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);
44 #define AO_GPIO_TYPE void *
47 typedef AO_GPIO_TYPE ao_gpio_t;
48 typedef AO_PORT_TYPE ao_port_t;
51 #define AO_TICK_TYPE uint32_t
52 #define AO_TICK_SIGNED int32_t
58 #include <ao_notask.h>
65 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
66 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
67 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
68 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
69 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
70 #define AO_PANIC_CMD 6 /* Too many command sets registered */
71 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
72 #define AO_PANIC_REBOOT 8 /* Reboot failed */
73 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
74 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
75 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
76 #define AO_PANIC_STACK 12 /* Stack overflow */
77 #define AO_PANIC_SPI 13 /* SPI communication failure */
78 #define AO_PANIC_CRASH 14 /* Processor crashed */
79 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
80 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
81 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
82 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
83 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
84 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
85 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
86 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
87 #define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */
88 #define AO_PANIC_SELF_TEST_BMX160 0x40 | 3 /* Self test failure */
89 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
90 #define AO_PANIC_SELF_TEST_ADS124S0X 0x40 | 5 /* Self test failure */
92 /* Stop the operating system, beeping and blinking the reason */
94 ao_panic(uint8_t reason) __attribute__((noreturn));
100 #define AO_ROMCONFIG_VERSION 2
102 extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_version;
103 extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_check;
104 extern AO_ROMCONFIG_SYMBOL uint16_t ao_serial_number;
106 extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal;
113 extern volatile AO_TICK_TYPE ao_tick_count;
115 /* Our timer runs at 100Hz */
119 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
120 #define AO_SEC_TO_TICKS(s) ((AO_TICK_TYPE) (s) * AO_HERTZ)
121 #define AO_NS_TO_TICKS(ns) ((ns) / (1000000000L / AO_HERTZ))
123 /* Returns the current time in ticks */
127 /* Returns the current time in ns */
131 /* Suspend the current task until ticks time has passed */
133 ao_delay(AO_TICK_TYPE ticks);
135 /* Set the ADC interval */
137 ao_timer_set_adc_interval(uint8_t interval);
139 /* Initialize the timer */
143 /* Initialize the hardware clock. Must be called first */
147 #if AO_POWER_MANAGEMENT
148 /* Go to low power clock */
150 ao_clock_suspend(void);
152 /* Restart full-speed clock */
154 ao_clock_resume(void);
163 ao_mutex_try(uint8_t *ao_mutex, uint8_t task_id);
166 ao_mutex_get(uint8_t *ao_mutex);
169 ao_mutex_put(uint8_t *ao_mutex);
178 ao_cmd_lex_error = 1,
179 ao_cmd_syntax_error = 2,
182 extern char ao_cmd_lex_c;
183 extern enum ao_cmd_status ao_cmd_status;
186 ao_put_string(const char *s);
189 ao_cmd_readline(const char *prompt);
195 ao_cmd_put8(uint8_t v);
198 ao_cmd_put16(uint16_t v);
201 ao_cmd_is_white(void);
207 ao_cmd_hexchar(char c);
210 ao_cmd_hexbyte(void);
216 ao_cmd_decimal(void);
218 /* Read a single hex nibble off stdin. */
223 ao_match_word(const char *word);
231 ao_cmd_register(const struct ao_cmds *cmds);
241 * Provided by an external module to filter raw command lines
258 #if LEDS_AVAILABLE || HAS_LED
267 #include <ao_storage.h>
275 #include <ao_flight.h>
276 #include <ao_sample.h>
283 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
284 #define AO_RDF_LENGTH_MS 500
285 #define AO_RDF_CONTINUITY_MS 32
286 #define AO_RDF_CONTINUITY_PAUSE 96
287 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
289 /* This assumes that we're generating a 1kHz tone, which
290 * modulates the carrier at 2kbps, or 250kBps
292 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
294 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
295 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
296 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
297 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
299 /* returns a value 0-3 to indicate igniter continuity */
301 ao_report_igniter(void);
304 ao_report_init(void);
309 * Given raw data, convert to SI units
313 /* pressure from the sensor to altitude in meters */
315 ao_pres_to_altitude(pres_t pres);
318 ao_altitude_to_pres(alt_t alt);
321 ao_temp_to_dC(int16_t temp);
327 * Convert between pressure in Pa and altitude in meters
334 ao_pa_to_altitude(pres_t pa);
337 ao_altitude_to_pa(alt_t alt);
344 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
345 #include <ao_serial.h>
351 * Convert ADC readings to decivolts
355 ao_battery_decivolt(int16_t adc);
358 ao_ignite_decivolt(int16_t adc);
365 ao_spi_slave_recv(void *buf, uint16_t len);
368 ao_spi_slave_send(void *buf, uint16_t len);
371 ao_spi_slave_init(void);
373 /* This must be defined by the product; it will get called when chip
374 * select goes low, at which point it should use ao_spi_read and
375 * ao_spi_write to deal with the request
381 #include <ao_telemetry.h>
386 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
387 #define AO_GPS_NUM_SAT_SHIFT (0)
389 #define AO_GPS_VALID (1 << 4)
390 #define AO_GPS_RUNNING (1 << 5)
391 #define AO_GPS_DATE_VALID (1 << 6)
392 #define AO_GPS_COURSE_VALID (1 << 7)
394 #define AO_GPS_NEW_DATA 1
395 #define AO_GPS_NEW_TRACKING 2
397 extern uint8_t ao_gps_new;
398 extern AO_TICK_TYPE ao_gps_tick;
399 extern AO_TICK_TYPE ao_gps_utc_tick;
400 extern uint8_t ao_gps_mutex;
401 extern struct ao_telemetry_location ao_gps_data;
402 extern struct ao_telemetry_satellite ao_gps_tracking_data;
412 int32_t latitude; /* degrees * 10⁷ */
413 int32_t longitude; /* degrees * 10⁷ */
414 int16_t altitude; /* m */
415 uint16_t ground_speed; /* cm/s */
416 uint8_t course; /* degrees / 2 */
417 uint8_t hdop; /* * 5 */
418 int16_t climb_rate; /* cm/s */
419 uint16_t h_error; /* m */
420 uint16_t v_error; /* m */
423 struct ao_gps_sat_orig {
428 #define AO_MAX_GPS_TRACKING 12
430 struct ao_gps_tracking_orig {
432 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
436 ao_gps_set_rate(uint8_t rate);
442 ao_gps_print(struct ao_gps_orig *gps_data);
445 ao_gps_tracking_print(struct ao_gps_tracking_orig *gps_tracking_data);
461 ao_gps_report_init(void);
464 * ao_gps_report_mega.c
468 ao_gps_report_mega(void);
471 ao_gps_report_mega_init(void);
474 * ao_telemetry_orig.c
479 uint16_t tick; /* tick when the sample was read */
480 int16_t accel; /* accelerometer */
481 int16_t pres; /* pressure sensor */
482 int16_t temp; /* temperature sensor */
483 int16_t v_batt; /* battery voltage */
484 int16_t sense_d; /* drogue continuity sense */
485 int16_t sense_m; /* main continuity sense */
488 struct ao_telemetry_orig {
491 uint8_t flight_state;
493 int16_t ground_accel;
503 int16_t accel_plus_g;
504 int16_t accel_minus_g;
505 struct ao_adc_orig adc;
506 struct ao_gps_orig gps;
507 char callsign[AO_MAX_CALLSIGN];
508 struct ao_gps_tracking_orig gps_tracking;
511 struct ao_telemetry_tiny {
514 uint8_t flight_state;
515 int16_t height; /* AGL in meters */
516 int16_t speed; /* in m/s * 16 */
517 int16_t accel; /* in m/s² * 16 */
518 int16_t ground_pres; /* sensor units */
519 struct ao_adc adc; /* raw ADC readings */
520 char callsign[AO_MAX_CALLSIGN];
523 struct ao_telemetry_orig_recv {
524 struct ao_telemetry_orig telemetry_orig;
529 struct ao_telemetry_tiny_recv {
530 struct ao_telemetry_tiny telemetry_tiny;
535 #endif /* LEGACY_MONITOR */
537 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
538 * for reporting RSSI. So, now we use these values everywhere
540 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
541 #define AO_RADIO_FROM_RSSI(rssi) ((uint8_t) (((rssi) + 74) << 1))
544 * ao_radio_recv tacks on rssi and status bytes
547 struct ao_telemetry_raw_recv {
548 uint8_t packet[AO_MAX_TELEMETRY + 2];
551 /* Set delay between telemetry reports (0 to disable) */
553 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
554 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
555 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
558 ao_telemetry_reset_interval(void);
561 ao_telemetry_set_interval(uint16_t interval);
564 ao_rdf_set(uint8_t rdf);
567 ao_telemetry_init(void);
570 ao_telemetry_orig_init(void);
573 ao_telemetry_tiny_init(void);
579 extern uint8_t ao_radio_dma;
581 extern int8_t ao_radio_rssi;
583 #ifdef PKT_APPEND_STATUS_1_CRC_OK
584 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
587 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
590 #ifndef HAS_RADIO_RECV
591 #define HAS_RADIO_RECV HAS_RADIO
593 #ifndef HAS_RADIO_XMIT
594 #define HAS_RADIO_XMIT HAS_RADIO
597 #define AO_RADIO_RATE_38400 0
598 #define AO_RADIO_RATE_9600 1
599 #define AO_RADIO_RATE_2400 2
600 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
602 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
603 #define HAS_RADIO_RATE HAS_RADIO
608 ao_radio_send(const void *d, uint8_t size);
613 ao_radio_recv(void *d, uint8_t size, AO_TICK_TYPE timeout);
616 ao_radio_recv_abort(void);
620 ao_radio_test(uint8_t on);
622 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
625 ao_radio_send_aprs(ao_radio_fill_func fill);
633 ao_radio_pa_on(void);
636 ao_radio_pa_off(void);
639 ao_radio_pa_init(void);
641 #define ao_radio_pa_on()
642 #define ao_radio_pa_off()
643 #define ao_radio_pa_init()
647 * Compute the packet length as follows:
649 * 2000 bps (for a 1kHz tone)
650 * so, for 'ms' milliseconds, we need
651 * 2 * ms bits, or ms / 4 bytes
658 ao_radio_continuity(uint8_t c);
661 ao_radio_rdf_abort(void);
664 ao_radio_test_on(void);
667 ao_radio_test_off(void);
678 extern const char * const ao_state_names[];
680 #define AO_MONITOR_RING 8
683 struct ao_telemetry_raw_recv raw;
684 struct ao_telemetry_all_recv all;
686 struct ao_telemetry_orig_recv orig;
687 struct ao_telemetry_tiny_recv tiny;
691 extern union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
693 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
694 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
696 extern uint8_t ao_monitoring_mutex;
697 extern uint8_t ao_monitoring;
698 extern uint8_t ao_monitor_head;
703 #define AO_MONITORING_OFF 0
704 #define AO_MONITORING_ORIG 1
707 ao_monitor_set(uint8_t monitoring);
710 ao_monitor_disable(void);
713 ao_monitor_enable(void);
716 ao_monitor_init(void);
724 #define AO_READ_AGAIN (-1)
727 int (*_pollchar)(void); /* Called with interrupts blocked */
728 void (*putchar)(char c);
733 extern struct ao_stdio ao_stdios[];
734 extern uint8_t ao_cur_stdio;
735 extern uint8_t ao_num_stdios;
740 extern uint8_t ao_stdin_ready;
746 ao_add_stdio(int (*pollchar)(void),
747 void (*putchar)(char) ,
748 void (*flush)(void));
755 ao_igniter_drogue = 0,
759 enum ao_igniter_status {
760 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
761 ao_igniter_ready, /* continuity detected */
762 ao_igniter_active, /* igniter firing */
763 ao_igniter_open, /* open circuit detected */
772 extern const char * const ao_igniter_status_names[];
774 extern struct ao_ignition ao_ignition[2];
776 enum ao_igniter_status
777 ao_igniter_status(enum ao_igniter igniter);
779 extern uint8_t ao_igniter_present;
782 ao_ignite_set_pins(void);
785 ao_igniter_init(void);
790 #include <ao_config.h>
798 * Set this to force the frequency to 434.550MHz
800 extern uint8_t ao_force_freq;
809 ao_rssi_set(int16_t rssi_value);
812 ao_rssi_init(AO_LED_TYPE rssi_led);
818 * values which need to be defined for
819 * each instance of a product
822 extern const char ao_version[];
823 extern const char ao_manufacturer[];
824 extern const char ao_product[];
830 #define AO_FIFO_SIZE 32
835 char fifo[AO_FIFO_SIZE];
838 #define ao_fifo_insert(f,c) do { \
839 (f).fifo[(f).insert] = (char) (c); \
840 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
843 #define ao_fifo_remove(f,c) do { \
844 c = (f).fifo[(f).remove]; \
845 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
848 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
849 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
850 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
851 #define ao_fifo_empty(f) ((f).insert == (f).remove)
853 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
854 #include <ao_packet.h>
862 #include <ao_companion.h>
877 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
878 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
880 #define AO_LOG_TELESCIENCE_NUM_ADC 12
882 struct ao_log_telescience {
889 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
892 #define AO_LOG_SINGLE_SIZE 32
894 union ao_log_single {
895 struct ao_log_telescience telescience;
896 union ao_telemetry_all telemetry;
897 uint8_t bytes[AO_LOG_SINGLE_SIZE];
900 extern union ao_log_single ao_log_single_write_data;
901 extern union ao_log_single ao_log_single_read_data;
904 ao_log_single_extra_query(void);
907 ao_log_single_list(void);
910 ao_log_single_main(void);
913 ao_log_single_write(void);
916 ao_log_single_read(uint32_t pos);
919 ao_log_single_start(void);
922 ao_log_single_stop(void);
925 ao_log_single_restart(void);
928 ao_log_single_set(void);
931 ao_log_single_delete(void);
934 ao_log_single_init(void);
943 #define AO_TELEPYRO_NUM_ADC 9
950 ao_terraui_init(void);
958 ao_battery_get(void);
961 ao_battery_init(void);
962 #endif /* BATTERY_PIN */
969 ao_sqrt(uint32_t op);
975 uint32_t ao_freq_to_set(uint32_t freq, uint32_t cal);
981 void ao_ms5607_init(void);
983 #include <ao_arch_funcs.h>