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_FAST_TIMER 17 /* Mis-using fast timer API */
79 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
80 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
81 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
82 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
84 /* Stop the operating system, beeping and blinking the reason */
86 ao_panic(uint8_t reason);
93 #define AO_TICK_TYPE uint16_t
94 #define AO_TICK_SIGNED int16_t
97 extern volatile __data AO_TICK_TYPE ao_tick_count;
99 /* Our timer runs at 100Hz */
103 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
104 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
106 /* Returns the current time in ticks */
110 /* Suspend the current task until ticks time has passed */
112 ao_delay(uint16_t ticks);
114 /* Set the ADC interval */
116 ao_timer_set_adc_interval(uint8_t interval);
118 /* Timer interrupt */
120 ao_timer_isr(void) ao_arch_interrupt(9);
122 /* Initialize the timer */
126 /* Initialize the hardware clock. Must be called first */
136 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
139 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
148 ao_cmd_lex_error = 1,
149 ao_cmd_syntax_error = 2,
152 extern __pdata uint16_t ao_cmd_lex_i;
153 extern __pdata uint32_t ao_cmd_lex_u32;
154 extern __pdata char ao_cmd_lex_c;
155 extern __pdata enum ao_cmd_status ao_cmd_status;
158 ao_put_string(__code char *s);
164 ao_cmd_put8(uint8_t v);
167 ao_cmd_put16(uint16_t v);
170 ao_cmd_is_white(void);
176 ao_cmd_hexchar(char c);
179 ao_cmd_hexbyte(void);
185 ao_cmd_decimal(void) __reentrant;
187 /* Read a single hex nibble off stdin. */
192 ao_match_word(__code char *word);
200 ao_cmd_register(const __code struct ao_cmds *cmds);
207 * Provided by an external module to filter raw command lines
233 #include <ao_storage.h>
241 #include <ao_flight.h>
242 #include <ao_sample.h>
249 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
250 #define AO_RDF_LENGTH_MS 500
251 #define AO_RDF_CONTINUITY_MS 32
252 #define AO_RDF_CONTINUITY_PAUSE 96
253 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
255 /* This assumes that we're generating a 1kHz tone, which
256 * modulates the carrier at 2kbps, or 250kBps
258 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
260 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
261 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
262 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
263 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
265 /* returns a value 0-3 to indicate igniter continuity */
267 ao_report_igniter(void);
270 ao_report_init(void);
275 * Given raw data, convert to SI units
278 /* pressure from the sensor to altitude in meters */
280 ao_pres_to_altitude(int16_t pres) __reentrant;
283 ao_altitude_to_pres(int16_t alt) __reentrant;
286 ao_temp_to_dC(int16_t temp) __reentrant;
291 * Convert between pressure in Pa and altitude in meters
297 ao_pa_to_altitude(int32_t pa);
300 ao_altitude_to_pa(alt_t alt);
306 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
307 #include <ao_serial.h>
313 * Convert ADC readings to decivolts
317 ao_battery_decivolt(int16_t adc);
320 ao_ignite_decivolt(int16_t adc);
327 ao_spi_slave_recv(void *buf, uint16_t len);
330 ao_spi_slave_send(void *buf, uint16_t len);
333 ao_spi_slave_init(void);
335 /* This must be defined by the product; it will get called when chip
336 * select goes low, at which point it should use ao_spi_read and
337 * ao_spi_write to deal with the request
343 #include <ao_telemetry.h>
348 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
349 #define AO_GPS_NUM_SAT_SHIFT (0)
351 #define AO_GPS_VALID (1 << 4)
352 #define AO_GPS_RUNNING (1 << 5)
353 #define AO_GPS_DATE_VALID (1 << 6)
354 #define AO_GPS_COURSE_VALID (1 << 7)
356 #define AO_GPS_NEW_DATA 1
357 #define AO_GPS_NEW_TRACKING 2
359 extern __xdata uint8_t ao_gps_new;
360 extern __pdata uint16_t ao_gps_tick;
361 extern __xdata uint8_t ao_gps_mutex;
362 extern __xdata struct ao_telemetry_location ao_gps_data;
363 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
373 int32_t latitude; /* degrees * 10⁷ */
374 int32_t longitude; /* degrees * 10⁷ */
375 int16_t altitude; /* m */
376 uint16_t ground_speed; /* cm/s */
377 uint8_t course; /* degrees / 2 */
378 uint8_t hdop; /* * 5 */
379 int16_t climb_rate; /* cm/s */
380 uint16_t h_error; /* m */
381 uint16_t v_error; /* m */
384 struct ao_gps_sat_orig {
389 #define AO_MAX_GPS_TRACKING 12
391 struct ao_gps_tracking_orig {
393 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
397 ao_gps_set_rate(uint8_t rate);
403 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
406 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
409 ao_gps_show(void) __reentrant;
422 ao_gps_report_init(void);
425 * ao_gps_report_mega.c
429 ao_gps_report_mega(void);
432 ao_gps_report_mega_init(void);
435 * ao_telemetry_orig.c
440 uint16_t tick; /* tick when the sample was read */
441 int16_t accel; /* accelerometer */
442 int16_t pres; /* pressure sensor */
443 int16_t temp; /* temperature sensor */
444 int16_t v_batt; /* battery voltage */
445 int16_t sense_d; /* drogue continuity sense */
446 int16_t sense_m; /* main continuity sense */
449 struct ao_telemetry_orig {
452 uint8_t flight_state;
454 int16_t ground_accel;
464 int16_t accel_plus_g;
465 int16_t accel_minus_g;
466 struct ao_adc_orig adc;
467 struct ao_gps_orig gps;
468 char callsign[AO_MAX_CALLSIGN];
469 struct ao_gps_tracking_orig gps_tracking;
472 struct ao_telemetry_tiny {
475 uint8_t flight_state;
476 int16_t height; /* AGL in meters */
477 int16_t speed; /* in m/s * 16 */
478 int16_t accel; /* in m/s² * 16 */
479 int16_t ground_pres; /* sensor units */
480 struct ao_adc adc; /* raw ADC readings */
481 char callsign[AO_MAX_CALLSIGN];
484 struct ao_telemetry_orig_recv {
485 struct ao_telemetry_orig telemetry_orig;
490 struct ao_telemetry_tiny_recv {
491 struct ao_telemetry_tiny telemetry_tiny;
496 #endif /* LEGACY_MONITOR */
498 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
499 * for reporting RSSI. So, now we use these values everywhere
501 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
502 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
505 * ao_radio_recv tacks on rssi and status bytes
508 struct ao_telemetry_raw_recv {
509 uint8_t packet[AO_MAX_TELEMETRY + 2];
512 /* Set delay between telemetry reports (0 to disable) */
514 #ifdef AO_SEND_ALL_BARO
515 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
516 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
517 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
519 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
520 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
521 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
525 ao_telemetry_set_interval(uint16_t interval);
528 ao_rdf_set(uint8_t rdf);
531 ao_telemetry_init(void);
534 ao_telemetry_orig_init(void);
537 ao_telemetry_tiny_init(void);
543 extern __xdata uint8_t ao_radio_dma;
545 extern __xdata int8_t ao_radio_rssi;
547 #ifdef PKT_APPEND_STATUS_1_CRC_OK
548 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
551 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
554 #ifndef HAS_RADIO_RECV
555 #define HAS_RADIO_RECV HAS_RADIO
557 #ifndef HAS_RADIO_XMIT
558 #define HAS_RADIO_XMIT HAS_RADIO
562 ao_radio_general_isr(void) ao_arch_interrupt(16);
566 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
571 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
574 ao_radio_recv_abort(void);
578 ao_radio_test(uint8_t on);
580 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
583 ao_radio_send_aprs(ao_radio_fill_func fill);
591 ao_radio_pa_on(void);
594 ao_radio_pa_off(void);
597 ao_radio_pa_init(void);
599 #define ao_radio_pa_on()
600 #define ao_radio_pa_off()
601 #define ao_radio_pa_init()
605 * Compute the packet length as follows:
607 * 2000 bps (for a 1kHz tone)
608 * so, for 'ms' milliseconds, we need
609 * 2 * ms bits, or ms / 4 bytes
616 ao_radio_continuity(uint8_t c);
619 ao_radio_rdf_abort(void);
630 extern const char const * const ao_state_names[];
632 #define AO_MONITOR_RING 8
635 struct ao_telemetry_raw_recv raw;
636 struct ao_telemetry_all_recv all;
638 struct ao_telemetry_orig_recv orig;
639 struct ao_telemetry_tiny_recv tiny;
643 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
645 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
647 extern __data uint8_t ao_monitoring;
648 extern __data uint8_t ao_monitor_head;
653 #define AO_MONITORING_OFF 0
654 #define AO_MONITORING_ORIG 1
657 ao_monitor_set(uint8_t monitoring);
660 ao_monitor_disable(void);
663 ao_monitor_enable(void);
666 ao_monitor_init(void) __reentrant;
674 #define AO_READ_AGAIN (-1)
677 int (*_pollchar)(void); /* Called with interrupts blocked */
678 void (*putchar)(char c) __reentrant;
683 extern __xdata struct ao_stdio ao_stdios[];
684 extern __pdata int8_t ao_cur_stdio;
685 extern __pdata int8_t ao_num_stdios;
690 extern __xdata uint8_t ao_stdin_ready;
696 ao_add_stdio(int (*pollchar)(void),
697 void (*putchar)(char) __reentrant,
698 void (*flush)(void)) __reentrant;
705 ao_igniter_drogue = 0,
710 ao_ignite(enum ao_igniter igniter);
712 enum ao_igniter_status {
713 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
714 ao_igniter_ready, /* continuity detected */
715 ao_igniter_active, /* igniter firing */
716 ao_igniter_open, /* open circuit detected */
725 extern __code char * __code ao_igniter_status_names[];
727 extern __xdata struct ao_ignition ao_ignition[2];
729 enum ao_igniter_status
730 ao_igniter_status(enum ao_igniter igniter);
732 extern __pdata uint8_t ao_igniter_present;
735 ao_ignite_set_pins(void);
738 ao_igniter_init(void);
750 * Set this to force the frequency to 434.550MHz
752 extern __xdata uint8_t ao_force_freq;
755 #define AO_CONFIG_MAJOR 1
756 #define AO_CONFIG_MINOR 17
758 #define AO_AES_LEN 16
760 extern __xdata uint8_t ao_config_aes_seq;
765 uint16_t main_deploy;
766 int16_t accel_plus_g; /* changed for minor version 2 */
767 uint8_t _legacy_radio_channel;
768 char callsign[AO_MAX_CALLSIGN + 1];
769 uint8_t apogee_delay; /* minor version 1 */
770 int16_t accel_minus_g; /* minor version 2 */
771 uint32_t radio_cal; /* minor version 3 */
772 uint32_t flight_log_max; /* minor version 4 */
773 uint8_t ignite_mode; /* minor version 5 */
774 uint8_t pad_orientation; /* minor version 6 */
775 uint32_t radio_setting; /* minor version 7 */
776 uint8_t radio_enable; /* minor version 8 */
777 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
778 uint32_t frequency; /* minor version 10 */
779 uint16_t apogee_lockout; /* minor version 11 */
781 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
783 uint16_t aprs_interval; /* minor version 13 */
785 uint8_t radio_power; /* minor version 14 */
788 uint8_t radio_amp; /* minor version 14 */
791 int16_t accel_zero_along; /* minor version 15 */
792 int16_t accel_zero_across; /* minor version 15 */
793 int16_t accel_zero_through; /* minor version 15 */
796 uint8_t mid_beep; /* minor version 16 */
799 uint16_t tracker_start_horiz; /* minor version 17 */
800 uint16_t tracker_start_vert; /* minor version 17 */
804 #define AO_IGNITE_MODE_DUAL 0
805 #define AO_IGNITE_MODE_APOGEE 1
806 #define AO_IGNITE_MODE_MAIN 2
808 #define AO_RADIO_ENABLE_CORE 1
809 #define AO_RADIO_DISABLE_TELEMETRY 2
810 #define AO_RADIO_DISABLE_RDF 4
812 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
813 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
815 extern __xdata struct ao_config ao_config;
817 #define AO_CONFIG_MAX_SIZE 128
820 _ao_config_edit_start(void);
823 _ao_config_edit_finish(void);
832 ao_config_set_radio(void);
835 ao_config_init(void);
842 ao_rssi_set(int rssi_value);
845 ao_rssi_init(uint8_t rssi_led);
850 * values which need to be defined for
851 * each instance of a product
854 extern const char ao_version[];
855 extern const char ao_manufacturer[];
856 extern const char ao_product[];
862 #define AO_FIFO_SIZE 32
867 char fifo[AO_FIFO_SIZE];
870 #define ao_fifo_insert(f,c) do { \
871 (f).fifo[(f).insert] = (c); \
872 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
875 #define ao_fifo_remove(f,c) do {\
876 c = (f).fifo[(f).remove]; \
877 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
880 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
881 #define ao_fifo_empty(f) ((f).insert == (f).remove)
883 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
884 #include <ao_packet.h>
892 #include <ao_companion.h>
905 struct ao_launch_command {
913 #define AO_LAUNCH_QUERY 1
915 struct ao_launch_query {
921 uint8_t igniter_status;
924 #define AO_LAUNCH_ARM 2
925 #define AO_LAUNCH_FIRE 3
928 ao_launch_init(void);
934 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
935 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
937 #define AO_LOG_TELESCIENCE_NUM_ADC 12
939 struct ao_log_telescience {
946 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
949 #define AO_LOG_SINGLE_SIZE 32
951 union ao_log_single {
952 struct ao_log_telescience telescience;
953 union ao_telemetry_all telemetry;
954 uint8_t bytes[AO_LOG_SINGLE_SIZE];
957 extern __xdata union ao_log_single ao_log_single_write_data;
958 extern __xdata union ao_log_single ao_log_single_read_data;
961 ao_log_single_extra_query(void);
964 ao_log_single_list(void);
967 ao_log_single_main(void);
970 ao_log_single_write(void);
973 ao_log_single_read(uint32_t pos);
976 ao_log_single_start(void);
979 ao_log_single_stop(void);
982 ao_log_single_restart(void);
985 ao_log_single_set(void);
988 ao_log_single_delete(void);
991 ao_log_single_init(void);
1000 #define AO_TELEPYRO_NUM_ADC 9
1003 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
1004 #define ao_xmemset(d,v,c) memset(d,v,c)
1005 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
1013 ao_terraui_init(void);
1021 ao_battery_isr(void) ao_arch_interrupt(1);
1024 ao_battery_get(void);
1027 ao_battery_init(void);
1028 #endif /* BATTERY_PIN */
1035 ao_sqrt(uint32_t op);
1041 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
1047 void ao_ms5607_init(void);
1049 #include <ao_arch_funcs.h>