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 */
33 #define DATA_TO_XDATA(a) (a)
35 #ifndef PDATA_TO_XDATA
36 #define PDATA_TO_XDATA(a) (a)
39 #define CODE_TO_XDATA(a) (a)
44 __xdata void *wchan; /* current wait channel (NULL if running) */
45 uint16_t alarm; /* abort ao_sleep time */
46 ao_arch_task_members /* any architecture-specific fields */
47 uint8_t task_id; /* unique id */
48 __code char *name; /* task name */
49 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
52 extern __xdata struct ao_task *__data ao_cur_task;
54 #define AO_NUM_TASKS 16 /* maximum number of tasks */
55 #define AO_NO_TASK 0 /* no task id */
61 /* Suspend the current task until wchan is awoken.
67 ao_sleep(__xdata void *wchan);
69 /* Wake all tasks sleeping on wchan */
71 ao_wakeup(__xdata void *wchan);
73 /* set an alarm to go off in 'delay' ticks */
75 ao_alarm(uint16_t delay);
77 /* Clear any pending alarm */
81 /* Yield the processor to another task */
83 ao_yield(void) ao_arch_naked_declare;
85 /* Add a task to the run queue */
87 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
89 /* Terminate the current task */
93 /* Dump task info to console */
97 /* Start the scheduler. This will not return */
99 ao_start_scheduler(void);
105 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
106 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
107 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
108 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
109 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
110 #define AO_PANIC_CMD 6 /* Too many command sets registered */
111 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
112 #define AO_PANIC_REBOOT 8 /* Reboot failed */
113 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
114 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
115 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
116 #define AO_PANIC_STACK 12 /* Stack overflow */
118 /* Stop the operating system, beeping and blinking the reason */
120 ao_panic(uint8_t reason);
126 /* Our timer runs at 100Hz */
128 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
129 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
131 /* Returns the current time in ticks */
135 /* Suspend the current task until ticks time has passed */
137 ao_delay(uint16_t ticks);
139 /* Set the ADC interval */
141 ao_timer_set_adc_interval(uint8_t interval) __critical;
143 /* Timer interrupt */
145 ao_timer_isr(void) ao_arch_interrupt(9);
147 /* Initialize the timer */
151 /* Initialize the hardware clock. Must be called first */
156 * One set of samples read from the A/D converter or telemetry
165 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
166 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
170 * A/D data is stored in a ring, with the next sample to be written
173 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
174 extern volatile __data uint8_t ao_adc_head;
176 extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
179 /* Trigger a conversion sequence (called from the timer interrupt) */
183 /* Suspend the current task until another A/D sample is converted */
187 /* Get a copy of the last complete A/D sample set */
189 ao_adc_get(__xdata struct ao_adc *packet);
191 /* The A/D interrupt handler */
194 ao_adc_isr(void) ao_arch_interrupt(1);
196 /* Initialize the A/D converter */
207 * Various pre-defined beep frequencies
209 * frequency = 1/2 (24e6/32) / beep
212 #define AO_BEEP_LOW 150 /* 2500Hz */
213 #define AO_BEEP_MID 94 /* 3989Hz */
214 #define AO_BEEP_HIGH 75 /* 5000Hz */
215 #define AO_BEEP_OFF 0 /* off */
217 #define AO_BEEP_g 240 /* 1562.5Hz */
218 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
219 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
220 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
221 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
222 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
223 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
224 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
225 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
226 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
227 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
228 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
229 #define AO_BEEP_gg 120 /* 3125Hz */
230 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
231 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
232 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
233 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
234 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
235 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
236 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
237 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
238 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
239 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
240 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
241 #define AO_BEEP_ggg 60 /* 6250Hz */
243 /* Set the beeper to the specified tone */
245 ao_beep(uint8_t beep);
247 /* Turn on the beeper for the specified time */
249 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
251 /* Initialize the beeper */
259 #define AO_LED_NONE 0
262 #define AO_LED_TYPE uint8_t
265 /* Turn on the specified LEDs */
267 ao_led_on(AO_LED_TYPE colors);
269 /* Turn off the specified LEDs */
271 ao_led_off(AO_LED_TYPE colors);
273 /* Set all of the LEDs to the specified state */
275 ao_led_set(AO_LED_TYPE colors);
277 /* Toggle the specified LEDs */
279 ao_led_toggle(AO_LED_TYPE colors);
281 /* Turn on the specified LEDs for the indicated interval */
283 ao_led_for(AO_LED_TYPE colors, uint16_t ticks) __reentrant;
285 /* Initialize the LEDs */
287 ao_led_init(AO_LED_TYPE enable);
293 /* Put one character to the USB output queue */
295 ao_usb_putchar(char c);
297 /* Get one character from the USB input queue */
299 ao_usb_getchar(void);
301 /* Poll for a charcter on the USB input queue.
302 * returns AO_READ_AGAIN if none are available
305 ao_usb_pollchar(void);
307 /* Flush the USB output queue */
312 /* USB interrupt handler */
314 ao_usb_isr(void) ao_arch_interrupt(6);
317 /* Enable the USB controller */
321 /* Disable the USB controller */
323 ao_usb_disable(void);
325 /* Initialize the USB system */
330 extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
339 ao_cmd_lex_error = 1,
340 ao_cmd_syntax_error = 2,
343 extern __pdata uint16_t ao_cmd_lex_i;
344 extern __pdata uint32_t ao_cmd_lex_u32;
345 extern __pdata char ao_cmd_lex_c;
346 extern __pdata enum ao_cmd_status ao_cmd_status;
352 ao_cmd_put8(uint8_t v);
355 ao_cmd_put16(uint16_t v);
358 ao_cmd_is_white(void);
364 ao_cmd_hexchar(char c);
367 ao_cmd_hexbyte(void);
373 ao_cmd_decimal(void);
376 ao_match_word(__code char *word);
384 ao_cmd_register(const __code struct ao_cmds *cmds);
391 * Provided by an external module to filter raw command lines
402 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
405 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
408 * Storage interface, provided by one of the eeprom or flash
412 /* Total bytes of available storage */
413 extern __pdata uint32_t ao_storage_total;
415 /* Block size - device is erased in these units. At least 256 bytes */
416 extern __pdata uint32_t ao_storage_block;
418 /* Byte offset of config block. Will be ao_storage_block bytes long */
419 extern __pdata uint32_t ao_storage_config;
421 /* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
422 extern __pdata uint16_t ao_storage_unit;
424 #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
426 /* Initialize above values. Can only be called once the OS is running */
428 ao_storage_setup(void) __reentrant;
430 /* Write data. Returns 0 on failure, 1 on success */
432 ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
434 /* Read data. Returns 0 on failure, 1 on success */
436 ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
438 /* Erase a block of storage. This always clears ao_storage_block bytes */
440 ao_storage_erase(uint32_t pos) __reentrant;
442 /* Flush any pending writes to stable storage */
444 ao_storage_flush(void) __reentrant;
446 /* Initialize the storage code */
448 ao_storage_init(void);
451 * Low-level functions wrapped by ao_storage.c
454 /* Read data within a storage unit */
456 ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
458 /* Write data within a storage unit */
460 ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
462 /* Initialize low-level device bits */
464 ao_storage_device_init(void);
466 /* Print out information about flash chips */
468 ao_storage_device_info(void) __reentrant;
474 /* We record flight numbers in the first record of
475 * the log. Tasks may wait for this to be initialized
476 * by sleeping on this variable.
478 extern __xdata uint16_t ao_flight_number;
480 extern __pdata uint32_t ao_log_current_pos;
481 extern __pdata uint32_t ao_log_end_pos;
482 extern __pdata uint32_t ao_log_start_pos;
483 extern __xdata uint8_t ao_log_running;
484 extern __pdata enum flight_state ao_log_state;
486 /* required functions from the underlying log system */
488 #define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
489 #define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
490 #define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
491 #define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
492 #define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
493 #define AO_LOG_FORMAT_NONE 127 /* No log at all */
495 extern __code uint8_t ao_log_format;
497 /* Return the flight number from the given log slot, 0 if none */
499 ao_log_flight(uint8_t slot);
505 /* Logging thread main routine */
509 /* functions provided in ao_log.c */
511 /* Figure out the current flight number */
513 ao_log_scan(void) __reentrant;
515 /* Return the position of the start of the given log slot */
517 ao_log_pos(uint8_t slot);
519 /* Start logging to eeprom */
527 /* Initialize the logging system */
531 /* Write out the current flight number to the erase log */
533 ao_log_write_erase(uint8_t pos);
535 /* Returns true if there are any logs stored in eeprom */
537 ao_log_present(void);
539 /* Returns true if there is no more storage space available */
548 * The data log is recorded in the eeprom as a sequence
551 * Each packet starts with a 4-byte header that has the
552 * packet type, the packet checksum and the tick count. Then
553 * they all contain 2 16 bit values which hold packet-specific
556 * For each flight, the first packet
557 * is FLIGHT packet, indicating the serial number of the
558 * device and a unique number marking the number of flights
559 * recorded by this device.
561 * During flight, data from the accelerometer and barometer
562 * are recorded in SENSOR packets, using the raw 16-bit values
563 * read from the A/D converter.
565 * Also during flight, but at a lower rate, the deployment
566 * sensors are recorded in DEPLOY packets. The goal here is to
567 * detect failure in the deployment circuits.
569 * STATE packets hold state transitions as the flight computer
570 * transitions through different stages of the flight.
572 #define AO_LOG_FLIGHT 'F'
573 #define AO_LOG_SENSOR 'A'
574 #define AO_LOG_TEMP_VOLT 'T'
575 #define AO_LOG_DEPLOY 'D'
576 #define AO_LOG_STATE 'S'
577 #define AO_LOG_GPS_TIME 'G'
578 #define AO_LOG_GPS_LAT 'N'
579 #define AO_LOG_GPS_LON 'W'
580 #define AO_LOG_GPS_ALT 'H'
581 #define AO_LOG_GPS_SAT 'V'
582 #define AO_LOG_GPS_DATE 'Y'
584 #define AO_LOG_POS_NONE (~0UL)
586 struct ao_log_record {
592 int16_t ground_accel;
617 int32_t gps_latitude;
618 int32_t gps_longitude;
641 /* Write a record to the eeprom log */
643 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
649 enum ao_flight_state {
650 ao_flight_startup = 0,
656 ao_flight_drogue = 6,
658 ao_flight_landed = 8,
659 ao_flight_invalid = 9
662 extern __pdata enum ao_flight_state ao_flight_state;
664 extern __pdata uint16_t ao_launch_time;
665 extern __pdata uint8_t ao_flight_force_idle;
671 /* Initialize flight thread */
673 ao_flight_init(void);
680 ao_flight_nano_init(void);
687 * Barometer calibration
689 * We directly sample the barometer. The specs say:
691 * Pressure range: 15-115 kPa
692 * Voltage at 115kPa: 2.82
693 * Output scale: 27mV/kPa
695 * If we want to detect launch with the barometer, we need
696 * a large enough bump to not be fooled by noise. At typical
697 * launch elevations (0-2000m), a 200Pa pressure change cooresponds
698 * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
699 * As all of our calculations are done in 16 bits, we'll actually see a change
700 * of 16 times this though
702 * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
705 /* Accelerometer calibration
707 * We're sampling the accelerometer through a resistor divider which
708 * consists of 5k and 10k resistors. This multiplies the values by 2/3.
709 * That goes into the cc1111 A/D converter, which is running at 11 bits
710 * of precision with the bits in the MSB of the 16 bit value. Only positive
711 * values are used, so values should range from 0-32752 for 0-3.3V. The
712 * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
713 * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
714 * for a final computation of:
716 * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
718 * Zero g was measured at 16000 (we would expect 16384).
719 * Note that this value is only require to tell if the
720 * rocket is standing upright. Once that is determined,
721 * the value of the accelerometer is averaged for 100 samples
722 * to find the resting accelerometer value, which is used
723 * for all further flight computations
726 #define GRAVITY 9.80665
729 * Above this height, the baro sensor doesn't work
731 #define AO_MAX_BARO_HEIGHT 12000
734 * Above this speed, baro measurements are unreliable
736 #define AO_MAX_BARO_SPEED 200
738 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
741 * Speed and acceleration are scaled by 16 to provide a bit more
742 * resolution while still having reasonable range. Note that this
743 * limits speed to 2047m/s (around mach 6) and acceleration to
744 * 2047m/s² (over 200g)
747 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
748 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
749 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
751 extern __pdata uint16_t ao_sample_tick; /* time of last data */
752 extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */
753 extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */
754 extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */
755 extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
758 extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */
761 extern __pdata int16_t ao_ground_pres; /* startup pressure */
762 extern __pdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
765 extern __pdata int16_t ao_ground_accel; /* startup acceleration */
766 extern __pdata int16_t ao_accel_2g; /* factory accel calibration */
767 extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
770 void ao_sample_init(void);
772 /* returns FALSE in preflight mode, TRUE in flight mode */
773 uint8_t ao_sample(void);
779 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
780 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
781 #define from_fix(x) ((x) >> 16)
783 extern __pdata int16_t ao_height; /* meters */
784 extern __pdata int16_t ao_speed; /* m/s * 16 */
785 extern __pdata int16_t ao_accel; /* m/s² * 16 */
786 extern __pdata int16_t ao_max_height; /* max of ao_height */
787 extern __pdata int16_t ao_avg_height; /* running average of height */
789 extern __pdata int16_t ao_error_h;
790 extern __pdata int16_t ao_error_h_sq_avg;
793 extern __pdata int16_t ao_error_a;
796 void ao_kalman(void);
803 ao_report_init(void);
808 * Given raw data, convert to SI units
811 /* pressure from the sensor to altitude in meters */
813 ao_pres_to_altitude(int16_t pres) __reentrant;
816 ao_altitude_to_pres(int16_t alt) __reentrant;
819 ao_temp_to_dC(int16_t temp) __reentrant;
824 * debug another telemetrum board
827 /* Send a byte to the dbg target */
829 ao_dbg_send_byte(uint8_t byte);
831 /* Receive a byte from the dbg target */
833 ao_dbg_recv_byte(void);
835 /* Start a bulk transfer to/from dbg target memory */
837 ao_dbg_start_transfer(uint16_t addr);
839 /* End a bulk transfer to/from dbg target memory */
841 ao_dbg_end_transfer(void);
843 /* Write a byte to dbg target memory */
845 ao_dbg_write_byte(uint8_t byte);
847 /* Read a byte from dbg target memory */
849 ao_dbg_read_byte(void);
851 /* Enable dbg mode, switching use of the pins */
853 ao_dbg_debug_mode(void);
855 /* Reset the dbg target */
867 #error Please define HAS_SERIAL_1
870 #if HAS_SERIAL_1 | HAS_SERIAL_2 | HAS_SERIAL_3
871 #ifndef USE_SERIAL_STDIN
872 #error Please define USE_SERIAL_STDIN
876 ao_serial_rx1_isr(void) ao_arch_interrupt(3);
879 ao_serial_tx1_isr(void) ao_arch_interrupt(14);
882 ao_serial_getchar(void) __critical;
886 ao_serial_pollchar(void) __critical;
889 ao_serial_set_stdin(uint8_t in);
893 ao_serial_putchar(char c) __critical;
896 ao_serial_drain(void) __critical;
898 #define AO_SERIAL_SPEED_4800 0
899 #define AO_SERIAL_SPEED_9600 1
900 #define AO_SERIAL_SPEED_19200 2
901 #define AO_SERIAL_SPEED_57600 3
904 ao_serial_set_speed(uint8_t speed);
907 ao_serial_init(void);
911 #define HAS_SERIAL_0 0
916 extern volatile __xdata struct ao_fifo ao_usart0_rx_fifo;
917 extern volatile __xdata struct ao_fifo ao_usart0_tx_fifo;
920 ao_serial0_rx0_isr(void) ao_arch_interrupt(2);
923 ao_serial0_tx0_isr(void) ao_arch_interrupt(7);
926 ao_serial0_getchar(void) __critical;
929 ao_serial0_putchar(char c) __critical;
932 ao_serial0_drain(void) __critical;
935 ao_serial0_set_speed(uint8_t speed);
938 ao_serial0_init(void);
948 ao_spi_slave_recv(uint8_t *buf, uint8_t len);
951 ao_spi_slave_send(uint8_t *buf, uint8_t len);
954 ao_spi_slave_init(void);
956 /* This must be defined by the product; it will get called when chip
957 * select goes low, at which point it should use ao_spi_read and
958 * ao_spi_write to deal with the request
967 #define AO_MAX_CALLSIGN 8
968 #define AO_MAX_VERSION 8
970 #define AO_MAX_TELEMETRY 128
972 #define AO_MAX_TELEMETRY 32
975 struct ao_telemetry_generic {
976 uint16_t serial; /* 0 */
977 uint16_t tick; /* 2 */
978 uint8_t type; /* 4 */
979 uint8_t payload[27]; /* 5 */
983 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
984 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
985 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
987 struct ao_telemetry_sensor {
988 uint16_t serial; /* 0 */
989 uint16_t tick; /* 2 */
990 uint8_t type; /* 4 */
992 uint8_t state; /* 5 flight state */
993 int16_t accel; /* 6 accelerometer (TM only) */
994 int16_t pres; /* 8 pressure sensor */
995 int16_t temp; /* 10 temperature sensor */
996 int16_t v_batt; /* 12 battery voltage */
997 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
998 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
1000 int16_t acceleration; /* 18 m/s² * 16 */
1001 int16_t speed; /* 20 m/s * 16 */
1002 int16_t height; /* 22 m */
1004 int16_t ground_pres; /* 24 average pres on pad */
1005 int16_t ground_accel; /* 26 average accel on pad */
1006 int16_t accel_plus_g; /* 28 accel calibration at +1g */
1007 int16_t accel_minus_g; /* 30 accel calibration at -1g */
1011 #define AO_TELEMETRY_CONFIGURATION 0x04
1013 struct ao_telemetry_configuration {
1014 uint16_t serial; /* 0 */
1015 uint16_t tick; /* 2 */
1016 uint8_t type; /* 4 */
1018 uint8_t device; /* 5 device type */
1019 uint16_t flight; /* 6 flight number */
1020 uint8_t config_major; /* 8 Config major version */
1021 uint8_t config_minor; /* 9 Config minor version */
1022 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
1023 uint16_t main_deploy; /* 12 Main deploy alt in meters */
1024 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
1025 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
1026 char version[AO_MAX_VERSION]; /* 24 Software version */
1030 #define AO_TELEMETRY_LOCATION 0x05
1032 #define AO_GPS_MODE_NOT_VALID 'N'
1033 #define AO_GPS_MODE_AUTONOMOUS 'A'
1034 #define AO_GPS_MODE_DIFFERENTIAL 'D'
1035 #define AO_GPS_MODE_ESTIMATED 'E'
1036 #define AO_GPS_MODE_MANUAL 'M'
1037 #define AO_GPS_MODE_SIMULATED 'S'
1039 struct ao_telemetry_location {
1040 uint16_t serial; /* 0 */
1041 uint16_t tick; /* 2 */
1042 uint8_t type; /* 4 */
1044 uint8_t flags; /* 5 Number of sats and other flags */
1045 int16_t altitude; /* 6 GPS reported altitude (m) */
1046 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
1047 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
1048 uint8_t year; /* 16 (- 2000) */
1049 uint8_t month; /* 17 (1-12) */
1050 uint8_t day; /* 18 (1-31) */
1051 uint8_t hour; /* 19 (0-23) */
1052 uint8_t minute; /* 20 (0-59) */
1053 uint8_t second; /* 21 (0-59) */
1054 uint8_t pdop; /* 22 (m * 5) */
1055 uint8_t hdop; /* 23 (m * 5) */
1056 uint8_t vdop; /* 24 (m * 5) */
1057 uint8_t mode; /* 25 */
1058 uint16_t ground_speed; /* 26 cm/s */
1059 int16_t climb_rate; /* 28 cm/s */
1060 uint8_t course; /* 30 degrees / 2 */
1061 uint8_t unused[1]; /* 31 */
1065 #define AO_TELEMETRY_SATELLITE 0x06
1067 struct ao_telemetry_satellite_info {
1072 struct ao_telemetry_satellite {
1073 uint16_t serial; /* 0 */
1074 uint16_t tick; /* 2 */
1075 uint8_t type; /* 4 */
1076 uint8_t channels; /* 5 number of reported sats */
1078 struct ao_telemetry_satellite_info sats[12]; /* 6 */
1079 uint8_t unused[2]; /* 30 */
1083 #define AO_TELEMETRY_COMPANION 0x07
1085 #define AO_COMPANION_MAX_CHANNELS 12
1087 struct ao_telemetry_companion {
1088 uint16_t serial; /* 0 */
1089 uint16_t tick; /* 2 */
1090 uint8_t type; /* 4 */
1091 uint8_t board_id; /* 5 */
1093 uint8_t update_period; /* 6 */
1094 uint8_t channels; /* 7 */
1095 uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
1099 /* #define AO_SEND_ALL_BARO */
1101 #define AO_TELEMETRY_BARO 0x80
1104 * This packet allows the full sampling rate baro
1105 * data to be captured over the RF link so that the
1106 * flight software can be tested using 'real' data.
1108 * Along with this telemetry packet, the flight
1109 * code is modified to send full-rate telemetry all the time
1110 * and never send an RDF tone; this ensure that the full radio
1111 * link is available.
1113 struct ao_telemetry_baro {
1114 uint16_t serial; /* 0 */
1115 uint16_t tick; /* 2 */
1116 uint8_t type; /* 4 */
1117 uint8_t samples; /* 5 number samples */
1119 int16_t baro[12]; /* 6 samples */
1123 union ao_telemetry_all {
1124 struct ao_telemetry_generic generic;
1125 struct ao_telemetry_sensor sensor;
1126 struct ao_telemetry_configuration configuration;
1127 struct ao_telemetry_location location;
1128 struct ao_telemetry_satellite satellite;
1129 struct ao_telemetry_companion companion;
1130 struct ao_telemetry_baro baro;
1133 struct ao_telemetry_all_recv {
1134 union ao_telemetry_all telemetry;
1143 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
1144 #define AO_GPS_NUM_SAT_SHIFT (0)
1146 #define AO_GPS_VALID (1 << 4)
1147 #define AO_GPS_RUNNING (1 << 5)
1148 #define AO_GPS_DATE_VALID (1 << 6)
1149 #define AO_GPS_COURSE_VALID (1 << 7)
1151 extern __pdata uint16_t ao_gps_tick;
1152 extern __xdata uint8_t ao_gps_mutex;
1153 extern __xdata struct ao_telemetry_location ao_gps_data;
1154 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
1156 struct ao_gps_orig {
1164 int32_t latitude; /* degrees * 10⁷ */
1165 int32_t longitude; /* degrees * 10⁷ */
1166 int16_t altitude; /* m */
1167 uint16_t ground_speed; /* cm/s */
1168 uint8_t course; /* degrees / 2 */
1169 uint8_t hdop; /* * 5 */
1170 int16_t climb_rate; /* cm/s */
1171 uint16_t h_error; /* m */
1172 uint16_t v_error; /* m */
1175 struct ao_gps_sat_orig {
1180 #define AO_MAX_GPS_TRACKING 12
1182 struct ao_gps_tracking_orig {
1184 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
1191 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
1194 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
1204 ao_gps_report(void);
1207 ao_gps_report_init(void);
1210 * ao_telemetry_orig.c
1213 struct ao_telemetry_orig {
1216 uint8_t flight_state;
1218 int16_t ground_accel;
1227 int16_t ground_pres;
1228 int16_t accel_plus_g;
1229 int16_t accel_minus_g;
1231 struct ao_gps_orig gps;
1232 char callsign[AO_MAX_CALLSIGN];
1233 struct ao_gps_tracking_orig gps_tracking;
1236 struct ao_telemetry_tiny {
1239 uint8_t flight_state;
1240 int16_t height; /* AGL in meters */
1241 int16_t speed; /* in m/s * 16 */
1242 int16_t accel; /* in m/s² * 16 */
1243 int16_t ground_pres; /* sensor units */
1244 struct ao_adc adc; /* raw ADC readings */
1245 char callsign[AO_MAX_CALLSIGN];
1248 struct ao_telemetry_orig_recv {
1249 struct ao_telemetry_orig telemetry_orig;
1254 struct ao_telemetry_tiny_recv {
1255 struct ao_telemetry_tiny telemetry_tiny;
1261 * ao_radio_recv tacks on rssi and status bytes
1264 struct ao_telemetry_raw_recv {
1265 uint8_t packet[AO_MAX_TELEMETRY + 2];
1268 /* Set delay between telemetry reports (0 to disable) */
1270 #ifdef AO_SEND_ALL_BARO
1271 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
1272 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
1273 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
1275 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
1276 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
1277 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
1281 ao_telemetry_set_interval(uint16_t interval);
1284 ao_rdf_set(uint8_t rdf);
1287 ao_telemetry_init(void);
1290 ao_telemetry_orig_init(void);
1293 ao_telemetry_tiny_init(void);
1299 extern __xdata uint8_t ao_radio_dma;
1300 extern __xdata uint8_t ao_radio_dma_done;
1301 extern __xdata uint8_t ao_radio_done;
1302 extern __xdata uint8_t ao_radio_mutex;
1305 ao_radio_general_isr(void) ao_arch_interrupt(16);
1308 ao_radio_get(uint8_t len);
1310 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
1313 ao_radio_set_packet(void);
1316 ao_radio_send(__xdata void *d, uint8_t size) __reentrant;
1319 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
1322 ao_radio_recv_abort(void);
1325 * Compute the packet length as follows:
1327 * 2000 bps (for a 1kHz tone)
1328 * so, for 'ms' milliseconds, we need
1329 * 2 * ms bits, or ms / 4 bytes
1332 #define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2))
1335 ao_radio_rdf(uint8_t pkt_len);
1338 ao_radio_rdf_abort(void);
1341 ao_radio_idle(void);
1344 ao_radio_init(void);
1350 extern const char const * const ao_state_names[];
1352 #define AO_MONITOR_RING 8
1355 struct ao_telemetry_raw_recv raw;
1356 struct ao_telemetry_all_recv all;
1357 struct ao_telemetry_orig_recv orig;
1358 struct ao_telemetry_tiny_recv tiny;
1361 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
1363 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
1365 extern __data uint8_t ao_monitoring;
1366 extern __data uint8_t ao_monitor_head;
1371 #define AO_MONITORING_OFF 0
1372 #define AO_MONITORING_ORIG 1
1375 ao_monitor_set(uint8_t monitoring);
1378 ao_monitor_disable(void);
1381 ao_monitor_enable(void);
1384 ao_monitor_init(void) __reentrant;
1390 #define AO_READ_AGAIN ((char) -1)
1393 char (*pollchar)(void);
1394 void (*putchar)(char c) __reentrant;
1395 void (*flush)(void);
1399 extern __xdata struct ao_stdio ao_stdios[];
1400 extern __pdata int8_t ao_cur_stdio;
1401 extern __pdata int8_t ao_num_stdios;
1406 extern __xdata uint8_t ao_stdin_ready;
1412 ao_add_stdio(char (*pollchar)(void),
1413 void (*putchar)(char) __reentrant,
1414 void (*flush)(void)) __reentrant;
1421 ao_igniter_drogue = 0,
1426 ao_ignite(enum ao_igniter igniter);
1428 enum ao_igniter_status {
1429 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
1430 ao_igniter_ready, /* continuity detected */
1431 ao_igniter_active, /* igniter firing */
1432 ao_igniter_open, /* open circuit detected */
1435 struct ao_ignition {
1441 extern __xdata struct ao_ignition ao_ignition[2];
1443 enum ao_igniter_status
1444 ao_igniter_status(enum ao_igniter igniter);
1446 extern __pdata uint8_t ao_igniter_present;
1449 ao_ignite_set_pins(void);
1452 ao_igniter_init(void);
1458 #define AO_CONFIG_MAJOR 1
1459 #define AO_CONFIG_MINOR 10
1460 #define AO_AES_LEN 16
1462 #if HAS_RADIO_CHANNELS
1463 #define AO_CHANNEL_NAME_LEN 10
1465 #define AO_NUM_CHANNELS 10
1467 struct ao_radio_channel {
1468 char name[AO_CHANNEL_NAME_LEN];
1476 uint16_t main_deploy;
1477 int16_t accel_plus_g; /* changed for minor version 2 */
1478 uint8_t radio_channel;
1479 char callsign[AO_MAX_CALLSIGN + 1];
1480 uint8_t apogee_delay; /* minor version 1 */
1481 int16_t accel_minus_g; /* minor version 2 */
1482 uint32_t radio_cal; /* minor version 3 */
1483 uint32_t flight_log_max; /* minor version 4 */
1484 uint8_t ignite_mode; /* minor version 5 */
1485 uint8_t pad_orientation; /* minor version 6 */
1486 uint32_t radio_setting; /* minor version 7 */
1487 uint8_t radio_enable; /* minor version 8 */
1488 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
1489 uint32_t frequency; /* minor version 10 */
1490 #if HAS_RADIO_CHANNELS
1491 struct ao_radio_channel radio_channels[AO_NUM_CHANNELS]; /* minor version 10 */
1495 #define AO_IGNITE_MODE_DUAL 0
1496 #define AO_IGNITE_MODE_APOGEE 1
1497 #define AO_IGNITE_MODE_MAIN 2
1499 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
1500 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
1502 extern __xdata struct ao_config ao_config;
1504 #define AO_CONFIG_MAX_SIZE 128
1507 ao_config_get(void);
1510 ao_config_put(void);
1513 ao_config_init(void);
1520 ao_rssi_set(int rssi_value);
1523 ao_rssi_init(uint8_t rssi_led);
1528 * values which need to be defined for
1529 * each instance of a product
1532 extern const char ao_version[];
1533 extern const char ao_manufacturer[];
1534 extern const char ao_product[];
1540 #define AO_FIFO_SIZE 32
1545 char fifo[AO_FIFO_SIZE];
1548 #define ao_fifo_insert(f,c) do { \
1549 (f).fifo[(f).insert] = (c); \
1550 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
1553 #define ao_fifo_remove(f,c) do {\
1554 c = (f).fifo[(f).remove]; \
1555 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
1558 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
1559 #define ao_fifo_empty(f) ((f).insert == (f).remove)
1564 * Packet-based command interface
1567 #define AO_PACKET_MAX 64
1568 #define AO_PACKET_SYN (uint8_t) 0xff
1575 uint8_t d[AO_PACKET_MAX];
1576 uint8_t callsign[AO_MAX_CALLSIGN];
1579 struct ao_packet_recv {
1580 struct ao_packet packet;
1585 extern __xdata struct ao_packet_recv ao_rx_packet;
1586 extern __xdata struct ao_packet ao_tx_packet;
1587 extern __xdata struct ao_task ao_packet_task;
1588 extern __xdata uint8_t ao_packet_enable;
1589 extern __xdata uint8_t ao_packet_master_sleeping;
1590 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
1593 ao_packet_send(void);
1596 ao_packet_recv(void);
1599 ao_packet_flush(void);
1602 ao_packet_putchar(char c) __reentrant;
1605 ao_packet_pollchar(void) __critical;
1607 /* ao_packet_master.c */
1610 ao_packet_master_init(void);
1612 /* ao_packet_slave.c */
1615 ao_packet_slave_start(void);
1618 ao_packet_slave_stop(void);
1621 ao_packet_slave_init(uint8_t enable);
1625 /* If bt_link is on P2, this interrupt is shared by USB, so the USB
1626 * code calls this function. Otherwise, it's a regular ISR.
1639 /* ao_companion.c */
1641 #define AO_COMPANION_SETUP 1
1642 #define AO_COMPANION_FETCH 2
1643 #define AO_COMPANION_NOTIFY 3
1645 struct ao_companion_command {
1647 uint8_t flight_state;
1653 struct ao_companion_setup {
1655 uint16_t board_id_inverse;
1656 uint8_t update_period;
1660 extern __pdata uint8_t ao_companion_running;
1661 extern __xdata uint8_t ao_companion_mutex;
1662 extern __xdata struct ao_companion_command ao_companion_command;
1663 extern __xdata struct ao_companion_setup ao_companion_setup;
1664 extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
1667 ao_companion_init(void);
1672 ao_lcd_putchar(uint8_t d);
1675 ao_lcd_putstring(char *string);
1678 ao_lcd_contrast_set(uint8_t contrast);
1684 ao_lcd_cursor_on(void);
1687 ao_lcd_cursor_off(void);
1689 #define AO_LCD_ADDR(row,col) ((row << 6) | (col))
1692 ao_lcd_goto(uint8_t addr);
1703 ao_lcd_port_put_nibble(uint8_t rs, uint8_t d);
1706 ao_lcd_port_init(void);
1710 extern __xdata uint8_t ao_aes_mutex;
1712 /* AES keys and blocks are 128 bits */
1720 ao_aes_isr(void) __interrupt 4;
1724 ao_aes_set_mode(enum ao_aes_mode mode);
1727 ao_aes_set_key(__xdata uint8_t *in);
1730 ao_aes_zero_iv(void);
1733 ao_aes_run(__xdata uint8_t *in,
1734 __xdata uint8_t *out);
1739 /* ao_radio_cmac.c */
1742 ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
1744 #define AO_RADIO_CMAC_OK 0
1745 #define AO_RADIO_CMAC_LEN_ERROR -1
1746 #define AO_RADIO_CMAC_CRC_ERROR -2
1747 #define AO_RADIO_CMAC_MAC_ERROR -3
1748 #define AO_RADIO_CMAC_TIMEOUT -4
1751 ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
1754 ao_radio_cmac_init(void);
1758 struct ao_launch_command {
1766 #define AO_LAUNCH_QUERY 1
1768 struct ao_launch_query {
1774 uint8_t igniter_status;
1777 #define AO_LAUNCH_ARM 2
1778 #define AO_LAUNCH_FIRE 3
1781 ao_launch_init(void);
1787 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
1788 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
1790 #define AO_LOG_TELESCIENCE_NUM_ADC 12
1792 struct ao_log_telescience {
1799 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
1802 #define AO_LOG_SINGLE_SIZE 32
1804 union ao_log_single {
1805 struct ao_log_telescience telescience;
1806 union ao_telemetry_all telemetry;
1807 uint8_t bytes[AO_LOG_SINGLE_SIZE];
1810 extern __xdata union ao_log_single ao_log_single_write_data;
1811 extern __xdata union ao_log_single ao_log_single_read_data;
1814 ao_log_single_extra_query(void);
1817 ao_log_single_list(void);
1820 ao_log_single_main(void);
1823 ao_log_single_write(void);
1826 ao_log_single_read(uint32_t pos);
1829 ao_log_single_start(void);
1832 ao_log_single_stop(void);
1835 ao_log_single_restart(void);
1838 ao_log_single_set(void);
1841 ao_log_single_delete(void);
1844 ao_log_single_init(void);
1847 ao_log_single(void);
1853 #define AO_TELEPYRO_NUM_ADC 9
1856 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
1857 #define ao_xmemset(d,v,c) memset(d,v,c)
1858 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
1866 ao_terraui_init(void);
1874 ao_battery_isr(void) ao_arch_interrupt(1);
1877 ao_battery_get(void);
1880 ao_battery_init(void);
1881 #endif /* BATTERY_PIN */
1888 ao_sqrt(uint32_t op);
1894 int32_t ao_freq_to_set(int32_t freq, int32_t cal);
1896 #include <ao_arch_funcs.h>