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)
54 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
55 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
56 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
57 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
58 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
59 #define AO_PANIC_CMD 6 /* Too many command sets registered */
60 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
61 #define AO_PANIC_REBOOT 8 /* Reboot failed */
62 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
63 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
64 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
65 #define AO_PANIC_STACK 12 /* Stack overflow */
66 #define AO_PANIC_SPI 13 /* SPI communication failure */
67 #define AO_PANIC_CRASH 14 /* Processor crashed */
68 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
69 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
70 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
71 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
73 /* Stop the operating system, beeping and blinking the reason */
75 ao_panic(uint8_t reason);
82 #define AO_TICK_TYPE uint16_t
83 #define AO_TICK_SIGNED int16_t
86 extern volatile __data AO_TICK_TYPE ao_tick_count;
88 /* Our timer runs at 100Hz */
92 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
93 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
95 /* Returns the current time in ticks */
99 /* Suspend the current task until ticks time has passed */
101 ao_delay(uint16_t ticks);
103 /* Set the ADC interval */
105 ao_timer_set_adc_interval(uint8_t interval);
107 /* Timer interrupt */
109 ao_timer_isr(void) ao_arch_interrupt(9);
111 /* Initialize the timer */
115 /* Initialize the hardware clock. Must be called first */
125 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
128 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
137 ao_cmd_lex_error = 1,
138 ao_cmd_syntax_error = 2,
141 extern __pdata uint16_t ao_cmd_lex_i;
142 extern __pdata uint32_t ao_cmd_lex_u32;
143 extern __pdata char ao_cmd_lex_c;
144 extern __pdata enum ao_cmd_status ao_cmd_status;
150 ao_cmd_put8(uint8_t v);
153 ao_cmd_put16(uint16_t v);
156 ao_cmd_is_white(void);
162 ao_cmd_hexchar(char c);
165 ao_cmd_hexbyte(void);
171 ao_cmd_decimal(void);
173 /* Read a single hex nibble off stdin. */
178 ao_match_word(__code char *word);
186 ao_cmd_register(const __code struct ao_cmds *cmds);
193 * Provided by an external module to filter raw command lines
219 #include <ao_storage.h>
227 #include <ao_flight.h>
228 #include <ao_sample.h>
235 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
236 #define AO_RDF_LENGTH_MS 500
237 #define AO_RDF_CONTINUITY_MS 32
238 #define AO_RDF_CONTINUITY_PAUSE 96
239 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
241 /* This assumes that we're generating a 1kHz tone, which
242 * modulates the carrier at 2kbps, or 250kBps
244 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
246 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
247 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
248 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
249 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
251 /* returns a value 0-3 to indicate igniter continuity */
253 ao_report_igniter(void);
256 ao_report_init(void);
261 * Given raw data, convert to SI units
264 /* pressure from the sensor to altitude in meters */
266 ao_pres_to_altitude(int16_t pres) __reentrant;
269 ao_altitude_to_pres(int16_t alt) __reentrant;
272 ao_temp_to_dC(int16_t temp) __reentrant;
277 * Convert between pressure in Pa and altitude in meters
283 ao_pa_to_altitude(int32_t pa);
286 ao_altitude_to_pa(alt_t alt);
292 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
293 #include <ao_serial.h>
302 ao_spi_slave_recv(uint8_t *buf, uint8_t len);
305 ao_spi_slave_send(uint8_t *buf, uint8_t len);
308 ao_spi_slave_init(void);
310 /* This must be defined by the product; it will get called when chip
311 * select goes low, at which point it should use ao_spi_read and
312 * ao_spi_write to deal with the request
318 #include <ao_telemetry.h>
323 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
324 #define AO_GPS_NUM_SAT_SHIFT (0)
326 #define AO_GPS_VALID (1 << 4)
327 #define AO_GPS_RUNNING (1 << 5)
328 #define AO_GPS_DATE_VALID (1 << 6)
329 #define AO_GPS_COURSE_VALID (1 << 7)
331 extern __pdata uint16_t ao_gps_tick;
332 extern __xdata uint8_t ao_gps_mutex;
333 extern __xdata struct ao_telemetry_location ao_gps_data;
334 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
344 int32_t latitude; /* degrees * 10⁷ */
345 int32_t longitude; /* degrees * 10⁷ */
346 int16_t altitude; /* m */
347 uint16_t ground_speed; /* cm/s */
348 uint8_t course; /* degrees / 2 */
349 uint8_t hdop; /* * 5 */
350 int16_t climb_rate; /* cm/s */
351 uint16_t h_error; /* m */
352 uint16_t v_error; /* m */
355 struct ao_gps_sat_orig {
360 #define AO_MAX_GPS_TRACKING 12
362 struct ao_gps_tracking_orig {
364 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
371 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
374 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
387 ao_gps_report_init(void);
390 * ao_gps_report_mega.c
394 ao_gps_report_mega(void);
397 ao_gps_report_mega_init(void);
400 * ao_telemetry_orig.c
405 uint16_t tick; /* tick when the sample was read */
406 int16_t accel; /* accelerometer */
407 int16_t pres; /* pressure sensor */
408 int16_t temp; /* temperature sensor */
409 int16_t v_batt; /* battery voltage */
410 int16_t sense_d; /* drogue continuity sense */
411 int16_t sense_m; /* main continuity sense */
414 struct ao_telemetry_orig {
417 uint8_t flight_state;
419 int16_t ground_accel;
429 int16_t accel_plus_g;
430 int16_t accel_minus_g;
431 struct ao_adc_orig adc;
432 struct ao_gps_orig gps;
433 char callsign[AO_MAX_CALLSIGN];
434 struct ao_gps_tracking_orig gps_tracking;
437 struct ao_telemetry_tiny {
440 uint8_t flight_state;
441 int16_t height; /* AGL in meters */
442 int16_t speed; /* in m/s * 16 */
443 int16_t accel; /* in m/s² * 16 */
444 int16_t ground_pres; /* sensor units */
445 struct ao_adc adc; /* raw ADC readings */
446 char callsign[AO_MAX_CALLSIGN];
449 struct ao_telemetry_orig_recv {
450 struct ao_telemetry_orig telemetry_orig;
455 struct ao_telemetry_tiny_recv {
456 struct ao_telemetry_tiny telemetry_tiny;
461 #endif /* LEGACY_MONITOR */
463 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
464 * for reporting RSSI. So, now we use these values everywhere
466 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
467 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
470 * ao_radio_recv tacks on rssi and status bytes
473 struct ao_telemetry_raw_recv {
474 uint8_t packet[AO_MAX_TELEMETRY + 2];
477 /* Set delay between telemetry reports (0 to disable) */
479 #ifdef AO_SEND_ALL_BARO
480 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
481 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
482 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
484 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
485 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
486 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
490 ao_telemetry_set_interval(uint16_t interval);
493 ao_rdf_set(uint8_t rdf);
496 ao_telemetry_init(void);
499 ao_telemetry_orig_init(void);
502 ao_telemetry_tiny_init(void);
508 extern __xdata uint8_t ao_radio_dma;
510 #ifdef PKT_APPEND_STATUS_1_CRC_OK
511 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
514 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
518 ao_radio_general_isr(void) ao_arch_interrupt(16);
521 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
524 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
527 ao_radio_recv_abort(void);
530 ao_radio_test(uint8_t on);
533 * Compute the packet length as follows:
535 * 2000 bps (for a 1kHz tone)
536 * so, for 'ms' milliseconds, we need
537 * 2 * ms bits, or ms / 4 bytes
544 ao_radio_continuity(uint8_t c);
547 ao_radio_rdf_abort(void);
558 extern const char const * const ao_state_names[];
560 #define AO_MONITOR_RING 8
563 struct ao_telemetry_raw_recv raw;
564 struct ao_telemetry_all_recv all;
566 struct ao_telemetry_orig_recv orig;
567 struct ao_telemetry_tiny_recv tiny;
571 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
573 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
575 extern __data uint8_t ao_monitoring;
576 extern __data uint8_t ao_monitor_head;
581 #define AO_MONITORING_OFF 0
582 #define AO_MONITORING_ORIG 1
585 ao_monitor_set(uint8_t monitoring);
588 ao_monitor_disable(void);
591 ao_monitor_enable(void);
594 ao_monitor_init(void) __reentrant;
602 #define AO_READ_AGAIN (-1)
605 int (*pollchar)(void);
606 void (*putchar)(char c) __reentrant;
611 extern __xdata struct ao_stdio ao_stdios[];
612 extern __pdata int8_t ao_cur_stdio;
613 extern __pdata int8_t ao_num_stdios;
618 extern __xdata uint8_t ao_stdin_ready;
624 ao_add_stdio(int (*pollchar)(void),
625 void (*putchar)(char) __reentrant,
626 void (*flush)(void)) __reentrant;
633 ao_igniter_drogue = 0,
638 ao_ignite(enum ao_igniter igniter);
640 enum ao_igniter_status {
641 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
642 ao_igniter_ready, /* continuity detected */
643 ao_igniter_active, /* igniter firing */
644 ao_igniter_open, /* open circuit detected */
653 extern __xdata struct ao_ignition ao_ignition[2];
655 enum ao_igniter_status
656 ao_igniter_status(enum ao_igniter igniter);
658 extern __pdata uint8_t ao_igniter_present;
661 ao_ignite_set_pins(void);
664 ao_igniter_init(void);
676 * Set this to force the frequency to 434.550MHz
678 extern __xdata uint8_t ao_force_freq;
681 #define AO_CONFIG_MAJOR 1
682 #define AO_CONFIG_MINOR 12
684 #define AO_AES_LEN 16
686 extern __xdata uint8_t ao_config_aes_seq;
691 uint16_t main_deploy;
692 int16_t accel_plus_g; /* changed for minor version 2 */
693 uint8_t _legacy_radio_channel;
694 char callsign[AO_MAX_CALLSIGN + 1];
695 uint8_t apogee_delay; /* minor version 1 */
696 int16_t accel_minus_g; /* minor version 2 */
697 uint32_t radio_cal; /* minor version 3 */
698 uint32_t flight_log_max; /* minor version 4 */
699 uint8_t ignite_mode; /* minor version 5 */
700 uint8_t pad_orientation; /* minor version 6 */
701 uint32_t radio_setting; /* minor version 7 */
702 uint8_t radio_enable; /* minor version 8 */
703 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
704 uint32_t frequency; /* minor version 10 */
705 uint16_t apogee_lockout; /* minor version 11 */
707 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
711 #define AO_IGNITE_MODE_DUAL 0
712 #define AO_IGNITE_MODE_APOGEE 1
713 #define AO_IGNITE_MODE_MAIN 2
715 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
716 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
718 extern __xdata struct ao_config ao_config;
720 #define AO_CONFIG_MAX_SIZE 128
723 _ao_config_edit_start(void);
726 _ao_config_edit_finish(void);
735 ao_config_set_radio(void);
738 ao_config_init(void);
745 ao_rssi_set(int rssi_value);
748 ao_rssi_init(uint8_t rssi_led);
753 * values which need to be defined for
754 * each instance of a product
757 extern const char ao_version[];
758 extern const char ao_manufacturer[];
759 extern const char ao_product[];
765 #define AO_FIFO_SIZE 32
770 char fifo[AO_FIFO_SIZE];
773 #define ao_fifo_insert(f,c) do { \
774 (f).fifo[(f).insert] = (c); \
775 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
778 #define ao_fifo_remove(f,c) do {\
779 c = (f).fifo[(f).remove]; \
780 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
783 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
784 #define ao_fifo_empty(f) ((f).insert == (f).remove)
786 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
787 #include <ao_packet.h>
795 #include <ao_companion.h>
808 struct ao_launch_command {
816 #define AO_LAUNCH_QUERY 1
818 struct ao_launch_query {
824 uint8_t igniter_status;
827 #define AO_LAUNCH_ARM 2
828 #define AO_LAUNCH_FIRE 3
831 ao_launch_init(void);
837 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
838 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
840 #define AO_LOG_TELESCIENCE_NUM_ADC 12
842 struct ao_log_telescience {
849 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
852 #define AO_LOG_SINGLE_SIZE 32
854 union ao_log_single {
855 struct ao_log_telescience telescience;
856 union ao_telemetry_all telemetry;
857 uint8_t bytes[AO_LOG_SINGLE_SIZE];
860 extern __xdata union ao_log_single ao_log_single_write_data;
861 extern __xdata union ao_log_single ao_log_single_read_data;
864 ao_log_single_extra_query(void);
867 ao_log_single_list(void);
870 ao_log_single_main(void);
873 ao_log_single_write(void);
876 ao_log_single_read(uint32_t pos);
879 ao_log_single_start(void);
882 ao_log_single_stop(void);
885 ao_log_single_restart(void);
888 ao_log_single_set(void);
891 ao_log_single_delete(void);
894 ao_log_single_init(void);
903 #define AO_TELEPYRO_NUM_ADC 9
906 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
907 #define ao_xmemset(d,v,c) memset(d,v,c)
908 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
916 ao_terraui_init(void);
924 ao_battery_isr(void) ao_arch_interrupt(1);
927 ao_battery_get(void);
930 ao_battery_init(void);
931 #endif /* BATTERY_PIN */
938 ao_sqrt(uint32_t op);
944 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
950 void ao_ms5607_init(void);
952 #include <ao_arch_funcs.h>