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 */
127 #if AO_POWER_MANAGEMENT
128 /* Go to low power clock */
130 ao_clock_suspend(void);
132 /* Restart full-speed clock */
134 ao_clock_resume(void);
143 ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant;
146 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
149 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
158 ao_cmd_lex_error = 1,
159 ao_cmd_syntax_error = 2,
162 extern __pdata uint16_t ao_cmd_lex_i;
163 extern __pdata uint32_t ao_cmd_lex_u32;
164 extern __pdata char ao_cmd_lex_c;
165 extern __pdata enum ao_cmd_status ao_cmd_status;
168 ao_put_string(__code char *s);
174 ao_cmd_put8(uint8_t v);
177 ao_cmd_put16(uint16_t v);
180 ao_cmd_is_white(void);
186 ao_cmd_hexchar(char c);
189 ao_cmd_hexbyte(void);
195 ao_cmd_decimal(void) __reentrant;
197 /* Read a single hex nibble off stdin. */
202 ao_match_word(__code char *word);
210 ao_cmd_register(const __code struct ao_cmds *cmds);
217 * Provided by an external module to filter raw command lines
243 #include <ao_storage.h>
251 #include <ao_flight.h>
252 #include <ao_sample.h>
259 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
260 #define AO_RDF_LENGTH_MS 500
261 #define AO_RDF_CONTINUITY_MS 32
262 #define AO_RDF_CONTINUITY_PAUSE 96
263 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
265 /* This assumes that we're generating a 1kHz tone, which
266 * modulates the carrier at 2kbps, or 250kBps
268 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
270 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
271 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
272 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
273 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
275 /* returns a value 0-3 to indicate igniter continuity */
277 ao_report_igniter(void);
280 ao_report_init(void);
285 * Given raw data, convert to SI units
289 /* pressure from the sensor to altitude in meters */
291 ao_pres_to_altitude(pres_t pres) __reentrant;
294 ao_altitude_to_pres(alt_t alt) __reentrant;
297 ao_temp_to_dC(int16_t temp) __reentrant;
303 * Convert between pressure in Pa and altitude in meters
310 ao_pa_to_altitude(pres_t pa);
313 ao_altitude_to_pa(alt_t alt);
320 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
321 #include <ao_serial.h>
327 * Convert ADC readings to decivolts
331 ao_battery_decivolt(int16_t adc);
334 ao_ignite_decivolt(int16_t adc);
341 ao_spi_slave_recv(void *buf, uint16_t len);
344 ao_spi_slave_send(void *buf, uint16_t len);
347 ao_spi_slave_init(void);
349 /* This must be defined by the product; it will get called when chip
350 * select goes low, at which point it should use ao_spi_read and
351 * ao_spi_write to deal with the request
357 #include <ao_telemetry.h>
362 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
363 #define AO_GPS_NUM_SAT_SHIFT (0)
365 #define AO_GPS_VALID (1 << 4)
366 #define AO_GPS_RUNNING (1 << 5)
367 #define AO_GPS_DATE_VALID (1 << 6)
368 #define AO_GPS_COURSE_VALID (1 << 7)
370 #define AO_GPS_NEW_DATA 1
371 #define AO_GPS_NEW_TRACKING 2
373 extern __xdata uint8_t ao_gps_new;
374 extern __pdata uint16_t ao_gps_tick;
375 extern __xdata uint8_t ao_gps_mutex;
376 extern __xdata struct ao_telemetry_location ao_gps_data;
377 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
387 int32_t latitude; /* degrees * 10⁷ */
388 int32_t longitude; /* degrees * 10⁷ */
389 int16_t altitude; /* m */
390 uint16_t ground_speed; /* cm/s */
391 uint8_t course; /* degrees / 2 */
392 uint8_t hdop; /* * 5 */
393 int16_t climb_rate; /* cm/s */
394 uint16_t h_error; /* m */
395 uint16_t v_error; /* m */
398 struct ao_gps_sat_orig {
403 #define AO_MAX_GPS_TRACKING 12
405 struct ao_gps_tracking_orig {
407 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
411 ao_gps_set_rate(uint8_t rate);
417 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
420 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
423 ao_gps_show(void) __reentrant;
436 ao_gps_report_init(void);
439 * ao_gps_report_mega.c
443 ao_gps_report_mega(void);
446 ao_gps_report_mega_init(void);
449 * ao_telemetry_orig.c
454 uint16_t tick; /* tick when the sample was read */
455 int16_t accel; /* accelerometer */
456 int16_t pres; /* pressure sensor */
457 int16_t temp; /* temperature sensor */
458 int16_t v_batt; /* battery voltage */
459 int16_t sense_d; /* drogue continuity sense */
460 int16_t sense_m; /* main continuity sense */
463 struct ao_telemetry_orig {
466 uint8_t flight_state;
468 int16_t ground_accel;
478 int16_t accel_plus_g;
479 int16_t accel_minus_g;
480 struct ao_adc_orig adc;
481 struct ao_gps_orig gps;
482 char callsign[AO_MAX_CALLSIGN];
483 struct ao_gps_tracking_orig gps_tracking;
486 struct ao_telemetry_tiny {
489 uint8_t flight_state;
490 int16_t height; /* AGL in meters */
491 int16_t speed; /* in m/s * 16 */
492 int16_t accel; /* in m/s² * 16 */
493 int16_t ground_pres; /* sensor units */
494 struct ao_adc adc; /* raw ADC readings */
495 char callsign[AO_MAX_CALLSIGN];
498 struct ao_telemetry_orig_recv {
499 struct ao_telemetry_orig telemetry_orig;
504 struct ao_telemetry_tiny_recv {
505 struct ao_telemetry_tiny telemetry_tiny;
510 #endif /* LEGACY_MONITOR */
512 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
513 * for reporting RSSI. So, now we use these values everywhere
515 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
516 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
519 * ao_radio_recv tacks on rssi and status bytes
522 struct ao_telemetry_raw_recv {
523 uint8_t packet[AO_MAX_TELEMETRY + 2];
526 /* Set delay between telemetry reports (0 to disable) */
528 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
529 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
530 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
533 ao_telemetry_reset_interval(void);
536 ao_telemetry_set_interval(uint16_t interval);
539 ao_rdf_set(uint8_t rdf);
542 ao_telemetry_init(void);
545 ao_telemetry_orig_init(void);
548 ao_telemetry_tiny_init(void);
554 extern __xdata uint8_t ao_radio_dma;
556 extern __xdata int8_t ao_radio_rssi;
558 #ifdef PKT_APPEND_STATUS_1_CRC_OK
559 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
562 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
565 #ifndef HAS_RADIO_RECV
566 #define HAS_RADIO_RECV HAS_RADIO
568 #ifndef HAS_RADIO_XMIT
569 #define HAS_RADIO_XMIT HAS_RADIO
572 #define AO_RADIO_RATE_38400 0
573 #define AO_RADIO_RATE_9600 1
574 #define AO_RADIO_RATE_2400 2
575 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
577 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
578 #define HAS_RADIO_RATE HAS_RADIO
582 ao_radio_general_isr(void) ao_arch_interrupt(16);
586 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
591 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
594 ao_radio_recv_abort(void);
598 ao_radio_test(uint8_t on);
600 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
603 ao_radio_send_aprs(ao_radio_fill_func fill);
611 ao_radio_pa_on(void);
614 ao_radio_pa_off(void);
617 ao_radio_pa_init(void);
619 #define ao_radio_pa_on()
620 #define ao_radio_pa_off()
621 #define ao_radio_pa_init()
625 * Compute the packet length as follows:
627 * 2000 bps (for a 1kHz tone)
628 * so, for 'ms' milliseconds, we need
629 * 2 * ms bits, or ms / 4 bytes
636 ao_radio_continuity(uint8_t c);
639 ao_radio_rdf_abort(void);
650 extern const char const * const ao_state_names[];
652 #define AO_MONITOR_RING 8
655 struct ao_telemetry_raw_recv raw;
656 struct ao_telemetry_all_recv all;
658 struct ao_telemetry_orig_recv orig;
659 struct ao_telemetry_tiny_recv tiny;
663 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
665 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
666 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
668 extern __data uint8_t ao_monitoring;
669 extern __data uint8_t ao_monitor_head;
674 #define AO_MONITORING_OFF 0
675 #define AO_MONITORING_ORIG 1
678 ao_monitor_set(uint8_t monitoring);
681 ao_monitor_disable(void);
684 ao_monitor_enable(void);
687 ao_monitor_init(void) __reentrant;
695 #define AO_READ_AGAIN (-1)
698 int (*_pollchar)(void); /* Called with interrupts blocked */
699 void (*putchar)(char c) __reentrant;
704 extern __xdata struct ao_stdio ao_stdios[];
705 extern __pdata int8_t ao_cur_stdio;
706 extern __pdata int8_t ao_num_stdios;
711 extern __xdata uint8_t ao_stdin_ready;
717 ao_add_stdio(int (*pollchar)(void),
718 void (*putchar)(char) __reentrant,
719 void (*flush)(void)) __reentrant;
726 ao_igniter_drogue = 0,
731 ao_ignite(enum ao_igniter igniter);
733 enum ao_igniter_status {
734 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
735 ao_igniter_ready, /* continuity detected */
736 ao_igniter_active, /* igniter firing */
737 ao_igniter_open, /* open circuit detected */
746 extern __code char * __code ao_igniter_status_names[];
748 extern __xdata struct ao_ignition ao_ignition[2];
750 enum ao_igniter_status
751 ao_igniter_status(enum ao_igniter igniter);
753 extern __pdata uint8_t ao_igniter_present;
756 ao_ignite_set_pins(void);
759 ao_igniter_init(void);
764 #include <ao_config.h>
772 * Set this to force the frequency to 434.550MHz
774 extern __xdata uint8_t ao_force_freq;
783 ao_rssi_set(int16_t rssi_value);
786 ao_rssi_init(AO_LED_TYPE rssi_led);
792 * values which need to be defined for
793 * each instance of a product
796 extern const char ao_version[];
797 extern const char ao_manufacturer[];
798 extern const char ao_product[];
804 #define AO_FIFO_SIZE 32
809 char fifo[AO_FIFO_SIZE];
812 #define ao_fifo_insert(f,c) do { \
813 (f).fifo[(f).insert] = (c); \
814 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
817 #define ao_fifo_remove(f,c) do {\
818 c = (f).fifo[(f).remove]; \
819 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
822 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
823 #define ao_fifo_empty(f) ((f).insert == (f).remove)
825 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
826 #include <ao_packet.h>
834 #include <ao_companion.h>
847 struct ao_launch_command {
855 #define AO_LAUNCH_QUERY 1
857 struct ao_launch_query {
863 uint8_t igniter_status;
866 #define AO_LAUNCH_ARM 2
867 #define AO_LAUNCH_FIRE 3
870 ao_launch_init(void);
876 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
877 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
879 #define AO_LOG_TELESCIENCE_NUM_ADC 12
881 struct ao_log_telescience {
888 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
891 #define AO_LOG_SINGLE_SIZE 32
893 union ao_log_single {
894 struct ao_log_telescience telescience;
895 union ao_telemetry_all telemetry;
896 uint8_t bytes[AO_LOG_SINGLE_SIZE];
899 extern __xdata union ao_log_single ao_log_single_write_data;
900 extern __xdata union ao_log_single ao_log_single_read_data;
903 ao_log_single_extra_query(void);
906 ao_log_single_list(void);
909 ao_log_single_main(void);
912 ao_log_single_write(void);
915 ao_log_single_read(uint32_t pos);
918 ao_log_single_start(void);
921 ao_log_single_stop(void);
924 ao_log_single_restart(void);
927 ao_log_single_set(void);
930 ao_log_single_delete(void);
933 ao_log_single_init(void);
942 #define AO_TELEPYRO_NUM_ADC 9
945 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
946 #define ao_xmemset(d,v,c) memset(d,v,c)
947 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
955 ao_terraui_init(void);
963 ao_battery_isr(void) ao_arch_interrupt(1);
966 ao_battery_get(void);
969 ao_battery_init(void);
970 #endif /* BATTERY_PIN */
977 ao_sqrt(uint32_t op);
983 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
989 void ao_ms5607_init(void);
991 #include <ao_arch_funcs.h>