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 */
53 uint8_t stack_count; /* amount of saved stack */
54 uint8_t task_id; /* unique id */
55 __code char *name; /* task name */
56 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
59 extern __xdata struct ao_task *__data ao_cur_task;
61 #define AO_NUM_TASKS 16 /* maximum number of tasks */
62 #define AO_NO_TASK 0 /* no task id */
68 /* Suspend the current task until wchan is awoken.
74 ao_sleep(__xdata void *wchan);
76 /* Wake all tasks sleeping on wchan */
78 ao_wakeup(__xdata void *wchan);
80 /* set an alarm to go off in 'delay' ticks */
82 ao_alarm(uint16_t delay);
84 /* Yield the processor to another task */
86 void ao_yield(void) __attribute__((naked));
89 ao_yield(void) __naked;
92 /* Add a task to the run queue */
94 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
96 /* Terminate the current task */
100 /* Dump task info to console */
104 /* Start the scheduler. This will not return */
106 ao_start_scheduler(void);
112 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
113 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
114 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
115 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
116 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
117 #define AO_PANIC_CMD 6 /* Too many command sets registered */
118 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
119 #define AO_PANIC_REBOOT 8 /* Reboot failed */
120 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
121 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
122 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
124 /* Stop the operating system, beeping and blinking the reason */
126 ao_panic(uint8_t reason);
132 /* Our timer runs at 100Hz */
134 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
135 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
137 /* Returns the current time in ticks */
141 /* Suspend the current task until ticks time has passed */
143 ao_delay(uint16_t ticks);
145 /* Set the ADC interval */
147 ao_timer_set_adc_interval(uint8_t interval) __critical;
149 /* Timer interrupt */
151 ao_timer_isr(void) __interrupt(9);
153 /* Initialize the timer */
157 /* Initialize the hardware clock. Must be called first */
162 * One set of samples read from the A/D converter or telemetry
165 uint16_t tick; /* tick when the sample was read */
166 int16_t accel; /* accelerometer */
167 int16_t pres; /* pressure sensor */
168 int16_t temp; /* temperature sensor */
169 int16_t v_batt; /* battery voltage */
170 int16_t sense_d; /* drogue continuity sense */
171 int16_t sense_m; /* main continuity sense */
177 #ifndef HAS_ACCEL_REF
178 #error Please define HAS_ACCEL_REF
181 #define HAS_ACCEL_REF 0
188 #define AO_ADC_RING 32
189 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
190 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
194 * A/D data is stored in a ring, with the next sample to be written
197 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
198 extern volatile __data uint8_t ao_adc_head;
200 extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
203 /* Trigger a conversion sequence (called from the timer interrupt) */
207 /* Suspend the current task until another A/D sample is converted */
211 /* Get a copy of the last complete A/D sample set */
213 ao_adc_get(__xdata struct ao_adc *packet);
215 /* The A/D interrupt handler */
218 ao_adc_isr(void) __interrupt(1);
220 /* Initialize the A/D converter */
231 * Various pre-defined beep frequencies
233 * frequency = 1/2 (24e6/32) / beep
236 #define AO_BEEP_LOW 150 /* 2500Hz */
237 #define AO_BEEP_MID 94 /* 3989Hz */
238 #define AO_BEEP_HIGH 75 /* 5000Hz */
239 #define AO_BEEP_OFF 0 /* off */
241 #define AO_BEEP_g 240 /* 1562.5Hz */
242 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
243 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
244 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
245 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
246 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
247 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
248 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
249 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
250 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
251 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
252 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
253 #define AO_BEEP_gg 120 /* 3125Hz */
254 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
255 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
256 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
257 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
258 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
259 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
260 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
261 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
262 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
263 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
264 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
265 #define AO_BEEP_ggg 60 /* 6250Hz */
267 /* Set the beeper to the specified tone */
269 ao_beep(uint8_t beep);
271 /* Turn on the beeper for the specified time */
273 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
275 /* Initialize the beeper */
283 #define AO_LED_NONE 0
285 /* Turn on the specified LEDs */
287 ao_led_on(uint8_t colors);
289 /* Turn off the specified LEDs */
291 ao_led_off(uint8_t colors);
293 /* Set all of the LEDs to the specified state */
295 ao_led_set(uint8_t colors);
297 /* Toggle the specified LEDs */
299 ao_led_toggle(uint8_t colors);
301 /* Turn on the specified LEDs for the indicated interval */
303 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
305 /* Initialize the LEDs */
307 ao_led_init(uint8_t enable);
313 #define AO_ROMCONFIG_VERSION 2
315 struct ao_romconfig {
318 uint16_t serial_number;
323 extern __code struct ao_romconfig ao_romconfig __attribute__ ((section("romconfig")));
325 extern __code __at (0x00a0) struct ao_romconfig ao_romconfig;
330 extern const uint8_t ao_usb_descriptors [];
332 extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
340 /* Put one character to the USB output queue */
342 ao_usb_putchar(char c);
344 /* Get one character from the USB input queue */
346 ao_usb_getchar(void);
348 /* Poll for a charcter on the USB input queue.
349 * returns AO_READ_AGAIN if none are available
352 ao_usb_pollchar(void);
354 /* Flush the USB output queue */
359 /* USB interrupt handler */
361 ao_usb_isr(void) __interrupt(6);
364 /* Enable the USB controller */
368 /* Disable the USB controller */
370 ao_usb_disable(void);
372 /* Initialize the USB system */
382 ao_cmd_lex_error = 1,
383 ao_cmd_syntax_error = 2,
386 extern __xdata uint16_t ao_cmd_lex_i;
387 extern __xdata uint32_t ao_cmd_lex_u32;
388 extern __xdata char ao_cmd_lex_c;
389 extern __xdata enum ao_cmd_status ao_cmd_status;
395 ao_cmd_put8(uint8_t v);
398 ao_cmd_put16(uint16_t v);
407 ao_cmd_decimal(void);
410 ao_match_word(__code char *word);
418 ao_cmd_register(__code struct ao_cmds *cmds);
425 * Provided by an external module to filter raw command lines
435 /* Allocate a DMA channel. the 'done' parameter will be set when the
436 * dma is finished and will be used to wakeup any waiters
440 ao_dma_alloc(__xdata uint8_t * done);
442 /* Setup a DMA channel */
444 ao_dma_set_transfer(uint8_t id,
445 void __xdata *srcaddr,
446 void __xdata *dstaddr,
451 /* Start a DMA channel */
453 ao_dma_start(uint8_t id);
455 /* Manually trigger a DMA channel */
457 ao_dma_trigger(uint8_t id);
459 /* Abort a running DMA transfer */
461 ao_dma_abort(uint8_t id);
463 /* DMA interrupt routine */
465 ao_dma_isr(void) __interrupt(8);
472 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
475 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
478 * Storage interface, provided by one of the eeprom or flash
482 /* Total bytes of available storage */
483 extern __xdata uint32_t ao_storage_total;
485 /* Block size - device is erased in these units. At least 256 bytes */
486 extern __xdata uint32_t ao_storage_block;
488 /* Byte offset of config block. Will be ao_storage_block bytes long */
489 extern __xdata uint32_t ao_storage_config;
491 /* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
492 extern __xdata uint16_t ao_storage_unit;
494 #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
496 /* Initialize above values. Can only be called once the OS is running */
498 ao_storage_setup(void) __reentrant;
500 /* Write data. Returns 0 on failure, 1 on success */
502 ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
504 /* Read data. Returns 0 on failure, 1 on success */
506 ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
508 /* Erase a block of storage. This always clears ao_storage_block bytes */
510 ao_storage_erase(uint32_t pos) __reentrant;
512 /* Flush any pending writes to stable storage */
514 ao_storage_flush(void) __reentrant;
516 /* Initialize the storage code */
518 ao_storage_init(void);
521 * Low-level functions wrapped by ao_storage.c
524 /* Read data within a storage unit */
526 ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
528 /* Write data within a storage unit */
530 ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
532 /* Initialize low-level device bits */
534 ao_storage_device_init(void);
536 /* Print out information about flash chips */
538 ao_storage_device_info(void) __reentrant;
544 /* We record flight numbers in the first record of
545 * the log. Tasks may wait for this to be initialized
546 * by sleeping on this variable.
548 extern __xdata uint16_t ao_flight_number;
550 extern __pdata uint32_t ao_log_current_pos;
551 extern __pdata uint32_t ao_log_end_pos;
552 extern __pdata uint32_t ao_log_start_pos;
553 extern __xdata uint8_t ao_log_running;
554 extern __xdata enum flight_state ao_log_state;
556 /* required functions from the underlying log system */
558 /* Return the flight number from the given log slot, 0 if none */
560 ao_log_flight(uint8_t slot);
566 /* Logging thread main routine */
570 /* functions provided in ao_log.c */
572 /* Figure out the current flight number */
574 ao_log_scan(void) __reentrant;
576 /* Return the position of the start of the given log slot */
578 ao_log_pos(uint8_t slot);
580 /* Start logging to eeprom */
588 /* Initialize the logging system */
592 /* Write out the current flight number to the erase log */
594 ao_log_write_erase(uint8_t pos);
596 /* Returns true if there are any logs stored in eeprom */
598 ao_log_present(void);
600 /* Returns true if there is no more storage space available */
609 * The data log is recorded in the eeprom as a sequence
612 * Each packet starts with a 4-byte header that has the
613 * packet type, the packet checksum and the tick count. Then
614 * they all contain 2 16 bit values which hold packet-specific
617 * For each flight, the first packet
618 * is FLIGHT packet, indicating the serial number of the
619 * device and a unique number marking the number of flights
620 * recorded by this device.
622 * During flight, data from the accelerometer and barometer
623 * are recorded in SENSOR packets, using the raw 16-bit values
624 * read from the A/D converter.
626 * Also during flight, but at a lower rate, the deployment
627 * sensors are recorded in DEPLOY packets. The goal here is to
628 * detect failure in the deployment circuits.
630 * STATE packets hold state transitions as the flight computer
631 * transitions through different stages of the flight.
633 #define AO_LOG_FLIGHT 'F'
634 #define AO_LOG_SENSOR 'A'
635 #define AO_LOG_TEMP_VOLT 'T'
636 #define AO_LOG_DEPLOY 'D'
637 #define AO_LOG_STATE 'S'
638 #define AO_LOG_GPS_TIME 'G'
639 #define AO_LOG_GPS_LAT 'N'
640 #define AO_LOG_GPS_LON 'W'
641 #define AO_LOG_GPS_ALT 'H'
642 #define AO_LOG_GPS_SAT 'V'
643 #define AO_LOG_GPS_DATE 'Y'
645 #define AO_LOG_POS_NONE (~0UL)
647 struct ao_log_record {
653 int16_t ground_accel;
678 int32_t gps_latitude;
679 int32_t gps_longitude;
702 /* Write a record to the eeprom log */
704 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
710 enum ao_flight_state {
711 ao_flight_startup = 0,
717 ao_flight_drogue = 6,
719 ao_flight_landed = 8,
720 ao_flight_invalid = 9
723 extern __pdata enum ao_flight_state ao_flight_state;
725 extern __pdata uint16_t ao_launch_time;
726 extern __xdata uint8_t ao_flight_force_idle;
732 /* Initialize flight thread */
734 ao_flight_init(void);
741 ao_flight_nano_init(void);
748 * Barometer calibration
750 * We directly sample the barometer. The specs say:
752 * Pressure range: 15-115 kPa
753 * Voltage at 115kPa: 2.82
754 * Output scale: 27mV/kPa
756 * If we want to detect launch with the barometer, we need
757 * a large enough bump to not be fooled by noise. At typical
758 * launch elevations (0-2000m), a 200Pa pressure change cooresponds
759 * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
760 * As all of our calculations are done in 16 bits, we'll actually see a change
761 * of 16 times this though
763 * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
766 /* Accelerometer calibration
768 * We're sampling the accelerometer through a resistor divider which
769 * consists of 5k and 10k resistors. This multiplies the values by 2/3.
770 * That goes into the cc1111 A/D converter, which is running at 11 bits
771 * of precision with the bits in the MSB of the 16 bit value. Only positive
772 * values are used, so values should range from 0-32752 for 0-3.3V. The
773 * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
774 * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
775 * for a final computation of:
777 * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
779 * Zero g was measured at 16000 (we would expect 16384).
780 * Note that this value is only require to tell if the
781 * rocket is standing upright. Once that is determined,
782 * the value of the accelerometer is averaged for 100 samples
783 * to find the resting accelerometer value, which is used
784 * for all further flight computations
787 #define GRAVITY 9.80665
790 * Above this height, the baro sensor doesn't work
792 #define AO_MAX_BARO_HEIGHT 12000
795 * Above this speed, baro measurements are unreliable
797 #define AO_MAX_BARO_SPEED 200
799 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
802 * Speed and acceleration are scaled by 16 to provide a bit more
803 * resolution while still having reasonable range. Note that this
804 * limits speed to 2047m/s (around mach 6) and acceleration to
805 * 2047m/s² (over 200g)
808 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
809 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
810 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
812 extern __pdata uint16_t ao_sample_tick; /* time of last data */
813 extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */
814 extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */
815 extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */
816 extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
819 extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */
822 extern __xdata int16_t ao_ground_pres; /* startup pressure */
823 extern __xdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
826 extern __xdata int16_t ao_ground_accel; /* startup acceleration */
827 extern __xdata int16_t ao_accel_2g; /* factory accel calibration */
828 extern __xdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
831 void ao_sample_init(void);
833 /* returns FALSE in preflight mode, TRUE in flight mode */
834 uint8_t ao_sample(void);
840 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
841 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
842 #define from_fix(x) ((x) >> 16)
844 extern __pdata int16_t ao_height; /* meters */
845 extern __pdata int16_t ao_speed; /* m/s * 16 */
846 extern __pdata int16_t ao_accel; /* m/s² * 16 */
847 extern __pdata int16_t ao_max_height; /* max of ao_height */
849 extern __pdata int16_t ao_error_h;
850 extern __pdata int16_t ao_error_h_sq_avg;
853 extern __pdata int16_t ao_error_a;
856 void ao_kalman(void);
863 ao_report_init(void);
868 * Given raw data, convert to SI units
871 /* pressure from the sensor to altitude in meters */
873 ao_pres_to_altitude(int16_t pres) __reentrant;
876 ao_altitude_to_pres(int16_t alt) __reentrant;
879 ao_temp_to_dC(int16_t temp) __reentrant;
884 * debug another telemetrum board
887 /* Send a byte to the dbg target */
889 ao_dbg_send_byte(uint8_t byte);
891 /* Receive a byte from the dbg target */
893 ao_dbg_recv_byte(void);
895 /* Start a bulk transfer to/from dbg target memory */
897 ao_dbg_start_transfer(uint16_t addr);
899 /* End a bulk transfer to/from dbg target memory */
901 ao_dbg_end_transfer(void);
903 /* Write a byte to dbg target memory */
905 ao_dbg_write_byte(uint8_t byte);
907 /* Read a byte from dbg target memory */
909 ao_dbg_read_byte(void);
911 /* Enable dbg mode, switching use of the pins */
913 ao_dbg_debug_mode(void);
915 /* Reset the dbg target */
927 #ifndef USE_SERIAL_STDIN
928 #error Please define USE_SERIAL_STDIN
932 ao_serial_rx1_isr(void) __interrupt(3);
935 ao_serial_tx1_isr(void) __interrupt(14);
938 ao_serial_getchar(void) __critical;
942 ao_serial_pollchar(void) __critical;
945 ao_serial_set_stdin(uint8_t stdin);
949 ao_serial_putchar(char c) __critical;
952 ao_serial_drain(void) __critical;
954 #define AO_SERIAL_SPEED_4800 0
955 #define AO_SERIAL_SPEED_9600 1
956 #define AO_SERIAL_SPEED_19200 2
957 #define AO_SERIAL_SPEED_57600 3
960 ao_serial_set_speed(uint8_t speed);
963 ao_serial_init(void);
971 ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
974 ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
983 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
984 #define AO_GPS_NUM_SAT_SHIFT (0)
986 #define AO_GPS_VALID (1 << 4)
987 #define AO_GPS_RUNNING (1 << 5)
988 #define AO_GPS_DATE_VALID (1 << 6)
989 #define AO_GPS_COURSE_VALID (1 << 7)
991 extern __xdata uint16_t ao_gps_tick;
1001 int32_t latitude; /* degrees * 10⁷ */
1002 int32_t longitude; /* degrees * 10⁷ */
1003 int16_t altitude; /* m */
1004 uint16_t ground_speed; /* cm/s */
1005 uint8_t course; /* degrees / 2 */
1006 uint8_t hdop; /* * 5 */
1007 int16_t climb_rate; /* cm/s */
1008 uint16_t h_error; /* m */
1009 uint16_t v_error; /* m */
1012 struct ao_gps_sat_data {
1017 #define AO_MAX_GPS_TRACKING 12
1019 struct ao_gps_tracking_data {
1021 struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
1024 extern __xdata uint8_t ao_gps_mutex;
1025 extern __xdata struct ao_gps_data ao_gps_data;
1026 extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
1032 ao_gps_print(__xdata struct ao_gps_data *gps_data);
1035 ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
1045 ao_gps_report(void);
1048 ao_gps_report_init(void);
1054 #define AO_MAX_CALLSIGN 8
1056 struct ao_telemetry {
1059 uint8_t flight_state;
1061 int16_t ground_accel;
1070 int16_t ground_pres;
1071 int16_t accel_plus_g;
1072 int16_t accel_minus_g;
1074 struct ao_gps_data gps;
1075 char callsign[AO_MAX_CALLSIGN];
1076 struct ao_gps_tracking_data gps_tracking;
1079 struct ao_telemetry_tiny {
1082 uint8_t flight_state;
1083 int16_t height; /* AGL in meters */
1084 int16_t speed; /* in m/s * 16 */
1085 int16_t accel; /* in m/s² * 16 */
1086 int16_t ground_pres; /* sensor units */
1087 struct ao_adc adc; /* raw ADC readings */
1088 char callsign[AO_MAX_CALLSIGN];
1092 * ao_radio_recv tacks on rssi and status bytes
1094 struct ao_telemetry_recv {
1095 struct ao_telemetry telemetry;
1100 struct ao_telemetry_tiny_recv {
1101 struct ao_telemetry_tiny telemetry_tiny;
1106 /* Set delay between telemetry reports (0 to disable) */
1108 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
1109 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
1110 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
1113 ao_telemetry_set_interval(uint16_t interval);
1116 ao_rdf_set(uint8_t rdf);
1119 ao_telemetry_init(void);
1122 ao_telemetry_tiny_init(void);
1128 extern __xdata uint8_t ao_radio_dma;
1129 extern __xdata uint8_t ao_radio_dma_done;
1130 extern __xdata uint8_t ao_radio_done;
1131 extern __xdata uint8_t ao_radio_mutex;
1134 ao_radio_general_isr(void) __interrupt(16);
1137 ao_radio_get(uint8_t len);
1139 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
1142 ao_radio_set_packet(void);
1145 ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
1148 ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
1151 ao_radio_recv_abort(void);
1154 ao_radio_rdf(int ms);
1157 ao_radio_rdf_abort(void);
1160 ao_radio_idle(void);
1163 ao_radio_init(void);
1169 extern const char const * const ao_state_names[];
1174 #define AO_MONITORING_OFF 0
1175 #define AO_MONITORING_FULL 1
1176 #define AO_MONITORING_TINY 2
1179 ao_set_monitor(uint8_t monitoring);
1182 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
1188 #define AO_READ_AGAIN ((char) -1)
1191 char (*pollchar)(void);
1192 void (*putchar)(char c) __reentrant;
1193 void (*flush)(void);
1197 extern __xdata struct ao_stdio ao_stdios[];
1198 extern __data int8_t ao_cur_stdio;
1199 extern __data int8_t ao_num_stdios;
1204 extern __xdata uint8_t ao_stdin_ready;
1210 ao_add_stdio(char (*pollchar)(void),
1211 void (*putchar)(char) __reentrant,
1212 void (*flush)(void)) __reentrant;
1216 ao_stdio_init(void);
1218 #define ao_stdio_init()
1226 ao_igniter_drogue = 0,
1231 ao_ignite(enum ao_igniter igniter);
1233 enum ao_igniter_status {
1234 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
1235 ao_igniter_ready, /* continuity detected */
1236 ao_igniter_active, /* igniter firing */
1237 ao_igniter_open, /* open circuit detected */
1240 enum ao_igniter_status
1241 ao_igniter_status(enum ao_igniter igniter);
1244 ao_igniter_init(void);
1250 #define AO_CONFIG_MAJOR 1
1251 #define AO_CONFIG_MINOR 4
1256 uint16_t main_deploy;
1257 int16_t accel_plus_g; /* changed for minor version 2 */
1258 uint8_t radio_channel;
1259 char callsign[AO_MAX_CALLSIGN + 1];
1260 uint8_t apogee_delay; /* minor version 1 */
1261 int16_t accel_minus_g; /* minor version 2 */
1262 uint32_t radio_cal; /* minor version 3 */
1263 uint32_t flight_log_max; /* minor version 4 */
1266 extern __xdata struct ao_config ao_config;
1268 #define AO_CONFIG_MAX_SIZE 128
1271 ao_config_get(void);
1274 ao_config_put(void);
1277 ao_config_init(void);
1284 ao_rssi_set(int rssi_value);
1287 ao_rssi_init(uint8_t rssi_led);
1292 * values which need to be defined for
1293 * each instance of a product
1296 extern const char ao_version[];
1297 extern const char ao_manufacturer[];
1298 extern const char ao_product[];
1304 #define AO_FIFO_SIZE 32
1309 char fifo[AO_FIFO_SIZE];
1312 #define ao_fifo_insert(f,c) do { \
1313 (f).fifo[(f).insert] = (c); \
1314 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
1317 #define ao_fifo_remove(f,c) do {\
1318 c = (f).fifo[(f).remove]; \
1319 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
1322 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
1323 #define ao_fifo_empty(f) ((f).insert == (f).remove)
1328 * Packet-based command interface
1331 #define AO_PACKET_MAX 64
1332 #define AO_PACKET_SYN (uint8_t) 0xff
1339 uint8_t d[AO_PACKET_MAX];
1340 uint8_t callsign[AO_MAX_CALLSIGN];
1343 struct ao_packet_recv {
1344 struct ao_packet packet;
1349 extern __xdata struct ao_packet_recv ao_rx_packet;
1350 extern __xdata struct ao_packet ao_tx_packet;
1351 extern __xdata struct ao_task ao_packet_task;
1352 extern __xdata uint8_t ao_packet_enable;
1353 extern __xdata uint8_t ao_packet_master_sleeping;
1354 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
1357 ao_packet_send(void);
1360 ao_packet_recv(void);
1363 ao_packet_flush(void);
1366 ao_packet_putchar(char c) __reentrant;
1369 ao_packet_pollchar(void) __critical;
1371 /* ao_packet_master.c */
1374 ao_packet_master_init(void);
1376 /* ao_packet_slave.c */
1379 ao_packet_slave_start(void);
1382 ao_packet_slave_stop(void);
1385 ao_packet_slave_init(uint8_t enable);
1389 /* Shared by USB, so the USB code calls this function */
1396 /* ao_debug_avr.c */
1398 ao_debug_init(void);