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.
30 /* replace stdio macros with direct calls to our functions */
33 #define putchar(c) ao_putchar(c)
34 #define getchar ao_getchar
36 extern int ao_putchar(char c);
37 extern char ao_getchar(void);
43 typedef AO_PORT_TYPE ao_port_t;
48 #include <ao_notask.h>
55 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
56 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
57 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
58 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
59 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
60 #define AO_PANIC_CMD 6 /* Too many command sets registered */
61 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
62 #define AO_PANIC_REBOOT 8 /* Reboot failed */
63 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
64 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
65 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
66 #define AO_PANIC_STACK 12 /* Stack overflow */
67 #define AO_PANIC_SPI 13 /* SPI communication failure */
68 #define AO_PANIC_CRASH 14 /* Processor crashed */
69 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
70 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
71 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
72 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
73 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
74 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
75 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
76 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
77 #define AO_PANIC_SELF_TEST_MPU9250 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 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 /* Initialize the timer */
118 /* Initialize the hardware clock. Must be called first */
122 #if AO_POWER_MANAGEMENT
123 /* Go to low power clock */
125 ao_clock_suspend(void);
127 /* Restart full-speed clock */
129 ao_clock_resume(void);
138 ao_mutex_try(uint8_t *ao_mutex, uint8_t task_id);
141 ao_mutex_get(uint8_t *ao_mutex);
144 ao_mutex_put(uint8_t *ao_mutex);
153 ao_cmd_lex_error = 1,
154 ao_cmd_syntax_error = 2,
157 extern char ao_cmd_lex_c;
158 extern enum ao_cmd_status ao_cmd_status;
161 ao_put_string(const char *s);
164 ao_cmd_readline(const char *prompt);
170 ao_cmd_put8(uint8_t v);
173 ao_cmd_put16(uint16_t v);
176 ao_cmd_is_white(void);
182 ao_cmd_hexchar(char c);
185 ao_cmd_hexbyte(void);
191 ao_cmd_decimal(void);
193 /* Read a single hex nibble off stdin. */
198 ao_match_word(const char *word);
206 ao_cmd_register(const struct ao_cmds *cmds);
216 * Provided by an external module to filter raw command lines
242 #include <ao_storage.h>
250 #include <ao_flight.h>
251 #include <ao_sample.h>
258 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
259 #define AO_RDF_LENGTH_MS 500
260 #define AO_RDF_CONTINUITY_MS 32
261 #define AO_RDF_CONTINUITY_PAUSE 96
262 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
264 /* This assumes that we're generating a 1kHz tone, which
265 * modulates the carrier at 2kbps, or 250kBps
267 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
269 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
270 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
271 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
272 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
274 /* returns a value 0-3 to indicate igniter continuity */
276 ao_report_igniter(void);
279 ao_report_init(void);
284 * Given raw data, convert to SI units
288 /* pressure from the sensor to altitude in meters */
290 ao_pres_to_altitude(pres_t pres);
293 ao_altitude_to_pres(alt_t alt);
296 ao_temp_to_dC(int16_t temp);
302 * Convert between pressure in Pa and altitude in meters
309 ao_pa_to_altitude(pres_t pa);
312 ao_altitude_to_pa(alt_t alt);
319 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
320 #include <ao_serial.h>
326 * Convert ADC readings to decivolts
330 ao_battery_decivolt(int16_t adc);
333 ao_ignite_decivolt(int16_t adc);
340 ao_spi_slave_recv(void *buf, uint16_t len);
343 ao_spi_slave_send(void *buf, uint16_t len);
346 ao_spi_slave_init(void);
348 /* This must be defined by the product; it will get called when chip
349 * select goes low, at which point it should use ao_spi_read and
350 * ao_spi_write to deal with the request
356 #include <ao_telemetry.h>
361 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
362 #define AO_GPS_NUM_SAT_SHIFT (0)
364 #define AO_GPS_VALID (1 << 4)
365 #define AO_GPS_RUNNING (1 << 5)
366 #define AO_GPS_DATE_VALID (1 << 6)
367 #define AO_GPS_COURSE_VALID (1 << 7)
369 #define AO_GPS_NEW_DATA 1
370 #define AO_GPS_NEW_TRACKING 2
372 extern uint8_t ao_gps_new;
373 extern uint16_t ao_gps_tick;
374 extern uint8_t ao_gps_mutex;
375 extern struct ao_telemetry_location ao_gps_data;
376 extern struct ao_telemetry_satellite ao_gps_tracking_data;
386 int32_t latitude; /* degrees * 10⁷ */
387 int32_t longitude; /* degrees * 10⁷ */
388 int16_t altitude; /* m */
389 uint16_t ground_speed; /* cm/s */
390 uint8_t course; /* degrees / 2 */
391 uint8_t hdop; /* * 5 */
392 int16_t climb_rate; /* cm/s */
393 uint16_t h_error; /* m */
394 uint16_t v_error; /* m */
397 struct ao_gps_sat_orig {
402 #define AO_MAX_GPS_TRACKING 12
404 struct ao_gps_tracking_orig {
406 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
410 ao_gps_set_rate(uint8_t rate);
416 ao_gps_print(struct ao_gps_orig *gps_data);
419 ao_gps_tracking_print(struct ao_gps_tracking_orig *gps_tracking_data);
435 ao_gps_report_init(void);
438 * ao_gps_report_mega.c
442 ao_gps_report_mega(void);
445 ao_gps_report_mega_init(void);
448 * ao_telemetry_orig.c
453 uint16_t tick; /* tick when the sample was read */
454 int16_t accel; /* accelerometer */
455 int16_t pres; /* pressure sensor */
456 int16_t temp; /* temperature sensor */
457 int16_t v_batt; /* battery voltage */
458 int16_t sense_d; /* drogue continuity sense */
459 int16_t sense_m; /* main continuity sense */
462 struct ao_telemetry_orig {
465 uint8_t flight_state;
467 int16_t ground_accel;
477 int16_t accel_plus_g;
478 int16_t accel_minus_g;
479 struct ao_adc_orig adc;
480 struct ao_gps_orig gps;
481 char callsign[AO_MAX_CALLSIGN];
482 struct ao_gps_tracking_orig gps_tracking;
485 struct ao_telemetry_tiny {
488 uint8_t flight_state;
489 int16_t height; /* AGL in meters */
490 int16_t speed; /* in m/s * 16 */
491 int16_t accel; /* in m/s² * 16 */
492 int16_t ground_pres; /* sensor units */
493 struct ao_adc adc; /* raw ADC readings */
494 char callsign[AO_MAX_CALLSIGN];
497 struct ao_telemetry_orig_recv {
498 struct ao_telemetry_orig telemetry_orig;
503 struct ao_telemetry_tiny_recv {
504 struct ao_telemetry_tiny telemetry_tiny;
509 #endif /* LEGACY_MONITOR */
511 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
512 * for reporting RSSI. So, now we use these values everywhere
514 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
515 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
518 * ao_radio_recv tacks on rssi and status bytes
521 struct ao_telemetry_raw_recv {
522 uint8_t packet[AO_MAX_TELEMETRY + 2];
525 /* Set delay between telemetry reports (0 to disable) */
527 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
528 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
529 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
532 ao_telemetry_reset_interval(void);
535 ao_telemetry_set_interval(uint16_t interval);
538 ao_rdf_set(uint8_t rdf);
541 ao_telemetry_init(void);
544 ao_telemetry_orig_init(void);
547 ao_telemetry_tiny_init(void);
553 extern uint8_t ao_radio_dma;
555 extern int8_t ao_radio_rssi;
557 #ifdef PKT_APPEND_STATUS_1_CRC_OK
558 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
561 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
564 #ifndef HAS_RADIO_RECV
565 #define HAS_RADIO_RECV HAS_RADIO
567 #ifndef HAS_RADIO_XMIT
568 #define HAS_RADIO_XMIT HAS_RADIO
571 #define AO_RADIO_RATE_38400 0
572 #define AO_RADIO_RATE_9600 1
573 #define AO_RADIO_RATE_2400 2
574 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
576 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
577 #define HAS_RADIO_RATE HAS_RADIO
582 ao_radio_send(const void *d, uint8_t size);
587 ao_radio_recv(void *d, uint8_t size, uint8_t timeout);
590 ao_radio_recv_abort(void);
594 ao_radio_test(uint8_t on);
596 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
599 ao_radio_send_aprs(ao_radio_fill_func fill);
607 ao_radio_pa_on(void);
610 ao_radio_pa_off(void);
613 ao_radio_pa_init(void);
615 #define ao_radio_pa_on()
616 #define ao_radio_pa_off()
617 #define ao_radio_pa_init()
621 * Compute the packet length as follows:
623 * 2000 bps (for a 1kHz tone)
624 * so, for 'ms' milliseconds, we need
625 * 2 * ms bits, or ms / 4 bytes
632 ao_radio_continuity(uint8_t c);
635 ao_radio_rdf_abort(void);
638 ao_radio_test_on(void);
641 ao_radio_test_off(void);
652 extern const char * const ao_state_names[];
654 #define AO_MONITOR_RING 8
657 struct ao_telemetry_raw_recv raw;
658 struct ao_telemetry_all_recv all;
660 struct ao_telemetry_orig_recv orig;
661 struct ao_telemetry_tiny_recv tiny;
665 extern union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
667 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
668 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
670 extern uint8_t ao_monitoring_mutex;
671 extern uint8_t ao_monitoring;
672 extern uint8_t ao_monitor_head;
677 #define AO_MONITORING_OFF 0
678 #define AO_MONITORING_ORIG 1
681 ao_monitor_set(uint8_t monitoring);
684 ao_monitor_disable(void);
687 ao_monitor_enable(void);
690 ao_monitor_init(void);
698 #define AO_READ_AGAIN (-1)
701 int (*_pollchar)(void); /* Called with interrupts blocked */
702 void (*putchar)(char c);
707 extern struct ao_stdio ao_stdios[];
708 extern int8_t ao_cur_stdio;
709 extern int8_t ao_num_stdios;
714 extern uint8_t ao_stdin_ready;
720 ao_add_stdio(int (*pollchar)(void),
721 void (*putchar)(char) ,
722 void (*flush)(void));
729 ao_igniter_drogue = 0,
734 ao_ignite(enum ao_igniter igniter);
736 enum ao_igniter_status {
737 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
738 ao_igniter_ready, /* continuity detected */
739 ao_igniter_active, /* igniter firing */
740 ao_igniter_open, /* open circuit detected */
749 extern const char * const ao_igniter_status_names[];
751 extern struct ao_ignition ao_ignition[2];
753 enum ao_igniter_status
754 ao_igniter_status(enum ao_igniter igniter);
756 extern uint8_t ao_igniter_present;
759 ao_ignite_set_pins(void);
762 ao_igniter_init(void);
767 #include <ao_config.h>
775 * Set this to force the frequency to 434.550MHz
777 extern uint8_t ao_force_freq;
786 ao_rssi_set(int16_t rssi_value);
789 ao_rssi_init(AO_LED_TYPE rssi_led);
795 * values which need to be defined for
796 * each instance of a product
799 extern const char ao_version[];
800 extern const char ao_manufacturer[];
801 extern const char ao_product[];
807 #define AO_FIFO_SIZE 32
812 char fifo[AO_FIFO_SIZE];
815 #define ao_fifo_insert(f,c) do { \
816 (f).fifo[(f).insert] = (c); \
817 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
820 #define ao_fifo_remove(f,c) do {\
821 c = (f).fifo[(f).remove]; \
822 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
825 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
826 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
827 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
828 #define ao_fifo_empty(f) ((f).insert == (f).remove)
830 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
831 #include <ao_packet.h>
839 #include <ao_companion.h>
854 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
855 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
857 #define AO_LOG_TELESCIENCE_NUM_ADC 12
859 struct ao_log_telescience {
866 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
869 #define AO_LOG_SINGLE_SIZE 32
871 union ao_log_single {
872 struct ao_log_telescience telescience;
873 union ao_telemetry_all telemetry;
874 uint8_t bytes[AO_LOG_SINGLE_SIZE];
877 extern union ao_log_single ao_log_single_write_data;
878 extern union ao_log_single ao_log_single_read_data;
881 ao_log_single_extra_query(void);
884 ao_log_single_list(void);
887 ao_log_single_main(void);
890 ao_log_single_write(void);
893 ao_log_single_read(uint32_t pos);
896 ao_log_single_start(void);
899 ao_log_single_stop(void);
902 ao_log_single_restart(void);
905 ao_log_single_set(void);
908 ao_log_single_delete(void);
911 ao_log_single_init(void);
920 #define AO_TELEPYRO_NUM_ADC 9
923 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
924 #define ao_xmemset(d,v,c) memset(d,v,c)
925 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
933 ao_terraui_init(void);
941 ao_battery_get(void);
944 ao_battery_init(void);
945 #endif /* BATTERY_PIN */
952 ao_sqrt(uint32_t op);
958 int32_t ao_freq_to_set(int32_t freq, int32_t cal);
964 void ao_ms5607_init(void);
966 #include <ao_arch_funcs.h>