/* * Copyright © 2009 Keith Packard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; version 2 of the License. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ #include "ao.h" #include "ao_log.h" #include #if HAS_FLIGHT #include #include #endif #if HAS_BEEP #include #endif #if HAS_TRACKER #include #endif __xdata struct ao_config ao_config; __pdata uint8_t ao_config_loaded; __pdata uint8_t ao_config_dirty; __xdata uint8_t ao_config_mutex; #ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL #define AO_CONFIG_DEFAULT_APRS_INTERVAL 0 #endif #define AO_CONFIG_DEFAULT_MAIN_DEPLOY 250 #define AO_CONFIG_DEFAULT_RADIO_CHANNEL 0 #define AO_CONFIG_DEFAULT_CALLSIGN "N0CALL" #define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000 #define AO_CONFIG_DEFAULT_APOGEE_DELAY 0 #define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL #define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP #define AO_CONFIG_DEFAULT_PYRO_TIME AO_MS_TO_TICKS(50) #if HAS_EEPROM #ifndef USE_INTERNAL_FLASH #error Please define USE_INTERNAL_FLASH #endif #endif #ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX #if USE_INTERNAL_FLASH #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ao_storage_config #else #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 192 * (uint32_t) 1024) #endif #endif #ifndef AO_CONFIG_DEFAULT_RADIO_POWER #define AO_CONFIG_DEFAULT_RADIO_POWER 0x60 #endif #define AO_CONFIG_DEFAULT_RADIO_AMP 0 #if HAS_EEPROM static void _ao_config_put(void) { ao_config_setup(); ao_config_erase(); ao_config_write(0, &ao_config, sizeof (ao_config)); #if HAS_FLIGHT ao_log_write_erase(0); #endif ao_config_flush(); } void ao_config_put(void) { ao_mutex_get(&ao_config_mutex); _ao_config_put(); ao_mutex_put(&ao_config_mutex); } #endif #if HAS_RADIO void ao_config_set_radio(void) { ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal); } #endif /* HAS_RADIO */ static void _ao_config_get(void) { uint8_t minor; if (ao_config_loaded) return; #if HAS_EEPROM /* Yes, I know ao_storage_read calls ao_storage_setup, * but ao_storage_setup *also* sets ao_storage_config, which we * need before calling ao_storage_read here */ ao_config_setup(); ao_config_read(0, &ao_config, sizeof (ao_config)); #endif if (ao_config.major != AO_CONFIG_MAJOR) { ao_config.major = AO_CONFIG_MAJOR; ao_config.minor = 0; /* Version 0 stuff */ ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY; ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign)); ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN), sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1); ao_config._legacy_radio_channel = 0; } minor = ao_config.minor; if (minor != AO_CONFIG_MINOR) { /* Fixups for minor version 1 */ if (minor < 1) ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY; /* Fixups for minor version 2 */ if (minor < 2) { ao_config.accel_plus_g = 0; ao_config.accel_minus_g = 0; } /* Fixups for minor version 3 */ #if HAS_RADIO if (minor < 3) ao_config.radio_cal = ao_radio_cal; #endif /* Fixups for minor version 4 */ #if HAS_LOG if (minor < 4) ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX; #endif /* Fixupes for minor version 5 */ if (minor < 5) ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE; if (minor < 6) ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION; if (minor < 8) ao_config.radio_enable = AO_RADIO_ENABLE_CORE; if (minor < 9) ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN); if (minor < 10) ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100; if (minor < 11) ao_config.apogee_lockout = 0; #if AO_PYRO_NUM if (minor < 12) memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro)); #endif if (minor < 13) ao_config.aprs_interval = AO_CONFIG_DEFAULT_APRS_INTERVAL; #if HAS_RADIO_POWER if (minor < 14) ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER; #endif #if HAS_RADIO_AMP if (minor < 14) ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP; #endif #if HAS_GYRO if (minor < 15) { ao_config.accel_zero_along = 0; ao_config.accel_zero_across = 0; ao_config.accel_zero_through = 0; /* Reset the main accel offsets to force * re-calibration */ ao_config.accel_plus_g = 0; ao_config.accel_minus_g = 0; } #endif #if HAS_BEEP_CONFIG if (minor < 16) ao_config.mid_beep = AO_BEEP_MID_DEFAULT; #endif #if HAS_TRACKER if (minor < 17) { ao_config.tracker_motion = AO_TRACKER_MOTION_DEFAULT; ao_config.tracker_interval = AO_TRACKER_INTERVAL_DEFAULT; } #endif #if AO_PYRO_NUM if (minor < 18) ao_config.pyro_time = AO_CONFIG_DEFAULT_PYRO_TIME; #endif ao_config.minor = AO_CONFIG_MINOR; ao_config_dirty = 1; } #if HAS_RADIO #if HAS_FORCE_FREQ if (ao_force_freq) { ao_config.frequency = 434550; ao_config.radio_cal = ao_radio_cal; ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN), sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1); } #endif ao_config_set_radio(); #endif ao_config_loaded = 1; } void _ao_config_edit_start(void) { ao_mutex_get(&ao_config_mutex); _ao_config_get(); } void _ao_config_edit_finish(void) { ao_config_dirty = 1; ao_mutex_put(&ao_config_mutex); } void ao_config_get(void) { _ao_config_edit_start(); ao_mutex_put(&ao_config_mutex); } void ao_config_callsign_show(void) { printf ("Callsign: \"%s\"\n", ao_config.callsign); } void ao_config_callsign_set(void) __reentrant { uint8_t c; static __xdata char callsign[AO_MAX_CALLSIGN + 1]; ao_xmemset(callsign, '\0', sizeof callsign); ao_cmd_white(); c = 0; while (ao_cmd_lex_c != '\n') { if (c < AO_MAX_CALLSIGN) callsign[c++] = ao_cmd_lex_c; else ao_cmd_status = ao_cmd_lex_error; ao_cmd_lex(); } if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_xmemcpy(&ao_config.callsign, &callsign, AO_MAX_CALLSIGN + 1); _ao_config_edit_finish(); } #if HAS_RADIO void ao_config_frequency_show(void) __reentrant { printf("Frequency: %ld\n", ao_config.frequency); } void ao_config_frequency_set(void) __reentrant { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.frequency = ao_cmd_lex_u32; ao_config_set_radio(); _ao_config_edit_finish(); #if HAS_RADIO_RECV ao_radio_recv_abort(); #endif } #endif #if HAS_FLIGHT void ao_config_main_deploy_show(void) __reentrant { printf("Main deploy: %d meters\n", ao_config.main_deploy); } void ao_config_main_deploy_set(void) __reentrant { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.main_deploy = ao_cmd_lex_i; _ao_config_edit_finish(); } #if HAS_ACCEL void ao_config_accel_calibrate_show(void) __reentrant { printf("Accel cal +1g: %d -1g: %d\n", ao_config.accel_plus_g, ao_config.accel_minus_g); #if HAS_GYRO printf ("IMU cal along %d across %d through %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through); #endif } #define ACCEL_CALIBRATE_SAMPLES 1024 #define ACCEL_CALIBRATE_SHIFT 10 #if HAS_GYRO static int16_t accel_cal_along; static int16_t accel_cal_across; static int16_t accel_cal_through; #endif static int16_t ao_config_accel_calibrate_auto(char *orientation) __reentrant { uint16_t i; int32_t accel_total; uint8_t cal_data_ring; #if HAS_GYRO int32_t accel_along_total = 0; int32_t accel_across_total = 0; int32_t accel_through_total = 0; #endif printf("Orient antenna %s and press a key...", orientation); flush(); (void) getchar(); puts("\r\n"); flush(); puts("Calibrating..."); flush(); i = ACCEL_CALIBRATE_SAMPLES; accel_total = 0; cal_data_ring = ao_sample_data; while (i) { ao_sleep(DATA_TO_XDATA(&ao_sample_data)); while (i && cal_data_ring != ao_sample_data) { accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]); #if HAS_GYRO accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]); accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]); accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]); #endif cal_data_ring = ao_data_ring_next(cal_data_ring); i--; } } #if HAS_GYRO accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT; accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT; accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT; #endif return accel_total >> ACCEL_CALIBRATE_SHIFT; } void ao_config_accel_calibrate_set(void) __reentrant { int16_t up, down; #if HAS_GYRO int16_t accel_along_up = 0, accel_along_down = 0; int16_t accel_across_up = 0, accel_across_down = 0; int16_t accel_through_up = 0, accel_through_down = 0; #endif ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; if (ao_cmd_lex_i == 0) { up = ao_config_accel_calibrate_auto("up"); #if HAS_GYRO accel_along_up = accel_cal_along; accel_across_up = accel_cal_across; accel_through_up = accel_cal_through; #endif down = ao_config_accel_calibrate_auto("down"); #if HAS_GYRO accel_along_down = accel_cal_along; accel_across_down = accel_cal_across; accel_through_down = accel_cal_through; #endif } else { up = ao_cmd_lex_i; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; down = ao_cmd_lex_i; } if (up >= down) { printf("Invalid accel: up (%d) down (%d)\n", up, down); return; } _ao_config_edit_start(); ao_config.accel_plus_g = up; ao_config.accel_minus_g = down; #if HAS_GYRO if (ao_cmd_lex_i == 0) { ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2; ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2; ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2; } #endif _ao_config_edit_finish(); } #endif /* HAS_ACCEL */ void ao_config_apogee_delay_show(void) __reentrant { printf("Apogee delay: %d seconds\n", ao_config.apogee_delay); } void ao_config_apogee_delay_set(void) __reentrant { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.apogee_delay = ao_cmd_lex_i; _ao_config_edit_finish(); } void ao_config_apogee_lockout_show(void) __reentrant { printf ("Apogee lockout: %d seconds\n", ao_config.apogee_lockout); } void ao_config_apogee_lockout_set(void) __reentrant { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.apogee_lockout = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif /* HAS_FLIGHT */ #if HAS_RADIO void ao_config_radio_cal_show(void) __reentrant { printf("Radio cal: %ld\n", ao_config.radio_cal); } void ao_config_radio_cal_set(void) __reentrant { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.radio_cal = ao_cmd_lex_u32; ao_config_set_radio(); _ao_config_edit_finish(); } #endif #if HAS_LOG void ao_config_log_show(void) __reentrant { printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10)); } void ao_config_log_set(void) __reentrant { uint16_t block = (uint16_t) (ao_storage_block >> 10); uint16_t log_max = (uint16_t) (ao_storage_log_max >> 10); ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; if (ao_log_present()) printf("Storage must be empty before changing log size\n"); else if (block > 1024 && (ao_cmd_lex_i & (block - 1))) printf("Flight log size must be multiple of %d kB\n", block); else if (ao_cmd_lex_i > log_max) printf("Flight log max %d kB\n", log_max); else { _ao_config_edit_start(); ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10; _ao_config_edit_finish(); } } #endif /* HAS_LOG */ #if HAS_IGNITE void ao_config_ignite_mode_show(void) __reentrant { printf("Ignite mode: %d\n", ao_config.ignite_mode); } void ao_config_ignite_mode_set(void) __reentrant { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.ignite_mode = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif #if HAS_ACCEL void ao_config_pad_orientation_show(void) __reentrant { printf("Pad orientation: %d\n", ao_config.pad_orientation); } #ifndef AO_ACCEL_INVERT #define AO_ACCEL_INVERT 0x7fff #endif void ao_config_pad_orientation_set(void) __reentrant { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_cmd_lex_i &= 1; if (ao_config.pad_orientation != ao_cmd_lex_i) { int16_t t; t = ao_config.accel_plus_g; ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g; ao_config.accel_minus_g = AO_ACCEL_INVERT - t; } ao_config.pad_orientation = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif #if HAS_RADIO void ao_config_radio_enable_show(void) __reentrant { printf("Radio enable: %d\n", ao_config.radio_enable); } void ao_config_radio_enable_set(void) __reentrant { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.radio_enable = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif /* HAS_RADIO */ #if HAS_AES __xdata uint8_t ao_config_aes_seq = 1; void ao_config_key_show(void) __reentrant { uint8_t i; printf("AES key: "); for (i = 0; i < AO_AES_LEN; i++) printf ("%02x", ao_config.aes_key[i]); printf("\n"); } void ao_config_key_set(void) __reentrant { uint8_t i; _ao_config_edit_start(); for (i = 0; i < AO_AES_LEN; i++) { ao_cmd_hexbyte(); if (ao_cmd_status != ao_cmd_success) break; ao_config.aes_key[i] = ao_cmd_lex_i; } ++ao_config_aes_seq; _ao_config_edit_finish(); } #endif #if HAS_APRS void ao_config_aprs_show(void) { printf ("APRS interval: %d\n", ao_config.aprs_interval); } void ao_config_aprs_set(void) { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.aprs_interval = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif /* HAS_APRS */ #if HAS_RADIO_AMP void ao_config_radio_amp_show(void) { printf ("Radio amp setting: %d\n", ao_config.radio_amp); } void ao_config_radio_amp_set(void) { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.radio_amp = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif #if HAS_RADIO_POWER void ao_config_radio_power_show(void) { printf ("Radio power setting: %d\n", ao_config.radio_power); } void ao_config_radio_power_set(void) { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.radio_power = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif #if HAS_BEEP_CONFIG void ao_config_beep_show(void) { printf ("Beeper setting: %d\n", ao_config.mid_beep); } void ao_config_beep_set(void) { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.mid_beep = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif #if HAS_TRACKER void ao_config_tracker_show(void) { printf ("Tracker setting: %d %d\n", ao_config.tracker_motion, ao_config.tracker_interval); } void ao_config_tracker_set(void) { uint16_t m, i; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; m = ao_cmd_lex_i; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; i = ao_cmd_lex_i; _ao_config_edit_start(); ao_config.tracker_motion = m; ao_config.tracker_interval = i; _ao_config_edit_finish(); } #endif /* HAS_TRACKER */ #if AO_PYRO_NUM void ao_config_pyro_time_show(void) { printf ("Pyro time: %d\n", ao_config.pyro_time); } void ao_config_pyro_time_set(void) { ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); ao_config.pyro_time = ao_cmd_lex_i; _ao_config_edit_finish(); } #endif struct ao_config_var { __code char *str; void (*set)(void) __reentrant; void (*show)(void) __reentrant; }; static void ao_config_help(void) __reentrant; static void ao_config_show(void) __reentrant; #if HAS_EEPROM static void ao_config_save(void) __reentrant; #endif __code struct ao_config_var ao_config_vars[] = { #if HAS_FLIGHT { "m \0Main deploy (m)", ao_config_main_deploy_set, ao_config_main_deploy_show, }, { "d \0Apogee delay (s)", ao_config_apogee_delay_set, ao_config_apogee_delay_show }, { "L \0Apogee detect lockout (s)", ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, }, #endif /* HAS_FLIGHT */ #if HAS_RADIO { "F \0Frequency (kHz)", ao_config_frequency_set, ao_config_frequency_show }, { "c \0Callsign (8 char max)", ao_config_callsign_set, ao_config_callsign_show }, { "e <0 disable, 1 enable>\0Enable telemetry and RDF", ao_config_radio_enable_set, ao_config_radio_enable_show }, { "f \0Radio calib (cal = rf/(xtal/2^16))", ao_config_radio_cal_set, ao_config_radio_cal_show }, #if HAS_RADIO_POWER { "p \0Radio power setting (0-255)", ao_config_radio_power_set, ao_config_radio_power_show }, #endif #if HAS_RADIO_AMP { "d \0Radio amplifier setting (0-3)", ao_config_radio_amp_set, ao_config_radio_amp_show }, #endif #endif /* HAS_RADIO */ #if HAS_ACCEL { "a <+g> <-g>\0Accel calib (0 for auto)", ao_config_accel_calibrate_set,ao_config_accel_calibrate_show }, { "o <0 antenna up, 1 antenna down>\0Pad orientation", ao_config_pad_orientation_set,ao_config_pad_orientation_show }, #endif /* HAS_ACCEL */ #if HAS_LOG { "l \0Flight log size (kB)", ao_config_log_set, ao_config_log_show }, #endif #if HAS_IGNITE { "i <0 dual, 1 apogee, 2 main>\0Igniter mode", ao_config_ignite_mode_set, ao_config_ignite_mode_show }, #endif #if HAS_AES { "k <32 hex digits>\0AES encryption key", ao_config_key_set, ao_config_key_show }, #endif #if AO_PYRO_NUM { "P \0Pyro channels", ao_pyro_set, ao_pyro_show }, { "I \0Pyro firing time", ao_config_pyro_time_set, ao_config_pyro_time_show }, #endif #if HAS_APRS { "A \0APRS packet interval (0 disable)", ao_config_aprs_set, ao_config_aprs_show }, #endif #if HAS_BEEP_CONFIG { "b \0Beeper tone (freq = 1/2 (24e6/32) / beep", ao_config_beep_set, ao_config_beep_show }, #endif #if HAS_TRACKER { "t \0Tracker configuration", ao_config_tracker_set, ao_config_tracker_show }, #endif { "s\0Show", ao_config_show, 0 }, #if HAS_EEPROM { "w\0Write to eeprom", ao_config_save, 0 }, #endif { "?\0Help", ao_config_help, 0 }, { 0, 0, 0 } }; void ao_config_set(void) { char c; uint8_t cmd; ao_cmd_white(); c = ao_cmd_lex_c; ao_cmd_lex(); for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++) if (ao_config_vars[cmd].str[0] == c) { (*ao_config_vars[cmd].set)(); return; } ao_cmd_status = ao_cmd_syntax_error; } static void ao_config_help(void) __reentrant { uint8_t cmd; for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++) printf("%-20s %s\n", ao_config_vars[cmd].str, ao_config_vars[cmd].str+1+ strlen(ao_config_vars[cmd].str)); } static void ao_config_show(void) __reentrant { uint8_t cmd; ao_config_get(); printf("Config version: %d.%d\n", ao_config.major, ao_config.minor); for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++) if (ao_config_vars[cmd].show) (*ao_config_vars[cmd].show)(); #if HAS_MS5607 ao_ms5607_info(); #endif } #if HAS_EEPROM static void ao_config_save(void) __reentrant { uint8_t saved = 0; ao_mutex_get(&ao_config_mutex); if (ao_config_dirty) { _ao_config_put(); ao_config_dirty = 0; saved = 1; } ao_mutex_put(&ao_config_mutex); if (saved) puts("Saved"); else puts("Nothing to save"); } #endif __code struct ao_cmds ao_config_cmds[] = { { ao_config_set, "c \0Set config (? for help, s to show)" }, { 0, NULL }, }; void ao_config_init(void) { ao_cmd_register(&ao_config_cmds[0]); }