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.
32 /* Convert a __data pointer into an __xdata pointer */
34 #define DATA_TO_XDATA(a) (a)
36 #ifndef PDATA_TO_XDATA
37 #define PDATA_TO_XDATA(a) (a)
40 #define CODE_TO_XDATA(a) (a)
47 typedef AO_PORT_TYPE ao_port_t;
52 #include <ao_notask.h>
59 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
60 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
61 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
62 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
63 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
64 #define AO_PANIC_CMD 6 /* Too many command sets registered */
65 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
66 #define AO_PANIC_REBOOT 8 /* Reboot failed */
67 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
68 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
69 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
70 #define AO_PANIC_STACK 12 /* Stack overflow */
71 #define AO_PANIC_SPI 13 /* SPI communication failure */
72 #define AO_PANIC_CRASH 14 /* Processor crashed */
73 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
74 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
75 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
76 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
77 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
78 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
79 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
80 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
81 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
83 /* Stop the operating system, beeping and blinking the reason */
85 ao_panic(uint8_t reason);
92 #define AO_TICK_TYPE uint16_t
93 #define AO_TICK_SIGNED int16_t
96 extern volatile __data AO_TICK_TYPE ao_tick_count;
98 /* Our timer runs at 100Hz */
102 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
103 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
105 /* Returns the current time in ticks */
109 /* Suspend the current task until ticks time has passed */
111 ao_delay(uint16_t ticks);
113 /* Set the ADC interval */
115 ao_timer_set_adc_interval(uint8_t interval);
117 /* Timer interrupt */
119 ao_timer_isr(void) ao_arch_interrupt(9);
121 /* Initialize the timer */
125 /* Initialize the hardware clock. Must be called first */
129 #if AO_POWER_MANAGEMENT
130 /* Go to low power clock */
132 ao_clock_suspend(void);
134 /* Restart full-speed clock */
136 ao_clock_resume(void);
145 ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant;
148 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
151 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
160 ao_cmd_lex_error = 1,
161 ao_cmd_syntax_error = 2,
164 extern __pdata uint16_t ao_cmd_lex_i;
165 extern __pdata uint32_t ao_cmd_lex_u32;
166 extern __pdata char ao_cmd_lex_c;
167 extern __pdata enum ao_cmd_status ao_cmd_status;
170 ao_put_string(__code char *s);
176 ao_cmd_put8(uint8_t v);
179 ao_cmd_put16(uint16_t v);
182 ao_cmd_is_white(void);
188 ao_cmd_hexchar(char c);
191 ao_cmd_hexbyte(void);
197 ao_cmd_decimal(void) __reentrant;
199 /* Read a single hex nibble off stdin. */
204 ao_match_word(__code char *word);
212 ao_cmd_register(const __code struct ao_cmds *cmds);
219 * Provided by an external module to filter raw command lines
245 #include <ao_storage.h>
253 #include <ao_flight.h>
254 #include <ao_sample.h>
261 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
262 #define AO_RDF_LENGTH_MS 500
263 #define AO_RDF_CONTINUITY_MS 32
264 #define AO_RDF_CONTINUITY_PAUSE 96
265 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
267 /* This assumes that we're generating a 1kHz tone, which
268 * modulates the carrier at 2kbps, or 250kBps
270 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
272 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
273 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
274 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
275 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
277 /* returns a value 0-3 to indicate igniter continuity */
279 ao_report_igniter(void);
282 ao_report_init(void);
287 * Given raw data, convert to SI units
291 /* pressure from the sensor to altitude in meters */
293 ao_pres_to_altitude(pres_t pres) __reentrant;
296 ao_altitude_to_pres(alt_t alt) __reentrant;
299 ao_temp_to_dC(int16_t temp) __reentrant;
305 * Convert between pressure in Pa and altitude in meters
312 ao_pa_to_altitude(pres_t pa);
315 ao_altitude_to_pa(alt_t alt);
322 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
323 #include <ao_serial.h>
329 * Convert ADC readings to decivolts
333 ao_battery_decivolt(int16_t adc);
336 ao_ignite_decivolt(int16_t adc);
343 ao_spi_slave_recv(void *buf, uint16_t len);
346 ao_spi_slave_send(void *buf, uint16_t len);
349 ao_spi_slave_init(void);
351 /* This must be defined by the product; it will get called when chip
352 * select goes low, at which point it should use ao_spi_read and
353 * ao_spi_write to deal with the request
359 #include <ao_telemetry.h>
364 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
365 #define AO_GPS_NUM_SAT_SHIFT (0)
367 #define AO_GPS_VALID (1 << 4)
368 #define AO_GPS_RUNNING (1 << 5)
369 #define AO_GPS_DATE_VALID (1 << 6)
370 #define AO_GPS_COURSE_VALID (1 << 7)
372 #define AO_GPS_NEW_DATA 1
373 #define AO_GPS_NEW_TRACKING 2
375 extern __xdata uint8_t ao_gps_new;
376 extern __pdata uint16_t ao_gps_tick;
377 extern __xdata uint8_t ao_gps_mutex;
378 extern __xdata struct ao_telemetry_location ao_gps_data;
379 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
389 int32_t latitude; /* degrees * 10⁷ */
390 int32_t longitude; /* degrees * 10⁷ */
391 int16_t altitude; /* m */
392 uint16_t ground_speed; /* cm/s */
393 uint8_t course; /* degrees / 2 */
394 uint8_t hdop; /* * 5 */
395 int16_t climb_rate; /* cm/s */
396 uint16_t h_error; /* m */
397 uint16_t v_error; /* m */
400 struct ao_gps_sat_orig {
405 #define AO_MAX_GPS_TRACKING 12
407 struct ao_gps_tracking_orig {
409 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
413 ao_gps_set_rate(uint8_t rate);
419 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
422 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
425 ao_gps_show(void) __reentrant;
438 ao_gps_report_init(void);
441 * ao_gps_report_mega.c
445 ao_gps_report_mega(void);
448 ao_gps_report_mega_init(void);
451 * ao_telemetry_orig.c
456 uint16_t tick; /* tick when the sample was read */
457 int16_t accel; /* accelerometer */
458 int16_t pres; /* pressure sensor */
459 int16_t temp; /* temperature sensor */
460 int16_t v_batt; /* battery voltage */
461 int16_t sense_d; /* drogue continuity sense */
462 int16_t sense_m; /* main continuity sense */
465 struct ao_telemetry_orig {
468 uint8_t flight_state;
470 int16_t ground_accel;
480 int16_t accel_plus_g;
481 int16_t accel_minus_g;
482 struct ao_adc_orig adc;
483 struct ao_gps_orig gps;
484 char callsign[AO_MAX_CALLSIGN];
485 struct ao_gps_tracking_orig gps_tracking;
488 struct ao_telemetry_tiny {
491 uint8_t flight_state;
492 int16_t height; /* AGL in meters */
493 int16_t speed; /* in m/s * 16 */
494 int16_t accel; /* in m/s² * 16 */
495 int16_t ground_pres; /* sensor units */
496 struct ao_adc adc; /* raw ADC readings */
497 char callsign[AO_MAX_CALLSIGN];
500 struct ao_telemetry_orig_recv {
501 struct ao_telemetry_orig telemetry_orig;
506 struct ao_telemetry_tiny_recv {
507 struct ao_telemetry_tiny telemetry_tiny;
512 #endif /* LEGACY_MONITOR */
514 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
515 * for reporting RSSI. So, now we use these values everywhere
517 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
518 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
521 * ao_radio_recv tacks on rssi and status bytes
524 struct ao_telemetry_raw_recv {
525 uint8_t packet[AO_MAX_TELEMETRY + 2];
528 /* Set delay between telemetry reports (0 to disable) */
530 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
531 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
532 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
535 ao_telemetry_reset_interval(void);
538 ao_telemetry_set_interval(uint16_t interval);
541 ao_rdf_set(uint8_t rdf);
544 ao_telemetry_init(void);
547 ao_telemetry_orig_init(void);
550 ao_telemetry_tiny_init(void);
556 extern __xdata uint8_t ao_radio_dma;
558 extern __xdata int8_t ao_radio_rssi;
560 #ifdef PKT_APPEND_STATUS_1_CRC_OK
561 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
564 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
567 #ifndef HAS_RADIO_RECV
568 #define HAS_RADIO_RECV HAS_RADIO
570 #ifndef HAS_RADIO_XMIT
571 #define HAS_RADIO_XMIT HAS_RADIO
574 #define AO_RADIO_RATE_38400 0
575 #define AO_RADIO_RATE_9600 1
576 #define AO_RADIO_RATE_2400 2
577 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
579 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
580 #define HAS_RADIO_RATE HAS_RADIO
584 ao_radio_general_isr(void) ao_arch_interrupt(16);
588 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
593 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
596 ao_radio_recv_abort(void);
600 ao_radio_test(uint8_t on);
602 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
605 ao_radio_send_aprs(ao_radio_fill_func fill);
613 ao_radio_pa_on(void);
616 ao_radio_pa_off(void);
619 ao_radio_pa_init(void);
621 #define ao_radio_pa_on()
622 #define ao_radio_pa_off()
623 #define ao_radio_pa_init()
627 * Compute the packet length as follows:
629 * 2000 bps (for a 1kHz tone)
630 * so, for 'ms' milliseconds, we need
631 * 2 * ms bits, or ms / 4 bytes
638 ao_radio_continuity(uint8_t c);
641 ao_radio_rdf_abort(void);
644 ao_radio_test_on(void);
647 ao_radio_test_off(void);
658 extern const char const * const ao_state_names[];
660 #define AO_MONITOR_RING 8
663 struct ao_telemetry_raw_recv raw;
664 struct ao_telemetry_all_recv all;
666 struct ao_telemetry_orig_recv orig;
667 struct ao_telemetry_tiny_recv tiny;
671 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
673 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
674 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
676 extern __xdata uint8_t ao_monitoring_mutex;
677 extern __data uint8_t ao_monitoring;
678 extern __data uint8_t ao_monitor_head;
683 #define AO_MONITORING_OFF 0
684 #define AO_MONITORING_ORIG 1
687 ao_monitor_set(uint8_t monitoring);
690 ao_monitor_disable(void);
693 ao_monitor_enable(void);
696 ao_monitor_init(void) __reentrant;
704 #define AO_READ_AGAIN (-1)
707 int (*_pollchar)(void); /* Called with interrupts blocked */
708 void (*putchar)(char c) __reentrant;
713 extern __xdata struct ao_stdio ao_stdios[];
714 extern __pdata int8_t ao_cur_stdio;
715 extern __pdata int8_t ao_num_stdios;
720 extern __xdata uint8_t ao_stdin_ready;
726 ao_add_stdio(int (*pollchar)(void),
727 void (*putchar)(char) __reentrant,
728 void (*flush)(void)) __reentrant;
735 ao_igniter_drogue = 0,
740 ao_ignite(enum ao_igniter igniter);
742 enum ao_igniter_status {
743 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
744 ao_igniter_ready, /* continuity detected */
745 ao_igniter_active, /* igniter firing */
746 ao_igniter_open, /* open circuit detected */
755 extern __code char * __code ao_igniter_status_names[];
757 extern __xdata struct ao_ignition ao_ignition[2];
759 enum ao_igniter_status
760 ao_igniter_status(enum ao_igniter igniter);
762 extern __pdata uint8_t ao_igniter_present;
765 ao_ignite_set_pins(void);
768 ao_igniter_init(void);
773 #include <ao_config.h>
781 * Set this to force the frequency to 434.550MHz
783 extern __xdata uint8_t ao_force_freq;
792 ao_rssi_set(int16_t rssi_value);
795 ao_rssi_init(AO_LED_TYPE rssi_led);
801 * values which need to be defined for
802 * each instance of a product
805 extern const char ao_version[];
806 extern const char ao_manufacturer[];
807 extern const char ao_product[];
813 #define AO_FIFO_SIZE 32
818 char fifo[AO_FIFO_SIZE];
821 #define ao_fifo_insert(f,c) do { \
822 (f).fifo[(f).insert] = (c); \
823 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
826 #define ao_fifo_remove(f,c) do {\
827 c = (f).fifo[(f).remove]; \
828 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
831 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
832 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
833 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
834 #define ao_fifo_empty(f) ((f).insert == (f).remove)
836 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
837 #include <ao_packet.h>
845 #include <ao_companion.h>
858 struct ao_launch_command {
866 #define AO_LAUNCH_QUERY 1
868 struct ao_launch_query {
874 uint8_t igniter_status;
877 #define AO_LAUNCH_ARM 2
878 #define AO_LAUNCH_FIRE 3
881 ao_launch_init(void);
887 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
888 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
890 #define AO_LOG_TELESCIENCE_NUM_ADC 12
892 struct ao_log_telescience {
899 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
902 #define AO_LOG_SINGLE_SIZE 32
904 union ao_log_single {
905 struct ao_log_telescience telescience;
906 union ao_telemetry_all telemetry;
907 uint8_t bytes[AO_LOG_SINGLE_SIZE];
910 extern __xdata union ao_log_single ao_log_single_write_data;
911 extern __xdata union ao_log_single ao_log_single_read_data;
914 ao_log_single_extra_query(void);
917 ao_log_single_list(void);
920 ao_log_single_main(void);
923 ao_log_single_write(void);
926 ao_log_single_read(uint32_t pos);
929 ao_log_single_start(void);
932 ao_log_single_stop(void);
935 ao_log_single_restart(void);
938 ao_log_single_set(void);
941 ao_log_single_delete(void);
944 ao_log_single_init(void);
953 #define AO_TELEPYRO_NUM_ADC 9
956 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
957 #define ao_xmemset(d,v,c) memset(d,v,c)
958 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
966 ao_terraui_init(void);
974 ao_battery_isr(void) ao_arch_interrupt(1);
977 ao_battery_get(void);
980 ao_battery_init(void);
981 #endif /* BATTERY_PIN */
988 ao_sqrt(uint32_t op);
994 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
1000 void ao_ms5607_init(void);
1002 #include <ao_arch_funcs.h>