From b9bf8e01e243508297f28b102cb2477dc1bc74df Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 14:22:41 -0700
Subject: altos: Add initial micropeak implementation

Blinks out max height in decimeters, stores previous flight data to
internal eeprom.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/Makefile         | 105 +++++++++++++++++++++
 src/micropeak/ao_async.c       |  40 ++++++++
 src/micropeak/ao_async.h       |  24 +++++
 src/micropeak/ao_log_micro.c   |  73 +++++++++++++++
 src/micropeak/ao_log_micro.h   |  38 ++++++++
 src/micropeak/ao_micropeak.c   | 207 +++++++++++++++++++++++++++++++++++++++++
 src/micropeak/ao_morse.c       |  95 +++++++++++++++++++
 src/micropeak/ao_notask.c      |  45 +++++++++
 src/micropeak/ao_pins.h        |  60 ++++++++++++
 src/micropeak/ao_report_tiny.c |  57 ++++++++++++
 10 files changed, 744 insertions(+)
 create mode 100644 src/micropeak/Makefile
 create mode 100644 src/micropeak/ao_async.c
 create mode 100644 src/micropeak/ao_async.h
 create mode 100644 src/micropeak/ao_log_micro.c
 create mode 100644 src/micropeak/ao_log_micro.h
 create mode 100644 src/micropeak/ao_micropeak.c
 create mode 100644 src/micropeak/ao_morse.c
 create mode 100644 src/micropeak/ao_notask.c
 create mode 100644 src/micropeak/ao_pins.h
 create mode 100644 src/micropeak/ao_report_tiny.c

(limited to 'src/micropeak')

diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
new file mode 100644
index 00000000..e0b2b80d
--- /dev/null
+++ b/src/micropeak/Makefile
@@ -0,0 +1,105 @@
+#
+# Tiny AltOS build
+#
+#
+vpath % ../attiny:../drivers:../core:..
+vpath ao-make-product.5c ../util
+vpath make-altitude-pa ../util
+
+MCU=attiny85
+DUDECPUTYPE=t85
+#PROGRAMMER=stk500v2 -P usb
+PROGRAMMER=usbtiny
+LOADCMD=avrdude
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+
+ifndef VERSION
+include ../Version
+endif
+
+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_i2c_attiny.c \
+	ao_at24c.c \
+	ao_report_tiny.c \
+	ao_async.c \
+	ao_notask.c \
+	ao_eeprom_tiny.c \
+	ao_panic.c
+
+INC=\
+	ao.h \
+	ao_pins.h \
+	ao_arch.h \
+	ao_arch_funcs.h \
+	ao_exti.h \
+	ao_ms5607.h \
+	altitude-pa.h
+
+IDPRODUCT=0
+PRODUCT=MicroPeak-v0.1
+PRODUCT_DEF=-DMICROPEAK
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DATTINY
+
+NICKLE=nickle
+
+PROG=micropeak-v0.1
+
+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) $(PROG).hex
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+	$(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(PROG).hex: $(PROG)
+	avr-size $(PROG)
+	$(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+	$(LOADCMD) $(LOADARG)$(PROG).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) $(PROG).hex
+	rm -f ao_product.h
+
+../altitude-pa.h: make-altitude-pa
+	nickle $< > $@
+
+install:
+
+uninstall:
+
+$(OBJ): ao_product.h $(INC)
diff --git a/src/micropeak/ao_async.c b/src/micropeak/ao_async.c
new file mode 100644
index 00000000..04bba9e8
--- /dev/null
+++ b/src/micropeak/ao_async.c
@@ -0,0 +1,40 @@
+/*
+ * Copyright © 2012 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_async.h>
+
+#define AO_ASYNC_BAUD	38400l
+#define AO_ASYNC_DELAY	(uint8_t) (1000000l / AO_ASYNC_BAUD)
+
+void
+ao_async_byte(uint8_t byte)
+{
+	uint8_t		b;
+	uint16_t	w;
+
+	/* start bit */
+
+	/* start     data         stop */
+	w = 0x001 | (byte << 1) | 0x000;
+
+	for (b = 0; b < 10; b++) {
+		ao_led_set((w & 1) << AO_LED_SERIAL);
+		w >>= 1;
+		ao_delay_us(26);
+	}
+}
diff --git a/src/micropeak/ao_async.h b/src/micropeak/ao_async.h
new file mode 100644
index 00000000..a06d2e1a
--- /dev/null
+++ b/src/micropeak/ao_async.h
@@ -0,0 +1,24 @@
+/*
+ * Copyright © 2012 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_ASYNC_H_
+#define _AO_ASYNC_H_
+
+void
+ao_async_byte(uint8_t byte);
+
+#endif /* _AO_ASYNC_H_ */
diff --git a/src/micropeak/ao_log_micro.c b/src/micropeak/ao_log_micro.c
new file mode 100644
index 00000000..eda0d1d2
--- /dev/null
+++ b/src/micropeak/ao_log_micro.c
@@ -0,0 +1,73 @@
+/*
+ * Copyright © 2012 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_log_micro.h>
+#include <ao_async.h>
+
+#if HAS_EEPROM
+
+ao_pos_t	ao_log_micro_pos;
+
+void
+ao_log_micro_data(uint32_t data)
+{
+	ao_storage_write(ao_log_micro_pos, &data, sizeof (data));
+	ao_log_micro_pos += sizeof (data);
+}
+
+uint32_t	ao_log_last_ground;
+uint32_t	ao_log_last_done;
+
+uint8_t
+ao_log_micro_scan(void)
+{
+	uint32_t	data;
+	ao_pos_t	pos;
+
+	ao_storage_read(0, &data, sizeof (data));
+	if ((data & AO_LOG_MICRO_MASK) != AO_LOG_MICRO_GROUND)
+		return 0;
+
+	ao_log_last_ground = data & ~(AO_LOG_MICRO_MASK);
+	for (pos = 4; pos < ao_storage_total; pos += 4) {
+		ao_storage_read(pos, &data, sizeof (data));
+		if ((data & AO_LOG_MICRO_MASK) == AO_LOG_MICRO_GROUND) {
+			ao_log_last_done = data & ~(AO_LOG_MICRO_MASK);
+			return 1;
+		}
+	}
+	return 0;
+}
+
+void
+ao_log_micro_dump(void)
+{
+	ao_pos_t	pos;
+	uint8_t		data[4];
+	uint8_t		i;
+
+	for (pos = 0; pos < ao_storage_total; pos += 4) {
+		ao_storage_read(pos, data, 4);
+		for (i = 0; i < 4; i++)
+			ao_async_byte(data[i]);
+		if (data[3] == (uint8_t) (AO_LOG_MICRO_GROUND >> 24))
+			break;
+	}
+}
+
+#endif
diff --git a/src/micropeak/ao_log_micro.h b/src/micropeak/ao_log_micro.h
new file mode 100644
index 00000000..15b2d178
--- /dev/null
+++ b/src/micropeak/ao_log_micro.h
@@ -0,0 +1,38 @@
+/*
+ * Copyright © 2012 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_LOG_MICRO_H_
+#define _AO_LOG_MICRO_H_
+
+#define AO_LOG_MICRO_GROUND	(0l << 24)
+#define AO_LOG_MICRO_DATA	(1l << 24)
+#define AO_LOG_MICRO_DONE	(0xaal << 24)
+#define AO_LOG_MICRO_MASK	(0xffl << 24)
+
+void
+ao_log_micro_data(uint32_t data);
+
+extern uint32_t	ao_log_last_ground;
+extern uint32_t	ao_log_last_done;
+
+uint8_t
+ao_log_micro_scan(void);
+
+void
+ao_log_micro_dump(void);
+
+#endif /* _AO_LOG_MICRO_H_ */
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
new file mode 100644
index 00000000..6ceec3b5
--- /dev/null
+++ b/src/micropeak/ao_micropeak.c
@@ -0,0 +1,207 @@
+/*
+ * Copyright © 2012 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_ms5607.h>
+#include <ao_log_micro.h>
+
+static struct ao_ms5607_sample	sample;
+static struct ao_ms5607_value	value;
+
+static uint32_t	pa;
+static uint32_t	pa_sum;
+static uint32_t	pa_avg;
+static int32_t	pa_diff;
+static uint32_t	pa_ground;
+static uint32_t	pa_min;
+static uint32_t	pa_interval_min, pa_interval_max;
+static alt_t	ground_alt, max_alt;
+alt_t		ao_max_height;
+
+static void
+ao_pa_get(void)
+{
+	ao_ms5607_sample(&sample);
+	ao_ms5607_convert(&sample, &value);
+	pa = value.pres;
+}
+
+#define FILTER_SHIFT		3
+#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
+
+/* 16 sample, or about two seconds worth */
+#define GROUND_AVG_SHIFT	4
+#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
+
+static void
+ao_compute_height(void)
+{
+	ground_alt = ao_pa_to_altitude(pa_ground);
+	max_alt = ao_pa_to_altitude(pa_min);
+	ao_max_height = max_alt - ground_alt;
+}
+
+#if !HAS_EEPROM
+void
+ao_save_flight(void)
+{
+	ao_eeprom_write(0, &pa_ground, sizeof (pa_ground));
+	ao_eeprom_write(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+}
+
+void
+ao_restore_flight(void)
+{
+	ao_eeprom_read(0, &pa_ground, sizeof (pa_ground));
+	ao_eeprom_read(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+}
+#endif
+
+int
+main(void)
+{
+	int16_t		sample_count;
+	uint16_t	time;
+#if HAS_EEPROM
+	uint8_t	dump_eeprom = 0;
+#endif
+	ao_led_init(LEDS_AVAILABLE);
+	ao_timer_init();
+
+#if HAS_EEPROM
+
+	/* Set MOSI and CLK as inputs with pull-ups */
+	DDRB &= ~(1 << 0) | (1 << 2);
+	PORTB |= (1 << 0) | (1 << 2);
+
+	/* Check to see if either MOSI or CLK are pulled low by the
+	 * user shorting them to ground. If so, dump the eeprom out
+	 * via the LED. Wait for the shorting wire to go away before
+	 * continuing.
+	 */
+	while ((PINB & ((1 << 0) | (1 << 2))) != ((1 << 0) | (1 << 2)))
+		dump_eeprom = 1;
+	PORTB &= ~(1 << 0) | (1 << 2);
+
+	ao_i2c_init();
+#endif
+	ao_restore_flight();
+	ao_compute_height();
+	ao_report_altitude();
+	
+	ao_spi_init();
+	ao_ms5607_init();
+	ao_ms5607_setup();
+
+#if HAS_EEPROM
+	ao_storage_init();
+
+	/* Check to see if there's a flight recorded in memory */
+	if (dump_eeprom && ao_log_micro_scan())
+		ao_log_micro_dump();
+#endif	
+
+	/* Wait for motion, averaging values to get ground pressure */
+	time = ao_time();
+	ao_pa_get();
+	pa_avg = pa_ground = pa << FILTER_SHIFT;
+	sample_count = 0;
+	for (;;) {
+		time += SAMPLE_SLEEP;
+		ao_delay_until(time);
+		if (sample_count == 0)
+			ao_led_on(AO_LED_BLUE);
+		ao_pa_get();
+		if (sample_count == 0)
+			ao_led_off(AO_LED_BLUE);
+		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
+		pa_diff = pa_ground - pa_avg;
+		if (pa_diff < 0)
+			pa_diff = -pa_diff;
+
+		/* about 2 meters at sea level, more if you're higher */
+		if (pa_diff > (24 << FILTER_SHIFT))
+			break;
+
+		if (sample_count < GROUND_AVG * 2) {
+			ao_led_off(AO_LED_BLUE);
+			if (sample_count < GROUND_AVG)
+				pa_sum += pa;
+			++sample_count;
+		} else {
+			pa_ground = pa_sum >> (GROUND_AVG_SHIFT - FILTER_SHIFT);
+			pa_sum = 0;
+			sample_count = 0;
+		}
+	}
+
+	pa_ground >>= FILTER_SHIFT;
+
+#if HAS_EEPROM
+	ao_log_micro_data(AO_LOG_MICRO_GROUND | pa_ground);
+#endif
+
+	/* Now sit around until the pressure is stable again and record the max */
+
+	sample_count = 0;
+	pa_min = pa_avg;
+	pa_interval_min = pa_avg;
+	pa_interval_max = pa_avg;
+	for (;;) {
+		time += SAMPLE_SLEEP;
+		ao_delay_until(time);
+		if ((sample_count & 3) == 0)
+			ao_led_on(AO_LED_BLUE);
+		ao_pa_get();
+		if ((sample_count & 3) == 0)
+			ao_led_off(AO_LED_BLUE);
+#if HAS_EEPROM
+		ao_log_micro_data(AO_LOG_MICRO_DATA | pa);
+#endif
+		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
+		if (pa_avg < pa_min)
+			pa_min = pa_avg;
+
+		if (sample_count == (GROUND_AVG - 1)) {
+			pa_diff = pa_interval_max - pa_interval_min;
+			/* About 1m at sea level */
+			if (pa_diff < (12 << FILTER_SHIFT))
+				break;
+			sample_count = 0;
+			pa_interval_min = pa_avg;
+			pa_interval_max = pa_avg;
+		} else {
+			if (pa_avg < pa_interval_min)
+				pa_interval_min = pa_avg;
+			if (pa_avg > pa_interval_max)
+				pa_interval_max = pa_avg;
+			++sample_count;
+		}
+	}
+	pa_min >>= FILTER_SHIFT;
+#if HAS_EEPROM
+	ao_log_micro_data(AO_LOG_MICRO_DONE | pa_min);
+#endif
+	ao_save_flight();
+	ao_compute_height();
+	ao_report_altitude();
+	for (;;) {
+		cli();
+		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+		sleep_mode();
+	}
+}
diff --git a/src/micropeak/ao_morse.c b/src/micropeak/ao_morse.c
new file mode 100644
index 00000000..9a7f88e5
--- /dev/null
+++ b/src/micropeak/ao_morse.c
@@ -0,0 +1,95 @@
+static void
+pause(uint8_t	j)
+{
+	int64_t	i;
+
+	while (j--) {
+		for (i = 0; i < 2000; i++)
+			ao_arch_nop();
+	}
+}
+
+#define BIT(i,x)    	   ((x) ? (1 << (i)) : 0)
+#define MORSE1(a)          (1 | BIT(3,a))
+#define MORSE2(a,b)        (2 | BIT(3,a) | BIT(4,b))
+#define MORSE3(a,b,c)      (3 | BIT(3,a) | BIT(4,b) | BIT(5,c))
+#define MORSE4(a,b,c,d)    (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d))
+#define MORSE5(a,b,c,d,e)  (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e))
+
+#define ___	1
+#define _	0
+
+static const uint8_t	morse[26] = {
+	MORSE2(0,1),		/* A */
+	MORSE4(1,0,0,0),	/* B */
+	MORSE4(1,0,1,0),	/* C */
+	MORSE3(1,0,0),		/* D */
+	MORSE1(0),		/* E */
+	MORSE4(0,0,1,0),	/* F */
+	MORSE3(1,1,0),		/* G */
+	MORSE4(0,0,0,0),	/* H */
+	MORSE2(0,0),		/* I */
+	MORSE4(0,1,1,1),	/* J */
+	MORSE3(1,0,1),		/* K */
+	MORSE4(0,1,0,0),	/* L */
+	MORSE2(1,1),		/* M */
+	MORSE2(1,1),		/* N */
+	MORSE3(1,1,1),		/* O */
+	MORSE4(0,1,1,0),	/* P */
+	MORSE4(1,1,0,1),	/* Q */
+	MORSE3(0,1,0),		/* R */
+	MORSE3(0,0,0),		/* S */
+	MORSE1(1),		/* T */
+	MORSE3(0,0,1),		/* U */
+	MORSE4(0,0,0,1),	/* V */
+	MORSE3(0,1,1),		/* W */
+	MORSE4(1,0,0,1),	/* X */
+	MORSE4(1,0,1,1),	/* Y */
+	MORSE4(1,1,0,0),	/* Z */
+};
+
+static void
+on(void)
+{
+	PORTB |= (1 << 4);
+}
+
+static void
+off(void)
+{
+	PORTB &= ~(1 << 4);
+}
+
+static void
+morse_char (char c)
+{
+	uint8_t r = morse[c - 'a'];
+	uint8_t l = r & 7;
+
+	if (!r)
+		return;
+	while (l--) {
+		on();
+		if (r & 8)
+			pause(3);
+		else
+			pause(1);
+		off();
+		pause(1);
+		r >>= 1;
+	}
+	pause(2);
+}
+
+static void
+morse_string(char *s) {
+	char	c;
+
+	while ((c = *s++)) {
+		if (c == ' ')
+			pause(5);
+		else
+			morse_char(c);
+	}
+}
+
diff --git a/src/micropeak/ao_notask.c b/src/micropeak/ao_notask.c
new file mode 100644
index 00000000..0aef9cf3
--- /dev/null
+++ b/src/micropeak/ao_notask.c
@@ -0,0 +1,45 @@
+/*
+ * Copyright © 2012 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>
+
+static volatile void *ao_wchan;
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+#if 1
+	ao_wchan = wchan;
+	ao_arch_cpu_idle();
+#else
+	uint8_t	sreg;
+
+	ao_wchan = wchan;
+	asm("in %0,__SREG__" : "=&r" (sreg));
+	sei();
+	while (ao_wchan)
+		ao_arch_cpu_idle();
+	asm("out __SREG__,%0" : : "r" (sreg));
+#endif
+	return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan)
+{
+	ao_wchan = 0;
+}
diff --git a/src/micropeak/ao_pins.h b/src/micropeak/ao_pins.h
new file mode 100644
index 00000000..de9fc7f2
--- /dev/null
+++ b/src/micropeak/ao_pins.h
@@ -0,0 +1,60 @@
+/*
+ * 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_BLUE		(1<<4)
+#define AO_LED_SERIAL		4
+#define AO_LED_PANIC		AO_LED_BLUE
+#define LEDS_AVAILABLE		(AO_LED_BLUE)
+#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		1
+#define HAS_EEPROM		0
+#define HAS_BEEP		0
+#define AVR_CLOCK		8000000UL
+
+/* 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
+
+#define AO_MS5607_SPI_INDEX	0
+#define AO_MS5607_MISO_PORT	PORTB
+#define AO_MS5607_MISO_PIN	0
+
+/* 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
+#define FETCH_ALT(o)		((alt_t) pgm_read_dword(&altitude_table[o]))
+
+#define AO_ALT_VALUE(x)		((x) * 10)
+
+#endif /* _AO_PINS_H_ */
diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c
new file mode 100644
index 00000000..5937508b
--- /dev/null
+++ b/src/micropeak/ao_report_tiny.c
@@ -0,0 +1,57 @@
+/*
+ * Copyright © 2012 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>
+
+#define mid(time)	ao_led_for(AO_LED_BLUE, time)
+#define pause(time)	ao_delay(time)
+
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+	if (!digit) {
+		mid(AO_MS_TO_TICKS(600));
+		pause(AO_MS_TO_TICKS(200));
+	} else {
+		while (digit--) {
+			mid(AO_MS_TO_TICKS(200));
+			pause(AO_MS_TO_TICKS(200));
+		}
+	}
+	pause(AO_MS_TO_TICKS(300));
+}
+
+void
+ao_report_altitude(void)
+{
+	__pdata int16_t	agl = ao_max_height;
+	__xdata uint8_t	digits[10];
+	__pdata uint8_t ndigits, i;
+
+	if (agl < 0)
+		agl = 0;
+	ndigits = 0;
+	do {
+		digits[ndigits++] = agl % 10;
+		agl /= 10;
+	} while (agl);
+
+	i = ndigits;
+	do
+		ao_report_digit(digits[--i]);
+	while (i != 0);
+}
-- 
cgit v1.2.3


From 162a21dc423c2883a54f7d2a154871ae714d1552 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 12 Oct 2012 14:27:14 -0700
Subject: altos: Add .gitignore for micropeak

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/.gitignore | 2 ++
 1 file changed, 2 insertions(+)
 create mode 100644 src/micropeak/.gitignore

(limited to 'src/micropeak')

diff --git a/src/micropeak/.gitignore b/src/micropeak/.gitignore
new file mode 100644
index 00000000..91468368
--- /dev/null
+++ b/src/micropeak/.gitignore
@@ -0,0 +1,2 @@
+ao_product.h
+micropeak-*
-- 
cgit v1.2.3


From e9ea0ad4024532fd6f87bb6708bf76b0c7aa1c5b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 29 Oct 2012 11:47:17 -0700
Subject: altos/micropeak: Switch to MS5607 sensor. Require 4m for boost. Elide
 dead code

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/Makefile       | 13 +++++++++----
 src/micropeak/ao_micropeak.c | 18 ++++++++++++------
 src/micropeak/ao_pins.h      |  2 +-
 3 files changed, 22 insertions(+), 11 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index e0b2b80d..8cf608bb 100644
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -19,6 +19,13 @@ ifndef VERSION
 include ../Version
 endif
 
+# Support for a logging EEPROM
+#
+#EEPROM_SRC=ao_async.c \
+#	ao_i2c_attiny.c \
+#	ao_at24c.c
+#
+
 ALTOS_SRC = \
 	ao_micropeak.c \
 	ao_spi_attiny.c \
@@ -27,13 +34,11 @@ ALTOS_SRC = \
 	ao_ms5607.c \
 	ao_exti.c \
 	ao_convert_pa.c \
-	ao_i2c_attiny.c \
-	ao_at24c.c \
 	ao_report_tiny.c \
-	ao_async.c \
 	ao_notask.c \
 	ao_eeprom_tiny.c \
-	ao_panic.c
+	ao_panic.c \
+	$(EEPROM_SRC)
 
 INC=\
 	ao.h \
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index 6ceec3b5..1d11300e 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -47,6 +47,12 @@ ao_pa_get(void)
 #define GROUND_AVG_SHIFT	4
 #define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
 
+/* Pressure change (in Pa) to detect boost */
+#define BOOST_DETECT		48	/* 4m at sea level, 4.8m at 2000m */
+
+/* Pressure change (in Pa) to detect landing */
+#define LAND_DETECT		12	/* 1m at sea level, 1.2m at 2000m */
+
 static void
 ao_compute_height(void)
 {
@@ -122,9 +128,9 @@ main(void)
 	sample_count = 0;
 	for (;;) {
 		time += SAMPLE_SLEEP;
-		ao_delay_until(time);
 		if (sample_count == 0)
 			ao_led_on(AO_LED_BLUE);
+		ao_delay_until(time);
 		ao_pa_get();
 		if (sample_count == 0)
 			ao_led_off(AO_LED_BLUE);
@@ -133,12 +139,11 @@ main(void)
 		if (pa_diff < 0)
 			pa_diff = -pa_diff;
 
-		/* about 2 meters at sea level, more if you're higher */
-		if (pa_diff > (24 << FILTER_SHIFT))
+		/* Check for a significant pressure change */
+		if (pa_diff > (BOOST_DETECT << FILTER_SHIFT))
 			break;
 
 		if (sample_count < GROUND_AVG * 2) {
-			ao_led_off(AO_LED_BLUE);
 			if (sample_count < GROUND_AVG)
 				pa_sum += pa;
 			++sample_count;
@@ -178,8 +183,9 @@ main(void)
 
 		if (sample_count == (GROUND_AVG - 1)) {
 			pa_diff = pa_interval_max - pa_interval_min;
-			/* About 1m at sea level */
-			if (pa_diff < (12 << FILTER_SHIFT))
+
+			/* Check to see if the pressure is now stable */
+			if (pa_diff < (LAND_DETECT << FILTER_SHIFT))
 				break;
 			sample_count = 0;
 			pa_interval_min = pa_avg;
diff --git a/src/micropeak/ao_pins.h b/src/micropeak/ao_pins.h
index de9fc7f2..67de1a8e 100644
--- a/src/micropeak/ao_pins.h
+++ b/src/micropeak/ao_pins.h
@@ -29,7 +29,7 @@
 #define HAS_SERIAL_1		0
 #define HAS_TASK		0
 #define HAS_MS5607		1
-#define HAS_MS5611		1
+#define HAS_MS5611		0
 #define HAS_EEPROM		0
 #define HAS_BEEP		0
 #define AVR_CLOCK		8000000UL
-- 
cgit v1.2.3


From f7d2613bb0a6ab1c63e3f6252a3a2358fdfbc691 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 29 Oct 2012 17:07:05 -0700
Subject: altos/micropeak: Set boost detect to 10m. Add 30s boost delay.

Wait for 30 seconds before even starting look for boost. This provides
an opportunity to close up the airframe, potentially causing pressure
gradients seen by the baro sensor.

Also, require a 10m vertical motion before triggering boost. This
should limit accidental boost detect while capturing any actual flights.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 doc/micropeak.xsl            | 22 +++++++++++++++++-----
 src/micropeak/ao_micropeak.c |  8 +++++---
 2 files changed, 22 insertions(+), 8 deletions(-)

(limited to 'src/micropeak')

diff --git a/doc/micropeak.xsl b/doc/micropeak.xsl
index 2faef41c..556700c0 100644
--- a/doc/micropeak.xsl
+++ b/doc/micropeak.xsl
@@ -83,15 +83,27 @@ NAR #88757, TRA #12200
 	  height is reported in decimeters, so the last digit will be
 	  tenths of a meter. For example, if MicroPeak reports 5 4 4
 	  3, then the maximum height of the last flight was 544.3m, or
-	  1786 feet. After reporting the last flight, MicroPeak starts
-	  waiting for launch. It will flash once every three seconds
-	  in this mode.
+	  1786 feet.
 	</para>
       </listitem>
       <listitem>
 	<para>
-	  Fly the rocket. Once the rocket passes about 4m in height
-	  (13 feet), the micro-controller will record the ground
+	  Finish preparing the rocket for flight. After the
+	  previous flight data have been reported, MicroPeak waits for
+	  30 seconds before starting to check for launch. This gives
+	  you time to finish assembling the rocket. As those
+	  activities might cause pressure changes inside the airframe,
+	  MicroPeak might accidentally detect boost. If you need to do
+	  anything to the airframe after the 30 second window passes,
+	  make sure to be careful not to disturb the altimeter. The
+	  LED will remain dark during the 30 second delay, but after
+	  that, it will start blinking once every 3 seconds.
+	</para>
+      </listitem>
+      <listitem>
+	<para>
+	  Fly the rocket. Once the rocket passes about 10m in height
+	  (32 feet), the micro-controller will record the ground
 	  pressure and track the pressure seen during the flight. In
 	  this mode, the LED flickers rapidly. When the rocket lands,
 	  and the pressure stabilizes, the micro-controller will record
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index 1d11300e..bf656979 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -48,7 +48,10 @@ ao_pa_get(void)
 #define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
 
 /* Pressure change (in Pa) to detect boost */
-#define BOOST_DETECT		48	/* 4m at sea level, 4.8m at 2000m */
+#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
+
+/* Wait after power on before doing anything to give the user time to assemble the rocket */
+#define BOOST_DELAY		AO_SEC_TO_TICKS(30)
 
 /* Pressure change (in Pa) to detect landing */
 #define LAND_DETECT		12	/* 1m at sea level, 1.2m at 2000m */
@@ -121,6 +124,7 @@ main(void)
 		ao_log_micro_dump();
 #endif	
 
+	ao_delay(BOOST_DELAY);
 	/* Wait for motion, averaging values to get ground pressure */
 	time = ao_time();
 	ao_pa_get();
@@ -136,8 +140,6 @@ main(void)
 			ao_led_off(AO_LED_BLUE);
 		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
 		pa_diff = pa_ground - pa_avg;
-		if (pa_diff < 0)
-			pa_diff = -pa_diff;
 
 		/* Check for a significant pressure change */
 		if (pa_diff > (BOOST_DETECT << FILTER_SHIFT))
-- 
cgit v1.2.3


From 371da0c909098092db7b596496df9d58eed43703 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 30 Oct 2012 19:41:08 -0700
Subject: altos/micropeak: Clock micropeak at 250kHz to save power

This reduces average current consumption from 2mA to .4mA. This
makes the battery last longer, but also gets the current under
something that the typical CR1025 battery can support. Would be nice
to reduce current even further; cheap CR1025 batteries still seem to
fade a bit at this current level.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/attiny/ao_clock.c   | 40 +++++++++++++++++++++++++++++++++++-----
 src/micropeak/ao_pins.h |  2 +-
 2 files changed, 36 insertions(+), 6 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/attiny/ao_clock.c b/src/attiny/ao_clock.c
index a381b47f..b40f59d4 100644
--- a/src/attiny/ao_clock.c
+++ b/src/attiny/ao_clock.c
@@ -39,12 +39,45 @@ ao_time(void)
 	return r;
 }
 
+#if AVR_CLOCK == 8000000UL
+#define AO_CLKPS	0	/* divide by 1 */
+#define AO_CS		10	/* prescale by 512 */
+#endif
+#if AVR_CLOCK == 4000000UL
+#define AO_CLKPS	1	/* divide by 2 */
+#define AO_CS		9	/* prescale by 256 */
+#endif
+#if AVR_CLOCK == 2000000UL
+#define AO_CLKPS	2	/* divide by 4 */
+#define AO_CS		8	/* prescale by 128 */
+#endif
+#if AVR_CLOCK == 1000000UL
+#define AO_CLKPS	3	/* divide by 8 */
+#define AO_CS		7	/* prescale by 64 */
+#endif
+#if AVR_CLOCK == 500000UL
+#define AO_CLKPS	4	/* divide by 16 */
+#define AO_CS		6	/* prescale by 32 */
+#endif
+#if AVR_CLOCK == 250000UL
+#define AO_CLKPS	5	/* divide by 32 */
+#define AO_CS		5	/* prescale by 16 */
+#endif
+#if AVR_CLOCK == 125000UL
+#define AO_CLKPS	6	/* divide by 64 */
+#define AO_CS		4	/* prescale by 32 */
+#endif
+#if AVR_CLOCK == 62500UL
+#define AO_CLKPS	7	/* divide by 128 */
+#define AO_CS		4	/* prescale by 32 */
+#endif
+
 void
 ao_timer_init(void)
 {
 	cli();
 	CLKPR = (1 << CLKPCE);
-	CLKPR = 0;
+	CLKPR = (AO_CLKPS << CLKPS0);
 	sei();
 
 	/* Overall division ratio is 512 * 125,
@@ -55,10 +88,7 @@ ao_timer_init(void)
 		 (0 << PWM1A) |		/* Not PWM mode */
 		 (0 << COM1A0) |	/* Don't change output pins */
 		 (0 << COM1A1) |	/*  ... */
-		 (1 << CS13) |		/* Prescale by 512 */
-		 (0 << CS12) |		/*  ... */
-		 (1 << CS11) |		/*  ... */
-		 (0 << CS10));		/*  ... */
+		 (AO_CS << CS10));	/* Prescale */
 	GTCCR = ((0 << PWM1B) |		/* Not PWM mode */
 		 (0 << COM1B1) |	/* Don't change output pins */
 		 (0 << COM1B0) |	/*  ... */
diff --git a/src/micropeak/ao_pins.h b/src/micropeak/ao_pins.h
index 67de1a8e..cf5951df 100644
--- a/src/micropeak/ao_pins.h
+++ b/src/micropeak/ao_pins.h
@@ -32,7 +32,7 @@
 #define HAS_MS5611		0
 #define HAS_EEPROM		0
 #define HAS_BEEP		0
-#define AVR_CLOCK		8000000UL
+#define AVR_CLOCK		250000UL
 
 /* SPI */
 #define SPI_PORT		PORTB
-- 
cgit v1.2.3


From af8cb40851a5cf5e3bd06ddd85e4e2df16bfbad2 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 30 Oct 2012 19:44:45 -0700
Subject: altos/micropeak: Run MS5607 at max resolution for micropeak

We've got lots of time, so get the highest resolution baro data available.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/drivers/ao_ms5607.c | 18 ++++++++++++++++--
 src/micropeak/ao_pins.h |  3 +++
 2 files changed, 19 insertions(+), 2 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 55bea563..bd57400e 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -160,11 +160,25 @@ ao_ms5607_get_sample(uint8_t cmd) {
 	return ((uint32_t) reply[0] << 16) | ((uint32_t) reply[1] << 8) | (uint32_t) reply[2];
 }
 
+#ifndef AO_MS5607_BARO_OVERSAMPLE
+#define AO_MS5607_BARO_OVERSAMPLE	2048
+#endif
+
+#ifndef AO_MS5607_TEMP_OVERSAMPLE
+#define AO_MS5607_TEMP_OVERSAMPLE	AO_MS5607_BARO_OVERSAMPLE
+#endif
+
+#define token_paster(x,y)	x ## y
+#define token_evaluator(x,y)	token_paster(x,y)
+
+#define AO_CONVERT_D1	token_evaluator(AO_MS5607_CONVERT_D1_, AO_MS5607_BARO_OVERSAMPLE)
+#define AO_CONVERT_D2	token_evaluator(AO_MS5607_CONVERT_D2_, AO_MS5607_TEMP_OVERSAMPLE)
+
 void
 ao_ms5607_sample(struct ao_ms5607_sample *sample)
 {
-	sample->pres = ao_ms5607_get_sample(AO_MS5607_CONVERT_D1_2048);
-	sample->temp = ao_ms5607_get_sample(AO_MS5607_CONVERT_D2_2048);
+	sample->pres = ao_ms5607_get_sample(AO_CONVERT_D1);
+	sample->temp = ao_ms5607_get_sample(AO_CONVERT_D2);
 }
 
 #include "ao_ms5607_convert.c"
diff --git a/src/micropeak/ao_pins.h b/src/micropeak/ao_pins.h
index cf5951df..64f4444f 100644
--- a/src/micropeak/ao_pins.h
+++ b/src/micropeak/ao_pins.h
@@ -41,9 +41,12 @@
 #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
-- 
cgit v1.2.3


From 8ff0db3979405357003b52022e564a3da75ec3fb Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 18 Nov 2012 10:35:39 -0800
Subject: altos: micropeak LED is orange now, not blue

Change the names around to match

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_micropeak.c   | 8 ++++----
 src/micropeak/ao_pins.h        | 7 ++++---
 src/micropeak/ao_report_tiny.c | 2 +-
 3 files changed, 9 insertions(+), 8 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index bf656979..10e1d0f9 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -133,11 +133,11 @@ main(void)
 	for (;;) {
 		time += SAMPLE_SLEEP;
 		if (sample_count == 0)
-			ao_led_on(AO_LED_BLUE);
+			ao_led_on(AO_LED_REPORT);
 		ao_delay_until(time);
 		ao_pa_get();
 		if (sample_count == 0)
-			ao_led_off(AO_LED_BLUE);
+			ao_led_off(AO_LED_REPORT);
 		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
 		pa_diff = pa_ground - pa_avg;
 
@@ -172,10 +172,10 @@ main(void)
 		time += SAMPLE_SLEEP;
 		ao_delay_until(time);
 		if ((sample_count & 3) == 0)
-			ao_led_on(AO_LED_BLUE);
+			ao_led_on(AO_LED_REPORT);
 		ao_pa_get();
 		if ((sample_count & 3) == 0)
-			ao_led_off(AO_LED_BLUE);
+			ao_led_off(AO_LED_REPORT);
 #if HAS_EEPROM
 		ao_log_micro_data(AO_LOG_MICRO_DATA | pa);
 #endif
diff --git a/src/micropeak/ao_pins.h b/src/micropeak/ao_pins.h
index 64f4444f..257b8694 100644
--- a/src/micropeak/ao_pins.h
+++ b/src/micropeak/ao_pins.h
@@ -19,10 +19,11 @@
 #define _AO_PINS_H_
 #include <avr/pgmspace.h>
 
-#define AO_LED_BLUE		(1<<4)
+#define AO_LED_ORANGE		(1<<4)
 #define AO_LED_SERIAL		4
-#define AO_LED_PANIC		AO_LED_BLUE
-#define LEDS_AVAILABLE		(AO_LED_BLUE)
+#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
diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c
index 5937508b..8b4960c6 100644
--- a/src/micropeak/ao_report_tiny.c
+++ b/src/micropeak/ao_report_tiny.c
@@ -17,7 +17,7 @@
 
 #include <ao.h>
 
-#define mid(time)	ao_led_for(AO_LED_BLUE, time)
+#define mid(time)	ao_led_for(AO_LED_REPORT, time)
 #define pause(time)	ao_delay(time)
 
 static void
-- 
cgit v1.2.3


From 285fccfa82d89b0decc3b44f413eef9d0c8f1e63 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 18 Nov 2012 10:36:17 -0800
Subject: altos: Slow down micropeak report timing

This makes reading the LED a lot easier.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_report_tiny.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c
index 8b4960c6..109af1ed 100644
--- a/src/micropeak/ao_report_tiny.c
+++ b/src/micropeak/ao_report_tiny.c
@@ -25,14 +25,14 @@ ao_report_digit(uint8_t digit) __reentrant
 {
 	if (!digit) {
 		mid(AO_MS_TO_TICKS(600));
-		pause(AO_MS_TO_TICKS(200));
+		pause(AO_MS_TO_TICKS(300));
 	} else {
 		while (digit--) {
-			mid(AO_MS_TO_TICKS(200));
-			pause(AO_MS_TO_TICKS(200));
+			mid(AO_MS_TO_TICKS(300));
+			pause(AO_MS_TO_TICKS(300));
 		}
 	}
-	pause(AO_MS_TO_TICKS(300));
+	pause(AO_MS_TO_TICKS(600));
 }
 
 void
-- 
cgit v1.2.3


From 24948ea1d41f2a7c96ac09e35d1250909e5726ae Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 9 Dec 2012 14:32:35 -0800
Subject: altos: Store altitude in 32-bits for MicroPeak

Needs all 32 bits to store .1 meter resolution

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_pins.h | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_pins.h b/src/micropeak/ao_pins.h
index 257b8694..187b2544 100644
--- a/src/micropeak/ao_pins.h
+++ b/src/micropeak/ao_pins.h
@@ -57,6 +57,7 @@
 #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) * 10)
-- 
cgit v1.2.3


From defd5d0784a754be30e3295067fbc85a108ad172 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 9 Dec 2012 18:27:49 -0800
Subject: altos: Make sure pa to altitude conversion is done with 32 bits

We need 32 bits to hold intermediate values, even if the final
altitude is reported in only 16 bits.

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

(limited to 'src/micropeak')

diff --git a/src/core/ao_convert_pa.c b/src/core/ao_convert_pa.c
index 55fe6e7d..fe6e0ef6 100644
--- a/src/core/ao_convert_pa.c
+++ b/src/core/ao_convert_pa.c
@@ -43,13 +43,13 @@ ao_pa_to_altitude(int32_t pa)
 
 	if (pa < 0)
 		pa = 0;
-	if (pa > 120000)
-		pa = 120000;
+	if (pa > 120000L)
+		pa = 120000L;
 	o = pa >> ALT_SHIFT;
 	part = pa & ALT_MASK;
 
-	low = (alt_t) FETCH_ALT(o) * (ALT_SCALE - part);
-	high = (alt_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
+	low = (int32_t) FETCH_ALT(o) * (ALT_SCALE - part);
+	high = (int32_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
 	return (low + high) >> ALT_SHIFT;
 }
 
diff --git a/src/micropeak/ao_pins.h b/src/micropeak/ao_pins.h
index 187b2544..63e9cb1b 100644
--- a/src/micropeak/ao_pins.h
+++ b/src/micropeak/ao_pins.h
@@ -60,6 +60,6 @@
 typedef int32_t alt_t;
 #define FETCH_ALT(o)		((alt_t) pgm_read_dword(&altitude_table[o]))
 
-#define AO_ALT_VALUE(x)		((x) * 10)
+#define AO_ALT_VALUE(x)		((x) * (alt_t) 10)
 
 #endif /* _AO_PINS_H_ */
-- 
cgit v1.2.3


From c233ef67f42c14cb1d0e0542a9523b279f826af5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 9 Dec 2012 18:28:33 -0800
Subject: altos: Use alt_t value to hold displayed height in micropeak

Heights are 32 bits (to get .1 meter resolution) in micropeak; make
sure we have enough bits while blinking out the computed value.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_report_tiny.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c
index 109af1ed..bdcc131e 100644
--- a/src/micropeak/ao_report_tiny.c
+++ b/src/micropeak/ao_report_tiny.c
@@ -38,8 +38,8 @@ ao_report_digit(uint8_t digit) __reentrant
 void
 ao_report_altitude(void)
 {
-	__pdata int16_t	agl = ao_max_height;
-	__xdata uint8_t	digits[10];
+	__pdata alt_t	agl = ao_max_height;
+	static __xdata uint8_t	digits[11];
 	__pdata uint8_t ndigits, i;
 
 	if (agl < 0)
-- 
cgit v1.2.3


From d309fcff54fe6904fb860f33c15fcb7d1c96e91b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 11 Dec 2012 14:41:53 -0800
Subject: altos: Increase MicroPeak blink times a bit

make the 0 longer (1 sec now), and make the time between digits longer
(also 1 sec now)

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_report_tiny.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c
index bdcc131e..0e8e287f 100644
--- a/src/micropeak/ao_report_tiny.c
+++ b/src/micropeak/ao_report_tiny.c
@@ -24,7 +24,7 @@ static void
 ao_report_digit(uint8_t digit) __reentrant
 {
 	if (!digit) {
-		mid(AO_MS_TO_TICKS(600));
+		mid(AO_MS_TO_TICKS(1000));
 		pause(AO_MS_TO_TICKS(300));
 	} else {
 		while (digit--) {
@@ -32,7 +32,7 @@ ao_report_digit(uint8_t digit) __reentrant
 			pause(AO_MS_TO_TICKS(300));
 		}
 	}
-	pause(AO_MS_TO_TICKS(600));
+	pause(AO_MS_TO_TICKS(1000));
 }
 
 void
-- 
cgit v1.2.3


From 69447d8ad3f5a1e1f59939477afc7720a437fadc Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 11 Dec 2012 23:43:30 -0800
Subject: altos: Tim Van Milligan suggestion for µP -- delay before showing
 last flight
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

This gives the user time to move their finger out of the way of the LED.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_micropeak.c | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index 10e1d0f9..8ae26ec1 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -110,6 +110,8 @@ main(void)
 #endif
 	ao_restore_flight();
 	ao_compute_height();
+	/* Give the person a second to get their finger out of the way */
+	ao_delay(AO_MS_TO_TICKS(1000));
 	ao_report_altitude();
 	
 	ao_spi_init();
-- 
cgit v1.2.3


From 07a45c50429389ae7b51e12bc847d34fb1577bc6 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 12 Dec 2012 10:57:03 -0800
Subject: altos: Add load-slow target for MicroPeak

This sets the programming clock to 1/4 of the 250kHz clock used by the
MicroPeak firmware, allowing the device to be reprogrammed.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/Makefile | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'src/micropeak')

diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index 8cf608bb..0c48ed66 100644
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -11,6 +11,7 @@ DUDECPUTYPE=t85
 #PROGRAMMER=stk500v2 -P usb
 PROGRAMMER=usbtiny
 LOADCMD=avrdude
+LOADSLOW=-i 32 -B 32
 LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
 CC=avr-gcc
 OBJCOPY=avr-objcopy
@@ -86,6 +87,9 @@ $(PROG).hex: $(PROG)
 load: $(PROG).hex
 	$(LOADCMD) $(LOADARG)$(PROG).hex
 
+load-slow: $(PROG).hex
+	$(LOADCMD) $(LOADSLOW) $(LOADARG)$(PROG).hex
+
 ao_product.h: ao-make-product.5c ../Version
 	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
 
-- 
cgit v1.2.3


From a4678cd848da994dc893b75790e4c9a86e54d895 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 12 Dec 2012 11:01:48 -0800
Subject: altos: Log in-flight data for MicroPeak

This logs the low 16 bits of the pressure value to the remaining
on-chip eeprom. It can be read out with a standard AVR programming
dongle.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_micropeak.c | 33 +++++++++++++++++++++++++++++----
 1 file changed, 29 insertions(+), 4 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index 8ae26ec1..525cfa42 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -65,18 +65,40 @@ ao_compute_height(void)
 }
 
 #if !HAS_EEPROM
+
+#define PA_GROUND_OFFSET	0
+#define PA_MIN_OFFSET		4
+#define N_SAMPLES_OFFSET	8
+#define STARTING_LOG_OFFSET	10
+#define MAX_LOG_OFFSET		512
+
+static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
+
 void
 ao_save_flight(void)
 {
-	ao_eeprom_write(0, &pa_ground, sizeof (pa_ground));
-	ao_eeprom_write(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+	uint16_t	n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
+	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));
 }
 
 void
 ao_restore_flight(void)
 {
-	ao_eeprom_read(0, &pa_ground, sizeof (pa_ground));
-	ao_eeprom_read(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+	ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+	ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+}
+
+void
+ao_log_micro(void)
+{
+	uint16_t	low_bits = pa;
+
+	if (ao_log_offset < MAX_LOG_OFFSET) {
+		ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
+		ao_log_offset += sizeof (low_bits);
+	}
 }
 #endif
 
@@ -180,6 +202,9 @@ main(void)
 			ao_led_off(AO_LED_REPORT);
 #if HAS_EEPROM
 		ao_log_micro_data(AO_LOG_MICRO_DATA | pa);
+#else
+		if (sample_count & 1)
+			ao_log_micro();
 #endif
 		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
 		if (pa_avg < pa_min)
-- 
cgit v1.2.3


From fc2e5beb9173663e1e37a9b5a7b6eea1046222f7 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 14 Dec 2012 11:11:39 -0800
Subject: altos: Log baro readings for MicroPeak

This logs barometric data every 192ms (more or less) to the 504
remaining bytes of internal EEPROM storage in the ATtiny85. This
provides 48.192 seconds of logging.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/Makefile       |  12 ++--
 src/micropeak/ao_log_micro.c |  65 ++++++++++------------
 src/micropeak/ao_log_micro.h |  19 ++++---
 src/micropeak/ao_micropeak.c | 129 +++++++------------------------------------
 src/micropeak/ao_micropeak.h |  56 +++++++++++++++++++
 5 files changed, 121 insertions(+), 160 deletions(-)
 create mode 100644 src/micropeak/ao_micropeak.h

(limited to 'src/micropeak')

diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index 0c48ed66..82944cb1 100644
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -20,13 +20,6 @@ ifndef VERSION
 include ../Version
 endif
 
-# Support for a logging EEPROM
-#
-#EEPROM_SRC=ao_async.c \
-#	ao_i2c_attiny.c \
-#	ao_at24c.c
-#
-
 ALTOS_SRC = \
 	ao_micropeak.c \
 	ao_spi_attiny.c \
@@ -39,7 +32,8 @@ ALTOS_SRC = \
 	ao_notask.c \
 	ao_eeprom_tiny.c \
 	ao_panic.c \
-	$(EEPROM_SRC)
+	ao_log_micro.c \
+	ao_async.c
 
 INC=\
 	ao.h \
@@ -48,6 +42,8 @@ INC=\
 	ao_arch_funcs.h \
 	ao_exti.h \
 	ao_ms5607.h \
+	ao_log_micro.h \
+	ao_micropeak.h \
 	altitude-pa.h
 
 IDPRODUCT=0
diff --git a/src/micropeak/ao_log_micro.c b/src/micropeak/ao_log_micro.c
index eda0d1d2..40a7a35d 100644
--- a/src/micropeak/ao_log_micro.c
+++ b/src/micropeak/ao_log_micro.c
@@ -16,58 +16,53 @@
  */
 
 #include <ao.h>
+#include <ao_micropeak.h>
 #include <ao_log_micro.h>
 #include <ao_async.h>
 
-#if HAS_EEPROM
-
-ao_pos_t	ao_log_micro_pos;
+static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
 
 void
-ao_log_micro_data(uint32_t data)
+ao_log_micro_save(void)
 {
-	ao_storage_write(ao_log_micro_pos, &data, sizeof (data));
-	ao_log_micro_pos += sizeof (data);
+	uint16_t	n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
+	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));
 }
 
-uint32_t	ao_log_last_ground;
-uint32_t	ao_log_last_done;
-
-uint8_t
-ao_log_micro_scan(void)
+void
+ao_log_micro_restore(void)
 {
-	uint32_t	data;
-	ao_pos_t	pos;
+	ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+	ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+}
 
-	ao_storage_read(0, &data, sizeof (data));
-	if ((data & AO_LOG_MICRO_MASK) != AO_LOG_MICRO_GROUND)
-		return 0;
+void
+ao_log_micro_data(void)
+{
+	uint16_t	low_bits = pa;
 
-	ao_log_last_ground = data & ~(AO_LOG_MICRO_MASK);
-	for (pos = 4; pos < ao_storage_total; pos += 4) {
-		ao_storage_read(pos, &data, sizeof (data));
-		if ((data & AO_LOG_MICRO_MASK) == AO_LOG_MICRO_GROUND) {
-			ao_log_last_done = data & ~(AO_LOG_MICRO_MASK);
-			return 1;
-		}
+	if (ao_log_offset < MAX_LOG_OFFSET) {
+		ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
+		ao_log_offset += sizeof (low_bits);
 	}
-	return 0;
 }
 
 void
 ao_log_micro_dump(void)
 {
-	ao_pos_t	pos;
-	uint8_t		data[4];
-	uint8_t		i;
+	uint16_t	n_samples;
+	uint16_t	nbytes;
+	uint8_t		byte;
+	uint16_t	b;
 
-	for (pos = 0; pos < ao_storage_total; pos += 4) {
-		ao_storage_read(pos, data, 4);
-		for (i = 0; i < 4; i++)
-			ao_async_byte(data[i]);
-		if (data[3] == (uint8_t) (AO_LOG_MICRO_GROUND >> 24))
-			break;
+	ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+	nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
+	ao_async_byte('M');
+	ao_async_byte('P');
+	for (b = 0; b < nbytes; b++) {
+		ao_eeprom_read(b, &byte, 1);
+		ao_async_byte(byte);
 	}
 }
-
-#endif
diff --git a/src/micropeak/ao_log_micro.h b/src/micropeak/ao_log_micro.h
index 15b2d178..976852ee 100644
--- a/src/micropeak/ao_log_micro.h
+++ b/src/micropeak/ao_log_micro.h
@@ -18,19 +18,20 @@
 #ifndef _AO_LOG_MICRO_H_
 #define _AO_LOG_MICRO_H_
 
-#define AO_LOG_MICRO_GROUND	(0l << 24)
-#define AO_LOG_MICRO_DATA	(1l << 24)
-#define AO_LOG_MICRO_DONE	(0xaal << 24)
-#define AO_LOG_MICRO_MASK	(0xffl << 24)
+#define PA_GROUND_OFFSET	0
+#define PA_MIN_OFFSET		4
+#define N_SAMPLES_OFFSET	8
+#define STARTING_LOG_OFFSET	10
+#define MAX_LOG_OFFSET		512
 
 void
-ao_log_micro_data(uint32_t data);
+ao_log_micro_save(void);
 
-extern uint32_t	ao_log_last_ground;
-extern uint32_t	ao_log_last_done;
+void
+ao_log_micro_restore(void);
 
-uint8_t
-ao_log_micro_scan(void);
+void
+ao_log_micro_data(void);
 
 void
 ao_log_micro_dump(void);
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index 525cfa42..3bbc7eea 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -16,22 +16,22 @@
  */
 
 #include <ao.h>
+#include <ao_micropeak.h>
 #include <ao_ms5607.h>
 #include <ao_log_micro.h>
 
 static struct ao_ms5607_sample	sample;
 static struct ao_ms5607_value	value;
 
-static uint32_t	pa;
-static uint32_t	pa_sum;
-static uint32_t	pa_avg;
-static int32_t	pa_diff;
-static uint32_t	pa_ground;
-static uint32_t	pa_min;
-static uint32_t	pa_interval_min, pa_interval_max;
-static alt_t	ground_alt, max_alt;
+uint32_t	pa;
+uint32_t	pa_avg;
+uint32_t	pa_ground;
+uint32_t	pa_min;
+alt_t		ground_alt, max_alt;
 alt_t		ao_max_height;
 
+static uint32_t	pa_sum;
+
 static void
 ao_pa_get(void)
 {
@@ -40,22 +40,6 @@ ao_pa_get(void)
 	pa = value.pres;
 }
 
-#define FILTER_SHIFT		3
-#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
-
-/* 16 sample, or about two seconds worth */
-#define GROUND_AVG_SHIFT	4
-#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
-
-/* Pressure change (in Pa) to detect boost */
-#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
-
-/* Wait after power on before doing anything to give the user time to assemble the rocket */
-#define BOOST_DELAY		AO_SEC_TO_TICKS(30)
-
-/* Pressure change (in Pa) to detect landing */
-#define LAND_DETECT		12	/* 1m at sea level, 1.2m at 2000m */
-
 static void
 ao_compute_height(void)
 {
@@ -64,90 +48,30 @@ ao_compute_height(void)
 	ao_max_height = max_alt - ground_alt;
 }
 
-#if !HAS_EEPROM
-
-#define PA_GROUND_OFFSET	0
-#define PA_MIN_OFFSET		4
-#define N_SAMPLES_OFFSET	8
-#define STARTING_LOG_OFFSET	10
-#define MAX_LOG_OFFSET		512
-
-static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
-
-void
-ao_save_flight(void)
-{
-	uint16_t	n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
-	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));
-}
-
-void
-ao_restore_flight(void)
-{
-	ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
-	ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-}
-
-void
-ao_log_micro(void)
-{
-	uint16_t	low_bits = pa;
-
-	if (ao_log_offset < MAX_LOG_OFFSET) {
-		ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
-		ao_log_offset += sizeof (low_bits);
-	}
-}
-#endif
-
 int
 main(void)
 {
 	int16_t		sample_count;
 	uint16_t	time;
-#if HAS_EEPROM
-	uint8_t	dump_eeprom = 0;
-#endif
+	uint32_t	pa_interval_min, pa_interval_max;
+	int32_t		pa_diff;
+
 	ao_led_init(LEDS_AVAILABLE);
 	ao_timer_init();
 
-#if HAS_EEPROM
-
-	/* Set MOSI and CLK as inputs with pull-ups */
-	DDRB &= ~(1 << 0) | (1 << 2);
-	PORTB |= (1 << 0) | (1 << 2);
-
-	/* Check to see if either MOSI or CLK are pulled low by the
-	 * user shorting them to ground. If so, dump the eeprom out
-	 * via the LED. Wait for the shorting wire to go away before
-	 * continuing.
-	 */
-	while ((PINB & ((1 << 0) | (1 << 2))) != ((1 << 0) | (1 << 2)))
-		dump_eeprom = 1;
-	PORTB &= ~(1 << 0) | (1 << 2);
-
-	ao_i2c_init();
-#endif
-	ao_restore_flight();
-	ao_compute_height();
-	/* Give the person a second to get their finger out of the way */
-	ao_delay(AO_MS_TO_TICKS(1000));
-	ao_report_altitude();
-	
+	/* Init external hardware */
 	ao_spi_init();
 	ao_ms5607_init();
 	ao_ms5607_setup();
 
-#if HAS_EEPROM
-	ao_storage_init();
-
-	/* Check to see if there's a flight recorded in memory */
-	if (dump_eeprom && ao_log_micro_scan())
-		ao_log_micro_dump();
-#endif	
+	/* Give the person a second to get their finger out of the way */
+	ao_delay(AO_MS_TO_TICKS(1000));
 
+	ao_log_micro_restore();
+	ao_compute_height();
+	ao_report_altitude();
+	ao_log_micro_dump();
+	
 	ao_delay(BOOST_DELAY);
 	/* Wait for motion, averaging values to get ground pressure */
 	time = ao_time();
@@ -182,10 +106,6 @@ main(void)
 
 	pa_ground >>= FILTER_SHIFT;
 
-#if HAS_EEPROM
-	ao_log_micro_data(AO_LOG_MICRO_GROUND | pa_ground);
-#endif
-
 	/* Now sit around until the pressure is stable again and record the max */
 
 	sample_count = 0;
@@ -200,12 +120,8 @@ main(void)
 		ao_pa_get();
 		if ((sample_count & 3) == 0)
 			ao_led_off(AO_LED_REPORT);
-#if HAS_EEPROM
-		ao_log_micro_data(AO_LOG_MICRO_DATA | pa);
-#else
 		if (sample_count & 1)
-			ao_log_micro();
-#endif
+			ao_log_micro_data();
 		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
 		if (pa_avg < pa_min)
 			pa_min = pa_avg;
@@ -228,10 +144,7 @@ main(void)
 		}
 	}
 	pa_min >>= FILTER_SHIFT;
-#if HAS_EEPROM
-	ao_log_micro_data(AO_LOG_MICRO_DONE | pa_min);
-#endif
-	ao_save_flight();
+	ao_log_micro_save();
 	ao_compute_height();
 	ao_report_altitude();
 	for (;;) {
diff --git a/src/micropeak/ao_micropeak.h b/src/micropeak/ao_micropeak.h
new file mode 100644
index 00000000..e408d7c5
--- /dev/null
+++ b/src/micropeak/ao_micropeak.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright © 2012 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_MICROPEAK_H_
+#define _AO_MICROPEAK_H_
+
+#define FILTER_SHIFT		3
+#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
+
+/* 16 sample, or about two seconds worth */
+#define GROUND_AVG_SHIFT	4
+#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
+
+/* Pressure change (in Pa) to detect boost */
+#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
+
+/* Wait after power on before doing anything to give the user time to assemble the rocket */
+#define BOOST_DELAY		AO_SEC_TO_TICKS(30)
+
+/* Pressure change (in Pa) to detect landing */
+#define LAND_DETECT		12	/* 1m at sea level, 1.2m at 2000m */
+
+/* Current sensor pressure value */
+extern uint32_t	pa;
+
+/* IIR filtered pressure value */
+extern uint32_t	pa_avg;
+
+/* Average pressure value on ground */
+extern uint32_t	pa_ground;
+
+/* Minimum recorded filtered pressure value */
+extern uint32_t	pa_min;
+
+/* Pressure values converted to altitudes */
+extern alt_t	ground_alt, max_alt;
+
+/* max_alt - ground_alt */
+extern alt_t	ao_max_height;
+
+#endif
+
-- 
cgit v1.2.3


From 23dc9a63ae8bc982d9352cfb7a3f508d8a08c374 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 17 Dec 2012 22:58:49 -0800
Subject: altos: Make micropeak 'serial' interface work

I prototyped the mpserial interface on a breadboard and tuned the
circuit to register the LED correctly. Then adjusted the serial code
to send bits at the right speed and format.

The logging contents are now in hexdecimal with a CCITT CRC-16
computed to verify correct reception.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/Makefile       |  2 +-
 src/micropeak/ao_async.c     | 43 +++++++++++++++++++++++++++++-----
 src/micropeak/ao_async.h     |  6 +++++
 src/micropeak/ao_log_micro.c | 55 +++++++++++++++++++++++++++++++++++++++++++-
 src/micropeak/ao_micropeak.c |  1 +
 5 files changed, 99 insertions(+), 8 deletions(-)

(limited to 'src/micropeak')

diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index 82944cb1..ff0a4499 100644
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -50,7 +50,7 @@ IDPRODUCT=0
 PRODUCT=MicroPeak-v0.1
 PRODUCT_DEF=-DMICROPEAK
 CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers
-CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DATTINY
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
 
 NICKLE=nickle
 
diff --git a/src/micropeak/ao_async.c b/src/micropeak/ao_async.c
index 04bba9e8..3556f54c 100644
--- a/src/micropeak/ao_async.c
+++ b/src/micropeak/ao_async.c
@@ -21,20 +21,51 @@
 #define AO_ASYNC_BAUD	38400l
 #define AO_ASYNC_DELAY	(uint8_t) (1000000l / AO_ASYNC_BAUD)
 
+#define LED_PORT	PORTB
+
+void
+ao_async_start(void)
+{
+	LED_PORT |= (1 << AO_LED_SERIAL);
+}
+
+void
+ao_async_stop(void)
+{
+	LED_PORT &= ~(1 << AO_LED_SERIAL);
+}
+
 void
 ao_async_byte(uint8_t byte)
 {
 	uint8_t		b;
 	uint16_t	w;
 
-	/* start bit */
-
-	/* start     data         stop */
-	w = 0x001 | (byte << 1) | 0x000;
+	/*    start           data           stop */
+	w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
 
+	ao_arch_block_interrupts();
 	for (b = 0; b < 10; b++) {
-		ao_led_set((w & 1) << AO_LED_SERIAL);
+		uint8_t	v = LED_PORT & ~(1 << AO_LED_SERIAL);
+		v |= (w & 1) << AO_LED_SERIAL;
+		LED_PORT = v;
 		w >>= 1;
-		ao_delay_us(26);
+
+		/* Carefully timed to hit around 9600 baud */
+		asm volatile ("nop");
+		asm volatile ("nop");
+
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
+		asm volatile ("nop");
 	}
+	ao_arch_release_interrupts();
 }
diff --git a/src/micropeak/ao_async.h b/src/micropeak/ao_async.h
index a06d2e1a..1b239712 100644
--- a/src/micropeak/ao_async.h
+++ b/src/micropeak/ao_async.h
@@ -18,6 +18,12 @@
 #ifndef _AO_ASYNC_H_
 #define _AO_ASYNC_H_
 
+void
+ao_async_start(void);
+
+void
+ao_async_stop(void);
+
 void
 ao_async_byte(uint8_t byte);
 
diff --git a/src/micropeak/ao_log_micro.c b/src/micropeak/ao_log_micro.c
index 40a7a35d..d665efb5 100644
--- a/src/micropeak/ao_log_micro.c
+++ b/src/micropeak/ao_log_micro.c
@@ -49,6 +49,46 @@ ao_log_micro_data(void)
 	}
 }
 
+#define POLY 0x8408
+
+static uint16_t
+ao_log_micro_crc(uint16_t crc, uint8_t byte)
+{
+	uint8_t	i;
+
+	for (i = 0; i < 8; i++) {
+		if ((crc & 0x0001) ^ (byte & 0x0001))
+			crc = (crc >> 1) ^ POLY;
+		else
+			crc = crc >> 1;
+		byte >>= 1;
+	}
+	return crc;
+}
+
+static void
+ao_log_hex_nibble(uint8_t b)
+{
+	if (b < 10)
+		ao_async_byte('0' + b);
+	else
+		ao_async_byte('a' - 10 + b);
+}
+
+static void
+ao_log_hex(uint8_t b)
+{
+	ao_log_hex_nibble(b>>4);
+	ao_log_hex_nibble(b&0xf);
+}
+
+static void
+ao_log_newline(void)
+{
+	ao_async_byte('\r');
+	ao_async_byte('\n');
+}
+
 void
 ao_log_micro_dump(void)
 {
@@ -56,13 +96,26 @@ ao_log_micro_dump(void)
 	uint16_t	nbytes;
 	uint8_t		byte;
 	uint16_t	b;
+	uint16_t	crc = 0xffff;
 
 	ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+	if (n_samples == 0xffff)
+		n_samples = 0;
 	nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
+	ao_async_start();
 	ao_async_byte('M');
 	ao_async_byte('P');
 	for (b = 0; b < nbytes; b++) {
+		if ((b & 0xf) == 0)
+			ao_log_newline();
 		ao_eeprom_read(b, &byte, 1);
-		ao_async_byte(byte);
+		ao_log_hex(byte);
+		crc = ao_log_micro_crc(crc, byte);
 	}
+	ao_log_newline();
+	crc = ~crc;
+	ao_log_hex(crc >> 8);
+	ao_log_hex(crc);
+	ao_log_newline();
+	ao_async_stop();
 }
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index 3bbc7eea..f579a09a 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -19,6 +19,7 @@
 #include <ao_micropeak.h>
 #include <ao_ms5607.h>
 #include <ao_log_micro.h>
+#include <ao_async.h>
 
 static struct ao_ms5607_sample	sample;
 static struct ao_ms5607_value	value;
-- 
cgit v1.2.3


From d7d35b0bd86b912c43a21a275347fca201079847 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 18 Dec 2012 00:39:37 -0800
Subject: altos: Add distinct LED pattern before writing log data

Otherwise, the whole log looks like a an extra altitude digit.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_micropeak.c | 12 ++++++++++++
 1 file changed, 12 insertions(+)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index f579a09a..82012800 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -49,6 +49,17 @@ ao_compute_height(void)
 	ao_max_height = max_alt - ground_alt;
 }
 
+static void
+ao_pips(void)
+{
+	uint8_t	i;
+	for (i = 0; i < 10; i++) {
+		ao_led_toggle(AO_LED_REPORT);
+		ao_delay(AO_MS_TO_TICKS(80));
+	}
+	ao_delay(AO_MS_TO_TICKS(200));
+}
+
 int
 main(void)
 {
@@ -71,6 +82,7 @@ main(void)
 	ao_log_micro_restore();
 	ao_compute_height();
 	ao_report_altitude();
+	ao_pips();
 	ao_log_micro_dump();
 	
 	ao_delay(BOOST_DELAY);
-- 
cgit v1.2.3


From d374d6be7eb040457f4df6c38b5d057f26ee741c Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 12 Jan 2013 09:45:31 -0800
Subject: micropeak: Record samples before boost detect

This saves a ring of 16 samples while waiting for boost, and then goes
back through those looking for the first sample higher than the ground
and writes the remaining ones to the log so that we get a more
complete log of the flight

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/ao_micropeak.c | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

(limited to 'src/micropeak')

diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index 82012800..f361aa26 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -60,6 +60,12 @@ ao_pips(void)
 	ao_delay(AO_MS_TO_TICKS(200));
 }
 
+#define NUM_PA_HIST	16
+
+#define SKIP_PA_HIST(i,j)	(((i) + (j)) & (NUM_PA_HIST - 1))
+
+static uint32_t	pa_hist[NUM_PA_HIST];
+
 int
 main(void)
 {
@@ -67,6 +73,7 @@ main(void)
 	uint16_t	time;
 	uint32_t	pa_interval_min, pa_interval_max;
 	int32_t		pa_diff;
+	uint8_t		h, i;
 
 	ao_led_init(LEDS_AVAILABLE);
 	ao_timer_init();
@@ -91,6 +98,7 @@ main(void)
 	ao_pa_get();
 	pa_avg = pa_ground = pa << FILTER_SHIFT;
 	sample_count = 0;
+	h = 0;
 	for (;;) {
 		time += SAMPLE_SLEEP;
 		if (sample_count == 0)
@@ -99,6 +107,8 @@ main(void)
 		ao_pa_get();
 		if (sample_count == 0)
 			ao_led_off(AO_LED_REPORT);
+		pa_hist[h] = pa;
+		h = SKIP_PA_HIST(h,1);
 		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
 		pa_diff = pa_ground - pa_avg;
 
@@ -119,6 +129,19 @@ main(void)
 
 	pa_ground >>= FILTER_SHIFT;
 
+	/* Go back and find the first sample a decent interval above the ground */
+	pa_min = pa_ground - LAND_DETECT;
+	for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
+		if (pa_hist[i] < pa_min)
+			break;
+	}
+
+	/* Log the remaining samples so we get a complete history since leaving the ground */
+	for (; i != h; i = SKIP_PA_HIST(i,2)) {
+		pa = pa_hist[i];
+		ao_log_micro_data();
+	}
+
 	/* Now sit around until the pressure is stable again and record the max */
 
 	sample_count = 0;
-- 
cgit v1.2.3


From 540309240a8515116120dbd4403902282ed8c27b Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 16 Jan 2013 15:15:49 -0800
Subject: altos: Add Kalman filter to MicroPeak

This filters altitudes more accurately and also allows tracking of
acceleration, which is used to discard height data generated by
ejection charge noise

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/Makefile         |   4 +-
 src/micropeak/ao_microflight.c | 143 ++++++++++++++++++++++++++++++
 src/micropeak/ao_microkalman.c |  74 ++++++++++++++++
 src/micropeak/ao_micropeak.c   | 106 +----------------------
 src/micropeak/ao_micropeak.h   |  32 +++++--
 src/test/Makefile              |  11 ++-
 src/test/ao_micropeak_test.c   | 192 +++++++++++++++++++++++++++++++++++++++++
 src/test/plotmicro             |  14 +++
 8 files changed, 462 insertions(+), 114 deletions(-)
 create mode 100644 src/micropeak/ao_microflight.c
 create mode 100644 src/micropeak/ao_microkalman.c
 create mode 100644 src/test/ao_micropeak_test.c
 create mode 100755 src/test/plotmicro

(limited to 'src/micropeak')

diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index ff0a4499..315b93f6 100644
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -33,7 +33,9 @@ ALTOS_SRC = \
 	ao_eeprom_tiny.c \
 	ao_panic.c \
 	ao_log_micro.c \
-	ao_async.c
+	ao_async.c \
+	ao_microflight.c \
+	ao_microkalman.c
 
 INC=\
 	ao.h \
diff --git a/src/micropeak/ao_microflight.c b/src/micropeak/ao_microflight.c
new file mode 100644
index 00000000..714bb90a
--- /dev/null
+++ b/src/micropeak/ao_microflight.c
@@ -0,0 +1,143 @@
+/*
+ * Copyright © 2013 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_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+#include <ao_log_micro.h>
+
+uint32_t	pa;
+uint32_t	pa_ground;
+uint32_t	pa_min;
+
+static void
+ao_microsample(void)
+{
+	ao_pa_get();
+	ao_microkalman_predict();
+	ao_microkalman_correct();
+}
+
+#define NUM_PA_HIST	16
+
+#define SKIP_PA_HIST(i,j)	(((i) + (j)) & (NUM_PA_HIST - 1))
+
+static uint32_t	pa_hist[NUM_PA_HIST];
+
+void
+ao_microflight(void)
+{
+	int16_t		sample_count;
+	uint16_t	time;
+	uint32_t	pa_interval_min, pa_interval_max;
+	int32_t		pa_diff;
+	uint8_t		h, i;
+	uint8_t		accel_lock = 0;
+	uint32_t	pa_sum = 0;
+
+	/* Wait for motion, averaging values to get ground pressure */
+
+	time = ao_time();
+	ao_pa_get();
+	ao_microkalman_init();
+	pa_ground = pa;
+	sample_count = 0;
+	h = 0;
+	for (;;) {
+		time += SAMPLE_SLEEP;
+		if (sample_count == 0)
+			ao_led_on(AO_LED_REPORT);
+		ao_delay_until(time);
+		ao_microsample();
+		if (sample_count == 0)
+			ao_led_off(AO_LED_REPORT);
+		pa_hist[h] = pa;
+		h = SKIP_PA_HIST(h,1);
+		pa_diff = pa_ground - ao_pa;
+
+		/* Check for a significant pressure change */
+		if (pa_diff > BOOST_DETECT)
+			break;
+
+		if (sample_count < GROUND_AVG * 2) {
+			if (sample_count < GROUND_AVG)
+				pa_sum += pa;
+			++sample_count;
+		} else {
+			pa_ground = pa_sum >> GROUND_AVG_SHIFT;
+			pa_sum = 0;
+			sample_count = 0;
+		}
+	}
+
+	/* Go back and find the first sample a decent interval above the ground */
+	pa_min = pa_ground - LAND_DETECT;
+	for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
+		if (pa_hist[i] < pa_min)
+			break;
+	}
+
+	/* Log the remaining samples so we get a complete history since leaving the ground */
+	for (; i != h; i = SKIP_PA_HIST(i,2)) {
+		pa = pa_hist[i];
+		ao_log_micro_data();
+	}
+
+	/* Now sit around until the pressure is stable again and record the max */
+
+	sample_count = 0;
+	pa_min = ao_pa;
+	pa_interval_min = ao_pa;
+	pa_interval_max = ao_pa;
+	for (;;) {
+		time += SAMPLE_SLEEP;
+		ao_delay_until(time);
+		if ((sample_count & 3) == 0)
+			ao_led_on(AO_LED_REPORT);
+		ao_microsample();
+		if ((sample_count & 3) == 0)
+			ao_led_off(AO_LED_REPORT);
+		if (sample_count & 1)
+			ao_log_micro_data();
+
+		/* If accelerating upwards, don't look for min pressure */
+		if (ao_pa_accel < ACCEL_LOCK_PA)
+			accel_lock = ACCEL_LOCK_TIME;
+		else if (accel_lock)
+			--accel_lock;
+		else if (ao_pa < pa_min)
+			pa_min = ao_pa;
+
+		if (sample_count == (GROUND_AVG - 1)) {
+			pa_diff = pa_interval_max - pa_interval_min;
+
+			/* Check to see if the pressure is now stable */
+			if (pa_diff < LAND_DETECT)
+				break;
+			sample_count = 0;
+			pa_interval_min = ao_pa;
+			pa_interval_max = ao_pa;
+		} else {
+			if (ao_pa < pa_interval_min)
+				pa_interval_min = ao_pa;
+			if (ao_pa > pa_interval_max)
+				pa_interval_max = ao_pa;
+			++sample_count;
+		}
+	}
+}
diff --git a/src/micropeak/ao_microkalman.c b/src/micropeak/ao_microkalman.c
new file mode 100644
index 00000000..0684ea2b
--- /dev/null
+++ b/src/micropeak/ao_microkalman.c
@@ -0,0 +1,74 @@
+/*
+ * Copyright © 2013 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_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+
+#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 from_fix8(x)	((x) >> 8)
+#define from_fix(x)	((x) >> 16)
+#define fix8_to_fix16(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)
+/* step ** 2 / 2 */
+#define AO_MK_STEP_2_2	to_fix16(0.004608)
+
+uint32_t	ao_k_pa;		/* 24.8 fixed point */
+int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
+int32_t		ao_k_pa_accel;		/* 16.16 fixed point */
+
+uint32_t	ao_pa;			/* integer portion */
+int16_t		ao_pa_speed;		/* integer portion */
+int16_t		ao_pa_accel;		/* integer portion */
+
+void
+ao_microkalman_init(void)
+{
+	ao_pa = pa;
+	ao_k_pa = pa << 8;
+}	
+
+void
+ao_microkalman_predict(void)
+{
+	ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
+	ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
+}
+
+void
+ao_microkalman_correct(void)
+{
+	int16_t	e;	/* Height error in Pa */
+
+	e = pa - from_fix8(ao_k_pa);
+
+	ao_k_pa       += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
+	ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
+	ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
+	ao_pa = from_fix8(ao_k_pa);
+	ao_pa_speed = from_fix(ao_k_pa_speed);
+	ao_pa_accel = from_fix(ao_k_pa_accel);
+}
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index f361aa26..10f0d192 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -24,16 +24,10 @@
 static struct ao_ms5607_sample	sample;
 static struct ao_ms5607_value	value;
 
-uint32_t	pa;
-uint32_t	pa_avg;
-uint32_t	pa_ground;
-uint32_t	pa_min;
 alt_t		ground_alt, max_alt;
 alt_t		ao_max_height;
 
-static uint32_t	pa_sum;
-
-static void
+void
 ao_pa_get(void)
 {
 	ao_ms5607_sample(&sample);
@@ -60,21 +54,9 @@ ao_pips(void)
 	ao_delay(AO_MS_TO_TICKS(200));
 }
 
-#define NUM_PA_HIST	16
-
-#define SKIP_PA_HIST(i,j)	(((i) + (j)) & (NUM_PA_HIST - 1))
-
-static uint32_t	pa_hist[NUM_PA_HIST];
-
 int
 main(void)
 {
-	int16_t		sample_count;
-	uint16_t	time;
-	uint32_t	pa_interval_min, pa_interval_max;
-	int32_t		pa_diff;
-	uint8_t		h, i;
-
 	ao_led_init(LEDS_AVAILABLE);
 	ao_timer_init();
 
@@ -93,93 +75,9 @@ main(void)
 	ao_log_micro_dump();
 	
 	ao_delay(BOOST_DELAY);
-	/* Wait for motion, averaging values to get ground pressure */
-	time = ao_time();
-	ao_pa_get();
-	pa_avg = pa_ground = pa << FILTER_SHIFT;
-	sample_count = 0;
-	h = 0;
-	for (;;) {
-		time += SAMPLE_SLEEP;
-		if (sample_count == 0)
-			ao_led_on(AO_LED_REPORT);
-		ao_delay_until(time);
-		ao_pa_get();
-		if (sample_count == 0)
-			ao_led_off(AO_LED_REPORT);
-		pa_hist[h] = pa;
-		h = SKIP_PA_HIST(h,1);
-		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
-		pa_diff = pa_ground - pa_avg;
-
-		/* Check for a significant pressure change */
-		if (pa_diff > (BOOST_DETECT << FILTER_SHIFT))
-			break;
-
-		if (sample_count < GROUND_AVG * 2) {
-			if (sample_count < GROUND_AVG)
-				pa_sum += pa;
-			++sample_count;
-		} else {
-			pa_ground = pa_sum >> (GROUND_AVG_SHIFT - FILTER_SHIFT);
-			pa_sum = 0;
-			sample_count = 0;
-		}
-	}
 
-	pa_ground >>= FILTER_SHIFT;
+	ao_microflight();
 
-	/* Go back and find the first sample a decent interval above the ground */
-	pa_min = pa_ground - LAND_DETECT;
-	for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
-		if (pa_hist[i] < pa_min)
-			break;
-	}
-
-	/* Log the remaining samples so we get a complete history since leaving the ground */
-	for (; i != h; i = SKIP_PA_HIST(i,2)) {
-		pa = pa_hist[i];
-		ao_log_micro_data();
-	}
-
-	/* Now sit around until the pressure is stable again and record the max */
-
-	sample_count = 0;
-	pa_min = pa_avg;
-	pa_interval_min = pa_avg;
-	pa_interval_max = pa_avg;
-	for (;;) {
-		time += SAMPLE_SLEEP;
-		ao_delay_until(time);
-		if ((sample_count & 3) == 0)
-			ao_led_on(AO_LED_REPORT);
-		ao_pa_get();
-		if ((sample_count & 3) == 0)
-			ao_led_off(AO_LED_REPORT);
-		if (sample_count & 1)
-			ao_log_micro_data();
-		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
-		if (pa_avg < pa_min)
-			pa_min = pa_avg;
-
-		if (sample_count == (GROUND_AVG - 1)) {
-			pa_diff = pa_interval_max - pa_interval_min;
-
-			/* Check to see if the pressure is now stable */
-			if (pa_diff < (LAND_DETECT << FILTER_SHIFT))
-				break;
-			sample_count = 0;
-			pa_interval_min = pa_avg;
-			pa_interval_max = pa_avg;
-		} else {
-			if (pa_avg < pa_interval_min)
-				pa_interval_min = pa_avg;
-			if (pa_avg > pa_interval_max)
-				pa_interval_max = pa_avg;
-			++sample_count;
-		}
-	}
-	pa_min >>= FILTER_SHIFT;
 	ao_log_micro_save();
 	ao_compute_height();
 	ao_report_altitude();
diff --git a/src/micropeak/ao_micropeak.h b/src/micropeak/ao_micropeak.h
index e408d7c5..382b98d9 100644
--- a/src/micropeak/ao_micropeak.h
+++ b/src/micropeak/ao_micropeak.h
@@ -18,7 +18,6 @@
 #ifndef _AO_MICROPEAK_H_
 #define _AO_MICROPEAK_H_
 
-#define FILTER_SHIFT		3
 #define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
 
 /* 16 sample, or about two seconds worth */
@@ -32,14 +31,11 @@
 #define BOOST_DELAY		AO_SEC_TO_TICKS(30)
 
 /* Pressure change (in Pa) to detect landing */
-#define LAND_DETECT		12	/* 1m at sea level, 1.2m at 2000m */
+#define LAND_DETECT		24	/* 2m at sea level, 2.4m at 2000m */
 
 /* Current sensor pressure value */
 extern uint32_t	pa;
 
-/* IIR filtered pressure value */
-extern uint32_t	pa_avg;
-
 /* Average pressure value on ground */
 extern uint32_t	pa_ground;
 
@@ -52,5 +48,31 @@ extern alt_t	ground_alt, max_alt;
 /* max_alt - ground_alt */
 extern alt_t	ao_max_height;
 
+void
+ao_pa_get(void);
+
+void
+ao_microflight(void);
+
+#define ACCEL_LOCK_PA		-20
+#define ACCEL_LOCK_TIME		10
+
+extern uint32_t	ao_k_pa;		/* 24.8 fixed point */
+extern int32_t	ao_k_pa_speed;		/* 16.16 fixed point */
+extern int32_t	ao_k_pa_accel;		/* 16.16 fixed point */
+
+extern uint32_t	ao_pa;			/* integer portion */
+extern int16_t	ao_pa_speed;		/* integer portion */
+extern int16_t	ao_pa_accel;		/* integer portion */
+
+void
+ao_microkalman_init(void);
+
+void
+ao_microkalman_predict(void);
+
+void
+ao_microkalman_correct(void);
+	
 #endif
 
diff --git a/src/test/Makefile b/src/test/Makefile
index 092bf360..87bd70fe 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,14 +1,14 @@
-vpath % ..:../core:../drivers:../util
+vpath % ..:../core:../drivers:../util:../micropeak
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
 	ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test \
-	ao_aprs_test
+	ao_aprs_test ao_micropeak_test
 
 INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h
 
 KALMAN=make-kalman 
 
-CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g -Wall
+CFLAGS=-I.. -I. -I../core -I../drivers -I../micropeak -O0 -g -Wall
 
 all: $(PROGS) ao_aprs_data.wav
 
@@ -60,4 +60,7 @@ ao_aprs_data.wav: ao_aprs_test
 	./ao_aprs_test | sox $(SOX_INPUT_ARGS) - $(SOX_OUTPUT_ARGS) $@
 
 check: ao_fec_test ao_flight_test ao_flight_test_baro run-tests
-	./ao_fec_test && ./run-tests
\ No newline at end of file
+	./ao_fec_test && ./run-tests
+
+ao_micropeak_test: ao_micropeak_test.c ao_microflight.c
+	cc $(CFLAGS) -o $@ ao_micropeak_test.c -lm
\ No newline at end of file
diff --git a/src/test/ao_micropeak_test.c b/src/test/ao_micropeak_test.c
new file mode 100644
index 00000000..04686402
--- /dev/null
+++ b/src/test/ao_micropeak_test.c
@@ -0,0 +1,192 @@
+/*
+ * Copyright © 2009 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.
+ */
+
+#define _GNU_SOURCE
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <getopt.h>
+#include <math.h>
+
+FILE *emulator_in;
+char *emulator_app;
+char *emulator_name;
+char *emulator_info;
+uint8_t ao_flight_debug;
+
+#define AO_FLIGHT_TEST
+
+typedef int32_t alt_t;
+
+#define AO_MS_TO_TICKS(ms)	((ms) / 10)
+
+#define AO_LED_REPORT 0
+
+static void ao_led_on(uint8_t led) {
+}
+
+static void ao_led_off(uint8_t led) {
+}
+
+static void ao_delay_until(uint16_t target) {
+}
+
+static uint16_t ao_time(void) {
+	return 0;
+}
+
+#include "ao_microflight.c"
+#include "ao_microkalman.c"
+#include "ao_convert_pa.c"
+
+uint16_t	now;
+uint8_t		running;
+
+void ao_log_micro_data() {
+	running = 1;
+}
+
+void
+ao_micro_report(void)
+{
+	if (running) {
+		alt_t	ground = ao_pa_to_altitude(pa_ground);
+		printf ("%6.2f %10d %10d %10d\n", now / 100.0,
+			ao_pa_to_altitude(pa) - ground,
+			ao_pa_to_altitude(ao_pa) - ground,
+			ao_pa_to_altitude(pa_min) - ground);
+	}
+}
+
+void
+ao_micro_finish(void)
+{
+	ao_micro_report();
+}
+
+void
+ao_pa_get(void)
+{
+	char	line[4096];
+	char	*toks[128];
+	char	*saveptr;
+	int	t, ntok;
+	static int	time_id;
+	static int	pa_id;
+	double		time;
+	double		pressure;
+	static double	last_time;
+	static int	been_here;
+	static int	start_samples;
+
+	if (been_here && start_samples < 100) {
+		start_samples++;
+		return;
+	}
+	ao_micro_report();
+	for (;;) {
+		if (!fgets(line, sizeof (line), emulator_in))
+			exit(0);
+		for (t = 0; t < 128; t++) {
+			toks[t] = strtok_r(t ? NULL : line, ", ", &saveptr);
+			if (!toks[t])
+				break;
+		}
+		ntok = t;
+		if (toks[0][0] == '#') {
+			if (strcmp(toks[0],"#version") == 0) {
+				for (t = 1; t < ntok; t++) {
+					if (!strcmp(toks[t], "time"))
+						time_id = t;
+					if (!strcmp(toks[t],"pressure"))
+						pa_id = t;
+				}
+			}
+			continue;
+		}
+		time = strtod(toks[time_id],NULL);
+		pressure = strtod(toks[pa_id],NULL);
+		if (been_here && time - last_time < 0.1)
+			continue;
+		been_here = 1;
+		last_time = time;
+		now = floor (time * 100 + 0.5);
+		pa = pressure;
+		break;
+	}
+}
+
+void
+ao_dump_state(void)
+{
+}
+
+static const struct option options[] = {
+	{ .name = "summary", .has_arg = 0, .val = 's' },
+	{ .name = "debug", .has_arg = 0, .val = 'd' },
+	{ .name = "info", .has_arg = 1, .val = 'i' },
+	{ 0, 0, 0, 0},
+};
+
+void run_flight_fixed(char *name, FILE *f, int summary, char *info)
+{
+	emulator_name = name;
+	emulator_in = f;
+	emulator_info = info;
+	ao_microflight();
+	ao_micro_finish();
+}
+
+int
+main (int argc, char **argv)
+{
+	int	summary = 0;
+	int	c;
+	int	i;
+	char	*info = NULL;
+
+	emulator_app="baro";
+	while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
+		switch (c) {
+		case 's':
+			summary = 1;
+			break;
+		case 'd':
+			ao_flight_debug = 1;
+			break;
+		case 'i':
+			info = optarg;
+			break;
+		}
+	}
+
+	if (optind == argc)
+		run_flight_fixed("<stdin>", stdin, summary, info);
+	else
+		for (i = optind; i < argc; i++) {
+			FILE	*f = fopen(argv[i], "r");
+			if (!f) {
+				perror(argv[i]);
+				continue;
+			}
+			run_flight_fixed(argv[i], f, summary, info);
+			fclose(f);
+		}
+	exit(0);
+}
diff --git a/src/test/plotmicro b/src/test/plotmicro
new file mode 100755
index 00000000..cdfcc581
--- /dev/null
+++ b/src/test/plotmicro
@@ -0,0 +1,14 @@
+#!/bin/sh
+for i in "$@"; do
+gnuplot -p << EOF &
+set title "$i"
+set ylabel "height (m)"
+set xlabel "time (s)"
+set xtics border out nomirror
+set ytics border out nomirror
+set y2tics border out nomirror
+plot "$i" using 1:2 with lines lt 2 axes x1y1 title "raw height",\
+     "$i" using 1:3 with lines lt 4 axes x1y1 title "kalman height",\
+     "$i" using 1:4 with lines lt 1 axes x1y1 title "max height"
+EOF
+done
-- 
cgit v1.2.3


From 086217bbde6d549cad61bdde728c75d29023d1c6 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 28 Apr 2013 23:11:27 -0700
Subject: altos: Add nickle micropeak log parsing code

I think this was just some debugging stuff, but it doesn't seem useless

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/micropeak/micro-log-parse.5c | 356 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 356 insertions(+)
 create mode 100644 src/micropeak/micro-log-parse.5c

(limited to 'src/micropeak')

diff --git a/src/micropeak/micro-log-parse.5c b/src/micropeak/micro-log-parse.5c
new file mode 100644
index 00000000..e1548fb0
--- /dev/null
+++ b/src/micropeak/micro-log-parse.5c
@@ -0,0 +1,356 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+exception non_hexchar(int c);
+exception file_ended();
+exception invalid_crc();
+
+int
+get_nonwhite(file f)
+{
+	int	c;
+
+	for (;;) {
+		if (File::end(f))
+			raise file_ended();
+		if (!Ctype::isspace((c = File::getc(f))))
+			return c;
+	}
+}
+
+int
+get_hexc(file f)
+{
+	int	c = get_nonwhite(f);
+
+	if ('0' <= c && c <= '9')
+		return c - '0';
+	if ('a' <= c && c <= 'f')
+		return c - 'a' + 10;
+	if ('A' <= c && c <= 'F')
+		return c - 'A' + 10;
+	raise non_hexchar(c);
+}
+
+int POLY = 0x8408;
+
+int
+log_crc(int crc, int byte)
+{
+	int	i;
+
+	for (i = 0; i < 8; i++) {
+		if (((crc & 0x0001) ^ (byte & 0x0001)) != 0)
+			crc = (crc >> 1) ^ POLY;
+		else
+			crc = crc >> 1;
+		byte >>= 1;
+	}
+	return crc & 0xffff;
+}
+
+int	file_crc;
+
+
+int
+get_hex(file f)
+{
+	int	a = get_hexc(f);
+	int	b = get_hexc(f);
+
+	int h = (a << 4) + b;
+
+	file_crc = log_crc(file_crc, h);
+	return h;
+}
+
+bool
+find_header(file f)
+{
+	while (!File::end(f)) {
+		if (get_nonwhite(f) == 'M' && get_nonwhite(f) == 'P')
+			return true;
+	}
+	return false;
+}
+
+int
+get_32(file f)
+{
+	int	v = 0;
+	for (int i = 0; i < 4; i++) {
+		v += get_hex(f) << (i * 8);
+	}
+	return v;
+}
+
+int
+get_16(file f)
+{
+	int	v = 0;
+	for (int i = 0; i < 2; i++) {
+		v += get_hex(f) << (i * 8);
+	}
+	return v;
+}
+
+int
+swap16(int i) {
+	return ((i << 8) & 0xff00) | ((i >> 8) & 0xff);
+}
+typedef struct {
+	int	ground_baro;
+	int	min_baro;
+	int[*]	samples;
+} log_t;
+
+log_t
+get_log(file f) {
+	log_t	log;
+
+	if (!find_header(f))
+		raise file_ended();
+	file_crc = 0xffff;
+	log.ground_baro = get_32(f);
+	log.min_baro = get_32(f);
+	int nsamples = get_16(f);
+	log.samples = (int[nsamples]) { [i] = get_16(f) };
+
+	int current_crc = swap16(~file_crc & 0xffff);
+	int crc = get_16(f);
+
+	if (crc != current_crc)
+		raise invalid_crc();
+	return log;
+}
+
+/*
+ * Pressure Sensor Model, version 1.1
+ *
+ * written by Holly Grimes
+ *
+ * Uses the International Standard Atmosphere as described in
+ *   "A Quick Derivation relating altitude to air pressure" (version 1.03)
+ *    from the Portland State Aerospace Society, except that the atmosphere
+ *    is divided into layers with each layer having a different lapse rate.
+ *
+ * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007
+ *    at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere
+ *
+ * Height measurements use the local tangent plane.  The postive z-direction is up.
+ *
+ * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2).
+ *   The lapse rate is given in Kelvin/meter, the gas constant for air is given
+ *   in Joules/(kilogram-Kelvin).
+ */
+
+const real GRAVITATIONAL_ACCELERATION = -9.80665;
+const real AIR_GAS_CONSTANT = 287.053;
+const int NUMBER_OF_LAYERS = 7;
+const real MAXIMUM_ALTITUDE = 84852;
+const real MINIMUM_PRESSURE = 0.3734;
+const real LAYER0_BASE_TEMPERATURE = 288.15;
+const real LAYER0_BASE_PRESSURE = 101325;
+
+/* lapse rate and base altitude for each layer in the atmosphere */
+const real[NUMBER_OF_LAYERS] lapse_rate = {
+	-0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
+};
+const int[NUMBER_OF_LAYERS] base_altitude = {
+	0, 11000, 20000, 32000, 47000, 51000, 71000
+};
+
+
+/* outputs atmospheric pressure associated with the given altitude. altitudes
+   are measured with respect to the mean sea level */
+real altitude_to_pressure(real altitude) {
+
+   real base_temperature = LAYER0_BASE_TEMPERATURE;
+   real base_pressure = LAYER0_BASE_PRESSURE;
+
+   real pressure;
+   real base; /* base for function to determine pressure */
+   real exponent; /* exponent for function to determine pressure */
+   int layer_number; /* identifies layer in the atmosphere */
+   int delta_z; /* difference between two altitudes */
+
+   if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */
+      return 0;
+
+   /* calculate the base temperature and pressure for the atmospheric layer
+      associated with the inputted altitude */
+   for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) {
+      delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+      if (lapse_rate[layer_number] == 0.0) {
+         exponent = GRAVITATIONAL_ACCELERATION * delta_z
+              / AIR_GAS_CONSTANT / base_temperature;
+         base_pressure *= exp(exponent);
+      }
+      else {
+         base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+         exponent = GRAVITATIONAL_ACCELERATION /
+              (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+         base_pressure *= pow(base, exponent);
+      }
+      base_temperature += delta_z * lapse_rate[layer_number];
+   }
+
+   /* calculate the pressure at the inputted altitude */
+   delta_z = altitude - base_altitude[layer_number];
+   if (lapse_rate[layer_number] == 0.0) {
+      exponent = GRAVITATIONAL_ACCELERATION * delta_z
+           / AIR_GAS_CONSTANT / base_temperature;
+      pressure = base_pressure * exp(exponent);
+   }
+   else {
+      base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+      exponent = GRAVITATIONAL_ACCELERATION /
+           (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+      pressure = base_pressure * pow(base, exponent);
+   }
+
+   return pressure;
+}
+
+
+/* outputs the altitude associated with the given pressure. the altitude
+   returned is measured with respect to the mean sea level */
+real pressure_to_altitude(real pressure) {
+
+   real next_base_temperature = LAYER0_BASE_TEMPERATURE;
+   real next_base_pressure = LAYER0_BASE_PRESSURE;
+
+   real altitude;
+   real base_pressure;
+   real base_temperature;
+   real base; /* base for function to determine base pressure of next layer */
+   real exponent; /* exponent for function to determine base pressure
+                             of next layer */
+   real coefficient;
+   int layer_number; /* identifies layer in the atmosphere */
+   int delta_z; /* difference between two altitudes */
+
+   if (pressure < 0)  /* illegal pressure */
+      return -1;
+   if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
+      return MAXIMUM_ALTITUDE;
+
+   /* calculate the base temperature and pressure for the atmospheric layer
+      associated with the inputted pressure. */
+   layer_number = -1;
+   do {
+      layer_number++;
+      base_pressure = next_base_pressure;
+      base_temperature = next_base_temperature;
+      delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+      if (lapse_rate[layer_number] == 0.0) {
+         exponent = GRAVITATIONAL_ACCELERATION * delta_z
+              / AIR_GAS_CONSTANT / base_temperature;
+         next_base_pressure *= exp(exponent);
+      }
+      else {
+         base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+         exponent = GRAVITATIONAL_ACCELERATION /
+              (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+         next_base_pressure *= pow(base, exponent);
+      }
+      next_base_temperature += delta_z * lapse_rate[layer_number];
+   }
+   while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
+
+   /* calculate the altitude associated with the inputted pressure */
+   if (lapse_rate[layer_number] == 0.0) {
+      coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION)
+                                                    * base_temperature;
+      altitude = base_altitude[layer_number]
+                    + coefficient * log(pressure / base_pressure);
+   }
+   else {
+      base = pressure / base_pressure;
+      exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number]
+                                       / GRAVITATIONAL_ACCELERATION;
+      coefficient = base_temperature / lapse_rate[layer_number];
+      altitude = base_altitude[layer_number]
+                      + coefficient * (pow(base, exponent) - 1);
+   }
+
+   return altitude;
+}
+
+real feet_to_meters(real feet)
+{
+    return feet * (12 * 2.54 / 100);
+}
+
+real meters_to_feet(real meters)
+{
+    return meters / (12 * 2.54 / 100);
+}
+
+
+real	time = 0;
+int	sample = 0;
+real	interval = 0.192;
+real	ground_alt = 0;
+
+void show(int pa)
+{
+	printf ("%9.2f %9.1f %d\n", time, pressure_to_altitude(pa) - ground_alt, pa);
+	sample++;
+	time += interval;
+}
+
+int mix_in (int high, int low)
+{
+	return  high - (high & 0xffff) + low;
+}
+
+bool closer (int target, int a, int b)
+{
+	return abs (target - a) < abs(target - b);
+}
+
+void
+dump_log(log_t log) {
+	int cur = log.ground_baro;
+
+	ground_alt = pressure_to_altitude(cur);
+	show(cur);
+	for (int l = 0; l < dim(log.samples); l++) {
+		int 	k = log.samples[l];
+		int	same = mix_in(cur, k);
+		int	up = mix_in(cur + 0x10000, k);
+		int	down = mix_in(cur - 0x10000, k);
+
+		if (closer (cur, same, up)) {
+			if (closer (cur, same, down))
+				cur = same;
+			else
+				cur = down;
+		} else {
+			if (closer (cur, up, down))
+				cur = up;
+			else
+				cur = down;
+		}
+		show(cur);
+	}
+}
+
+
+log_t log = get_log(stdin);
+dump_log(log);
-- 
cgit v1.2.3


From 6f3bbb11880f45284f1f094990ffa32a66bf4560 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Mon, 22 Apr 2013 20:24:48 -0500
Subject: altos: Move ao_notask to core

The STM flash loader wants to be taskless too, share this very simple
implementation of sleep/wakeup.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/attiny/ao_arch.h      |  2 +-
 src/core/ao.h             |  2 ++
 src/core/ao_notask.c      | 45 +++++++++++++++++++++++++++++++++++++++++++++
 src/core/ao_notask.h      | 27 +++++++++++++++++++++++++++
 src/micropeak/ao_notask.c | 45 ---------------------------------------------
 5 files changed, 75 insertions(+), 46 deletions(-)
 create mode 100644 src/core/ao_notask.c
 create mode 100644 src/core/ao_notask.h
 delete mode 100644 src/micropeak/ao_notask.c

(limited to 'src/micropeak')

diff --git a/src/attiny/ao_arch.h b/src/attiny/ao_arch.h
index 52bed981..8140dd30 100644
--- a/src/attiny/ao_arch.h
+++ b/src/attiny/ao_arch.h
@@ -55,7 +55,7 @@
 #define putchar(c)	ao_putchar(c)
 #define getchar		ao_getchar
 
-#define ao_arch_cpu_idle() do {			\
+#define ao_arch_wait_interrupt() do {		\
 		sleep_enable();			\
 		sei();				\
 		sleep_cpu();			\
diff --git a/src/core/ao.h b/src/core/ao.h
index 6bcb3664..0ad3e4aa 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -45,6 +45,8 @@
 
 #if HAS_TASK
 #include <ao_task.h>
+#else
+#include <ao_notask.h>
 #endif
 
 /*
diff --git a/src/core/ao_notask.c b/src/core/ao_notask.c
new file mode 100644
index 00000000..a41712d2
--- /dev/null
+++ b/src/core/ao_notask.c
@@ -0,0 +1,45 @@
+/*
+ * Copyright © 2012 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>
+
+static volatile void *ao_wchan;
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+#if 1
+	ao_wchan = wchan;
+	ao_arch_wait_interrupt();
+#else
+	uint8_t	sreg;
+
+	ao_wchan = wchan;
+	asm("in %0,__SREG__" : "=&r" (sreg));
+	sei();
+	while (ao_wchan)
+		ao_arch_cpu_idle();
+	asm("out __SREG__,%0" : : "r" (sreg));
+#endif
+	return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan)
+{
+	ao_wchan = 0;
+}
diff --git a/src/core/ao_notask.h b/src/core/ao_notask.h
new file mode 100644
index 00000000..6b6b5bb8
--- /dev/null
+++ b/src/core/ao_notask.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright © 2012 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_NOTASK_H_
+#define _AO_NOTASK_H_
+
+uint8_t
+ao_sleep(__xdata void *wchan);
+
+void
+ao_wakeup(__xdata void *wchan);
+
+#endif /* _AO_NOTASK_H_ */
diff --git a/src/micropeak/ao_notask.c b/src/micropeak/ao_notask.c
deleted file mode 100644
index 0aef9cf3..00000000
--- a/src/micropeak/ao_notask.c
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * Copyright © 2012 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>
-
-static volatile void *ao_wchan;
-
-uint8_t
-ao_sleep(__xdata void *wchan)
-{
-#if 1
-	ao_wchan = wchan;
-	ao_arch_cpu_idle();
-#else
-	uint8_t	sreg;
-
-	ao_wchan = wchan;
-	asm("in %0,__SREG__" : "=&r" (sreg));
-	sei();
-	while (ao_wchan)
-		ao_arch_cpu_idle();
-	asm("out __SREG__,%0" : : "r" (sreg));
-#endif
-	return 0;
-}
-
-void
-ao_wakeup(__xdata void *wchan)
-{
-	ao_wchan = 0;
-}
-- 
cgit v1.2.3