altos: Implement remote launch protocol

[fw/altos] / src / core / ao.h

diff --git a/src/core/ao.h b/src/core/ao.h
index c926c00152ed28986ea7f8713b4433d6f1eb74d2..a5bbb6f1fce51433ffb985a651a2670fca43cadf 100644 (file)
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -68,6 +68,10 @@ ao_wakeup(__xdata void *wchan);
 void
 ao_alarm(uint16_t delay);
 
+/* Clear any pending alarm */
+void
+ao_clear_alarm(void);
+
 /* Yield the processor to another task */
 void
 ao_yield(void) ao_arch_naked_declare;
@@ -342,6 +346,12 @@ ao_cmd_put16(uint16_t v);
 void
 ao_cmd_white(void);
 
+int8_t
+ao_cmd_hexchar(char c);
+
+void
+ao_cmd_hexbyte(void);
+
 void
 ao_cmd_hex(void);
 
@@ -1118,6 +1128,30 @@ struct ao_telemetry_companion {
        /* 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;
@@ -1125,6 +1159,7 @@ union ao_telemetry_all {
        struct ao_telemetry_location            location;
        struct ao_telemetry_satellite           satellite;
        struct ao_telemetry_companion           companion;
+       struct ao_telemetry_baro                baro;
 };
 
 /*
@@ -1258,9 +1293,15 @@ struct ao_telemetry_raw_recv {
 
 /* Set delay between telemetry reports (0 to disable) */
 
+#ifdef AO_SEND_ALL_BARO
+#define AO_TELEMETRY_INTERVAL_PAD      AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_FLIGHT   AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_RECOVER  AO_MS_TO_TICKS(100)
+#else
 #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)
+#endif
 
 void
 ao_telemetry_set_interval(uint16_t interval);
@@ -1386,6 +1427,14 @@ enum ao_igniter_status {
        ao_igniter_open,        /* open circuit detected */
 };
 
+struct ao_ignition {
+       uint8_t request;
+       uint8_t fired;
+       uint8_t firing;
+};
+
+extern __xdata struct ao_ignition ao_ignition[2];
+
 enum ao_igniter_status
 ao_igniter_status(enum ao_igniter igniter);
 
@@ -1400,7 +1449,8 @@ ao_igniter_init(void);
  */
 
 #define AO_CONFIG_MAJOR        1
-#define AO_CONFIG_MINOR        8
+#define AO_CONFIG_MINOR        9
+#define AO_AES_LEN 16
 
 struct ao_config {
        uint8_t         major;
@@ -1417,6 +1467,7 @@ struct ao_config {
        uint8_t         pad_orientation;        /* minor version 6 */
        uint32_t        radio_setting;          /* minor version 7 */
        uint8_t         radio_enable;           /* minor version 8 */
+       uint8_t         aes_key[AO_AES_LEN];    /* minor version 9 */
 };
 
 #define AO_IGNITE_MODE_DUAL            0
@@ -1598,4 +1649,79 @@ ao_companion_init(void);
 void
 ao_lcd_init(void);
 
+/* ao_aes.c */
+
+__xdata uint8_t ao_aes_mutex;
+
+/* AES keys and blocks are 128 bits */
+
+enum ao_aes_mode {
+       ao_aes_mode_cbc_mac
+};
+
+#if HAS_AES
+void
+ao_aes_isr(void) __interrupt 4;
+#endif
+
+void
+ao_aes_set_mode(enum ao_aes_mode mode);
+
+void
+ao_aes_set_key(__xdata uint8_t *in);
+
+void
+ao_aes_zero_iv(void);
+
+void
+ao_aes_run(__xdata uint8_t *in,
+          __xdata uint8_t *out);
+
+void
+ao_aes_init(void);
+
+/* ao_radio_cmac.c */
+
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
+
+#define AO_RADIO_CMAC_OK       0
+#define AO_RADIO_CMAC_LEN_ERROR        -1
+#define AO_RADIO_CMAC_CRC_ERROR        -2
+#define AO_RADIO_CMAC_MAC_ERROR        -3
+#define AO_RADIO_CMAC_TIMEOUT  -4
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
+
+void
+ao_radio_cmac_init(void);
+
+/* ao_launch.c */
+
+struct ao_launch_command {
+       uint16_t        tick;
+       uint16_t        serial;
+       uint8_t         cmd;
+       uint8_t         channel;
+       uint16_t        unused;
+};
+
+#define AO_LAUNCH_QUERY                1
+
+struct ao_launch_query {
+       uint16_t        tick;
+       uint16_t        serial;
+       uint8_t         channel;
+       uint8_t         valid;
+       uint8_t         arm_status;
+       uint8_t         igniter_status;
+};
+
+#define AO_LAUNCH_ARM          2
+#define AO_LAUNCH_FIRE         3
+
+void
+ao_launch_init(void);
+
 #endif /* _AO_H_ */