altos: Switch all tick variables to AO_TICK_TYPE/AO_TICK_SIGNED

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

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 9baae8b437d310b071618b57795b11575c650637..af070cc11c5fdded1ca1a8e5d63b76315a57a933 100644 (file)
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -42,6 +42,11 @@ extern char ao_getchar(void);
 
 typedef AO_PORT_TYPE ao_port_t;
 
+#ifndef AO_TICK_TYPE
+#define AO_TICK_TYPE uint32_t
+#define AO_TICK_SIGNED int32_t
+#endif
+
 #if HAS_TASK
 #include <ao_task.h>
 #else
@@ -75,11 +80,13 @@ typedef AO_PORT_TYPE ao_port_t;
 #define AO_PANIC_SELF_TEST_HMC5883     0x40 | 2        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000     0x40 | 3        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU9250     0x40 | 3        /* Self test failure */
+#define AO_PANIC_SELF_TEST_BMX160      0x40 | 3        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MS5607      0x40 | 4        /* Self test failure */
+#define AO_PANIC_SELF_TEST_ADS124S0X   0x40 | 5        /* Self test failure */
 
 /* Stop the operating system, beeping and blinking the reason */
 void
-ao_panic(uint8_t reason);
+ao_panic(uint8_t reason) __attribute__((noreturn));
 
 /*
  * ao_romconfig.c
@@ -98,11 +105,6 @@ extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal;
  * ao_timer.c
  */
 
-#ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE   uint16_t
-#define AO_TICK_SIGNED int16_t
-#endif
-
 extern volatile AO_TICK_TYPE ao_tick_count;
 
 /* Our timer runs at 100Hz */
@@ -116,9 +118,13 @@ extern volatile AO_TICK_TYPE ao_tick_count;
 AO_TICK_TYPE
 ao_time(void);
 
+/* Returns the current time in ns */
+uint64_t
+ao_time_ns(void);
+
 /* Suspend the current task until ticks time has passed */
 void
-ao_delay(uint16_t ticks);
+ao_delay(AO_TICK_TYPE ticks);
 
 /* Set the ADC interval */
 void
@@ -383,7 +389,7 @@ ao_spi_slave(void);
 #define AO_GPS_NEW_TRACKING    2
 
 extern uint8_t ao_gps_new;
-extern uint16_t ao_gps_tick;
+extern AO_TICK_TYPE ao_gps_tick;
 extern uint8_t ao_gps_mutex;
 extern struct ao_telemetry_location ao_gps_data;
 extern struct ao_telemetry_satellite ao_gps_tracking_data;
@@ -743,9 +749,6 @@ enum ao_igniter {
        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 */
@@ -932,12 +935,6 @@ ao_log_single(void);
 
 #define AO_TELEPYRO_NUM_ADC    9
 
-#ifndef ao_xmemcpy
-#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
-#define ao_xmemset(d,v,c) memset(d,v,c)
-#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
-#endif
-
 /*
  * ao_terraui.c
  */