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)
49 #include <ao_notask.h>
56 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
57 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
58 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
59 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
60 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
61 #define AO_PANIC_CMD 6 /* Too many command sets registered */
62 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
63 #define AO_PANIC_REBOOT 8 /* Reboot failed */
64 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
65 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
66 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
67 #define AO_PANIC_STACK 12 /* Stack overflow */
68 #define AO_PANIC_SPI 13 /* SPI communication failure */
69 #define AO_PANIC_CRASH 14 /* Processor crashed */
70 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
71 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
72 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
73 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
74 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
76 /* Stop the operating system, beeping and blinking the reason */
78 ao_panic(uint8_t reason);
85 #define AO_TICK_TYPE uint16_t
86 #define AO_TICK_SIGNED int16_t
89 extern volatile __data AO_TICK_TYPE ao_tick_count;
91 /* Our timer runs at 100Hz */
95 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
96 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
98 /* Returns the current time in ticks */
102 /* Suspend the current task until ticks time has passed */
104 ao_delay(uint16_t ticks);
106 /* Set the ADC interval */
108 ao_timer_set_adc_interval(uint8_t interval);
110 /* Timer interrupt */
112 ao_timer_isr(void) ao_arch_interrupt(9);
114 /* Initialize the timer */
118 /* Initialize the hardware clock. Must be called first */
128 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
131 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
140 ao_cmd_lex_error = 1,
141 ao_cmd_syntax_error = 2,
144 extern __pdata uint16_t ao_cmd_lex_i;
145 extern __pdata uint32_t ao_cmd_lex_u32;
146 extern __pdata char ao_cmd_lex_c;
147 extern __pdata enum ao_cmd_status ao_cmd_status;
150 ao_put_string(__code char *s);
156 ao_cmd_put8(uint8_t v);
159 ao_cmd_put16(uint16_t v);
162 ao_cmd_is_white(void);
168 ao_cmd_hexchar(char c);
171 ao_cmd_hexbyte(void);
177 ao_cmd_decimal(void);
179 /* Read a single hex nibble off stdin. */
184 ao_match_word(__code char *word);
192 ao_cmd_register(const __code struct ao_cmds *cmds);
199 * Provided by an external module to filter raw command lines
225 #include <ao_storage.h>
233 #include <ao_flight.h>
234 #include <ao_sample.h>
241 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
242 #define AO_RDF_LENGTH_MS 500
243 #define AO_RDF_CONTINUITY_MS 32
244 #define AO_RDF_CONTINUITY_PAUSE 96
245 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
247 /* This assumes that we're generating a 1kHz tone, which
248 * modulates the carrier at 2kbps, or 250kBps
250 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
252 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
253 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
254 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
255 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
257 /* returns a value 0-3 to indicate igniter continuity */
259 ao_report_igniter(void);
262 ao_report_init(void);
267 * Given raw data, convert to SI units
270 /* pressure from the sensor to altitude in meters */
272 ao_pres_to_altitude(int16_t pres) __reentrant;
275 ao_altitude_to_pres(int16_t alt) __reentrant;
278 ao_temp_to_dC(int16_t temp) __reentrant;
283 * Convert between pressure in Pa and altitude in meters
289 ao_pa_to_altitude(int32_t pa);
292 ao_altitude_to_pa(alt_t alt);
298 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
299 #include <ao_serial.h>
308 ao_spi_slave_recv(void *buf, uint16_t len);
311 ao_spi_slave_send(void *buf, uint16_t len);
314 ao_spi_slave_init(void);
316 /* This must be defined by the product; it will get called when chip
317 * select goes low, at which point it should use ao_spi_read and
318 * ao_spi_write to deal with the request
324 #include <ao_telemetry.h>
329 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
330 #define AO_GPS_NUM_SAT_SHIFT (0)
332 #define AO_GPS_VALID (1 << 4)
333 #define AO_GPS_RUNNING (1 << 5)
334 #define AO_GPS_DATE_VALID (1 << 6)
335 #define AO_GPS_COURSE_VALID (1 << 7)
337 extern __pdata uint16_t ao_gps_tick;
338 extern __xdata uint8_t ao_gps_mutex;
339 extern __xdata struct ao_telemetry_location ao_gps_data;
340 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
350 int32_t latitude; /* degrees * 10⁷ */
351 int32_t longitude; /* degrees * 10⁷ */
352 int16_t altitude; /* m */
353 uint16_t ground_speed; /* cm/s */
354 uint8_t course; /* degrees / 2 */
355 uint8_t hdop; /* * 5 */
356 int16_t climb_rate; /* cm/s */
357 uint16_t h_error; /* m */
358 uint16_t v_error; /* m */
361 struct ao_gps_sat_orig {
366 #define AO_MAX_GPS_TRACKING 12
368 struct ao_gps_tracking_orig {
370 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
377 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
380 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
383 ao_gps_show(void) __reentrant;
396 ao_gps_report_init(void);
399 * ao_gps_report_mega.c
403 ao_gps_report_mega(void);
406 ao_gps_report_mega_init(void);
409 * ao_telemetry_orig.c
414 uint16_t tick; /* tick when the sample was read */
415 int16_t accel; /* accelerometer */
416 int16_t pres; /* pressure sensor */
417 int16_t temp; /* temperature sensor */
418 int16_t v_batt; /* battery voltage */
419 int16_t sense_d; /* drogue continuity sense */
420 int16_t sense_m; /* main continuity sense */
423 struct ao_telemetry_orig {
426 uint8_t flight_state;
428 int16_t ground_accel;
438 int16_t accel_plus_g;
439 int16_t accel_minus_g;
440 struct ao_adc_orig adc;
441 struct ao_gps_orig gps;
442 char callsign[AO_MAX_CALLSIGN];
443 struct ao_gps_tracking_orig gps_tracking;
446 struct ao_telemetry_tiny {
449 uint8_t flight_state;
450 int16_t height; /* AGL in meters */
451 int16_t speed; /* in m/s * 16 */
452 int16_t accel; /* in m/s² * 16 */
453 int16_t ground_pres; /* sensor units */
454 struct ao_adc adc; /* raw ADC readings */
455 char callsign[AO_MAX_CALLSIGN];
458 struct ao_telemetry_orig_recv {
459 struct ao_telemetry_orig telemetry_orig;
464 struct ao_telemetry_tiny_recv {
465 struct ao_telemetry_tiny telemetry_tiny;
470 #endif /* LEGACY_MONITOR */
472 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
473 * for reporting RSSI. So, now we use these values everywhere
475 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
476 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
479 * ao_radio_recv tacks on rssi and status bytes
482 struct ao_telemetry_raw_recv {
483 uint8_t packet[AO_MAX_TELEMETRY + 2];
486 /* Set delay between telemetry reports (0 to disable) */
488 #ifdef AO_SEND_ALL_BARO
489 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
490 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
491 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
493 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
494 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
495 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
499 ao_telemetry_set_interval(uint16_t interval);
502 ao_rdf_set(uint8_t rdf);
505 ao_telemetry_init(void);
508 ao_telemetry_orig_init(void);
511 ao_telemetry_tiny_init(void);
517 extern __xdata uint8_t ao_radio_dma;
519 extern __xdata int8_t ao_radio_rssi;
521 #ifdef PKT_APPEND_STATUS_1_CRC_OK
522 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
525 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
528 #ifndef HAS_RADIO_RECV
529 #define HAS_RADIO_RECV HAS_RADIO
531 #ifndef HAS_RADIO_XMIT
532 #define HAS_RADIO_XMIT HAS_RADIO
536 ao_radio_general_isr(void) ao_arch_interrupt(16);
540 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
545 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
548 ao_radio_recv_abort(void);
552 ao_radio_test(uint8_t on);
554 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
557 ao_radio_send_aprs(ao_radio_fill_func fill);
565 ao_radio_pa_on(void);
568 ao_radio_pa_off(void);
571 ao_radio_pa_init(void);
573 #define ao_radio_pa_on()
574 #define ao_radio_pa_off()
575 #define ao_radio_pa_init()
579 * Compute the packet length as follows:
581 * 2000 bps (for a 1kHz tone)
582 * so, for 'ms' milliseconds, we need
583 * 2 * ms bits, or ms / 4 bytes
590 ao_radio_continuity(uint8_t c);
593 ao_radio_rdf_abort(void);
604 extern const char const * const ao_state_names[];
606 #define AO_MONITOR_RING 8
609 struct ao_telemetry_raw_recv raw;
610 struct ao_telemetry_all_recv all;
612 struct ao_telemetry_orig_recv orig;
613 struct ao_telemetry_tiny_recv tiny;
617 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
619 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
621 extern __data uint8_t ao_monitoring;
622 extern __data uint8_t ao_monitor_head;
627 #define AO_MONITORING_OFF 0
628 #define AO_MONITORING_ORIG 1
631 ao_monitor_set(uint8_t monitoring);
634 ao_monitor_disable(void);
637 ao_monitor_enable(void);
640 ao_monitor_init(void) __reentrant;
648 #define AO_READ_AGAIN (-1)
651 int (*_pollchar)(void); /* Called with interrupts blocked */
652 void (*putchar)(char c) __reentrant;
657 extern __xdata struct ao_stdio ao_stdios[];
658 extern __pdata int8_t ao_cur_stdio;
659 extern __pdata int8_t ao_num_stdios;
664 extern __xdata uint8_t ao_stdin_ready;
670 ao_add_stdio(int (*pollchar)(void),
671 void (*putchar)(char) __reentrant,
672 void (*flush)(void)) __reentrant;
679 ao_igniter_drogue = 0,
684 ao_ignite(enum ao_igniter igniter);
686 enum ao_igniter_status {
687 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
688 ao_igniter_ready, /* continuity detected */
689 ao_igniter_active, /* igniter firing */
690 ao_igniter_open, /* open circuit detected */
699 extern __xdata struct ao_ignition ao_ignition[2];
701 enum ao_igniter_status
702 ao_igniter_status(enum ao_igniter igniter);
704 extern __pdata uint8_t ao_igniter_present;
707 ao_ignite_set_pins(void);
710 ao_igniter_init(void);
722 * Set this to force the frequency to 434.550MHz
724 extern __xdata uint8_t ao_force_freq;
727 #define AO_CONFIG_MAJOR 1
728 #define AO_CONFIG_MINOR 14
730 #define AO_AES_LEN 16
732 extern __xdata uint8_t ao_config_aes_seq;
737 uint16_t main_deploy;
738 int16_t accel_plus_g; /* changed for minor version 2 */
739 uint8_t _legacy_radio_channel;
740 char callsign[AO_MAX_CALLSIGN + 1];
741 uint8_t apogee_delay; /* minor version 1 */
742 int16_t accel_minus_g; /* minor version 2 */
743 uint32_t radio_cal; /* minor version 3 */
744 uint32_t flight_log_max; /* minor version 4 */
745 uint8_t ignite_mode; /* minor version 5 */
746 uint8_t pad_orientation; /* minor version 6 */
747 uint32_t radio_setting; /* minor version 7 */
748 uint8_t radio_enable; /* minor version 8 */
749 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
750 uint32_t frequency; /* minor version 10 */
751 uint16_t apogee_lockout; /* minor version 11 */
753 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
755 uint16_t aprs_interval; /* minor version 13 */
757 uint8_t radio_power; /* minor version 14 */
760 uint8_t radio_amp; /* minor version 14 */
764 #define AO_IGNITE_MODE_DUAL 0
765 #define AO_IGNITE_MODE_APOGEE 1
766 #define AO_IGNITE_MODE_MAIN 2
768 #define AO_RADIO_ENABLE_CORE 1
769 #define AO_RADIO_DISABLE_TELEMETRY 2
770 #define AO_RADIO_DISABLE_RDF 4
772 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
773 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
775 extern __xdata struct ao_config ao_config;
777 #define AO_CONFIG_MAX_SIZE 128
780 _ao_config_edit_start(void);
783 _ao_config_edit_finish(void);
792 ao_config_set_radio(void);
795 ao_config_init(void);
802 ao_rssi_set(int rssi_value);
805 ao_rssi_init(uint8_t rssi_led);
810 * values which need to be defined for
811 * each instance of a product
814 extern const char ao_version[];
815 extern const char ao_manufacturer[];
816 extern const char ao_product[];
822 #define AO_FIFO_SIZE 32
827 char fifo[AO_FIFO_SIZE];
830 #define ao_fifo_insert(f,c) do { \
831 (f).fifo[(f).insert] = (c); \
832 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
835 #define ao_fifo_remove(f,c) do {\
836 c = (f).fifo[(f).remove]; \
837 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
840 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
841 #define ao_fifo_empty(f) ((f).insert == (f).remove)
843 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
844 #include <ao_packet.h>
852 #include <ao_companion.h>
865 struct ao_launch_command {
873 #define AO_LAUNCH_QUERY 1
875 struct ao_launch_query {
881 uint8_t igniter_status;
884 #define AO_LAUNCH_ARM 2
885 #define AO_LAUNCH_FIRE 3
888 ao_launch_init(void);
894 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
895 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
897 #define AO_LOG_TELESCIENCE_NUM_ADC 12
899 struct ao_log_telescience {
906 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
909 #define AO_LOG_SINGLE_SIZE 32
911 union ao_log_single {
912 struct ao_log_telescience telescience;
913 union ao_telemetry_all telemetry;
914 uint8_t bytes[AO_LOG_SINGLE_SIZE];
917 extern __xdata union ao_log_single ao_log_single_write_data;
918 extern __xdata union ao_log_single ao_log_single_read_data;
921 ao_log_single_extra_query(void);
924 ao_log_single_list(void);
927 ao_log_single_main(void);
930 ao_log_single_write(void);
933 ao_log_single_read(uint32_t pos);
936 ao_log_single_start(void);
939 ao_log_single_stop(void);
942 ao_log_single_restart(void);
945 ao_log_single_set(void);
948 ao_log_single_delete(void);
951 ao_log_single_init(void);
960 #define AO_TELEPYRO_NUM_ADC 9
963 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
964 #define ao_xmemset(d,v,c) memset(d,v,c)
965 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
973 ao_terraui_init(void);
981 ao_battery_isr(void) ao_arch_interrupt(1);
984 ao_battery_get(void);
987 ao_battery_init(void);
988 #endif /* BATTERY_PIN */
995 ao_sqrt(uint32_t op);
1001 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
1007 void ao_ms5607_init(void);
1009 #include <ao_arch_funcs.h>