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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
32 /* Convert a __data pointer into an __xdata pointer */
34 #define DATA_TO_XDATA(a) (a)
36 #ifndef PDATA_TO_XDATA
37 #define PDATA_TO_XDATA(a) (a)
40 #define CODE_TO_XDATA(a) (a)
47 typedef AO_PORT_TYPE ao_port_t;
52 #include <ao_notask.h>
59 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
60 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
61 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
62 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
63 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
64 #define AO_PANIC_CMD 6 /* Too many command sets registered */
65 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
66 #define AO_PANIC_REBOOT 8 /* Reboot failed */
67 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
68 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
69 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
70 #define AO_PANIC_STACK 12 /* Stack overflow */
71 #define AO_PANIC_SPI 13 /* SPI communication failure */
72 #define AO_PANIC_CRASH 14 /* Processor crashed */
73 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
74 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
75 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
76 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
77 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
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_MPU9250 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 */
130 #if AO_POWER_MANAGEMENT
131 /* Go to low power clock */
133 ao_clock_suspend(void);
135 /* Restart full-speed clock */
137 ao_clock_resume(void);
146 ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant;
149 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
152 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
161 ao_cmd_lex_error = 1,
162 ao_cmd_syntax_error = 2,
165 extern __pdata uint16_t ao_cmd_lex_i;
166 extern __pdata uint32_t ao_cmd_lex_u32;
167 extern __pdata char ao_cmd_lex_c;
168 extern __pdata enum ao_cmd_status ao_cmd_status;
171 ao_put_string(__code char *s);
174 ao_cmd_readline(void);
180 ao_cmd_put8(uint8_t v);
183 ao_cmd_put16(uint16_t v);
186 ao_cmd_is_white(void);
192 ao_cmd_hexchar(char c);
195 ao_cmd_hexbyte(void);
201 ao_cmd_decimal(void) __reentrant;
203 /* Read a single hex nibble off stdin. */
208 ao_match_word(__code char *word);
216 ao_cmd_register(const __code struct ao_cmds *cmds);
226 * Provided by an external module to filter raw command lines
252 #include <ao_storage.h>
260 #include <ao_flight.h>
261 #include <ao_sample.h>
268 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
269 #define AO_RDF_LENGTH_MS 500
270 #define AO_RDF_CONTINUITY_MS 32
271 #define AO_RDF_CONTINUITY_PAUSE 96
272 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
274 /* This assumes that we're generating a 1kHz tone, which
275 * modulates the carrier at 2kbps, or 250kBps
277 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
279 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
280 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
281 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
282 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
284 /* returns a value 0-3 to indicate igniter continuity */
286 ao_report_igniter(void);
289 ao_report_init(void);
294 * Given raw data, convert to SI units
298 /* pressure from the sensor to altitude in meters */
300 ao_pres_to_altitude(pres_t pres) __reentrant;
303 ao_altitude_to_pres(alt_t alt) __reentrant;
306 ao_temp_to_dC(int16_t temp) __reentrant;
312 * Convert between pressure in Pa and altitude in meters
319 ao_pa_to_altitude(pres_t pa);
322 ao_altitude_to_pa(alt_t alt);
329 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
330 #include <ao_serial.h>
336 * Convert ADC readings to decivolts
340 ao_battery_decivolt(int16_t adc);
343 ao_ignite_decivolt(int16_t adc);
350 ao_spi_slave_recv(void *buf, uint16_t len);
353 ao_spi_slave_send(void *buf, uint16_t len);
356 ao_spi_slave_init(void);
358 /* This must be defined by the product; it will get called when chip
359 * select goes low, at which point it should use ao_spi_read and
360 * ao_spi_write to deal with the request
366 #include <ao_telemetry.h>
371 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
372 #define AO_GPS_NUM_SAT_SHIFT (0)
374 #define AO_GPS_VALID (1 << 4)
375 #define AO_GPS_RUNNING (1 << 5)
376 #define AO_GPS_DATE_VALID (1 << 6)
377 #define AO_GPS_COURSE_VALID (1 << 7)
379 #define AO_GPS_NEW_DATA 1
380 #define AO_GPS_NEW_TRACKING 2
382 extern __xdata uint8_t ao_gps_new;
383 extern __pdata uint16_t ao_gps_tick;
384 extern __xdata uint8_t ao_gps_mutex;
385 extern __xdata struct ao_telemetry_location ao_gps_data;
386 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
396 int32_t latitude; /* degrees * 10⁷ */
397 int32_t longitude; /* degrees * 10⁷ */
398 int16_t altitude; /* m */
399 uint16_t ground_speed; /* cm/s */
400 uint8_t course; /* degrees / 2 */
401 uint8_t hdop; /* * 5 */
402 int16_t climb_rate; /* cm/s */
403 uint16_t h_error; /* m */
404 uint16_t v_error; /* m */
407 struct ao_gps_sat_orig {
412 #define AO_MAX_GPS_TRACKING 12
414 struct ao_gps_tracking_orig {
416 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
420 ao_gps_set_rate(uint8_t rate);
426 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
429 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
432 ao_gps_show(void) __reentrant;
445 ao_gps_report_init(void);
448 * ao_gps_report_mega.c
452 ao_gps_report_mega(void);
455 ao_gps_report_mega_init(void);
458 * ao_telemetry_orig.c
463 uint16_t tick; /* tick when the sample was read */
464 int16_t accel; /* accelerometer */
465 int16_t pres; /* pressure sensor */
466 int16_t temp; /* temperature sensor */
467 int16_t v_batt; /* battery voltage */
468 int16_t sense_d; /* drogue continuity sense */
469 int16_t sense_m; /* main continuity sense */
472 struct ao_telemetry_orig {
475 uint8_t flight_state;
477 int16_t ground_accel;
487 int16_t accel_plus_g;
488 int16_t accel_minus_g;
489 struct ao_adc_orig adc;
490 struct ao_gps_orig gps;
491 char callsign[AO_MAX_CALLSIGN];
492 struct ao_gps_tracking_orig gps_tracking;
495 struct ao_telemetry_tiny {
498 uint8_t flight_state;
499 int16_t height; /* AGL in meters */
500 int16_t speed; /* in m/s * 16 */
501 int16_t accel; /* in m/s² * 16 */
502 int16_t ground_pres; /* sensor units */
503 struct ao_adc adc; /* raw ADC readings */
504 char callsign[AO_MAX_CALLSIGN];
507 struct ao_telemetry_orig_recv {
508 struct ao_telemetry_orig telemetry_orig;
513 struct ao_telemetry_tiny_recv {
514 struct ao_telemetry_tiny telemetry_tiny;
519 #endif /* LEGACY_MONITOR */
521 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
522 * for reporting RSSI. So, now we use these values everywhere
524 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
525 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
528 * ao_radio_recv tacks on rssi and status bytes
531 struct ao_telemetry_raw_recv {
532 uint8_t packet[AO_MAX_TELEMETRY + 2];
535 /* Set delay between telemetry reports (0 to disable) */
537 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
538 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
539 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
542 ao_telemetry_reset_interval(void);
545 ao_telemetry_set_interval(uint16_t interval);
548 ao_rdf_set(uint8_t rdf);
551 ao_telemetry_init(void);
554 ao_telemetry_orig_init(void);
557 ao_telemetry_tiny_init(void);
563 extern __xdata uint8_t ao_radio_dma;
565 extern __xdata int8_t ao_radio_rssi;
567 #ifdef PKT_APPEND_STATUS_1_CRC_OK
568 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
571 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
574 #ifndef HAS_RADIO_RECV
575 #define HAS_RADIO_RECV HAS_RADIO
577 #ifndef HAS_RADIO_XMIT
578 #define HAS_RADIO_XMIT HAS_RADIO
581 #define AO_RADIO_RATE_38400 0
582 #define AO_RADIO_RATE_9600 1
583 #define AO_RADIO_RATE_2400 2
584 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
586 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
587 #define HAS_RADIO_RATE HAS_RADIO
591 ao_radio_general_isr(void) ao_arch_interrupt(16);
595 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
600 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
603 ao_radio_recv_abort(void);
607 ao_radio_test(uint8_t on);
609 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
612 ao_radio_send_aprs(ao_radio_fill_func fill);
620 ao_radio_pa_on(void);
623 ao_radio_pa_off(void);
626 ao_radio_pa_init(void);
628 #define ao_radio_pa_on()
629 #define ao_radio_pa_off()
630 #define ao_radio_pa_init()
634 * Compute the packet length as follows:
636 * 2000 bps (for a 1kHz tone)
637 * so, for 'ms' milliseconds, we need
638 * 2 * ms bits, or ms / 4 bytes
645 ao_radio_continuity(uint8_t c);
648 ao_radio_rdf_abort(void);
651 ao_radio_test_on(void);
654 ao_radio_test_off(void);
665 extern const char const * const ao_state_names[];
667 #define AO_MONITOR_RING 8
670 struct ao_telemetry_raw_recv raw;
671 struct ao_telemetry_all_recv all;
673 struct ao_telemetry_orig_recv orig;
674 struct ao_telemetry_tiny_recv tiny;
678 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
680 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
681 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
683 extern __xdata uint8_t ao_monitoring_mutex;
684 extern __data uint8_t ao_monitoring;
685 extern __data uint8_t ao_monitor_head;
690 #define AO_MONITORING_OFF 0
691 #define AO_MONITORING_ORIG 1
694 ao_monitor_set(uint8_t monitoring);
697 ao_monitor_disable(void);
700 ao_monitor_enable(void);
703 ao_monitor_init(void) __reentrant;
711 #define AO_READ_AGAIN (-1)
714 int (*_pollchar)(void); /* Called with interrupts blocked */
715 void (*putchar)(char c) __reentrant;
720 extern __xdata struct ao_stdio ao_stdios[];
721 extern __pdata int8_t ao_cur_stdio;
722 extern __pdata int8_t ao_num_stdios;
727 extern __xdata uint8_t ao_stdin_ready;
733 ao_add_stdio(int (*pollchar)(void),
734 void (*putchar)(char) __reentrant,
735 void (*flush)(void)) __reentrant;
742 ao_igniter_drogue = 0,
747 ao_ignite(enum ao_igniter igniter);
749 enum ao_igniter_status {
750 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
751 ao_igniter_ready, /* continuity detected */
752 ao_igniter_active, /* igniter firing */
753 ao_igniter_open, /* open circuit detected */
762 extern __code char * __code ao_igniter_status_names[];
764 extern __xdata struct ao_ignition ao_ignition[2];
766 enum ao_igniter_status
767 ao_igniter_status(enum ao_igniter igniter);
769 extern __pdata uint8_t ao_igniter_present;
772 ao_ignite_set_pins(void);
775 ao_igniter_init(void);
780 #include <ao_config.h>
788 * Set this to force the frequency to 434.550MHz
790 extern __xdata uint8_t ao_force_freq;
799 ao_rssi_set(int16_t rssi_value);
802 ao_rssi_init(AO_LED_TYPE rssi_led);
808 * values which need to be defined for
809 * each instance of a product
812 extern const char ao_version[];
813 extern const char ao_manufacturer[];
814 extern const char ao_product[];
820 #define AO_FIFO_SIZE 32
825 char fifo[AO_FIFO_SIZE];
828 #define ao_fifo_insert(f,c) do { \
829 (f).fifo[(f).insert] = (c); \
830 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
833 #define ao_fifo_remove(f,c) do {\
834 c = (f).fifo[(f).remove]; \
835 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
838 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
839 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
840 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
841 #define ao_fifo_empty(f) ((f).insert == (f).remove)
843 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
844 #include <ao_packet.h>
852 #include <ao_companion.h>
867 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
868 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
870 #define AO_LOG_TELESCIENCE_NUM_ADC 12
872 struct ao_log_telescience {
879 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
882 #define AO_LOG_SINGLE_SIZE 32
884 union ao_log_single {
885 struct ao_log_telescience telescience;
886 union ao_telemetry_all telemetry;
887 uint8_t bytes[AO_LOG_SINGLE_SIZE];
890 extern __xdata union ao_log_single ao_log_single_write_data;
891 extern __xdata union ao_log_single ao_log_single_read_data;
894 ao_log_single_extra_query(void);
897 ao_log_single_list(void);
900 ao_log_single_main(void);
903 ao_log_single_write(void);
906 ao_log_single_read(uint32_t pos);
909 ao_log_single_start(void);
912 ao_log_single_stop(void);
915 ao_log_single_restart(void);
918 ao_log_single_set(void);
921 ao_log_single_delete(void);
924 ao_log_single_init(void);
933 #define AO_TELEPYRO_NUM_ADC 9
936 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
937 #define ao_xmemset(d,v,c) memset(d,v,c)
938 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
946 ao_terraui_init(void);
954 ao_battery_isr(void) ao_arch_interrupt(1);
957 ao_battery_get(void);
960 ao_battery_init(void);
961 #endif /* BATTERY_PIN */
968 ao_sqrt(uint32_t op);
974 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
980 void ao_ms5607_init(void);
982 #include <ao_arch_funcs.h>