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.
31 /* Convert a __data pointer into an __xdata pointer */
33 #define DATA_TO_XDATA(a) (a)
35 #ifndef PDATA_TO_XDATA
36 #define PDATA_TO_XDATA(a) (a)
39 #define CODE_TO_XDATA(a) (a)
44 __xdata void *wchan; /* current wait channel (NULL if running) */
45 uint16_t alarm; /* abort ao_sleep time */
46 ao_arch_task_members /* any architecture-specific fields */
47 uint8_t task_id; /* unique id */
48 __code char *name; /* task name */
49 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
52 extern __xdata struct ao_task *__data ao_cur_task;
54 #define AO_NUM_TASKS 16 /* maximum number of tasks */
55 #define AO_NO_TASK 0 /* no task id */
61 /* Suspend the current task until wchan is awoken.
67 ao_sleep(__xdata void *wchan);
69 /* Wake all tasks sleeping on wchan */
71 ao_wakeup(__xdata void *wchan);
73 /* set an alarm to go off in 'delay' ticks */
75 ao_alarm(uint16_t delay);
77 /* Clear any pending alarm */
81 /* Yield the processor to another task */
83 ao_yield(void) ao_arch_naked_declare;
85 /* Add a task to the run queue */
87 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
89 /* Terminate the current task */
93 /* Dump task info to console */
97 /* Start the scheduler. This will not return */
99 ao_start_scheduler(void);
105 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
106 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
107 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
108 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
109 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
110 #define AO_PANIC_CMD 6 /* Too many command sets registered */
111 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
112 #define AO_PANIC_REBOOT 8 /* Reboot failed */
113 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
114 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
115 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
116 #define AO_PANIC_STACK 12 /* Stack overflow */
117 #define AO_PANIC_SPI 13 /* SPI communication failure */
118 #define AO_PANIC_SELF_TEST 14 /* Self test failure */
120 /* Stop the operating system, beeping and blinking the reason */
122 ao_panic(uint8_t reason);
128 /* Our timer runs at 100Hz */
130 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
131 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
133 /* Returns the current time in ticks */
137 /* Suspend the current task until ticks time has passed */
139 ao_delay(uint16_t ticks);
141 /* Set the ADC interval */
143 ao_timer_set_adc_interval(uint8_t interval) __critical;
145 /* Timer interrupt */
147 ao_timer_isr(void) ao_arch_interrupt(9);
149 /* Initialize the timer */
153 /* Initialize the hardware clock. Must be called first */
162 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
165 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
173 ao_cmd_lex_error = 1,
174 ao_cmd_syntax_error = 2,
177 extern __pdata uint16_t ao_cmd_lex_i;
178 extern __pdata uint32_t ao_cmd_lex_u32;
179 extern __pdata char ao_cmd_lex_c;
180 extern __pdata enum ao_cmd_status ao_cmd_status;
186 ao_cmd_put8(uint8_t v);
189 ao_cmd_put16(uint16_t v);
192 ao_cmd_is_white(void);
198 ao_cmd_hexchar(char c);
201 ao_cmd_hexbyte(void);
207 ao_cmd_decimal(void);
210 ao_match_word(__code char *word);
218 ao_cmd_register(const __code struct ao_cmds *cmds);
225 * Provided by an external module to filter raw command lines
251 #include <ao_storage.h>
259 #include <ao_flight.h>
260 #include <ao_sample.h>
268 ao_report_init(void);
273 * Given raw data, convert to SI units
276 /* pressure from the sensor to altitude in meters */
278 ao_pres_to_altitude(int16_t pres) __reentrant;
281 ao_altitude_to_pres(int16_t alt) __reentrant;
284 ao_temp_to_dC(int16_t temp) __reentrant;
289 * Convert between pressure in Pa and altitude in meters
293 ao_pa_to_altitude(int32_t pa);
296 ao_altitude_to_pa(int32_t alt);
302 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
303 #include <ao_serial.h>
312 ao_spi_slave_recv(uint8_t *buf, uint8_t len);
315 ao_spi_slave_send(uint8_t *buf, uint8_t len);
318 ao_spi_slave_init(void);
320 /* This must be defined by the product; it will get called when chip
321 * select goes low, at which point it should use ao_spi_read and
322 * ao_spi_write to deal with the request
328 #include <ao_telemetry.h>
333 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
334 #define AO_GPS_NUM_SAT_SHIFT (0)
336 #define AO_GPS_VALID (1 << 4)
337 #define AO_GPS_RUNNING (1 << 5)
338 #define AO_GPS_DATE_VALID (1 << 6)
339 #define AO_GPS_COURSE_VALID (1 << 7)
341 extern __pdata uint16_t ao_gps_tick;
342 extern __xdata uint8_t ao_gps_mutex;
343 extern __xdata struct ao_telemetry_location ao_gps_data;
344 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
354 int32_t latitude; /* degrees * 10⁷ */
355 int32_t longitude; /* degrees * 10⁷ */
356 int16_t altitude; /* m */
357 uint16_t ground_speed; /* cm/s */
358 uint8_t course; /* degrees / 2 */
359 uint8_t hdop; /* * 5 */
360 int16_t climb_rate; /* cm/s */
361 uint16_t h_error; /* m */
362 uint16_t v_error; /* m */
365 struct ao_gps_sat_orig {
370 #define AO_MAX_GPS_TRACKING 12
372 struct ao_gps_tracking_orig {
374 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
381 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
384 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
397 ao_gps_report_init(void);
400 * ao_telemetry_orig.c
404 uint16_t tick; /* tick when the sample was read */
405 int16_t accel; /* accelerometer */
406 int16_t pres; /* pressure sensor */
407 int16_t temp; /* temperature sensor */
408 int16_t v_batt; /* battery voltage */
409 int16_t sense_d; /* drogue continuity sense */
410 int16_t sense_m; /* main continuity sense */
413 struct ao_telemetry_orig {
416 uint8_t flight_state;
418 int16_t ground_accel;
428 int16_t accel_plus_g;
429 int16_t accel_minus_g;
430 struct ao_adc_orig adc;
431 struct ao_gps_orig gps;
432 char callsign[AO_MAX_CALLSIGN];
433 struct ao_gps_tracking_orig gps_tracking;
436 struct ao_telemetry_tiny {
439 uint8_t flight_state;
440 int16_t height; /* AGL in meters */
441 int16_t speed; /* in m/s * 16 */
442 int16_t accel; /* in m/s² * 16 */
443 int16_t ground_pres; /* sensor units */
444 struct ao_adc adc; /* raw ADC readings */
445 char callsign[AO_MAX_CALLSIGN];
448 struct ao_telemetry_orig_recv {
449 struct ao_telemetry_orig telemetry_orig;
454 struct ao_telemetry_tiny_recv {
455 struct ao_telemetry_tiny telemetry_tiny;
461 * ao_radio_recv tacks on rssi and status bytes
464 struct ao_telemetry_raw_recv {
465 uint8_t packet[AO_MAX_TELEMETRY + 2];
468 /* Set delay between telemetry reports (0 to disable) */
470 #ifdef AO_SEND_ALL_BARO
471 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
472 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
473 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
475 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
476 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
477 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
481 ao_telemetry_set_interval(uint16_t interval);
484 ao_rdf_set(uint8_t rdf);
487 ao_telemetry_init(void);
490 ao_telemetry_orig_init(void);
493 ao_telemetry_tiny_init(void);
499 extern __xdata uint8_t ao_radio_dma;
500 extern __xdata uint8_t ao_radio_dma_done;
501 extern __xdata uint8_t ao_radio_done;
502 extern __xdata uint8_t ao_radio_mutex;
505 ao_radio_general_isr(void) ao_arch_interrupt(16);
508 ao_radio_get(uint8_t len);
510 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
513 ao_radio_set_packet(void);
516 ao_radio_send(__xdata void *d, uint8_t size) __reentrant;
519 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
522 ao_radio_recv_abort(void);
525 * Compute the packet length as follows:
527 * 2000 bps (for a 1kHz tone)
528 * so, for 'ms' milliseconds, we need
529 * 2 * ms bits, or ms / 4 bytes
532 #define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2))
535 ao_radio_rdf(uint8_t pkt_len);
538 ao_radio_rdf_abort(void);
550 extern const char const * const ao_state_names[];
552 #define AO_MONITOR_RING 8
555 struct ao_telemetry_raw_recv raw;
556 struct ao_telemetry_all_recv all;
557 struct ao_telemetry_orig_recv orig;
558 struct ao_telemetry_tiny_recv tiny;
561 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
563 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
565 extern __data uint8_t ao_monitoring;
566 extern __data uint8_t ao_monitor_head;
571 #define AO_MONITORING_OFF 0
572 #define AO_MONITORING_ORIG 1
575 ao_monitor_set(uint8_t monitoring);
578 ao_monitor_disable(void);
581 ao_monitor_enable(void);
584 ao_monitor_init(void) __reentrant;
590 #define AO_READ_AGAIN ((char) -1)
593 char (*pollchar)(void);
594 void (*putchar)(char c) __reentrant;
599 extern __xdata struct ao_stdio ao_stdios[];
600 extern __pdata int8_t ao_cur_stdio;
601 extern __pdata int8_t ao_num_stdios;
606 extern __xdata uint8_t ao_stdin_ready;
612 ao_add_stdio(char (*pollchar)(void),
613 void (*putchar)(char) __reentrant,
614 void (*flush)(void)) __reentrant;
621 ao_igniter_drogue = 0,
626 ao_ignite(enum ao_igniter igniter);
628 enum ao_igniter_status {
629 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
630 ao_igniter_ready, /* continuity detected */
631 ao_igniter_active, /* igniter firing */
632 ao_igniter_open, /* open circuit detected */
641 extern __xdata struct ao_ignition ao_ignition[2];
643 enum ao_igniter_status
644 ao_igniter_status(enum ao_igniter igniter);
646 extern __pdata uint8_t ao_igniter_present;
649 ao_ignite_set_pins(void);
652 ao_igniter_init(void);
658 #define AO_CONFIG_MAJOR 1
659 #define AO_CONFIG_MINOR 11
661 #define AO_AES_LEN 16
666 uint16_t main_deploy;
667 int16_t accel_plus_g; /* changed for minor version 2 */
668 uint8_t _legacy_radio_channel;
669 char callsign[AO_MAX_CALLSIGN + 1];
670 uint8_t apogee_delay; /* minor version 1 */
671 int16_t accel_minus_g; /* minor version 2 */
672 uint32_t radio_cal; /* minor version 3 */
673 uint32_t flight_log_max; /* minor version 4 */
674 uint8_t ignite_mode; /* minor version 5 */
675 uint8_t pad_orientation; /* minor version 6 */
676 uint32_t radio_setting; /* minor version 7 */
677 uint8_t radio_enable; /* minor version 8 */
678 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
679 uint32_t frequency; /* minor version 10 */
680 uint16_t apogee_lockout; /* minor version 11 */
683 #define AO_IGNITE_MODE_DUAL 0
684 #define AO_IGNITE_MODE_APOGEE 1
685 #define AO_IGNITE_MODE_MAIN 2
687 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
688 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
690 extern __xdata struct ao_config ao_config;
692 #define AO_CONFIG_MAX_SIZE 128
701 ao_config_set_radio(void);
704 ao_config_init(void);
711 ao_rssi_set(int rssi_value);
714 ao_rssi_init(uint8_t rssi_led);
719 * values which need to be defined for
720 * each instance of a product
723 extern const char ao_version[];
724 extern const char ao_manufacturer[];
725 extern const char ao_product[];
731 #define AO_FIFO_SIZE 32
736 char fifo[AO_FIFO_SIZE];
739 #define ao_fifo_insert(f,c) do { \
740 (f).fifo[(f).insert] = (c); \
741 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
744 #define ao_fifo_remove(f,c) do {\
745 c = (f).fifo[(f).remove]; \
746 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
749 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
750 #define ao_fifo_empty(f) ((f).insert == (f).remove)
752 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
753 #include <ao_packet.h>
761 #include <ao_companion.h>
774 struct ao_launch_command {
782 #define AO_LAUNCH_QUERY 1
784 struct ao_launch_query {
790 uint8_t igniter_status;
793 #define AO_LAUNCH_ARM 2
794 #define AO_LAUNCH_FIRE 3
797 ao_launch_init(void);
803 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
804 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
806 #define AO_LOG_TELESCIENCE_NUM_ADC 12
808 struct ao_log_telescience {
815 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
818 #define AO_LOG_SINGLE_SIZE 32
820 union ao_log_single {
821 struct ao_log_telescience telescience;
822 union ao_telemetry_all telemetry;
823 uint8_t bytes[AO_LOG_SINGLE_SIZE];
826 extern __xdata union ao_log_single ao_log_single_write_data;
827 extern __xdata union ao_log_single ao_log_single_read_data;
830 ao_log_single_extra_query(void);
833 ao_log_single_list(void);
836 ao_log_single_main(void);
839 ao_log_single_write(void);
842 ao_log_single_read(uint32_t pos);
845 ao_log_single_start(void);
848 ao_log_single_stop(void);
851 ao_log_single_restart(void);
854 ao_log_single_set(void);
857 ao_log_single_delete(void);
860 ao_log_single_init(void);
869 #define AO_TELEPYRO_NUM_ADC 9
872 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
873 #define ao_xmemset(d,v,c) memset(d,v,c)
874 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
882 ao_terraui_init(void);
890 ao_battery_isr(void) ao_arch_interrupt(1);
893 ao_battery_get(void);
896 ao_battery_init(void);
897 #endif /* BATTERY_PIN */
904 ao_sqrt(uint32_t op);
910 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
912 #include <ao_arch_funcs.h>
918 void ao_ms5607_init(void);