2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
26 /* Convert a __data pointer into an __xdata pointer */
27 #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
29 /* Stack runs from above the allocated __data space to 0xfe, which avoids
30 * writing to 0xff as that triggers the stack overflow indicator
32 #define AO_STACK_START 0x28
33 #define AO_STACK_END 0xfe
34 #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
38 __xdata void *wchan; /* current wait channel (NULL if running) */
39 uint8_t stack_count; /* amount of saved stack */
40 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
43 #define AO_NUM_TASKS 10 /* maximum number of tasks */
45 #define ao_interrupt_disable() (EA = 0)
46 #define ao_interrupt_enable() (EA = 1)
52 /* Suspend the current task until wchan is awoken */
54 ao_sleep(__xdata void *wchan);
56 /* Wake all tasks sleeping on wchan */
58 ao_wakeup(__xdata void *wchan);
60 /* Yield the processor to another task */
62 ao_yield(void) _naked;
64 /* Add a task to the run queue */
66 ao_add_task(__xdata struct ao_task * task, void (*start)(void));
68 /* Start the scheduler. This will not return */
70 ao_start_scheduler(void);
76 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
78 /* Stop the operating system, beeping and blinking the reason */
80 ao_panic(uint8_t reason);
86 /* Our timer runs at 100Hz */
87 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
88 #define AO_SEC_TO_TICKS(s) ((s) * 100)
90 /* Returns the current time in ticks */
94 /* Suspend the current task until ticks time has passed */
96 ao_delay(uint16_t ticks);
100 ao_timer_isr(void) interrupt 9;
102 /* Initialize the timer */
113 * One set of samples read from the A/D converter
116 uint16_t tick; /* tick when the sample was read */
117 int16_t accel; /* accelerometer */
118 int16_t pres; /* pressure sensor */
119 int16_t temp; /* temperature sensor */
120 int16_t v_batt; /* battery voltage */
121 int16_t sense_d; /* drogue continuity sense */
122 int16_t sense_m; /* main continuity sense */
126 * A/D data is stored in a ring, with the next sample to be written
129 extern volatile __xdata struct ao_adc ao_adc_ring[ADC_RING];
130 extern volatile __data uint8_t ao_adc_head;
132 /* Trigger a conversion sequence (called from the timer interrupt) */
136 /* Suspend the current task until another A/D sample is converted */
140 /* Get a copy of the last complete A/D sample set */
142 ao_adc_get(__xdata struct ao_adc *packet);
144 /* The A/D interrupt handler */
146 ao_adc_isr(void) interrupt 1;
148 /* Initialize the A/D converter */
157 * Various pre-defined beep frequencies
159 * frequency = 1/2 (24e6/32) / beep
162 #define AO_BEEP_LOW 150 /* 2500Hz */
163 #define AO_BEEP_MID 94 /* 3989Hz */
164 #define AO_BEEP_HIGH 75 /* 5000Hz */
165 #define AO_BEEP_OFF 0 /* off */
167 #define AO_BEEP_g 240 /* 1562.5Hz */
168 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
169 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
170 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
171 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
172 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
173 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
174 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
175 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
176 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
177 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
178 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
179 #define AO_BEEP_gg 120 /* 3125Hz */
180 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
181 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
182 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
183 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
184 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
185 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
186 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
187 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
188 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
189 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
190 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
191 #define AO_BEEP_ggg 60 /* 6250Hz */
193 /* Set the beeper to the specified tone */
195 ao_beep(uint8_t beep);
197 /* Turn on the beeper for the specified time */
199 ao_beep_for(uint8_t beep, uint16_t ticks);
201 /* Initialize the beeper */
209 #define AO_LED_NONE 0
210 #define AO_LED_GREEN 1
213 /* Turn on the specified LEDs */
215 ao_led_on(uint8_t colors);
217 /* Turn off the specified LEDs */
219 ao_led_off(uint8_t colors);
221 /* Set all of the LEDs to the specified state */
223 ao_led_set(uint8_t colors);
225 /* Turn on the specified LEDs for the indicated interval */
227 ao_led_for(uint8_t colors, uint16_t ticks);
229 /* Initialize the LEDs */
237 /* Put one character to the USB output queue */
239 ao_usb_putchar(uint8_t c);
241 /* Get one character from the USB input queue */
243 ao_usb_getchar(void);
245 /* Flush the USB output queue */
249 /* USB interrupt handler */
251 ao_usb_isr(void) interrupt 6;
253 /* Initialize the USB system */