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)
44 __xdata void *wchan; /* current wait channel (NULL if running) */
45 uint16_t alarm; /* abort ao_sleep time */
46 ao_arch_task_members /* any architecture-specific fields */
47 uint8_t task_id; /* unique id */
48 __code char *name; /* task name */
49 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
52 extern __xdata struct ao_task *__data ao_cur_task;
54 #define AO_NUM_TASKS 16 /* maximum number of tasks */
55 #define AO_NO_TASK 0 /* no task id */
61 /* Suspend the current task until wchan is awoken.
67 ao_sleep(__xdata void *wchan);
69 /* Wake all tasks sleeping on wchan */
71 ao_wakeup(__xdata void *wchan);
73 /* set an alarm to go off in 'delay' ticks */
75 ao_alarm(uint16_t delay);
77 /* Clear any pending alarm */
81 /* Yield the processor to another task */
83 ao_yield(void) ao_arch_naked_declare;
85 /* Add a task to the run queue */
87 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
89 /* Terminate the current task */
93 /* Dump task info to console */
97 /* Start the scheduler. This will not return */
99 ao_start_scheduler(void);
105 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
106 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
107 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
108 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
109 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
110 #define AO_PANIC_CMD 6 /* Too many command sets registered */
111 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
112 #define AO_PANIC_REBOOT 8 /* Reboot failed */
113 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
114 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
115 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
116 #define AO_PANIC_STACK 12 /* Stack overflow */
117 #define AO_PANIC_SPI 13 /* SPI communication failure */
118 #define AO_PANIC_SELF_TEST 14 /* Self test failure */
120 /* Stop the operating system, beeping and blinking the reason */
122 ao_panic(uint8_t reason);
128 /* Our timer runs at 100Hz */
130 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
131 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
133 /* Returns the current time in ticks */
137 /* Suspend the current task until ticks time has passed */
139 ao_delay(uint16_t ticks);
141 /* Set the ADC interval */
143 ao_timer_set_adc_interval(uint8_t interval) __critical;
145 /* Timer interrupt */
147 ao_timer_isr(void) ao_arch_interrupt(9);
149 /* Initialize the timer */
153 /* Initialize the hardware clock. Must be called first */
162 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
165 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
173 ao_cmd_lex_error = 1,
174 ao_cmd_syntax_error = 2,
177 extern __pdata uint16_t ao_cmd_lex_i;
178 extern __pdata uint32_t ao_cmd_lex_u32;
179 extern __pdata char ao_cmd_lex_c;
180 extern __pdata enum ao_cmd_status ao_cmd_status;
186 ao_cmd_put8(uint8_t v);
189 ao_cmd_put16(uint16_t v);
192 ao_cmd_is_white(void);
198 ao_cmd_hexchar(char c);
201 ao_cmd_hexbyte(void);
207 ao_cmd_decimal(void);
210 ao_match_word(__code char *word);
218 ao_cmd_register(const __code struct ao_cmds *cmds);
225 * Provided by an external module to filter raw command lines
251 #include <ao_storage.h>
259 #include <ao_flight.h>
260 #include <ao_sample.h>
268 ao_report_init(void);
273 * Given raw data, convert to SI units
276 /* pressure from the sensor to altitude in meters */
278 ao_pres_to_altitude(int16_t pres) __reentrant;
281 ao_altitude_to_pres(int16_t alt) __reentrant;
284 ao_temp_to_dC(int16_t temp) __reentrant;
289 * Convert between pressure in Pa and altitude in meters
293 ao_pa_to_altitude(int32_t pa);
296 ao_altitude_to_pa(int32_t alt);
302 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
303 #include <ao_serial.h>
312 ao_spi_slave_recv(uint8_t *buf, uint8_t len);
315 ao_spi_slave_send(uint8_t *buf, uint8_t len);
318 ao_spi_slave_init(void);
320 /* This must be defined by the product; it will get called when chip
321 * select goes low, at which point it should use ao_spi_read and
322 * ao_spi_write to deal with the request
331 #define AO_MAX_CALLSIGN 8
332 #define AO_MAX_VERSION 8
334 #define AO_MAX_TELEMETRY 128
336 #define AO_MAX_TELEMETRY 32
339 struct ao_telemetry_generic {
340 uint16_t serial; /* 0 */
341 uint16_t tick; /* 2 */
342 uint8_t type; /* 4 */
343 uint8_t payload[27]; /* 5 */
347 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
348 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
349 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
351 struct ao_telemetry_sensor {
352 uint16_t serial; /* 0 */
353 uint16_t tick; /* 2 */
354 uint8_t type; /* 4 */
356 uint8_t state; /* 5 flight state */
357 int16_t accel; /* 6 accelerometer (TM only) */
358 int16_t pres; /* 8 pressure sensor */
359 int16_t temp; /* 10 temperature sensor */
360 int16_t v_batt; /* 12 battery voltage */
361 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
362 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
364 int16_t acceleration; /* 18 m/s² * 16 */
365 int16_t speed; /* 20 m/s * 16 */
366 int16_t height; /* 22 m */
368 int16_t ground_pres; /* 24 average pres on pad */
369 int16_t ground_accel; /* 26 average accel on pad */
370 int16_t accel_plus_g; /* 28 accel calibration at +1g */
371 int16_t accel_minus_g; /* 30 accel calibration at -1g */
375 #define AO_TELEMETRY_CONFIGURATION 0x04
377 struct ao_telemetry_configuration {
378 uint16_t serial; /* 0 */
379 uint16_t tick; /* 2 */
380 uint8_t type; /* 4 */
382 uint8_t device; /* 5 device type */
383 uint16_t flight; /* 6 flight number */
384 uint8_t config_major; /* 8 Config major version */
385 uint8_t config_minor; /* 9 Config minor version */
386 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
387 uint16_t main_deploy; /* 12 Main deploy alt in meters */
388 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
389 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
390 char version[AO_MAX_VERSION]; /* 24 Software version */
394 #define AO_TELEMETRY_LOCATION 0x05
396 #define AO_GPS_MODE_NOT_VALID 'N'
397 #define AO_GPS_MODE_AUTONOMOUS 'A'
398 #define AO_GPS_MODE_DIFFERENTIAL 'D'
399 #define AO_GPS_MODE_ESTIMATED 'E'
400 #define AO_GPS_MODE_MANUAL 'M'
401 #define AO_GPS_MODE_SIMULATED 'S'
403 struct ao_telemetry_location {
404 uint16_t serial; /* 0 */
405 uint16_t tick; /* 2 */
406 uint8_t type; /* 4 */
408 uint8_t flags; /* 5 Number of sats and other flags */
409 int16_t altitude; /* 6 GPS reported altitude (m) */
410 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
411 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
412 uint8_t year; /* 16 (- 2000) */
413 uint8_t month; /* 17 (1-12) */
414 uint8_t day; /* 18 (1-31) */
415 uint8_t hour; /* 19 (0-23) */
416 uint8_t minute; /* 20 (0-59) */
417 uint8_t second; /* 21 (0-59) */
418 uint8_t pdop; /* 22 (m * 5) */
419 uint8_t hdop; /* 23 (m * 5) */
420 uint8_t vdop; /* 24 (m * 5) */
421 uint8_t mode; /* 25 */
422 uint16_t ground_speed; /* 26 cm/s */
423 int16_t climb_rate; /* 28 cm/s */
424 uint8_t course; /* 30 degrees / 2 */
425 uint8_t unused[1]; /* 31 */
429 #define AO_TELEMETRY_SATELLITE 0x06
431 struct ao_telemetry_satellite_info {
436 struct ao_telemetry_satellite {
437 uint16_t serial; /* 0 */
438 uint16_t tick; /* 2 */
439 uint8_t type; /* 4 */
440 uint8_t channels; /* 5 number of reported sats */
442 struct ao_telemetry_satellite_info sats[12]; /* 6 */
443 uint8_t unused[2]; /* 30 */
447 #define AO_TELEMETRY_COMPANION 0x07
449 #define AO_COMPANION_MAX_CHANNELS 12
451 struct ao_telemetry_companion {
452 uint16_t serial; /* 0 */
453 uint16_t tick; /* 2 */
454 uint8_t type; /* 4 */
455 uint8_t board_id; /* 5 */
457 uint8_t update_period; /* 6 */
458 uint8_t channels; /* 7 */
459 uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
463 /* #define AO_SEND_ALL_BARO */
465 #define AO_TELEMETRY_BARO 0x80
468 * This packet allows the full sampling rate baro
469 * data to be captured over the RF link so that the
470 * flight software can be tested using 'real' data.
472 * Along with this telemetry packet, the flight
473 * code is modified to send full-rate telemetry all the time
474 * and never send an RDF tone; this ensure that the full radio
477 struct ao_telemetry_baro {
478 uint16_t serial; /* 0 */
479 uint16_t tick; /* 2 */
480 uint8_t type; /* 4 */
481 uint8_t samples; /* 5 number samples */
483 int16_t baro[12]; /* 6 samples */
487 union ao_telemetry_all {
488 struct ao_telemetry_generic generic;
489 struct ao_telemetry_sensor sensor;
490 struct ao_telemetry_configuration configuration;
491 struct ao_telemetry_location location;
492 struct ao_telemetry_satellite satellite;
493 struct ao_telemetry_companion companion;
494 struct ao_telemetry_baro baro;
497 struct ao_telemetry_all_recv {
498 union ao_telemetry_all telemetry;
507 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
508 #define AO_GPS_NUM_SAT_SHIFT (0)
510 #define AO_GPS_VALID (1 << 4)
511 #define AO_GPS_RUNNING (1 << 5)
512 #define AO_GPS_DATE_VALID (1 << 6)
513 #define AO_GPS_COURSE_VALID (1 << 7)
515 extern __pdata uint16_t ao_gps_tick;
516 extern __xdata uint8_t ao_gps_mutex;
517 extern __xdata struct ao_telemetry_location ao_gps_data;
518 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
528 int32_t latitude; /* degrees * 10⁷ */
529 int32_t longitude; /* degrees * 10⁷ */
530 int16_t altitude; /* m */
531 uint16_t ground_speed; /* cm/s */
532 uint8_t course; /* degrees / 2 */
533 uint8_t hdop; /* * 5 */
534 int16_t climb_rate; /* cm/s */
535 uint16_t h_error; /* m */
536 uint16_t v_error; /* m */
539 struct ao_gps_sat_orig {
544 #define AO_MAX_GPS_TRACKING 12
546 struct ao_gps_tracking_orig {
548 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
555 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
558 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
571 ao_gps_report_init(void);
574 * ao_telemetry_orig.c
578 uint16_t tick; /* tick when the sample was read */
579 int16_t accel; /* accelerometer */
580 int16_t pres; /* pressure sensor */
581 int16_t temp; /* temperature sensor */
582 int16_t v_batt; /* battery voltage */
583 int16_t sense_d; /* drogue continuity sense */
584 int16_t sense_m; /* main continuity sense */
587 struct ao_telemetry_orig {
590 uint8_t flight_state;
592 int16_t ground_accel;
602 int16_t accel_plus_g;
603 int16_t accel_minus_g;
604 struct ao_adc_orig adc;
605 struct ao_gps_orig gps;
606 char callsign[AO_MAX_CALLSIGN];
607 struct ao_gps_tracking_orig gps_tracking;
610 struct ao_telemetry_tiny {
613 uint8_t flight_state;
614 int16_t height; /* AGL in meters */
615 int16_t speed; /* in m/s * 16 */
616 int16_t accel; /* in m/s² * 16 */
617 int16_t ground_pres; /* sensor units */
618 struct ao_adc adc; /* raw ADC readings */
619 char callsign[AO_MAX_CALLSIGN];
622 struct ao_telemetry_orig_recv {
623 struct ao_telemetry_orig telemetry_orig;
628 struct ao_telemetry_tiny_recv {
629 struct ao_telemetry_tiny telemetry_tiny;
635 * ao_radio_recv tacks on rssi and status bytes
638 struct ao_telemetry_raw_recv {
639 uint8_t packet[AO_MAX_TELEMETRY + 2];
642 /* Set delay between telemetry reports (0 to disable) */
644 #ifdef AO_SEND_ALL_BARO
645 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
646 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
647 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
649 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
650 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
651 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
655 ao_telemetry_set_interval(uint16_t interval);
658 ao_rdf_set(uint8_t rdf);
661 ao_telemetry_init(void);
664 ao_telemetry_orig_init(void);
667 ao_telemetry_tiny_init(void);
673 extern __xdata uint8_t ao_radio_dma;
674 extern __xdata uint8_t ao_radio_dma_done;
675 extern __xdata uint8_t ao_radio_done;
676 extern __xdata uint8_t ao_radio_mutex;
679 ao_radio_general_isr(void) ao_arch_interrupt(16);
682 ao_radio_get(uint8_t len);
684 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
687 ao_radio_set_packet(void);
690 ao_radio_send(__xdata void *d, uint8_t size) __reentrant;
693 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
696 ao_radio_recv_abort(void);
699 * Compute the packet length as follows:
701 * 2000 bps (for a 1kHz tone)
702 * so, for 'ms' milliseconds, we need
703 * 2 * ms bits, or ms / 4 bytes
706 #define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2))
709 ao_radio_rdf(uint8_t pkt_len);
712 ao_radio_rdf_abort(void);
724 extern const char const * const ao_state_names[];
726 #define AO_MONITOR_RING 8
729 struct ao_telemetry_raw_recv raw;
730 struct ao_telemetry_all_recv all;
731 struct ao_telemetry_orig_recv orig;
732 struct ao_telemetry_tiny_recv tiny;
735 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
737 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
739 extern __data uint8_t ao_monitoring;
740 extern __data uint8_t ao_monitor_head;
745 #define AO_MONITORING_OFF 0
746 #define AO_MONITORING_ORIG 1
749 ao_monitor_set(uint8_t monitoring);
752 ao_monitor_disable(void);
755 ao_monitor_enable(void);
758 ao_monitor_init(void) __reentrant;
764 #define AO_READ_AGAIN ((char) -1)
767 char (*pollchar)(void);
768 void (*putchar)(char c) __reentrant;
773 extern __xdata struct ao_stdio ao_stdios[];
774 extern __pdata int8_t ao_cur_stdio;
775 extern __pdata int8_t ao_num_stdios;
780 extern __xdata uint8_t ao_stdin_ready;
786 ao_add_stdio(char (*pollchar)(void),
787 void (*putchar)(char) __reentrant,
788 void (*flush)(void)) __reentrant;
795 ao_igniter_drogue = 0,
800 ao_ignite(enum ao_igniter igniter);
802 enum ao_igniter_status {
803 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
804 ao_igniter_ready, /* continuity detected */
805 ao_igniter_active, /* igniter firing */
806 ao_igniter_open, /* open circuit detected */
815 extern __xdata struct ao_ignition ao_ignition[2];
817 enum ao_igniter_status
818 ao_igniter_status(enum ao_igniter igniter);
820 extern __pdata uint8_t ao_igniter_present;
823 ao_ignite_set_pins(void);
826 ao_igniter_init(void);
832 #define AO_CONFIG_MAJOR 1
833 #define AO_CONFIG_MINOR 11
835 #define AO_AES_LEN 16
840 uint16_t main_deploy;
841 int16_t accel_plus_g; /* changed for minor version 2 */
842 uint8_t _legacy_radio_channel;
843 char callsign[AO_MAX_CALLSIGN + 1];
844 uint8_t apogee_delay; /* minor version 1 */
845 int16_t accel_minus_g; /* minor version 2 */
846 uint32_t radio_cal; /* minor version 3 */
847 uint32_t flight_log_max; /* minor version 4 */
848 uint8_t ignite_mode; /* minor version 5 */
849 uint8_t pad_orientation; /* minor version 6 */
850 uint32_t radio_setting; /* minor version 7 */
851 uint8_t radio_enable; /* minor version 8 */
852 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
853 uint32_t frequency; /* minor version 10 */
854 uint16_t apogee_lockout; /* minor version 11 */
857 #define AO_IGNITE_MODE_DUAL 0
858 #define AO_IGNITE_MODE_APOGEE 1
859 #define AO_IGNITE_MODE_MAIN 2
861 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
862 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
864 extern __xdata struct ao_config ao_config;
866 #define AO_CONFIG_MAX_SIZE 128
875 ao_config_set_radio(void);
878 ao_config_init(void);
885 ao_rssi_set(int rssi_value);
888 ao_rssi_init(uint8_t rssi_led);
893 * values which need to be defined for
894 * each instance of a product
897 extern const char ao_version[];
898 extern const char ao_manufacturer[];
899 extern const char ao_product[];
905 #define AO_FIFO_SIZE 32
910 char fifo[AO_FIFO_SIZE];
913 #define ao_fifo_insert(f,c) do { \
914 (f).fifo[(f).insert] = (c); \
915 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
918 #define ao_fifo_remove(f,c) do {\
919 c = (f).fifo[(f).remove]; \
920 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
923 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
924 #define ao_fifo_empty(f) ((f).insert == (f).remove)
926 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
927 #include <ao_packet.h>
935 #include <ao_companion.h>
948 struct ao_launch_command {
956 #define AO_LAUNCH_QUERY 1
958 struct ao_launch_query {
964 uint8_t igniter_status;
967 #define AO_LAUNCH_ARM 2
968 #define AO_LAUNCH_FIRE 3
971 ao_launch_init(void);
977 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
978 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
980 #define AO_LOG_TELESCIENCE_NUM_ADC 12
982 struct ao_log_telescience {
989 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
992 #define AO_LOG_SINGLE_SIZE 32
994 union ao_log_single {
995 struct ao_log_telescience telescience;
996 union ao_telemetry_all telemetry;
997 uint8_t bytes[AO_LOG_SINGLE_SIZE];
1000 extern __xdata union ao_log_single ao_log_single_write_data;
1001 extern __xdata union ao_log_single ao_log_single_read_data;
1004 ao_log_single_extra_query(void);
1007 ao_log_single_list(void);
1010 ao_log_single_main(void);
1013 ao_log_single_write(void);
1016 ao_log_single_read(uint32_t pos);
1019 ao_log_single_start(void);
1022 ao_log_single_stop(void);
1025 ao_log_single_restart(void);
1028 ao_log_single_set(void);
1031 ao_log_single_delete(void);
1034 ao_log_single_init(void);
1037 ao_log_single(void);
1043 #define AO_TELEPYRO_NUM_ADC 9
1046 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
1047 #define ao_xmemset(d,v,c) memset(d,v,c)
1048 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
1056 ao_terraui_init(void);
1064 ao_battery_isr(void) ao_arch_interrupt(1);
1067 ao_battery_get(void);
1070 ao_battery_init(void);
1071 #endif /* BATTERY_PIN */
1078 ao_sqrt(uint32_t op);
1084 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
1086 #include <ao_arch_funcs.h>
1092 void ao_ms5607_init(void);