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;
151 ao_cmd_put8(uint8_t v);
154 ao_cmd_put16(uint16_t v);
157 ao_cmd_is_white(void);
163 ao_cmd_hexchar(char c);
166 ao_cmd_hexbyte(void);
172 ao_cmd_decimal(void);
174 /* Read a single hex nibble off stdin. */
179 ao_match_word(__code char *word);
187 ao_cmd_register(const __code struct ao_cmds *cmds);
194 * Provided by an external module to filter raw command lines
220 #include <ao_storage.h>
228 #include <ao_flight.h>
229 #include <ao_sample.h>
236 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
237 #define AO_RDF_LENGTH_MS 500
238 #define AO_RDF_CONTINUITY_MS 32
239 #define AO_RDF_CONTINUITY_PAUSE 96
240 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
242 /* This assumes that we're generating a 1kHz tone, which
243 * modulates the carrier at 2kbps, or 250kBps
245 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
247 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
248 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
249 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
250 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
252 /* returns a value 0-3 to indicate igniter continuity */
254 ao_report_igniter(void);
257 ao_report_init(void);
262 * Given raw data, convert to SI units
265 /* pressure from the sensor to altitude in meters */
267 ao_pres_to_altitude(int16_t pres) __reentrant;
270 ao_altitude_to_pres(int16_t alt) __reentrant;
273 ao_temp_to_dC(int16_t temp) __reentrant;
278 * Convert between pressure in Pa and altitude in meters
284 ao_pa_to_altitude(int32_t pa);
287 ao_altitude_to_pa(alt_t alt);
293 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
294 #include <ao_serial.h>
303 ao_spi_slave_recv(void *buf, uint16_t len);
306 ao_spi_slave_send(void *buf, uint16_t len);
309 ao_spi_slave_init(void);
311 /* This must be defined by the product; it will get called when chip
312 * select goes low, at which point it should use ao_spi_read and
313 * ao_spi_write to deal with the request
319 #include <ao_telemetry.h>
324 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
325 #define AO_GPS_NUM_SAT_SHIFT (0)
327 #define AO_GPS_VALID (1 << 4)
328 #define AO_GPS_RUNNING (1 << 5)
329 #define AO_GPS_DATE_VALID (1 << 6)
330 #define AO_GPS_COURSE_VALID (1 << 7)
332 extern __pdata uint16_t ao_gps_tick;
333 extern __xdata uint8_t ao_gps_mutex;
334 extern __xdata struct ao_telemetry_location ao_gps_data;
335 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
345 int32_t latitude; /* degrees * 10⁷ */
346 int32_t longitude; /* degrees * 10⁷ */
347 int16_t altitude; /* m */
348 uint16_t ground_speed; /* cm/s */
349 uint8_t course; /* degrees / 2 */
350 uint8_t hdop; /* * 5 */
351 int16_t climb_rate; /* cm/s */
352 uint16_t h_error; /* m */
353 uint16_t v_error; /* m */
356 struct ao_gps_sat_orig {
361 #define AO_MAX_GPS_TRACKING 12
363 struct ao_gps_tracking_orig {
365 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
372 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
375 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
388 ao_gps_report_init(void);
391 * ao_gps_report_mega.c
395 ao_gps_report_mega(void);
398 ao_gps_report_mega_init(void);
401 * ao_telemetry_orig.c
406 uint16_t tick; /* tick when the sample was read */
407 int16_t accel; /* accelerometer */
408 int16_t pres; /* pressure sensor */
409 int16_t temp; /* temperature sensor */
410 int16_t v_batt; /* battery voltage */
411 int16_t sense_d; /* drogue continuity sense */
412 int16_t sense_m; /* main continuity sense */
415 struct ao_telemetry_orig {
418 uint8_t flight_state;
420 int16_t ground_accel;
430 int16_t accel_plus_g;
431 int16_t accel_minus_g;
432 struct ao_adc_orig adc;
433 struct ao_gps_orig gps;
434 char callsign[AO_MAX_CALLSIGN];
435 struct ao_gps_tracking_orig gps_tracking;
438 struct ao_telemetry_tiny {
441 uint8_t flight_state;
442 int16_t height; /* AGL in meters */
443 int16_t speed; /* in m/s * 16 */
444 int16_t accel; /* in m/s² * 16 */
445 int16_t ground_pres; /* sensor units */
446 struct ao_adc adc; /* raw ADC readings */
447 char callsign[AO_MAX_CALLSIGN];
450 struct ao_telemetry_orig_recv {
451 struct ao_telemetry_orig telemetry_orig;
456 struct ao_telemetry_tiny_recv {
457 struct ao_telemetry_tiny telemetry_tiny;
462 #endif /* LEGACY_MONITOR */
464 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
465 * for reporting RSSI. So, now we use these values everywhere
467 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
468 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
471 * ao_radio_recv tacks on rssi and status bytes
474 struct ao_telemetry_raw_recv {
475 uint8_t packet[AO_MAX_TELEMETRY + 2];
478 /* Set delay between telemetry reports (0 to disable) */
480 #ifdef AO_SEND_ALL_BARO
481 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
482 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
483 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
485 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
486 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
487 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
491 ao_telemetry_set_interval(uint16_t interval);
494 ao_rdf_set(uint8_t rdf);
497 ao_telemetry_init(void);
500 ao_telemetry_orig_init(void);
503 ao_telemetry_tiny_init(void);
509 extern __xdata uint8_t ao_radio_dma;
511 #ifdef PKT_APPEND_STATUS_1_CRC_OK
512 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
515 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
518 #ifndef HAS_RADIO_RECV
519 #define HAS_RADIO_RECV HAS_RADIO
521 #ifndef HAS_RADIO_XMIT
522 #define HAS_RADIO_XMIT HAS_RADIO
526 ao_radio_general_isr(void) ao_arch_interrupt(16);
530 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
535 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
538 ao_radio_recv_abort(void);
542 ao_radio_test(uint8_t on);
544 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
547 ao_radio_send_lots(ao_radio_fill_func fill);
555 ao_radio_pa_on(void);
558 ao_radio_pa_off(void);
561 ao_radio_pa_init(void);
563 #define ao_radio_pa_on()
564 #define ao_radio_pa_off()
565 #define ao_radio_pa_init()
569 * Compute the packet length as follows:
571 * 2000 bps (for a 1kHz tone)
572 * so, for 'ms' milliseconds, we need
573 * 2 * ms bits, or ms / 4 bytes
580 ao_radio_continuity(uint8_t c);
583 ao_radio_rdf_abort(void);
594 extern const char const * const ao_state_names[];
596 #define AO_MONITOR_RING 8
599 struct ao_telemetry_raw_recv raw;
600 struct ao_telemetry_all_recv all;
602 struct ao_telemetry_orig_recv orig;
603 struct ao_telemetry_tiny_recv tiny;
607 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
609 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
611 extern __data uint8_t ao_monitoring;
612 extern __data uint8_t ao_monitor_head;
617 #define AO_MONITORING_OFF 0
618 #define AO_MONITORING_ORIG 1
621 ao_monitor_set(uint8_t monitoring);
624 ao_monitor_disable(void);
627 ao_monitor_enable(void);
630 ao_monitor_init(void) __reentrant;
638 #define AO_READ_AGAIN (-1)
641 int (*pollchar)(void);
642 void (*putchar)(char c) __reentrant;
647 extern __xdata struct ao_stdio ao_stdios[];
648 extern __pdata int8_t ao_cur_stdio;
649 extern __pdata int8_t ao_num_stdios;
654 extern __xdata uint8_t ao_stdin_ready;
660 ao_add_stdio(int (*pollchar)(void),
661 void (*putchar)(char) __reentrant,
662 void (*flush)(void)) __reentrant;
669 ao_igniter_drogue = 0,
674 ao_ignite(enum ao_igniter igniter);
676 enum ao_igniter_status {
677 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
678 ao_igniter_ready, /* continuity detected */
679 ao_igniter_active, /* igniter firing */
680 ao_igniter_open, /* open circuit detected */
689 extern __xdata struct ao_ignition ao_ignition[2];
691 enum ao_igniter_status
692 ao_igniter_status(enum ao_igniter igniter);
694 extern __pdata uint8_t ao_igniter_present;
697 ao_ignite_set_pins(void);
700 ao_igniter_init(void);
712 * Set this to force the frequency to 434.550MHz
714 extern __xdata uint8_t ao_force_freq;
717 #define AO_CONFIG_MAJOR 1
718 #define AO_CONFIG_MINOR 13
720 #define AO_AES_LEN 16
722 extern __xdata uint8_t ao_config_aes_seq;
727 uint16_t main_deploy;
728 int16_t accel_plus_g; /* changed for minor version 2 */
729 uint8_t _legacy_radio_channel;
730 char callsign[AO_MAX_CALLSIGN + 1];
731 uint8_t apogee_delay; /* minor version 1 */
732 int16_t accel_minus_g; /* minor version 2 */
733 uint32_t radio_cal; /* minor version 3 */
734 uint32_t flight_log_max; /* minor version 4 */
735 uint8_t ignite_mode; /* minor version 5 */
736 uint8_t pad_orientation; /* minor version 6 */
737 uint32_t radio_setting; /* minor version 7 */
738 uint8_t radio_enable; /* minor version 8 */
739 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
740 uint32_t frequency; /* minor version 10 */
741 uint16_t apogee_lockout; /* minor version 11 */
743 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
745 uint16_t aprs_interval; /* minor version 13 */
748 #define AO_IGNITE_MODE_DUAL 0
749 #define AO_IGNITE_MODE_APOGEE 1
750 #define AO_IGNITE_MODE_MAIN 2
752 #define AO_RADIO_ENABLE_CORE 1
753 #define AO_RADIO_DISABLE_TELEMETRY 2
754 #define AO_RADIO_DISABLE_RDF 4
756 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
757 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
759 extern __xdata struct ao_config ao_config;
761 #define AO_CONFIG_MAX_SIZE 128
764 _ao_config_edit_start(void);
767 _ao_config_edit_finish(void);
776 ao_config_set_radio(void);
779 ao_config_init(void);
786 ao_rssi_set(int rssi_value);
789 ao_rssi_init(uint8_t rssi_led);
794 * values which need to be defined for
795 * each instance of a product
798 extern const char ao_version[];
799 extern const char ao_manufacturer[];
800 extern const char ao_product[];
806 #define AO_FIFO_SIZE 32
811 char fifo[AO_FIFO_SIZE];
814 #define ao_fifo_insert(f,c) do { \
815 (f).fifo[(f).insert] = (c); \
816 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
819 #define ao_fifo_remove(f,c) do {\
820 c = (f).fifo[(f).remove]; \
821 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
824 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
825 #define ao_fifo_empty(f) ((f).insert == (f).remove)
827 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
828 #include <ao_packet.h>
836 #include <ao_companion.h>
849 struct ao_launch_command {
857 #define AO_LAUNCH_QUERY 1
859 struct ao_launch_query {
865 uint8_t igniter_status;
868 #define AO_LAUNCH_ARM 2
869 #define AO_LAUNCH_FIRE 3
872 ao_launch_init(void);
878 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
879 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
881 #define AO_LOG_TELESCIENCE_NUM_ADC 12
883 struct ao_log_telescience {
890 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
893 #define AO_LOG_SINGLE_SIZE 32
895 union ao_log_single {
896 struct ao_log_telescience telescience;
897 union ao_telemetry_all telemetry;
898 uint8_t bytes[AO_LOG_SINGLE_SIZE];
901 extern __xdata union ao_log_single ao_log_single_write_data;
902 extern __xdata union ao_log_single ao_log_single_read_data;
905 ao_log_single_extra_query(void);
908 ao_log_single_list(void);
911 ao_log_single_main(void);
914 ao_log_single_write(void);
917 ao_log_single_read(uint32_t pos);
920 ao_log_single_start(void);
923 ao_log_single_stop(void);
926 ao_log_single_restart(void);
929 ao_log_single_set(void);
932 ao_log_single_delete(void);
935 ao_log_single_init(void);
944 #define AO_TELEPYRO_NUM_ADC 9
947 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
948 #define ao_xmemset(d,v,c) memset(d,v,c)
949 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
957 ao_terraui_init(void);
965 ao_battery_isr(void) ao_arch_interrupt(1);
968 ao_battery_get(void);
971 ao_battery_init(void);
972 #endif /* BATTERY_PIN */
979 ao_sqrt(uint32_t op);
985 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
991 void ao_ms5607_init(void);
993 #include <ao_arch_funcs.h>