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 uint16_t alarm; /* abort ao_sleep time */
44 uint8_t stack_count; /* amount of saved stack */
45 uint8_t task_id; /* index in the task array */
46 __code char *name; /* task name */
47 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
50 extern __xdata struct ao_task *__data ao_cur_task;
52 #define AO_NUM_TASKS 16 /* maximum number of tasks */
53 #define AO_NO_TASK 0 /* no task id */
59 /* Suspend the current task until wchan is awoken.
65 ao_sleep(__xdata void *wchan);
67 /* Wake all tasks sleeping on wchan */
69 ao_wakeup(__xdata void *wchan);
71 /* Wake up a specific task */
73 ao_wake_task(__xdata struct ao_task *task);
75 /* set an alarm to go off in 'delay' ticks */
77 ao_alarm(uint16_t delay);
79 /* Yield the processor to another task */
81 ao_yield(void) _naked;
83 /* Add a task to the run queue */
85 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
87 /* Terminate the current task */
91 /* Dump task info to console */
95 /* Start the scheduler. This will not return */
97 ao_start_scheduler(void);
103 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
104 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
105 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
106 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
107 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
108 #define AO_PANIC_CMD 6 /* Too many command sets registered */
110 /* Stop the operating system, beeping and blinking the reason */
112 ao_panic(uint8_t reason);
118 /* Our timer runs at 100Hz */
119 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
120 #define AO_SEC_TO_TICKS(s) ((s) * 100)
122 /* Returns the current time in ticks */
126 /* Suspend the current task until ticks time has passed */
128 ao_delay(uint16_t ticks);
130 /* Set the ADC interval */
132 ao_timer_set_adc_interval(uint8_t interval) __critical;
134 /* Timer interrupt */
136 ao_timer_isr(void) interrupt 9;
138 /* Initialize the timer */
142 /* Initialize the hardware clock. Must be called first */
150 #define AO_ADC_RING 32
151 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
152 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
155 * One set of samples read from the A/D converter
158 uint16_t tick; /* tick when the sample was read */
159 int16_t accel; /* accelerometer */
160 int16_t pres; /* pressure sensor */
161 int16_t temp; /* temperature sensor */
162 int16_t v_batt; /* battery voltage */
163 int16_t sense_d; /* drogue continuity sense */
164 int16_t sense_m; /* main continuity sense */
168 * A/D data is stored in a ring, with the next sample to be written
171 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
172 extern volatile __data uint8_t ao_adc_head;
174 /* Trigger a conversion sequence (called from the timer interrupt) */
178 /* Suspend the current task until another A/D sample is converted */
182 /* Get a copy of the last complete A/D sample set */
184 ao_adc_get(__xdata struct ao_adc *packet);
186 /* The A/D interrupt handler */
189 ao_adc_isr(void) interrupt 1;
192 /* Initialize the A/D converter */
201 * Various pre-defined beep frequencies
203 * frequency = 1/2 (24e6/32) / beep
206 #define AO_BEEP_LOW 150 /* 2500Hz */
207 #define AO_BEEP_MID 94 /* 3989Hz */
208 #define AO_BEEP_HIGH 75 /* 5000Hz */
209 #define AO_BEEP_OFF 0 /* off */
211 #define AO_BEEP_g 240 /* 1562.5Hz */
212 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
213 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
214 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
215 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
216 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
217 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
218 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
219 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
220 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
221 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
222 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
223 #define AO_BEEP_gg 120 /* 3125Hz */
224 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
225 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
226 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
227 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
228 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
229 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
230 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
231 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
232 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
233 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
234 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
235 #define AO_BEEP_ggg 60 /* 6250Hz */
237 /* Set the beeper to the specified tone */
239 ao_beep(uint8_t beep);
241 /* Turn on the beeper for the specified time */
243 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
245 /* Initialize the beeper */
253 #define AO_LED_NONE 0
254 #define AO_LED_GREEN 1
257 /* Turn on the specified LEDs */
259 ao_led_on(uint8_t colors);
261 /* Turn off the specified LEDs */
263 ao_led_off(uint8_t colors);
265 /* Set all of the LEDs to the specified state */
267 ao_led_set(uint8_t colors);
269 /* Toggle the specified LEDs */
271 ao_led_toggle(uint8_t colors);
273 /* Turn on the specified LEDs for the indicated interval */
275 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
277 /* Initialize the LEDs */
279 ao_led_init(uint8_t enable);
285 /* Put one character to the USB output queue */
287 ao_usb_putchar(char c);
289 /* Get one character from the USB input queue */
291 ao_usb_getchar(void);
293 /* Flush the USB output queue */
297 /* USB interrupt handler */
299 ao_usb_isr(void) interrupt 6;
301 /* Enable the USB controller */
305 /* Disable the USB controller */
307 ao_usb_disable(void);
309 /* Initialize the USB system */
319 ao_cmd_lex_error = 1,
320 ao_cmd_syntax_error = 2,
323 extern __xdata uint16_t ao_cmd_lex_i;
324 extern __xdata char ao_cmd_lex_c;
325 extern __xdata enum ao_cmd_status ao_cmd_status;
331 ao_cmd_put8(uint8_t v);
334 ao_cmd_put16(uint16_t v);
343 ao_cmd_decimal(void);
352 ao_cmd_register(__code struct ao_cmds *cmds);
361 /* Allocate a DMA channel. the 'done' parameter will be set
362 * when the dma is finished or aborted and will be used to
366 #define AO_DMA_DONE 1
367 #define AO_DMA_ABORTED 2
370 ao_dma_alloc(__xdata uint8_t * done);
372 /* Setup a DMA channel */
374 ao_dma_set_transfer(uint8_t id,
375 void __xdata *srcaddr,
376 void __xdata *dstaddr,
381 /* Start a DMA channel */
383 ao_dma_start(uint8_t id);
385 /* Manually trigger a DMA channel */
387 ao_dma_trigger(uint8_t id);
389 /* Abort a running DMA transfer */
391 ao_dma_abort(uint8_t id);
393 /* DMA interrupt routine */
395 ao_dma_isr(void) interrupt 8;
402 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
405 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
412 * We reserve the last block on the device for
413 * configuration space. Writes and reads in this
414 * area return errors.
417 #define AO_EE_BLOCK_SIZE ((uint16_t) (256))
418 #define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
419 #define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
420 #define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
423 ao_ee_flush(void) __reentrant;
425 /* Write to the eeprom */
427 ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
429 /* Read from the eeprom */
431 ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
433 /* Write the config block (at the end of the eeprom) */
435 ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
437 /* Read the config block (at the end of the eeprom) */
439 ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
441 /* Initialize the EEPROM code */
450 * The data log is recorded in the eeprom as a sequence
453 * Each packet starts with a 4-byte header that has the
454 * packet type, the packet checksum and the tick count. Then
455 * they all contain 2 16 bit values which hold packet-specific
458 * For each flight, the first packet
459 * is FLIGHT packet, indicating the serial number of the
460 * device and a unique number marking the number of flights
461 * recorded by this device.
463 * During flight, data from the accelerometer and barometer
464 * are recorded in SENSOR packets, using the raw 16-bit values
465 * read from the A/D converter.
467 * Also during flight, but at a lower rate, the deployment
468 * sensors are recorded in DEPLOY packets. The goal here is to
469 * detect failure in the deployment circuits.
471 * STATE packets hold state transitions as the flight computer
472 * transitions through different stages of the flight.
474 #define AO_LOG_FLIGHT 'F'
475 #define AO_LOG_SENSOR 'A'
476 #define AO_LOG_TEMP_VOLT 'T'
477 #define AO_LOG_DEPLOY 'D'
478 #define AO_LOG_STATE 'S'
479 #define AO_LOG_GPS_TIME 'G'
480 #define AO_LOG_GPS_LAT 'N'
481 #define AO_LOG_GPS_LON 'W'
482 #define AO_LOG_GPS_ALT 'H'
483 #define AO_LOG_GPS_SAT 'V'
485 #define AO_LOG_POS_NONE (~0UL)
487 struct ao_log_record {
493 int16_t ground_accel;
518 int32_t gps_latitude;
519 int32_t gps_longitude;
536 /* Write a record to the eeprom log */
538 ao_log_data(struct ao_log_record *log);
545 * ao_log_dump_first() - get first log record
546 * ao_log_dump_next() - get next log record
548 extern __xdata struct ao_log_record ao_log_dump;
550 /* Retrieve first log record for the current flight */
552 ao_log_dump_first(void);
554 /* return next log record for the current flight */
556 ao_log_dump_next(void);
558 /* Logging thread main routine */
562 /* Start logging to eeprom */
570 /* Initialize the logging system */
578 enum ao_flight_state {
579 ao_flight_startup = 0,
585 ao_flight_drogue = 6,
587 ao_flight_landed = 8,
588 ao_flight_invalid = 9
591 extern __xdata struct ao_adc ao_flight_data;
592 extern __pdata enum ao_flight_state ao_flight_state;
593 extern __pdata uint16_t ao_flight_tick;
594 extern __pdata int16_t ao_flight_accel;
595 extern __pdata int16_t ao_flight_pres;
596 extern __pdata int32_t ao_flight_vel;
597 extern __pdata int16_t ao_ground_pres;
598 extern __pdata int16_t ao_ground_accel;
599 extern __pdata int16_t ao_min_pres;
600 extern __pdata uint16_t ao_launch_time;
606 /* Initialize flight thread */
608 ao_flight_init(void);
615 ao_report_init(void);
620 * Given raw data, convert to SI units
623 /* pressure from the sensor to altitude in meters */
625 ao_pres_to_altitude(int16_t pres) __reentrant;
628 ao_altitude_to_pres(int16_t alt) __reentrant;
631 ao_temp_to_dC(int16_t temp) __reentrant;
636 * debug another telemetrum board
639 /* Send a byte to the dbg target */
641 ao_dbg_send_byte(uint8_t byte);
643 /* Receive a byte from the dbg target */
645 ao_dbg_recv_byte(void);
647 /* Start a bulk transfer to/from dbg target memory */
649 ao_dbg_start_transfer(uint16_t addr);
651 /* End a bulk transfer to/from dbg target memory */
653 ao_dbg_end_transfer(void);
655 /* Write a byte to dbg target memory */
657 ao_dbg_write_byte(uint8_t byte);
659 /* Read a byte from dbg target memory */
661 ao_dbg_read_byte(void);
663 /* Enable dbg mode, switching use of the pins */
665 ao_dbg_debug_mode(void);
667 /* Reset the dbg target */
678 #if !AO_NO_SERIAL_ISR
680 ao_serial_rx1_isr(void) interrupt 3;
683 ao_serial_tx1_isr(void) interrupt 14;
687 ao_serial_getchar(void) __critical;
690 ao_serial_putchar(char c) __critical;
692 #define AO_SERIAL_SPEED_4800 0
693 #define AO_SERIAL_SPEED_9600 1
694 #define AO_SERIAL_SPEED_57600 2
697 ao_serial_set_speed(uint8_t speed);
700 ao_serial_init(void);
706 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
707 #define AO_GPS_NUM_SAT_SHIFT (0)
709 #define AO_GPS_VALID (1 << 4)
710 #define AO_GPS_RUNNING (1 << 5)
717 int32_t latitude; /* degrees * 10⁷ */
718 int32_t longitude; /* degrees * 10⁷ */
719 int16_t altitude; /* m */
720 uint16_t ground_speed; /* cm/s */
721 uint8_t course; /* degrees / 2 */
722 uint8_t hdop; /* * 5 */
723 int16_t climb_rate; /* cm/s */
724 uint16_t h_error; /* m */
725 uint16_t v_error; /* m */
728 #define SIRF_SAT_STATE_ACQUIRED (1 << 0)
729 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
730 #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
731 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
732 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
733 #define SIRF_SAT_CODE_LOCKED (1 << 5)
734 #define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
735 #define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
737 struct ao_gps_sat_data {
743 struct ao_gps_tracking_data {
745 struct ao_gps_sat_data sats[12];
748 extern __xdata uint8_t ao_gps_mutex;
749 extern __xdata struct ao_gps_data ao_gps_data;
750 extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
756 ao_gps_print(__xdata struct ao_gps_data *gps_data);
759 ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
772 ao_gps_report_init(void);
778 #define AO_MAX_CALLSIGN 8
780 struct ao_telemetry {
782 uint8_t flight_state;
783 int16_t flight_accel;
784 int16_t ground_accel;
789 struct ao_gps_data gps;
790 char callsign[AO_MAX_CALLSIGN];
791 struct ao_gps_tracking_data gps_tracking;
794 /* Set delay between telemetry reports (0 to disable) */
796 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
797 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
798 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
801 ao_telemetry_set_interval(uint16_t interval);
804 ao_rdf_set(uint8_t rdf);
807 ao_telemetry_init(void);
813 extern __xdata uint8_t ao_radio_dma;
814 extern __xdata uint8_t ao_radio_dma_done;
815 extern __xdata uint8_t ao_radio_done;
816 extern __xdata uint8_t ao_radio_mutex;
819 ao_radio_general_isr(void) interrupt 16;
822 ao_radio_set_telemetry(void);
825 ao_radio_set_packet(void);
828 ao_radio_set_rdf(void);
831 ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
833 struct ao_radio_recv {
834 struct ao_telemetry telemetry;
840 ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
843 ao_radio_rdf(int ms);
846 ao_radio_abort(void);
849 ao_radio_rdf_abort(void);
861 extern const char const * const ao_state_names[];
867 ao_set_monitor(uint8_t monitoring);
870 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
884 ao_igniter_drogue = 0,
889 ao_ignite(enum ao_igniter igniter);
891 enum ao_igniter_status {
892 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
893 ao_igniter_ready, /* continuity detected */
894 ao_igniter_active, /* igniter firing */
895 ao_igniter_open, /* open circuit detected */
898 enum ao_igniter_status
899 ao_igniter_status(enum ao_igniter igniter);
902 ao_igniter_init(void);
908 #define AO_CONFIG_MAJOR 1
909 #define AO_CONFIG_MINOR 1
914 uint16_t main_deploy;
915 int16_t accel_zero_g;
916 uint8_t radio_channel;
917 char callsign[AO_MAX_CALLSIGN + 1];
918 uint8_t apogee_delay;
921 extern __xdata struct ao_config ao_config;
927 ao_config_init(void);
934 ao_rssi_set(int rssi_value);
937 ao_rssi_init(uint8_t rssi_led);
942 * values which need to be defined for
943 * each instance of a product
946 extern const uint8_t ao_usb_descriptors [];
947 extern const uint16_t ao_serial_number;
948 extern const char ao_version[];
949 extern const char ao_manufacturer[];
950 extern const char ao_product[];
956 #define AO_FIFO_SIZE 32
961 char fifo[AO_FIFO_SIZE];
964 #define ao_fifo_insert(f,c) do { \
965 (f).fifo[(f).insert] = (c); \
966 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
969 #define ao_fifo_remove(f,c) do {\
970 c = (f).fifo[(f).remove]; \
971 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
974 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
975 #define ao_fifo_empty(f) ((f).insert == (f).remove)
980 * Packet-based command interface
983 #define AO_PACKET_MAX 8
984 #define AO_PACKET_SYN (uint8_t) 0xff
991 uint8_t d[AO_PACKET_MAX];
994 struct ao_packet_recv {
995 struct ao_packet packet;
1001 ao_packet_init(void);