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_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
77 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
78 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
79 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
81 /* Stop the operating system, beeping and blinking the reason */
83 ao_panic(uint8_t reason);
90 #define AO_TICK_TYPE uint16_t
91 #define AO_TICK_SIGNED int16_t
94 extern volatile __data AO_TICK_TYPE ao_tick_count;
96 /* Our timer runs at 100Hz */
100 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
101 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
103 /* Returns the current time in ticks */
107 /* Suspend the current task until ticks time has passed */
109 ao_delay(uint16_t ticks);
111 /* Set the ADC interval */
113 ao_timer_set_adc_interval(uint8_t interval);
115 /* Timer interrupt */
117 ao_timer_isr(void) ao_arch_interrupt(9);
119 /* Initialize the timer */
123 /* Initialize the hardware clock. Must be called first */
133 ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant;
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
279 /* pressure from the sensor to altitude in meters */
281 ao_pres_to_altitude(pres_t pres) __reentrant;
284 ao_altitude_to_pres(alt_t alt) __reentrant;
287 ao_temp_to_dC(int16_t temp) __reentrant;
293 * Convert between pressure in Pa and altitude in meters
300 ao_pa_to_altitude(pres_t pa);
303 ao_altitude_to_pa(alt_t alt);
310 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
311 #include <ao_serial.h>
317 * Convert ADC readings to decivolts
321 ao_battery_decivolt(int16_t adc);
324 ao_ignite_decivolt(int16_t adc);
331 ao_spi_slave_recv(void *buf, uint16_t len);
334 ao_spi_slave_send(void *buf, uint16_t len);
337 ao_spi_slave_init(void);
339 /* This must be defined by the product; it will get called when chip
340 * select goes low, at which point it should use ao_spi_read and
341 * ao_spi_write to deal with the request
347 #include <ao_telemetry.h>
352 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
353 #define AO_GPS_NUM_SAT_SHIFT (0)
355 #define AO_GPS_VALID (1 << 4)
356 #define AO_GPS_RUNNING (1 << 5)
357 #define AO_GPS_DATE_VALID (1 << 6)
358 #define AO_GPS_COURSE_VALID (1 << 7)
360 #define AO_GPS_NEW_DATA 1
361 #define AO_GPS_NEW_TRACKING 2
363 extern __xdata uint8_t ao_gps_new;
364 extern __pdata uint16_t ao_gps_tick;
365 extern __xdata uint8_t ao_gps_mutex;
366 extern __xdata struct ao_telemetry_location ao_gps_data;
367 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
377 int32_t latitude; /* degrees * 10⁷ */
378 int32_t longitude; /* degrees * 10⁷ */
379 int16_t altitude; /* m */
380 uint16_t ground_speed; /* cm/s */
381 uint8_t course; /* degrees / 2 */
382 uint8_t hdop; /* * 5 */
383 int16_t climb_rate; /* cm/s */
384 uint16_t h_error; /* m */
385 uint16_t v_error; /* m */
388 struct ao_gps_sat_orig {
393 #define AO_MAX_GPS_TRACKING 12
395 struct ao_gps_tracking_orig {
397 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
401 ao_gps_set_rate(uint8_t rate);
407 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
410 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
413 ao_gps_show(void) __reentrant;
426 ao_gps_report_init(void);
429 * ao_gps_report_mega.c
433 ao_gps_report_mega(void);
436 ao_gps_report_mega_init(void);
439 * ao_telemetry_orig.c
444 uint16_t tick; /* tick when the sample was read */
445 int16_t accel; /* accelerometer */
446 int16_t pres; /* pressure sensor */
447 int16_t temp; /* temperature sensor */
448 int16_t v_batt; /* battery voltage */
449 int16_t sense_d; /* drogue continuity sense */
450 int16_t sense_m; /* main continuity sense */
453 struct ao_telemetry_orig {
456 uint8_t flight_state;
458 int16_t ground_accel;
468 int16_t accel_plus_g;
469 int16_t accel_minus_g;
470 struct ao_adc_orig adc;
471 struct ao_gps_orig gps;
472 char callsign[AO_MAX_CALLSIGN];
473 struct ao_gps_tracking_orig gps_tracking;
476 struct ao_telemetry_tiny {
479 uint8_t flight_state;
480 int16_t height; /* AGL in meters */
481 int16_t speed; /* in m/s * 16 */
482 int16_t accel; /* in m/s² * 16 */
483 int16_t ground_pres; /* sensor units */
484 struct ao_adc adc; /* raw ADC readings */
485 char callsign[AO_MAX_CALLSIGN];
488 struct ao_telemetry_orig_recv {
489 struct ao_telemetry_orig telemetry_orig;
494 struct ao_telemetry_tiny_recv {
495 struct ao_telemetry_tiny telemetry_tiny;
500 #endif /* LEGACY_MONITOR */
502 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
503 * for reporting RSSI. So, now we use these values everywhere
505 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
506 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
509 * ao_radio_recv tacks on rssi and status bytes
512 struct ao_telemetry_raw_recv {
513 uint8_t packet[AO_MAX_TELEMETRY + 2];
516 /* Set delay between telemetry reports (0 to disable) */
518 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
519 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
520 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
523 ao_telemetry_reset_interval(void);
526 ao_telemetry_set_interval(uint16_t interval);
529 ao_rdf_set(uint8_t rdf);
532 ao_telemetry_init(void);
535 ao_telemetry_orig_init(void);
538 ao_telemetry_tiny_init(void);
544 extern __xdata uint8_t ao_radio_dma;
546 extern __xdata int8_t ao_radio_rssi;
548 #ifdef PKT_APPEND_STATUS_1_CRC_OK
549 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
552 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
555 #ifndef HAS_RADIO_RECV
556 #define HAS_RADIO_RECV HAS_RADIO
558 #ifndef HAS_RADIO_XMIT
559 #define HAS_RADIO_XMIT HAS_RADIO
562 #define AO_RADIO_RATE_38400 0
563 #define AO_RADIO_RATE_9600 1
564 #define AO_RADIO_RATE_2400 2
565 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
567 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
568 #define HAS_RADIO_RATE HAS_RADIO
572 ao_radio_general_isr(void) ao_arch_interrupt(16);
576 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
581 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
584 ao_radio_recv_abort(void);
588 ao_radio_test(uint8_t on);
590 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
593 ao_radio_send_aprs(ao_radio_fill_func fill);
601 ao_radio_pa_on(void);
604 ao_radio_pa_off(void);
607 ao_radio_pa_init(void);
609 #define ao_radio_pa_on()
610 #define ao_radio_pa_off()
611 #define ao_radio_pa_init()
615 * Compute the packet length as follows:
617 * 2000 bps (for a 1kHz tone)
618 * so, for 'ms' milliseconds, we need
619 * 2 * ms bits, or ms / 4 bytes
626 ao_radio_continuity(uint8_t c);
629 ao_radio_rdf_abort(void);
640 extern const char const * const ao_state_names[];
642 #define AO_MONITOR_RING 8
645 struct ao_telemetry_raw_recv raw;
646 struct ao_telemetry_all_recv all;
648 struct ao_telemetry_orig_recv orig;
649 struct ao_telemetry_tiny_recv tiny;
653 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
655 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
656 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
658 extern __data uint8_t ao_monitoring;
659 extern __data uint8_t ao_monitor_head;
664 #define AO_MONITORING_OFF 0
665 #define AO_MONITORING_ORIG 1
668 ao_monitor_set(uint8_t monitoring);
671 ao_monitor_disable(void);
674 ao_monitor_enable(void);
677 ao_monitor_init(void) __reentrant;
685 #define AO_READ_AGAIN (-1)
688 int (*_pollchar)(void); /* Called with interrupts blocked */
689 void (*putchar)(char c) __reentrant;
694 extern __xdata struct ao_stdio ao_stdios[];
695 extern __pdata int8_t ao_cur_stdio;
696 extern __pdata int8_t ao_num_stdios;
701 extern __xdata uint8_t ao_stdin_ready;
707 ao_add_stdio(int (*pollchar)(void),
708 void (*putchar)(char) __reentrant,
709 void (*flush)(void)) __reentrant;
716 ao_igniter_drogue = 0,
721 ao_ignite(enum ao_igniter igniter);
723 enum ao_igniter_status {
724 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
725 ao_igniter_ready, /* continuity detected */
726 ao_igniter_active, /* igniter firing */
727 ao_igniter_open, /* open circuit detected */
736 extern __code char * __code ao_igniter_status_names[];
738 extern __xdata struct ao_ignition ao_ignition[2];
740 enum ao_igniter_status
741 ao_igniter_status(enum ao_igniter igniter);
743 extern __pdata uint8_t ao_igniter_present;
746 ao_ignite_set_pins(void);
749 ao_igniter_init(void);
754 #include <ao_config.h>
762 * Set this to force the frequency to 434.550MHz
764 extern __xdata uint8_t ao_force_freq;
773 ao_rssi_set(int16_t rssi_value);
776 ao_rssi_init(AO_LED_TYPE rssi_led);
782 * values which need to be defined for
783 * each instance of a product
786 extern const char ao_version[];
787 extern const char ao_manufacturer[];
788 extern const char ao_product[];
794 #define AO_FIFO_SIZE 32
799 char fifo[AO_FIFO_SIZE];
802 #define ao_fifo_insert(f,c) do { \
803 (f).fifo[(f).insert] = (c); \
804 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
807 #define ao_fifo_remove(f,c) do {\
808 c = (f).fifo[(f).remove]; \
809 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
812 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
813 #define ao_fifo_empty(f) ((f).insert == (f).remove)
815 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
816 #include <ao_packet.h>
824 #include <ao_companion.h>
837 struct ao_launch_command {
845 #define AO_LAUNCH_QUERY 1
847 struct ao_launch_query {
853 uint8_t igniter_status;
856 #define AO_LAUNCH_ARM 2
857 #define AO_LAUNCH_FIRE 3
860 ao_launch_init(void);
866 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
867 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
869 #define AO_LOG_TELESCIENCE_NUM_ADC 12
871 struct ao_log_telescience {
878 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
881 #define AO_LOG_SINGLE_SIZE 32
883 union ao_log_single {
884 struct ao_log_telescience telescience;
885 union ao_telemetry_all telemetry;
886 uint8_t bytes[AO_LOG_SINGLE_SIZE];
889 extern __xdata union ao_log_single ao_log_single_write_data;
890 extern __xdata union ao_log_single ao_log_single_read_data;
893 ao_log_single_extra_query(void);
896 ao_log_single_list(void);
899 ao_log_single_main(void);
902 ao_log_single_write(void);
905 ao_log_single_read(uint32_t pos);
908 ao_log_single_start(void);
911 ao_log_single_stop(void);
914 ao_log_single_restart(void);
917 ao_log_single_set(void);
920 ao_log_single_delete(void);
923 ao_log_single_init(void);
932 #define AO_TELEPYRO_NUM_ADC 9
935 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
936 #define ao_xmemset(d,v,c) memset(d,v,c)
937 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
945 ao_terraui_init(void);
953 ao_battery_isr(void) ao_arch_interrupt(1);
956 ao_battery_get(void);
959 ao_battery_init(void);
960 #endif /* BATTERY_PIN */
967 ao_sqrt(uint32_t op);
973 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
979 void ao_ms5607_init(void);
981 #include <ao_arch_funcs.h>