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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
29 /* replace stdio macros with direct calls to our functions */
32 #define putchar(c) ao_putchar(c)
33 #define getchar ao_getchar
35 extern int ao_putchar(char c);
36 extern char ao_getchar(void);
45 typedef AO_PORT_TYPE ao_port_t;
50 #include <ao_notask.h>
57 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
58 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
59 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
60 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
61 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
62 #define AO_PANIC_CMD 6 /* Too many command sets registered */
63 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
64 #define AO_PANIC_REBOOT 8 /* Reboot failed */
65 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
66 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
67 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
68 #define AO_PANIC_STACK 12 /* Stack overflow */
69 #define AO_PANIC_SPI 13 /* SPI communication failure */
70 #define AO_PANIC_CRASH 14 /* Processor crashed */
71 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
72 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
73 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
74 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
75 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
76 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
77 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
78 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
79 #define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */
80 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
82 /* Stop the operating system, beeping and blinking the reason */
84 ao_panic(uint8_t reason);
91 #define AO_TICK_TYPE uint16_t
92 #define AO_TICK_SIGNED int16_t
95 extern volatile AO_TICK_TYPE ao_tick_count;
97 /* Our timer runs at 100Hz */
101 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
102 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
104 /* Returns the current time in ticks */
108 /* Suspend the current task until ticks time has passed */
110 ao_delay(uint16_t ticks);
112 /* Set the ADC interval */
114 ao_timer_set_adc_interval(uint8_t interval);
116 /* Timer interrupt */
118 ao_timer_isr(void) ao_arch_interrupt(9);
120 /* Initialize the timer */
124 /* Initialize the hardware clock. Must be called first */
128 #if AO_POWER_MANAGEMENT
129 /* Go to low power clock */
131 ao_clock_suspend(void);
133 /* Restart full-speed clock */
135 ao_clock_resume(void);
144 ao_mutex_try(uint8_t *ao_mutex, uint8_t task_id);
147 ao_mutex_get(uint8_t *ao_mutex);
150 ao_mutex_put(uint8_t *ao_mutex);
159 ao_cmd_lex_error = 1,
160 ao_cmd_syntax_error = 2,
163 extern uint16_t ao_cmd_lex_i;
164 extern uint32_t ao_cmd_lex_u32;
165 extern char ao_cmd_lex_c;
166 extern enum ao_cmd_status ao_cmd_status;
169 ao_put_string(const char *s);
172 ao_cmd_readline(void);
178 ao_cmd_put8(uint8_t v);
181 ao_cmd_put16(uint16_t v);
184 ao_cmd_is_white(void);
190 ao_cmd_hexchar(char c);
193 ao_cmd_hexbyte(void);
199 ao_cmd_decimal(void);
201 /* Read a single hex nibble off stdin. */
206 ao_match_word(const char *word);
214 ao_cmd_register(const struct ao_cmds *cmds);
224 * Provided by an external module to filter raw command lines
250 #include <ao_storage.h>
258 #include <ao_flight.h>
259 #include <ao_sample.h>
266 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
267 #define AO_RDF_LENGTH_MS 500
268 #define AO_RDF_CONTINUITY_MS 32
269 #define AO_RDF_CONTINUITY_PAUSE 96
270 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
272 /* This assumes that we're generating a 1kHz tone, which
273 * modulates the carrier at 2kbps, or 250kBps
275 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
277 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
278 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
279 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
280 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
282 /* returns a value 0-3 to indicate igniter continuity */
284 ao_report_igniter(void);
287 ao_report_init(void);
292 * Given raw data, convert to SI units
296 /* pressure from the sensor to altitude in meters */
298 ao_pres_to_altitude(pres_t pres);
301 ao_altitude_to_pres(alt_t alt);
304 ao_temp_to_dC(int16_t temp);
310 * Convert between pressure in Pa and altitude in meters
317 ao_pa_to_altitude(pres_t pa);
320 ao_altitude_to_pa(alt_t alt);
327 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
328 #include <ao_serial.h>
334 * Convert ADC readings to decivolts
338 ao_battery_decivolt(int16_t adc);
341 ao_ignite_decivolt(int16_t adc);
348 ao_spi_slave_recv(void *buf, uint16_t len);
351 ao_spi_slave_send(void *buf, uint16_t len);
354 ao_spi_slave_init(void);
356 /* This must be defined by the product; it will get called when chip
357 * select goes low, at which point it should use ao_spi_read and
358 * ao_spi_write to deal with the request
364 #include <ao_telemetry.h>
369 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
370 #define AO_GPS_NUM_SAT_SHIFT (0)
372 #define AO_GPS_VALID (1 << 4)
373 #define AO_GPS_RUNNING (1 << 5)
374 #define AO_GPS_DATE_VALID (1 << 6)
375 #define AO_GPS_COURSE_VALID (1 << 7)
377 #define AO_GPS_NEW_DATA 1
378 #define AO_GPS_NEW_TRACKING 2
380 extern uint8_t ao_gps_new;
381 extern uint16_t ao_gps_tick;
382 extern uint8_t ao_gps_mutex;
383 extern struct ao_telemetry_location ao_gps_data;
384 extern struct ao_telemetry_satellite ao_gps_tracking_data;
394 int32_t latitude; /* degrees * 10⁷ */
395 int32_t longitude; /* degrees * 10⁷ */
396 int16_t altitude; /* m */
397 uint16_t ground_speed; /* cm/s */
398 uint8_t course; /* degrees / 2 */
399 uint8_t hdop; /* * 5 */
400 int16_t climb_rate; /* cm/s */
401 uint16_t h_error; /* m */
402 uint16_t v_error; /* m */
405 struct ao_gps_sat_orig {
410 #define AO_MAX_GPS_TRACKING 12
412 struct ao_gps_tracking_orig {
414 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
418 ao_gps_set_rate(uint8_t rate);
424 ao_gps_print(struct ao_gps_orig *gps_data);
427 ao_gps_tracking_print(struct ao_gps_tracking_orig *gps_tracking_data);
443 ao_gps_report_init(void);
446 * ao_gps_report_mega.c
450 ao_gps_report_mega(void);
453 ao_gps_report_mega_init(void);
456 * ao_telemetry_orig.c
461 uint16_t tick; /* tick when the sample was read */
462 int16_t accel; /* accelerometer */
463 int16_t pres; /* pressure sensor */
464 int16_t temp; /* temperature sensor */
465 int16_t v_batt; /* battery voltage */
466 int16_t sense_d; /* drogue continuity sense */
467 int16_t sense_m; /* main continuity sense */
470 struct ao_telemetry_orig {
473 uint8_t flight_state;
475 int16_t ground_accel;
485 int16_t accel_plus_g;
486 int16_t accel_minus_g;
487 struct ao_adc_orig adc;
488 struct ao_gps_orig gps;
489 char callsign[AO_MAX_CALLSIGN];
490 struct ao_gps_tracking_orig gps_tracking;
493 struct ao_telemetry_tiny {
496 uint8_t flight_state;
497 int16_t height; /* AGL in meters */
498 int16_t speed; /* in m/s * 16 */
499 int16_t accel; /* in m/s² * 16 */
500 int16_t ground_pres; /* sensor units */
501 struct ao_adc adc; /* raw ADC readings */
502 char callsign[AO_MAX_CALLSIGN];
505 struct ao_telemetry_orig_recv {
506 struct ao_telemetry_orig telemetry_orig;
511 struct ao_telemetry_tiny_recv {
512 struct ao_telemetry_tiny telemetry_tiny;
517 #endif /* LEGACY_MONITOR */
519 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
520 * for reporting RSSI. So, now we use these values everywhere
522 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
523 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
526 * ao_radio_recv tacks on rssi and status bytes
529 struct ao_telemetry_raw_recv {
530 uint8_t packet[AO_MAX_TELEMETRY + 2];
533 /* Set delay between telemetry reports (0 to disable) */
535 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
536 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
537 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
540 ao_telemetry_reset_interval(void);
543 ao_telemetry_set_interval(uint16_t interval);
546 ao_rdf_set(uint8_t rdf);
549 ao_telemetry_init(void);
552 ao_telemetry_orig_init(void);
555 ao_telemetry_tiny_init(void);
561 extern uint8_t ao_radio_dma;
563 extern int8_t ao_radio_rssi;
565 #ifdef PKT_APPEND_STATUS_1_CRC_OK
566 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
569 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
572 #ifndef HAS_RADIO_RECV
573 #define HAS_RADIO_RECV HAS_RADIO
575 #ifndef HAS_RADIO_XMIT
576 #define HAS_RADIO_XMIT HAS_RADIO
579 #define AO_RADIO_RATE_38400 0
580 #define AO_RADIO_RATE_9600 1
581 #define AO_RADIO_RATE_2400 2
582 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
584 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
585 #define HAS_RADIO_RATE HAS_RADIO
589 ao_radio_general_isr(void) ao_arch_interrupt(16);
593 ao_radio_send(const void *d, uint8_t size);
598 ao_radio_recv(void *d, uint8_t size, uint8_t timeout);
601 ao_radio_recv_abort(void);
605 ao_radio_test(uint8_t on);
607 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
610 ao_radio_send_aprs(ao_radio_fill_func fill);
618 ao_radio_pa_on(void);
621 ao_radio_pa_off(void);
624 ao_radio_pa_init(void);
626 #define ao_radio_pa_on()
627 #define ao_radio_pa_off()
628 #define ao_radio_pa_init()
632 * Compute the packet length as follows:
634 * 2000 bps (for a 1kHz tone)
635 * so, for 'ms' milliseconds, we need
636 * 2 * ms bits, or ms / 4 bytes
643 ao_radio_continuity(uint8_t c);
646 ao_radio_rdf_abort(void);
649 ao_radio_test_on(void);
652 ao_radio_test_off(void);
663 extern const char * const ao_state_names[];
665 #define AO_MONITOR_RING 8
668 struct ao_telemetry_raw_recv raw;
669 struct ao_telemetry_all_recv all;
671 struct ao_telemetry_orig_recv orig;
672 struct ao_telemetry_tiny_recv tiny;
676 extern union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
678 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
679 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
681 extern uint8_t ao_monitoring_mutex;
682 extern uint8_t ao_monitoring;
683 extern uint8_t ao_monitor_head;
688 #define AO_MONITORING_OFF 0
689 #define AO_MONITORING_ORIG 1
692 ao_monitor_set(uint8_t monitoring);
695 ao_monitor_disable(void);
698 ao_monitor_enable(void);
701 ao_monitor_init(void);
709 #define AO_READ_AGAIN (-1)
712 int (*_pollchar)(void); /* Called with interrupts blocked */
713 void (*putchar)(char c);
718 extern struct ao_stdio ao_stdios[];
719 extern int8_t ao_cur_stdio;
720 extern int8_t ao_num_stdios;
725 extern uint8_t ao_stdin_ready;
731 ao_add_stdio(int (*pollchar)(void),
732 void (*putchar)(char) ,
733 void (*flush)(void));
740 ao_igniter_drogue = 0,
745 ao_ignite(enum ao_igniter igniter);
747 enum ao_igniter_status {
748 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
749 ao_igniter_ready, /* continuity detected */
750 ao_igniter_active, /* igniter firing */
751 ao_igniter_open, /* open circuit detected */
760 extern const char * const ao_igniter_status_names[];
762 extern struct ao_ignition ao_ignition[2];
764 enum ao_igniter_status
765 ao_igniter_status(enum ao_igniter igniter);
767 extern uint8_t ao_igniter_present;
770 ao_ignite_set_pins(void);
773 ao_igniter_init(void);
778 #include <ao_config.h>
786 * Set this to force the frequency to 434.550MHz
788 extern uint8_t ao_force_freq;
797 ao_rssi_set(int16_t rssi_value);
800 ao_rssi_init(AO_LED_TYPE rssi_led);
806 * values which need to be defined for
807 * each instance of a product
810 extern const char ao_version[];
811 extern const char ao_manufacturer[];
812 extern const char ao_product[];
818 #define AO_FIFO_SIZE 32
823 char fifo[AO_FIFO_SIZE];
826 #define ao_fifo_insert(f,c) do { \
827 (f).fifo[(f).insert] = (c); \
828 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
831 #define ao_fifo_remove(f,c) do {\
832 c = (f).fifo[(f).remove]; \
833 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
836 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
837 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
838 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
839 #define ao_fifo_empty(f) ((f).insert == (f).remove)
841 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
842 #include <ao_packet.h>
850 #include <ao_companion.h>
865 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
866 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
868 #define AO_LOG_TELESCIENCE_NUM_ADC 12
870 struct ao_log_telescience {
877 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
880 #define AO_LOG_SINGLE_SIZE 32
882 union ao_log_single {
883 struct ao_log_telescience telescience;
884 union ao_telemetry_all telemetry;
885 uint8_t bytes[AO_LOG_SINGLE_SIZE];
888 extern union ao_log_single ao_log_single_write_data;
889 extern union ao_log_single ao_log_single_read_data;
892 ao_log_single_extra_query(void);
895 ao_log_single_list(void);
898 ao_log_single_main(void);
901 ao_log_single_write(void);
904 ao_log_single_read(uint32_t pos);
907 ao_log_single_start(void);
910 ao_log_single_stop(void);
913 ao_log_single_restart(void);
916 ao_log_single_set(void);
919 ao_log_single_delete(void);
922 ao_log_single_init(void);
931 #define AO_TELEPYRO_NUM_ADC 9
934 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
935 #define ao_xmemset(d,v,c) memset(d,v,c)
936 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
944 ao_terraui_init(void);
952 ao_battery_isr(void) ao_arch_interrupt(1);
955 ao_battery_get(void);
958 ao_battery_init(void);
959 #endif /* BATTERY_PIN */
966 ao_sqrt(uint32_t op);
972 int32_t ao_freq_to_set(int32_t freq, int32_t cal);
978 void ao_ms5607_init(void);
980 #include <ao_arch_funcs.h>