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; /* index in the task array */
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 /* Wake up a specific task */
74 ao_wake_task(__xdata struct ao_task *task);
76 /* set an alarm to go off in 'delay' ticks */
78 ao_alarm(uint16_t delay);
80 /* Yield the processor to another task */
82 ao_yield(void) _naked;
84 /* Add a task to the run queue */
86 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
88 /* Terminate the current task */
92 /* Dump task info to console */
96 /* Start the scheduler. This will not return */
98 ao_start_scheduler(void);
104 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
105 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
106 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
107 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
108 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
109 #define AO_PANIC_CMD 6 /* Too many command sets registered */
110 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
111 #define AO_PANIC_REBOOT 8 /* Reboot failed */
112 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
114 /* Stop the operating system, beeping and blinking the reason */
116 ao_panic(uint8_t reason);
122 /* Our timer runs at 100Hz */
124 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
125 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
127 /* Returns the current time in ticks */
131 /* Suspend the current task until ticks time has passed */
133 ao_delay(uint16_t ticks);
135 /* Set the ADC interval */
137 ao_timer_set_adc_interval(uint8_t interval) __critical;
139 /* Timer interrupt */
141 ao_timer_isr(void) interrupt 9;
143 /* Initialize the timer */
147 /* Initialize the hardware clock. Must be called first */
152 * One set of samples read from the A/D converter or telemetry
155 uint16_t tick; /* tick when the sample was read */
156 int16_t accel; /* accelerometer */
157 int16_t pres; /* pressure sensor */
158 int16_t temp; /* temperature sensor */
159 int16_t v_batt; /* battery voltage */
160 int16_t sense_d; /* drogue continuity sense */
161 int16_t sense_m; /* main continuity sense */
165 #error Please define HAS_ADC
173 #define AO_ADC_RING 32
174 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
175 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
179 * A/D data is stored in a ring, with the next sample to be written
182 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
183 extern volatile __data uint8_t ao_adc_head;
185 /* Trigger a conversion sequence (called from the timer interrupt) */
189 /* Suspend the current task until another A/D sample is converted */
193 /* Get a copy of the last complete A/D sample set */
195 ao_adc_get(__xdata struct ao_adc *packet);
197 /* The A/D interrupt handler */
200 ao_adc_isr(void) interrupt 1;
202 /* Initialize the A/D converter */
213 * Various pre-defined beep frequencies
215 * frequency = 1/2 (24e6/32) / beep
218 #define AO_BEEP_LOW 150 /* 2500Hz */
219 #define AO_BEEP_MID 94 /* 3989Hz */
220 #define AO_BEEP_HIGH 75 /* 5000Hz */
221 #define AO_BEEP_OFF 0 /* off */
223 #define AO_BEEP_g 240 /* 1562.5Hz */
224 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
225 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
226 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
227 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
228 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
229 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
230 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
231 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
232 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
233 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
234 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
235 #define AO_BEEP_gg 120 /* 3125Hz */
236 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
237 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
238 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
239 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
240 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
241 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
242 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
243 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
244 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
245 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
246 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
247 #define AO_BEEP_ggg 60 /* 6250Hz */
249 /* Set the beeper to the specified tone */
251 ao_beep(uint8_t beep);
253 /* Turn on the beeper for the specified time */
255 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
257 /* Initialize the beeper */
265 #define AO_LED_NONE 0
267 /* Turn on the specified LEDs */
269 ao_led_on(uint8_t colors);
271 /* Turn off the specified LEDs */
273 ao_led_off(uint8_t colors);
275 /* Set all of the LEDs to the specified state */
277 ao_led_set(uint8_t colors);
279 /* Toggle the specified LEDs */
281 ao_led_toggle(uint8_t colors);
283 /* Turn on the specified LEDs for the indicated interval */
285 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
287 /* Initialize the LEDs */
289 ao_led_init(uint8_t enable);
295 /* Put one character to the USB output queue */
297 ao_usb_putchar(char c);
299 /* Get one character from the USB input queue */
301 ao_usb_getchar(void);
303 /* Poll for a charcter on the USB input queue.
304 * returns AO_READ_AGAIN if none are available
307 ao_usb_pollchar(void);
309 /* Flush the USB output queue */
313 /* USB interrupt handler */
315 ao_usb_isr(void) interrupt 6;
317 /* Enable the USB controller */
321 /* Disable the USB controller */
323 ao_usb_disable(void);
325 /* Initialize the USB system */
335 ao_cmd_lex_error = 1,
336 ao_cmd_syntax_error = 2,
339 extern __xdata uint16_t ao_cmd_lex_i;
340 extern __xdata uint32_t ao_cmd_lex_u32;
341 extern __xdata char ao_cmd_lex_c;
342 extern __xdata enum ao_cmd_status ao_cmd_status;
348 ao_cmd_put8(uint8_t v);
351 ao_cmd_put16(uint16_t v);
360 ao_cmd_decimal(void);
363 ao_match_word(__code char *word);
372 ao_cmd_register(__code struct ao_cmds *cmds);
381 /* Allocate a DMA channel. the 'done' parameter will be set
382 * when the dma is finished or aborted and will be used to
386 #define AO_DMA_DONE 1
387 #define AO_DMA_ABORTED 2
390 ao_dma_alloc(__xdata uint8_t * done);
392 /* Setup a DMA channel */
394 ao_dma_set_transfer(uint8_t id,
395 void __xdata *srcaddr,
396 void __xdata *dstaddr,
401 /* Start a DMA channel */
403 ao_dma_start(uint8_t id);
405 /* Manually trigger a DMA channel */
407 ao_dma_trigger(uint8_t id);
409 /* Abort a running DMA transfer */
411 ao_dma_abort(uint8_t id);
413 /* DMA interrupt routine */
415 ao_dma_isr(void) interrupt 8;
422 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
425 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
432 * We reserve the last block on the device for
433 * configuration space. Writes and reads in this
434 * area return errors.
437 #define AO_EE_BLOCK_SIZE ((uint16_t) (256))
438 #define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
439 #define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
440 #define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
443 ao_ee_flush(void) __reentrant;
445 /* Write to the eeprom */
447 ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
449 /* Read from the eeprom */
451 ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
453 /* Write the config block (at the end of the eeprom) */
455 ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
457 /* Read the config block (at the end of the eeprom) */
459 ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
461 /* Initialize the EEPROM code */
470 * The data log is recorded in the eeprom as a sequence
473 * Each packet starts with a 4-byte header that has the
474 * packet type, the packet checksum and the tick count. Then
475 * they all contain 2 16 bit values which hold packet-specific
478 * For each flight, the first packet
479 * is FLIGHT packet, indicating the serial number of the
480 * device and a unique number marking the number of flights
481 * recorded by this device.
483 * During flight, data from the accelerometer and barometer
484 * are recorded in SENSOR packets, using the raw 16-bit values
485 * read from the A/D converter.
487 * Also during flight, but at a lower rate, the deployment
488 * sensors are recorded in DEPLOY packets. The goal here is to
489 * detect failure in the deployment circuits.
491 * STATE packets hold state transitions as the flight computer
492 * transitions through different stages of the flight.
494 #define AO_LOG_FLIGHT 'F'
495 #define AO_LOG_SENSOR 'A'
496 #define AO_LOG_TEMP_VOLT 'T'
497 #define AO_LOG_DEPLOY 'D'
498 #define AO_LOG_STATE 'S'
499 #define AO_LOG_GPS_TIME 'G'
500 #define AO_LOG_GPS_LAT 'N'
501 #define AO_LOG_GPS_LON 'W'
502 #define AO_LOG_GPS_ALT 'H'
503 #define AO_LOG_GPS_SAT 'V'
504 #define AO_LOG_GPS_DATE 'Y'
506 #define AO_LOG_POS_NONE (~0UL)
508 struct ao_log_record {
514 int16_t ground_accel;
539 int32_t gps_latitude;
540 int32_t gps_longitude;
562 /* Write a record to the eeprom log */
564 ao_log_data(struct ao_log_record *log);
570 /* We record flight numbers in the first record of
571 * the log. Tasks may wait for this to be initialized
572 * by sleeping on this variable.
574 extern __xdata uint16_t ao_flight_number;
576 /* Retrieve first log record for the current flight */
578 ao_log_dump_first(void);
580 /* return next log record for the current flight */
582 ao_log_dump_next(void);
584 /* Logging thread main routine */
588 /* Start logging to eeprom */
596 /* Initialize the logging system */
604 enum ao_flight_state {
605 ao_flight_startup = 0,
611 ao_flight_drogue = 6,
613 ao_flight_landed = 8,
614 ao_flight_invalid = 9
617 extern __xdata struct ao_adc ao_flight_data;
618 extern __pdata enum ao_flight_state ao_flight_state;
619 extern __pdata uint16_t ao_flight_tick;
620 extern __pdata int16_t ao_flight_accel;
621 extern __pdata int16_t ao_flight_pres;
622 extern __pdata int32_t ao_flight_vel;
623 extern __pdata int16_t ao_ground_pres;
624 extern __pdata int16_t ao_ground_accel;
625 extern __pdata int16_t ao_min_pres;
626 extern __pdata uint16_t ao_launch_time;
627 extern __xdata uint8_t ao_flight_force_idle;
633 /* Initialize flight thread */
635 ao_flight_init(void);
642 ao_report_init(void);
647 * Given raw data, convert to SI units
650 /* pressure from the sensor to altitude in meters */
652 ao_pres_to_altitude(int16_t pres) __reentrant;
655 ao_altitude_to_pres(int16_t alt) __reentrant;
658 ao_temp_to_dC(int16_t temp) __reentrant;
663 * debug another telemetrum board
666 /* Send a byte to the dbg target */
668 ao_dbg_send_byte(uint8_t byte);
670 /* Receive a byte from the dbg target */
672 ao_dbg_recv_byte(void);
674 /* Start a bulk transfer to/from dbg target memory */
676 ao_dbg_start_transfer(uint16_t addr);
678 /* End a bulk transfer to/from dbg target memory */
680 ao_dbg_end_transfer(void);
682 /* Write a byte to dbg target memory */
684 ao_dbg_write_byte(uint8_t byte);
686 /* Read a byte from dbg target memory */
688 ao_dbg_read_byte(void);
690 /* Enable dbg mode, switching use of the pins */
692 ao_dbg_debug_mode(void);
694 /* Reset the dbg target */
706 #error Please define HAS_SERIAL_1
711 ao_serial_rx1_isr(void) interrupt 3;
714 ao_serial_tx1_isr(void) interrupt 14;
717 ao_serial_getchar(void) __critical;
720 ao_serial_putchar(char c) __critical;
722 #define AO_SERIAL_SPEED_4800 0
723 #define AO_SERIAL_SPEED_9600 1
724 #define AO_SERIAL_SPEED_57600 2
727 ao_serial_set_speed(uint8_t speed);
730 ao_serial_init(void);
737 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
738 #define AO_GPS_NUM_SAT_SHIFT (0)
740 #define AO_GPS_VALID (1 << 4)
741 #define AO_GPS_RUNNING (1 << 5)
742 #define AO_GPS_DATE_VALID (1 << 6)
744 extern __xdata uint16_t ao_gps_tick;
754 int32_t latitude; /* degrees * 10⁷ */
755 int32_t longitude; /* degrees * 10⁷ */
756 int16_t altitude; /* m */
757 uint16_t ground_speed; /* cm/s */
758 uint8_t course; /* degrees / 2 */
759 uint8_t hdop; /* * 5 */
760 int16_t climb_rate; /* cm/s */
761 uint16_t h_error; /* m */
762 uint16_t v_error; /* m */
765 struct ao_gps_sat_data {
770 struct ao_gps_tracking_data {
772 struct ao_gps_sat_data sats[12];
775 extern __xdata uint8_t ao_gps_mutex;
776 extern __xdata struct ao_gps_data ao_gps_data;
777 extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
783 ao_gps_print(__xdata struct ao_gps_data *gps_data);
786 ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
799 ao_gps_report_init(void);
805 #define AO_MAX_CALLSIGN 8
806 #define AO_TELEMETRY_VERSION 2
808 struct ao_telemetry {
811 uint8_t flight_state;
812 int16_t flight_accel;
813 int16_t ground_accel;
817 int16_t accel_plus_g;
818 int16_t accel_minus_g;
820 struct ao_gps_data gps;
821 char callsign[AO_MAX_CALLSIGN];
822 struct ao_gps_tracking_data gps_tracking;
825 /* Set delay between telemetry reports (0 to disable) */
827 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
828 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
829 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
832 ao_telemetry_set_interval(uint16_t interval);
835 ao_rdf_set(uint8_t rdf);
838 ao_telemetry_init(void);
844 extern __xdata uint8_t ao_radio_dma;
845 extern __xdata uint8_t ao_radio_dma_done;
846 extern __xdata uint8_t ao_radio_done;
847 extern __xdata uint8_t ao_radio_mutex;
850 ao_radio_general_isr(void) interrupt 16;
855 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
858 ao_radio_set_telemetry(void);
861 ao_radio_set_packet(void);
864 ao_radio_set_rdf(void);
867 ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
869 struct ao_radio_recv {
870 struct ao_telemetry telemetry;
876 ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
879 ao_radio_rdf(int ms);
882 ao_radio_abort(void);
885 ao_radio_rdf_abort(void);
897 extern const char const * const ao_state_names[];
903 ao_set_monitor(uint8_t monitoring);
906 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
912 #define AO_READ_AGAIN ((char) -1)
915 char (*pollchar)(void);
916 void (*putchar)(char c) __reentrant;
923 extern __xdata uint8_t ao_stdin_ready;
926 ao_add_stdio(char (*pollchar)(void),
927 void (*putchar)(char) __reentrant,
928 void (*flush)(void));
935 ao_igniter_drogue = 0,
940 ao_ignite(enum ao_igniter igniter);
942 enum ao_igniter_status {
943 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
944 ao_igniter_ready, /* continuity detected */
945 ao_igniter_active, /* igniter firing */
946 ao_igniter_open, /* open circuit detected */
949 enum ao_igniter_status
950 ao_igniter_status(enum ao_igniter igniter);
953 ao_igniter_init(void);
959 #define AO_CONFIG_MAJOR 1
960 #define AO_CONFIG_MINOR 3
965 uint16_t main_deploy;
966 int16_t accel_plus_g; /* changed for minor version 2 */
967 uint8_t radio_channel;
968 char callsign[AO_MAX_CALLSIGN + 1];
969 uint8_t apogee_delay; /* minor version 1 */
970 int16_t accel_minus_g; /* minor version 2 */
971 uint32_t radio_cal; /* minor version 3 */
974 extern __xdata struct ao_config ao_config;
980 ao_config_init(void);
987 ao_rssi_set(int rssi_value);
990 ao_rssi_init(uint8_t rssi_led);
995 * values which need to be defined for
996 * each instance of a product
999 extern const uint8_t ao_usb_descriptors [];
1000 extern const uint16_t ao_serial_number;
1001 extern const char ao_version[];
1002 extern const char ao_manufacturer[];
1003 extern const char ao_product[];
1009 #define AO_FIFO_SIZE 32
1014 char fifo[AO_FIFO_SIZE];
1017 #define ao_fifo_insert(f,c) do { \
1018 (f).fifo[(f).insert] = (c); \
1019 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
1022 #define ao_fifo_remove(f,c) do {\
1023 c = (f).fifo[(f).remove]; \
1024 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
1027 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
1028 #define ao_fifo_empty(f) ((f).insert == (f).remove)
1033 * Packet-based command interface
1036 #define AO_PACKET_MAX 8
1037 #define AO_PACKET_SYN (uint8_t) 0xff
1044 uint8_t d[AO_PACKET_MAX];
1047 struct ao_packet_recv {
1048 struct ao_packet packet;
1053 extern __xdata struct ao_packet_recv ao_rx_packet;
1054 extern __xdata struct ao_packet ao_tx_packet;
1055 extern __xdata struct ao_task ao_packet_task;
1056 extern __xdata uint8_t ao_packet_enable;
1057 extern __xdata uint8_t ao_packet_master_sleeping;
1058 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
1061 ao_packet_send(void);
1064 ao_packet_recv(void);
1067 ao_packet_flush(void);
1070 ao_packet_putchar(char c) __reentrant;
1073 ao_packet_pollchar(void) __critical;
1075 /* ao_packet_master.c */
1078 ao_packet_master_init(void);
1080 /* ao_packet_slave.c */
1083 ao_packet_slave_start(void);
1086 ao_packet_slave_stop(void);
1089 ao_packet_slave_init(void);