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altos: Add 'microtest' -- micropeak load for testing µPusb
This is custom MicroPeak firmware that just repeatedly generates constant flight log data which can be used to validate µPusb boards. Signed-off-by: Keith Packard <[email protected]>
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‎src/microtest/Makefile

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#
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# Tiny AltOS build
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#
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#
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TOPDIR=..
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include $(TOPDIR)/attiny/Makefile.defs
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PROGNAME=microtest-v1.0
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PROG=$(PROGNAME)-$(VERSION).elf
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HEX=$(PROGNAME)-$(VERSION).ihx
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ALTOS_SRC = \
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ao_microtest.c \
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ao_spi_attiny.c \
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ao_led_tiny.c \
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ao_clock.c \
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ao_ms5607.c \
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ao_exti.c \
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ao_notask.c \
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ao_eeprom_tiny.c \
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ao_panic.c \
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ao_log_micro.c \
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ao_async.c \
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ao_microflight.c \
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ao_microkalman.c
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INC=\
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ao.h \
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ao_pins.h \
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ao_arch.h \
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ao_arch_funcs.h \
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ao_exti.h \
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ao_ms5607.h \
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ao_log_micro.h \
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ao_micropeak.h \
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ao_product.h \
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altitude-pa.h
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IDPRODUCT=0
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PRODUCT=MicroTest-v1.0
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PRODUCT_DEF=-DMICROPEAK
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CFLAGS = $(PRODUCT_DEF) $(ATTINY_CFLAGS)
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SRC=$(ALTOS_SRC)
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OBJ=$(SRC:.c=.o)
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all: $(PROG) $(HEX)
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CHECK=sh ../util/check-avr-mem
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$(PROG): Makefile $(OBJ)
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$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
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$(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
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$(HEX): $(PROG)
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avr-size $(PROG)
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$(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
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load: $(HEX)
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$(LOADCMD) $(LOADARG)$(HEX)
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load-slow: $(HEX)
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$(LOADCMD) $(LOADSLOW) $(LOADARG)$(HEX)
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distclean: clean
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clean:
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rm -f *.o *.elf *.ihx *.map
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rm -f ao_product.h
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load-product:
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./$(SCRIPT) fast
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load-product-slow:
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./$(SCRIPT) slow
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install:
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uninstall:
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$(OBJ): $(INC)

‎src/microtest/ao_microtest.c

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/*
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* Copyright © 2012 Keith Packard <[email protected]>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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#include <ao.h>
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#include <ao_micropeak.h>
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#include <ao_ms5607.h>
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#include <ao_async.h>
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#include <ao_log_micro.h>
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static struct ao_ms5607_value value;
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alt_t ground_alt, max_alt;
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alt_t ao_max_height;
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void
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ao_pa_get(void)
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{
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ao_ms5607_sample(&ao_ms5607_current);
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ao_ms5607_convert(&ao_ms5607_current, &value);
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pa = value.pres;
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}
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static void
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ao_pips(void)
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{
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uint8_t i;
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for (i = 0; i < 10; i++) {
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ao_led_toggle(AO_LED_REPORT);
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ao_delay(AO_MS_TO_TICKS(80));
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}
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ao_delay(AO_MS_TO_TICKS(200));
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}
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#define POLY 0x8408
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static uint16_t
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ao_log_micro_crc(uint16_t crc, uint8_t byte)
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{
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uint8_t i;
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for (i = 0; i < 8; i++) {
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if ((crc & 0x0001) ^ (byte & 0x0001))
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crc = (crc >> 1) ^ POLY;
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else
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crc = crc >> 1;
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byte >>= 1;
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}
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return crc;
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}
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struct header {
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uint32_t pa_ground_offset;
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uint32_t pa_min_offset;
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N_SAMPLES_TYPE nsamples;
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};
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static const struct header head = {
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.pa_ground_offset = 0xfffefdfc,
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.pa_min_offset = 0xfbfaf9f8,
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.nsamples = 64
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};
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static void
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ao_test_micro_dump(void)
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{
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N_SAMPLES_TYPE n_samples;
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uint16_t nbytes;
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uint8_t byte;
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uint16_t b;
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uint16_t crc = 0xffff;
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n_samples = head.nsamples;
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nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
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/*
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* Rewrite n_samples so that it includes the log ID value with
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* 32-bit n_samples split into two chunks
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*/
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if (sizeof (n_samples) > 2) {
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N_SAMPLES_TYPE n_samples_low;
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N_SAMPLES_TYPE n_samples_high;
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n_samples_low = n_samples & ((1 << AO_LOG_ID_SHIFT) - 1);
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n_samples_high = (n_samples - n_samples_low) << AO_LOG_ID_WIDTH;
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n_samples = n_samples_low | n_samples_high;
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}
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#if AO_LOG_ID
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n_samples |= AO_LOG_ID << AO_LOG_ID_SHIFT;
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#endif
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ao_async_start();
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ao_async_byte('M');
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ao_async_byte('P');
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for (b = 0; b < nbytes; b++) {
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if ((b & 0xf) == 0)
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ao_log_newline();
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if (b < sizeof (head))
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byte = ((uint8_t *) &head)[b];
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else
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byte = b;
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#if AO_LOG_ID
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if (N_SAMPLES_OFFSET <= b && b < (N_SAMPLES_OFFSET + sizeof(n_samples))) {
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byte = n_samples >> ((b - N_SAMPLES_OFFSET) << 3);
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}
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#endif
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ao_log_hex(byte);
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crc = ao_log_micro_crc(crc, byte);
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}
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ao_log_newline();
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crc = ~crc;
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ao_log_hex(crc >> 8);
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ao_log_hex(crc);
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ao_log_newline();
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ao_async_stop();
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}
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int
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main(void)
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{
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ao_led_init();
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ao_timer_init();
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/* Init external hardware */
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ao_spi_init();
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ao_ms5607_init();
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ao_ms5607_setup();
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for (;;)
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{
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ao_delay(AO_MS_TO_TICKS(1000));
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ao_pips();
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ao_test_micro_dump();
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}
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}

‎src/microtest/ao_pins.h

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/*
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* Copyright © 2011 Keith Packard <[email protected]>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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#ifndef _AO_PINS_H_
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#define _AO_PINS_H_
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#include <avr/pgmspace.h>
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#define AO_LED_ORANGE (1<<4)
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#define AO_LED_SERIAL 4
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#define AO_LED_PANIC AO_LED_ORANGE
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#define AO_LED_REPORT AO_LED_ORANGE
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#define LEDS_AVAILABLE (AO_LED_ORANGE)
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#define USE_SERIAL_1_STDIN 0
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#define HAS_USB 0
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#define PACKET_HAS_SLAVE 0
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#define HAS_SERIAL_1 0
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#define HAS_TASK 0
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#define HAS_MS5607 1
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#define HAS_MS5611 0
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#define HAS_SENSOR_ERRORS 0
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#define HAS_EEPROM 0
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#define HAS_BEEP 0
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#define AVR_CLOCK 250000UL
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/* SPI */
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#define SPI_PORT PORTB
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#define SPI_PIN PINB
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#define SPI_DIR DDRB
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#define AO_MS5607_CS_PORT PORTB
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#define AO_MS5607_CS_PIN 3
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/* MS5607 */
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#define AO_MS5607_SPI_INDEX 0
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#define AO_MS5607_MISO_PORT PORTB
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#define AO_MS5607_MISO_PIN 0
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#define AO_MS5607_BARO_OVERSAMPLE 4096
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#define AO_MS5607_TEMP_OVERSAMPLE 1024
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/* I2C */
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#define I2C_PORT PORTB
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#define I2C_PIN PINB
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#define I2C_DIR DDRB
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#define I2C_PIN_SCL PINB2
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#define I2C_PIN_SDA PINB0
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#define AO_CONST_ATTRIB PROGMEM
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typedef int32_t alt_t;
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#define FETCH_ALT(o) ((alt_t) pgm_read_dword(&altitude_table[o]))
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#define AO_ALT_VALUE(x) ((x) * (alt_t) 10)
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#endif /* _AO_PINS_H_ */

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