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)
47 #define AO_PORT_TYPE uint8_t
50 typedef AO_PORT_TYPE ao_port_t;
55 #include <ao_notask.h>
62 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
63 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
64 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
65 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
66 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
67 #define AO_PANIC_CMD 6 /* Too many command sets registered */
68 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
69 #define AO_PANIC_REBOOT 8 /* Reboot failed */
70 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
71 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
72 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
73 #define AO_PANIC_STACK 12 /* Stack overflow */
74 #define AO_PANIC_SPI 13 /* SPI communication failure */
75 #define AO_PANIC_CRASH 14 /* Processor crashed */
76 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
77 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
78 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
79 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
80 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
81 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
83 /* Stop the operating system, beeping and blinking the reason */
85 ao_panic(uint8_t reason);
92 #define AO_TICK_TYPE uint16_t
93 #define AO_TICK_SIGNED int16_t
96 extern volatile __data AO_TICK_TYPE ao_tick_count;
98 /* Our timer runs at 100Hz */
102 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
103 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
105 /* Returns the current time in ticks */
109 /* Suspend the current task until ticks time has passed */
111 ao_delay(uint16_t ticks);
113 /* Set the ADC interval */
115 ao_timer_set_adc_interval(uint8_t interval);
117 /* Timer interrupt */
119 ao_timer_isr(void) ao_arch_interrupt(9);
121 /* Initialize the timer */
125 /* Initialize the hardware clock. Must be called first */
135 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
138 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
147 ao_cmd_lex_error = 1,
148 ao_cmd_syntax_error = 2,
151 extern __pdata uint16_t ao_cmd_lex_i;
152 extern __pdata uint32_t ao_cmd_lex_u32;
153 extern __pdata char ao_cmd_lex_c;
154 extern __pdata enum ao_cmd_status ao_cmd_status;
157 ao_put_string(__code char *s);
163 ao_cmd_put8(uint8_t v);
166 ao_cmd_put16(uint16_t v);
169 ao_cmd_is_white(void);
175 ao_cmd_hexchar(char c);
178 ao_cmd_hexbyte(void);
184 ao_cmd_decimal(void);
186 /* Read a single hex nibble off stdin. */
191 ao_match_word(__code char *word);
199 ao_cmd_register(const __code struct ao_cmds *cmds);
206 * Provided by an external module to filter raw command lines
232 #include <ao_storage.h>
240 #include <ao_flight.h>
241 #include <ao_sample.h>
248 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
249 #define AO_RDF_LENGTH_MS 500
250 #define AO_RDF_CONTINUITY_MS 32
251 #define AO_RDF_CONTINUITY_PAUSE 96
252 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
254 /* This assumes that we're generating a 1kHz tone, which
255 * modulates the carrier at 2kbps, or 250kBps
257 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
259 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
260 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
261 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
262 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
264 /* returns a value 0-3 to indicate igniter continuity */
266 ao_report_igniter(void);
269 ao_report_init(void);
274 * Given raw data, convert to SI units
277 /* pressure from the sensor to altitude in meters */
279 ao_pres_to_altitude(int16_t pres) __reentrant;
282 ao_altitude_to_pres(int16_t alt) __reentrant;
285 ao_temp_to_dC(int16_t temp) __reentrant;
290 * Convert between pressure in Pa and altitude in meters
296 ao_pa_to_altitude(int32_t pa);
299 ao_altitude_to_pa(alt_t alt);
305 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
306 #include <ao_serial.h>
315 ao_spi_slave_recv(void *buf, uint16_t len);
318 ao_spi_slave_send(void *buf, uint16_t len);
321 ao_spi_slave_init(void);
323 /* This must be defined by the product; it will get called when chip
324 * select goes low, at which point it should use ao_spi_read and
325 * ao_spi_write to deal with the request
331 #include <ao_telemetry.h>
336 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
337 #define AO_GPS_NUM_SAT_SHIFT (0)
339 #define AO_GPS_VALID (1 << 4)
340 #define AO_GPS_RUNNING (1 << 5)
341 #define AO_GPS_DATE_VALID (1 << 6)
342 #define AO_GPS_COURSE_VALID (1 << 7)
344 extern __pdata uint16_t ao_gps_tick;
345 extern __xdata uint8_t ao_gps_mutex;
346 extern __xdata struct ao_telemetry_location ao_gps_data;
347 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
357 int32_t latitude; /* degrees * 10⁷ */
358 int32_t longitude; /* degrees * 10⁷ */
359 int16_t altitude; /* m */
360 uint16_t ground_speed; /* cm/s */
361 uint8_t course; /* degrees / 2 */
362 uint8_t hdop; /* * 5 */
363 int16_t climb_rate; /* cm/s */
364 uint16_t h_error; /* m */
365 uint16_t v_error; /* m */
368 struct ao_gps_sat_orig {
373 #define AO_MAX_GPS_TRACKING 12
375 struct ao_gps_tracking_orig {
377 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
384 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
387 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
390 ao_gps_show(void) __reentrant;
403 ao_gps_report_init(void);
406 * ao_gps_report_mega.c
410 ao_gps_report_mega(void);
413 ao_gps_report_mega_init(void);
416 * ao_telemetry_orig.c
421 uint16_t tick; /* tick when the sample was read */
422 int16_t accel; /* accelerometer */
423 int16_t pres; /* pressure sensor */
424 int16_t temp; /* temperature sensor */
425 int16_t v_batt; /* battery voltage */
426 int16_t sense_d; /* drogue continuity sense */
427 int16_t sense_m; /* main continuity sense */
430 struct ao_telemetry_orig {
433 uint8_t flight_state;
435 int16_t ground_accel;
445 int16_t accel_plus_g;
446 int16_t accel_minus_g;
447 struct ao_adc_orig adc;
448 struct ao_gps_orig gps;
449 char callsign[AO_MAX_CALLSIGN];
450 struct ao_gps_tracking_orig gps_tracking;
453 struct ao_telemetry_tiny {
456 uint8_t flight_state;
457 int16_t height; /* AGL in meters */
458 int16_t speed; /* in m/s * 16 */
459 int16_t accel; /* in m/s² * 16 */
460 int16_t ground_pres; /* sensor units */
461 struct ao_adc adc; /* raw ADC readings */
462 char callsign[AO_MAX_CALLSIGN];
465 struct ao_telemetry_orig_recv {
466 struct ao_telemetry_orig telemetry_orig;
471 struct ao_telemetry_tiny_recv {
472 struct ao_telemetry_tiny telemetry_tiny;
477 #endif /* LEGACY_MONITOR */
479 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
480 * for reporting RSSI. So, now we use these values everywhere
482 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
483 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
486 * ao_radio_recv tacks on rssi and status bytes
489 struct ao_telemetry_raw_recv {
490 uint8_t packet[AO_MAX_TELEMETRY + 2];
493 /* Set delay between telemetry reports (0 to disable) */
495 #ifdef AO_SEND_ALL_BARO
496 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
497 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
498 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
500 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
501 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
502 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
506 ao_telemetry_set_interval(uint16_t interval);
509 ao_rdf_set(uint8_t rdf);
512 ao_telemetry_init(void);
515 ao_telemetry_orig_init(void);
518 ao_telemetry_tiny_init(void);
524 extern __xdata uint8_t ao_radio_dma;
526 extern __xdata int8_t ao_radio_rssi;
528 #ifdef PKT_APPEND_STATUS_1_CRC_OK
529 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
532 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
535 #ifndef HAS_RADIO_RECV
536 #define HAS_RADIO_RECV HAS_RADIO
538 #ifndef HAS_RADIO_XMIT
539 #define HAS_RADIO_XMIT HAS_RADIO
543 ao_radio_general_isr(void) ao_arch_interrupt(16);
547 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
552 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
555 ao_radio_recv_abort(void);
559 ao_radio_test(uint8_t on);
561 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
564 ao_radio_send_aprs(ao_radio_fill_func fill);
572 ao_radio_pa_on(void);
575 ao_radio_pa_off(void);
578 ao_radio_pa_init(void);
580 #define ao_radio_pa_on()
581 #define ao_radio_pa_off()
582 #define ao_radio_pa_init()
586 * Compute the packet length as follows:
588 * 2000 bps (for a 1kHz tone)
589 * so, for 'ms' milliseconds, we need
590 * 2 * ms bits, or ms / 4 bytes
597 ao_radio_continuity(uint8_t c);
600 ao_radio_rdf_abort(void);
611 extern const char const * const ao_state_names[];
613 #define AO_MONITOR_RING 8
616 struct ao_telemetry_raw_recv raw;
617 struct ao_telemetry_all_recv all;
619 struct ao_telemetry_orig_recv orig;
620 struct ao_telemetry_tiny_recv tiny;
624 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
626 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
628 extern __data uint8_t ao_monitoring;
629 extern __data uint8_t ao_monitor_head;
634 #define AO_MONITORING_OFF 0
635 #define AO_MONITORING_ORIG 1
638 ao_monitor_set(uint8_t monitoring);
641 ao_monitor_disable(void);
644 ao_monitor_enable(void);
647 ao_monitor_init(void) __reentrant;
655 #define AO_READ_AGAIN (-1)
658 int (*_pollchar)(void); /* Called with interrupts blocked */
659 void (*putchar)(char c) __reentrant;
664 extern __xdata struct ao_stdio ao_stdios[];
665 extern __pdata int8_t ao_cur_stdio;
666 extern __pdata int8_t ao_num_stdios;
671 extern __xdata uint8_t ao_stdin_ready;
677 ao_add_stdio(int (*pollchar)(void),
678 void (*putchar)(char) __reentrant,
679 void (*flush)(void)) __reentrant;
686 ao_igniter_drogue = 0,
691 ao_ignite(enum ao_igniter igniter);
693 enum ao_igniter_status {
694 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
695 ao_igniter_ready, /* continuity detected */
696 ao_igniter_active, /* igniter firing */
697 ao_igniter_open, /* open circuit detected */
706 extern __xdata struct ao_ignition ao_ignition[2];
708 enum ao_igniter_status
709 ao_igniter_status(enum ao_igniter igniter);
711 extern __pdata uint8_t ao_igniter_present;
714 ao_ignite_set_pins(void);
717 ao_igniter_init(void);
729 * Set this to force the frequency to 434.550MHz
731 extern __xdata uint8_t ao_force_freq;
734 #define AO_CONFIG_MAJOR 1
735 #define AO_CONFIG_MINOR 14
737 #define AO_AES_LEN 16
739 extern __xdata uint8_t ao_config_aes_seq;
744 uint16_t main_deploy;
745 int16_t accel_plus_g; /* changed for minor version 2 */
746 uint8_t _legacy_radio_channel;
747 char callsign[AO_MAX_CALLSIGN + 1];
748 uint8_t apogee_delay; /* minor version 1 */
749 int16_t accel_minus_g; /* minor version 2 */
750 uint32_t radio_cal; /* minor version 3 */
751 uint32_t flight_log_max; /* minor version 4 */
752 uint8_t ignite_mode; /* minor version 5 */
753 uint8_t pad_orientation; /* minor version 6 */
754 uint32_t radio_setting; /* minor version 7 */
755 uint8_t radio_enable; /* minor version 8 */
756 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
757 uint32_t frequency; /* minor version 10 */
758 uint16_t apogee_lockout; /* minor version 11 */
760 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
762 uint16_t aprs_interval; /* minor version 13 */
764 uint8_t radio_power; /* minor version 14 */
767 uint8_t radio_amp; /* minor version 14 */
771 #define AO_IGNITE_MODE_DUAL 0
772 #define AO_IGNITE_MODE_APOGEE 1
773 #define AO_IGNITE_MODE_MAIN 2
775 #define AO_RADIO_ENABLE_CORE 1
776 #define AO_RADIO_DISABLE_TELEMETRY 2
777 #define AO_RADIO_DISABLE_RDF 4
779 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
780 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
782 extern __xdata struct ao_config ao_config;
784 #define AO_CONFIG_MAX_SIZE 128
787 _ao_config_edit_start(void);
790 _ao_config_edit_finish(void);
799 ao_config_set_radio(void);
802 ao_config_init(void);
809 ao_rssi_set(int rssi_value);
812 ao_rssi_init(uint8_t rssi_led);
817 * values which need to be defined for
818 * each instance of a product
821 extern const char ao_version[];
822 extern const char ao_manufacturer[];
823 extern const char ao_product[];
829 #define AO_FIFO_SIZE 32
834 char fifo[AO_FIFO_SIZE];
837 #define ao_fifo_insert(f,c) do { \
838 (f).fifo[(f).insert] = (c); \
839 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
842 #define ao_fifo_remove(f,c) do {\
843 c = (f).fifo[(f).remove]; \
844 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
847 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
848 #define ao_fifo_empty(f) ((f).insert == (f).remove)
850 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
851 #include <ao_packet.h>
859 #include <ao_companion.h>
872 struct ao_launch_command {
880 #define AO_LAUNCH_QUERY 1
882 struct ao_launch_query {
888 uint8_t igniter_status;
891 #define AO_LAUNCH_ARM 2
892 #define AO_LAUNCH_FIRE 3
895 ao_launch_init(void);
901 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
902 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
904 #define AO_LOG_TELESCIENCE_NUM_ADC 12
906 struct ao_log_telescience {
913 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
916 #define AO_LOG_SINGLE_SIZE 32
918 union ao_log_single {
919 struct ao_log_telescience telescience;
920 union ao_telemetry_all telemetry;
921 uint8_t bytes[AO_LOG_SINGLE_SIZE];
924 extern __xdata union ao_log_single ao_log_single_write_data;
925 extern __xdata union ao_log_single ao_log_single_read_data;
928 ao_log_single_extra_query(void);
931 ao_log_single_list(void);
934 ao_log_single_main(void);
937 ao_log_single_write(void);
940 ao_log_single_read(uint32_t pos);
943 ao_log_single_start(void);
946 ao_log_single_stop(void);
949 ao_log_single_restart(void);
952 ao_log_single_set(void);
955 ao_log_single_delete(void);
958 ao_log_single_init(void);
967 #define AO_TELEPYRO_NUM_ADC 9
970 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
971 #define ao_xmemset(d,v,c) memset(d,v,c)
972 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
980 ao_terraui_init(void);
988 ao_battery_isr(void) ao_arch_interrupt(1);
991 ao_battery_get(void);
994 ao_battery_init(void);
995 #endif /* BATTERY_PIN */
1002 ao_sqrt(uint32_t op);
1008 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
1014 void ao_ms5607_init(void);
1016 #include <ao_arch_funcs.h>