[fw/altos] / src-avr / ao.h

/*
 * Copyright © 2009 Keith Packard <keithp@keithp.com>
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; version 2 of the License
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
 */

#ifndef _AO_H_
#define _AO_H_

#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <stddef.h>
#ifdef AVR
#include "avr.h"
#else
#include "cc1111.h"
#endif
#include "ao_pins.h"

#define TRUE 1
#define FALSE 0

/* Convert a __data pointer into an __xdata pointer */
#define DATA_TO_XDATA(a)        ((void __xdata *) ((uint8_t) (a) | 0xff00))

/* Stack runs from above the allocated __data space to 0xfe, which avoids
 * writing to 0xff as that triggers the stack overflow indicator
 */
#ifdef AVR
#define AO_STACK_SIZE   128
#else
#define AO_STACK_START  0x90
#define AO_STACK_END    0xfe
#define AO_STACK_SIZE   (AO_STACK_END - AO_STACK_START + 1)
#endif

/* An AltOS task */
struct ao_task {
        __xdata void *wchan;            /* current wait channel (NULL if running) */
        uint16_t alarm;                 /* abort ao_sleep time */
#ifdef AVR
        uint8_t *sp;                    /* saved stack pointer */
#else
        uint8_t stack_count;            /* amount of saved stack */
#endif
        uint8_t task_id;                /* unique id */
        __code char *name;              /* task name */
        uint8_t stack[AO_STACK_SIZE];   /* saved stack */
};

extern __xdata struct ao_task *__data ao_cur_task;

#define AO_NUM_TASKS            16      /* maximum number of tasks */
#define AO_NO_TASK              0       /* no task id */

#ifdef AVR
extern uint8_t  ao_cpu_sleep_disable;
#endif

/*
 ao_task.c
 */

/* Suspend the current task until wchan is awoken.
 * returns:
 *  0 on normal wake
 *  1 on alarm
 */
uint8_t
ao_sleep(__xdata void *wchan);

/* Wake all tasks sleeping on wchan */
void
ao_wakeup(__xdata void *wchan);

/* set an alarm to go off in 'delay' ticks */
void
ao_alarm(uint16_t delay);

/* Yield the processor to another task */
#ifdef AVR
void ao_yield(void) __attribute__((naked));
#else
void
ao_yield(void) __naked;
#endif

/* Add a task to the run queue */
void
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;

/* Terminate the current task */
void
ao_exit(void);

/* Dump task info to console */
void
ao_task_info(void);

/* Start the scheduler. This will not return */
void
ao_start_scheduler(void);

/*
 * ao_panic.c
 */

#define AO_PANIC_NO_TASK        1       /* AO_NUM_TASKS is not large enough */
#define AO_PANIC_DMA            2       /* Attempt to start DMA while active */
#define AO_PANIC_MUTEX          3       /* Mis-using mutex API */
#define AO_PANIC_EE             4       /* Mis-using eeprom API */
#define AO_PANIC_LOG            5       /* Failing to read/write log data */
#define AO_PANIC_CMD            6       /* Too many command sets registered */
#define AO_PANIC_STDIO          7       /* Too many stdio handlers registered */
#define AO_PANIC_REBOOT         8       /* Reboot failed */
#define AO_PANIC_FLASH          9       /* Invalid flash part (or wrong blocksize) */
#define AO_PANIC_USB            10      /* Trying to send USB packet while busy */
#define AO_PANIC_BT             11      /* Communications with bluetooth device failed */

/* Stop the operating system, beeping and blinking the reason */
void
ao_panic(uint8_t reason);

/*
 * ao_timer.c
 */

/* Our timer runs at 100Hz */
#define AO_HERTZ                100
#define AO_MS_TO_TICKS(ms)      ((ms) / (1000 / AO_HERTZ))
#define AO_SEC_TO_TICKS(s)      ((s) * AO_HERTZ)

/* Returns the current time in ticks */
uint16_t
ao_time(void);

/* Suspend the current task until ticks time has passed */
void
ao_delay(uint16_t ticks);

/* Set the ADC interval */
void
ao_timer_set_adc_interval(uint8_t interval) __critical;

/* Timer interrupt */
void
ao_timer_isr(void) __interrupt(9);

/* Initialize the timer */
void
ao_timer_init(void);

/* Initialize the hardware clock. Must be called first */
void
ao_clock_init(void);

/*
 * One set of samples read from the A/D converter or telemetry
 */
#ifdef AVR
#define NUM_ADC         12
#endif

struct ao_adc {
        uint16_t        tick;           /* tick when the sample was read */
#ifdef AVR
        uint16_t        adc[NUM_ADC];   /* samples */
#else
        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 */
#endif
};

#if HAS_ADC

#if HAS_ACCEL
#ifndef HAS_ACCEL_REF
#error Please define HAS_ACCEL_REF
#endif
#else
#define HAS_ACCEL_REF 0
#endif

/*
 * ao_adc.c
 */

#define AO_ADC_RING     16

#define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
#define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))


/*
 * A/D data is stored in a ring, with the next sample to be written
 * at ao_adc_head
 */
extern volatile __xdata struct ao_adc   ao_adc_ring[AO_ADC_RING];
extern volatile __data uint8_t          ao_adc_head;
#if HAS_ACCEL_REF
extern volatile __xdata uint16_t        ao_accel_ref[AO_ADC_RING];
#endif

/* Trigger a conversion sequence (called from the timer interrupt) */
void
ao_adc_poll(void);

/* Suspend the current task until another A/D sample is converted */
void
ao_adc_sleep(void);

/* Get a copy of the last complete A/D sample set */
void
ao_adc_get(__xdata struct ao_adc *packet);

/* The A/D interrupt handler */

void
ao_adc_isr(void) __interrupt(1);

/* Initialize the A/D converter */
void
ao_adc_init(void);

#endif /* HAS_ADC */

/*
 * ao_beep.c
 */

/*
 * Various pre-defined beep frequencies
 *
 * frequency = 1/2 (24e6/32) / beep
 */

#define AO_BEEP_LOW     150     /* 2500Hz */
#define AO_BEEP_MID     94      /* 3989Hz */
#define AO_BEEP_HIGH    75      /* 5000Hz */
#define AO_BEEP_OFF     0       /* off */

#define AO_BEEP_g       240     /* 1562.5Hz */
#define AO_BEEP_gs      227     /* 1652Hz (1655Hz) */
#define AO_BEEP_aa      214     /* 1752Hz (1754Hz) */
#define AO_BEEP_bbf     202     /* 1856Hz (1858Hz) */
#define AO_BEEP_bb      190     /* 1974Hz (1969Hz) */
#define AO_BEEP_cc      180     /* 2083Hz (2086Hz) */
#define AO_BEEP_ccs     170     /* 2205Hz (2210Hz) */
#define AO_BEEP_dd      160     /* 2344Hz (2341Hz) */
#define AO_BEEP_eef     151     /* 2483Hz (2480Hz) */
#define AO_BEEP_ee      143     /* 2622Hz (2628Hz) */
#define AO_BEEP_ff      135     /* 2778Hz (2784Hz) */
#define AO_BEEP_ffs     127     /* 2953Hz (2950Hz) */
#define AO_BEEP_gg      120     /* 3125Hz */
#define AO_BEEP_ggs     113     /* 3319Hz (3311Hz) */
#define AO_BEEP_aaa     107     /* 3504Hz (3508Hz) */
#define AO_BEEP_bbbf    101     /* 3713Hz (3716Hz) */
#define AO_BEEP_bbb     95      /* 3947Hz (3937Hz) */
#define AO_BEEP_ccc     90      /* 4167Hz (4171Hz) */
#define AO_BEEP_cccs    85      /* 4412Hz (4419Hz) */
#define AO_BEEP_ddd     80      /* 4688Hz (4682Hz) */
#define AO_BEEP_eeef    76      /* 4934Hz (4961Hz) */
#define AO_BEEP_eee     71      /* 5282Hz (5256Hz) */
#define AO_BEEP_fff     67      /* 5597Hz (5568Hz) */
#define AO_BEEP_fffs    64      /* 5859Hz (5899Hz) */
#define AO_BEEP_ggg     60      /* 6250Hz */

/* Set the beeper to the specified tone */
void
ao_beep(uint8_t beep);

/* Turn on the beeper for the specified time */
void
ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;

/* Initialize the beeper */
void
ao_beep_init(void);

/*
 * ao_led.c
 */

#define AO_LED_NONE     0

/* Turn on the specified LEDs */
void
ao_led_on(uint8_t colors);

/* Turn off the specified LEDs */
void
ao_led_off(uint8_t colors);

/* Set all of the LEDs to the specified state */
void
ao_led_set(uint8_t colors);

/* Toggle the specified LEDs */
void
ao_led_toggle(uint8_t colors);

/* Turn on the specified LEDs for the indicated interval */
void
ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;

/* Initialize the LEDs */
void
ao_led_init(uint8_t enable);

/*
 * ao_lcd.c
 */

void
ao_lcd_init(void);

/*
 * ao_romconfig.c
 */

#define AO_ROMCONFIG_VERSION    2

struct ao_romconfig {
        uint16_t        version;
        uint16_t        check;
        uint16_t        serial_number;
        uint32_t        radio_cal;
};

#ifdef AVR
extern __code struct ao_romconfig ao_romconfig __attribute__ ((section("romconfig")));
#else
extern __code __at (0x00a0) struct ao_romconfig ao_romconfig;
#endif

#if HAS_USB
#ifdef AVR
extern const uint8_t ao_usb_descriptors [];
#else
extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
#endif
#endif

/*
 * ao_usb.c
 */

/* Put one character to the USB output queue */
void
ao_usb_putchar(char c);

/* Get one character from the USB input queue */
char
ao_usb_getchar(void);

/* Poll for a charcter on the USB input queue.
 * returns AO_READ_AGAIN if none are available
 */
char
ao_usb_pollchar(void);

/* Flush the USB output queue */
void
ao_usb_flush(void);

#if HAS_USB
/* USB interrupt handler */
void
ao_usb_isr(void) __interrupt(6);
#endif

/* Enable the USB controller */
void
ao_usb_enable(void);

/* Disable the USB controller */
void
ao_usb_disable(void);

/* Initialize the USB system */
void
ao_usb_init(void);

/*
 * ao_cmd.c
 */

enum ao_cmd_status {
        ao_cmd_success = 0,
        ao_cmd_lex_error = 1,
        ao_cmd_syntax_error = 2,
};

extern __xdata uint16_t ao_cmd_lex_i;
extern __xdata uint32_t ao_cmd_lex_u32;
extern __xdata char     ao_cmd_lex_c;
extern __xdata enum ao_cmd_status ao_cmd_status;

void
ao_cmd_lex(void);

void
ao_cmd_put8(uint8_t v);

void
ao_cmd_put16(uint16_t v);

void
ao_cmd_white(void);

void
ao_cmd_hex(void);

void
ao_cmd_decimal(void);

uint8_t
ao_match_word(__code char *word);

struct ao_cmds {
        void            (*func)(void);
        const char      *help;
};

void
ao_cmd_register(__code struct ao_cmds *cmds);

void
ao_cmd_init(void);

#if HAS_CMD_FILTER
/*
 * Provided by an external module to filter raw command lines
 */
uint8_t
ao_cmd_filter(void);
#endif

/*
 * ao_dma.c
 */

/* Allocate a DMA channel. the 'done' parameter will be set when the
 * dma is finished and will be used to wakeup any waiters
 */

uint8_t
ao_dma_alloc(__xdata uint8_t * done);

/* Setup a DMA channel */
void
ao_dma_set_transfer(uint8_t id,
                    void __xdata *srcaddr,
                    void __xdata *dstaddr,
                    uint16_t count,
                    uint8_t cfg0,
                    uint8_t cfg1);

/* Start a DMA channel */
void
ao_dma_start(uint8_t id);

/* Manually trigger a DMA channel */
void
ao_dma_trigger(uint8_t id);

/* Abort a running DMA transfer */
void
ao_dma_abort(uint8_t id);

/* DMA interrupt routine */
void
ao_dma_isr(void) __interrupt(8);

/*
 * ao_mutex.c
 */

void
ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;

void
ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;

/*
 * Storage interface, provided by one of the eeprom or flash
 * drivers
 */

/* Total bytes of available storage */
extern __xdata uint32_t ao_storage_total;

/* Block size - device is erased in these units. At least 256 bytes */
extern __xdata uint32_t ao_storage_block;

/* Byte offset of config block. Will be ao_storage_block bytes long */
extern __xdata uint32_t ao_storage_config;

/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
extern __xdata uint16_t ao_storage_unit;

#define AO_STORAGE_ERASE_LOG    (ao_storage_config + AO_CONFIG_MAX_SIZE)

/* Initialize above values. Can only be called once the OS is running */
void
ao_storage_setup(void) __reentrant;

/* Write data. Returns 0 on failure, 1 on success */
uint8_t
ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;

/* Read data. Returns 0 on failure, 1 on success */
uint8_t
ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;

/* Erase a block of storage. This always clears ao_storage_block bytes */
uint8_t
ao_storage_erase(uint32_t pos) __reentrant;

/* Flush any pending writes to stable storage */
void
ao_storage_flush(void) __reentrant;

/* Initialize the storage code */
void
ao_storage_init(void);

/*
 * Low-level functions wrapped by ao_storage.c
 */

/* Read data within a storage unit */
uint8_t
ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;

/* Write data within a storage unit */
uint8_t
ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;

/* Initialize low-level device bits */
void
ao_storage_device_init(void);

/* Print out information about flash chips */
void
ao_storage_device_info(void) __reentrant;

/*
 * ao_log.c
 */

/* We record flight numbers in the first record of
 * the log. Tasks may wait for this to be initialized
 * by sleeping on this variable.
 */
extern __xdata uint16_t ao_flight_number;

extern __pdata uint32_t ao_log_current_pos;
extern __pdata uint32_t ao_log_end_pos;
extern __pdata uint32_t ao_log_start_pos;
extern __xdata uint8_t  ao_log_running;
extern __xdata enum flight_state ao_log_state;

/* required functions from the underlying log system */

/* Return the flight number from the given log slot, 0 if none */
uint16_t
ao_log_flight(uint8_t slot);

/* Flush the log */
void
ao_log_flush(void);

/* Logging thread main routine */
void
ao_log(void);

/* functions provided in ao_log.c */

/* Figure out the current flight number */
void
ao_log_scan(void) __reentrant;

/* Return the position of the start of the given log slot */
uint32_t
ao_log_pos(uint8_t slot);

/* Start logging to eeprom */
void
ao_log_start(void);

/* Stop logging */
void
ao_log_stop(void);

/* Initialize the logging system */
void
ao_log_init(void);

/* Write out the current flight number to the erase log */
void
ao_log_write_erase(uint8_t pos);

/* Returns true if there are any logs stored in eeprom */
uint8_t
ao_log_present(void);

/* Returns true if there is no more storage space available */
uint8_t
ao_log_full(void);

/*
 * ao_log_big.c
 */

/*
 * The data log is recorded in the eeprom as a sequence
 * of data packets.
 *
 * Each packet starts with a 4-byte header that has the
 * packet type, the packet checksum and the tick count. Then
 * they all contain 2 16 bit values which hold packet-specific
 * data.
 *
 * For each flight, the first packet
 * is FLIGHT packet, indicating the serial number of the
 * device and a unique number marking the number of flights
 * recorded by this device.
 *
 * During flight, data from the accelerometer and barometer
 * are recorded in SENSOR packets, using the raw 16-bit values
 * read from the A/D converter.
 *
 * Also during flight, but at a lower rate, the deployment
 * sensors are recorded in DEPLOY packets. The goal here is to
 * detect failure in the deployment circuits.
 *
 * STATE packets hold state transitions as the flight computer
 * transitions through different stages of the flight.
 */
#define AO_LOG_FLIGHT           'F'
#define AO_LOG_SENSOR           'A'
#define AO_LOG_TEMP_VOLT        'T'
#define AO_LOG_DEPLOY           'D'
#define AO_LOG_STATE            'S'
#define AO_LOG_GPS_TIME         'G'
#define AO_LOG_GPS_LAT          'N'
#define AO_LOG_GPS_LON          'W'
#define AO_LOG_GPS_ALT          'H'
#define AO_LOG_GPS_SAT          'V'
#define AO_LOG_GPS_DATE         'Y'

#define AO_LOG_POS_NONE         (~0UL)

struct ao_log_record {
        char                    type;
        uint8_t                 csum;
        uint16_t                tick;
        union {
                struct {
                        int16_t         ground_accel;
                        uint16_t        flight;
                } flight;
                struct {
                        int16_t         accel;
                        int16_t         pres;
                } sensor;
                struct {
                        int16_t         temp;
                        int16_t         v_batt;
                } temp_volt;
                struct {
                        int16_t         drogue;
                        int16_t         main;
                } deploy;
                struct {
                        uint16_t        state;
                        uint16_t        reason;
                } state;
                struct {
                        uint8_t         hour;
                        uint8_t         minute;
                        uint8_t         second;
                        uint8_t         flags;
                } gps_time;
                int32_t         gps_latitude;
                int32_t         gps_longitude;
                struct {
                        int16_t         altitude;
                        uint16_t        unused;
                } gps_altitude;
                struct {
                        uint16_t        svid;
                        uint8_t         unused;
                        uint8_t         c_n;
                } gps_sat;
                struct {
                        uint8_t         year;
                        uint8_t         month;
                        uint8_t         day;
                        uint8_t         extra;
                } gps_date;
                struct {
                        uint16_t        d0;
                        uint16_t        d1;
                } anon;
        } u;
};

/* Write a record to the eeprom log */
uint8_t
ao_log_data(__xdata struct ao_log_record *log) __reentrant;

/*
 * ao_flight.c
 */

enum ao_flight_state {
        ao_flight_startup = 0,
        ao_flight_idle = 1,
        ao_flight_pad = 2,
        ao_flight_boost = 3,
        ao_flight_fast = 4,
        ao_flight_coast = 5,
        ao_flight_drogue = 6,
        ao_flight_main = 7,
        ao_flight_landed = 8,
        ao_flight_invalid = 9
};

extern __pdata enum ao_flight_state     ao_flight_state;

extern __pdata uint16_t                 ao_launch_time;
extern __xdata uint8_t                  ao_flight_force_idle;

/* Flight thread */
void
ao_flight(void);

/* Initialize flight thread */
void
ao_flight_init(void);

/*
 * ao_flight_nano.c
 */

void
ao_flight_nano_init(void);

/*
 * ao_sample.c
 */

/*
 * Barometer calibration
 *
 * We directly sample the barometer. The specs say:
 *
 * Pressure range: 15-115 kPa
 * Voltage at 115kPa: 2.82
 * Output scale: 27mV/kPa
 *
 * If we want to detect launch with the barometer, we need
 * a large enough bump to not be fooled by noise. At typical
 * launch elevations (0-2000m), a 200Pa pressure change cooresponds
 * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
 * As all of our calculations are done in 16 bits, we'll actually see a change
 * of 16 times this though
 *
 * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
 */

/* Accelerometer calibration
 *
 * We're sampling the accelerometer through a resistor divider which
 * consists of 5k and 10k resistors. This multiplies the values by 2/3.
 * That goes into the cc1111 A/D converter, which is running at 11 bits
 * of precision with the bits in the MSB of the 16 bit value. Only positive
 * values are used, so values should range from 0-32752 for 0-3.3V. The
 * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
 * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
 * for a final computation of:
 *
 * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
 *
 * Zero g was measured at 16000 (we would expect 16384).
 * Note that this value is only require to tell if the
 * rocket is standing upright. Once that is determined,
 * the value of the accelerometer is averaged for 100 samples
 * to find the resting accelerometer value, which is used
 * for all further flight computations
 */

#define GRAVITY 9.80665

/*
 * Above this height, the baro sensor doesn't work
 */
#define AO_MAX_BARO_HEIGHT      12000

/*
 * Above this speed, baro measurements are unreliable
 */
#define AO_MAX_BARO_SPEED       200

#define ACCEL_NOSE_UP   (ao_accel_2g >> 2)

/*
 * Speed and acceleration are scaled by 16 to provide a bit more
 * resolution while still having reasonable range. Note that this
 * limits speed to 2047m/s (around mach 6) and acceleration to
 * 2047m/s² (over 200g)
 */

#define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
#define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
#define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))

extern __pdata uint16_t ao_sample_tick;         /* time of last data */
extern __pdata int16_t  ao_sample_pres;         /* most recent pressure sensor reading */
extern __pdata int16_t  ao_sample_alt;          /* MSL of ao_sample_pres */
extern __pdata int16_t  ao_sample_height;       /* AGL of ao_sample_pres */
extern __data uint8_t   ao_sample_adc;          /* Ring position of last processed sample */

#if HAS_ACCEL
extern __pdata int16_t  ao_sample_accel;        /* most recent accel sensor reading */
#endif

extern __xdata int16_t  ao_ground_pres;         /* startup pressure */
extern __xdata int16_t  ao_ground_height;       /* MSL of ao_ground_pres */

#if HAS_ACCEL
extern __xdata int16_t  ao_ground_accel;        /* startup acceleration */
extern __xdata int16_t  ao_accel_2g;            /* factory accel calibration */
extern __xdata int32_t  ao_accel_scale;         /* sensor to m/s² conversion */
#endif

void ao_sample_init(void);

/* returns FALSE in preflight mode, TRUE in flight mode */
uint8_t ao_sample(void);

/*
 * ao_kalman.c
 */

#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
#define from_fix(x)     ((x) >> 16)

extern __pdata int16_t                  ao_height;      /* meters */
extern __pdata int16_t                  ao_speed;       /* m/s * 16 */
extern __pdata int16_t                  ao_accel;       /* m/s² * 16 */
extern __pdata int16_t                  ao_max_height;  /* max of ao_height */

extern __pdata int16_t                  ao_error_h;
extern __pdata int16_t                  ao_error_h_sq_avg;

#if HAS_ACCEL
extern __pdata int16_t                  ao_error_a;
#endif

void ao_kalman(void);

/*
 * ao_report.c
 */

void
ao_report_init(void);

/*
 * ao_convert.c
 *
 * Given raw data, convert to SI units
 */

/* pressure from the sensor to altitude in meters */
int16_t
ao_pres_to_altitude(int16_t pres) __reentrant;

int16_t
ao_altitude_to_pres(int16_t alt) __reentrant;

int16_t
ao_temp_to_dC(int16_t temp) __reentrant;

/*
 * ao_dbg.c
 *
 * debug another telemetrum board
 */

/* Send a byte to the dbg target */
void
ao_dbg_send_byte(uint8_t byte);

/* Receive a byte from the dbg target */
uint8_t
ao_dbg_recv_byte(void);

/* Start a bulk transfer to/from dbg target memory */
void
ao_dbg_start_transfer(uint16_t addr);

/* End a bulk transfer to/from dbg target memory */
void
ao_dbg_end_transfer(void);

/* Write a byte to dbg target memory */
void
ao_dbg_write_byte(uint8_t byte);

/* Read a byte from dbg target memory */
uint8_t
ao_dbg_read_byte(void);

/* Enable dbg mode, switching use of the pins */
void
ao_dbg_debug_mode(void);

/* Reset the dbg target */
void
ao_dbg_reset(void);

void
ao_dbg_init(void);

/*
 * ao_serial.c
 */

#if HAS_SERIAL_1
#ifndef USE_SERIAL_STDIN
#error Please define USE_SERIAL_STDIN
#endif

void
ao_serial_rx1_isr(void) __interrupt(3);

void
ao_serial_tx1_isr(void) __interrupt(14);

char
ao_serial_getchar(void) __critical;

#if USE_SERIAL_STDIN
char
ao_serial_pollchar(void) __critical;

void
ao_serial_set_stdin(uint8_t stdin);
#endif

void
ao_serial_putchar(char c) __critical;

void
ao_serial_drain(void) __critical;

#define AO_SERIAL_SPEED_4800    0
#define AO_SERIAL_SPEED_9600    1
#define AO_SERIAL_SPEED_19200   2
#define AO_SERIAL_SPEED_57600   3

void
ao_serial_set_speed(uint8_t speed);

void
ao_serial_init(void);
#endif

/*
 * ao_spi.c
 */

void
ao_spi_send(void __xdata *block, uint16_t len) __reentrant;

void
ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;

void
ao_spi_init(void);

/*
 * ao_gps.c
 */

#define AO_GPS_NUM_SAT_MASK     (0xf << 0)
#define AO_GPS_NUM_SAT_SHIFT    (0)

#define AO_GPS_VALID            (1 << 4)
#define AO_GPS_RUNNING          (1 << 5)
#define AO_GPS_DATE_VALID       (1 << 6)
#define AO_GPS_COURSE_VALID     (1 << 7)

extern __xdata uint16_t ao_gps_tick;

struct ao_gps_data {
        uint8_t                 year;
        uint8_t                 month;
        uint8_t                 day;
        uint8_t                 hour;
        uint8_t                 minute;
        uint8_t                 second;
        uint8_t                 flags;
        int32_t                 latitude;       /* degrees * 10⁷ */
        int32_t                 longitude;      /* degrees * 10⁷ */
        int16_t                 altitude;       /* m */
        uint16_t                ground_speed;   /* cm/s */
        uint8_t                 course;         /* degrees / 2 */
        uint8_t                 hdop;           /* * 5 */
        int16_t                 climb_rate;     /* cm/s */
        uint16_t                h_error;        /* m */
        uint16_t                v_error;        /* m */
};

struct ao_gps_sat_data {
        uint8_t         svid;
        uint8_t         c_n_1;
};

#define AO_MAX_GPS_TRACKING     12

struct ao_gps_tracking_data {
        uint8_t                 channels;
        struct ao_gps_sat_data  sats[AO_MAX_GPS_TRACKING];
};

extern __xdata uint8_t ao_gps_mutex;
extern __xdata struct ao_gps_data ao_gps_data;
extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;

void
ao_gps(void);

void
ao_gps_print(__xdata struct ao_gps_data *gps_data);

void
ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);

void
ao_gps_init(void);

/*
 * ao_gps_report.c
 */

void
ao_gps_report(void);

void
ao_gps_report_init(void);

/*
 * ao_telemetry.c
 */

#define AO_MAX_CALLSIGN                 8

struct ao_telemetry {
        uint16_t                serial;
        uint16_t                flight;
        uint8_t                 flight_state;
        int16_t                 accel;
        int16_t                 ground_accel;
        union {
                struct {
                        int16_t                 speed;
                        int16_t                 unused;
                } k;
                int32_t         flight_vel;
        } u;
        int16_t                 height;
        int16_t                 ground_pres;
        int16_t                 accel_plus_g;
        int16_t                 accel_minus_g;
        struct ao_adc           adc;
        struct ao_gps_data      gps;
        char                    callsign[AO_MAX_CALLSIGN];
        struct ao_gps_tracking_data     gps_tracking;
};

struct ao_telemetry_tiny {
        uint16_t                serial;
        uint16_t                flight;
        uint8_t                 flight_state;
        int16_t                 height;         /* AGL in meters */
        int16_t                 speed;          /* in m/s * 16 */
        int16_t                 accel;          /* in m/s² * 16 */
        int16_t                 ground_pres;    /* sensor units */
        struct ao_adc           adc;            /* raw ADC readings */
        char                    callsign[AO_MAX_CALLSIGN];
};

/*
 * ao_radio_recv tacks on rssi and status bytes
 */
struct ao_telemetry_recv {
        struct ao_telemetry     telemetry;
        int8_t                  rssi;
        uint8_t                 status;
};

struct ao_telemetry_tiny_recv {
        struct ao_telemetry_tiny        telemetry_tiny;
        int8_t                          rssi;
        uint8_t                         status;
};

/* Set delay between telemetry reports (0 to disable) */

#define AO_TELEMETRY_INTERVAL_PAD       AO_MS_TO_TICKS(1000)
#define AO_TELEMETRY_INTERVAL_FLIGHT    AO_MS_TO_TICKS(100)
#define AO_TELEMETRY_INTERVAL_RECOVER   AO_MS_TO_TICKS(1000)

void
ao_telemetry_set_interval(uint16_t interval);

void
ao_rdf_set(uint8_t rdf);

void
ao_telemetry_init(void);

void
ao_telemetry_tiny_init(void);

/*
 * ao_radio.c
 */

extern __xdata uint8_t  ao_radio_dma;
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) __interrupt(16);

void
ao_radio_get(uint8_t len);

#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)

void
ao_radio_set_packet(void);

void
ao_radio_send(__xdata void *data, uint8_t size) __reentrant;

uint8_t
ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;

void
ao_radio_recv_abort(void);

void
ao_radio_rdf(int ms);

void
ao_radio_rdf_abort(void);

void
ao_radio_idle(void);

void
ao_radio_init(void);

/*
 * ao_monitor.c
 */

extern const char const * const ao_state_names[];

void
ao_monitor(void);

#define AO_MONITORING_OFF       0
#define AO_MONITORING_FULL      1
#define AO_MONITORING_TINY      2

void
ao_set_monitor(uint8_t monitoring);

void
ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;

/*
 * ao_stdio.c
 */

#define AO_READ_AGAIN   ((char) -1)

struct ao_stdio {
        char    (*pollchar)(void);
        void    (*putchar)(char c) __reentrant;
        void    (*flush)(void);
        uint8_t echo;
};

extern __xdata struct ao_stdio ao_stdios[];
extern __data int8_t ao_cur_stdio;
extern __data int8_t ao_num_stdios;

void
flush(void);

extern __xdata uint8_t ao_stdin_ready;

uint8_t
ao_echo(void);

int8_t
ao_add_stdio(char (*pollchar)(void),
             void (*putchar)(char) __reentrant,
             void (*flush)(void)) __reentrant;

#ifdef AVR
void
ao_stdio_init(void);
#else
#define ao_stdio_init()
#endif

/*
 * ao_ignite.c
 */

enum ao_igniter {
        ao_igniter_drogue = 0,
        ao_igniter_main = 1
};

void
ao_ignite(enum ao_igniter igniter);

enum ao_igniter_status {
        ao_igniter_unknown,     /* unknown status (ambiguous voltage) */
        ao_igniter_ready,       /* continuity detected */
        ao_igniter_active,      /* igniter firing */
        ao_igniter_open,        /* open circuit detected */
};

enum ao_igniter_status
ao_igniter_status(enum ao_igniter igniter);

void
ao_igniter_init(void);

/*
 * ao_config.c
 */

#define AO_CONFIG_MAJOR 1
#define AO_CONFIG_MINOR 4

struct ao_config {
        uint8_t         major;
        uint8_t         minor;
        uint16_t        main_deploy;
        int16_t         accel_plus_g;           /* changed for minor version 2 */
        uint8_t         radio_channel;
        char            callsign[AO_MAX_CALLSIGN + 1];
        uint8_t         apogee_delay;           /* minor version 1 */
        int16_t         accel_minus_g;          /* minor version 2 */
        uint32_t        radio_cal;              /* minor version 3 */
        uint32_t        flight_log_max;         /* minor version 4 */
};

extern __xdata struct ao_config ao_config;

#define AO_CONFIG_MAX_SIZE      128

void
ao_config_get(void);

void
ao_config_put(void);

void
ao_config_init(void);

/*
 * ao_rssi.c
 */

void
ao_rssi_set(int rssi_value);

void
ao_rssi_init(uint8_t rssi_led);

/*
 * ao_product.c
 *
 * values which need to be defined for
 * each instance of a product
 */

extern const char ao_version[];
extern const char ao_manufacturer[];
extern const char ao_product[];

/*
 * Fifos
 */

#define AO_FIFO_SIZE    32

struct ao_fifo {
        uint8_t insert;
        uint8_t remove;
        char    fifo[AO_FIFO_SIZE];
};

#define ao_fifo_insert(f,c) do { \
        (f).fifo[(f).insert] = (c); \
        (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
} while(0)

#define ao_fifo_remove(f,c) do {\
        c = (f).fifo[(f).remove]; \
        (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
} while(0)

#define ao_fifo_full(f)         ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
#define ao_fifo_empty(f)        ((f).insert == (f).remove)

/*
 * ao_packet.c
 *
 * Packet-based command interface
 */

#define AO_PACKET_MAX           64
#define AO_PACKET_SYN           (uint8_t) 0xff

struct ao_packet {
        uint8_t         addr;
        uint8_t         len;
        uint8_t         seq;
        uint8_t         ack;
        uint8_t         d[AO_PACKET_MAX];
        uint8_t         callsign[AO_MAX_CALLSIGN];
};

struct ao_packet_recv {
        struct ao_packet        packet;
        int8_t                  rssi;
        uint8_t                 status;
};

extern __xdata struct ao_packet_recv ao_rx_packet;
extern __xdata struct ao_packet ao_tx_packet;
extern __xdata struct ao_task   ao_packet_task;
extern __xdata uint8_t ao_packet_enable;
extern __xdata uint8_t ao_packet_master_sleeping;
extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;

void
ao_packet_send(void);

uint8_t
ao_packet_recv(void);

void
ao_packet_flush(void);

void
ao_packet_putchar(char c) __reentrant;

char
ao_packet_pollchar(void) __critical;

/* ao_packet_master.c */

void
ao_packet_master_init(void);

/* ao_packet_slave.c */

void
ao_packet_slave_start(void);

void
ao_packet_slave_stop(void);

void
ao_packet_slave_init(uint8_t enable);

/* ao_btm.c */

/* Shared by USB, so the USB code calls this function */
void
ao_btm_isr(void);

void
ao_btm_init(void);

/* ao_debug_avr.c */
void
ao_debug_init(void);

/* ao_spi_slave.c */

void
ao_spi_slave_read(uint8_t *data, int len);

void
ao_spi_slave_write(uint8_t *data, int len);

void
ao_spi_slave_init(void);

/* ao_companion.c */

#define AO_COMPANION_SETUP              1
#define AO_COMPANION_FETCH              2

struct ao_companion_command {
        uint8_t         command;
        uint8_t         flight_state;
        uint16_t        tick;
};

struct ao_companion_setup {
        uint16_t        board_id;
        uint16_t        board_id_inverse;
        uint8_t         update_period;
        uint8_t         channels;
};

#endif /* _AO_H_ */