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.
35 /* Convert a __data pointer into an __xdata pointer */
36 #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
38 /* Stack runs from above the allocated __data space to 0xfe, which avoids
39 * writing to 0xff as that triggers the stack overflow indicator
42 #define AO_STACK_SIZE 128
44 #define AO_STACK_START 0x90
45 #define AO_STACK_END 0xfe
46 #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
51 __xdata void *wchan; /* current wait channel (NULL if running) */
52 uint16_t alarm; /* abort ao_sleep time */
54 uint8_t *sp; /* saved stack pointer */
56 uint8_t stack_count; /* amount of saved stack */
58 uint8_t task_id; /* unique id */
59 __code char *name; /* task name */
60 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
63 extern __xdata struct ao_task *__data ao_cur_task;
65 #define AO_NUM_TASKS 16 /* maximum number of tasks */
66 #define AO_NO_TASK 0 /* no task id */
69 extern uint8_t ao_cpu_sleep_disable;
76 /* Suspend the current task until wchan is awoken.
82 ao_sleep(__xdata void *wchan);
84 /* Wake all tasks sleeping on wchan */
86 ao_wakeup(__xdata void *wchan);
88 /* set an alarm to go off in 'delay' ticks */
90 ao_alarm(uint16_t delay);
92 /* Yield the processor to another task */
94 void ao_yield(void) __attribute__((naked));
97 ao_yield(void) __naked;
100 /* Add a task to the run queue */
102 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
104 /* Terminate the current task */
108 /* Dump task info to console */
112 /* Start the scheduler. This will not return */
114 ao_start_scheduler(void);
120 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
121 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
122 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
123 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
124 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
125 #define AO_PANIC_CMD 6 /* Too many command sets registered */
126 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
127 #define AO_PANIC_REBOOT 8 /* Reboot failed */
128 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
129 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
130 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
132 /* Stop the operating system, beeping and blinking the reason */
134 ao_panic(uint8_t reason);
140 /* Our timer runs at 100Hz */
142 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
143 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
145 /* Returns the current time in ticks */
149 /* Suspend the current task until ticks time has passed */
151 ao_delay(uint16_t ticks);
153 /* Set the ADC interval */
155 ao_timer_set_adc_interval(uint8_t interval) __critical;
157 /* Timer interrupt */
159 ao_timer_isr(void) __interrupt(9);
161 /* Initialize the timer */
165 /* Initialize the hardware clock. Must be called first */
170 * One set of samples read from the A/D converter or telemetry
177 uint16_t tick; /* tick when the sample was read */
179 uint16_t adc[NUM_ADC]; /* samples */
181 int16_t accel; /* accelerometer */
182 int16_t pres; /* pressure sensor */
183 int16_t temp; /* temperature sensor */
184 int16_t v_batt; /* battery voltage */
185 int16_t sense_d; /* drogue continuity sense */
186 int16_t sense_m; /* main continuity sense */
193 #ifndef HAS_ACCEL_REF
194 #error Please define HAS_ACCEL_REF
197 #define HAS_ACCEL_REF 0
204 #define AO_ADC_RING 16
206 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
207 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
211 * A/D data is stored in a ring, with the next sample to be written
214 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
215 extern volatile __data uint8_t ao_adc_head;
217 extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
220 /* Trigger a conversion sequence (called from the timer interrupt) */
224 /* Suspend the current task until another A/D sample is converted */
228 /* Get a copy of the last complete A/D sample set */
230 ao_adc_get(__xdata struct ao_adc *packet);
232 /* The A/D interrupt handler */
235 ao_adc_isr(void) __interrupt(1);
237 /* Initialize the A/D converter */
248 * Various pre-defined beep frequencies
250 * frequency = 1/2 (24e6/32) / beep
253 #define AO_BEEP_LOW 150 /* 2500Hz */
254 #define AO_BEEP_MID 94 /* 3989Hz */
255 #define AO_BEEP_HIGH 75 /* 5000Hz */
256 #define AO_BEEP_OFF 0 /* off */
258 #define AO_BEEP_g 240 /* 1562.5Hz */
259 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
260 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
261 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
262 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
263 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
264 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
265 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
266 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
267 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
268 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
269 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
270 #define AO_BEEP_gg 120 /* 3125Hz */
271 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
272 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
273 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
274 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
275 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
276 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
277 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
278 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
279 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
280 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
281 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
282 #define AO_BEEP_ggg 60 /* 6250Hz */
284 /* Set the beeper to the specified tone */
286 ao_beep(uint8_t beep);
288 /* Turn on the beeper for the specified time */
290 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
292 /* Initialize the beeper */
300 #define AO_LED_NONE 0
302 /* Turn on the specified LEDs */
304 ao_led_on(uint8_t colors);
306 /* Turn off the specified LEDs */
308 ao_led_off(uint8_t colors);
310 /* Set all of the LEDs to the specified state */
312 ao_led_set(uint8_t colors);
314 /* Toggle the specified LEDs */
316 ao_led_toggle(uint8_t colors);
318 /* Turn on the specified LEDs for the indicated interval */
320 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
322 /* Initialize the LEDs */
324 ao_led_init(uint8_t enable);
337 #define AO_ROMCONFIG_VERSION 2
339 struct ao_romconfig {
342 uint16_t serial_number;
347 extern __code struct ao_romconfig ao_romconfig __attribute__ ((section("romconfig")));
349 extern __code __at (0x00a0) struct ao_romconfig ao_romconfig;
354 extern const uint8_t ao_usb_descriptors [];
356 extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
364 /* Put one character to the USB output queue */
366 ao_usb_putchar(char c);
368 /* Get one character from the USB input queue */
370 ao_usb_getchar(void);
372 /* Poll for a charcter on the USB input queue.
373 * returns AO_READ_AGAIN if none are available
376 ao_usb_pollchar(void);
378 /* Flush the USB output queue */
383 /* USB interrupt handler */
385 ao_usb_isr(void) __interrupt(6);
388 /* Enable the USB controller */
392 /* Disable the USB controller */
394 ao_usb_disable(void);
396 /* Initialize the USB system */
406 ao_cmd_lex_error = 1,
407 ao_cmd_syntax_error = 2,
410 extern __xdata uint16_t ao_cmd_lex_i;
411 extern __xdata uint32_t ao_cmd_lex_u32;
412 extern __xdata char ao_cmd_lex_c;
413 extern __xdata enum ao_cmd_status ao_cmd_status;
419 ao_cmd_put8(uint8_t v);
422 ao_cmd_put16(uint16_t v);
431 ao_cmd_decimal(void);
434 ao_match_word(__code char *word);
442 ao_cmd_register(__code struct ao_cmds *cmds);
449 * Provided by an external module to filter raw command lines
459 /* Allocate a DMA channel. the 'done' parameter will be set when the
460 * dma is finished and will be used to wakeup any waiters
464 ao_dma_alloc(__xdata uint8_t * done);
466 /* Setup a DMA channel */
468 ao_dma_set_transfer(uint8_t id,
469 void __xdata *srcaddr,
470 void __xdata *dstaddr,
475 /* Start a DMA channel */
477 ao_dma_start(uint8_t id);
479 /* Manually trigger a DMA channel */
481 ao_dma_trigger(uint8_t id);
483 /* Abort a running DMA transfer */
485 ao_dma_abort(uint8_t id);
487 /* DMA interrupt routine */
489 ao_dma_isr(void) __interrupt(8);
496 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
499 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
502 * Storage interface, provided by one of the eeprom or flash
506 /* Total bytes of available storage */
507 extern __xdata uint32_t ao_storage_total;
509 /* Block size - device is erased in these units. At least 256 bytes */
510 extern __xdata uint32_t ao_storage_block;
512 /* Byte offset of config block. Will be ao_storage_block bytes long */
513 extern __xdata uint32_t ao_storage_config;
515 /* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
516 extern __xdata uint16_t ao_storage_unit;
518 #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
520 /* Initialize above values. Can only be called once the OS is running */
522 ao_storage_setup(void) __reentrant;
524 /* Write data. Returns 0 on failure, 1 on success */
526 ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
528 /* Read data. Returns 0 on failure, 1 on success */
530 ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
532 /* Erase a block of storage. This always clears ao_storage_block bytes */
534 ao_storage_erase(uint32_t pos) __reentrant;
536 /* Flush any pending writes to stable storage */
538 ao_storage_flush(void) __reentrant;
540 /* Initialize the storage code */
542 ao_storage_init(void);
545 * Low-level functions wrapped by ao_storage.c
548 /* Read data within a storage unit */
550 ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
552 /* Write data within a storage unit */
554 ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
556 /* Initialize low-level device bits */
558 ao_storage_device_init(void);
560 /* Print out information about flash chips */
562 ao_storage_device_info(void) __reentrant;
568 /* We record flight numbers in the first record of
569 * the log. Tasks may wait for this to be initialized
570 * by sleeping on this variable.
572 extern __xdata uint16_t ao_flight_number;
574 extern __pdata uint32_t ao_log_current_pos;
575 extern __pdata uint32_t ao_log_end_pos;
576 extern __pdata uint32_t ao_log_start_pos;
577 extern __xdata uint8_t ao_log_running;
578 extern __xdata enum flight_state ao_log_state;
580 /* required functions from the underlying log system */
582 /* Return the flight number from the given log slot, 0 if none */
584 ao_log_flight(uint8_t slot);
590 /* Logging thread main routine */
594 /* functions provided in ao_log.c */
596 /* Figure out the current flight number */
598 ao_log_scan(void) __reentrant;
600 /* Return the position of the start of the given log slot */
602 ao_log_pos(uint8_t slot);
604 /* Start logging to eeprom */
612 /* Initialize the logging system */
616 /* Write out the current flight number to the erase log */
618 ao_log_write_erase(uint8_t pos);
620 /* Returns true if there are any logs stored in eeprom */
622 ao_log_present(void);
624 /* Returns true if there is no more storage space available */
633 * The data log is recorded in the eeprom as a sequence
636 * Each packet starts with a 4-byte header that has the
637 * packet type, the packet checksum and the tick count. Then
638 * they all contain 2 16 bit values which hold packet-specific
641 * For each flight, the first packet
642 * is FLIGHT packet, indicating the serial number of the
643 * device and a unique number marking the number of flights
644 * recorded by this device.
646 * During flight, data from the accelerometer and barometer
647 * are recorded in SENSOR packets, using the raw 16-bit values
648 * read from the A/D converter.
650 * Also during flight, but at a lower rate, the deployment
651 * sensors are recorded in DEPLOY packets. The goal here is to
652 * detect failure in the deployment circuits.
654 * STATE packets hold state transitions as the flight computer
655 * transitions through different stages of the flight.
657 #define AO_LOG_FLIGHT 'F'
658 #define AO_LOG_SENSOR 'A'
659 #define AO_LOG_TEMP_VOLT 'T'
660 #define AO_LOG_DEPLOY 'D'
661 #define AO_LOG_STATE 'S'
662 #define AO_LOG_GPS_TIME 'G'
663 #define AO_LOG_GPS_LAT 'N'
664 #define AO_LOG_GPS_LON 'W'
665 #define AO_LOG_GPS_ALT 'H'
666 #define AO_LOG_GPS_SAT 'V'
667 #define AO_LOG_GPS_DATE 'Y'
669 #define AO_LOG_POS_NONE (~0UL)
671 struct ao_log_record {
677 int16_t ground_accel;
702 int32_t gps_latitude;
703 int32_t gps_longitude;
726 /* Write a record to the eeprom log */
728 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
734 enum ao_flight_state {
735 ao_flight_startup = 0,
741 ao_flight_drogue = 6,
743 ao_flight_landed = 8,
744 ao_flight_invalid = 9
747 extern __pdata enum ao_flight_state ao_flight_state;
749 extern __pdata uint16_t ao_launch_time;
750 extern __xdata uint8_t ao_flight_force_idle;
756 /* Initialize flight thread */
758 ao_flight_init(void);
765 ao_flight_nano_init(void);
772 * Barometer calibration
774 * We directly sample the barometer. The specs say:
776 * Pressure range: 15-115 kPa
777 * Voltage at 115kPa: 2.82
778 * Output scale: 27mV/kPa
780 * If we want to detect launch with the barometer, we need
781 * a large enough bump to not be fooled by noise. At typical
782 * launch elevations (0-2000m), a 200Pa pressure change cooresponds
783 * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
784 * As all of our calculations are done in 16 bits, we'll actually see a change
785 * of 16 times this though
787 * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
790 /* Accelerometer calibration
792 * We're sampling the accelerometer through a resistor divider which
793 * consists of 5k and 10k resistors. This multiplies the values by 2/3.
794 * That goes into the cc1111 A/D converter, which is running at 11 bits
795 * of precision with the bits in the MSB of the 16 bit value. Only positive
796 * values are used, so values should range from 0-32752 for 0-3.3V. The
797 * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
798 * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
799 * for a final computation of:
801 * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
803 * Zero g was measured at 16000 (we would expect 16384).
804 * Note that this value is only require to tell if the
805 * rocket is standing upright. Once that is determined,
806 * the value of the accelerometer is averaged for 100 samples
807 * to find the resting accelerometer value, which is used
808 * for all further flight computations
811 #define GRAVITY 9.80665
814 * Above this height, the baro sensor doesn't work
816 #define AO_MAX_BARO_HEIGHT 12000
819 * Above this speed, baro measurements are unreliable
821 #define AO_MAX_BARO_SPEED 200
823 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
826 * Speed and acceleration are scaled by 16 to provide a bit more
827 * resolution while still having reasonable range. Note that this
828 * limits speed to 2047m/s (around mach 6) and acceleration to
829 * 2047m/s² (over 200g)
832 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
833 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
834 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
836 extern __pdata uint16_t ao_sample_tick; /* time of last data */
837 extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */
838 extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */
839 extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */
840 extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
843 extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */
846 extern __xdata int16_t ao_ground_pres; /* startup pressure */
847 extern __xdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
850 extern __xdata int16_t ao_ground_accel; /* startup acceleration */
851 extern __xdata int16_t ao_accel_2g; /* factory accel calibration */
852 extern __xdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
855 void ao_sample_init(void);
857 /* returns FALSE in preflight mode, TRUE in flight mode */
858 uint8_t ao_sample(void);
864 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
865 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
866 #define from_fix(x) ((x) >> 16)
868 extern __pdata int16_t ao_height; /* meters */
869 extern __pdata int16_t ao_speed; /* m/s * 16 */
870 extern __pdata int16_t ao_accel; /* m/s² * 16 */
871 extern __pdata int16_t ao_max_height; /* max of ao_height */
873 extern __pdata int16_t ao_error_h;
874 extern __pdata int16_t ao_error_h_sq_avg;
877 extern __pdata int16_t ao_error_a;
880 void ao_kalman(void);
887 ao_report_init(void);
892 * Given raw data, convert to SI units
895 /* pressure from the sensor to altitude in meters */
897 ao_pres_to_altitude(int16_t pres) __reentrant;
900 ao_altitude_to_pres(int16_t alt) __reentrant;
903 ao_temp_to_dC(int16_t temp) __reentrant;
908 * debug another telemetrum board
911 /* Send a byte to the dbg target */
913 ao_dbg_send_byte(uint8_t byte);
915 /* Receive a byte from the dbg target */
917 ao_dbg_recv_byte(void);
919 /* Start a bulk transfer to/from dbg target memory */
921 ao_dbg_start_transfer(uint16_t addr);
923 /* End a bulk transfer to/from dbg target memory */
925 ao_dbg_end_transfer(void);
927 /* Write a byte to dbg target memory */
929 ao_dbg_write_byte(uint8_t byte);
931 /* Read a byte from dbg target memory */
933 ao_dbg_read_byte(void);
935 /* Enable dbg mode, switching use of the pins */
937 ao_dbg_debug_mode(void);
939 /* Reset the dbg target */
951 #ifndef USE_SERIAL_STDIN
952 #error Please define USE_SERIAL_STDIN
956 ao_serial_rx1_isr(void) __interrupt(3);
959 ao_serial_tx1_isr(void) __interrupt(14);
962 ao_serial_getchar(void) __critical;
966 ao_serial_pollchar(void) __critical;
969 ao_serial_set_stdin(uint8_t stdin);
973 ao_serial_putchar(char c) __critical;
976 ao_serial_drain(void) __critical;
978 #define AO_SERIAL_SPEED_4800 0
979 #define AO_SERIAL_SPEED_9600 1
980 #define AO_SERIAL_SPEED_19200 2
981 #define AO_SERIAL_SPEED_57600 3
984 ao_serial_set_speed(uint8_t speed);
987 ao_serial_init(void);
995 ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
998 ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
1007 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
1008 #define AO_GPS_NUM_SAT_SHIFT (0)
1010 #define AO_GPS_VALID (1 << 4)
1011 #define AO_GPS_RUNNING (1 << 5)
1012 #define AO_GPS_DATE_VALID (1 << 6)
1013 #define AO_GPS_COURSE_VALID (1 << 7)
1015 extern __xdata uint16_t ao_gps_tick;
1017 struct ao_gps_data {
1025 int32_t latitude; /* degrees * 10⁷ */
1026 int32_t longitude; /* degrees * 10⁷ */
1027 int16_t altitude; /* m */
1028 uint16_t ground_speed; /* cm/s */
1029 uint8_t course; /* degrees / 2 */
1030 uint8_t hdop; /* * 5 */
1031 int16_t climb_rate; /* cm/s */
1032 uint16_t h_error; /* m */
1033 uint16_t v_error; /* m */
1036 struct ao_gps_sat_data {
1041 #define AO_MAX_GPS_TRACKING 12
1043 struct ao_gps_tracking_data {
1045 struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
1048 extern __xdata uint8_t ao_gps_mutex;
1049 extern __xdata struct ao_gps_data ao_gps_data;
1050 extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
1056 ao_gps_print(__xdata struct ao_gps_data *gps_data);
1059 ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
1069 ao_gps_report(void);
1072 ao_gps_report_init(void);
1078 #define AO_MAX_CALLSIGN 8
1080 struct ao_telemetry {
1083 uint8_t flight_state;
1085 int16_t ground_accel;
1094 int16_t ground_pres;
1095 int16_t accel_plus_g;
1096 int16_t accel_minus_g;
1098 struct ao_gps_data gps;
1099 char callsign[AO_MAX_CALLSIGN];
1100 struct ao_gps_tracking_data gps_tracking;
1103 struct ao_telemetry_tiny {
1106 uint8_t flight_state;
1107 int16_t height; /* AGL in meters */
1108 int16_t speed; /* in m/s * 16 */
1109 int16_t accel; /* in m/s² * 16 */
1110 int16_t ground_pres; /* sensor units */
1111 struct ao_adc adc; /* raw ADC readings */
1112 char callsign[AO_MAX_CALLSIGN];
1116 * ao_radio_recv tacks on rssi and status bytes
1118 struct ao_telemetry_recv {
1119 struct ao_telemetry telemetry;
1124 struct ao_telemetry_tiny_recv {
1125 struct ao_telemetry_tiny telemetry_tiny;
1130 /* Set delay between telemetry reports (0 to disable) */
1132 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
1133 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
1134 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
1137 ao_telemetry_set_interval(uint16_t interval);
1140 ao_rdf_set(uint8_t rdf);
1143 ao_telemetry_init(void);
1146 ao_telemetry_tiny_init(void);
1152 extern __xdata uint8_t ao_radio_dma;
1153 extern __xdata uint8_t ao_radio_dma_done;
1154 extern __xdata uint8_t ao_radio_done;
1155 extern __xdata uint8_t ao_radio_mutex;
1158 ao_radio_general_isr(void) __interrupt(16);
1161 ao_radio_get(uint8_t len);
1163 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
1166 ao_radio_set_packet(void);
1169 ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
1172 ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
1175 ao_radio_recv_abort(void);
1178 ao_radio_rdf(int ms);
1181 ao_radio_rdf_abort(void);
1184 ao_radio_idle(void);
1187 ao_radio_init(void);
1193 extern const char const * const ao_state_names[];
1198 #define AO_MONITORING_OFF 0
1199 #define AO_MONITORING_FULL 1
1200 #define AO_MONITORING_TINY 2
1203 ao_set_monitor(uint8_t monitoring);
1206 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
1212 #define AO_READ_AGAIN ((char) -1)
1215 char (*pollchar)(void);
1216 void (*putchar)(char c) __reentrant;
1217 void (*flush)(void);
1221 extern __xdata struct ao_stdio ao_stdios[];
1222 extern __data int8_t ao_cur_stdio;
1223 extern __data int8_t ao_num_stdios;
1228 extern __xdata uint8_t ao_stdin_ready;
1234 ao_add_stdio(char (*pollchar)(void),
1235 void (*putchar)(char) __reentrant,
1236 void (*flush)(void)) __reentrant;
1240 ao_stdio_init(void);
1242 #define ao_stdio_init()
1250 ao_igniter_drogue = 0,
1255 ao_ignite(enum ao_igniter igniter);
1257 enum ao_igniter_status {
1258 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
1259 ao_igniter_ready, /* continuity detected */
1260 ao_igniter_active, /* igniter firing */
1261 ao_igniter_open, /* open circuit detected */
1264 enum ao_igniter_status
1265 ao_igniter_status(enum ao_igniter igniter);
1268 ao_igniter_init(void);
1274 #define AO_CONFIG_MAJOR 1
1275 #define AO_CONFIG_MINOR 4
1280 uint16_t main_deploy;
1281 int16_t accel_plus_g; /* changed for minor version 2 */
1282 uint8_t radio_channel;
1283 char callsign[AO_MAX_CALLSIGN + 1];
1284 uint8_t apogee_delay; /* minor version 1 */
1285 int16_t accel_minus_g; /* minor version 2 */
1286 uint32_t radio_cal; /* minor version 3 */
1287 uint32_t flight_log_max; /* minor version 4 */
1290 extern __xdata struct ao_config ao_config;
1292 #define AO_CONFIG_MAX_SIZE 128
1295 ao_config_get(void);
1298 ao_config_put(void);
1301 ao_config_init(void);
1308 ao_rssi_set(int rssi_value);
1311 ao_rssi_init(uint8_t rssi_led);
1316 * values which need to be defined for
1317 * each instance of a product
1320 extern const char ao_version[];
1321 extern const char ao_manufacturer[];
1322 extern const char ao_product[];
1328 #define AO_FIFO_SIZE 32
1333 char fifo[AO_FIFO_SIZE];
1336 #define ao_fifo_insert(f,c) do { \
1337 (f).fifo[(f).insert] = (c); \
1338 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
1341 #define ao_fifo_remove(f,c) do {\
1342 c = (f).fifo[(f).remove]; \
1343 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
1346 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
1347 #define ao_fifo_empty(f) ((f).insert == (f).remove)
1352 * Packet-based command interface
1355 #define AO_PACKET_MAX 64
1356 #define AO_PACKET_SYN (uint8_t) 0xff
1363 uint8_t d[AO_PACKET_MAX];
1364 uint8_t callsign[AO_MAX_CALLSIGN];
1367 struct ao_packet_recv {
1368 struct ao_packet packet;
1373 extern __xdata struct ao_packet_recv ao_rx_packet;
1374 extern __xdata struct ao_packet ao_tx_packet;
1375 extern __xdata struct ao_task ao_packet_task;
1376 extern __xdata uint8_t ao_packet_enable;
1377 extern __xdata uint8_t ao_packet_master_sleeping;
1378 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
1381 ao_packet_send(void);
1384 ao_packet_recv(void);
1387 ao_packet_flush(void);
1390 ao_packet_putchar(char c) __reentrant;
1393 ao_packet_pollchar(void) __critical;
1395 /* ao_packet_master.c */
1398 ao_packet_master_init(void);
1400 /* ao_packet_slave.c */
1403 ao_packet_slave_start(void);
1406 ao_packet_slave_stop(void);
1409 ao_packet_slave_init(uint8_t enable);
1413 /* Shared by USB, so the USB code calls this function */
1420 /* ao_debug_avr.c */
1422 ao_debug_init(void);
1424 /* ao_spi_slave.c */
1427 ao_spi_slave_read(uint8_t *data, int len);
1430 ao_spi_slave_write(uint8_t *data, int len);
1433 ao_spi_slave_init(void);
1435 /* ao_companion.c */
1437 #define AO_COMPANION_SETUP 1
1438 #define AO_COMPANION_FETCH 2
1440 struct ao_companion_command {
1442 uint8_t flight_state;
1446 struct ao_companion_setup {
1448 uint16_t board_id_inverse;
1449 uint8_t update_period;