X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao.h;h=2e012f083e597ed4ad2d252e2e773e6d3d523dae;hb=fb60d87b02c0fc83a0b4268212f0b6b740c984e3;hp=27b9c5c469717112161a72ecdb498a4098bb6ed8;hpb=0667261e03b3fd403e97d02ea6204b007bb13f58;p=fw%2Faltos diff --git a/src/core/ao.h b/src/core/ao.h index 27b9c5c4..2e012f08 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -115,6 +115,7 @@ ao_start_scheduler(void); #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */ #define AO_PANIC_STACK 12 /* Stack overflow */ #define AO_PANIC_SPI 13 /* SPI communication failure */ +#define AO_PANIC_SELF_TEST 14 /* Self test failure */ /* Stop the operating system, beeping and blinking the reason */ void @@ -263,6 +264,26 @@ ao_cmd_filter(void); * ao_report.c */ +#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5) +#define AO_RDF_LENGTH_MS 500 +#define AO_RDF_CONTINUITY_MS 32 +#define AO_RDF_CONTINUITY_PAUSE 96 +#define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE) + +/* This assumes that we're generating a 1kHz tone, which + * modulates the carrier at 2kbps, or 250kBps + */ +#define AO_MS_TO_RDF_LEN(ms) ((ms) / 4) + +#define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS) +#define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS) +#define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE) +#define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL) + +/* returns a value 0-3 to indicate igniter continuity */ +uint8_t +ao_report_igniter(void); + void ao_report_init(void); @@ -282,6 +303,18 @@ ao_altitude_to_pres(int16_t alt) __reentrant; int16_t ao_temp_to_dC(int16_t temp) __reentrant; +/* + * ao_convert_pa.c + * + * Convert between pressure in Pa and altitude in meters + */ + +int32_t +ao_pa_to_altitude(int32_t pa); + +int32_t +ao_altitude_to_pa(int32_t alt); + #if HAS_DBG #include #endif @@ -312,181 +345,7 @@ ao_spi_slave_init(void); void ao_spi_slave(void); -/* - * ao_telemetry.c - */ -#define AO_MAX_CALLSIGN 8 -#define AO_MAX_VERSION 8 -#if LEGACY_MONITOR -#define AO_MAX_TELEMETRY 128 -#else -#define AO_MAX_TELEMETRY 32 -#endif - -struct ao_telemetry_generic { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t payload[27]; /* 5 */ - /* 32 */ -}; - -#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01 -#define AO_TELEMETRY_SENSOR_TELEMINI 0x02 -#define AO_TELEMETRY_SENSOR_TELENANO 0x03 - -struct ao_telemetry_sensor { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - - uint8_t state; /* 5 flight state */ - int16_t accel; /* 6 accelerometer (TM only) */ - int16_t pres; /* 8 pressure sensor */ - int16_t temp; /* 10 temperature sensor */ - int16_t v_batt; /* 12 battery voltage */ - int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */ - int16_t sense_m; /* 16 main continuity sense (TM/Tm) */ - - int16_t acceleration; /* 18 m/s² * 16 */ - int16_t speed; /* 20 m/s * 16 */ - int16_t height; /* 22 m */ - - int16_t ground_pres; /* 24 average pres on pad */ - int16_t ground_accel; /* 26 average accel on pad */ - int16_t accel_plus_g; /* 28 accel calibration at +1g */ - int16_t accel_minus_g; /* 30 accel calibration at -1g */ - /* 32 */ -}; - -#define AO_TELEMETRY_CONFIGURATION 0x04 - -struct ao_telemetry_configuration { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - - uint8_t device; /* 5 device type */ - uint16_t flight; /* 6 flight number */ - uint8_t config_major; /* 8 Config major version */ - uint8_t config_minor; /* 9 Config minor version */ - uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */ - uint16_t main_deploy; /* 12 Main deploy alt in meters */ - uint16_t flight_log_max; /* 14 Maximum flight log size in kB */ - char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */ - char version[AO_MAX_VERSION]; /* 24 Software version */ - /* 32 */ -}; - -#define AO_TELEMETRY_LOCATION 0x05 - -#define AO_GPS_MODE_NOT_VALID 'N' -#define AO_GPS_MODE_AUTONOMOUS 'A' -#define AO_GPS_MODE_DIFFERENTIAL 'D' -#define AO_GPS_MODE_ESTIMATED 'E' -#define AO_GPS_MODE_MANUAL 'M' -#define AO_GPS_MODE_SIMULATED 'S' - -struct ao_telemetry_location { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - - uint8_t flags; /* 5 Number of sats and other flags */ - int16_t altitude; /* 6 GPS reported altitude (m) */ - int32_t latitude; /* 8 latitude (degrees * 10⁷) */ - int32_t longitude; /* 12 longitude (degrees * 10⁷) */ - uint8_t year; /* 16 (- 2000) */ - uint8_t month; /* 17 (1-12) */ - uint8_t day; /* 18 (1-31) */ - uint8_t hour; /* 19 (0-23) */ - uint8_t minute; /* 20 (0-59) */ - uint8_t second; /* 21 (0-59) */ - uint8_t pdop; /* 22 (m * 5) */ - uint8_t hdop; /* 23 (m * 5) */ - uint8_t vdop; /* 24 (m * 5) */ - uint8_t mode; /* 25 */ - uint16_t ground_speed; /* 26 cm/s */ - int16_t climb_rate; /* 28 cm/s */ - uint8_t course; /* 30 degrees / 2 */ - uint8_t unused[1]; /* 31 */ - /* 32 */ -}; - -#define AO_TELEMETRY_SATELLITE 0x06 - -struct ao_telemetry_satellite_info { - uint8_t svid; - uint8_t c_n_1; -}; - -struct ao_telemetry_satellite { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t channels; /* 5 number of reported sats */ - - struct ao_telemetry_satellite_info sats[12]; /* 6 */ - uint8_t unused[2]; /* 30 */ - /* 32 */ -}; - -#define AO_TELEMETRY_COMPANION 0x07 - -#define AO_COMPANION_MAX_CHANNELS 12 - -struct ao_telemetry_companion { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t board_id; /* 5 */ - - uint8_t update_period; /* 6 */ - uint8_t channels; /* 7 */ - uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */ - /* 32 */ -}; - -/* #define AO_SEND_ALL_BARO */ - -#define AO_TELEMETRY_BARO 0x80 - -/* - * This packet allows the full sampling rate baro - * data to be captured over the RF link so that the - * flight software can be tested using 'real' data. - * - * Along with this telemetry packet, the flight - * code is modified to send full-rate telemetry all the time - * and never send an RDF tone; this ensure that the full radio - * link is available. - */ -struct ao_telemetry_baro { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t samples; /* 5 number samples */ - - int16_t baro[12]; /* 6 samples */ - /* 32 */ -}; - -union ao_telemetry_all { - struct ao_telemetry_generic generic; - struct ao_telemetry_sensor sensor; - struct ao_telemetry_configuration configuration; - struct ao_telemetry_location location; - struct ao_telemetry_satellite satellite; - struct ao_telemetry_companion companion; - struct ao_telemetry_baro baro; -}; - -struct ao_telemetry_all_recv { - union ao_telemetry_all telemetry; - int8_t rssi; - uint8_t status; -}; - +#include /* * ao_gps.c */ @@ -557,10 +416,30 @@ ao_gps_report(void); void ao_gps_report_init(void); +/* + * ao_gps_report_mega.c + */ + +void +ao_gps_report_mega(void); + +void +ao_gps_report_mega_init(void); + /* * ao_telemetry_orig.c */ +struct ao_adc_orig { + uint16_t tick; /* tick when the sample was read */ + int16_t accel; /* accelerometer */ + int16_t pres; /* pressure sensor */ + int16_t temp; /* temperature sensor */ + int16_t v_batt; /* battery voltage */ + int16_t sense_d; /* drogue continuity sense */ + int16_t sense_m; /* main continuity sense */ +}; + struct ao_telemetry_orig { uint16_t serial; uint16_t flight; @@ -578,7 +457,7 @@ struct ao_telemetry_orig { int16_t ground_pres; int16_t accel_plus_g; int16_t accel_minus_g; - struct ao_adc adc; + struct ao_adc_orig adc; struct ao_gps_orig gps; char callsign[AO_MAX_CALLSIGN]; struct ao_gps_tracking_orig gps_tracking; @@ -652,19 +531,18 @@ extern __xdata uint8_t ao_radio_dma_done; extern __xdata uint8_t ao_radio_done; extern __xdata uint8_t ao_radio_mutex; -void -ao_radio_general_isr(void) ao_arch_interrupt(16); - -void -ao_radio_get(uint8_t len); - -#define ao_radio_put() ao_mutex_put(&ao_radio_mutex) +#ifdef PKT_APPEND_STATUS_1_CRC_OK +#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK +#else +#include +#define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK +#endif void -ao_radio_set_packet(void); +ao_radio_general_isr(void) ao_arch_interrupt(16); void -ao_radio_send(__xdata void *d, uint8_t size) __reentrant; +ao_radio_send(const __xdata void *d, uint8_t size) __reentrant; uint8_t ao_radio_recv(__xdata void *d, uint8_t size) __reentrant; @@ -680,16 +558,14 @@ ao_radio_recv_abort(void); * 2 * ms bits, or ms / 4 bytes */ -#define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2)) - void -ao_radio_rdf(uint8_t pkt_len); +ao_radio_rdf(void); void -ao_radio_rdf_abort(void); +ao_radio_continuity(uint8_t c); void -ao_radio_idle(void); +ao_radio_rdf_abort(void); void ao_radio_init(void);