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;
46 #define AO_TICK_TYPE uint32_t
47 #define AO_TICK_SIGNED int32_t
53 #include <ao_notask.h>
60 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
61 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
62 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
63 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
64 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
65 #define AO_PANIC_CMD 6 /* Too many command sets registered */
66 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
67 #define AO_PANIC_REBOOT 8 /* Reboot failed */
68 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
69 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
70 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
71 #define AO_PANIC_STACK 12 /* Stack overflow */
72 #define AO_PANIC_SPI 13 /* SPI communication failure */
73 #define AO_PANIC_CRASH 14 /* Processor crashed */
74 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
75 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
76 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
77 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
78 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
79 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
80 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
81 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
82 #define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */
83 #define AO_PANIC_SELF_TEST_BMX160 0x40 | 3 /* Self test failure */
84 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
85 #define AO_PANIC_SELF_TEST_ADS124S0X 0x40 | 5 /* Self test failure */
87 /* Stop the operating system, beeping and blinking the reason */
89 ao_panic(uint8_t reason) __attribute__((noreturn));
95 #define AO_ROMCONFIG_VERSION 2
97 extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_version;
98 extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_check;
99 extern AO_ROMCONFIG_SYMBOL uint16_t ao_serial_number;
101 extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal;
108 extern volatile AO_TICK_TYPE ao_tick_count;
110 /* Our timer runs at 100Hz */
114 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
115 #define AO_SEC_TO_TICKS(s) ((AO_TICK_TYPE) (s) * AO_HERTZ)
116 #define AO_NS_TO_TICKS(ns) ((ns) / (1000000000L / AO_HERTZ))
118 /* Returns the current time in ticks */
122 /* Returns the current time in ns */
126 /* Suspend the current task until ticks time has passed */
128 ao_delay(AO_TICK_TYPE ticks);
130 /* Set the ADC interval */
132 ao_timer_set_adc_interval(uint8_t interval);
134 /* Initialize the timer */
138 /* Initialize the hardware clock. Must be called first */
142 #if AO_POWER_MANAGEMENT
143 /* Go to low power clock */
145 ao_clock_suspend(void);
147 /* Restart full-speed clock */
149 ao_clock_resume(void);
158 ao_mutex_try(uint8_t *ao_mutex, uint8_t task_id);
161 ao_mutex_get(uint8_t *ao_mutex);
164 ao_mutex_put(uint8_t *ao_mutex);
173 ao_cmd_lex_error = 1,
174 ao_cmd_syntax_error = 2,
177 extern char ao_cmd_lex_c;
178 extern enum ao_cmd_status ao_cmd_status;
181 ao_put_string(const char *s);
184 ao_cmd_readline(const char *prompt);
190 ao_cmd_put8(uint8_t v);
193 ao_cmd_put16(uint16_t v);
196 ao_cmd_is_white(void);
202 ao_cmd_hexchar(char c);
205 ao_cmd_hexbyte(void);
211 ao_cmd_decimal(void);
213 /* Read a single hex nibble off stdin. */
218 ao_match_word(const char *word);
226 ao_cmd_register(const struct ao_cmds *cmds);
236 * Provided by an external module to filter raw command lines
253 #if LEDS_AVAILABLE || HAS_LED
262 #include <ao_storage.h>
270 #include <ao_flight.h>
271 #include <ao_sample.h>
278 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
279 #define AO_RDF_LENGTH_MS 500
280 #define AO_RDF_CONTINUITY_MS 32
281 #define AO_RDF_CONTINUITY_PAUSE 96
282 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
284 /* This assumes that we're generating a 1kHz tone, which
285 * modulates the carrier at 2kbps, or 250kBps
287 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
289 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
290 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
291 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
292 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
294 /* returns a value 0-3 to indicate igniter continuity */
296 ao_report_igniter(void);
299 ao_report_init(void);
304 * Given raw data, convert to SI units
308 /* pressure from the sensor to altitude in meters */
310 ao_pres_to_altitude(pres_t pres);
313 ao_altitude_to_pres(alt_t alt);
316 ao_temp_to_dC(int16_t temp);
322 * Convert between pressure in Pa and altitude in meters
329 ao_pa_to_altitude(pres_t pa);
332 ao_altitude_to_pa(alt_t alt);
339 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
340 #include <ao_serial.h>
346 * Convert ADC readings to decivolts
350 ao_battery_decivolt(int16_t adc);
353 ao_ignite_decivolt(int16_t adc);
360 ao_spi_slave_recv(void *buf, uint16_t len);
363 ao_spi_slave_send(void *buf, uint16_t len);
366 ao_spi_slave_init(void);
368 /* This must be defined by the product; it will get called when chip
369 * select goes low, at which point it should use ao_spi_read and
370 * ao_spi_write to deal with the request
376 #include <ao_telemetry.h>
381 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
382 #define AO_GPS_NUM_SAT_SHIFT (0)
384 #define AO_GPS_VALID (1 << 4)
385 #define AO_GPS_RUNNING (1 << 5)
386 #define AO_GPS_DATE_VALID (1 << 6)
387 #define AO_GPS_COURSE_VALID (1 << 7)
389 #define AO_GPS_NEW_DATA 1
390 #define AO_GPS_NEW_TRACKING 2
392 extern uint8_t ao_gps_new;
393 extern AO_TICK_TYPE ao_gps_tick;
394 extern AO_TICK_TYPE ao_gps_utc_tick;
395 extern uint8_t ao_gps_mutex;
396 extern struct ao_telemetry_location ao_gps_data;
397 extern struct ao_telemetry_satellite ao_gps_tracking_data;
407 int32_t latitude; /* degrees * 10⁷ */
408 int32_t longitude; /* degrees * 10⁷ */
409 int16_t altitude; /* m */
410 uint16_t ground_speed; /* cm/s */
411 uint8_t course; /* degrees / 2 */
412 uint8_t hdop; /* * 5 */
413 int16_t climb_rate; /* cm/s */
414 uint16_t h_error; /* m */
415 uint16_t v_error; /* m */
418 struct ao_gps_sat_orig {
423 #define AO_MAX_GPS_TRACKING 12
425 struct ao_gps_tracking_orig {
427 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
431 ao_gps_set_rate(uint8_t rate);
437 ao_gps_print(struct ao_gps_orig *gps_data);
440 ao_gps_tracking_print(struct ao_gps_tracking_orig *gps_tracking_data);
456 ao_gps_report_init(void);
459 * ao_gps_report_mega.c
463 ao_gps_report_mega(void);
466 ao_gps_report_mega_init(void);
469 * ao_telemetry_orig.c
474 uint16_t tick; /* tick when the sample was read */
475 int16_t accel; /* accelerometer */
476 int16_t pres; /* pressure sensor */
477 int16_t temp; /* temperature sensor */
478 int16_t v_batt; /* battery voltage */
479 int16_t sense_d; /* drogue continuity sense */
480 int16_t sense_m; /* main continuity sense */
483 struct ao_telemetry_orig {
486 uint8_t flight_state;
488 int16_t ground_accel;
498 int16_t accel_plus_g;
499 int16_t accel_minus_g;
500 struct ao_adc_orig adc;
501 struct ao_gps_orig gps;
502 char callsign[AO_MAX_CALLSIGN];
503 struct ao_gps_tracking_orig gps_tracking;
506 struct ao_telemetry_tiny {
509 uint8_t flight_state;
510 int16_t height; /* AGL in meters */
511 int16_t speed; /* in m/s * 16 */
512 int16_t accel; /* in m/s² * 16 */
513 int16_t ground_pres; /* sensor units */
514 struct ao_adc adc; /* raw ADC readings */
515 char callsign[AO_MAX_CALLSIGN];
518 struct ao_telemetry_orig_recv {
519 struct ao_telemetry_orig telemetry_orig;
524 struct ao_telemetry_tiny_recv {
525 struct ao_telemetry_tiny telemetry_tiny;
530 #endif /* LEGACY_MONITOR */
532 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
533 * for reporting RSSI. So, now we use these values everywhere
535 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
536 #define AO_RADIO_FROM_RSSI(rssi) ((uint8_t) (((rssi) + 74) << 1))
539 * ao_radio_recv tacks on rssi and status bytes
542 struct ao_telemetry_raw_recv {
543 uint8_t packet[AO_MAX_TELEMETRY + 2];
546 /* Set delay between telemetry reports (0 to disable) */
548 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
549 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
550 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
553 ao_telemetry_reset_interval(void);
556 ao_telemetry_set_interval(uint16_t interval);
559 ao_rdf_set(uint8_t rdf);
562 ao_telemetry_init(void);
565 ao_telemetry_orig_init(void);
568 ao_telemetry_tiny_init(void);
574 extern uint8_t ao_radio_dma;
576 extern int8_t ao_radio_rssi;
578 #ifdef PKT_APPEND_STATUS_1_CRC_OK
579 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
582 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
585 #ifndef HAS_RADIO_RECV
586 #define HAS_RADIO_RECV HAS_RADIO
588 #ifndef HAS_RADIO_XMIT
589 #define HAS_RADIO_XMIT HAS_RADIO
592 #define AO_RADIO_RATE_38400 0
593 #define AO_RADIO_RATE_9600 1
594 #define AO_RADIO_RATE_2400 2
595 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
597 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
598 #define HAS_RADIO_RATE HAS_RADIO
603 ao_radio_send(const void *d, uint8_t size);
608 ao_radio_recv(void *d, uint8_t size, AO_TICK_TYPE timeout);
611 ao_radio_recv_abort(void);
615 ao_radio_test(uint8_t on);
617 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
620 ao_radio_send_aprs(ao_radio_fill_func fill);
628 ao_radio_pa_on(void);
631 ao_radio_pa_off(void);
634 ao_radio_pa_init(void);
636 #define ao_radio_pa_on()
637 #define ao_radio_pa_off()
638 #define ao_radio_pa_init()
642 * Compute the packet length as follows:
644 * 2000 bps (for a 1kHz tone)
645 * so, for 'ms' milliseconds, we need
646 * 2 * ms bits, or ms / 4 bytes
653 ao_radio_continuity(uint8_t c);
656 ao_radio_rdf_abort(void);
659 ao_radio_test_on(void);
662 ao_radio_test_off(void);
673 extern const char * const ao_state_names[];
675 #define AO_MONITOR_RING 8
678 struct ao_telemetry_raw_recv raw;
679 struct ao_telemetry_all_recv all;
681 struct ao_telemetry_orig_recv orig;
682 struct ao_telemetry_tiny_recv tiny;
686 extern union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
688 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
689 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
691 extern uint8_t ao_monitoring_mutex;
692 extern uint8_t ao_monitoring;
693 extern uint8_t ao_monitor_head;
698 #define AO_MONITORING_OFF 0
699 #define AO_MONITORING_ORIG 1
702 ao_monitor_set(uint8_t monitoring);
705 ao_monitor_disable(void);
708 ao_monitor_enable(void);
711 ao_monitor_init(void);
719 #define AO_READ_AGAIN (-1)
722 int (*_pollchar)(void); /* Called with interrupts blocked */
723 void (*putchar)(char c);
728 extern struct ao_stdio ao_stdios[];
729 extern uint8_t ao_cur_stdio;
730 extern uint8_t ao_num_stdios;
735 extern uint8_t ao_stdin_ready;
741 ao_add_stdio(int (*pollchar)(void),
742 void (*putchar)(char) ,
743 void (*flush)(void));
750 ao_igniter_drogue = 0,
754 enum ao_igniter_status {
755 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
756 ao_igniter_ready, /* continuity detected */
757 ao_igniter_active, /* igniter firing */
758 ao_igniter_open, /* open circuit detected */
767 extern const char * const ao_igniter_status_names[];
769 extern struct ao_ignition ao_ignition[2];
771 enum ao_igniter_status
772 ao_igniter_status(enum ao_igniter igniter);
774 extern uint8_t ao_igniter_present;
777 ao_ignite_set_pins(void);
780 ao_igniter_init(void);
785 #include <ao_config.h>
793 * Set this to force the frequency to 434.550MHz
795 extern uint8_t ao_force_freq;
804 ao_rssi_set(int16_t rssi_value);
807 ao_rssi_init(AO_LED_TYPE rssi_led);
813 * values which need to be defined for
814 * each instance of a product
817 extern const char ao_version[];
818 extern const char ao_manufacturer[];
819 extern const char ao_product[];
825 #define AO_FIFO_SIZE 32
830 char fifo[AO_FIFO_SIZE];
833 #define ao_fifo_insert(f,c) do { \
834 (f).fifo[(f).insert] = (char) (c); \
835 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
838 #define ao_fifo_remove(f,c) do { \
839 c = (f).fifo[(f).remove]; \
840 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
843 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
844 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
845 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
846 #define ao_fifo_empty(f) ((f).insert == (f).remove)
848 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
849 #include <ao_packet.h>
857 #include <ao_companion.h>
872 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
873 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
875 #define AO_LOG_TELESCIENCE_NUM_ADC 12
877 struct ao_log_telescience {
884 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
887 #define AO_LOG_SINGLE_SIZE 32
889 union ao_log_single {
890 struct ao_log_telescience telescience;
891 union ao_telemetry_all telemetry;
892 uint8_t bytes[AO_LOG_SINGLE_SIZE];
895 extern union ao_log_single ao_log_single_write_data;
896 extern union ao_log_single ao_log_single_read_data;
899 ao_log_single_extra_query(void);
902 ao_log_single_list(void);
905 ao_log_single_main(void);
908 ao_log_single_write(void);
911 ao_log_single_read(uint32_t pos);
914 ao_log_single_start(void);
917 ao_log_single_stop(void);
920 ao_log_single_restart(void);
923 ao_log_single_set(void);
926 ao_log_single_delete(void);
929 ao_log_single_init(void);
938 #define AO_TELEPYRO_NUM_ADC 9
945 ao_terraui_init(void);
953 ao_battery_get(void);
956 ao_battery_init(void);
957 #endif /* BATTERY_PIN */
964 ao_sqrt(uint32_t op);
970 uint32_t ao_freq_to_set(uint32_t freq, uint32_t cal);
976 void ao_ms5607_init(void);
978 #include <ao_arch_funcs.h>