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.
30 /* Convert a __data pointer into an __xdata pointer */
31 #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
33 /* Stack runs from above the allocated __data space to 0xfe, which avoids
34 * writing to 0xff as that triggers the stack overflow indicator
36 #define AO_STACK_START 0x80
37 #define AO_STACK_END 0xfe
38 #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
42 __xdata void *wchan; /* current wait channel (NULL if running) */
43 uint8_t stack_count; /* amount of saved stack */
44 uint8_t task_id; /* index in the task array */
45 __code char *name; /* task name */
46 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
49 extern __xdata struct ao_task *__data ao_cur_task;
51 #define AO_NUM_TASKS 16 /* maximum number of tasks */
52 #define AO_NO_TASK 0 /* no task id */
58 /* Suspend the current task until wchan is awoken */
60 ao_sleep(__xdata void *wchan);
62 /* Wake all tasks sleeping on wchan */
64 ao_wakeup(__xdata void *wchan);
66 /* Yield the processor to another task */
68 ao_yield(void) _naked;
70 /* Add a task to the run queue */
72 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
74 /* Dump task info to console */
78 /* Start the scheduler. This will not return */
80 ao_start_scheduler(void);
86 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
87 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
88 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
89 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
90 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
91 #define AO_PANIC_CMD 6 /* Too many command sets registered */
93 /* Stop the operating system, beeping and blinking the reason */
95 ao_panic(uint8_t reason);
101 /* Our timer runs at 100Hz */
102 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
103 #define AO_SEC_TO_TICKS(s) ((s) * 100)
105 /* Returns the current time in ticks */
109 /* Suspend the current task until ticks time has passed */
111 ao_delay(uint16_t ticks);
113 /* Set the ADC interval */
115 ao_timer_set_adc_interval(uint8_t interval) __critical;
117 /* Timer interrupt */
119 ao_timer_isr(void) interrupt 9;
121 /* Initialize the timer */
125 /* Initialize the hardware clock. Must be called first */
133 #define AO_ADC_RING 64
134 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
135 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
138 * One set of samples read from the A/D converter
141 uint16_t tick; /* tick when the sample was read */
142 int16_t accel; /* accelerometer */
143 int16_t pres; /* pressure sensor */
144 int16_t temp; /* temperature sensor */
145 int16_t v_batt; /* battery voltage */
146 int16_t sense_d; /* drogue continuity sense */
147 int16_t sense_m; /* main continuity sense */
151 * A/D data is stored in a ring, with the next sample to be written
154 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
155 extern volatile __data uint8_t ao_adc_head;
157 /* Trigger a conversion sequence (called from the timer interrupt) */
161 /* Suspend the current task until another A/D sample is converted */
165 /* Get a copy of the last complete A/D sample set */
167 ao_adc_get(__xdata struct ao_adc *packet);
169 /* The A/D interrupt handler */
172 ao_adc_isr(void) interrupt 1;
175 /* Initialize the A/D converter */
184 * Various pre-defined beep frequencies
186 * frequency = 1/2 (24e6/32) / beep
189 #define AO_BEEP_LOW 150 /* 2500Hz */
190 #define AO_BEEP_MID 94 /* 3989Hz */
191 #define AO_BEEP_HIGH 75 /* 5000Hz */
192 #define AO_BEEP_OFF 0 /* off */
194 #define AO_BEEP_g 240 /* 1562.5Hz */
195 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
196 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
197 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
198 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
199 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
200 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
201 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
202 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
203 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
204 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
205 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
206 #define AO_BEEP_gg 120 /* 3125Hz */
207 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
208 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
209 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
210 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
211 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
212 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
213 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
214 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
215 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
216 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
217 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
218 #define AO_BEEP_ggg 60 /* 6250Hz */
220 /* Set the beeper to the specified tone */
222 ao_beep(uint8_t beep);
224 /* Turn on the beeper for the specified time */
226 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
228 /* Initialize the beeper */
236 #define AO_LED_NONE 0
237 #define AO_LED_GREEN 1
240 /* Turn on the specified LEDs */
242 ao_led_on(uint8_t colors);
244 /* Turn off the specified LEDs */
246 ao_led_off(uint8_t colors);
248 /* Set all of the LEDs to the specified state */
250 ao_led_set(uint8_t colors);
252 /* Toggle the specified LEDs */
254 ao_led_toggle(uint8_t colors);
256 /* Turn on the specified LEDs for the indicated interval */
258 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
260 /* Initialize the LEDs */
262 ao_led_init(uint8_t enable);
268 /* Put one character to the USB output queue */
270 ao_usb_putchar(char c);
272 /* Get one character from the USB input queue */
274 ao_usb_getchar(void);
276 /* Flush the USB output queue */
280 /* USB interrupt handler */
282 ao_usb_isr(void) interrupt 6;
284 /* Enable the USB controller */
288 /* Disable the USB controller */
290 ao_usb_disable(void);
292 /* Initialize the USB system */
302 ao_cmd_lex_error = 1,
303 ao_cmd_syntax_error = 2,
306 extern __xdata uint16_t ao_cmd_lex_i;
307 extern __xdata char ao_cmd_lex_c;
308 extern __xdata enum ao_cmd_status ao_cmd_status;
314 ao_cmd_put8(uint8_t v);
317 ao_cmd_put16(uint16_t v);
326 ao_cmd_decimal(void);
335 ao_cmd_register(__code struct ao_cmds *cmds);
344 /* Allocate a DMA channel. the 'done' parameter will be set to 1
345 * when the dma is finished and will be used to wakeup any waiters
348 ao_dma_alloc(__xdata uint8_t * done);
350 /* Setup a DMA channel */
352 ao_dma_set_transfer(uint8_t id,
353 void __xdata *srcaddr,
354 void __xdata *dstaddr,
359 /* Start a DMA channel */
361 ao_dma_start(uint8_t id);
363 /* Manually trigger a DMA channel */
365 ao_dma_trigger(uint8_t id);
367 /* Abort a running DMA transfer */
369 ao_dma_abort(uint8_t id);
371 /* DMA interrupt routine */
373 ao_dma_isr(void) interrupt 8;
380 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
383 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
390 * We reserve the last block on the device for
391 * configuration space. Writes and reads in this
392 * area return errors.
395 #define AO_EE_BLOCK_SIZE ((uint16_t) (256))
396 #define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
397 #define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
398 #define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
401 ao_ee_flush(void) __reentrant;
403 /* Write to the eeprom */
405 ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
407 /* Read from the eeprom */
409 ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
411 /* Write the config block (at the end of the eeprom) */
413 ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
415 /* Read the config block (at the end of the eeprom) */
417 ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
419 /* Initialize the EEPROM code */
428 * The data log is recorded in the eeprom as a sequence
431 * Each packet starts with a 4-byte header that has the
432 * packet type, the packet checksum and the tick count. Then
433 * they all contain 2 16 bit values which hold packet-specific
436 * For each flight, the first packet
437 * is FLIGHT packet, indicating the serial number of the
438 * device and a unique number marking the number of flights
439 * recorded by this device.
441 * During flight, data from the accelerometer and barometer
442 * are recorded in SENSOR packets, using the raw 16-bit values
443 * read from the A/D converter.
445 * Also during flight, but at a lower rate, the deployment
446 * sensors are recorded in DEPLOY packets. The goal here is to
447 * detect failure in the deployment circuits.
449 * STATE packets hold state transitions as the flight computer
450 * transitions through different stages of the flight.
452 #define AO_LOG_FLIGHT 'F'
453 #define AO_LOG_SENSOR 'A'
454 #define AO_LOG_TEMP_VOLT 'T'
455 #define AO_LOG_DEPLOY 'D'
456 #define AO_LOG_STATE 'S'
457 #define AO_LOG_GPS_TIME 'G'
458 #define AO_LOG_GPS_LAT 'N'
459 #define AO_LOG_GPS_LON 'W'
460 #define AO_LOG_GPS_ALT 'H'
462 #define AO_LOG_POS_NONE (~0UL)
464 struct ao_log_record {
470 int16_t ground_accel;
495 int32_t gps_latitude;
496 int32_t gps_longitude;
508 /* Write a record to the eeprom log */
510 ao_log_data(struct ao_log_record *log);
517 * ao_log_dump_first() - get first log record
518 * ao_log_dump_next() - get next log record
520 extern __xdata struct ao_log_record ao_log_dump;
522 /* Retrieve first log record for the current flight */
524 ao_log_dump_first(void);
526 /* return next log record for the current flight */
528 ao_log_dump_next(void);
530 /* Logging thread main routine */
534 /* Start logging to eeprom */
542 /* Initialize the logging system */
550 enum ao_flight_state {
551 ao_flight_startup = 0,
557 ao_flight_drogue = 6,
559 ao_flight_landed = 8,
560 ao_flight_invalid = 9
563 extern __xdata struct ao_adc ao_flight_data;
564 extern __pdata enum ao_flight_state ao_flight_state;
565 extern __pdata uint16_t ao_flight_tick;
566 extern __pdata int16_t ao_flight_accel;
567 extern __pdata int16_t ao_flight_pres;
568 extern __pdata int32_t ao_flight_vel;
569 extern __pdata int16_t ao_ground_pres;
570 extern __pdata int16_t ao_ground_accel;
571 extern __pdata int16_t ao_min_pres;
572 extern __pdata uint16_t ao_launch_time;
578 /* Initialize flight thread */
580 ao_flight_init(void);
587 ao_report_init(void);
592 * Given raw data, convert to SI units
595 /* pressure from the sensor to altitude in meters */
597 ao_pres_to_altitude(int16_t pres) __reentrant;
600 ao_altitude_to_pres(int16_t alt) __reentrant;
603 ao_temp_to_dC(int16_t temp) __reentrant;
608 * debug another telemetrum board
611 /* Send a byte to the dbg target */
613 ao_dbg_send_byte(uint8_t byte);
615 /* Receive a byte from the dbg target */
617 ao_dbg_recv_byte(void);
619 /* Start a bulk transfer to/from dbg target memory */
621 ao_dbg_start_transfer(uint16_t addr);
623 /* End a bulk transfer to/from dbg target memory */
625 ao_dbg_end_transfer(void);
627 /* Write a byte to dbg target memory */
629 ao_dbg_write_byte(uint8_t byte);
631 /* Read a byte from dbg target memory */
633 ao_dbg_read_byte(void);
635 /* Enable dbg mode, switching use of the pins */
637 ao_dbg_debug_mode(void);
639 /* Reset the dbg target */
650 #if !AO_NO_SERIAL_ISR
652 ao_serial_rx1_isr(void) interrupt 3;
655 ao_serial_tx1_isr(void) interrupt 14;
659 ao_serial_getchar(void) __critical;
662 ao_serial_putchar(char c) __critical;
665 ao_serial_init(void);
671 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
672 #define AO_GPS_NUM_SAT_SHIFT (0)
674 #define AO_GPS_VALID (1 << 4)
681 int32_t latitude; /* degrees * 10⁷ */
682 int32_t longitude; /* degrees * 10⁷ */
683 int16_t altitude; /* m */
684 uint16_t ground_speed; /* cm/s */
685 uint8_t course; /* degrees / 2 */
686 uint8_t hdop; /* * 5 */
687 int16_t climb_rate; /* cm/s */
688 uint16_t h_error; /* m */
689 uint16_t v_error; /* m */
692 extern __xdata uint8_t ao_gps_mutex;
693 extern __xdata struct ao_gps_data ao_gps_data;
699 ao_gps_print(__xdata struct ao_gps_data *gps_data);
712 ao_gps_report_init(void);
718 #define AO_MAX_CALLSIGN 8
720 struct ao_telemetry {
722 uint8_t flight_state;
723 int16_t flight_accel;
724 int16_t ground_accel;
729 struct ao_gps_data gps;
730 char callsign[AO_MAX_CALLSIGN];
733 /* Set delay between telemetry reports (0 to disable) */
735 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
736 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
737 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
740 ao_telemetry_set_interval(uint16_t interval);
743 ao_telemetry_init(void);
750 ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
752 struct ao_radio_recv {
753 struct ao_telemetry telemetry;
759 ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
768 extern const char const * const ao_state_names[];
774 ao_set_monitor(uint8_t monitoring);
777 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
791 ao_igniter_drogue = 0,
796 ao_ignite(enum ao_igniter igniter);
798 enum ao_igniter_status {
799 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
800 ao_igniter_ready, /* continuity detected */
801 ao_igniter_active, /* igniter firing */
802 ao_igniter_open, /* open circuit detected */
805 enum ao_igniter_status
806 ao_igniter_status(enum ao_igniter igniter);
809 ao_igniter_init(void);
815 #define AO_CONFIG_MAJOR 1
816 #define AO_CONFIG_MINOR 0
821 uint16_t main_deploy;
822 int16_t accel_zero_g;
823 uint8_t radio_channel;
824 char callsign[AO_MAX_CALLSIGN + 1];
827 extern __xdata struct ao_config ao_config;
833 ao_config_init(void);
840 ao_rssi_set(int rssi_value);
843 ao_rssi_init(uint8_t rssi_led);
848 * values which need to be defined for
849 * each instance of a product
852 extern const uint8_t ao_usb_descriptors [];
853 extern const uint16_t ao_serial_number;
854 extern const char ao_version[];
855 extern const char ao_manufacturer[];
856 extern const char ao_product[];
862 #define AO_FIFO_SIZE 32
867 char fifo[AO_FIFO_SIZE];
870 #define ao_fifo_insert(f,c) do { \
871 (f).fifo[(f).insert] = (c); \
872 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
875 #define ao_fifo_remove(f,c) do {\
876 c = (f).fifo[(f).remove]; \
877 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
880 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
881 #define ao_fifo_empty(f) ((f).insert == (f).remove)
886 * Packet-based command interface
889 #define AO_PACKET_MAX 32
890 #define AO_PACKET_WIN 256
892 #define AO_PACKET_FIN (1 << 0)
893 #define AO_PACKET_SYN (1 << 1)
894 #define AO_PACKET_RST (1 << 2)
895 #define AO_PACKET_ACK (1 << 3)
904 uint8_t d[AO_PACKET_MAX];
908 ao_packet_connect(uint8_t dest);
911 ao_packet_accept(void);
914 ao_packet_send(uint8_t *data, int len);
917 ao_packet_recv(uint8_t *data, int len);
920 ao_packet_init(void);