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_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
76 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
77 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
78 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
80 /* Stop the operating system, beeping and blinking the reason */
82 ao_panic(uint8_t reason);
89 #define AO_TICK_TYPE uint16_t
90 #define AO_TICK_SIGNED int16_t
93 extern volatile __data AO_TICK_TYPE ao_tick_count;
95 /* Our timer runs at 100Hz */
99 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
100 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
102 /* Returns the current time in ticks */
106 /* Suspend the current task until ticks time has passed */
108 ao_delay(uint16_t ticks);
110 /* Set the ADC interval */
112 ao_timer_set_adc_interval(uint8_t interval);
114 /* Timer interrupt */
116 ao_timer_isr(void) ao_arch_interrupt(9);
118 /* Initialize the timer */
122 /* Initialize the hardware clock. Must be called first */
132 ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant;
135 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
138 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
147 ao_cmd_lex_error = 1,
148 ao_cmd_syntax_error = 2,
151 extern __pdata uint16_t ao_cmd_lex_i;
152 extern __pdata uint32_t ao_cmd_lex_u32;
153 extern __pdata char ao_cmd_lex_c;
154 extern __pdata enum ao_cmd_status ao_cmd_status;
157 ao_put_string(__code char *s);
163 ao_cmd_put8(uint8_t v);
166 ao_cmd_put16(uint16_t v);
169 ao_cmd_is_white(void);
175 ao_cmd_hexchar(char c);
178 ao_cmd_hexbyte(void);
184 ao_cmd_decimal(void) __reentrant;
186 /* Read a single hex nibble off stdin. */
191 ao_match_word(__code char *word);
199 ao_cmd_register(const __code struct ao_cmds *cmds);
206 * Provided by an external module to filter raw command lines
232 #include <ao_storage.h>
240 #include <ao_flight.h>
241 #include <ao_sample.h>
248 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
249 #define AO_RDF_LENGTH_MS 500
250 #define AO_RDF_CONTINUITY_MS 32
251 #define AO_RDF_CONTINUITY_PAUSE 96
252 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
254 /* This assumes that we're generating a 1kHz tone, which
255 * modulates the carrier at 2kbps, or 250kBps
257 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
259 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
260 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
261 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
262 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
264 /* returns a value 0-3 to indicate igniter continuity */
266 ao_report_igniter(void);
269 ao_report_init(void);
274 * Given raw data, convert to SI units
278 /* pressure from the sensor to altitude in meters */
280 ao_pres_to_altitude(pres_t pres) __reentrant;
283 ao_altitude_to_pres(alt_t alt) __reentrant;
286 ao_temp_to_dC(int16_t temp) __reentrant;
292 * Convert between pressure in Pa and altitude in meters
299 ao_pa_to_altitude(pres_t pa);
302 ao_altitude_to_pa(alt_t alt);
309 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
310 #include <ao_serial.h>
316 * Convert ADC readings to decivolts
320 ao_battery_decivolt(int16_t adc);
323 ao_ignite_decivolt(int16_t adc);
330 ao_spi_slave_recv(void *buf, uint16_t len);
333 ao_spi_slave_send(void *buf, uint16_t len);
336 ao_spi_slave_init(void);
338 /* This must be defined by the product; it will get called when chip
339 * select goes low, at which point it should use ao_spi_read and
340 * ao_spi_write to deal with the request
346 #include <ao_telemetry.h>
351 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
352 #define AO_GPS_NUM_SAT_SHIFT (0)
354 #define AO_GPS_VALID (1 << 4)
355 #define AO_GPS_RUNNING (1 << 5)
356 #define AO_GPS_DATE_VALID (1 << 6)
357 #define AO_GPS_COURSE_VALID (1 << 7)
359 #define AO_GPS_NEW_DATA 1
360 #define AO_GPS_NEW_TRACKING 2
362 extern __xdata uint8_t ao_gps_new;
363 extern __pdata uint16_t ao_gps_tick;
364 extern __xdata uint8_t ao_gps_mutex;
365 extern __xdata struct ao_telemetry_location ao_gps_data;
366 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
376 int32_t latitude; /* degrees * 10⁷ */
377 int32_t longitude; /* degrees * 10⁷ */
378 int16_t altitude; /* m */
379 uint16_t ground_speed; /* cm/s */
380 uint8_t course; /* degrees / 2 */
381 uint8_t hdop; /* * 5 */
382 int16_t climb_rate; /* cm/s */
383 uint16_t h_error; /* m */
384 uint16_t v_error; /* m */
387 struct ao_gps_sat_orig {
392 #define AO_MAX_GPS_TRACKING 12
394 struct ao_gps_tracking_orig {
396 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
400 ao_gps_set_rate(uint8_t rate);
406 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
409 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
412 ao_gps_show(void) __reentrant;
425 ao_gps_report_init(void);
428 * ao_gps_report_mega.c
432 ao_gps_report_mega(void);
435 ao_gps_report_mega_init(void);
438 * ao_telemetry_orig.c
443 uint16_t tick; /* tick when the sample was read */
444 int16_t accel; /* accelerometer */
445 int16_t pres; /* pressure sensor */
446 int16_t temp; /* temperature sensor */
447 int16_t v_batt; /* battery voltage */
448 int16_t sense_d; /* drogue continuity sense */
449 int16_t sense_m; /* main continuity sense */
452 struct ao_telemetry_orig {
455 uint8_t flight_state;
457 int16_t ground_accel;
467 int16_t accel_plus_g;
468 int16_t accel_minus_g;
469 struct ao_adc_orig adc;
470 struct ao_gps_orig gps;
471 char callsign[AO_MAX_CALLSIGN];
472 struct ao_gps_tracking_orig gps_tracking;
475 struct ao_telemetry_tiny {
478 uint8_t flight_state;
479 int16_t height; /* AGL in meters */
480 int16_t speed; /* in m/s * 16 */
481 int16_t accel; /* in m/s² * 16 */
482 int16_t ground_pres; /* sensor units */
483 struct ao_adc adc; /* raw ADC readings */
484 char callsign[AO_MAX_CALLSIGN];
487 struct ao_telemetry_orig_recv {
488 struct ao_telemetry_orig telemetry_orig;
493 struct ao_telemetry_tiny_recv {
494 struct ao_telemetry_tiny telemetry_tiny;
499 #endif /* LEGACY_MONITOR */
501 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
502 * for reporting RSSI. So, now we use these values everywhere
504 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
505 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
508 * ao_radio_recv tacks on rssi and status bytes
511 struct ao_telemetry_raw_recv {
512 uint8_t packet[AO_MAX_TELEMETRY + 2];
515 /* Set delay between telemetry reports (0 to disable) */
517 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
518 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
519 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
522 ao_telemetry_reset_interval(void);
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
561 #define AO_RADIO_RATE_38400 0
562 #define AO_RADIO_RATE_9600 1
563 #define AO_RADIO_RATE_2400 2
564 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
566 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
567 #define HAS_RADIO_RATE HAS_RADIO
571 ao_radio_general_isr(void) ao_arch_interrupt(16);
575 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
580 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
583 ao_radio_recv_abort(void);
587 ao_radio_test(uint8_t on);
589 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
592 ao_radio_send_aprs(ao_radio_fill_func fill);
600 ao_radio_pa_on(void);
603 ao_radio_pa_off(void);
606 ao_radio_pa_init(void);
608 #define ao_radio_pa_on()
609 #define ao_radio_pa_off()
610 #define ao_radio_pa_init()
614 * Compute the packet length as follows:
616 * 2000 bps (for a 1kHz tone)
617 * so, for 'ms' milliseconds, we need
618 * 2 * ms bits, or ms / 4 bytes
625 ao_radio_continuity(uint8_t c);
628 ao_radio_rdf_abort(void);
639 extern const char const * const ao_state_names[];
641 #define AO_MONITOR_RING 8
644 struct ao_telemetry_raw_recv raw;
645 struct ao_telemetry_all_recv all;
647 struct ao_telemetry_orig_recv orig;
648 struct ao_telemetry_tiny_recv tiny;
652 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
654 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
656 extern __data uint8_t ao_monitoring;
657 extern __data uint8_t ao_monitor_head;
662 #define AO_MONITORING_OFF 0
663 #define AO_MONITORING_ORIG 1
666 ao_monitor_set(uint8_t monitoring);
669 ao_monitor_disable(void);
672 ao_monitor_enable(void);
675 ao_monitor_init(void) __reentrant;
683 #define AO_READ_AGAIN (-1)
686 int (*_pollchar)(void); /* Called with interrupts blocked */
687 void (*putchar)(char c) __reentrant;
692 extern __xdata struct ao_stdio ao_stdios[];
693 extern __pdata int8_t ao_cur_stdio;
694 extern __pdata int8_t ao_num_stdios;
699 extern __xdata uint8_t ao_stdin_ready;
705 ao_add_stdio(int (*pollchar)(void),
706 void (*putchar)(char) __reentrant,
707 void (*flush)(void)) __reentrant;
714 ao_igniter_drogue = 0,
719 ao_ignite(enum ao_igniter igniter);
721 enum ao_igniter_status {
722 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
723 ao_igniter_ready, /* continuity detected */
724 ao_igniter_active, /* igniter firing */
725 ao_igniter_open, /* open circuit detected */
734 extern __code char * __code ao_igniter_status_names[];
736 extern __xdata struct ao_ignition ao_ignition[2];
738 enum ao_igniter_status
739 ao_igniter_status(enum ao_igniter igniter);
741 extern __pdata uint8_t ao_igniter_present;
744 ao_ignite_set_pins(void);
747 ao_igniter_init(void);
752 #include <ao_config.h>
760 * Set this to force the frequency to 434.550MHz
762 extern __xdata uint8_t ao_force_freq;
771 ao_rssi_set(int16_t rssi_value);
774 ao_rssi_init(AO_LED_TYPE rssi_led);
780 * values which need to be defined for
781 * each instance of a product
784 extern const char ao_version[];
785 extern const char ao_manufacturer[];
786 extern const char ao_product[];
792 #define AO_FIFO_SIZE 32
797 char fifo[AO_FIFO_SIZE];
800 #define ao_fifo_insert(f,c) do { \
801 (f).fifo[(f).insert] = (c); \
802 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
805 #define ao_fifo_remove(f,c) do {\
806 c = (f).fifo[(f).remove]; \
807 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
810 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
811 #define ao_fifo_empty(f) ((f).insert == (f).remove)
813 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
814 #include <ao_packet.h>
822 #include <ao_companion.h>
835 struct ao_launch_command {
843 #define AO_LAUNCH_QUERY 1
845 struct ao_launch_query {
851 uint8_t igniter_status;
854 #define AO_LAUNCH_ARM 2
855 #define AO_LAUNCH_FIRE 3
858 ao_launch_init(void);
864 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
865 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
867 #define AO_LOG_TELESCIENCE_NUM_ADC 12
869 struct ao_log_telescience {
876 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
879 #define AO_LOG_SINGLE_SIZE 32
881 union ao_log_single {
882 struct ao_log_telescience telescience;
883 union ao_telemetry_all telemetry;
884 uint8_t bytes[AO_LOG_SINGLE_SIZE];
887 extern __xdata union ao_log_single ao_log_single_write_data;
888 extern __xdata union ao_log_single ao_log_single_read_data;
891 ao_log_single_extra_query(void);
894 ao_log_single_list(void);
897 ao_log_single_main(void);
900 ao_log_single_write(void);
903 ao_log_single_read(uint32_t pos);
906 ao_log_single_start(void);
909 ao_log_single_stop(void);
912 ao_log_single_restart(void);
915 ao_log_single_set(void);
918 ao_log_single_delete(void);
921 ao_log_single_init(void);
930 #define AO_TELEPYRO_NUM_ADC 9
933 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
934 #define ao_xmemset(d,v,c) memset(d,v,c)
935 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
943 ao_terraui_init(void);
951 ao_battery_isr(void) ao_arch_interrupt(1);
954 ao_battery_get(void);
957 ao_battery_init(void);
958 #endif /* BATTERY_PIN */
965 ao_sqrt(uint32_t op);
971 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
977 void ao_ms5607_init(void);
979 #include <ao_arch_funcs.h>