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.
26 /* Convert a __data pointer into an __xdata pointer */
27 #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
29 /* Stack runs from above the allocated __data space to 0xfe, which avoids
30 * writing to 0xff as that triggers the stack overflow indicator
32 #define AO_STACK_START 0x6f
33 #define AO_STACK_END 0xfe
34 #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
38 __xdata void *wchan; /* current wait channel (NULL if running) */
39 uint8_t stack_count; /* amount of saved stack */
40 uint8_t task_id; /* index in the task array */
41 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
44 extern __xdata struct ao_task *__data ao_cur_task;
46 #define AO_NUM_TASKS 10 /* maximum number of tasks */
47 #define AO_NO_TASK 0 /* no task id */
53 /* Suspend the current task until wchan is awoken */
55 ao_sleep(__xdata void *wchan);
57 /* Wake all tasks sleeping on wchan */
59 ao_wakeup(__xdata void *wchan);
61 /* Yield the processor to another task */
63 ao_yield(void) _naked;
65 /* Add a task to the run queue */
67 ao_add_task(__xdata struct ao_task * task, void (*start)(void));
69 /* Start the scheduler. This will not return */
71 ao_start_scheduler(void);
77 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
78 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
79 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
80 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
81 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
83 /* Stop the operating system, beeping and blinking the reason */
85 ao_panic(uint8_t reason);
91 /* Our timer runs at 100Hz */
92 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
93 #define AO_SEC_TO_TICKS(s) ((s) * 100)
95 /* Returns the current time in ticks */
99 /* Suspend the current task until ticks time has passed */
101 ao_delay(uint16_t ticks);
103 /* Timer interrupt */
105 ao_timer_isr(void) interrupt 9;
107 /* Initialize the timer */
115 #define AO_ADC_RING 128
118 * One set of samples read from the A/D converter
121 uint16_t tick; /* tick when the sample was read */
122 int16_t accel; /* accelerometer */
123 int16_t pres; /* pressure sensor */
124 int16_t temp; /* temperature sensor */
125 int16_t v_batt; /* battery voltage */
126 int16_t sense_d; /* drogue continuity sense */
127 int16_t sense_m; /* main continuity sense */
131 * A/D data is stored in a ring, with the next sample to be written
134 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
135 extern volatile __data uint8_t ao_adc_head;
137 /* Trigger a conversion sequence (called from the timer interrupt) */
141 /* Suspend the current task until another A/D sample is converted */
145 /* Get a copy of the last complete A/D sample set */
147 ao_adc_get(__xdata struct ao_adc *packet);
149 /* The A/D interrupt handler */
151 ao_adc_isr(void) interrupt 1;
153 /* Initialize the A/D converter */
162 * Various pre-defined beep frequencies
164 * frequency = 1/2 (24e6/32) / beep
167 #define AO_BEEP_LOW 150 /* 2500Hz */
168 #define AO_BEEP_MID 94 /* 3989Hz */
169 #define AO_BEEP_HIGH 75 /* 5000Hz */
170 #define AO_BEEP_OFF 0 /* off */
172 #define AO_BEEP_g 240 /* 1562.5Hz */
173 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
174 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
175 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
176 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
177 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
178 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
179 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
180 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
181 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
182 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
183 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
184 #define AO_BEEP_gg 120 /* 3125Hz */
185 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
186 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
187 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
188 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
189 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
190 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
191 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
192 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
193 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
194 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
195 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
196 #define AO_BEEP_ggg 60 /* 6250Hz */
198 /* Set the beeper to the specified tone */
200 ao_beep(uint8_t beep);
202 /* Turn on the beeper for the specified time */
204 ao_beep_for(uint8_t beep, uint16_t ticks);
206 /* Initialize the beeper */
214 #define AO_LED_NONE 0
215 #define AO_LED_GREEN 1
218 /* Turn on the specified LEDs */
220 ao_led_on(uint8_t colors);
222 /* Turn off the specified LEDs */
224 ao_led_off(uint8_t colors);
226 /* Set all of the LEDs to the specified state */
228 ao_led_set(uint8_t colors);
230 /* Turn on the specified LEDs for the indicated interval */
232 ao_led_for(uint8_t colors, uint16_t ticks);
234 /* Initialize the LEDs */
242 /* Put one character to the USB output queue */
244 ao_usb_putchar(uint8_t c);
246 /* Get one character from the USB input queue */
248 ao_usb_getchar(void);
250 /* Flush the USB output queue */
254 /* USB interrupt handler */
256 ao_usb_isr(void) interrupt 6;
258 /* Initialize the USB system */
272 /* Allocate a DMA channel. the 'done' parameter will be set to 1
273 * when the dma is finished and will be used to wakeup any waiters
276 ao_dma_alloc(__xdata uint8_t * done);
278 /* Setup a DMA channel */
280 ao_dma_set_transfer(uint8_t id,
281 void __xdata *srcaddr,
282 void __xdata *dstaddr,
287 /* Start a DMA channel */
289 ao_dma_start(uint8_t id);
291 /* Manually trigger a DMA channel */
293 ao_dma_trigger(uint8_t id);
295 /* Abort a running DMA transfer */
297 ao_dma_abort(uint8_t id);
299 /* DMA interrupt routine */
301 ao_dma_isr(void) interrupt 8;
308 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
311 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
318 * We reserve the last block on the device for
319 * configuration space. Writes and reads in this
320 * area return errors.
323 #define AO_EE_BLOCK_SIZE ((uint16_t) (256))
324 #define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
325 #define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
326 #define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
329 ao_ee_flush(void) __reentrant;
331 /* Write to the eeprom */
333 ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
335 /* Read from the eeprom */
337 ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
339 /* Write the config block (at the end of the eeprom) */
341 ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
343 /* Read the config block (at the end of the eeprom) */
345 ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
347 /* Initialize the EEPROM code */
356 * The data log is recorded in the eeprom as a sequence
359 * Each packet starts with a 4-byte header that has the
360 * packet type, the packet checksum and the tick count. Then
361 * they all contain 2 16 bit values which hold packet-specific
364 * For each flight, the first packet
365 * is FLIGHT packet, indicating the serial number of the
366 * device and a unique number marking the number of flights
367 * recorded by this device.
369 * During flight, data from the accelerometer and barometer
370 * are recorded in SENSOR packets, using the raw 16-bit values
371 * read from the A/D converter.
373 * Also during flight, but at a lower rate, the deployment
374 * sensors are recorded in DEPLOY packets. The goal here is to
375 * detect failure in the deployment circuits.
377 * STATE packets hold state transitions as the flight computer
378 * transitions through different stages of the flight.
380 #define AO_LOG_FLIGHT 'F'
381 #define AO_LOG_SENSOR 'A'
382 #define AO_LOG_TEMP_VOLT 'T'
383 #define AO_LOG_DEPLOY 'D'
384 #define AO_LOG_STATE 'S'
386 #define AO_LOG_POS_NONE (~0UL)
388 struct ao_log_record {
420 /* Write a record to the eeprom log */
422 ao_log_data(struct ao_log_record *log);
429 * ao_log_dump_first() - get first log record
430 * ao_log_dump_next() - get next log record
432 extern __xdata struct ao_log_record ao_log_dump;
434 /* Retrieve first log record for the current flight */
436 ao_log_dump_first(void);
438 /* return next log record for the current flight */
440 ao_log_dump_next(void);
442 /* Logging thread main routine */
446 /* Start logging to eeprom */
454 /* Initialize the logging system */
462 enum ao_flight_state {
475 extern __xdata struct ao_adc ao_flight_data;
476 extern __data enum flight_state ao_flight_state;
477 extern __data uint16_t ao_flight_tick;
478 extern __data int16_t ao_flight_accel;
479 extern __data int16_t ao_flight_pres;
480 extern __data int16_t ao_ground_pres;
481 extern __data int16_t ao_ground_accel;
482 extern __data int16_t ao_min_pres;
483 extern __data uint16_t ao_launch_time;
489 /* Initialize flight thread */
491 ao_flight_init(void);
498 ao_report_notify(void);
501 ao_report_init(void);
506 * Given raw data, convert to SI units
509 /* pressure from the sensor to altitude in meters */
511 ao_pres_to_altitude(int16_t pres) __reentrant;
514 ao_temp_to_dC(int16_t temp) __reentrant;
517 ao_accel_to_dm_per_s2(int16_t accel)
519 return (998 - (accel >> 4)) * 3300 / 2047;
525 * debug another telemetrum board
528 /* Send a byte to the dbg target */
530 ao_dbg_send_byte(uint8_t byte);
532 /* Receive a byte from the dbg target */
534 ao_dbg_recv_byte(void);
536 /* Start a bulk transfer to/from dbg target memory */
538 ao_dbg_start_transfer(uint16_t addr);
540 /* End a bulk transfer to/from dbg target memory */
542 ao_dbg_end_transfer(void);
544 /* Write a byte to dbg target memory */
546 ao_dbg_write_byte(uint8_t byte);
548 /* Read a byte from dbg target memory */
550 ao_dbg_read_byte(void);
552 /* Enable dbg mode, switching use of the pins */
554 ao_dbg_debug_mode(void);
556 /* Reset the dbg target */
565 ao_serial_rx1_isr(void) interrupt 3;
568 ao_serial_tx1_isr(void) interrupt 14;
571 ao_serial_getchar(void) __critical;
574 ao_serial_putchar(uint8_t c) __critical;
577 ao_serial_init(void);