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_BUFIO 15 /* Mis-using bufio API */
69 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
70 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
71 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
72 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
74 /* Stop the operating system, beeping and blinking the reason */
76 ao_panic(uint8_t reason);
83 #define AO_TICK_TYPE uint16_t
84 #define AO_TICK_SIGNED int16_t
87 extern volatile __data AO_TICK_TYPE ao_tick_count;
89 /* Our timer runs at 100Hz */
93 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
94 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
96 /* Returns the current time in ticks */
100 /* Suspend the current task until ticks time has passed */
102 ao_delay(uint16_t ticks);
104 /* Set the ADC interval */
106 ao_timer_set_adc_interval(uint8_t interval);
108 /* Timer interrupt */
110 ao_timer_isr(void) ao_arch_interrupt(9);
112 /* Initialize the timer */
116 /* Initialize the hardware clock. Must be called first */
126 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
129 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
138 ao_cmd_lex_error = 1,
139 ao_cmd_syntax_error = 2,
142 extern __pdata uint16_t ao_cmd_lex_i;
143 extern __pdata uint32_t ao_cmd_lex_u32;
144 extern __pdata char ao_cmd_lex_c;
145 extern __pdata enum ao_cmd_status ao_cmd_status;
148 ao_put_string(__code char *s);
154 ao_cmd_put8(uint8_t v);
157 ao_cmd_put16(uint16_t v);
160 ao_cmd_is_white(void);
166 ao_cmd_hexchar(char c);
169 ao_cmd_hexbyte(void);
175 ao_cmd_decimal(void);
177 /* Read a single hex nibble off stdin. */
182 ao_match_word(__code char *word);
190 ao_cmd_register(const __code struct ao_cmds *cmds);
197 * Provided by an external module to filter raw command lines
223 #include <ao_storage.h>
231 #include <ao_flight.h>
232 #include <ao_sample.h>
239 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
240 #define AO_RDF_LENGTH_MS 500
241 #define AO_RDF_CONTINUITY_MS 32
242 #define AO_RDF_CONTINUITY_PAUSE 96
243 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
245 /* This assumes that we're generating a 1kHz tone, which
246 * modulates the carrier at 2kbps, or 250kBps
248 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
250 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
251 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
252 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
253 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
255 /* returns a value 0-3 to indicate igniter continuity */
257 ao_report_igniter(void);
260 ao_report_init(void);
265 * Given raw data, convert to SI units
268 /* pressure from the sensor to altitude in meters */
270 ao_pres_to_altitude(int16_t pres) __reentrant;
273 ao_altitude_to_pres(int16_t alt) __reentrant;
276 ao_temp_to_dC(int16_t temp) __reentrant;
281 * Convert between pressure in Pa and altitude in meters
287 ao_pa_to_altitude(int32_t pa);
290 ao_altitude_to_pa(alt_t alt);
296 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
297 #include <ao_serial.h>
306 ao_spi_slave_recv(void *buf, uint16_t len);
309 ao_spi_slave_send(void *buf, uint16_t len);
312 ao_spi_slave_init(void);
314 /* This must be defined by the product; it will get called when chip
315 * select goes low, at which point it should use ao_spi_read and
316 * ao_spi_write to deal with the request
322 #include <ao_telemetry.h>
327 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
328 #define AO_GPS_NUM_SAT_SHIFT (0)
330 #define AO_GPS_VALID (1 << 4)
331 #define AO_GPS_RUNNING (1 << 5)
332 #define AO_GPS_DATE_VALID (1 << 6)
333 #define AO_GPS_COURSE_VALID (1 << 7)
335 extern __pdata uint16_t ao_gps_tick;
336 extern __xdata uint8_t ao_gps_mutex;
337 extern __xdata struct ao_telemetry_location ao_gps_data;
338 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
348 int32_t latitude; /* degrees * 10⁷ */
349 int32_t longitude; /* degrees * 10⁷ */
350 int16_t altitude; /* m */
351 uint16_t ground_speed; /* cm/s */
352 uint8_t course; /* degrees / 2 */
353 uint8_t hdop; /* * 5 */
354 int16_t climb_rate; /* cm/s */
355 uint16_t h_error; /* m */
356 uint16_t v_error; /* m */
359 struct ao_gps_sat_orig {
364 #define AO_MAX_GPS_TRACKING 12
366 struct ao_gps_tracking_orig {
368 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
375 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
378 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
391 ao_gps_report_init(void);
394 * ao_gps_report_mega.c
398 ao_gps_report_mega(void);
401 ao_gps_report_mega_init(void);
404 * ao_telemetry_orig.c
409 uint16_t tick; /* tick when the sample was read */
410 int16_t accel; /* accelerometer */
411 int16_t pres; /* pressure sensor */
412 int16_t temp; /* temperature sensor */
413 int16_t v_batt; /* battery voltage */
414 int16_t sense_d; /* drogue continuity sense */
415 int16_t sense_m; /* main continuity sense */
418 struct ao_telemetry_orig {
421 uint8_t flight_state;
423 int16_t ground_accel;
433 int16_t accel_plus_g;
434 int16_t accel_minus_g;
435 struct ao_adc_orig adc;
436 struct ao_gps_orig gps;
437 char callsign[AO_MAX_CALLSIGN];
438 struct ao_gps_tracking_orig gps_tracking;
441 struct ao_telemetry_tiny {
444 uint8_t flight_state;
445 int16_t height; /* AGL in meters */
446 int16_t speed; /* in m/s * 16 */
447 int16_t accel; /* in m/s² * 16 */
448 int16_t ground_pres; /* sensor units */
449 struct ao_adc adc; /* raw ADC readings */
450 char callsign[AO_MAX_CALLSIGN];
453 struct ao_telemetry_orig_recv {
454 struct ao_telemetry_orig telemetry_orig;
459 struct ao_telemetry_tiny_recv {
460 struct ao_telemetry_tiny telemetry_tiny;
465 #endif /* LEGACY_MONITOR */
467 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
468 * for reporting RSSI. So, now we use these values everywhere
470 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
471 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
474 * ao_radio_recv tacks on rssi and status bytes
477 struct ao_telemetry_raw_recv {
478 uint8_t packet[AO_MAX_TELEMETRY + 2];
481 /* Set delay between telemetry reports (0 to disable) */
483 #ifdef AO_SEND_ALL_BARO
484 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
485 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
486 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
488 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
489 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
490 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
494 ao_telemetry_set_interval(uint16_t interval);
497 ao_rdf_set(uint8_t rdf);
500 ao_telemetry_init(void);
503 ao_telemetry_orig_init(void);
506 ao_telemetry_tiny_init(void);
512 extern __xdata uint8_t ao_radio_dma;
514 extern __xdata int8_t ao_radio_rssi;
516 #ifdef PKT_APPEND_STATUS_1_CRC_OK
517 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
520 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
523 #ifndef HAS_RADIO_RECV
524 #define HAS_RADIO_RECV HAS_RADIO
526 #ifndef HAS_RADIO_XMIT
527 #define HAS_RADIO_XMIT HAS_RADIO
531 ao_radio_general_isr(void) ao_arch_interrupt(16);
535 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
540 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
543 ao_radio_recv_abort(void);
547 ao_radio_test(uint8_t on);
549 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
552 ao_radio_send_aprs(ao_radio_fill_func fill);
560 ao_radio_pa_on(void);
563 ao_radio_pa_off(void);
566 ao_radio_pa_init(void);
568 #define ao_radio_pa_on()
569 #define ao_radio_pa_off()
570 #define ao_radio_pa_init()
574 * Compute the packet length as follows:
576 * 2000 bps (for a 1kHz tone)
577 * so, for 'ms' milliseconds, we need
578 * 2 * ms bits, or ms / 4 bytes
585 ao_radio_continuity(uint8_t c);
588 ao_radio_rdf_abort(void);
599 extern const char const * const ao_state_names[];
601 #define AO_MONITOR_RING 8
604 struct ao_telemetry_raw_recv raw;
605 struct ao_telemetry_all_recv all;
607 struct ao_telemetry_orig_recv orig;
608 struct ao_telemetry_tiny_recv tiny;
612 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
614 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
616 extern __data uint8_t ao_monitoring;
617 extern __data uint8_t ao_monitor_head;
622 #define AO_MONITORING_OFF 0
623 #define AO_MONITORING_ORIG 1
626 ao_monitor_set(uint8_t monitoring);
629 ao_monitor_disable(void);
632 ao_monitor_enable(void);
635 ao_monitor_init(void) __reentrant;
643 #define AO_READ_AGAIN (-1)
646 int (*_pollchar)(void); /* Called with interrupts blocked */
647 void (*putchar)(char c) __reentrant;
652 extern __xdata struct ao_stdio ao_stdios[];
653 extern __pdata int8_t ao_cur_stdio;
654 extern __pdata int8_t ao_num_stdios;
659 extern __xdata uint8_t ao_stdin_ready;
665 ao_add_stdio(int (*pollchar)(void),
666 void (*putchar)(char) __reentrant,
667 void (*flush)(void)) __reentrant;
674 ao_igniter_drogue = 0,
679 ao_ignite(enum ao_igniter igniter);
681 enum ao_igniter_status {
682 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
683 ao_igniter_ready, /* continuity detected */
684 ao_igniter_active, /* igniter firing */
685 ao_igniter_open, /* open circuit detected */
694 extern __xdata struct ao_ignition ao_ignition[2];
696 enum ao_igniter_status
697 ao_igniter_status(enum ao_igniter igniter);
699 extern __pdata uint8_t ao_igniter_present;
702 ao_ignite_set_pins(void);
705 ao_igniter_init(void);
717 * Set this to force the frequency to 434.550MHz
719 extern __xdata uint8_t ao_force_freq;
722 #define AO_CONFIG_MAJOR 1
723 #define AO_CONFIG_MINOR 14
725 #define AO_AES_LEN 16
727 extern __xdata uint8_t ao_config_aes_seq;
732 uint16_t main_deploy;
733 int16_t accel_plus_g; /* changed for minor version 2 */
734 uint8_t _legacy_radio_channel;
735 char callsign[AO_MAX_CALLSIGN + 1];
736 uint8_t apogee_delay; /* minor version 1 */
737 int16_t accel_minus_g; /* minor version 2 */
738 uint32_t radio_cal; /* minor version 3 */
739 uint32_t flight_log_max; /* minor version 4 */
740 uint8_t ignite_mode; /* minor version 5 */
741 uint8_t pad_orientation; /* minor version 6 */
742 uint32_t radio_setting; /* minor version 7 */
743 uint8_t radio_enable; /* minor version 8 */
744 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
745 uint32_t frequency; /* minor version 10 */
746 uint16_t apogee_lockout; /* minor version 11 */
748 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
750 uint16_t aprs_interval; /* minor version 13 */
752 uint8_t radio_power; /* minor version 14 */
755 uint8_t radio_amp; /* minor version 14 */
759 #define AO_IGNITE_MODE_DUAL 0
760 #define AO_IGNITE_MODE_APOGEE 1
761 #define AO_IGNITE_MODE_MAIN 2
763 #define AO_RADIO_ENABLE_CORE 1
764 #define AO_RADIO_DISABLE_TELEMETRY 2
765 #define AO_RADIO_DISABLE_RDF 4
767 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
768 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
770 extern __xdata struct ao_config ao_config;
772 #define AO_CONFIG_MAX_SIZE 128
775 _ao_config_edit_start(void);
778 _ao_config_edit_finish(void);
787 ao_config_set_radio(void);
790 ao_config_init(void);
797 ao_rssi_set(int rssi_value);
800 ao_rssi_init(uint8_t rssi_led);
805 * values which need to be defined for
806 * each instance of a product
809 extern const char ao_version[];
810 extern const char ao_manufacturer[];
811 extern const char ao_product[];
817 #define AO_FIFO_SIZE 32
822 char fifo[AO_FIFO_SIZE];
825 #define ao_fifo_insert(f,c) do { \
826 (f).fifo[(f).insert] = (c); \
827 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
830 #define ao_fifo_remove(f,c) do {\
831 c = (f).fifo[(f).remove]; \
832 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
835 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
836 #define ao_fifo_empty(f) ((f).insert == (f).remove)
838 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
839 #include <ao_packet.h>
847 #include <ao_companion.h>
860 struct ao_launch_command {
868 #define AO_LAUNCH_QUERY 1
870 struct ao_launch_query {
876 uint8_t igniter_status;
879 #define AO_LAUNCH_ARM 2
880 #define AO_LAUNCH_FIRE 3
883 ao_launch_init(void);
889 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
890 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
892 #define AO_LOG_TELESCIENCE_NUM_ADC 12
894 struct ao_log_telescience {
901 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
904 #define AO_LOG_SINGLE_SIZE 32
906 union ao_log_single {
907 struct ao_log_telescience telescience;
908 union ao_telemetry_all telemetry;
909 uint8_t bytes[AO_LOG_SINGLE_SIZE];
912 extern __xdata union ao_log_single ao_log_single_write_data;
913 extern __xdata union ao_log_single ao_log_single_read_data;
916 ao_log_single_extra_query(void);
919 ao_log_single_list(void);
922 ao_log_single_main(void);
925 ao_log_single_write(void);
928 ao_log_single_read(uint32_t pos);
931 ao_log_single_start(void);
934 ao_log_single_stop(void);
937 ao_log_single_restart(void);
940 ao_log_single_set(void);
943 ao_log_single_delete(void);
946 ao_log_single_init(void);
955 #define AO_TELEPYRO_NUM_ADC 9
958 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
959 #define ao_xmemset(d,v,c) memset(d,v,c)
960 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
968 ao_terraui_init(void);
976 ao_battery_isr(void) ao_arch_interrupt(1);
979 ao_battery_get(void);
982 ao_battery_init(void);
983 #endif /* BATTERY_PIN */
990 ao_sqrt(uint32_t op);
996 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
1002 void ao_ms5607_init(void);
1004 #include <ao_arch_funcs.h>