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Initial Commit - Copy from Altus Metrum AltOS

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Jannis Bergmann
2024-06-25 19:03:04 +02:00
commit 13fc49c923
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ao-tools/ao-cal-accel/.gitignore vendored Normal file
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ao-cal-accel

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ao-tools/ao-cal-accel/Makefile.am Normal file
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bin_PROGRAMS=ao-cal-accel
AM_CFLAGS=$(WARN_CFLAGS) -I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
ao_cal_accel_DEPENDENCIES = $(top_builddir)/ao-tools/lib/libao-tools.a
ao_cal_accel_LDADD=$(top_builddir)/ao-tools/lib/libao-tools.a $(LIBUSB_LIBS)
ao_cal_accel_SOURCES=ao-cal-accel.c
man_MANS = ao-cal-accel.1

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ao-tools/ao-cal-accel/ao-cal-accel.1 Normal file
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.\"
.\" 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; either version 2 of the License, or
.\" (at your option) any later version.
.\"
.\" 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.
.\"
.\"
.TH AO-LOAD 1 "ao-cal-accel" ""
.SH NAME
ao-cal-accel \- Calibrate AltOS flight computer accelerometers
.SH SYNOPSIS
.B "ao-cal-accel"
[\-T \fItty-device\fP]
[\--tty \fItty-device\fP]
[\-D \fIaltos-device\fP]
[\--device \fIaltos-device\fP]
.SH DESCRIPTION
.I ao-cal-accel
drives the built-in accelerometer calibration and validates the results.
.SH OPTIONS
.TP
\-T tty-device | --tty tty-device
This selects which tty device the debugger uses to communicate with
the target device. The special name 'BITBANG' directs ao-dbg to use
the cp2103 connection, otherwise this should be a usb serial port
connected to a suitable cc1111 debug node.
.TP
\-D AltOS-device | --device AltOS-device
Search for a connected device. This requires an argument of one of the
following forms:
.IP
TeleMega:2
.br
TeleMega
.br
2
.IP
Leaving out the product name will cause the tool to select a suitable
product, leaving out the serial number will cause the tool to match
one of the available devices.
.SH USAGE
.I ao-cal-accel
opens the target device, executes the accelerometer calibration
command, verifies that it executed correctly, then shows the resulting
calibration values and saves them to configuration memory.
.SH AUTHOR
Keith Packard

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ao-tools/ao-cal-accel/ao-cal-accel.c Normal file
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/*
* Copyright © 2014 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* 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 <err.h>
#include <fcntl.h>
#include <gelf.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <sysexits.h>
#include <unistd.h>
#include <getopt.h>
#include <string.h>
#include <stdbool.h>
#include <termios.h>
#include "ao-elf.h"
#include "ccdbg.h"
#include "cc-usb.h"
#include "cc.h"
#include "ao-verbose.h"
static const struct option options[] = {
{ .name = "tty", .has_arg = 1, .val = 'T' },
{ .name = "device", .has_arg = 1, .val = 'D' },
{ .name = "raw", .has_arg = 0, .val = 'r' },
{ .name = "verbose", .has_arg = 1, .val = 'v' },
{ 0, 0, 0, 0},
};
static void usage(char *program)
{
fprintf(stderr, "usage: %s [--verbose=<verbose>] [--device=<device>] [-tty=<tty>]\n", program);
exit(1);
}
static void
done(struct cc_usb *cc, int code)
{
cc_usb_close(cc);
exit (code);
}
static char **
tok(char *line) {
char **strs = malloc (sizeof (char *)), *str;
int n = 0;
while ((str = strtok(line, " \t"))) {
line = NULL;
strs = realloc(strs, (n + 2) * sizeof (char *));
strs[n] = strdup(str);
n++;
}
strs[n] = '\0';
return strs;
}
struct flash {
struct flash *next;
char line[512];
char **strs;
};
static struct flash *
flash(struct cc_usb *usb)
{
struct flash *head = NULL, **tail = &head;
cc_usb_printf(usb, "c s\nv\n");
for (;;) {
char line[512];
struct flash *b;
cc_usb_getline(usb, line, sizeof (line));
b = malloc (sizeof (struct flash));
strcpy(b->line, line);
b->strs = tok(line);
b->next = NULL;
*tail = b;
tail = &b->next;
if (strstr(line, "software-version"))
break;
}
return head;
}
static char **
find_flash(struct flash *b, char *word0) {
for (;b; b = b->next) {
if (strstr(b->line, word0))
return b->strs;
}
return NULL;
}
static void
await_key(void)
{
struct termios termios, termios_save;
char buf[512];
tcgetattr(0, &termios);
termios_save = termios;
cfmakeraw(&termios);
tcsetattr(0, TCSAFLUSH, &termios);
read(0, buf, sizeof (buf));
tcsetattr(0, TCSAFLUSH, &termios_save);
}
static int
do_cal(struct cc_usb *usb) {
struct flash *b;
char **accel;
char line[1024];
int l = 0;
int running = 0;
int worked = 1;
cc_usb_printf(usb, "E 1\nc a 0\n");
for (;;) {
int c = cc_usb_getchar_timeout(usb, 20*1000);
if (c == '\n')
l = 0;
else if (l < sizeof (line) - 1)
line[l++] = c;
line[l] = '\0';
putchar(c); fflush(stdout);
if (strstr(line, "press a key...")) {
await_key();
cc_usb_printf(usb, " ");
l = 0;
running = 1;
}
else if (strstr(line, "Invalid"))
worked = 0;
if (running && strstr(line, ">")) {
printf("\n");
break;
}
}
cc_usb_printf(usb, "E 0\n");
if (!worked) {
printf("Calibration failed\n");
return 0;
}
b = flash(usb);
accel = find_flash(b, "Accel cal");
if (!accel) {
printf("no response\n");
return 0;
}
printf ("Accel cal +1g: %s -1g: %s\n",
accel[3], accel[5]);
printf ("Saving..."); fflush(stdout);
cc_usb_printf (usb, "c w\n");
cc_usb_sync(usb);
b = flash(usb);
printf ("done\n");
return worked;
}
int
main (int argc, char **argv)
{
char *device = NULL;
int c;
struct cc_usb *cc = NULL;
char *tty = NULL;
int verbose = 0;
int ret = 0;
while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) {
switch (c) {
case 'T':
tty = optarg;
break;
case 'D':
device = optarg;
break;
case 'v':
verbose++;
break;
default:
usage(argv[0]);
break;
}
}
ao_verbose = verbose;
if (verbose > 1)
ccdbg_add_debug(CC_DEBUG_BITBANG);
if (!tty)
tty = cc_usbdevs_find_by_arg(device, "AltosFlash");
if (!tty)
tty = cc_usbdevs_find_by_arg(device, "TeleMega");
if (!tty)
tty = getenv("ALTOS_TTY");
if (!tty)
tty="/dev/ttyACM0";
cc = cc_usb_open(tty);
if (!cc)
exit(1);
if (!do_cal(cc))
ret = 1;
done(cc, ret);
}