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.
31 /* Convert a __data pointer into an __xdata pointer */
32 #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
34 /* Stack runs from above the allocated __data space to 0xfe, which avoids
35 * writing to 0xff as that triggers the stack overflow indicator
37 #define AO_STACK_START 0x80
38 #define AO_STACK_END 0xfe
39 #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
43 __xdata void *wchan; /* current wait channel (NULL if running) */
44 uint16_t alarm; /* abort ao_sleep time */
45 uint8_t stack_count; /* amount of saved stack */
46 uint8_t task_id; /* unique id */
47 __code char *name; /* task name */
48 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
51 extern __xdata struct ao_task *__data ao_cur_task;
53 #define AO_NUM_TASKS 16 /* maximum number of tasks */
54 #define AO_NO_TASK 0 /* no task id */
60 /* Suspend the current task until wchan is awoken.
66 ao_sleep(__xdata void *wchan);
68 /* Wake all tasks sleeping on wchan */
70 ao_wakeup(__xdata void *wchan);
72 /* set an alarm to go off in 'delay' ticks */
74 ao_alarm(uint16_t delay);
76 /* Yield the processor to another task */
78 ao_yield(void) __naked;
80 /* Add a task to the run queue */
82 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
84 /* Terminate the current task */
88 /* Dump task info to console */
92 /* Start the scheduler. This will not return */
94 ao_start_scheduler(void);
100 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
101 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
102 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
103 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
104 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
105 #define AO_PANIC_CMD 6 /* Too many command sets registered */
106 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
107 #define AO_PANIC_REBOOT 8 /* Reboot failed */
108 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
109 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
111 /* Stop the operating system, beeping and blinking the reason */
113 ao_panic(uint8_t reason);
119 /* Our timer runs at 100Hz */
121 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
122 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
124 /* Returns the current time in ticks */
128 /* Suspend the current task until ticks time has passed */
130 ao_delay(uint16_t ticks);
132 /* Set the ADC interval */
134 ao_timer_set_adc_interval(uint8_t interval) __critical;
136 /* Timer interrupt */
138 ao_timer_isr(void) __interrupt 9;
140 /* Initialize the timer */
144 /* Initialize the hardware clock. Must be called first */
149 * One set of samples read from the A/D converter or telemetry
152 uint16_t tick; /* tick when the sample was read */
153 int16_t accel; /* accelerometer */
154 int16_t pres; /* pressure sensor */
155 int16_t temp; /* temperature sensor */
156 int16_t v_batt; /* battery voltage */
157 int16_t sense_d; /* drogue continuity sense */
158 int16_t sense_m; /* main continuity sense */
162 #error Please define HAS_ADC
167 #ifndef HAS_ACCEL_REF
168 #error Please define HAS_ACCEL_REF
175 #define AO_ADC_RING 32
176 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
177 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
181 * A/D data is stored in a ring, with the next sample to be written
184 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
185 extern volatile __data uint8_t ao_adc_head;
187 extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
190 /* Trigger a conversion sequence (called from the timer interrupt) */
194 /* Suspend the current task until another A/D sample is converted */
198 /* Get a copy of the last complete A/D sample set */
200 ao_adc_get(__xdata struct ao_adc *packet);
202 /* The A/D interrupt handler */
205 ao_adc_isr(void) __interrupt 1;
207 /* Initialize the A/D converter */
218 * Various pre-defined beep frequencies
220 * frequency = 1/2 (24e6/32) / beep
223 #define AO_BEEP_LOW 150 /* 2500Hz */
224 #define AO_BEEP_MID 94 /* 3989Hz */
225 #define AO_BEEP_HIGH 75 /* 5000Hz */
226 #define AO_BEEP_OFF 0 /* off */
228 #define AO_BEEP_g 240 /* 1562.5Hz */
229 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
230 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
231 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
232 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
233 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
234 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
235 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
236 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
237 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
238 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
239 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
240 #define AO_BEEP_gg 120 /* 3125Hz */
241 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
242 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
243 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
244 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
245 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
246 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
247 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
248 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
249 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
250 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
251 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
252 #define AO_BEEP_ggg 60 /* 6250Hz */
254 /* Set the beeper to the specified tone */
256 ao_beep(uint8_t beep);
258 /* Turn on the beeper for the specified time */
260 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
262 /* Initialize the beeper */
270 #define AO_LED_NONE 0
272 /* Turn on the specified LEDs */
274 ao_led_on(uint8_t colors);
276 /* Turn off the specified LEDs */
278 ao_led_off(uint8_t colors);
280 /* Set all of the LEDs to the specified state */
282 ao_led_set(uint8_t colors);
284 /* Toggle the specified LEDs */
286 ao_led_toggle(uint8_t colors);
288 /* Turn on the specified LEDs for the indicated interval */
290 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
292 /* Initialize the LEDs */
294 ao_led_init(uint8_t enable);
300 #define AO_ROMCONFIG_VERSION 2
302 extern __code __at (0x00a0) uint16_t ao_romconfig_version;
303 extern __code __at (0x00a2) uint16_t ao_romconfig_check;
304 extern __code __at (0x00a4) uint16_t ao_serial_number;
305 extern __code __at (0x00a6) uint32_t ao_radio_cal;
306 extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
312 /* Put one character to the USB output queue */
314 ao_usb_putchar(char c);
316 /* Get one character from the USB input queue */
318 ao_usb_getchar(void);
320 /* Poll for a charcter on the USB input queue.
321 * returns AO_READ_AGAIN if none are available
324 ao_usb_pollchar(void);
326 /* Flush the USB output queue */
330 /* USB interrupt handler */
332 ao_usb_isr(void) __interrupt 6;
334 /* Enable the USB controller */
338 /* Disable the USB controller */
340 ao_usb_disable(void);
342 /* Initialize the USB system */
352 ao_cmd_lex_error = 1,
353 ao_cmd_syntax_error = 2,
356 extern __xdata uint16_t ao_cmd_lex_i;
357 extern __xdata uint32_t ao_cmd_lex_u32;
358 extern __xdata char ao_cmd_lex_c;
359 extern __xdata enum ao_cmd_status ao_cmd_status;
365 ao_cmd_put8(uint8_t v);
368 ao_cmd_put16(uint16_t v);
377 ao_cmd_decimal(void);
380 ao_match_word(__code char *word);
388 ao_cmd_register(__code struct ao_cmds *cmds);
397 /* Allocate a DMA channel. the 'done' parameter will be set when the
398 * dma is finished and will be used to wakeup any waiters
402 ao_dma_alloc(__xdata uint8_t * done);
404 /* Setup a DMA channel */
406 ao_dma_set_transfer(uint8_t id,
407 void __xdata *srcaddr,
408 void __xdata *dstaddr,
413 /* Start a DMA channel */
415 ao_dma_start(uint8_t id);
417 /* Manually trigger a DMA channel */
419 ao_dma_trigger(uint8_t id);
421 /* Abort a running DMA transfer */
423 ao_dma_abort(uint8_t id);
425 /* DMA interrupt routine */
427 ao_dma_isr(void) __interrupt 8;
434 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
437 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
440 * Storage interface, provided by one of the eeprom or flash
444 /* Total bytes of available storage */
445 extern __xdata uint32_t ao_storage_total;
447 /* Block size - device is erased in these units. At least 256 bytes */
448 extern __xdata uint32_t ao_storage_block;
450 /* Byte offset of config block. Will be ao_storage_block bytes long */
451 extern __xdata uint32_t ao_storage_config;
453 /* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
454 extern __xdata uint16_t ao_storage_unit;
456 #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
458 /* Initialize above values. Can only be called once the OS is running */
460 ao_storage_setup(void);
462 /* Write data. Returns 0 on failure, 1 on success */
464 ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
466 /* Read data. Returns 0 on failure, 1 on success */
468 ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
470 /* Erase a block of storage. This always clears ao_storage_block bytes */
472 ao_storage_erase(uint32_t pos) __reentrant;
474 /* Flush any pending writes to stable storage */
476 ao_storage_flush(void) __reentrant;
478 /* Initialize the storage code */
480 ao_storage_init(void);
483 * Low-level functions wrapped by ao_storage.c
486 /* Read data within a storage unit */
488 ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
490 /* Write data within a storage unit */
492 ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
494 /* Initialize low-level device bits */
496 ao_storage_device_init(void);
498 /* Print out information about flash chips */
500 ao_storage_device_info(void) __reentrant;
507 * The data log is recorded in the eeprom as a sequence
510 * Each packet starts with a 4-byte header that has the
511 * packet type, the packet checksum and the tick count. Then
512 * they all contain 2 16 bit values which hold packet-specific
515 * For each flight, the first packet
516 * is FLIGHT packet, indicating the serial number of the
517 * device and a unique number marking the number of flights
518 * recorded by this device.
520 * During flight, data from the accelerometer and barometer
521 * are recorded in SENSOR packets, using the raw 16-bit values
522 * read from the A/D converter.
524 * Also during flight, but at a lower rate, the deployment
525 * sensors are recorded in DEPLOY packets. The goal here is to
526 * detect failure in the deployment circuits.
528 * STATE packets hold state transitions as the flight computer
529 * transitions through different stages of the flight.
531 #define AO_LOG_FLIGHT 'F'
532 #define AO_LOG_SENSOR 'A'
533 #define AO_LOG_TEMP_VOLT 'T'
534 #define AO_LOG_DEPLOY 'D'
535 #define AO_LOG_STATE 'S'
536 #define AO_LOG_GPS_TIME 'G'
537 #define AO_LOG_GPS_LAT 'N'
538 #define AO_LOG_GPS_LON 'W'
539 #define AO_LOG_GPS_ALT 'H'
540 #define AO_LOG_GPS_SAT 'V'
541 #define AO_LOG_GPS_DATE 'Y'
543 #define AO_LOG_POS_NONE (~0UL)
545 struct ao_log_record {
551 int16_t ground_accel;
576 int32_t gps_latitude;
577 int32_t gps_longitude;
600 /* Write a record to the eeprom log */
602 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
608 /* We record flight numbers in the first record of
609 * the log. Tasks may wait for this to be initialized
610 * by sleeping on this variable.
612 extern __xdata uint16_t ao_flight_number;
614 /* Logging thread main routine */
618 /* Start logging to eeprom */
626 /* Initialize the logging system */
630 /* Write out the current flight number to the erase log */
632 ao_log_write_erase(uint8_t pos);
634 /* Returns true if there are any logs stored in eeprom */
636 ao_log_present(void);
638 /* Returns true if there is no more storage space available */
646 enum ao_flight_state {
647 ao_flight_startup = 0,
653 ao_flight_drogue = 6,
655 ao_flight_landed = 8,
656 ao_flight_invalid = 9
659 extern __data uint8_t ao_flight_adc;
660 extern __pdata enum ao_flight_state ao_flight_state;
661 extern __pdata uint16_t ao_flight_tick;
662 extern __pdata int16_t ao_flight_accel;
663 extern __pdata int16_t ao_flight_pres;
664 extern __pdata int32_t ao_flight_vel;
665 extern __pdata int16_t ao_ground_pres;
666 extern __pdata int16_t ao_ground_accel;
667 extern __pdata int16_t ao_min_pres;
668 extern __pdata uint16_t ao_launch_time;
669 extern __xdata uint8_t ao_flight_force_idle;
675 /* Initialize flight thread */
677 ao_flight_init(void);
684 ao_report_init(void);
689 * Given raw data, convert to SI units
692 /* pressure from the sensor to altitude in meters */
694 ao_pres_to_altitude(int16_t pres) __reentrant;
697 ao_altitude_to_pres(int16_t alt) __reentrant;
700 ao_temp_to_dC(int16_t temp) __reentrant;
705 * debug another telemetrum board
708 /* Send a byte to the dbg target */
710 ao_dbg_send_byte(uint8_t byte);
712 /* Receive a byte from the dbg target */
714 ao_dbg_recv_byte(void);
716 /* Start a bulk transfer to/from dbg target memory */
718 ao_dbg_start_transfer(uint16_t addr);
720 /* End a bulk transfer to/from dbg target memory */
722 ao_dbg_end_transfer(void);
724 /* Write a byte to dbg target memory */
726 ao_dbg_write_byte(uint8_t byte);
728 /* Read a byte from dbg target memory */
730 ao_dbg_read_byte(void);
732 /* Enable dbg mode, switching use of the pins */
734 ao_dbg_debug_mode(void);
736 /* Reset the dbg target */
748 #error Please define HAS_SERIAL_1
753 ao_serial_rx1_isr(void) __interrupt 3;
756 ao_serial_tx1_isr(void) __interrupt 14;
759 ao_serial_getchar(void) __critical;
762 ao_serial_putchar(char c) __critical;
764 #define AO_SERIAL_SPEED_4800 0
765 #define AO_SERIAL_SPEED_9600 1
766 #define AO_SERIAL_SPEED_57600 2
769 ao_serial_set_speed(uint8_t speed);
772 ao_serial_init(void);
780 ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
783 ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
792 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
793 #define AO_GPS_NUM_SAT_SHIFT (0)
795 #define AO_GPS_VALID (1 << 4)
796 #define AO_GPS_RUNNING (1 << 5)
797 #define AO_GPS_DATE_VALID (1 << 6)
799 extern __xdata uint16_t ao_gps_tick;
809 int32_t latitude; /* degrees * 10⁷ */
810 int32_t longitude; /* degrees * 10⁷ */
811 int16_t altitude; /* m */
812 uint16_t ground_speed; /* cm/s */
813 uint8_t course; /* degrees / 2 */
814 uint8_t hdop; /* * 5 */
815 int16_t climb_rate; /* cm/s */
816 uint16_t h_error; /* m */
817 uint16_t v_error; /* m */
820 struct ao_gps_sat_data {
825 #define AO_MAX_GPS_TRACKING 12
827 struct ao_gps_tracking_data {
829 struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
832 extern __xdata uint8_t ao_gps_mutex;
833 extern __xdata struct ao_gps_data ao_gps_data;
834 extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
840 ao_gps_print(__xdata struct ao_gps_data *gps_data);
843 ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
856 ao_gps_report_init(void);
862 #define AO_MAX_CALLSIGN 8
863 #define AO_TELEMETRY_VERSION 3
865 struct ao_telemetry {
868 uint8_t flight_state;
869 int16_t flight_accel;
870 int16_t ground_accel;
874 int16_t accel_plus_g;
875 int16_t accel_minus_g;
877 struct ao_gps_data gps;
878 char callsign[AO_MAX_CALLSIGN];
879 struct ao_gps_tracking_data gps_tracking;
883 * ao_radio_recv tacks on rssi and status bytes
885 struct ao_telemetry_recv {
886 struct ao_telemetry telemetry;
891 /* Set delay between telemetry reports (0 to disable) */
893 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
894 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
895 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
898 ao_telemetry_set_interval(uint16_t interval);
901 ao_rdf_set(uint8_t rdf);
904 ao_telemetry_init(void);
910 extern __xdata uint8_t ao_radio_dma;
911 extern __xdata uint8_t ao_radio_dma_done;
912 extern __xdata uint8_t ao_radio_done;
913 extern __xdata uint8_t ao_radio_mutex;
916 ao_radio_general_isr(void) __interrupt 16;
921 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
924 ao_radio_set_fixed_pkt(size_t size);
926 #define ao_radio_set_telemetry() \
927 ao_radio_set_fixed_pkt(sizeof (struct ao_telemetry))
929 #define ao_radio_set_packet() \
930 ao_radio_set_fixed_pkt(sizeof (struct ao_packet))
933 ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
936 ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
939 ao_radio_recv_abort(void);
942 ao_radio_rdf(int ms);
945 ao_radio_rdf_abort(void);
957 extern const char const * const ao_state_names[];
963 ao_set_monitor(uint8_t monitoring);
966 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
972 #define AO_READ_AGAIN ((char) -1)
975 char (*pollchar)(void);
976 void (*putchar)(char c) __reentrant;
983 extern __xdata uint8_t ao_stdin_ready;
986 ao_add_stdio(char (*pollchar)(void),
987 void (*putchar)(char) __reentrant,
988 void (*flush)(void));
995 ao_igniter_drogue = 0,
1000 ao_ignite(enum ao_igniter igniter);
1002 enum ao_igniter_status {
1003 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
1004 ao_igniter_ready, /* continuity detected */
1005 ao_igniter_active, /* igniter firing */
1006 ao_igniter_open, /* open circuit detected */
1009 enum ao_igniter_status
1010 ao_igniter_status(enum ao_igniter igniter);
1013 ao_igniter_init(void);
1019 #define AO_CONFIG_MAJOR 1
1020 #define AO_CONFIG_MINOR 4
1025 uint16_t main_deploy;
1026 int16_t accel_plus_g; /* changed for minor version 2 */
1027 uint8_t radio_channel;
1028 char callsign[AO_MAX_CALLSIGN + 1];
1029 uint8_t apogee_delay; /* minor version 1 */
1030 int16_t accel_minus_g; /* minor version 2 */
1031 uint32_t radio_cal; /* minor version 3 */
1032 uint32_t flight_log_max; /* minor version 4 */
1035 extern __xdata struct ao_config ao_config;
1037 #define AO_CONFIG_MAX_SIZE 128
1040 ao_config_get(void);
1043 ao_config_put(void);
1046 ao_config_init(void);
1053 ao_rssi_set(int rssi_value);
1056 ao_rssi_init(uint8_t rssi_led);
1061 * values which need to be defined for
1062 * each instance of a product
1065 extern __code __at(0x00aa) uint8_t ao_usb_descriptors [];
1066 extern const char ao_version[];
1067 extern const char ao_manufacturer[];
1068 extern const char ao_product[];
1074 #define AO_FIFO_SIZE 32
1079 char fifo[AO_FIFO_SIZE];
1082 #define ao_fifo_insert(f,c) do { \
1083 (f).fifo[(f).insert] = (c); \
1084 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
1087 #define ao_fifo_remove(f,c) do {\
1088 c = (f).fifo[(f).remove]; \
1089 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
1092 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
1093 #define ao_fifo_empty(f) ((f).insert == (f).remove)
1098 * Packet-based command interface
1101 #define AO_PACKET_MAX 64
1102 #define AO_PACKET_SYN (uint8_t) 0xff
1109 uint8_t d[AO_PACKET_MAX];
1110 uint8_t callsign[AO_MAX_CALLSIGN];
1113 struct ao_packet_recv {
1114 struct ao_packet packet;
1119 extern __xdata struct ao_packet_recv ao_rx_packet;
1120 extern __xdata struct ao_packet ao_tx_packet;
1121 extern __xdata struct ao_task ao_packet_task;
1122 extern __xdata uint8_t ao_packet_enable;
1123 extern __xdata uint8_t ao_packet_master_sleeping;
1124 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
1127 ao_packet_send(void);
1130 ao_packet_recv(void);
1133 ao_packet_flush(void);
1136 ao_packet_putchar(char c) __reentrant;
1139 ao_packet_pollchar(void) __critical;
1141 /* ao_packet_master.c */
1144 ao_packet_master_init(void);
1146 /* ao_packet_slave.c */
1149 ao_packet_slave_start(void);
1152 ao_packet_slave_stop(void);
1155 ao_packet_slave_init(void);