOST_DETECT		1200	/* 100m (ish) */
+#define BOOST_DETECT		   0	/* none */
 #define LOG_INTERVAL		 200	/* 19.2 seconds */
+#define BOOST_DELAY		0
 
 #define AO_LOG_ID		AO_LOG_ID_MICROKITE
 
diff --git a/src/product/ao_micropeak.c b/src/product/ao_micropeak.c
index 10f0d192..54522d86 100644
--- a/src/product/ao_micropeak.c
+++ b/src/product/ao_micropeak.c
@@ -73,8 +73,9 @@ main(void)
 	ao_report_altitude();
 	ao_pips();
 	ao_log_micro_dump();
-	
+#if BOOST_DELAY	
 	ao_delay(BOOST_DELAY);
+#endif
 
 	ao_microflight();
 
diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h
index 396b9a23..622f5a69 100644
--- a/src/product/ao_micropeak.h
+++ b/src/product/ao_micropeak.h
@@ -41,7 +41,9 @@
 #endif
 
 /* Wait after power on before doing anything to give the user time to assemble the rocket */
+#ifndef BOOST_DELAY
 #define BOOST_DELAY		AO_SEC_TO_TICKS(60)
+#endif
 
 /* Pressure change (in Pa) to detect landing */
 #define LAND_DETECT		24	/* 2m at sea level, 2.4m at 2000m */
-- 
cgit v1.2.3


From e935ebe55705cb0506aac0859583d54fd8e5ca46 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 14 Aug 2014 19:03:29 -0700
Subject: altos: Report additional pyro channels via beeper

Send a beep for each additional pyro channel, low for no igniter, mid
for igniter. Does not change the reporting for the apogee/main channels.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_pyro.h   |  3 +++
 src/kernel/ao_report.c | 13 ++++++++++++-
 2 files changed, 15 insertions(+), 1 deletion(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_pyro.h b/src/kernel/ao_pyro.h
index b37aaeb1..0fde725a 100644
--- a/src/kernel/ao_pyro.h
+++ b/src/kernel/ao_pyro.h
@@ -83,6 +83,9 @@ ao_pyro_init(void);
 void
 ao_pyro_manual(uint8_t p);
 
+enum ao_igniter_status
+ao_pyro_status(uint8_t p);
+
 void
 ao_pyro_print_status(void);
 
diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c
index f2263154..5314fc8f 100644
--- a/src/kernel/ao_report.c
+++ b/src/kernel/ao_report.c
@@ -211,12 +211,23 @@ ao_report_continuity(void) __reentrant
 			pause(AO_MS_TO_TICKS(100));
 		}
 	} else {
-		c = 10;
+		c = 5;
 		while (c--) {
 			high(AO_MS_TO_TICKS(20));
 			low(AO_MS_TO_TICKS(20));
 		}
 	}
+#if AO_PYRO_NUM
+	pause(AO_MS_TO_TICKS(250));
+	for(c = 0; c < AO_PYRO_NUM; c++) {
+		enum ao_igniter_status	status = ao_pyro_status(c);
+		if (status == ao_igniter_ready)
+			mid(AO_MS_TO_TICKS(25));
+		else
+			low(AO_MS_TO_TICKS(25));
+		pause(AO_MS_TO_TICKS(200));
+	}
+#endif
 #if HAS_LOG
 	if (ao_log_full()) {
 		pause(AO_MS_TO_TICKS(100));
-- 
cgit v1.2.3


From bb7522acf040f41740ecd059e3d5d2480b652420 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 17 Aug 2014 20:59:45 -0700
Subject: telegps-v1.0: Provide one log and append to it

Instead of creating per-flight logs, create a single log and append
data to it each time TeleGPS is powered on. This avoids potentially
running out of log space just because the device is powered off/on.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_config.c     |  38 +++++++++++--
 src/kernel/ao_config.h     |   7 +++
 src/kernel/ao_log.c        | 134 +++++++++++++++++++++++++++++++++------------
 src/kernel/ao_log.h        |   5 ++
 src/kernel/ao_log_gps.c    |  14 +++++
 src/telegps-v1.0/ao_pins.h |   2 +-
 6 files changed, 160 insertions(+), 40 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index d73a3733..d1b93122 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -50,13 +50,19 @@ __xdata uint8_t ao_config_mutex;
 #error Please define USE_INTERNAL_FLASH
 #endif
 #endif
+
 #ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX
-#if USE_INTERNAL_FLASH
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	ao_storage_config
-#else
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	((uint32_t) 192 * (uint32_t) 1024)
-#endif
+# if FLIGHT_LOG_APPEND
+#  define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	ao_storage_log_max
+# else
+#  if USE_INTERNAL_FLASH
+#   define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	ao_storage_config
+#  else
+#   define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	((uint32_t) 192 * (uint32_t) 1024)
+#  endif
+# endif
 #endif
+
 #ifndef AO_CONFIG_DEFAULT_RADIO_POWER
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0x60
 #endif
@@ -525,15 +531,36 @@ ao_config_radio_rate_set(void) __reentrant
 #endif
 
 #if HAS_LOG
+
 void
 ao_config_log_show(void) __reentrant
 {
 	printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10));
+#if FLIGHT_LOG_APPEND
+	printf("Log fixed: 1\n");
+#endif
+}
+
+#if FLIGHT_LOG_APPEND
+void
+ao_config_log_fix_append(void)
+{
+	_ao_config_edit_start();
+	ao_config.flight_log_max = ao_storage_log_max;
+	_ao_config_edit_finish();
+	ao_mutex_get(&ao_config_mutex);
+	_ao_config_put();
+	ao_config_dirty = 0;
+	ao_mutex_put(&ao_config_mutex);
 }
+#endif
 
 void
 ao_config_log_set(void) __reentrant
 {
+#if FLIGHT_LOG_APPEND
+	printf("Flight log fixed size %d kB\n", ao_storage_log_max >> 10);
+#else
 	uint16_t	block = (uint16_t) (ao_storage_block >> 10);
 	uint16_t	log_max = (uint16_t) (ao_storage_log_max >> 10);
 
@@ -551,6 +578,7 @@ ao_config_log_set(void) __reentrant
 		ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
 		_ao_config_edit_finish();
 	}
+#endif
 }
 #endif /* HAS_LOG */
 
diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
index a650ffc6..0be3e14d 100644
--- a/src/kernel/ao_config.h
+++ b/src/kernel/ao_config.h
@@ -28,6 +28,10 @@
 #define USE_EEPROM_CONFIG 0
 #endif
 
+#ifndef FLIGHT_LOG_APPEND
+#define FLIGHT_LOG_APPEND 0
+#endif
+
 #if USE_STORAGE_CONFIG
 
 #include <ao_storage.h>
@@ -146,6 +150,9 @@ ao_config_put(void);
 void
 ao_config_set_radio(void);
 
+void
+ao_config_log_fix_append(void);
+
 void
 ao_config_init(void);
 
diff --git a/src/kernel/ao_log.c b/src/kernel/ao_log.c
index 91617d93..dc3b6486 100644
--- a/src/kernel/ao_log.c
+++ b/src/kernel/ao_log.c
@@ -142,19 +142,39 @@ ao_log_max_flight(void)
 	return max_flight;
 }
 
-void
-ao_log_scan(void) __reentrant
+static void
+ao_log_erase(uint8_t slot) __reentrant
 {
-	uint8_t		log_slot;
-	uint8_t		log_slots;
-	uint8_t		log_want;
+	uint32_t log_current_pos, log_end_pos;
 
-	ao_config_get();
+	ao_log_erase_mark();
+	log_current_pos = ao_log_pos(slot);
+	log_end_pos = log_current_pos + ao_config.flight_log_max;
+	while (log_current_pos < log_end_pos) {
+		uint8_t	i;
+		static __xdata uint8_t b;
+
+		/*
+		 * Check to see if we've reached the end of
+		 * the used memory to avoid re-erasing the same
+		 * memory over and over again
+		 */
+		for (i = 0; i < 16; i++) {
+			if (ao_storage_read(log_current_pos + i, &b, 1))
+				if (b != 0xff)
+					break;
+		}
+		if (i == 16)
+			break;
+		ao_storage_erase(log_current_pos);
+		log_current_pos += ao_storage_block;
+	}
+}
 
-	ao_flight_number = ao_log_max_flight();
-	if (ao_flight_number)
-		if (++ao_flight_number == 0)
-			ao_flight_number = 1;
+static void
+ao_log_find_max_erase_flight(void) __reentrant
+{
+	uint8_t	log_slot;
 
 	/* Now look through the log of flight numbers from erase operations and
 	 * see if the last one is bigger than what we found above
@@ -170,6 +190,74 @@ ao_log_scan(void) __reentrant
 	}
 	if (ao_flight_number == 0)
 		ao_flight_number = 1;
+}
+
+void
+ao_log_scan(void) __reentrant
+{
+	uint8_t		log_slot;
+	uint8_t		log_slots;
+#if !FLIGHT_LOG_APPEND
+	uint8_t		log_want;
+#endif
+
+	ao_config_get();
+
+	/* Get any existing flight number */
+	ao_flight_number = ao_log_max_flight();
+
+#if FLIGHT_LOG_APPEND
+
+	/* Deal with older OS versions which stored multiple
+	 * flights in rom by erasing everything after the first
+	 * slot
+	 */
+	if (ao_config.flight_log_max != ao_storage_log_max) {
+		log_slots = ao_log_slots();
+		for (log_slot = 1; log_slot < log_slots; log_slot++) {
+			if (ao_log_flight(log_slot) != 0)
+				ao_log_erase(log_slot);
+		}
+		ao_config_log_fix_append();
+	}
+	ao_log_current_pos = ao_log_pos(0);
+	ao_log_end_pos = ao_log_current_pos + ao_storage_log_max;
+
+	if (ao_flight_number) {
+		uint32_t	full = ao_log_current_pos;
+		uint32_t	empty = ao_log_end_pos - ao_log_size;
+
+		/* If there's already a flight started, then find the
+		 * end of it
+		 */
+		for (;;) {
+			ao_log_current_pos = (full + empty) >> 1;
+			ao_log_current_pos -= ao_log_current_pos % ao_log_size;
+
+			if (ao_log_current_pos == full) {
+				if (ao_log_check(ao_log_current_pos))
+					ao_log_current_pos += ao_log_size;
+				break;
+			}
+			if (ao_log_current_pos == empty)
+				break;
+
+			if (ao_log_check(ao_log_current_pos)) {
+				full = ao_log_current_pos;
+			} else {
+				empty = ao_log_current_pos;
+			}
+		}
+	} else {
+		ao_log_find_max_erase_flight();
+	}
+#else
+
+	if (ao_flight_number)
+		if (++ao_flight_number == 0)
+			ao_flight_number = 1;
+
+	ao_log_find_max_erase_flight();
 
 	/* With a flight number in hand, find a place to write a new log,
 	 * use the target flight number to index the available log slots so
@@ -190,7 +278,7 @@ ao_log_scan(void) __reentrant
 		if (++log_slot >= log_slots)
 			log_slot = 0;
 	} while (log_slot != log_want);
-
+#endif
 	ao_wakeup(&ao_flight_number);
 }
 
@@ -254,7 +342,6 @@ ao_log_delete(void) __reentrant
 {
 	uint8_t slot;
 	uint8_t slots;
-	uint32_t log_current_pos, log_end_pos;
 
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
@@ -268,28 +355,7 @@ ao_log_delete(void) __reentrant
 #if HAS_TRACKER
 				ao_tracker_erase_start(ao_cmd_lex_i);
 #endif
-				ao_log_erase_mark();
-				log_current_pos = ao_log_pos(slot);
-				log_end_pos = log_current_pos + ao_config.flight_log_max;
-				while (log_current_pos < log_end_pos) {
-					uint8_t	i;
-					static __xdata uint8_t b;
-
-					/*
-					 * Check to see if we've reached the end of
-					 * the used memory to avoid re-erasing the same
-					 * memory over and over again
-					 */
-					for (i = 0; i < 16; i++) {
-						if (ao_storage_read(log_current_pos + i, &b, 1))
-							if (b != 0xff)
-								break;
-					}
-					if (i == 16)
-						break;
-					ao_storage_erase(log_current_pos);
-					log_current_pos += ao_storage_block;
-				}
+				ao_log_erase(slot);
 #if HAS_TRACKER
 				ao_tracker_erase_end();
 #endif
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index da20e067..c5fa7fab 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -51,11 +51,16 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
+extern __code uint8_t ao_log_size;
 
 /* Return the flight number from the given log slot, 0 if none */
 uint16_t
 ao_log_flight(uint8_t slot);
 
+/* Check if there is valid log data at the specified location */
+uint8_t
+ao_log_check(uint32_t pos);
+
 /* Flush the log */
 void
 ao_log_flush(void);
diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index a5a6358b..7643091c 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.c
@@ -26,6 +26,7 @@
 static __xdata struct ao_log_gps log;
 
 __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
+__code uint8_t ao_log_size = sizeof (struct ao_log_gps);
 
 static uint8_t
 ao_log_csum(__xdata uint8_t *b) __reentrant
@@ -136,3 +137,16 @@ ao_log_flight(uint8_t slot)
 		return log.u.flight.flight;
 	return 0;
 }
+
+uint8_t
+ao_log_check(uint32_t pos)
+{
+	if (!ao_storage_read(pos,
+			     &log,
+			     sizeof (struct ao_log_gps)))
+		return 0;
+
+	if (ao_log_dump_check_data())
+		return 1;
+	return 0;
+}
diff --git a/src/telegps-v1.0/ao_pins.h b/src/telegps-v1.0/ao_pins.h
index 5f53dd9d..d2382a56 100644
--- a/src/telegps-v1.0/ao_pins.h
+++ b/src/telegps-v1.0/ao_pins.h
@@ -71,11 +71,11 @@
 #define HAS_GPS			1
 #define HAS_FLIGHT		0
 #define HAS_LOG			1
+#define FLIGHT_LOG_APPEND	1
 #define HAS_TRACKER		1
 
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	496 * 1024
 
 /*
  * GPS
-- 
cgit v1.2.3


From 44e389c31e5958c1a050fbe0dce5d7971a9d6a86 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 17 Aug 2014 21:03:12 -0700
Subject: altos: Add telerepeat-v1.0

This uses TeleBT hardware to provide a telemetry repeater, receiving
packets on one frequency and re-transmitting them on another.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/Makefile                        |   3 +-
 src/kernel/ao_config.c              |  41 +++++++++++++
 src/kernel/ao_config.h              |   9 ++-
 src/kernel/ao_forward.c             |  48 ++++++++++++++++
 src/kernel/ao_forward.h             |  24 ++++++++
 src/telerepeat-v1.0/Makefile        | 100 ++++++++++++++++++++++++++++++++
 src/telerepeat-v1.0/ao_pins.h       | 111 ++++++++++++++++++++++++++++++++++++
 src/telerepeat-v1.0/ao_telerepeat.c |  47 +++++++++++++++
 8 files changed, 381 insertions(+), 2 deletions(-)
 create mode 100644 src/kernel/ao_forward.c
 create mode 100644 src/kernel/ao_forward.h
 create mode 100644 src/telerepeat-v1.0/Makefile
 create mode 100644 src/telerepeat-v1.0/ao_pins.h
 create mode 100644 src/telerepeat-v1.0/ao_telerepeat.c

(limited to 'src/kernel')

diff --git a/src/Makefile b/src/Makefile
index 7f09db02..20126de6 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -22,7 +22,8 @@ SDCCDIRS=\
 	telemini-v1.0 telemini-v2.0 \
 	telebt-v1.0 \
 	teleterra-v0.2 teleshield-v0.1 \
-	telefire-v0.1 telefire-v0.2
+	telefire-v0.1 telefire-v0.2 \
+	telerepeat-v1.0
 
 ARMM3DIRS=\
 	easymega-v1.0 easymega-v1.0/flash-loader \
diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index d1b93122..6b8a1813 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -93,10 +93,18 @@ ao_config_put(void)
 #endif
 
 #if HAS_RADIO
+
+#if HAS_RADIO_FORWARD
+__xdata uint32_t	ao_send_radio_setting;
+#endif
+
 void
 ao_config_set_radio(void)
 {
 	ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal);
+#if HAS_RADIO_FORWARD
+	ao_send_radio_setting = ao_freq_to_set(ao_config.send_frequency, ao_config.radio_cal);
+#endif
 }
 #endif /* HAS_RADIO */
 
@@ -207,6 +215,10 @@ _ao_config_get(void)
 #if HAS_RADIO_RATE
 		if (minor < 20)
 			ao_config.radio_rate = AO_CONFIG_DEFAULT_RADIO_RATE;
+#endif
+#if HAS_RADIO_FORWARD
+		if (minor < 21)
+			ao_config.send_frequency = 434550;
 #endif
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
@@ -302,6 +314,31 @@ ao_config_frequency_set(void) __reentrant
 
 #endif
 
+#if HAS_RADIO_FORWARD
+void
+ao_config_send_frequency_show(void) __reentrant
+{
+	printf("Send frequency: %ld\n",
+	       ao_config.send_frequency);
+}
+
+void
+ao_config_send_frequency_set(void) __reentrant
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	_ao_config_edit_start();
+	ao_config.send_frequency = ao_cmd_lex_u32;
+	ao_config_set_radio();
+	_ao_config_edit_finish();
+#if HAS_RADIO_RECV
+	ao_radio_recv_abort();
+#endif
+}
+
+#endif
+
 #if HAS_FLIGHT
 
 void
@@ -863,6 +900,10 @@ __code struct ao_config_var ao_config_vars[] = {
 #if HAS_RADIO
 	{ "F <freq>\0Frequency (kHz)",
 	  ao_config_frequency_set, ao_config_frequency_show },
+#if HAS_RADIO_FORWARD
+	{ "R <freq>\0Repeater output frequency (kHz)",
+	  ao_config_send_frequency_set, ao_config_send_frequency_show },
+#endif
 	{ "c <call>\0Callsign (8 char max)",
 	  ao_config_callsign_set,	ao_config_callsign_show },
 	{ "e <0 disable, 1 enable>\0Enable telemetry and RDF",
diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
index 0be3e14d..164584a5 100644
--- a/src/kernel/ao_config.h
+++ b/src/kernel/ao_config.h
@@ -57,7 +57,7 @@
 #endif
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	20
+#define AO_CONFIG_MINOR	21
 
 #define AO_AES_LEN 16
 
@@ -112,8 +112,15 @@ struct ao_config {
 #if HAS_RADIO_RATE
 	uint8_t		radio_rate;		/* minor version 20 */
 #endif
+#if HAS_RADIO_FORWARD
+	uint32_t	send_frequency;		/* minor version 21 */
+#endif
 };
 
+#if HAS_RADIO_FORWARD
+extern __xdata uint32_t	ao_send_radio_setting;
+#endif
+
 #define AO_IGNITE_MODE_DUAL		0
 #define AO_IGNITE_MODE_APOGEE		1
 #define AO_IGNITE_MODE_MAIN		2
diff --git a/src/kernel/ao_forward.c b/src/kernel/ao_forward.c
new file mode 100644
index 00000000..2a937183
--- /dev/null
+++ b/src/kernel/ao_forward.c
@@ -0,0 +1,48 @@
+/*
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
+ *
+ * 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_telem.h"
+
+static void
+ao_monitor_forward(void)
+{
+	uint32_t					recv_radio_setting;
+	static __xdata struct ao_telemetry_all_recv	packet;
+
+	for (;;) {
+		while (ao_monitoring)
+			ao_sleep(DATA_TO_XDATA(&ao_monitoring));
+
+		if (!ao_radio_recv(&packet, sizeof(packet), 0))
+			continue;
+		if (!(packet.status & PKT_APPEND_STATUS_1_CRC_OK))
+			continue;
+		recv_radio_setting = ao_config.radio_setting;
+		ao_config.radio_setting = ao_send_radio_setting;
+		ao_radio_send(&packet.telemetry, sizeof (packet.telemetry));
+		ao_config.radio_setting = recv_radio_setting;
+	}
+}
+
+static __xdata struct ao_task ao_monitor_forward_task;
+
+void
+ao_monitor_forward_init(void) __reentrant
+{
+	ao_add_task(&ao_monitor_forward_task, ao_monitor_forward, "monitor_forward");
+}
diff --git a/src/kernel/ao_forward.h b/src/kernel/ao_forward.h
new file mode 100644
index 00000000..1897dc08
--- /dev/null
+++ b/src/kernel/ao_forward.h
@@ -0,0 +1,24 @@
+/*
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
+ *
+ * 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_FORWARD_H_
+#define _AO_FORWARD_H_
+
+void
+ao_monitor_forward_init(void) __reentrant;
+
+#endif /* _AO_FORWARD_H_ */
diff --git a/src/telerepeat-v1.0/Makefile b/src/telerepeat-v1.0/Makefile
new file mode 100644
index 00000000..17f68377
--- /dev/null
+++ b/src/telerepeat-v1.0/Makefile
@@ -0,0 +1,100 @@
+#
+# TeleRepeat build file
+#
+
+TELEREPEAT_VER=1.0
+TELEREPEAT_DEF=1_0
+
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+	ao.h \
+	ao_pins.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	cc1111.h \
+	ao_product.h
+
+CORE_SRC = \
+	ao_cmd.c \
+	ao_config.c \
+	ao_monitor.c \
+	ao_mutex.c \
+	ao_panic.c \
+	ao_state.c \
+	ao_stdio.c \
+	ao_task.c \
+	ao_forward.c \
+	ao_storage.c \
+	ao_freq.c
+
+CC1111_SRC = \
+	ao_dbg.c \
+	ao_adc.c \
+	ao_dma.c \
+	ao_led.c \
+	ao_packet.c \
+	ao_intflash.c \
+	ao_packet_master.c \
+	ao_radio.c \
+	ao_romconfig.c \
+	ao_serial.c \
+	ao_string.c \
+	ao_timer.c \
+	ao_usb.c \
+	_bp.c
+
+DRIVER_SRC = \
+	ao_btm.c
+
+PRODUCT_SRC = \
+	ao_telerepeat.c
+
+SRC = \
+	$(CORE_SRC) \
+	$(CC1111_SRC) \
+	$(DRIVER_SRC) \
+	$(PRODUCT_SRC)
+
+PROGNAME = telerepeat-v$(TELEREPEAT_VER)
+PROG = $(PROGNAME)-$(VERSION).ihx
+PRODUCT=TeleRepeat-v$(TELEREPEAT_VER)
+PRODUCT_DEF=-DTELEREPEAT_V_$(TELEREPEAT_DEF)
+IDPRODUCT=0x000e
+CODESIZE=0x7800
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf "  $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG)
+
+$(PROG): $(REL) Makefile
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
+	$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean:	clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
diff --git a/src/telerepeat-v1.0/ao_pins.h b/src/telerepeat-v1.0/ao_pins.h
new file mode 100644
index 00000000..2a7dbd3b
--- /dev/null
+++ b/src/telerepeat-v1.0/ao_pins.h
@@ -0,0 +1,111 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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_RADIO		1
+#define HAS_RADIO_FORWARD	1
+#define HAS_FLIGHT		0
+#define HAS_USB			1
+#define HAS_BEEP		0
+#define HAS_SERIAL_1		1
+#define HAS_SERIAL_1_ALT_1	1
+#define HAS_SERIAL_1_ALT_2	0
+#define HAS_SERIAL_1_HW_FLOW	1
+#define USE_SERIAL_1_STDIN	1
+#define DELAY_SERIAL_1_STDIN	1
+#define HAS_DBG			1
+#define HAS_EEPROM		1
+#define HAS_LOG			0
+#define USE_INTERNAL_FLASH	1
+#define HAS_BTM			1
+#define DBG_ON_P1 		1
+#define DBG_ON_P0 		0
+#define PACKET_HAS_MASTER	1
+#define PACKET_HAS_SLAVE	0
+#define AO_LED_RED		1
+#define AO_LED_BLUE		2
+#define LEDS_AVAILABLE		(AO_LED_RED|AO_LED_BLUE)
+#define AO_MONITOR_LED		AO_LED_RED
+#define AO_BT_LED		AO_LED_BLUE
+#define BT_LINK_ON_P2		0
+#define BT_LINK_ON_P1		1
+#define BT_LINK_PIN_INDEX	7
+#define BT_LINK_PIN		P1_7
+#define HAS_MONITOR		1
+#define HAS_MONITOR_PUT		1
+#define LEGACY_MONITOR		0
+#define HAS_TELEMETRY		0
+#define AO_RADIO_REG_TEST	1
+
+#define HAS_ADC			1
+#define AO_PAD_ADC_BATT		0
+#define AO_ADC_PINS		(1 << AO_PAD_ADC_BATT)
+
+struct ao_adc {
+	int16_t		batt;
+};
+
+#define AO_ADC_DUMP(p)							\
+	printf ("tick: %5u batt %5d\n",					\
+		(p)->tick,						\
+		(p)->adc.batt)
+
+#define FETCH_ADC() do {						\
+		a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.batt); \
+		a[0] = ADCL;						\
+		a[1] = ADCH;						\
+	} while (0)
+
+#if DBG_ON_P1
+
+	#define DBG_CLOCK	(1 << 4)	/* mi0 */
+	#define DBG_DATA	(1 << 5)	/* mo0 */
+	#define DBG_RESET_N	(1 << 3)	/* c0 */
+
+	#define DBG_CLOCK_PIN	(P1_4)
+	#define DBG_DATA_PIN	(P1_5)
+	#define DBG_RESET_N_PIN	(P1_3)
+
+	#define DBG_PORT_NUM	1
+	#define DBG_PORT	P1
+	#define DBG_PORT_SEL	P1SEL
+	#define DBG_PORT_INP	P1INP
+	#define DBG_PORT_DIR	P1DIR
+
+#endif /* DBG_ON_P1 */
+
+#if DBG_ON_P0
+
+	#define DBG_CLOCK	(1 << 3)
+	#define DBG_DATA	(1 << 4)
+	#define DBG_RESET_N	(1 << 5)
+
+	#define DBG_CLOCK_PIN	(P0_3)
+	#define DBG_DATA_PIN	(P0_4)
+	#define DBG_RESET_N_PIN	(P0_5)
+
+	#define DBG_PORT_NUM	0
+	#define DBG_PORT	P0
+	#define DBG_PORT_SEL	P0SEL
+	#define DBG_PORT_INP	P0INP
+	#define DBG_PORT_DIR	P0DIR
+
+#endif /* DBG_ON_P0 */
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/telerepeat-v1.0/ao_telerepeat.c b/src/telerepeat-v1.0/ao_telerepeat.c
new file mode 100644
index 00000000..21bf8a73
--- /dev/null
+++ b/src/telerepeat-v1.0/ao_telerepeat.c
@@ -0,0 +1,47 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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_forward.h"
+
+void
+main(void)
+{
+	ao_clock_init();
+
+	/* Turn on the LED until the system is stable */
+	ao_led_init(LEDS_AVAILABLE);
+	ao_led_on(AO_LED_RED);
+
+	ao_task_init();
+
+	ao_timer_init();
+	ao_cmd_init();
+	ao_usb_init();
+	ao_monitor_init();
+	ao_radio_init();
+	ao_packet_master_init();
+	ao_adc_init();
+	ao_btm_init();
+	ao_monitor_forward_init();
+	ao_storage_init();
+#if HAS_DBG
+	ao_dbg_init();
+#endif
+	ao_config_init();
+	ao_start_scheduler();
+}
-- 
cgit v1.2.3


From 5872bd10df14b47de0e541bff16d9220af0558aa Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 29 Aug 2014 15:12:38 -0500
Subject: altos: Make sure pyro remains valid during delay

Keep checking pyro status while waiting for delay to expire to make
sure nothing changes. Disable pyro channel if something does.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_pyro.c | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 0b286466..154edad5 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -252,7 +252,7 @@ ao_pyro_check(void)
 	struct ao_pyro	*pyro;
 	uint8_t		p, any_waiting;
 	uint16_t	fire = 0;
-	
+
 	any_waiting = 0;
 	for (p = 0; p < AO_PYRO_NUM; p++) {
 		pyro = &ao_config.pyro[p];
@@ -288,6 +288,16 @@ ao_pyro_check(void)
 		 * the delay to expire
 		 */
 		if (pyro->delay_done) {
+
+			/* Check to make sure the required conditions
+			 * remain valid. If not, inhibit the channel
+			 * by setting the fired bit
+			 */
+			if (!ao_pyro_ready(pyro)) {
+				pyro->fired = 1;
+				continue;
+			}
+
 			if ((int16_t) (ao_time() - pyro->delay_done) < 0)
 				continue;
 		}
@@ -465,7 +475,7 @@ ao_pyro_set(void)
 		printf ("invalid pyro channel %d\n", p);
 		return;
 	}
-	pyro_tmp.flags = 0;
+	memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
 	for (;;) {
 		ao_cmd_white();
 		if (ao_cmd_lex_c == '\n')
-- 
cgit v1.2.3


From a4202b4180e77e2a39ca071d3b8b8256ff0fc7b5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 1 Sep 2014 18:12:29 -0500
Subject: altos: Don't add AO_LOG_FLIGHT to existing GPS logs

When appending to a TeleGPS log, don't stick another flight value into
the log. That just confuses the ground station software.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_log.c     | 13 ++++++++++---
 src/kernel/ao_log.h     |  2 +-
 src/kernel/ao_tracker.c |  5 ++---
 3 files changed, 13 insertions(+), 7 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_log.c b/src/kernel/ao_log.c
index dc3b6486..40a96ef7 100644
--- a/src/kernel/ao_log.c
+++ b/src/kernel/ao_log.c
@@ -192,12 +192,14 @@ ao_log_find_max_erase_flight(void) __reentrant
 		ao_flight_number = 1;
 }
 
-void
+uint8_t
 ao_log_scan(void) __reentrant
 {
 	uint8_t		log_slot;
 	uint8_t		log_slots;
-#if !FLIGHT_LOG_APPEND
+#if FLIGHT_LOG_APPEND
+	uint8_t		ret;
+#else
 	uint8_t		log_want;
 #endif
 
@@ -248,9 +250,13 @@ ao_log_scan(void) __reentrant
 				empty = ao_log_current_pos;
 			}
 		}
+		ret = 1;
 	} else {
 		ao_log_find_max_erase_flight();
+		ret = 0;
 	}
+	ao_wakeup(&ao_flight_number);
+	return ret;
 #else
 
 	if (ao_flight_number)
@@ -278,8 +284,9 @@ ao_log_scan(void) __reentrant
 		if (++log_slot >= log_slots)
 			log_slot = 0;
 	} while (log_slot != log_want);
-#endif
 	ao_wakeup(&ao_flight_number);
+	return 0;
+#endif
 }
 
 void
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index c5fa7fab..c13a2580 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -72,7 +72,7 @@ ao_log(void);
 /* functions provided in ao_log.c */
 
 /* Figure out the current flight number */
-void
+uint8_t
 ao_log_scan(void) __reentrant;
 
 /* Return the position of the start of the given log slot */
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index d9434048..9b007af8 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -72,7 +72,7 @@ ao_tracker(void)
 #if !HAS_USB_CONNECT
 	ao_tracker_force_telem = 1;
 #endif
-	ao_log_scan();
+	log_started = ao_log_scan();
 
 	ao_rdf_set(1);
 
@@ -181,8 +181,7 @@ void
 ao_tracker_erase_end(void)
 {
 	if (erasing_current) {
-		ao_log_scan();
-		log_started = 0;
+		log_started = ao_log_scan();
 		ao_mutex_put(&tracker_mutex);
 	}
 }
-- 
cgit v1.2.3


From be38fb88d11bda1ba1caca38220773d3abcede19 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 3 Sep 2014 22:58:22 -0700
Subject: altos: Allow negative values for pyro configuration data

All of the integer pyro configuration parameters may be negative, so
parse that correctly.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_pyro.c | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 154edad5..3044d565 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -499,13 +499,26 @@ ao_pyro_set(void)
 		}
 		pyro_tmp.flags |= ao_pyro_values[v].flag;
 		if (ao_pyro_values[v].offset != NO_VALUE) {
+			uint8_t negative = 0;
+			ao_cmd_white();
+			if (ao_cmd_lex_c == '-') {
+				negative = 1;
+				ao_cmd_lex();
+			}
 			ao_cmd_decimal();
 			if (ao_cmd_status != ao_cmd_success)
 				return;
-			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
+			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
+				if (negative) {
+					ao_cmd_status = ao_cmd_syntax_error;
+					return;
+				}
 				*((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
-			else
+			} else {
+				if (negative)
+					ao_cmd_lex_i = -ao_cmd_lex_i;
 				*((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+			}
 		}
 	}
 	_ao_config_edit_start();
-- 
cgit v1.2.3