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)
46 typedef AO_PORT_TYPE ao_port_t;
51 #include <ao_notask.h>
58 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
59 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
60 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
61 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
62 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
63 #define AO_PANIC_CMD 6 /* Too many command sets registered */
64 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
65 #define AO_PANIC_REBOOT 8 /* Reboot failed */
66 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
67 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
68 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
69 #define AO_PANIC_STACK 12 /* Stack overflow */
70 #define AO_PANIC_SPI 13 /* SPI communication failure */
71 #define AO_PANIC_CRASH 14 /* Processor crashed */
72 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
73 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
74 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
75 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
76 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
77 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
78 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
79 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
80 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
82 /* Stop the operating system, beeping and blinking the reason */
84 ao_panic(uint8_t reason);
91 #define AO_TICK_TYPE uint16_t
92 #define AO_TICK_SIGNED int16_t
95 extern volatile __data AO_TICK_TYPE ao_tick_count;
97 /* Our timer runs at 100Hz */
101 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
102 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
104 /* Returns the current time in ticks */
108 /* Suspend the current task until ticks time has passed */
110 ao_delay(uint16_t ticks);
112 /* Set the ADC interval */
114 ao_timer_set_adc_interval(uint8_t interval);
116 /* Timer interrupt */
118 ao_timer_isr(void) ao_arch_interrupt(9);
120 /* Initialize the timer */
124 /* Initialize the hardware clock. Must be called first */
128 #if AO_POWER_MANAGEMENT
129 /* Go to low power clock */
131 ao_clock_suspend(void);
133 /* Restart full-speed clock */
135 ao_clock_resume(void);
144 ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant;
147 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
150 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
159 ao_cmd_lex_error = 1,
160 ao_cmd_syntax_error = 2,
163 extern __pdata uint16_t ao_cmd_lex_i;
164 extern __pdata uint32_t ao_cmd_lex_u32;
165 extern __pdata char ao_cmd_lex_c;
166 extern __pdata enum ao_cmd_status ao_cmd_status;
169 ao_put_string(__code char *s);
175 ao_cmd_put8(uint8_t v);
178 ao_cmd_put16(uint16_t v);
181 ao_cmd_is_white(void);
187 ao_cmd_hexchar(char c);
190 ao_cmd_hexbyte(void);
196 ao_cmd_decimal(void) __reentrant;
198 /* Read a single hex nibble off stdin. */
203 ao_match_word(__code char *word);
211 ao_cmd_register(const __code struct ao_cmds *cmds);
218 * Provided by an external module to filter raw command lines
244 #include <ao_storage.h>
252 #include <ao_flight.h>
253 #include <ao_sample.h>
260 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
261 #define AO_RDF_LENGTH_MS 500
262 #define AO_RDF_CONTINUITY_MS 32
263 #define AO_RDF_CONTINUITY_PAUSE 96
264 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
266 /* This assumes that we're generating a 1kHz tone, which
267 * modulates the carrier at 2kbps, or 250kBps
269 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
271 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
272 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
273 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
274 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
276 /* returns a value 0-3 to indicate igniter continuity */
278 ao_report_igniter(void);
281 ao_report_init(void);
286 * Given raw data, convert to SI units
290 /* pressure from the sensor to altitude in meters */
292 ao_pres_to_altitude(pres_t pres) __reentrant;
295 ao_altitude_to_pres(alt_t alt) __reentrant;
298 ao_temp_to_dC(int16_t temp) __reentrant;
304 * Convert between pressure in Pa and altitude in meters
311 ao_pa_to_altitude(pres_t pa);
314 ao_altitude_to_pa(alt_t alt);
321 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
322 #include <ao_serial.h>
328 * Convert ADC readings to decivolts
332 ao_battery_decivolt(int16_t adc);
335 ao_ignite_decivolt(int16_t adc);
342 ao_spi_slave_recv(void *buf, uint16_t len);
345 ao_spi_slave_send(void *buf, uint16_t len);
348 ao_spi_slave_init(void);
350 /* This must be defined by the product; it will get called when chip
351 * select goes low, at which point it should use ao_spi_read and
352 * ao_spi_write to deal with the request
358 #include <ao_telemetry.h>
363 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
364 #define AO_GPS_NUM_SAT_SHIFT (0)
366 #define AO_GPS_VALID (1 << 4)
367 #define AO_GPS_RUNNING (1 << 5)
368 #define AO_GPS_DATE_VALID (1 << 6)
369 #define AO_GPS_COURSE_VALID (1 << 7)
371 #define AO_GPS_NEW_DATA 1
372 #define AO_GPS_NEW_TRACKING 2
374 extern __xdata uint8_t ao_gps_new;
375 extern __pdata uint16_t ao_gps_tick;
376 extern __xdata uint8_t ao_gps_mutex;
377 extern __xdata struct ao_telemetry_location ao_gps_data;
378 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
388 int32_t latitude; /* degrees * 10⁷ */
389 int32_t longitude; /* degrees * 10⁷ */
390 int16_t altitude; /* m */
391 uint16_t ground_speed; /* cm/s */
392 uint8_t course; /* degrees / 2 */
393 uint8_t hdop; /* * 5 */
394 int16_t climb_rate; /* cm/s */
395 uint16_t h_error; /* m */
396 uint16_t v_error; /* m */
399 struct ao_gps_sat_orig {
404 #define AO_MAX_GPS_TRACKING 12
406 struct ao_gps_tracking_orig {
408 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
412 ao_gps_set_rate(uint8_t rate);
418 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
421 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
424 ao_gps_show(void) __reentrant;
437 ao_gps_report_init(void);
440 * ao_gps_report_mega.c
444 ao_gps_report_mega(void);
447 ao_gps_report_mega_init(void);
450 * ao_telemetry_orig.c
455 uint16_t tick; /* tick when the sample was read */
456 int16_t accel; /* accelerometer */
457 int16_t pres; /* pressure sensor */
458 int16_t temp; /* temperature sensor */
459 int16_t v_batt; /* battery voltage */
460 int16_t sense_d; /* drogue continuity sense */
461 int16_t sense_m; /* main continuity sense */
464 struct ao_telemetry_orig {
467 uint8_t flight_state;
469 int16_t ground_accel;
479 int16_t accel_plus_g;
480 int16_t accel_minus_g;
481 struct ao_adc_orig adc;
482 struct ao_gps_orig gps;
483 char callsign[AO_MAX_CALLSIGN];
484 struct ao_gps_tracking_orig gps_tracking;
487 struct ao_telemetry_tiny {
490 uint8_t flight_state;
491 int16_t height; /* AGL in meters */
492 int16_t speed; /* in m/s * 16 */
493 int16_t accel; /* in m/s² * 16 */
494 int16_t ground_pres; /* sensor units */
495 struct ao_adc adc; /* raw ADC readings */
496 char callsign[AO_MAX_CALLSIGN];
499 struct ao_telemetry_orig_recv {
500 struct ao_telemetry_orig telemetry_orig;
505 struct ao_telemetry_tiny_recv {
506 struct ao_telemetry_tiny telemetry_tiny;
511 #endif /* LEGACY_MONITOR */
513 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
514 * for reporting RSSI. So, now we use these values everywhere
516 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
517 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
520 * ao_radio_recv tacks on rssi and status bytes
523 struct ao_telemetry_raw_recv {
524 uint8_t packet[AO_MAX_TELEMETRY + 2];
527 /* Set delay between telemetry reports (0 to disable) */
529 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
530 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
531 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
534 ao_telemetry_reset_interval(void);
537 ao_telemetry_set_interval(uint16_t interval);
540 ao_rdf_set(uint8_t rdf);
543 ao_telemetry_init(void);
546 ao_telemetry_orig_init(void);
549 ao_telemetry_tiny_init(void);
555 extern __xdata uint8_t ao_radio_dma;
557 extern __xdata int8_t ao_radio_rssi;
559 #ifdef PKT_APPEND_STATUS_1_CRC_OK
560 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
563 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
566 #ifndef HAS_RADIO_RECV
567 #define HAS_RADIO_RECV HAS_RADIO
569 #ifndef HAS_RADIO_XMIT
570 #define HAS_RADIO_XMIT HAS_RADIO
573 #define AO_RADIO_RATE_38400 0
574 #define AO_RADIO_RATE_9600 1
575 #define AO_RADIO_RATE_2400 2
576 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
578 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
579 #define HAS_RADIO_RATE HAS_RADIO
583 ao_radio_general_isr(void) ao_arch_interrupt(16);
587 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
592 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
595 ao_radio_recv_abort(void);
599 ao_radio_test(uint8_t on);
601 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
604 ao_radio_send_aprs(ao_radio_fill_func fill);
612 ao_radio_pa_on(void);
615 ao_radio_pa_off(void);
618 ao_radio_pa_init(void);
620 #define ao_radio_pa_on()
621 #define ao_radio_pa_off()
622 #define ao_radio_pa_init()
626 * Compute the packet length as follows:
628 * 2000 bps (for a 1kHz tone)
629 * so, for 'ms' milliseconds, we need
630 * 2 * ms bits, or ms / 4 bytes
637 ao_radio_continuity(uint8_t c);
640 ao_radio_rdf_abort(void);
651 extern const char const * const ao_state_names[];
653 #define AO_MONITOR_RING 8
656 struct ao_telemetry_raw_recv raw;
657 struct ao_telemetry_all_recv all;
659 struct ao_telemetry_orig_recv orig;
660 struct ao_telemetry_tiny_recv tiny;
664 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
666 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
667 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
669 extern __data uint8_t ao_monitoring;
670 extern __data uint8_t ao_monitor_head;
675 #define AO_MONITORING_OFF 0
676 #define AO_MONITORING_ORIG 1
679 ao_monitor_set(uint8_t monitoring);
682 ao_monitor_disable(void);
685 ao_monitor_enable(void);
688 ao_monitor_init(void) __reentrant;
696 #define AO_READ_AGAIN (-1)
699 int (*_pollchar)(void); /* Called with interrupts blocked */
700 void (*putchar)(char c) __reentrant;
705 extern __xdata struct ao_stdio ao_stdios[];
706 extern __pdata int8_t ao_cur_stdio;
707 extern __pdata int8_t ao_num_stdios;
712 extern __xdata uint8_t ao_stdin_ready;
718 ao_add_stdio(int (*pollchar)(void),
719 void (*putchar)(char) __reentrant,
720 void (*flush)(void)) __reentrant;
727 ao_igniter_drogue = 0,
732 ao_ignite(enum ao_igniter igniter);
734 enum ao_igniter_status {
735 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
736 ao_igniter_ready, /* continuity detected */
737 ao_igniter_active, /* igniter firing */
738 ao_igniter_open, /* open circuit detected */
747 extern __code char * __code ao_igniter_status_names[];
749 extern __xdata struct ao_ignition ao_ignition[2];
751 enum ao_igniter_status
752 ao_igniter_status(enum ao_igniter igniter);
754 extern __pdata uint8_t ao_igniter_present;
757 ao_ignite_set_pins(void);
760 ao_igniter_init(void);
765 #include <ao_config.h>
773 * Set this to force the frequency to 434.550MHz
775 extern __xdata uint8_t ao_force_freq;
784 ao_rssi_set(int16_t rssi_value);
787 ao_rssi_init(AO_LED_TYPE rssi_led);
793 * values which need to be defined for
794 * each instance of a product
797 extern const char ao_version[];
798 extern const char ao_manufacturer[];
799 extern const char ao_product[];
805 #define AO_FIFO_SIZE 32
810 char fifo[AO_FIFO_SIZE];
813 #define ao_fifo_insert(f,c) do { \
814 (f).fifo[(f).insert] = (c); \
815 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
818 #define ao_fifo_remove(f,c) do {\
819 c = (f).fifo[(f).remove]; \
820 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
823 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
824 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
825 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
826 #define ao_fifo_empty(f) ((f).insert == (f).remove)
828 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
829 #include <ao_packet.h>
837 #include <ao_companion.h>
850 struct ao_launch_command {
858 #define AO_LAUNCH_QUERY 1
860 struct ao_launch_query {
866 uint8_t igniter_status;
869 #define AO_LAUNCH_ARM 2
870 #define AO_LAUNCH_FIRE 3
873 ao_launch_init(void);
879 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
880 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
882 #define AO_LOG_TELESCIENCE_NUM_ADC 12
884 struct ao_log_telescience {
891 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
894 #define AO_LOG_SINGLE_SIZE 32
896 union ao_log_single {
897 struct ao_log_telescience telescience;
898 union ao_telemetry_all telemetry;
899 uint8_t bytes[AO_LOG_SINGLE_SIZE];
902 extern __xdata union ao_log_single ao_log_single_write_data;
903 extern __xdata union ao_log_single ao_log_single_read_data;
906 ao_log_single_extra_query(void);
909 ao_log_single_list(void);
912 ao_log_single_main(void);
915 ao_log_single_write(void);
918 ao_log_single_read(uint32_t pos);
921 ao_log_single_start(void);
924 ao_log_single_stop(void);
927 ao_log_single_restart(void);
930 ao_log_single_set(void);
933 ao_log_single_delete(void);
936 ao_log_single_init(void);
945 #define AO_TELEPYRO_NUM_ADC 9
948 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
949 #define ao_xmemset(d,v,c) memset(d,v,c)
950 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
958 ao_terraui_init(void);
966 ao_battery_isr(void) ao_arch_interrupt(1);
969 ao_battery_get(void);
972 ao_battery_init(void);
973 #endif /* BATTERY_PIN */
980 ao_sqrt(uint32_t op);
986 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
992 void ao_ms5607_init(void);
994 #include <ao_arch_funcs.h>