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 */
118 /* Stop the operating system, beeping and blinking the reason */
120 ao_panic(uint8_t reason);
126 /* Our timer runs at 100Hz */
128 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
129 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
131 /* Returns the current time in ticks */
135 /* Suspend the current task until ticks time has passed */
137 ao_delay(uint16_t ticks);
139 /* Set the ADC interval */
141 ao_timer_set_adc_interval(uint8_t interval) __critical;
143 /* Timer interrupt */
145 ao_timer_isr(void) ao_arch_interrupt(9);
147 /* Initialize the timer */
151 /* Initialize the hardware clock. Must be called first */
156 * One set of samples read from the A/D converter or telemetry
165 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
166 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
170 * A/D data is stored in a ring, with the next sample to be written
173 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
174 extern volatile __data uint8_t ao_adc_head;
176 extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
179 /* Trigger a conversion sequence (called from the timer interrupt) */
183 /* Suspend the current task until another A/D sample is converted */
187 /* Get a copy of the last complete A/D sample set */
189 ao_adc_get(__xdata struct ao_adc *packet);
191 /* The A/D interrupt handler */
194 ao_adc_isr(void) ao_arch_interrupt(1);
196 /* Initialize the A/D converter */
207 * Various pre-defined beep frequencies
209 * frequency = 1/2 (24e6/32) / beep
212 #define AO_BEEP_LOW 150 /* 2500Hz */
213 #define AO_BEEP_MID 94 /* 3989Hz */
214 #define AO_BEEP_HIGH 75 /* 5000Hz */
215 #define AO_BEEP_OFF 0 /* off */
217 #define AO_BEEP_g 240 /* 1562.5Hz */
218 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
219 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
220 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
221 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
222 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
223 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
224 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
225 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
226 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
227 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
228 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
229 #define AO_BEEP_gg 120 /* 3125Hz */
230 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
231 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
232 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
233 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
234 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
235 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
236 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
237 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
238 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
239 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
240 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
241 #define AO_BEEP_ggg 60 /* 6250Hz */
243 /* Set the beeper to the specified tone */
245 ao_beep(uint8_t beep);
247 /* Turn on the beeper for the specified time */
249 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
251 /* Initialize the beeper */
259 #define AO_LED_NONE 0
261 /* Turn on the specified LEDs */
263 ao_led_on(uint8_t colors);
265 /* Turn off the specified LEDs */
267 ao_led_off(uint8_t colors);
269 /* Set all of the LEDs to the specified state */
271 ao_led_set(uint8_t colors);
273 /* Toggle the specified LEDs */
275 ao_led_toggle(uint8_t colors);
277 /* Turn on the specified LEDs for the indicated interval */
279 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
281 /* Initialize the LEDs */
283 ao_led_init(uint8_t enable);
289 /* Put one character to the USB output queue */
291 ao_usb_putchar(char c);
293 /* Get one character from the USB input queue */
295 ao_usb_getchar(void);
297 /* Poll for a charcter on the USB input queue.
298 * returns AO_READ_AGAIN if none are available
301 ao_usb_pollchar(void);
303 /* Flush the USB output queue */
308 /* USB interrupt handler */
310 ao_usb_isr(void) ao_arch_interrupt(6);
313 /* Enable the USB controller */
317 /* Disable the USB controller */
319 ao_usb_disable(void);
321 /* Initialize the USB system */
326 extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
335 ao_cmd_lex_error = 1,
336 ao_cmd_syntax_error = 2,
339 extern __pdata uint16_t ao_cmd_lex_i;
340 extern __pdata uint32_t ao_cmd_lex_u32;
341 extern __pdata char ao_cmd_lex_c;
342 extern __pdata enum ao_cmd_status ao_cmd_status;
348 ao_cmd_put8(uint8_t v);
351 ao_cmd_put16(uint16_t v);
354 ao_cmd_is_white(void);
360 ao_cmd_hexchar(char c);
363 ao_cmd_hexbyte(void);
369 ao_cmd_decimal(void);
372 ao_match_word(__code char *word);
380 ao_cmd_register(const __code struct ao_cmds *cmds);
387 * Provided by an external module to filter raw command lines
397 /* Allocate a DMA channel. the 'done' parameter will be set when the
398 * dma is finished and will be used to wakeup any waiters
402 ao_dma_alloc(__xdata uint8_t * done);
404 /* Setup a DMA channel */
406 ao_dma_set_transfer(uint8_t id,
407 void __xdata *srcaddr,
408 void __xdata *dstaddr,
413 /* Start a DMA channel */
415 ao_dma_start(uint8_t id);
417 /* Manually trigger a DMA channel */
419 ao_dma_trigger(uint8_t id);
421 /* Abort a running DMA transfer */
423 ao_dma_abort(uint8_t id);
425 /* DMA interrupt routine */
427 ao_dma_isr(void) ao_arch_interrupt(8);
434 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
437 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
440 * Storage interface, provided by one of the eeprom or flash
444 /* Total bytes of available storage */
445 extern __pdata uint32_t ao_storage_total;
447 /* Block size - device is erased in these units. At least 256 bytes */
448 extern __pdata uint32_t ao_storage_block;
450 /* Byte offset of config block. Will be ao_storage_block bytes long */
451 extern __pdata uint32_t ao_storage_config;
453 /* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
454 extern __pdata uint16_t ao_storage_unit;
456 #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
458 /* Initialize above values. Can only be called once the OS is running */
460 ao_storage_setup(void) __reentrant;
462 /* Write data. Returns 0 on failure, 1 on success */
464 ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
466 /* Read data. Returns 0 on failure, 1 on success */
468 ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
470 /* Erase a block of storage. This always clears ao_storage_block bytes */
472 ao_storage_erase(uint32_t pos) __reentrant;
474 /* Flush any pending writes to stable storage */
476 ao_storage_flush(void) __reentrant;
478 /* Initialize the storage code */
480 ao_storage_init(void);
483 * Low-level functions wrapped by ao_storage.c
486 /* Read data within a storage unit */
488 ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
490 /* Write data within a storage unit */
492 ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
494 /* Initialize low-level device bits */
496 ao_storage_device_init(void);
498 /* Print out information about flash chips */
500 ao_storage_device_info(void) __reentrant;
506 /* We record flight numbers in the first record of
507 * the log. Tasks may wait for this to be initialized
508 * by sleeping on this variable.
510 extern __xdata uint16_t ao_flight_number;
512 extern __pdata uint32_t ao_log_current_pos;
513 extern __pdata uint32_t ao_log_end_pos;
514 extern __pdata uint32_t ao_log_start_pos;
515 extern __xdata uint8_t ao_log_running;
516 extern __pdata enum flight_state ao_log_state;
518 /* required functions from the underlying log system */
520 #define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
521 #define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
522 #define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
523 #define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
524 #define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
525 #define AO_LOG_FORMAT_NONE 127 /* No log at all */
527 extern __code uint8_t ao_log_format;
529 /* Return the flight number from the given log slot, 0 if none */
531 ao_log_flight(uint8_t slot);
537 /* Logging thread main routine */
541 /* functions provided in ao_log.c */
543 /* Figure out the current flight number */
545 ao_log_scan(void) __reentrant;
547 /* Return the position of the start of the given log slot */
549 ao_log_pos(uint8_t slot);
551 /* Start logging to eeprom */
559 /* Initialize the logging system */
563 /* Write out the current flight number to the erase log */
565 ao_log_write_erase(uint8_t pos);
567 /* Returns true if there are any logs stored in eeprom */
569 ao_log_present(void);
571 /* Returns true if there is no more storage space available */
580 * The data log is recorded in the eeprom as a sequence
583 * Each packet starts with a 4-byte header that has the
584 * packet type, the packet checksum and the tick count. Then
585 * they all contain 2 16 bit values which hold packet-specific
588 * For each flight, the first packet
589 * is FLIGHT packet, indicating the serial number of the
590 * device and a unique number marking the number of flights
591 * recorded by this device.
593 * During flight, data from the accelerometer and barometer
594 * are recorded in SENSOR packets, using the raw 16-bit values
595 * read from the A/D converter.
597 * Also during flight, but at a lower rate, the deployment
598 * sensors are recorded in DEPLOY packets. The goal here is to
599 * detect failure in the deployment circuits.
601 * STATE packets hold state transitions as the flight computer
602 * transitions through different stages of the flight.
604 #define AO_LOG_FLIGHT 'F'
605 #define AO_LOG_SENSOR 'A'
606 #define AO_LOG_TEMP_VOLT 'T'
607 #define AO_LOG_DEPLOY 'D'
608 #define AO_LOG_STATE 'S'
609 #define AO_LOG_GPS_TIME 'G'
610 #define AO_LOG_GPS_LAT 'N'
611 #define AO_LOG_GPS_LON 'W'
612 #define AO_LOG_GPS_ALT 'H'
613 #define AO_LOG_GPS_SAT 'V'
614 #define AO_LOG_GPS_DATE 'Y'
616 #define AO_LOG_POS_NONE (~0UL)
618 struct ao_log_record {
624 int16_t ground_accel;
649 int32_t gps_latitude;
650 int32_t gps_longitude;
673 /* Write a record to the eeprom log */
675 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
681 enum ao_flight_state {
682 ao_flight_startup = 0,
688 ao_flight_drogue = 6,
690 ao_flight_landed = 8,
691 ao_flight_invalid = 9
694 extern __pdata enum ao_flight_state ao_flight_state;
696 extern __pdata uint16_t ao_launch_time;
697 extern __pdata uint8_t ao_flight_force_idle;
703 /* Initialize flight thread */
705 ao_flight_init(void);
712 ao_flight_nano_init(void);
719 * Barometer calibration
721 * We directly sample the barometer. The specs say:
723 * Pressure range: 15-115 kPa
724 * Voltage at 115kPa: 2.82
725 * Output scale: 27mV/kPa
727 * If we want to detect launch with the barometer, we need
728 * a large enough bump to not be fooled by noise. At typical
729 * launch elevations (0-2000m), a 200Pa pressure change cooresponds
730 * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
731 * As all of our calculations are done in 16 bits, we'll actually see a change
732 * of 16 times this though
734 * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
737 /* Accelerometer calibration
739 * We're sampling the accelerometer through a resistor divider which
740 * consists of 5k and 10k resistors. This multiplies the values by 2/3.
741 * That goes into the cc1111 A/D converter, which is running at 11 bits
742 * of precision with the bits in the MSB of the 16 bit value. Only positive
743 * values are used, so values should range from 0-32752 for 0-3.3V. The
744 * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
745 * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
746 * for a final computation of:
748 * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
750 * Zero g was measured at 16000 (we would expect 16384).
751 * Note that this value is only require to tell if the
752 * rocket is standing upright. Once that is determined,
753 * the value of the accelerometer is averaged for 100 samples
754 * to find the resting accelerometer value, which is used
755 * for all further flight computations
758 #define GRAVITY 9.80665
761 * Above this height, the baro sensor doesn't work
763 #define AO_MAX_BARO_HEIGHT 12000
766 * Above this speed, baro measurements are unreliable
768 #define AO_MAX_BARO_SPEED 200
770 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
773 * Speed and acceleration are scaled by 16 to provide a bit more
774 * resolution while still having reasonable range. Note that this
775 * limits speed to 2047m/s (around mach 6) and acceleration to
776 * 2047m/s² (over 200g)
779 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
780 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
781 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
783 extern __pdata uint16_t ao_sample_tick; /* time of last data */
784 extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */
785 extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */
786 extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */
787 extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
790 extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */
793 extern __pdata int16_t ao_ground_pres; /* startup pressure */
794 extern __pdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
797 extern __pdata int16_t ao_ground_accel; /* startup acceleration */
798 extern __pdata int16_t ao_accel_2g; /* factory accel calibration */
799 extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
802 void ao_sample_init(void);
804 /* returns FALSE in preflight mode, TRUE in flight mode */
805 uint8_t ao_sample(void);
811 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
812 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
813 #define from_fix(x) ((x) >> 16)
815 extern __pdata int16_t ao_height; /* meters */
816 extern __pdata int16_t ao_speed; /* m/s * 16 */
817 extern __pdata int16_t ao_accel; /* m/s² * 16 */
818 extern __pdata int16_t ao_max_height; /* max of ao_height */
819 extern __pdata int16_t ao_avg_height; /* running average of height */
821 extern __pdata int16_t ao_error_h;
822 extern __pdata int16_t ao_error_h_sq_avg;
825 extern __pdata int16_t ao_error_a;
828 void ao_kalman(void);
835 ao_report_init(void);
840 * Given raw data, convert to SI units
843 /* pressure from the sensor to altitude in meters */
845 ao_pres_to_altitude(int16_t pres) __reentrant;
848 ao_altitude_to_pres(int16_t alt) __reentrant;
851 ao_temp_to_dC(int16_t temp) __reentrant;
856 * debug another telemetrum board
859 /* Send a byte to the dbg target */
861 ao_dbg_send_byte(uint8_t byte);
863 /* Receive a byte from the dbg target */
865 ao_dbg_recv_byte(void);
867 /* Start a bulk transfer to/from dbg target memory */
869 ao_dbg_start_transfer(uint16_t addr);
871 /* End a bulk transfer to/from dbg target memory */
873 ao_dbg_end_transfer(void);
875 /* Write a byte to dbg target memory */
877 ao_dbg_write_byte(uint8_t byte);
879 /* Read a byte from dbg target memory */
881 ao_dbg_read_byte(void);
883 /* Enable dbg mode, switching use of the pins */
885 ao_dbg_debug_mode(void);
887 /* Reset the dbg target */
899 #error Please define HAS_SERIAL_1
902 #if HAS_SERIAL_1 | HAS_SERIAL_2 | HAS_SERIAL_3
903 #ifndef USE_SERIAL_STDIN
904 #error Please define USE_SERIAL_STDIN
908 ao_serial_rx1_isr(void) ao_arch_interrupt(3);
911 ao_serial_tx1_isr(void) ao_arch_interrupt(14);
914 ao_serial_getchar(void) __critical;
918 ao_serial_pollchar(void) __critical;
921 ao_serial_set_stdin(uint8_t in);
925 ao_serial_putchar(char c) __critical;
928 ao_serial_drain(void) __critical;
930 #define AO_SERIAL_SPEED_4800 0
931 #define AO_SERIAL_SPEED_9600 1
932 #define AO_SERIAL_SPEED_19200 2
933 #define AO_SERIAL_SPEED_57600 3
936 ao_serial_set_speed(uint8_t speed);
939 ao_serial_init(void);
943 #define HAS_SERIAL_0 0
948 extern volatile __xdata struct ao_fifo ao_usart0_rx_fifo;
949 extern volatile __xdata struct ao_fifo ao_usart0_tx_fifo;
952 ao_serial0_rx0_isr(void) ao_arch_interrupt(2);
955 ao_serial0_tx0_isr(void) ao_arch_interrupt(7);
958 ao_serial0_getchar(void) __critical;
961 ao_serial0_putchar(char c) __critical;
964 ao_serial0_drain(void) __critical;
967 ao_serial0_set_speed(uint8_t speed);
970 ao_serial0_init(void);
979 extern __xdata uint8_t ao_spi_mutex;
981 #define ao_spi_get_mask(reg,mask) do {\
982 ao_mutex_get(&ao_spi_mutex); \
986 #define ao_spi_put_mask(reg,mask) do { \
988 ao_mutex_put(&ao_spi_mutex); \
991 #define ao_spi_get_bit(bit) do {\
992 ao_mutex_get(&ao_spi_mutex); \
996 #define ao_spi_put_bit(bit) do { \
998 ao_mutex_put(&ao_spi_mutex); \
1002 * The SPI mutex must be held to call either of these
1003 * functions -- this mutex covers the entire SPI operation,
1004 * from chip select low to chip select high
1008 ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
1011 ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
1021 ao_spi_slave_recv(uint8_t *buf, uint8_t len);
1024 ao_spi_slave_send(uint8_t *buf, uint8_t len);
1027 ao_spi_slave_init(void);
1029 /* This must be defined by the product; it will get called when chip
1030 * select goes low, at which point it should use ao_spi_read and
1031 * ao_spi_write to deal with the request
1040 #define AO_MAX_CALLSIGN 8
1041 #define AO_MAX_VERSION 8
1043 #define AO_MAX_TELEMETRY 128
1045 #define AO_MAX_TELEMETRY 32
1048 struct ao_telemetry_generic {
1049 uint16_t serial; /* 0 */
1050 uint16_t tick; /* 2 */
1051 uint8_t type; /* 4 */
1052 uint8_t payload[27]; /* 5 */
1056 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
1057 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
1058 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
1060 struct ao_telemetry_sensor {
1061 uint16_t serial; /* 0 */
1062 uint16_t tick; /* 2 */
1063 uint8_t type; /* 4 */
1065 uint8_t state; /* 5 flight state */
1066 int16_t accel; /* 6 accelerometer (TM only) */
1067 int16_t pres; /* 8 pressure sensor */
1068 int16_t temp; /* 10 temperature sensor */
1069 int16_t v_batt; /* 12 battery voltage */
1070 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
1071 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
1073 int16_t acceleration; /* 18 m/s² * 16 */
1074 int16_t speed; /* 20 m/s * 16 */
1075 int16_t height; /* 22 m */
1077 int16_t ground_pres; /* 24 average pres on pad */
1078 int16_t ground_accel; /* 26 average accel on pad */
1079 int16_t accel_plus_g; /* 28 accel calibration at +1g */
1080 int16_t accel_minus_g; /* 30 accel calibration at -1g */
1084 #define AO_TELEMETRY_CONFIGURATION 0x04
1086 struct ao_telemetry_configuration {
1087 uint16_t serial; /* 0 */
1088 uint16_t tick; /* 2 */
1089 uint8_t type; /* 4 */
1091 uint8_t device; /* 5 device type */
1092 uint16_t flight; /* 6 flight number */
1093 uint8_t config_major; /* 8 Config major version */
1094 uint8_t config_minor; /* 9 Config minor version */
1095 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
1096 uint16_t main_deploy; /* 12 Main deploy alt in meters */
1097 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
1098 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
1099 char version[AO_MAX_VERSION]; /* 24 Software version */
1103 #define AO_TELEMETRY_LOCATION 0x05
1105 #define AO_GPS_MODE_NOT_VALID 'N'
1106 #define AO_GPS_MODE_AUTONOMOUS 'A'
1107 #define AO_GPS_MODE_DIFFERENTIAL 'D'
1108 #define AO_GPS_MODE_ESTIMATED 'E'
1109 #define AO_GPS_MODE_MANUAL 'M'
1110 #define AO_GPS_MODE_SIMULATED 'S'
1112 struct ao_telemetry_location {
1113 uint16_t serial; /* 0 */
1114 uint16_t tick; /* 2 */
1115 uint8_t type; /* 4 */
1117 uint8_t flags; /* 5 Number of sats and other flags */
1118 int16_t altitude; /* 6 GPS reported altitude (m) */
1119 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
1120 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
1121 uint8_t year; /* 16 (- 2000) */
1122 uint8_t month; /* 17 (1-12) */
1123 uint8_t day; /* 18 (1-31) */
1124 uint8_t hour; /* 19 (0-23) */
1125 uint8_t minute; /* 20 (0-59) */
1126 uint8_t second; /* 21 (0-59) */
1127 uint8_t pdop; /* 22 (m * 5) */
1128 uint8_t hdop; /* 23 (m * 5) */
1129 uint8_t vdop; /* 24 (m * 5) */
1130 uint8_t mode; /* 25 */
1131 uint16_t ground_speed; /* 26 cm/s */
1132 int16_t climb_rate; /* 28 cm/s */
1133 uint8_t course; /* 30 degrees / 2 */
1134 uint8_t unused[1]; /* 31 */
1138 #define AO_TELEMETRY_SATELLITE 0x06
1140 struct ao_telemetry_satellite_info {
1145 struct ao_telemetry_satellite {
1146 uint16_t serial; /* 0 */
1147 uint16_t tick; /* 2 */
1148 uint8_t type; /* 4 */
1149 uint8_t channels; /* 5 number of reported sats */
1151 struct ao_telemetry_satellite_info sats[12]; /* 6 */
1152 uint8_t unused[2]; /* 30 */
1156 #define AO_TELEMETRY_COMPANION 0x07
1158 #define AO_COMPANION_MAX_CHANNELS 12
1160 struct ao_telemetry_companion {
1161 uint16_t serial; /* 0 */
1162 uint16_t tick; /* 2 */
1163 uint8_t type; /* 4 */
1164 uint8_t board_id; /* 5 */
1166 uint8_t update_period; /* 6 */
1167 uint8_t channels; /* 7 */
1168 uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
1172 /* #define AO_SEND_ALL_BARO */
1174 #define AO_TELEMETRY_BARO 0x80
1177 * This packet allows the full sampling rate baro
1178 * data to be captured over the RF link so that the
1179 * flight software can be tested using 'real' data.
1181 * Along with this telemetry packet, the flight
1182 * code is modified to send full-rate telemetry all the time
1183 * and never send an RDF tone; this ensure that the full radio
1184 * link is available.
1186 struct ao_telemetry_baro {
1187 uint16_t serial; /* 0 */
1188 uint16_t tick; /* 2 */
1189 uint8_t type; /* 4 */
1190 uint8_t samples; /* 5 number samples */
1192 int16_t baro[12]; /* 6 samples */
1196 union ao_telemetry_all {
1197 struct ao_telemetry_generic generic;
1198 struct ao_telemetry_sensor sensor;
1199 struct ao_telemetry_configuration configuration;
1200 struct ao_telemetry_location location;
1201 struct ao_telemetry_satellite satellite;
1202 struct ao_telemetry_companion companion;
1203 struct ao_telemetry_baro baro;
1206 struct ao_telemetry_all_recv {
1207 union ao_telemetry_all telemetry;
1216 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
1217 #define AO_GPS_NUM_SAT_SHIFT (0)
1219 #define AO_GPS_VALID (1 << 4)
1220 #define AO_GPS_RUNNING (1 << 5)
1221 #define AO_GPS_DATE_VALID (1 << 6)
1222 #define AO_GPS_COURSE_VALID (1 << 7)
1224 extern __pdata uint16_t ao_gps_tick;
1225 extern __xdata uint8_t ao_gps_mutex;
1226 extern __xdata struct ao_telemetry_location ao_gps_data;
1227 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
1229 struct ao_gps_orig {
1237 int32_t latitude; /* degrees * 10⁷ */
1238 int32_t longitude; /* degrees * 10⁷ */
1239 int16_t altitude; /* m */
1240 uint16_t ground_speed; /* cm/s */
1241 uint8_t course; /* degrees / 2 */
1242 uint8_t hdop; /* * 5 */
1243 int16_t climb_rate; /* cm/s */
1244 uint16_t h_error; /* m */
1245 uint16_t v_error; /* m */
1248 struct ao_gps_sat_orig {
1253 #define AO_MAX_GPS_TRACKING 12
1255 struct ao_gps_tracking_orig {
1257 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
1264 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
1267 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
1277 ao_gps_report(void);
1280 ao_gps_report_init(void);
1283 * ao_telemetry_orig.c
1286 struct ao_telemetry_orig {
1289 uint8_t flight_state;
1291 int16_t ground_accel;
1300 int16_t ground_pres;
1301 int16_t accel_plus_g;
1302 int16_t accel_minus_g;
1304 struct ao_gps_orig gps;
1305 char callsign[AO_MAX_CALLSIGN];
1306 struct ao_gps_tracking_orig gps_tracking;
1309 struct ao_telemetry_tiny {
1312 uint8_t flight_state;
1313 int16_t height; /* AGL in meters */
1314 int16_t speed; /* in m/s * 16 */
1315 int16_t accel; /* in m/s² * 16 */
1316 int16_t ground_pres; /* sensor units */
1317 struct ao_adc adc; /* raw ADC readings */
1318 char callsign[AO_MAX_CALLSIGN];
1321 struct ao_telemetry_orig_recv {
1322 struct ao_telemetry_orig telemetry_orig;
1327 struct ao_telemetry_tiny_recv {
1328 struct ao_telemetry_tiny telemetry_tiny;
1334 * ao_radio_recv tacks on rssi and status bytes
1337 struct ao_telemetry_raw_recv {
1338 uint8_t packet[AO_MAX_TELEMETRY + 2];
1341 /* Set delay between telemetry reports (0 to disable) */
1343 #ifdef AO_SEND_ALL_BARO
1344 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
1345 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
1346 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
1348 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
1349 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
1350 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
1354 ao_telemetry_set_interval(uint16_t interval);
1357 ao_rdf_set(uint8_t rdf);
1360 ao_telemetry_init(void);
1363 ao_telemetry_orig_init(void);
1366 ao_telemetry_tiny_init(void);
1372 extern __xdata uint8_t ao_radio_dma;
1373 extern __xdata uint8_t ao_radio_dma_done;
1374 extern __xdata uint8_t ao_radio_done;
1375 extern __xdata uint8_t ao_radio_mutex;
1378 ao_radio_general_isr(void) ao_arch_interrupt(16);
1381 ao_radio_get(uint8_t len);
1383 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
1386 ao_radio_set_packet(void);
1389 ao_radio_send(__xdata void *d, uint8_t size) __reentrant;
1392 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
1395 ao_radio_recv_abort(void);
1398 * Compute the packet length as follows:
1400 * 2000 bps (for a 1kHz tone)
1401 * so, for 'ms' milliseconds, we need
1402 * 2 * ms bits, or ms / 4 bytes
1405 #define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2))
1408 ao_radio_rdf(uint8_t pkt_len);
1411 ao_radio_rdf_abort(void);
1414 ao_radio_idle(void);
1417 ao_radio_init(void);
1423 extern const char const * const ao_state_names[];
1425 #define AO_MONITOR_RING 8
1428 struct ao_telemetry_raw_recv raw;
1429 struct ao_telemetry_all_recv all;
1430 struct ao_telemetry_orig_recv orig;
1431 struct ao_telemetry_tiny_recv tiny;
1434 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
1436 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
1438 extern __data uint8_t ao_monitoring;
1439 extern __data uint8_t ao_monitor_head;
1444 #define AO_MONITORING_OFF 0
1445 #define AO_MONITORING_ORIG 1
1448 ao_monitor_set(uint8_t monitoring);
1451 ao_monitor_disable(void);
1454 ao_monitor_enable(void);
1457 ao_monitor_init(void) __reentrant;
1463 #define AO_READ_AGAIN ((char) -1)
1466 char (*pollchar)(void);
1467 void (*putchar)(char c) __reentrant;
1468 void (*flush)(void);
1472 extern __xdata struct ao_stdio ao_stdios[];
1473 extern __pdata int8_t ao_cur_stdio;
1474 extern __pdata int8_t ao_num_stdios;
1479 extern __xdata uint8_t ao_stdin_ready;
1485 ao_add_stdio(char (*pollchar)(void),
1486 void (*putchar)(char) __reentrant,
1487 void (*flush)(void)) __reentrant;
1494 ao_igniter_drogue = 0,
1499 ao_ignite(enum ao_igniter igniter);
1501 enum ao_igniter_status {
1502 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
1503 ao_igniter_ready, /* continuity detected */
1504 ao_igniter_active, /* igniter firing */
1505 ao_igniter_open, /* open circuit detected */
1508 struct ao_ignition {
1514 extern __xdata struct ao_ignition ao_ignition[2];
1516 enum ao_igniter_status
1517 ao_igniter_status(enum ao_igniter igniter);
1519 extern __pdata uint8_t ao_igniter_present;
1522 ao_ignite_set_pins(void);
1525 ao_igniter_init(void);
1531 #define AO_CONFIG_MAJOR 1
1532 #define AO_CONFIG_MINOR 10
1533 #define AO_AES_LEN 16
1535 #if HAS_RADIO_CHANNELS
1536 #define AO_CHANNEL_NAME_LEN 10
1538 #define AO_NUM_CHANNELS 10
1540 struct ao_radio_channel {
1541 char name[AO_CHANNEL_NAME_LEN];
1549 uint16_t main_deploy;
1550 int16_t accel_plus_g; /* changed for minor version 2 */
1551 uint8_t radio_channel;
1552 char callsign[AO_MAX_CALLSIGN + 1];
1553 uint8_t apogee_delay; /* minor version 1 */
1554 int16_t accel_minus_g; /* minor version 2 */
1555 uint32_t radio_cal; /* minor version 3 */
1556 uint32_t flight_log_max; /* minor version 4 */
1557 uint8_t ignite_mode; /* minor version 5 */
1558 uint8_t pad_orientation; /* minor version 6 */
1559 uint32_t radio_setting; /* minor version 7 */
1560 uint8_t radio_enable; /* minor version 8 */
1561 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
1562 uint32_t frequency; /* minor version 10 */
1563 #if HAS_RADIO_CHANNELS
1564 struct ao_radio_channel radio_channels[AO_NUM_CHANNELS]; /* minor version 10 */
1568 #define AO_IGNITE_MODE_DUAL 0
1569 #define AO_IGNITE_MODE_APOGEE 1
1570 #define AO_IGNITE_MODE_MAIN 2
1572 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
1573 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
1575 extern __xdata struct ao_config ao_config;
1577 #define AO_CONFIG_MAX_SIZE 128
1580 ao_config_get(void);
1583 ao_config_put(void);
1586 ao_config_init(void);
1593 ao_rssi_set(int rssi_value);
1596 ao_rssi_init(uint8_t rssi_led);
1601 * values which need to be defined for
1602 * each instance of a product
1605 extern const char ao_version[];
1606 extern const char ao_manufacturer[];
1607 extern const char ao_product[];
1613 #define AO_FIFO_SIZE 32
1618 char fifo[AO_FIFO_SIZE];
1621 #define ao_fifo_insert(f,c) do { \
1622 (f).fifo[(f).insert] = (c); \
1623 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
1626 #define ao_fifo_remove(f,c) do {\
1627 c = (f).fifo[(f).remove]; \
1628 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
1631 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
1632 #define ao_fifo_empty(f) ((f).insert == (f).remove)
1637 * Packet-based command interface
1640 #define AO_PACKET_MAX 64
1641 #define AO_PACKET_SYN (uint8_t) 0xff
1648 uint8_t d[AO_PACKET_MAX];
1649 uint8_t callsign[AO_MAX_CALLSIGN];
1652 struct ao_packet_recv {
1653 struct ao_packet packet;
1658 extern __xdata struct ao_packet_recv ao_rx_packet;
1659 extern __xdata struct ao_packet ao_tx_packet;
1660 extern __xdata struct ao_task ao_packet_task;
1661 extern __xdata uint8_t ao_packet_enable;
1662 extern __xdata uint8_t ao_packet_master_sleeping;
1663 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
1666 ao_packet_send(void);
1669 ao_packet_recv(void);
1672 ao_packet_flush(void);
1675 ao_packet_putchar(char c) __reentrant;
1678 ao_packet_pollchar(void) __critical;
1680 /* ao_packet_master.c */
1683 ao_packet_master_init(void);
1685 /* ao_packet_slave.c */
1688 ao_packet_slave_start(void);
1691 ao_packet_slave_stop(void);
1694 ao_packet_slave_init(uint8_t enable);
1698 /* If bt_link is on P2, this interrupt is shared by USB, so the USB
1699 * code calls this function. Otherwise, it's a regular ISR.
1712 /* ao_companion.c */
1714 #define AO_COMPANION_SETUP 1
1715 #define AO_COMPANION_FETCH 2
1716 #define AO_COMPANION_NOTIFY 3
1718 struct ao_companion_command {
1720 uint8_t flight_state;
1726 struct ao_companion_setup {
1728 uint16_t board_id_inverse;
1729 uint8_t update_period;
1733 extern __pdata uint8_t ao_companion_running;
1734 extern __xdata uint8_t ao_companion_mutex;
1735 extern __xdata struct ao_companion_command ao_companion_command;
1736 extern __xdata struct ao_companion_setup ao_companion_setup;
1737 extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
1740 ao_companion_init(void);
1745 ao_lcd_putchar(uint8_t d);
1748 ao_lcd_putstring(char *string);
1751 ao_lcd_contrast_set(uint8_t contrast);
1757 ao_lcd_cursor_on(void);
1760 ao_lcd_cursor_off(void);
1762 #define AO_LCD_ADDR(row,col) ((row << 6) | (col))
1765 ao_lcd_goto(uint8_t addr);
1776 ao_lcd_port_put_nibble(uint8_t rs, uint8_t d);
1779 ao_lcd_port_init(void);
1783 extern __xdata uint8_t ao_aes_mutex;
1785 /* AES keys and blocks are 128 bits */
1793 ao_aes_isr(void) __interrupt 4;
1797 ao_aes_set_mode(enum ao_aes_mode mode);
1800 ao_aes_set_key(__xdata uint8_t *in);
1803 ao_aes_zero_iv(void);
1806 ao_aes_run(__xdata uint8_t *in,
1807 __xdata uint8_t *out);
1812 /* ao_radio_cmac.c */
1815 ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
1817 #define AO_RADIO_CMAC_OK 0
1818 #define AO_RADIO_CMAC_LEN_ERROR -1
1819 #define AO_RADIO_CMAC_CRC_ERROR -2
1820 #define AO_RADIO_CMAC_MAC_ERROR -3
1821 #define AO_RADIO_CMAC_TIMEOUT -4
1824 ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
1827 ao_radio_cmac_init(void);
1831 struct ao_launch_command {
1839 #define AO_LAUNCH_QUERY 1
1841 struct ao_launch_query {
1847 uint8_t igniter_status;
1850 #define AO_LAUNCH_ARM 2
1851 #define AO_LAUNCH_FIRE 3
1854 ao_launch_init(void);
1860 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
1861 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
1863 #define AO_LOG_TELESCIENCE_NUM_ADC 12
1865 struct ao_log_telescience {
1872 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
1875 #define AO_LOG_SINGLE_SIZE 32
1877 union ao_log_single {
1878 struct ao_log_telescience telescience;
1879 union ao_telemetry_all telemetry;
1880 uint8_t bytes[AO_LOG_SINGLE_SIZE];
1883 extern __xdata union ao_log_single ao_log_single_write_data;
1884 extern __xdata union ao_log_single ao_log_single_read_data;
1887 ao_log_single_extra_query(void);
1890 ao_log_single_list(void);
1893 ao_log_single_main(void);
1896 ao_log_single_write(void);
1899 ao_log_single_read(uint32_t pos);
1902 ao_log_single_start(void);
1905 ao_log_single_stop(void);
1908 ao_log_single_restart(void);
1911 ao_log_single_set(void);
1914 ao_log_single_delete(void);
1917 ao_log_single_init(void);
1920 ao_log_single(void);
1926 #define AO_TELEPYRO_NUM_ADC 9
1929 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
1930 #define ao_xmemset(d,v,c) memset(d,v,c)
1931 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
1939 ao_terraui_init(void);
1947 ao_battery_isr(void) ao_arch_interrupt(1);
1950 ao_battery_get(void);
1953 ao_battery_init(void);
1954 #endif /* BATTERY_PIN */
1961 ao_sqrt(uint32_t op);
1967 int32_t ao_freq_to_set(int32_t freq, int32_t cal);