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 */
117 #define AO_PANIC_SPI 13 /* SPI communication failure */
118 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
119 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
120 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
121 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
123 /* Stop the operating system, beeping and blinking the reason */
125 ao_panic(uint8_t reason);
132 #define AO_TICK_TYPE uint16_t
133 #define AO_TICK_SIGNED int16_t
136 extern volatile __data AO_TICK_TYPE ao_tick_count;
138 /* Our timer runs at 100Hz */
140 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
141 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
143 /* Returns the current time in ticks */
147 /* Suspend the current task until ticks time has passed */
149 ao_delay(uint16_t ticks);
151 /* Set the ADC interval */
153 ao_timer_set_adc_interval(uint8_t interval) __critical;
155 /* Timer interrupt */
157 ao_timer_isr(void) ao_arch_interrupt(9);
159 /* Initialize the timer */
163 /* Initialize the hardware clock. Must be called first */
172 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
175 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
183 ao_cmd_lex_error = 1,
184 ao_cmd_syntax_error = 2,
187 extern __pdata uint16_t ao_cmd_lex_i;
188 extern __pdata uint32_t ao_cmd_lex_u32;
189 extern __pdata char ao_cmd_lex_c;
190 extern __pdata enum ao_cmd_status ao_cmd_status;
196 ao_cmd_put8(uint8_t v);
199 ao_cmd_put16(uint16_t v);
202 ao_cmd_is_white(void);
208 ao_cmd_hexchar(char c);
211 ao_cmd_hexbyte(void);
217 ao_cmd_decimal(void);
220 ao_match_word(__code char *word);
228 ao_cmd_register(const __code struct ao_cmds *cmds);
235 * Provided by an external module to filter raw command lines
261 #include <ao_storage.h>
269 #include <ao_flight.h>
270 #include <ao_sample.h>
277 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
278 #define AO_RDF_LENGTH_MS 500
279 #define AO_RDF_CONTINUITY_MS 32
280 #define AO_RDF_CONTINUITY_PAUSE 96
281 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
283 /* This assumes that we're generating a 1kHz tone, which
284 * modulates the carrier at 2kbps, or 250kBps
286 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
288 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
289 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
290 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
291 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
293 /* returns a value 0-3 to indicate igniter continuity */
295 ao_report_igniter(void);
298 ao_report_init(void);
303 * Given raw data, convert to SI units
306 /* pressure from the sensor to altitude in meters */
308 ao_pres_to_altitude(int16_t pres) __reentrant;
311 ao_altitude_to_pres(int16_t alt) __reentrant;
314 ao_temp_to_dC(int16_t temp) __reentrant;
319 * Convert between pressure in Pa and altitude in meters
323 ao_pa_to_altitude(int32_t pa);
326 ao_altitude_to_pa(int32_t alt);
332 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
333 #include <ao_serial.h>
342 ao_spi_slave_recv(uint8_t *buf, uint8_t len);
345 ao_spi_slave_send(uint8_t *buf, uint8_t len);
348 ao_spi_slave_init(void);
350 /* This must be defined by the product; it will get called when chip
351 * select goes low, at which point it should use ao_spi_read and
352 * ao_spi_write to deal with the request
358 #include <ao_telemetry.h>
363 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
364 #define AO_GPS_NUM_SAT_SHIFT (0)
366 #define AO_GPS_VALID (1 << 4)
367 #define AO_GPS_RUNNING (1 << 5)
368 #define AO_GPS_DATE_VALID (1 << 6)
369 #define AO_GPS_COURSE_VALID (1 << 7)
371 extern __pdata uint16_t ao_gps_tick;
372 extern __xdata uint8_t ao_gps_mutex;
373 extern __xdata struct ao_telemetry_location ao_gps_data;
374 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
384 int32_t latitude; /* degrees * 10⁷ */
385 int32_t longitude; /* degrees * 10⁷ */
386 int16_t altitude; /* m */
387 uint16_t ground_speed; /* cm/s */
388 uint8_t course; /* degrees / 2 */
389 uint8_t hdop; /* * 5 */
390 int16_t climb_rate; /* cm/s */
391 uint16_t h_error; /* m */
392 uint16_t v_error; /* m */
395 struct ao_gps_sat_orig {
400 #define AO_MAX_GPS_TRACKING 12
402 struct ao_gps_tracking_orig {
404 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
411 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
414 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
427 ao_gps_report_init(void);
430 * ao_gps_report_mega.c
434 ao_gps_report_mega(void);
437 ao_gps_report_mega_init(void);
440 * ao_telemetry_orig.c
445 uint16_t tick; /* tick when the sample was read */
446 int16_t accel; /* accelerometer */
447 int16_t pres; /* pressure sensor */
448 int16_t temp; /* temperature sensor */
449 int16_t v_batt; /* battery voltage */
450 int16_t sense_d; /* drogue continuity sense */
451 int16_t sense_m; /* main continuity sense */
454 struct ao_telemetry_orig {
457 uint8_t flight_state;
459 int16_t ground_accel;
469 int16_t accel_plus_g;
470 int16_t accel_minus_g;
471 struct ao_adc_orig adc;
472 struct ao_gps_orig gps;
473 char callsign[AO_MAX_CALLSIGN];
474 struct ao_gps_tracking_orig gps_tracking;
477 struct ao_telemetry_tiny {
480 uint8_t flight_state;
481 int16_t height; /* AGL in meters */
482 int16_t speed; /* in m/s * 16 */
483 int16_t accel; /* in m/s² * 16 */
484 int16_t ground_pres; /* sensor units */
485 struct ao_adc adc; /* raw ADC readings */
486 char callsign[AO_MAX_CALLSIGN];
489 struct ao_telemetry_orig_recv {
490 struct ao_telemetry_orig telemetry_orig;
495 struct ao_telemetry_tiny_recv {
496 struct ao_telemetry_tiny telemetry_tiny;
501 #endif /* LEGACY_MONITOR */
503 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
504 * for reporting RSSI. So, now we use these values everywhere
506 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
507 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
510 * ao_radio_recv tacks on rssi and status bytes
513 struct ao_telemetry_raw_recv {
514 uint8_t packet[AO_MAX_TELEMETRY + 2];
517 /* Set delay between telemetry reports (0 to disable) */
519 #ifdef AO_SEND_ALL_BARO
520 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
521 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
522 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
524 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
525 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
526 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
530 ao_telemetry_set_interval(uint16_t interval);
533 ao_rdf_set(uint8_t rdf);
536 ao_telemetry_init(void);
539 ao_telemetry_orig_init(void);
542 ao_telemetry_tiny_init(void);
548 extern __xdata uint8_t ao_radio_dma;
550 #ifdef PKT_APPEND_STATUS_1_CRC_OK
551 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
554 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
558 ao_radio_general_isr(void) ao_arch_interrupt(16);
561 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
564 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
567 ao_radio_recv_abort(void);
570 ao_radio_test(uint8_t on);
573 * Compute the packet length as follows:
575 * 2000 bps (for a 1kHz tone)
576 * so, for 'ms' milliseconds, we need
577 * 2 * ms bits, or ms / 4 bytes
584 ao_radio_continuity(uint8_t c);
587 ao_radio_rdf_abort(void);
598 extern const char const * const ao_state_names[];
600 #define AO_MONITOR_RING 8
603 struct ao_telemetry_raw_recv raw;
604 struct ao_telemetry_all_recv all;
605 struct ao_telemetry_orig_recv orig;
606 struct ao_telemetry_tiny_recv tiny;
609 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
611 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
613 extern __data uint8_t ao_monitoring;
614 extern __data uint8_t ao_monitor_head;
619 #define AO_MONITORING_OFF 0
620 #define AO_MONITORING_ORIG 1
623 ao_monitor_set(uint8_t monitoring);
626 ao_monitor_disable(void);
629 ao_monitor_enable(void);
632 ao_monitor_init(void) __reentrant;
640 #define AO_READ_AGAIN ((char) -1)
643 char (*pollchar)(void);
644 void (*putchar)(char c) __reentrant;
649 extern __xdata struct ao_stdio ao_stdios[];
650 extern __pdata int8_t ao_cur_stdio;
651 extern __pdata int8_t ao_num_stdios;
656 extern __xdata uint8_t ao_stdin_ready;
662 ao_add_stdio(char (*pollchar)(void),
663 void (*putchar)(char) __reentrant,
664 void (*flush)(void)) __reentrant;
671 ao_igniter_drogue = 0,
676 ao_ignite(enum ao_igniter igniter);
678 enum ao_igniter_status {
679 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
680 ao_igniter_ready, /* continuity detected */
681 ao_igniter_active, /* igniter firing */
682 ao_igniter_open, /* open circuit detected */
691 extern __xdata struct ao_ignition ao_ignition[2];
693 enum ao_igniter_status
694 ao_igniter_status(enum ao_igniter igniter);
696 extern __pdata uint8_t ao_igniter_present;
699 ao_ignite_set_pins(void);
702 ao_igniter_init(void);
714 * Set this to force the frequency to 434.550MHz
716 extern __xdata uint8_t ao_force_freq;
719 #define AO_CONFIG_MAJOR 1
720 #define AO_CONFIG_MINOR 12
722 #define AO_AES_LEN 16
724 extern __xdata uint8_t ao_config_aes_seq;
729 uint16_t main_deploy;
730 int16_t accel_plus_g; /* changed for minor version 2 */
731 uint8_t _legacy_radio_channel;
732 char callsign[AO_MAX_CALLSIGN + 1];
733 uint8_t apogee_delay; /* minor version 1 */
734 int16_t accel_minus_g; /* minor version 2 */
735 uint32_t radio_cal; /* minor version 3 */
736 uint32_t flight_log_max; /* minor version 4 */
737 uint8_t ignite_mode; /* minor version 5 */
738 uint8_t pad_orientation; /* minor version 6 */
739 uint32_t radio_setting; /* minor version 7 */
740 uint8_t radio_enable; /* minor version 8 */
741 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
742 uint32_t frequency; /* minor version 10 */
743 uint16_t apogee_lockout; /* minor version 11 */
745 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
749 #define AO_IGNITE_MODE_DUAL 0
750 #define AO_IGNITE_MODE_APOGEE 1
751 #define AO_IGNITE_MODE_MAIN 2
753 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
754 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
756 extern __xdata struct ao_config ao_config;
758 #define AO_CONFIG_MAX_SIZE 128
761 _ao_config_edit_start(void);
764 _ao_config_edit_finish(void);
773 ao_config_set_radio(void);
776 ao_config_init(void);
783 ao_rssi_set(int rssi_value);
786 ao_rssi_init(uint8_t rssi_led);
791 * values which need to be defined for
792 * each instance of a product
795 extern const char ao_version[];
796 extern const char ao_manufacturer[];
797 extern const char ao_product[];
803 #define AO_FIFO_SIZE 32
808 char fifo[AO_FIFO_SIZE];
811 #define ao_fifo_insert(f,c) do { \
812 (f).fifo[(f).insert] = (c); \
813 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
816 #define ao_fifo_remove(f,c) do {\
817 c = (f).fifo[(f).remove]; \
818 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
821 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
822 #define ao_fifo_empty(f) ((f).insert == (f).remove)
824 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
825 #include <ao_packet.h>
833 #include <ao_companion.h>
846 struct ao_launch_command {
854 #define AO_LAUNCH_QUERY 1
856 struct ao_launch_query {
862 uint8_t igniter_status;
865 #define AO_LAUNCH_ARM 2
866 #define AO_LAUNCH_FIRE 3
869 ao_launch_init(void);
875 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
876 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
878 #define AO_LOG_TELESCIENCE_NUM_ADC 12
880 struct ao_log_telescience {
887 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
890 #define AO_LOG_SINGLE_SIZE 32
892 union ao_log_single {
893 struct ao_log_telescience telescience;
894 union ao_telemetry_all telemetry;
895 uint8_t bytes[AO_LOG_SINGLE_SIZE];
898 extern __xdata union ao_log_single ao_log_single_write_data;
899 extern __xdata union ao_log_single ao_log_single_read_data;
902 ao_log_single_extra_query(void);
905 ao_log_single_list(void);
908 ao_log_single_main(void);
911 ao_log_single_write(void);
914 ao_log_single_read(uint32_t pos);
917 ao_log_single_start(void);
920 ao_log_single_stop(void);
923 ao_log_single_restart(void);
926 ao_log_single_set(void);
929 ao_log_single_delete(void);
932 ao_log_single_init(void);
941 #define AO_TELEPYRO_NUM_ADC 9
944 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
945 #define ao_xmemset(d,v,c) memset(d,v,c)
946 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
954 ao_terraui_init(void);
962 ao_battery_isr(void) ao_arch_interrupt(1);
965 ao_battery_get(void);
968 ao_battery_init(void);
969 #endif /* BATTERY_PIN */
976 ao_sqrt(uint32_t op);
982 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
988 void ao_ms5607_init(void);
990 #include <ao_arch_funcs.h>