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
168 #ifndef HAS_ACCEL_REF
169 #error Please define HAS_ACCEL_REF
172 #define HAS_ACCEL_REF 0
179 #define AO_ADC_RING 32
180 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
181 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
185 * A/D data is stored in a ring, with the next sample to be written
188 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
189 extern volatile __data uint8_t ao_adc_head;
191 extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
194 /* Trigger a conversion sequence (called from the timer interrupt) */
198 /* Suspend the current task until another A/D sample is converted */
202 /* Get a copy of the last complete A/D sample set */
204 ao_adc_get(__xdata struct ao_adc *packet);
206 /* The A/D interrupt handler */
209 ao_adc_isr(void) __interrupt 1;
211 /* Initialize the A/D converter */
222 * Various pre-defined beep frequencies
224 * frequency = 1/2 (24e6/32) / beep
227 #define AO_BEEP_LOW 150 /* 2500Hz */
228 #define AO_BEEP_MID 94 /* 3989Hz */
229 #define AO_BEEP_HIGH 75 /* 5000Hz */
230 #define AO_BEEP_OFF 0 /* off */
232 #define AO_BEEP_g 240 /* 1562.5Hz */
233 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
234 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
235 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
236 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
237 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
238 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
239 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
240 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
241 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
242 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
243 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
244 #define AO_BEEP_gg 120 /* 3125Hz */
245 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
246 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
247 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
248 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
249 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
250 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
251 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
252 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
253 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
254 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
255 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
256 #define AO_BEEP_ggg 60 /* 6250Hz */
258 /* Set the beeper to the specified tone */
260 ao_beep(uint8_t beep);
262 /* Turn on the beeper for the specified time */
264 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
266 /* Initialize the beeper */
274 #define AO_LED_NONE 0
276 /* Turn on the specified LEDs */
278 ao_led_on(uint8_t colors);
280 /* Turn off the specified LEDs */
282 ao_led_off(uint8_t colors);
284 /* Set all of the LEDs to the specified state */
286 ao_led_set(uint8_t colors);
288 /* Toggle the specified LEDs */
290 ao_led_toggle(uint8_t colors);
292 /* Turn on the specified LEDs for the indicated interval */
294 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
296 /* Initialize the LEDs */
298 ao_led_init(uint8_t enable);
304 #define AO_ROMCONFIG_VERSION 2
306 extern __code __at (0x00a0) uint16_t ao_romconfig_version;
307 extern __code __at (0x00a2) uint16_t ao_romconfig_check;
308 extern __code __at (0x00a4) uint16_t ao_serial_number;
309 extern __code __at (0x00a6) uint32_t ao_radio_cal;
312 #error Please define HAS_USB
316 extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
323 /* Put one character to the USB output queue */
325 ao_usb_putchar(char c);
327 /* Get one character from the USB input queue */
329 ao_usb_getchar(void);
331 /* Poll for a charcter on the USB input queue.
332 * returns AO_READ_AGAIN if none are available
335 ao_usb_pollchar(void);
337 /* Flush the USB output queue */
342 /* USB interrupt handler */
344 ao_usb_isr(void) __interrupt 6;
347 /* Enable the USB controller */
351 /* Disable the USB controller */
353 ao_usb_disable(void);
355 /* Initialize the USB system */
365 ao_cmd_lex_error = 1,
366 ao_cmd_syntax_error = 2,
369 extern __xdata uint16_t ao_cmd_lex_i;
370 extern __xdata uint32_t ao_cmd_lex_u32;
371 extern __xdata char ao_cmd_lex_c;
372 extern __xdata enum ao_cmd_status ao_cmd_status;
378 ao_cmd_put8(uint8_t v);
381 ao_cmd_put16(uint16_t v);
390 ao_cmd_decimal(void);
393 ao_match_word(__code char *word);
401 ao_cmd_register(__code struct ao_cmds *cmds);
410 /* Allocate a DMA channel. the 'done' parameter will be set when the
411 * dma is finished and will be used to wakeup any waiters
415 ao_dma_alloc(__xdata uint8_t * done);
417 /* Setup a DMA channel */
419 ao_dma_set_transfer(uint8_t id,
420 void __xdata *srcaddr,
421 void __xdata *dstaddr,
426 /* Start a DMA channel */
428 ao_dma_start(uint8_t id);
430 /* Manually trigger a DMA channel */
432 ao_dma_trigger(uint8_t id);
434 /* Abort a running DMA transfer */
436 ao_dma_abort(uint8_t id);
438 /* DMA interrupt routine */
440 ao_dma_isr(void) __interrupt 8;
447 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
450 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
453 * Storage interface, provided by one of the eeprom or flash
457 /* Total bytes of available storage */
458 extern __xdata uint32_t ao_storage_total;
460 /* Block size - device is erased in these units. At least 256 bytes */
461 extern __xdata uint32_t ao_storage_block;
463 /* Byte offset of config block. Will be ao_storage_block bytes long */
464 extern __xdata uint32_t ao_storage_config;
466 /* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
467 extern __xdata uint16_t ao_storage_unit;
469 #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
471 /* Initialize above values. Can only be called once the OS is running */
473 ao_storage_setup(void);
475 /* Write data. Returns 0 on failure, 1 on success */
477 ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
479 /* Read data. Returns 0 on failure, 1 on success */
481 ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
483 /* Erase a block of storage. This always clears ao_storage_block bytes */
485 ao_storage_erase(uint32_t pos) __reentrant;
487 /* Flush any pending writes to stable storage */
489 ao_storage_flush(void) __reentrant;
491 /* Initialize the storage code */
493 ao_storage_init(void);
496 * Low-level functions wrapped by ao_storage.c
499 /* Read data within a storage unit */
501 ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
503 /* Write data within a storage unit */
505 ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
507 /* Initialize low-level device bits */
509 ao_storage_device_init(void);
511 /* Print out information about flash chips */
513 ao_storage_device_info(void) __reentrant;
519 /* We record flight numbers in the first record of
520 * the log. Tasks may wait for this to be initialized
521 * by sleeping on this variable.
523 extern __xdata uint16_t ao_flight_number;
525 extern __pdata uint32_t ao_log_current_pos;
526 extern __pdata uint32_t ao_log_end_pos;
527 extern __pdata uint32_t ao_log_start_pos;
528 extern __xdata uint8_t ao_log_running;
529 extern __xdata enum flight_state ao_log_state;
531 /* required functions from the underlying log system */
533 /* Return the flight number from the given log slot, 0 if none */
535 ao_log_flight(uint8_t slot);
541 /* Logging thread main routine */
545 /* functions provided in ao_log.c */
547 /* Figure out the current flight number */
549 ao_log_scan(void) __reentrant;
551 /* Return the position of the start of the given log slot */
553 ao_log_pos(uint8_t slot);
555 /* Start logging to eeprom */
563 /* Initialize the logging system */
567 /* Write out the current flight number to the erase log */
569 ao_log_write_erase(uint8_t pos);
571 /* Returns true if there are any logs stored in eeprom */
573 ao_log_present(void);
575 /* Returns true if there is no more storage space available */
584 * The data log is recorded in the eeprom as a sequence
587 * Each packet starts with a 4-byte header that has the
588 * packet type, the packet checksum and the tick count. Then
589 * they all contain 2 16 bit values which hold packet-specific
592 * For each flight, the first packet
593 * is FLIGHT packet, indicating the serial number of the
594 * device and a unique number marking the number of flights
595 * recorded by this device.
597 * During flight, data from the accelerometer and barometer
598 * are recorded in SENSOR packets, using the raw 16-bit values
599 * read from the A/D converter.
601 * Also during flight, but at a lower rate, the deployment
602 * sensors are recorded in DEPLOY packets. The goal here is to
603 * detect failure in the deployment circuits.
605 * STATE packets hold state transitions as the flight computer
606 * transitions through different stages of the flight.
608 #define AO_LOG_FLIGHT 'F'
609 #define AO_LOG_SENSOR 'A'
610 #define AO_LOG_TEMP_VOLT 'T'
611 #define AO_LOG_DEPLOY 'D'
612 #define AO_LOG_STATE 'S'
613 #define AO_LOG_GPS_TIME 'G'
614 #define AO_LOG_GPS_LAT 'N'
615 #define AO_LOG_GPS_LON 'W'
616 #define AO_LOG_GPS_ALT 'H'
617 #define AO_LOG_GPS_SAT 'V'
618 #define AO_LOG_GPS_DATE 'Y'
620 #define AO_LOG_POS_NONE (~0UL)
622 struct ao_log_record {
628 int16_t ground_accel;
653 int32_t gps_latitude;
654 int32_t gps_longitude;
677 /* Write a record to the eeprom log */
679 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
685 enum ao_flight_state {
686 ao_flight_startup = 0,
692 ao_flight_drogue = 6,
694 ao_flight_landed = 8,
695 ao_flight_invalid = 9
698 extern __data uint8_t ao_flight_adc;
699 extern __pdata enum ao_flight_state ao_flight_state;
700 extern __pdata uint16_t ao_flight_tick;
701 extern __pdata int16_t ao_flight_accel;
702 extern __pdata int16_t ao_flight_pres;
703 extern __pdata int32_t ao_flight_vel;
704 extern __pdata int16_t ao_ground_pres;
705 extern __pdata int16_t ao_ground_accel;
706 extern __pdata int16_t ao_min_pres;
707 extern __pdata uint16_t ao_launch_time;
708 extern __xdata uint8_t ao_flight_force_idle;
710 extern __pdata int16_t ao_ground_height;
711 extern __pdata int32_t ao_k_max_height;
712 extern __pdata int32_t ao_k_height;
713 extern __pdata int32_t ao_k_speed;
714 extern __pdata int32_t ao_k_accel;
721 /* Initialize flight thread */
723 ao_flight_init(void);
730 ao_report_init(void);
735 * Given raw data, convert to SI units
738 /* pressure from the sensor to altitude in meters */
740 ao_pres_to_altitude(int16_t pres) __reentrant;
743 ao_altitude_to_pres(int16_t alt) __reentrant;
746 ao_temp_to_dC(int16_t temp) __reentrant;
751 * debug another telemetrum board
754 /* Send a byte to the dbg target */
756 ao_dbg_send_byte(uint8_t byte);
758 /* Receive a byte from the dbg target */
760 ao_dbg_recv_byte(void);
762 /* Start a bulk transfer to/from dbg target memory */
764 ao_dbg_start_transfer(uint16_t addr);
766 /* End a bulk transfer to/from dbg target memory */
768 ao_dbg_end_transfer(void);
770 /* Write a byte to dbg target memory */
772 ao_dbg_write_byte(uint8_t byte);
774 /* Read a byte from dbg target memory */
776 ao_dbg_read_byte(void);
778 /* Enable dbg mode, switching use of the pins */
780 ao_dbg_debug_mode(void);
782 /* Reset the dbg target */
794 #error Please define HAS_SERIAL_1
799 ao_serial_rx1_isr(void) __interrupt 3;
802 ao_serial_tx1_isr(void) __interrupt 14;
805 ao_serial_getchar(void) __critical;
808 ao_serial_putchar(char c) __critical;
810 #define AO_SERIAL_SPEED_4800 0
811 #define AO_SERIAL_SPEED_9600 1
812 #define AO_SERIAL_SPEED_57600 2
815 ao_serial_set_speed(uint8_t speed);
818 ao_serial_init(void);
826 ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
829 ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
838 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
839 #define AO_GPS_NUM_SAT_SHIFT (0)
841 #define AO_GPS_VALID (1 << 4)
842 #define AO_GPS_RUNNING (1 << 5)
843 #define AO_GPS_DATE_VALID (1 << 6)
845 extern __xdata uint16_t ao_gps_tick;
855 int32_t latitude; /* degrees * 10⁷ */
856 int32_t longitude; /* degrees * 10⁷ */
857 int16_t altitude; /* m */
858 uint16_t ground_speed; /* cm/s */
859 uint8_t course; /* degrees / 2 */
860 uint8_t hdop; /* * 5 */
861 int16_t climb_rate; /* cm/s */
862 uint16_t h_error; /* m */
863 uint16_t v_error; /* m */
866 struct ao_gps_sat_data {
871 #define AO_MAX_GPS_TRACKING 12
873 struct ao_gps_tracking_data {
875 struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
878 extern __xdata uint8_t ao_gps_mutex;
879 extern __xdata struct ao_gps_data ao_gps_data;
880 extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
886 ao_gps_print(__xdata struct ao_gps_data *gps_data);
889 ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
902 ao_gps_report_init(void);
908 #define AO_MAX_CALLSIGN 8
909 #define AO_TELEMETRY_VERSION 3
911 struct ao_telemetry {
914 uint8_t flight_state;
915 int16_t flight_accel;
916 int16_t ground_accel;
920 int16_t accel_plus_g;
921 int16_t accel_minus_g;
923 struct ao_gps_data gps;
924 char callsign[AO_MAX_CALLSIGN];
925 struct ao_gps_tracking_data gps_tracking;
929 * ao_radio_recv tacks on rssi and status bytes
931 struct ao_telemetry_recv {
932 struct ao_telemetry telemetry;
937 /* Set delay between telemetry reports (0 to disable) */
939 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
940 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
941 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
944 ao_telemetry_set_interval(uint16_t interval);
947 ao_rdf_set(uint8_t rdf);
950 ao_telemetry_init(void);
956 extern __xdata uint8_t ao_radio_dma;
957 extern __xdata uint8_t ao_radio_dma_done;
958 extern __xdata uint8_t ao_radio_done;
959 extern __xdata uint8_t ao_radio_mutex;
962 ao_radio_general_isr(void) __interrupt 16;
967 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
970 ao_radio_set_fixed_pkt(size_t size);
972 #define ao_radio_set_telemetry() \
973 ao_radio_set_fixed_pkt(sizeof (struct ao_telemetry))
975 #define ao_radio_set_packet() \
976 ao_radio_set_fixed_pkt(sizeof (struct ao_packet))
979 ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
982 ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
985 ao_radio_recv_abort(void);
988 ao_radio_rdf(int ms);
991 ao_radio_rdf_abort(void);
1003 extern const char const * const ao_state_names[];
1009 ao_set_monitor(uint8_t monitoring);
1012 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
1018 #define AO_READ_AGAIN ((char) -1)
1021 char (*pollchar)(void);
1022 void (*putchar)(char c) __reentrant;
1023 void (*flush)(void);
1029 extern __xdata uint8_t ao_stdin_ready;
1032 ao_add_stdio(char (*pollchar)(void),
1033 void (*putchar)(char) __reentrant,
1034 void (*flush)(void));
1041 ao_igniter_drogue = 0,
1046 ao_ignite(enum ao_igniter igniter);
1048 enum ao_igniter_status {
1049 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
1050 ao_igniter_ready, /* continuity detected */
1051 ao_igniter_active, /* igniter firing */
1052 ao_igniter_open, /* open circuit detected */
1055 enum ao_igniter_status
1056 ao_igniter_status(enum ao_igniter igniter);
1059 ao_igniter_init(void);
1065 #define AO_CONFIG_MAJOR 1
1066 #define AO_CONFIG_MINOR 4
1071 uint16_t main_deploy;
1072 int16_t accel_plus_g; /* changed for minor version 2 */
1073 uint8_t radio_channel;
1074 char callsign[AO_MAX_CALLSIGN + 1];
1075 uint8_t apogee_delay; /* minor version 1 */
1076 int16_t accel_minus_g; /* minor version 2 */
1077 uint32_t radio_cal; /* minor version 3 */
1078 uint32_t flight_log_max; /* minor version 4 */
1081 extern __xdata struct ao_config ao_config;
1083 #define AO_CONFIG_MAX_SIZE 128
1086 ao_config_get(void);
1089 ao_config_put(void);
1092 ao_config_init(void);
1099 ao_rssi_set(int rssi_value);
1102 ao_rssi_init(uint8_t rssi_led);
1107 * values which need to be defined for
1108 * each instance of a product
1111 extern const char ao_version[];
1112 extern const char ao_manufacturer[];
1113 extern const char ao_product[];
1119 #define AO_FIFO_SIZE 32
1124 char fifo[AO_FIFO_SIZE];
1127 #define ao_fifo_insert(f,c) do { \
1128 (f).fifo[(f).insert] = (c); \
1129 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
1132 #define ao_fifo_remove(f,c) do {\
1133 c = (f).fifo[(f).remove]; \
1134 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
1137 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
1138 #define ao_fifo_empty(f) ((f).insert == (f).remove)
1143 * Packet-based command interface
1146 #define AO_PACKET_MAX 64
1147 #define AO_PACKET_SYN (uint8_t) 0xff
1154 uint8_t d[AO_PACKET_MAX];
1155 uint8_t callsign[AO_MAX_CALLSIGN];
1158 struct ao_packet_recv {
1159 struct ao_packet packet;
1164 extern __xdata struct ao_packet_recv ao_rx_packet;
1165 extern __xdata struct ao_packet ao_tx_packet;
1166 extern __xdata struct ao_task ao_packet_task;
1167 extern __xdata uint8_t ao_packet_enable;
1168 extern __xdata uint8_t ao_packet_master_sleeping;
1169 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
1172 ao_packet_send(void);
1175 ao_packet_recv(void);
1178 ao_packet_flush(void);
1181 ao_packet_putchar(char c) __reentrant;
1184 ao_packet_pollchar(void) __critical;
1186 /* ao_packet_master.c */
1189 ao_packet_master_init(void);
1191 /* ao_packet_slave.c */
1194 ao_packet_slave_start(void);
1197 ao_packet_slave_stop(void);
1200 ao_packet_slave_init(void);