From 770998be2c15dd41a63520d0c8747d7cf32ec447 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 2 Oct 2017 16:57:15 -0700
Subject: altos: Allow pyro config name to end with newline, not just space/tab

A pyro config like 'Descending' has no value associated. When it is at
the end of the line, allow a newline to terminate the name instead of
just a space.

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

(limited to 'src/kernel')

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 9543b3ef..0aed50d5 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -482,7 +482,7 @@ ao_pyro_set(void)
 			break;
 
 		for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
-			if (ao_cmd_is_white())
+			if (ao_cmd_is_white() || ao_cmd_lex_c == '\n')
 				break;
 			name[c] = ao_cmd_lex_c;
 			ao_cmd_lex();
-- 
cgit v1.2.3


From c8dbfff65dd61e42d0a02158dcb520e7710ef87e Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 8 Oct 2017 18:50:59 -0700
Subject: altos: Stop storing pyro fired status in config block

We already have the fired status saved in the ao_pyro_fired variable,
so just use that to detect whether a channel has already been fired.

Fixes possible cases where the pyro config data gets written back to
eeprom with the fired bit set, which then inhibits the channel during
flight.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_pyro.c | 15 +++++++--------
 src/kernel/ao_pyro.h |  2 +-
 2 files changed, 8 insertions(+), 9 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 0aed50d5..e5c30eec 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -76,7 +76,7 @@ uint16_t	ao_pyro_fired;
 
 #if PYRO_DBG
 int pyro_dbg;
-#define DBG(...)	do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+#define DBG(...)	do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0)
 #else
 #define DBG(...)
 #endif
@@ -239,11 +239,8 @@ ao_pyro_pins_fire(uint16_t fire)
 	}
 	ao_delay(ao_config.pyro_time);
 	for (p = 0; p < AO_PYRO_NUM; p++) {
-		if (fire & (1 << p)) {
+		if (fire & (1 << p))
 			ao_pyro_pin_set(p, 0);
-			ao_config.pyro[p].fired = 1;
-			ao_pyro_fired |= (1 << p);
-		}
 	}
 	ao_delay(AO_MS_TO_TICKS(50));
 }
@@ -261,7 +258,7 @@ ao_pyro_check(void)
 
 		/* Ignore igniters which have already fired
 		 */
-		if (pyro->fired)
+		if (ao_pyro_fired & (1 << p))
 			continue;
 
 		/* Ignore disabled igniters
@@ -296,7 +293,7 @@ ao_pyro_check(void)
 			 * by setting the fired bit
 			 */
 			if (!ao_pyro_ready(pyro)) {
-				pyro->fired = 1;
+				ao_pyro_fired |= (1 << p);
 				continue;
 			}
 
@@ -307,8 +304,10 @@ ao_pyro_check(void)
 		fire |= (1 << p);
 	}
 
-	if (fire)
+	if (fire) {
+		ao_pyro_fired |= fire;
 		ao_pyro_pins_fire(fire);
+	}
 
 	return any_waiting;
 }
diff --git a/src/kernel/ao_pyro.h b/src/kernel/ao_pyro.h
index a730ef19..3ab5af3b 100644
--- a/src/kernel/ao_pyro.h
+++ b/src/kernel/ao_pyro.h
@@ -63,7 +63,7 @@ struct ao_pyro {
 	uint8_t			state_less, state_greater_or_equal;
 	int16_t			motor;
 	uint16_t		delay_done;
-	uint8_t			fired;
+	uint8_t			_unused;	/* was 'fired' */
 };
 
 #define AO_PYRO_8_BIT_VALUE	(ao_pyro_state_less|ao_pyro_state_greater_or_equal)
-- 
cgit v1.2.3


From 4431f70044f4e1120d606f0ded1845349295d68e Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 12 Oct 2017 00:31:26 -0700
Subject: altos: Add MPU9250 support to self test and data

The remaining hooks to make the MPU9250 work in flight.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao.h      |  1 +
 src/kernel/ao_data.h | 12 +++++++++++-
 2 files changed, 12 insertions(+), 1 deletion(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index e56fbb2e..139050cf 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -78,6 +78,7 @@ typedef AO_PORT_TYPE ao_port_t;
 #define AO_PANIC_SELF_TEST_CC1120	0x40 | 1	/* Self test failure */
 #define AO_PANIC_SELF_TEST_HMC5883	0x40 | 2	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000	0x40 | 3	/* Self test failure */
+#define AO_PANIC_SELF_TEST_MPU9250	0x40 | 3	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MS5607	0x40 | 4	/* Self test failure */
 
 /* Stop the operating system, beeping and blinking the reason */
diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index d62852ef..9a3b389c 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -41,6 +41,13 @@
 #define AO_DATA_MPU6000	0
 #endif
 
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250	(1 << 2)
+#else
+#define AO_DATA_MPU9250	0
+#endif
+
 #if HAS_HMC5883
 #include <ao_hmc5883.h>
 #define AO_DATA_HMC5883	(1 << 3)
@@ -57,7 +64,7 @@
 
 #ifdef AO_DATA_RING
 
-#define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
 
 struct ao_data {
 	uint16_t			tick;
@@ -74,6 +81,9 @@ struct ao_data {
 	int16_t				z_accel;
 #endif
 #endif
+#if HAS_MPU9250
+	struct ao_mpu9250_sample	mpu9250;
+#endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
 #endif
-- 
cgit v1.2.3


From 15af16ad21f67019065763a93d52cea6097a69d1 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 22 Oct 2017 15:39:25 -0500
Subject: altos: Remove cross-block storage I/O on cc1111

We don't ever need to be able to do storage read/write across chunks
of flash on the old cc1111 products, so remove the loops that support
it to save space.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/Makefile.cc1111 |   2 +-
 src/kernel/ao_storage.c    | 161 ++++++++++++++++++++++++++++++++++++++++++++-
 2 files changed, 161 insertions(+), 2 deletions(-)

(limited to 'src/kernel')

diff --git a/src/cc1111/Makefile.cc1111 b/src/cc1111/Makefile.cc1111
index 0ea30e1d..cb2d3db4 100644
--- a/src/cc1111/Makefile.cc1111
+++ b/src/cc1111/Makefile.cc1111
@@ -1,7 +1,7 @@
 include ../Makedefs
 CC=$(SDCC)
 
-CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
+CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE) -DCC1111
 
 CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../kernel -I../cc1111 -I../drivers -I../product
 
diff --git a/src/kernel/ao_storage.c b/src/kernel/ao_storage.c
index bee9293e..400751de 100644
--- a/src/kernel/ao_storage.c
+++ b/src/kernel/ao_storage.c
@@ -22,6 +22,9 @@
 uint8_t
 ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
 {
+#ifdef CC1111
+	return ao_storage_device_read(pos, buf, len);
+#else
 	uint16_t this_len;
 	uint16_t this_off;
 
@@ -47,11 +50,15 @@ ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
 		pos += this_len;
 	}
 	return 1;
+#endif
 }
 
 uint8_t
 ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
 {
+#ifdef CC1111
+	return ao_storage_device_write(pos, buf, len);
+#else
 	uint16_t this_len;
 	uint16_t this_off;
 
@@ -77,9 +84,10 @@ ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
 		pos += this_len;
 	}
 	return 1;
+#endif
 }
 
-static __xdata uint8_t storage_data[8];
+static __xdata uint8_t storage_data[128];
 
 static void
 ao_storage_dump(void) __reentrant
@@ -159,6 +167,154 @@ ao_storage_zapall(void) __reentrant
 		ao_storage_erase(pos);
 }
 
+#if AO_STORAGE_TEST
+
+static void
+ao_storage_failure(uint32_t pos, char *format, ...)
+{
+	va_list a;
+	printf("TEST FAILURE AT %08x: ", pos);
+	va_start(a, format);
+	vprintf(format, a);
+	va_end(a);
+}
+
+static uint8_t
+ao_storage_check_block(uint32_t pos, uint8_t value)
+{
+	uint32_t	offset;
+	uint32_t	byte;
+
+	for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+		if (!ao_storage_read(pos + offset, storage_data, sizeof (storage_data))) {
+			ao_storage_failure(pos + offset, "read failed\n");
+			return 0;
+		}
+		for (byte = 0; byte < sizeof (storage_data); byte++)
+			if (storage_data[byte] != value) {
+				ao_storage_failure(pos + offset + byte,
+						   "want %02x got %02x\n",
+						   value, storage_data[byte]);
+				return 0;
+			}
+	}
+	return 1;
+}
+
+static uint8_t
+ao_storage_fill_block(uint32_t pos, uint8_t value)
+{
+	uint32_t	offset;
+	uint32_t	byte;
+
+	for (byte = 0; byte < sizeof (storage_data); byte++)
+		storage_data[byte] = value;
+	for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+		if (!ao_storage_write(pos + offset, storage_data, sizeof (storage_data))) {
+			ao_storage_failure(pos + offset, "write failed\n");
+			return 0;
+		}
+	}
+	return 1;
+}
+
+static uint8_t
+ao_storage_check_incr_block(uint32_t pos)
+{
+	uint32_t	offset;
+	uint32_t	byte;
+
+	for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+		if (!ao_storage_read(pos + offset, storage_data, sizeof (storage_data))) {
+			ao_storage_failure(pos + offset, "read failed\n");
+			return 0;
+		}
+		for (byte = 0; byte < sizeof (storage_data); byte++) {
+			uint8_t value = offset + byte;
+			if (storage_data[byte] != value) {
+				ao_storage_failure(pos + offset + byte,
+						   "want %02x got %02x\n",
+						   value, storage_data[byte]);
+				return 0;
+			}
+		}
+	}
+	return 1;
+}
+
+static uint8_t
+ao_storage_fill_incr_block(uint32_t pos)
+{
+	uint32_t	offset;
+	uint32_t	byte;
+
+	for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+		for (byte = 0; byte < sizeof (storage_data); byte++)
+			storage_data[byte] = offset + byte;
+		if (!ao_storage_write(pos + offset, storage_data, sizeof (storage_data))) {
+			ao_storage_failure(pos + offset, "write failed\n");
+			return 0;
+		}
+	}
+	return 1;
+}
+
+static uint8_t
+ao_storage_fill_check_block(uint32_t pos, uint8_t value)
+{
+	return ao_storage_fill_block(pos, value) && ao_storage_check_block(pos, value);
+}
+
+static uint8_t
+ao_storage_incr_check_block(uint32_t pos)
+{
+	return ao_storage_fill_incr_block(pos) && ao_storage_check_incr_block(pos);
+}
+
+static uint8_t
+ao_storage_test_block(uint32_t pos) __reentrant
+{
+	ao_storage_erase(pos);
+	printf(" erase"); flush();
+	if (!ao_storage_check_block(pos, 0xff))
+		return 0;
+	printf(" zero"); flush();
+	if (!ao_storage_fill_check_block(pos, 0x00))
+		return 0;
+	ao_storage_erase(pos);
+	printf(" 0xaa"); flush();
+	if (!ao_storage_fill_check_block(pos, 0xaa))
+		return 0;
+	ao_storage_erase(pos);
+	printf(" 0x55"); flush();
+	if (!ao_storage_fill_check_block(pos, 0x55))
+		return 0;
+	ao_storage_erase(pos);
+	printf(" increment"); flush();
+	if (!ao_storage_incr_check_block(pos))
+		return 0;
+	ao_storage_erase(pos);
+	printf(" pass\n"); flush();
+	return 1;
+}
+
+static void
+ao_storage_test(void) __reentrant
+{
+	uint32_t	pos;
+
+	ao_cmd_white();
+	if (!ao_match_word("DoIt"))
+		return;
+	for (pos = 0; pos < ao_storage_log_max; pos += ao_storage_block) {
+		printf("Testing block 0x%08x:", pos); flush();
+		if (!ao_storage_test_block(pos))
+			break;
+	}
+	printf("Test complete\n");
+}
+#endif /* AO_STORAGE_TEST */
+
 void
 ao_storage_info(void) __reentrant
 {
@@ -176,6 +332,9 @@ __code struct ao_cmds ao_storage_cmds[] = {
 #endif
 	{ ao_storage_zap, "z <block>\0Erase <block>" },
 	{ ao_storage_zapall,"Z <key>\0Erase all. <key> is doit with D&I" },
+#if AO_STORAGE_TEST
+	{ ao_storage_test, "V <key>\0Validate flash (destructive). <key> is doit with D&I" },
+#endif
 	{ 0, NULL },
 };
 
-- 
cgit v1.2.3


From 256ddea8c430b4b5dcb8bb95c19ad26032129e1b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 22 Oct 2017 15:43:07 -0500
Subject: altos: Define AO_LOG_FORMAT in */ao_pins.h. Use in ao_cmd.c

Instead of having a global variable define the log format, use a macro
instead to save data space.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_pins.h           | 5 +++++
 src/easymega-v1.0/ao_pins.h    | 4 +++-
 src/kernel/ao_cmd.c            | 2 +-
 src/teleballoon-v2.0/ao_pins.h | 1 +
 src/telegps-v0.3/ao_pins.h     | 1 +
 src/telegps-v1.0/ao_pins.h     | 1 +
 src/telegps-v2.0/ao_pins.h     | 1 +
 src/telemega-v0.1/ao_pins.h    | 1 +
 src/telemega-v1.0/ao_pins.h    | 1 +
 src/telemega-v2.0/ao_pins.h    | 1 +
 src/telemetrum-v2.0/ao_pins.h  | 1 +
 src/telemetrum-v3.0/ao_pins.h  | 1 +
 src/telescience-v0.2/ao_pins.h | 1 +
 src/teleterra-v0.2/ao_pins.h   | 2 ++
 14 files changed, 21 insertions(+), 2 deletions(-)

(limited to 'src/kernel')

diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h
index 10b1f802..9d6e1c1d 100644
--- a/src/cc1111/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -63,6 +63,7 @@
 	#define HAS_RADIO_RATE		0	/* not enough space for this */
 	#define HAS_MUTEX_TRY		0
 	#define HAS_TASK_INFO		0	/* not enough space for this either */
+	#define AO_LOG_FORMAT		AO_LOG_FORMAT_FULL
 #endif
 
 #if defined(TELEMETRUM_V_1_1)
@@ -106,6 +107,7 @@
 	#define HAS_TELEMETRY		1
 	#define HAS_RADIO_RATE		0	/* not enough space for this */
 	#define HAS_MUTEX_TRY		0
+	#define AO_LOG_FORMAT		AO_LOG_FORMAT_FULL
 #endif
 
 #if defined(TELEMETRUM_V_1_2)
@@ -149,6 +151,7 @@
 	#define HAS_TELEMETRY		1
 	#define HAS_RADIO_RATE		0	/* not enough space for this */
 	#define HAS_MUTEX_TRY		0
+	#define AO_LOG_FORMAT		AO_LOG_FORMAT_FULL
 #endif
 
 #if defined(TELEDONGLE_V_0_2)
@@ -210,6 +213,7 @@
 	#define HAS_MONITOR		0
 	#define HAS_TELEMETRY		1
 	#define HAS_RADIO_RATE		0	/* not enough space for this */
+	#define AO_LOG_FORMAT 		AO_LOG_FORMAT_TINY
 #endif
 
 #if defined(TELENANO_V_0_1)
@@ -274,6 +278,7 @@
 	#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)
+	#define AO_LOG_FORMAT		AO_LOG_FORMAT_FULL
 #endif
 
 #if defined(TELEDONGLE_V_0_1)
diff --git a/src/easymega-v1.0/ao_pins.h b/src/easymega-v1.0/ao_pins.h
index 42a8b09c..b8016478 100644
--- a/src/easymega-v1.0/ao_pins.h
+++ b/src/easymega-v1.0/ao_pins.h
@@ -69,6 +69,8 @@
 #define AO_CONFIG_MAX_SIZE                     1024
 #define LOG_ERASE_MARK                         0x55
 #define LOG_MAX_ERASE                          128
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMEGA
+
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
 #define USE_EEPROM_CONFIG	1
@@ -84,7 +86,7 @@
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */
 #define SPI_1_PB3_PB4_PB5	1	/* Accelerometer, Gyro */
-#define SPI_1_PE13_PE14_PE15	0	
+#define SPI_1_PE13_PE14_PE15	0
 #define SPI_1_OSPEEDR		STM_OSPEEDR_10MHz
 
 #define HAS_SPI_2		1
diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c
index 881f3500..c1e9cef2 100644
--- a/src/kernel/ao_cmd.c
+++ b/src/kernel/ao_cmd.c
@@ -304,7 +304,7 @@ version(void)
 	       , ao_flight_number
 #endif
 #if HAS_LOG
-	       , ao_log_format
+	       , AO_LOG_FORMAT
 #if !DISABLE_LOG_SPACE
 	       , (unsigned long) ao_storage_log_max
 #endif
diff --git a/src/teleballoon-v2.0/ao_pins.h b/src/teleballoon-v2.0/ao_pins.h
index 746bb3ee..d98e85d7 100644
--- a/src/teleballoon-v2.0/ao_pins.h
+++ b/src/teleballoon-v2.0/ao_pins.h
@@ -64,6 +64,7 @@
 #define AO_CONFIG_MAX_SIZE			1024
 #define LOG_ERASE_MARK				0x55
 #define LOG_MAX_ERASE				128
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMETRUM
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
diff --git a/src/telegps-v0.3/ao_pins.h b/src/telegps-v0.3/ao_pins.h
index 28ae30a4..873474bb 100644
--- a/src/telegps-v0.3/ao_pins.h
+++ b/src/telegps-v0.3/ao_pins.h
@@ -75,6 +75,7 @@
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	496 * 1024
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEGPS
 
 /*
  * GPS
diff --git a/src/telegps-v1.0/ao_pins.h b/src/telegps-v1.0/ao_pins.h
index 9672ab03..f3bdc0ac 100644
--- a/src/telegps-v1.0/ao_pins.h
+++ b/src/telegps-v1.0/ao_pins.h
@@ -77,6 +77,7 @@
 
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEGPS
 
 /*
  * GPS
diff --git a/src/telegps-v2.0/ao_pins.h b/src/telegps-v2.0/ao_pins.h
index fa175371..a2e812fa 100644
--- a/src/telegps-v2.0/ao_pins.h
+++ b/src/telegps-v2.0/ao_pins.h
@@ -136,6 +136,7 @@ struct ao_adc {
 
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEGPS
 
 /*
  * GPS
diff --git a/src/telemega-v0.1/ao_pins.h b/src/telemega-v0.1/ao_pins.h
index 11c4267c..94e77f98 100644
--- a/src/telemega-v0.1/ao_pins.h
+++ b/src/telemega-v0.1/ao_pins.h
@@ -69,6 +69,7 @@
 #define AO_CONFIG_MAX_SIZE			1024
 #define LOG_ERASE_MARK				0x55
 #define LOG_MAX_ERASE				128
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMEGA
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
diff --git a/src/telemega-v1.0/ao_pins.h b/src/telemega-v1.0/ao_pins.h
index 4decbbf7..d44394f0 100644
--- a/src/telemega-v1.0/ao_pins.h
+++ b/src/telemega-v1.0/ao_pins.h
@@ -69,6 +69,7 @@
 #define AO_CONFIG_MAX_SIZE			1024
 #define LOG_ERASE_MARK				0x55
 #define LOG_MAX_ERASE				128
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMEGA
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
diff --git a/src/telemega-v2.0/ao_pins.h b/src/telemega-v2.0/ao_pins.h
index c7c8ad19..42c00c94 100644
--- a/src/telemega-v2.0/ao_pins.h
+++ b/src/telemega-v2.0/ao_pins.h
@@ -69,6 +69,7 @@
 #define AO_CONFIG_MAX_SIZE			1024
 #define LOG_ERASE_MARK				0x55
 #define LOG_MAX_ERASE				128
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMEGA
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
diff --git a/src/telemetrum-v2.0/ao_pins.h b/src/telemetrum-v2.0/ao_pins.h
index d9063173..d26a5193 100644
--- a/src/telemetrum-v2.0/ao_pins.h
+++ b/src/telemetrum-v2.0/ao_pins.h
@@ -64,6 +64,7 @@
 #define AO_CONFIG_MAX_SIZE			1024
 #define LOG_ERASE_MARK				0x55
 #define LOG_MAX_ERASE				128
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMETRUM
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
diff --git a/src/telemetrum-v3.0/ao_pins.h b/src/telemetrum-v3.0/ao_pins.h
index b937b422..6d4369c9 100644
--- a/src/telemetrum-v3.0/ao_pins.h
+++ b/src/telemetrum-v3.0/ao_pins.h
@@ -64,6 +64,7 @@
 #define AO_CONFIG_MAX_SIZE			1024
 #define LOG_ERASE_MARK				0x55
 #define LOG_MAX_ERASE				128
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMETRUM
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
diff --git a/src/telescience-v0.2/ao_pins.h b/src/telescience-v0.2/ao_pins.h
index c78766cd..29f16114 100644
--- a/src/telescience-v0.2/ao_pins.h
+++ b/src/telescience-v0.2/ao_pins.h
@@ -111,6 +111,7 @@
 #define HAS_ADC			1
 #define HAS_ADC_TEMP		1
 #define HAS_LOG			1
+#define AO_LOG_FORMAT		AO_LOG_FORMAT_TELESCIENCE
 
 /*
  * SPI Flash memory
diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h
index 8d9f7a2f..5bcf2c8a 100644
--- a/src/teleterra-v0.2/ao_pins.h
+++ b/src/teleterra-v0.2/ao_pins.h
@@ -75,6 +75,8 @@
 	#define HAS_TELEMETRY		0
 
 	#define AO_VALUE_32		0
+
+	#define AO_LOG_FORMAT		AO_LOG_FORMAT_TELEMETRY
 #endif
 
 #if DBG_ON_P1
-- 
cgit v1.2.3


From 83929cd290279963b01b2ccd52c70d61bdeff6b0 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 22 Oct 2017 15:44:32 -0500
Subject: altos: Share common logging code. Deal with corrupt initial flight
 records

Move common logging APIs from per-format files into ao_log.c. Then,
change that code to check the first log record in a slot (containing
the flight number) to see if it's invalid and deal with it. That
involves not re-using that slot, and allowing it to be erased.

Corrupted log blocks are reported with a negative flight number.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_gps_report.c        |  12 ++--
 src/kernel/ao_gps_report_mega.c   |   4 +-
 src/kernel/ao_gps_report_metrum.c |   8 +--
 src/kernel/ao_log.c               | 125 ++++++++++++++++++++++++++++++++------
 src/kernel/ao_log.h               |  69 ++++++++++++++++-----
 src/kernel/ao_log_big.c           |  67 ++------------------
 src/kernel/ao_log_gps.c           |  77 ++++-------------------
 src/kernel/ao_log_mega.c          |  64 ++-----------------
 src/kernel/ao_log_metrum.c        |  65 ++------------------
 src/kernel/ao_log_mini.c          |  63 +------------------
 src/kernel/ao_log_tiny.c          |   4 +-
 11 files changed, 199 insertions(+), 359 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_gps_report.c b/src/kernel/ao_gps_report.c
index 39688fea..75c2f367 100644
--- a/src/kernel/ao_gps_report.c
+++ b/src/kernel/ao_gps_report.c
@@ -45,13 +45,13 @@ ao_gps_report(void)
 			gps_log.u.gps_time.minute = gps_data.minute;
 			gps_log.u.gps_time.second = gps_data.second;
 			gps_log.u.gps_time.flags = gps_data.flags;
-			ao_log_data(&gps_log);
+			ao_log_write(&gps_log);
 			gps_log.type = AO_LOG_GPS_LAT;
 			gps_log.u.gps_latitude = gps_data.latitude;
-			ao_log_data(&gps_log);
+			ao_log_write(&gps_log);
 			gps_log.type = AO_LOG_GPS_LON;
 			gps_log.u.gps_longitude = gps_data.longitude;
-			ao_log_data(&gps_log);
+			ao_log_write(&gps_log);
 			gps_log.type = AO_LOG_GPS_ALT;
 			gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
 #if HAS_WIDE_GPS
@@ -59,14 +59,14 @@ ao_gps_report(void)
 #else
 			gps_log.u.gps_altitude.altitude_high = 0xffff;
 #endif
-			ao_log_data(&gps_log);
+			ao_log_write(&gps_log);
 			if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
 				gps_log.type = AO_LOG_GPS_DATE;
 				gps_log.u.gps_date.year = gps_data.year;
 				gps_log.u.gps_date.month = gps_data.month;
 				gps_log.u.gps_date.day = gps_data.day;
 				gps_log.u.gps_date.extra = 0;
-				date_reported = ao_log_data(&gps_log);
+				date_reported = ao_log_write(&gps_log);
 			}
 		}
 		if (new & AO_GPS_NEW_TRACKING) {
@@ -78,7 +78,7 @@ ao_gps_report(void)
 					if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
 					{
 						gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
-						ao_log_data(&gps_log);
+						ao_log_write(&gps_log);
 					}
 			}
 		}
diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c
index 8a298655..85614b85 100644
--- a/src/kernel/ao_gps_report_mega.c
+++ b/src/kernel/ao_gps_report_mega.c
@@ -105,7 +105,7 @@ ao_gps_report_mega(void)
 			gps_log.u.gps.hdop = gps_data.hdop;
 			gps_log.u.gps.vdop = gps_data.vdop;
 			gps_log.u.gps.mode = gps_data.mode;
-			ao_log_mega(&gps_log);
+			ao_log_write(&gps_log);
 		}
 		if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
 			gps_log.tick = ao_gps_tick;
@@ -120,7 +120,7 @@ ao_gps_report_mega(void)
 						break;
 				}
 			gps_log.u.gps_sat.channels = i;
-			ao_log_mega(&gps_log);
+			ao_log_write(&gps_log);
 		}
 	}
 }
diff --git a/src/kernel/ao_gps_report_metrum.c b/src/kernel/ao_gps_report_metrum.c
index 508f1519..523fb17f 100644
--- a/src/kernel/ao_gps_report_metrum.c
+++ b/src/kernel/ao_gps_report_metrum.c
@@ -47,7 +47,7 @@ ao_gps_report_metrum(void)
 			gps_log.u.gps.longitude = gps_data.longitude;
 			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);
+			ao_log_write(&gps_log);
 
 			gps_log.type = AO_LOG_GPS_TIME;
 			gps_log.u.gps_time.hour = gps_data.hour;
@@ -58,7 +58,7 @@ ao_gps_report_metrum(void)
 			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);
+			ao_log_write(&gps_log);
 		}
 
 		if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels)) {
@@ -71,7 +71,7 @@ ao_gps_report_metrum(void)
 					if (i == 4) {
 						gps_log.u.gps_sat.channels = i;
 						gps_log.u.gps_sat.more = 1;
-						ao_log_metrum(&gps_log);
+						ao_log_write(&gps_log);
 						i = 0;
 					}
 					gps_log.u.gps_sat.sats[i].svid = svid;
@@ -82,7 +82,7 @@ ao_gps_report_metrum(void)
 			if (i) {
 				gps_log.u.gps_sat.channels = i;
 				gps_log.u.gps_sat.more = 0;
-				ao_log_metrum(&gps_log);
+				ao_log_write(&gps_log);
 			}
 		}
 	}
diff --git a/src/kernel/ao_log.c b/src/kernel/ao_log.c
index 0589b4b0..08af5b58 100644
--- a/src/kernel/ao_log.c
+++ b/src/kernel/ao_log.c
@@ -29,7 +29,7 @@ __pdata uint32_t ao_log_end_pos;
 __pdata uint32_t ao_log_start_pos;
 __xdata uint8_t	ao_log_running;
 __pdata enum ao_flight_state ao_log_state;
-__xdata uint16_t ao_flight_number;
+__xdata int16_t ao_flight_number;
 
 void
 ao_log_flush(void)
@@ -111,6 +111,85 @@ ao_log_erase_mark(void)
 	ao_config_put();
 }
 
+#ifndef AO_LOG_UNCOMMON
+/*
+ * Common logging functions which depend on the type of the log data
+ * structure.
+ */
+
+__xdata ao_log_type log;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+	uint8_t	sum = 0x5a;
+	uint8_t	i;
+
+	for (i = 0; i < sizeof (ao_log_type); i++)
+		sum += *b++;
+	return -sum;
+}
+
+uint8_t
+ao_log_write(__xdata ao_log_type *log) __reentrant
+{
+	uint8_t wrote = 0;
+	/* set checksum */
+	log->csum = 0;
+	log->csum = ao_log_csum((__xdata uint8_t *) log);
+	ao_mutex_get(&ao_log_mutex); {
+		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+			ao_log_stop();
+		if (ao_log_running) {
+			wrote = 1;
+			ao_storage_write(ao_log_current_pos,
+					 log,
+					 sizeof (ao_log_type));
+			ao_log_current_pos += sizeof (ao_log_type);
+		}
+	} ao_mutex_put(&ao_log_mutex);
+	return wrote;
+}
+
+uint8_t
+ao_log_check_data(void)
+{
+	if (ao_log_csum((uint8_t *) &log) != 0)
+		return 0;
+	return 1;
+}
+
+uint8_t
+ao_log_check_clear(void)
+{
+	uint8_t *b = (uint8_t *) &log;
+	uint8_t i;
+
+	for (i = 0; i < sizeof (ao_log_type); i++) {
+		if (*b++ != 0xff)
+			return 0;
+	}
+	return 1;
+}
+
+int16_t
+ao_log_flight(uint8_t slot)
+{
+	if (!ao_storage_read(ao_log_pos(slot),
+			     &log,
+			     sizeof (ao_log_type)))
+		return -(int16_t) (slot + 1);
+
+	if (ao_log_check_clear())
+		return 0;
+
+	if (ao_log_check_data() || log.type != AO_LOG_FLIGHT)
+		return -(int16_t) (slot + 1);
+
+	return log.u.flight.flight;
+}
+#endif
+
 static uint8_t
 ao_log_slots()
 {
@@ -123,21 +202,21 @@ ao_log_pos(uint8_t slot)
 	return ((slot) * ao_config.flight_log_max);
 }
 
-static uint16_t
+static int16_t
 ao_log_max_flight(void)
 {
 	uint8_t		log_slot;
 	uint8_t		log_slots;
-	uint16_t	log_flight;
-	uint16_t	max_flight = 0;
+	int16_t		log_flight;
+	int16_t		max_flight = 0;
 
 	/* Scan the log space looking for the biggest flight number */
 	log_slots = ao_log_slots();
 	for (log_slot = 0; log_slot < log_slots; log_slot++) {
 		log_flight = ao_log_flight(log_slot);
-		if (!log_flight)
+		if (log_flight <= 0)
 			continue;
-		if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
+		if (max_flight == 0 || log_flight > max_flight)
 			max_flight = log_flight;
 	}
 	return max_flight;
@@ -228,24 +307,24 @@ ao_log_scan(void) __reentrant
 
 	if (ao_flight_number) {
 		uint32_t	full = ao_log_current_pos;
-		uint32_t	empty = ao_log_end_pos - ao_log_size;
+		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;
+			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;
+				if (ao_log_check(ao_log_current_pos) != AO_LOG_EMPTY)
+					ao_log_current_pos += AO_LOG_SIZE;
 				break;
 			}
 			if (ao_log_current_pos == empty)
 				break;
 
-			if (ao_log_check(ao_log_current_pos)) {
+			if (ao_log_check(ao_log_current_pos) != AO_LOG_EMPTY) {
 				full = ao_log_current_pos;
 			} else {
 				empty = ao_log_current_pos;
@@ -259,10 +338,11 @@ ao_log_scan(void) __reentrant
 	ao_wakeup(&ao_flight_number);
 	return ret;
 #else
-
-	if (ao_flight_number)
-		if (++ao_flight_number == 0)
+	if (ao_flight_number) {
+		++ao_flight_number;
+		if (ao_flight_number <= 0)
 			ao_flight_number = 1;
+	}
 
 	ao_log_find_max_erase_flight();
 
@@ -330,7 +410,7 @@ ao_log_list(void) __reentrant
 {
 	uint8_t	slot;
 	uint8_t slots;
-	uint16_t flight;
+	int16_t flight;
 
 	slots = ao_log_slots();
 	for (slot = 0; slot < slots; slot++)
@@ -350,18 +430,25 @@ ao_log_delete(void) __reentrant
 {
 	uint8_t slot;
 	uint8_t slots;
+	int16_t cmd_flight = 1;
 
+	ao_cmd_white();
+	if (ao_cmd_lex_c == '-') {
+		cmd_flight = -1;
+		ao_cmd_lex();
+	}
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
+	cmd_flight *= (int16_t) ao_cmd_lex_i;
 
 	slots = ao_log_slots();
 	/* Look for the flight log matching the requested flight */
-	if (ao_cmd_lex_i) {
+	if (cmd_flight) {
 		for (slot = 0; slot < slots; slot++) {
-			if (ao_log_flight(slot) == ao_cmd_lex_i) {
+			if (ao_log_flight(slot) == cmd_flight) {
 #if HAS_TRACKER
-				ao_tracker_erase_start(ao_cmd_lex_i);
+				ao_tracker_erase_start(cmd_flight);
 #endif
 				ao_log_erase(slot);
 #if HAS_TRACKER
@@ -372,7 +459,7 @@ ao_log_delete(void) __reentrant
 			}
 		}
 	}
-	printf("No such flight: %d\n", ao_cmd_lex_i);
+	printf("No such flight: %d\n", cmd_flight);
 }
 
 __code struct ao_cmds ao_log_cmds[] = {
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index aca669db..1c186364 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -29,7 +29,7 @@
  * the log. Tasks may wait for this to be initialized
  * by sleeping on this variable.
  */
-extern __xdata uint16_t ao_flight_number;
+extern __xdata int16_t ao_flight_number;
 extern __xdata uint8_t	ao_log_mutex;
 extern __pdata uint32_t ao_log_current_pos;
 extern __pdata uint32_t ao_log_end_pos;
@@ -56,15 +56,25 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_EASYMINI2		14	/* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
 #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, -slot on failure */
 
-/* Return the flight number from the given log slot, 0 if none */
-uint16_t
+int16_t
 ao_log_flight(uint8_t slot);
 
-/* Check if there is valid log data at the specified location */
+/* Checksum the loaded log record */
+uint8_t
+ao_log_check_data(void);
+
+/* Check to see if the loaded log record is empty */
 uint8_t
+ao_log_check_clear(void);
+
+/* Check if there is valid log data at the specified location */
+#define AO_LOG_VALID	1
+#define AO_LOG_EMPTY	0
+#define AO_LOG_INVALID 	-1
+
+int8_t
 ao_log_check(uint32_t pos);
 
 /* Flush the log */
@@ -463,21 +473,48 @@ struct ao_log_gps {
 	} u;
 };
 
-/* Write a record to the eeprom log */
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA
+typedef struct ao_log_mega ao_log_type;
+#endif
 
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
+typedef struct ao_log_metrum ao_log_type;
+#endif
 
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI1 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI3
+typedef struct ao_log_mini ao_log_type;
+#endif
 
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
+typedef struct ao_log_gps ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
+typedef struct ao_log_record ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
+#define AO_LOG_UNCOMMON	1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
+#define AO_LOG_UNCOMMON	1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
+#define AO_LOG_UNCOMMON	1
+#endif
+
+#ifndef AO_LOG_UNCOMMON
+extern __xdata ao_log_type log;
+
+#define AO_LOG_SIZE sizeof(ao_log_type)
+
+/* Write a record to the eeprom log */
 
 uint8_t
-ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
+ao_log_write(__xdata ao_log_type *log) __reentrant;
+#endif
 
 void
 ao_log_flush(void);
diff --git a/src/kernel/ao_log_big.c b/src/kernel/ao_log_big.c
index e32abd1a..28a893c7 100644
--- a/src/kernel/ao_log_big.c
+++ b/src/kernel/ao_log_big.c
@@ -18,50 +18,6 @@
 
 #include "ao.h"
 
-static __xdata struct ao_log_record log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
-	uint8_t	sum = 0x5a;
-	uint8_t	i;
-
-	for (i = 0; i < sizeof (struct ao_log_record); i++)
-		sum += *b++;
-	return -sum;
-}
-
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant
-{
-	uint8_t wrote = 0;
-	/* set checksum */
-	log->csum = 0;
-	log->csum = ao_log_csum((__xdata uint8_t *) log);
-	ao_mutex_get(&ao_log_mutex); {
-		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-			ao_log_stop();
-		if (ao_log_running) {
-			wrote = 1;
-			ao_storage_write(ao_log_current_pos,
-					 log,
-					 sizeof (struct ao_log_record));
-			ao_log_current_pos += sizeof (struct ao_log_record);
-		}
-	} ao_mutex_put(&ao_log_mutex);
-	return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
-	if (ao_log_csum((uint8_t *) &log) != 0)
-		return 0;
-	return 1;
-}
-
 static __data uint8_t	ao_log_data_pos;
 
 /* a hack to make sure that ao_log_records fill the eeprom block in even units */
@@ -91,7 +47,7 @@ ao_log(void)
 	log.u.flight.ground_accel = ao_ground_accel;
 #endif
 	log.u.flight.flight = ao_flight_number;
-	ao_log_data(&log);
+	ao_log_write(&log);
 
 	/* Write the whole contents of the ring to the log
 	 * when starting up.
@@ -107,7 +63,7 @@ ao_log(void)
 				log.type = AO_LOG_SENSOR;
 				log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
 				log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres;
-				ao_log_data(&log);
+				ao_log_write(&log);
 				if (ao_log_state <= ao_flight_coast)
 					next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
 				else
@@ -117,11 +73,11 @@ ao_log(void)
 				log.type = AO_LOG_TEMP_VOLT;
 				log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp;
 				log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
-				ao_log_data(&log);
+				ao_log_write(&log);
 				log.type = AO_LOG_DEPLOY;
 				log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d;
 				log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m;
-				ao_log_data(&log);
+				ao_log_write(&log);
 				next_other = log.tick + AO_OTHER_INTERVAL;
 			}
 			ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
@@ -133,7 +89,7 @@ ao_log(void)
 			log.tick = ao_sample_tick;
 			log.u.state.state = ao_log_state;
 			log.u.state.reason = 0;
-			ao_log_data(&log);
+			ao_log_write(&log);
 
 			if (ao_log_state == ao_flight_landed)
 				ao_log_stop();
@@ -147,16 +103,3 @@ ao_log(void)
 			ao_sleep(&ao_log_running);
 	}
 }
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
-	if (!ao_storage_read(ao_log_pos(slot),
-			     &log,
-			     sizeof (struct ao_log_record)))
-		return 0;
-
-	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-		return log.u.flight.flight;
-	return 0;
-}
diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index 02551169..a55d93f1 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.c
@@ -24,50 +24,13 @@
 #include <ao_distance.h>
 #include <ao_tracker.h>
 
-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
-{
-	uint8_t	sum = 0x5a;
-	uint8_t	i;
-
-	for (i = 0; i < sizeof (struct ao_log_gps); i++)
-		sum += *b++;
-	return -sum;
-}
-
-uint8_t
-ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
-{
-	uint8_t wrote = 0;
-	/* set checksum */
-	log->csum = 0;
-	log->csum = ao_log_csum((__xdata uint8_t *) log);
-	ao_mutex_get(&ao_log_mutex); {
-		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-			ao_log_stop();
-		if (ao_log_running) {
-			wrote = 1;
-			ao_storage_write(ao_log_current_pos,
-					 log,
-					 sizeof (struct ao_log_gps));
-			ao_log_current_pos += sizeof (struct ao_log_gps);
-		}
-	} ao_mutex_put(&ao_log_mutex);
-	return wrote;
-}
-
 void
 ao_log_gps_flight(void)
 {
 	log.type = AO_LOG_FLIGHT;
 	log.tick = ao_time();
 	log.u.flight.flight = ao_flight_number;
-	ao_log_gps(&log);
+	ao_log_write(&log);
 }
 
 void
@@ -94,7 +57,7 @@ ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
 	log.u.gps.hdop = gps_data->hdop;
 	log.u.gps.vdop = gps_data->vdop;
 	log.u.gps.mode = gps_data->mode;
-	ao_log_gps(&log);
+	ao_log_write(&log);
 }
 
 void
@@ -115,39 +78,21 @@ ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_d
 				break;
 		}
 	log.u.gps_sat.channels = i;
-	ao_log_gps(&log);
+	ao_log_write(&log);
 }
 
-static uint8_t
-ao_log_dump_check_data(void)
-{
-	if (ao_log_csum((uint8_t *) &log) != 0)
-		return 0;
-	return 1;
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
-	if (!ao_storage_read(ao_log_pos(slot),
-			     &log,
-			     sizeof (struct ao_log_gps)))
-		return 0;
-
-	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-		return log.u.flight.flight;
-	return 0;
-}
-
-uint8_t
+int8_t
 ao_log_check(uint32_t pos)
 {
 	if (!ao_storage_read(pos,
 			     &log,
 			     sizeof (struct ao_log_gps)))
-		return 0;
+		return AO_LOG_INVALID;
+
+	if (ao_log_check_clear())
+		return AO_LOG_EMPTY;
 
-	if (ao_log_dump_check_data())
-		return 1;
-	return 0;
+	if (!ao_log_check_data())
+		return AO_LOG_INVALID;
+	return AO_LOG_VALID;
 }
diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c
index b86abe7a..d1cf4f13 100644
--- a/src/kernel/ao_log_mega.c
+++ b/src/kernel/ao_log_mega.c
@@ -21,50 +21,6 @@
 #include <ao_data.h>
 #include <ao_flight.h>
 
-static __xdata struct ao_log_mega log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
-	uint8_t	sum = 0x5a;
-	uint8_t	i;
-
-	for (i = 0; i < sizeof (struct ao_log_mega); i++)
-		sum += *b++;
-	return -sum;
-}
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
-{
-	uint8_t wrote = 0;
-	/* set checksum */
-	log->csum = 0;
-	log->csum = ao_log_csum((__xdata uint8_t *) log);
-	ao_mutex_get(&ao_log_mutex); {
-		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-			ao_log_stop();
-		if (ao_log_running) {
-			wrote = 1;
-			ao_storage_write(ao_log_current_pos,
-					 log,
-					 sizeof (struct ao_log_mega));
-			ao_log_current_pos += sizeof (struct ao_log_mega);
-		}
-	} ao_mutex_put(&ao_log_mutex);
-	return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
-	if (ao_log_csum((uint8_t *) &log) != 0)
-		return 0;
-	return 1;
-}
-
 #if HAS_FLIGHT
 static __data uint8_t	ao_log_data_pos;
 
@@ -106,7 +62,7 @@ ao_log(void)
 #endif
 	log.u.flight.ground_pres = ao_ground_pres;
 	log.u.flight.flight = ao_flight_number;
-	ao_log_mega(&log);
+	ao_log_write(&log);
 #endif
 
 	/* Write the whole contents of the ring to the log
@@ -139,7 +95,7 @@ ao_log(void)
 				log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
 #endif
 				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
-				ao_log_mega(&log);
+				ao_log_write(&log);
 				if (ao_log_state <= ao_flight_coast)
 					next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
 				else
@@ -153,7 +109,7 @@ ao_log(void)
 				for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 					log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
 				log.u.volt.pyro = ao_pyro_fired;
-				ao_log_mega(&log);
+				ao_log_write(&log);
 				next_other = log.tick + AO_OTHER_INTERVAL;
 			}
 			ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
@@ -166,7 +122,7 @@ ao_log(void)
 			log.tick = ao_time();
 			log.u.state.state = ao_log_state;
 			log.u.state.reason = 0;
-			ao_log_mega(&log);
+			ao_log_write(&log);
 
 			if (ao_log_state == ao_flight_landed)
 				ao_log_stop();
@@ -185,15 +141,3 @@ ao_log(void)
 }
 #endif /* HAS_FLIGHT */
 
-uint16_t
-ao_log_flight(uint8_t slot)
-{
-	if (!ao_storage_read(ao_log_pos(slot),
-			     &log,
-			     sizeof (struct ao_log_mega)))
-		return 0;
-
-	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-		return log.u.flight.flight;
-	return 0;
-}
diff --git a/src/kernel/ao_log_metrum.c b/src/kernel/ao_log_metrum.c
index 154b1740..afb8f637 100644
--- a/src/kernel/ao_log_metrum.c
+++ b/src/kernel/ao_log_metrum.c
@@ -21,50 +21,6 @@
 #include <ao_data.h>
 #include <ao_flight.h>
 
-static __xdata struct ao_log_metrum log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
-	uint8_t	sum = 0x5a;
-	uint8_t	i;
-
-	for (i = 0; i < sizeof (struct ao_log_metrum); i++)
-		sum += *b++;
-	return -sum;
-}
-
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant
-{
-	uint8_t wrote = 0;
-	/* set checksum */
-	log->csum = 0;
-	log->csum = ao_log_csum((__xdata uint8_t *) log);
-	ao_mutex_get(&ao_log_mutex); {
-		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-			ao_log_stop();
-		if (ao_log_running) {
-			wrote = 1;
-			ao_storage_write(ao_log_current_pos,
-					 log,
-					 sizeof (struct ao_log_metrum));
-			ao_log_current_pos += sizeof (struct ao_log_metrum);
-		}
-	} ao_mutex_put(&ao_log_mutex);
-	return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
-	if (ao_log_csum((uint8_t *) &log) != 0)
-		return 0;
-	return 1;
-}
-
 #if HAS_ADC
 static __data uint8_t	ao_log_data_pos;
 
@@ -97,7 +53,7 @@ ao_log(void)
 #endif
 	log.u.flight.ground_pres = ao_ground_pres;
 	log.u.flight.flight = ao_flight_number;
-	ao_log_metrum(&log);
+	ao_log_write(&log);
 #endif
 
 	/* Write the whole contents of the ring to the log
@@ -119,7 +75,7 @@ ao_log(void)
 #if HAS_ACCEL
 				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
 #endif
-				ao_log_metrum(&log);
+				ao_log_write(&log);
 				if (ao_log_state <= ao_flight_coast)
 					next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
 				else
@@ -130,7 +86,7 @@ ao_log(void)
 				log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
 				log.u.volt.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
 				log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
-				ao_log_metrum(&log);
+				ao_log_write(&log);
 				next_other = log.tick + AO_OTHER_INTERVAL;
 			}
 			ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
@@ -143,7 +99,7 @@ ao_log(void)
 			log.tick = ao_time();
 			log.u.state.state = ao_log_state;
 			log.u.state.reason = 0;
-			ao_log_metrum(&log);
+			ao_log_write(&log);
 
 			if (ao_log_state == ao_flight_landed)
 				ao_log_stop();
@@ -161,16 +117,3 @@ ao_log(void)
 	}
 }
 #endif
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
-	if (!ao_storage_read(ao_log_pos(slot),
-			     &log,
-			     sizeof (struct ao_log_metrum)))
-		return 0;
-
-	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-		return log.u.flight.flight;
-	return 0;
-}
diff --git a/src/kernel/ao_log_mini.c b/src/kernel/ao_log_mini.c
index d5735cdc..af2fa605 100644
--- a/src/kernel/ao_log_mini.c
+++ b/src/kernel/ao_log_mini.c
@@ -21,50 +21,6 @@
 #include <ao_data.h>
 #include <ao_flight.h>
 
-static __xdata struct ao_log_mini log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
-	uint8_t	sum = 0x5a;
-	uint8_t	i;
-
-	for (i = 0; i < sizeof (struct ao_log_mini); i++)
-		sum += *b++;
-	return -sum;
-}
-
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant
-{
-	uint8_t wrote = 0;
-	/* set checksum */
-	log->csum = 0;
-	log->csum = ao_log_csum((__xdata uint8_t *) log);
-	ao_mutex_get(&ao_log_mutex); {
-		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-			ao_log_stop();
-		if (ao_log_running) {
-			wrote = 1;
-			ao_storage_write(ao_log_current_pos,
-					 log,
-					 sizeof (struct ao_log_mini));
-			ao_log_current_pos += sizeof (struct ao_log_mini);
-		}
-	} ao_mutex_put(&ao_log_mutex);
-	return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
-	if (ao_log_csum((uint8_t *) &log) != 0)
-		return 0;
-	return 1;
-}
-
 static __data uint8_t	ao_log_data_pos;
 
 /* a hack to make sure that ao_log_minis fill the eeprom block in even units */
@@ -92,7 +48,7 @@ ao_log(void)
 	log.tick = ao_sample_tick;
 	log.u.flight.flight = ao_flight_number;
 	log.u.flight.ground_pres = ao_ground_pres;
-	ao_log_mini(&log);
+	ao_log_write(&log);
 #endif
 
 	/* Write the whole contents of the ring to the log
@@ -116,7 +72,7 @@ ao_log(void)
 				log.u.sensor.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
 				log.u.sensor.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
 #endif
-				ao_log_mini(&log);
+				ao_log_write(&log);
 				if (ao_log_state <= ao_flight_coast)
 					next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
 				else
@@ -132,7 +88,7 @@ ao_log(void)
 			log.tick = ao_time();
 			log.u.state.state = ao_log_state;
 			log.u.state.reason = 0;
-			ao_log_mini(&log);
+			ao_log_write(&log);
 
 			if (ao_log_state == ao_flight_landed)
 				ao_log_stop();
@@ -149,16 +105,3 @@ ao_log(void)
 			ao_sleep(&ao_log_running);
 	}
 }
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
-	if (!ao_storage_read(ao_log_pos(slot),
-			     &log,
-			     sizeof (struct ao_log_mini)))
-		return 0;
-
-	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-		return log.u.flight.flight;
-	return 0;
-}
diff --git a/src/kernel/ao_log_tiny.c b/src/kernel/ao_log_tiny.c
index 7769b7b5..0b8e39d6 100644
--- a/src/kernel/ao_log_tiny.c
+++ b/src/kernel/ao_log_tiny.c
@@ -29,8 +29,6 @@ static __data uint16_t	ao_log_tiny_interval;
 #define AO_PAD_RING	2
 #endif
 
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TINY;
-
 void
 ao_log_tiny_set_interval(uint16_t ticks)
 {
@@ -149,7 +147,7 @@ ao_log(void)
 	}
 }
 
-uint16_t
+int16_t
 ao_log_flight(uint8_t slot)
 {
 	static __xdata uint16_t flight;
-- 
cgit v1.2.3


From f3b279141cd30ad6a212ce75f5a7c2b8e3d33870 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 11 Nov 2017 20:50:45 -0800
Subject: altos: Fix inverted test for corrupt flight log

Was reporting correct flight log as corrupted. Oops.

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

(limited to 'src/kernel')

diff --git a/src/kernel/ao_log.c b/src/kernel/ao_log.c
index 08af5b58..f70c7232 100644
--- a/src/kernel/ao_log.c
+++ b/src/kernel/ao_log.c
@@ -183,7 +183,7 @@ ao_log_flight(uint8_t slot)
 	if (ao_log_check_clear())
 		return 0;
 
-	if (ao_log_check_data() || log.type != AO_LOG_FLIGHT)
+	if (!ao_log_check_data() || log.type != AO_LOG_FLIGHT)
 		return -(int16_t) (slot + 1);
 
 	return log.u.flight.flight;
-- 
cgit v1.2.3


From 23cf8fb4d5745ad76d9517c9702d03d10c58144a Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 11 Nov 2017 20:52:01 -0800
Subject: altos: Fix new GCC warnings

* Duplicate 'const' in test code.
* Mis-formatted loop in kf_rem_pio2
* Unused 'one' in sf_cos

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_host.h   | 2 +-
 src/math/kf_rem_pio2.c | 3 ++-
 src/math/sf_cos.c      | 6 ------
 3 files changed, 3 insertions(+), 8 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_host.h b/src/kernel/ao_host.h
index a7fa5ec2..50583f52 100644
--- a/src/kernel/ao_host.h
+++ b/src/kernel/ao_host.h
@@ -111,7 +111,7 @@ ao_dump_state(void *wchan);
 void
 ao_sleep(void *wchan);
 
-const char const * const ao_state_names[] = {
+const char * const ao_state_names[] = {
 	"startup", "idle", "pad", "boost", "fast",
 	"coast", "drogue", "main", "landed", "invalid"
 };
diff --git a/src/math/kf_rem_pio2.c b/src/math/kf_rem_pio2.c
index 261c4812..1573ca9f 100644
--- a/src/math/kf_rem_pio2.c
+++ b/src/math/kf_rem_pio2.c
@@ -77,7 +77,8 @@ twon8  =  3.9062500000e-03; /* 0x3b800000 */
 
     /* compute q[0],q[1],...q[jk] */
 	for (i=0;i<=jk;i++) {
-	    for(j=0,fw=0.0;j<=jx;j++) fw += x[j]*f[jx+i-j]; q[i] = fw;
+	    for(j=0,fw=0.0;j<=jx;j++) fw += x[j]*f[jx+i-j];
+	    q[i] = fw;
 	}
 
 	jz = jk;
diff --git a/src/math/sf_cos.c b/src/math/sf_cos.c
index 4c0a9a53..2f46ec32 100644
--- a/src/math/sf_cos.c
+++ b/src/math/sf_cos.c
@@ -15,12 +15,6 @@
 
 #include "fdlibm.h"
 
-#ifdef __STDC__
-static const float one=1.0;
-#else
-static float one=1.0;
-#endif
-
 #ifdef __STDC__
 	float cosf(float x)
 #else
-- 
cgit v1.2.3


From f0068719b17019c5cd7ed318364a0581caf64e1a Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 2 Dec 2017 15:32:38 -0600
Subject: altos/kernel: MPU9250 support

Use MPU9250 for accel, gyro and mag data in logging, telemetry and
flight status computations.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_data.h      | 58 +++++++++++++++++++++++++++++++++++++++++++++++
 src/kernel/ao_flight.c    |  2 +-
 src/kernel/ao_log.h       |  3 ++-
 src/kernel/ao_log_mega.c  | 11 +++++++++
 src/kernel/ao_sample.c    |  6 ++---
 src/kernel/ao_telemetry.c | 16 ++++++++++++-
 6 files changed, 90 insertions(+), 6 deletions(-)

(limited to 'src/kernel')

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 9a3b389c..88d0e916 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -330,6 +330,47 @@ typedef int16_t angle_t;	/* in degrees */
 #define ao_data_pitch(packet)	((packet)->mpu6000.gyro_x)
 #define ao_data_yaw(packet)	((packet)->mpu6000.gyro_z)
 
+static inline float ao_convert_gyro(float sensor)
+{
+	return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+	return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#define HAS_GYRO	1
+
+typedef int16_t	gyro_t;		/* in raw sample units */
+typedef int16_t angle_t;	/* in degrees */
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#define ao_data_along(packet)	((packet)->mpu9250.accel_y)
+#define ao_data_across(packet)	((packet)->mpu9250.accel_x)
+#define ao_data_through(packet)	((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet)	((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet)	((packet)->mpu9250.gyro_z)
+
+static inline float ao_convert_gyro(float sensor)
+{
+	return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+	return ao_mpu9250_accel(sensor);
+}
+
 #endif
 
 #if !HAS_MAG && HAS_HMC5883
@@ -344,4 +385,21 @@ typedef int16_t ao_mag_t;		/* in raw sample units */
 
 #endif
 
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG		1
+
+typedef int16_t ao_mag_t;		/* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#define ao_data_mag_along(packet)	((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet)	((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet)	((packet)->mpu9250.mag_z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index f06125cd..cb02c454 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,7 +21,7 @@
 #include <ao_log.h>
 #endif
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
 
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 1c186364..5f04ef9a 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -54,6 +54,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TELEMINI3		12	/* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
 #define AO_LOG_FORMAT_TELEFIRETWO	13	/* 32-byte test stand data */
 #define AO_LOG_FORMAT_EASYMINI2		14	/* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
+#define AO_LOG_FORMAT_TELEMEGA_3	15	/* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
@@ -473,7 +474,7 @@ struct ao_log_gps {
 	} u;
 };
 
-#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA
+#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3
 typedef struct ao_log_mega ao_log_type;
 #endif
 
diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c
index d1cf4f13..c6bdf1e2 100644
--- a/src/kernel/ao_log_mega.c
+++ b/src/kernel/ao_log_mega.c
@@ -93,6 +93,17 @@ ao_log(void)
 				log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
 				log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
 				log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
+#endif
+#if HAS_MPU9250
+				log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu9250.accel_x;
+				log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu9250.accel_y;
+				log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu9250.accel_z;
+				log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu9250.gyro_x;
+				log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu9250.gyro_y;
+				log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu9250.gyro_z;
+				log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].mpu9250.mag_x;
+				log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].mpu9250.mag_z;
+				log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].mpu9250.mag_y;
 #endif
 				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
 				ao_log_write(&log);
diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index f0ab0169..61519478 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -184,9 +184,9 @@ ao_sample_rotate(void)
 #else
 	static const float dt = 1/TIME_DIV;
 #endif
-	float	x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
-	float	y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
-	float	z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
+	float	x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
+	float	y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
+	float	z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
 	struct ao_quaternion	rot;
 
 	ao_quaternion_init_half_euler(&rot, x, y, z);
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 2ae1e41b..9ed612ce 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -141,7 +141,7 @@ ao_send_mega_sensor(void)
 	telemetry.generic.tick = packet->tick;
 	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 	telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
 	telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -164,6 +164,20 @@ ao_send_mega_sensor(void)
 	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 #endif
 
+#if HAS_MPU9250
+	telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
+	telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
+	telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
+
+	telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
+	telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
+	telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
+
+	telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
+	telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
+	telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
+#endif
+
 	ao_telemetry_send();
 }
 
-- 
cgit v1.2.3


From 8ebecd364fd328e9c649c11729bddf58731aaafb Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 10 Dec 2017 18:34:49 -0800
Subject: altos: Allow building with newlib + avr stdio on ARM

Redefines some stdio bits so that we can build with either pdclib or
newlib + avr stdio.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/cc1111/ao_arch.h          | 4 ++++
 src/kernel/ao_stdio.c         | 4 ++--
 src/kernel/ao_task.h          | 3 +++
 src/lambdakey-v1.0/Makefile   | 2 +-
 src/stm/ao_serial_stm.c       | 8 ++++----
 src/stmf0/Makefile-stmf0.defs | 2 +-
 6 files changed, 15 insertions(+), 8 deletions(-)

(limited to 'src/kernel')

diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h
index bacfabb8..937e6d0c 100644
--- a/src/cc1111/ao_arch.h
+++ b/src/cc1111/ao_arch.h
@@ -234,6 +234,10 @@ ao_button_get(uint16_t timeout) __critical;
 void
 ao_button_clear(void) __critical;
 
+/* console I/O funcs */
+#define ao_getchar getchar
+#define ao_putchar putchar
+
 /* ao_string.c */
 
 void
diff --git a/src/kernel/ao_stdio.c b/src/kernel/ao_stdio.c
index f0ee0a14..dc09b5c7 100644
--- a/src/kernel/ao_stdio.c
+++ b/src/kernel/ao_stdio.c
@@ -84,7 +84,7 @@ __pdata int8_t ao_cur_stdio;
 #endif
 
 void
-putchar(char c)
+ao_putchar(char c)
 {
 #if LOW_LEVEL_DEBUG
 	if (!ao_cur_task) {
@@ -110,7 +110,7 @@ flush(void)
 __xdata uint8_t ao_stdin_ready;
 
 char
-getchar(void) __reentrant
+ao_getchar(void) __reentrant
 {
 	int c;
 	int8_t stdio;
diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h
index 30b018ff..7549b598 100644
--- a/src/kernel/ao_task.h
+++ b/src/kernel/ao_task.h
@@ -44,6 +44,9 @@ struct ao_task {
 	ao_arch_task_members		/* any architecture-specific fields */
 	uint8_t task_id;		/* unique id */
 	__code char *name;		/* task name */
+#ifdef NEWLIB
+	int __errno;			/* storage for errno in newlib libc */
+#endif
 #if HAS_TASK_QUEUE
 	struct ao_list	queue;
 	struct ao_list	alarm_queue;
diff --git a/src/lambdakey-v1.0/Makefile b/src/lambdakey-v1.0/Makefile
index 6b819ffb..4eb045b6 100644
--- a/src/lambdakey-v1.0/Makefile
+++ b/src/lambdakey-v1.0/Makefile
@@ -54,7 +54,7 @@ MAP=$(PROG).map
 NEWLIB=/local/newlib-mini
 MAPFILE=-Wl,-M=$(MAP)
 LDFLAGS=-L../stmf0 -L$(NEWLIB)/arm-none-eabi/lib/thumb/v6-m/ -Wl,-Tlambda.ld $(MAPFILE) -nostartfiles
-AO_CFLAGS=-I. -I../stmf0 -I../kernel -I../drivers -I.. -I../scheme -isystem $(NEWLIB)/arm-none-eabi/include
+AO_CFLAGS=-I. -I../stmf0 -I../kernel -I../drivers -I.. -I../scheme -isystem $(NEWLIB)/arm-none-eabi/include -DNEWLIB
 
 PROGNAME=lambdakey-v1.0
 PROG=$(PROGNAME)-$(VERSION).elf
diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c
index ef562313..2afee5b5 100644
--- a/src/stm/ao_serial_stm.c
+++ b/src/stm/ao_serial_stm.c
@@ -60,13 +60,13 @@ _ao_usart_cts(struct ao_stm_usart *usart)
 #endif
 
 static void
-_ao_usart_rx(struct ao_stm_usart *usart, int stdin)
+_ao_usart_rx(struct ao_stm_usart *usart, int is_stdin)
 {
 	if (usart->reg->sr & (1 << STM_USART_SR_RXNE)) {
 		if (!ao_fifo_full(usart->rx_fifo)) {
 			ao_fifo_insert(usart->rx_fifo, usart->reg->dr);
 			ao_wakeup(&usart->rx_fifo);
-			if (stdin)
+			if (is_stdin)
 				ao_wakeup(&ao_stdin_ready);
 #if HAS_SERIAL_SW_FLOW
 			/* If the fifo is nearly full, turn off RTS and wait
@@ -84,9 +84,9 @@ _ao_usart_rx(struct ao_stm_usart *usart, int stdin)
 }
 
 static void
-ao_usart_isr(struct ao_stm_usart *usart, int stdin)
+ao_usart_isr(struct ao_stm_usart *usart, int is_stdin)
 {
-	_ao_usart_rx(usart, stdin);
+	_ao_usart_rx(usart, is_stdin);
 
 	if (!_ao_usart_tx_start(usart))
 		usart->reg->cr1 &= ~(1<< STM_USART_CR1_TXEIE);
diff --git a/src/stmf0/Makefile-stmf0.defs b/src/stmf0/Makefile-stmf0.defs
index f2c53499..fa6e6e86 100644
--- a/src/stmf0/Makefile-stmf0.defs
+++ b/src/stmf0/Makefile-stmf0.defs
@@ -4,7 +4,7 @@ endif
 
 include $(TOPDIR)/Makedefs
 
-vpath % $(TOPDIR)/stmf0:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR)/aes:$(TOPDIR):$(TOPDIR)/math:$(TOPDIR)/lisp
+vpath % $(TOPDIR)/stmf0:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR)/aes:$(TOPDIR):$(TOPDIR)/math:$(TOPDIR)/scheme
 vpath make-altitude $(TOPDIR)/util
 vpath make-kalman $(TOPDIR)/util
 vpath kalman.5c $(TOPDIR)/kalman
-- 
cgit v1.2.3