#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
#define AO_PANIC_STACK 12 /* Stack overflow */
#define AO_PANIC_SPI 13 /* SPI communication failure */
+#define AO_PANIC_SELF_TEST 14 /* Self test failure */
/* Stop the operating system, beeping and blinking the reason */
void
int16_t
ao_temp_to_dC(int16_t temp) __reentrant;
+/*
+ * ao_convert_pa.c
+ *
+ * Convert between pressure in Pa and altitude in meters
+ */
+
+int32_t
+ao_pa_to_altitude(int32_t pa);
+
+int32_t
+ao_altitude_to_pa(int32_t alt);
+
#if HAS_DBG
#include <ao_dbg.h>
#endif
void
ao_spi_slave(void);
-/*
- * ao_telemetry.c
- */
-#define AO_MAX_CALLSIGN 8
-#define AO_MAX_VERSION 8
-#if LEGACY_MONITOR
-#define AO_MAX_TELEMETRY 128
-#else
-#define AO_MAX_TELEMETRY 32
-#endif
-
-struct ao_telemetry_generic {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t payload[27]; /* 5 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
-#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
-#define AO_TELEMETRY_SENSOR_TELENANO 0x03
-
-struct ao_telemetry_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t accel; /* 6 accelerometer (TM only) */
- int16_t pres; /* 8 pressure sensor */
- int16_t temp; /* 10 temperature sensor */
- int16_t v_batt; /* 12 battery voltage */
- int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
- int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
-
- int16_t acceleration; /* 18 m/s² * 16 */
- int16_t speed; /* 20 m/s * 16 */
- int16_t height; /* 22 m */
-
- int16_t ground_pres; /* 24 average pres on pad */
- int16_t ground_accel; /* 26 average accel on pad */
- int16_t accel_plus_g; /* 28 accel calibration at +1g */
- int16_t accel_minus_g; /* 30 accel calibration at -1g */
- /* 32 */
-};
-
-#define AO_TELEMETRY_CONFIGURATION 0x04
-
-struct ao_telemetry_configuration {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t device; /* 5 device type */
- uint16_t flight; /* 6 flight number */
- uint8_t config_major; /* 8 Config major version */
- uint8_t config_minor; /* 9 Config minor version */
- uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
- uint16_t main_deploy; /* 12 Main deploy alt in meters */
- uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
- char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
- char version[AO_MAX_VERSION]; /* 24 Software version */
- /* 32 */
-};
-
-#define AO_TELEMETRY_LOCATION 0x05
-
-#define AO_GPS_MODE_NOT_VALID 'N'
-#define AO_GPS_MODE_AUTONOMOUS 'A'
-#define AO_GPS_MODE_DIFFERENTIAL 'D'
-#define AO_GPS_MODE_ESTIMATED 'E'
-#define AO_GPS_MODE_MANUAL 'M'
-#define AO_GPS_MODE_SIMULATED 'S'
-
-struct ao_telemetry_location {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t flags; /* 5 Number of sats and other flags */
- int16_t altitude; /* 6 GPS reported altitude (m) */
- int32_t latitude; /* 8 latitude (degrees * 10⁷) */
- int32_t longitude; /* 12 longitude (degrees * 10⁷) */
- uint8_t year; /* 16 (- 2000) */
- uint8_t month; /* 17 (1-12) */
- uint8_t day; /* 18 (1-31) */
- uint8_t hour; /* 19 (0-23) */
- uint8_t minute; /* 20 (0-59) */
- uint8_t second; /* 21 (0-59) */
- uint8_t pdop; /* 22 (m * 5) */
- uint8_t hdop; /* 23 (m * 5) */
- uint8_t vdop; /* 24 (m * 5) */
- uint8_t mode; /* 25 */
- uint16_t ground_speed; /* 26 cm/s */
- int16_t climb_rate; /* 28 cm/s */
- uint8_t course; /* 30 degrees / 2 */
- uint8_t unused[1]; /* 31 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SATELLITE 0x06
-
-struct ao_telemetry_satellite_info {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-struct ao_telemetry_satellite {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t channels; /* 5 number of reported sats */
-
- struct ao_telemetry_satellite_info sats[12]; /* 6 */
- uint8_t unused[2]; /* 30 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_COMPANION 0x07
-
-#define AO_COMPANION_MAX_CHANNELS 12
-
-struct ao_telemetry_companion {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t board_id; /* 5 */
-
- uint8_t update_period; /* 6 */
- uint8_t channels; /* 7 */
- uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
- /* 32 */
-};
-
-/* #define AO_SEND_ALL_BARO */
-
-#define AO_TELEMETRY_BARO 0x80
-
-/*
- * This packet allows the full sampling rate baro
- * data to be captured over the RF link so that the
- * flight software can be tested using 'real' data.
- *
- * Along with this telemetry packet, the flight
- * code is modified to send full-rate telemetry all the time
- * and never send an RDF tone; this ensure that the full radio
- * link is available.
- */
-struct ao_telemetry_baro {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t samples; /* 5 number samples */
-
- int16_t baro[12]; /* 6 samples */
- /* 32 */
-};
-
-union ao_telemetry_all {
- struct ao_telemetry_generic generic;
- struct ao_telemetry_sensor sensor;
- struct ao_telemetry_configuration configuration;
- struct ao_telemetry_location location;
- struct ao_telemetry_satellite satellite;
- struct ao_telemetry_companion companion;
- struct ao_telemetry_baro baro;
-};
-
-struct ao_telemetry_all_recv {
- union ao_telemetry_all telemetry;
- int8_t rssi;
- uint8_t status;
-};
-
+#include <ao_telemetry.h>
/*
* ao_gps.c
*/
void
ao_gps_report_init(void);
+/*
+ * ao_gps_report_mega.c
+ */
+
+void
+ao_gps_report_mega(void);
+
+void
+ao_gps_report_mega_init(void);
+
/*
* ao_telemetry_orig.c
*/
+struct ao_adc_orig {
+ uint16_t tick; /* tick when the sample was read */
+ int16_t accel; /* accelerometer */
+ int16_t pres; /* pressure sensor */
+ int16_t temp; /* temperature sensor */
+ int16_t v_batt; /* battery voltage */
+ int16_t sense_d; /* drogue continuity sense */
+ int16_t sense_m; /* main continuity sense */
+};
+
struct ao_telemetry_orig {
uint16_t serial;
uint16_t flight;
int16_t ground_pres;
int16_t accel_plus_g;
int16_t accel_minus_g;
- struct ao_adc adc;
+ struct ao_adc_orig adc;
struct ao_gps_orig gps;
char callsign[AO_MAX_CALLSIGN];
struct ao_gps_tracking_orig gps_tracking;
extern __xdata uint8_t ao_radio_done;
extern __xdata uint8_t ao_radio_mutex;
-void
-ao_radio_general_isr(void) ao_arch_interrupt(16);
-
-void
-ao_radio_get(uint8_t len);
-
-#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
+#ifdef PKT_APPEND_STATUS_1_CRC_OK
+#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
+#else
+#include <ao_fec.h>
+#define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
+#endif
void
-ao_radio_set_packet(void);
+ao_radio_general_isr(void) ao_arch_interrupt(16);
void
-ao_radio_send(__xdata void *d, uint8_t size) __reentrant;
+ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
uint8_t
ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
void
ao_radio_rdf_abort(void);
-void
-ao_radio_idle(void);
-
void
ao_radio_init(void);
#define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
#define ao_fifo_empty(f) ((f).insert == (f).remove)
-/*
- * ao_packet.c
- *
- * Packet-based command interface
- */
-
-#define AO_PACKET_MAX 64
-#define AO_PACKET_SYN (uint8_t) 0xff
-
-struct ao_packet {
- uint8_t addr;
- uint8_t len;
- uint8_t seq;
- uint8_t ack;
- uint8_t d[AO_PACKET_MAX];
- uint8_t callsign[AO_MAX_CALLSIGN];
-};
-
-struct ao_packet_recv {
- struct ao_packet packet;
- int8_t rssi;
- uint8_t status;
-};
-
-extern __xdata struct ao_packet_recv ao_rx_packet;
-extern __xdata struct ao_packet ao_tx_packet;
-extern __xdata struct ao_task ao_packet_task;
-extern __xdata uint8_t ao_packet_enable;
-extern __xdata uint8_t ao_packet_master_sleeping;
-extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
-
-void
-ao_packet_send(void);
-
-uint8_t
-ao_packet_recv(void);
-
-void
-ao_packet_flush(void);
-
-void
-ao_packet_putchar(char c) __reentrant;
-
-char
-ao_packet_pollchar(void) __critical;
-
-/* ao_packet_master.c */
-
-void
-ao_packet_master_init(void);
-
-/* ao_packet_slave.c */
-
-void
-ao_packet_slave_start(void);
-
-void
-ao_packet_slave_stop(void);
-
-void
-ao_packet_slave_init(uint8_t enable);
-
-/* ao_btm.c */
-
-/* If bt_link is on P2, this interrupt is shared by USB, so the USB
- * code calls this function. Otherwise, it's a regular ISR.
- */
-
-void
-ao_btm_isr(void)
-#if BT_LINK_ON_P1
- __interrupt 15
+#if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
+#include <ao_packet.h>
#endif
- ;
-
-void
-ao_btm_init(void);
-/* ao_companion.c */
-
-#define AO_COMPANION_SETUP 1
-#define AO_COMPANION_FETCH 2
-#define AO_COMPANION_NOTIFY 3
-
-struct ao_companion_command {
- uint8_t command;
- uint8_t flight_state;
- uint16_t tick;
- uint16_t serial;
- uint16_t flight;
-};
-
-struct ao_companion_setup {
- uint16_t board_id;
- uint16_t board_id_inverse;
- uint8_t update_period;
- uint8_t channels;
-};
-
-extern __pdata uint8_t ao_companion_running;
-extern __xdata uint8_t ao_companion_mutex;
-extern __xdata struct ao_companion_command ao_companion_command;
-extern __xdata struct ao_companion_setup ao_companion_setup;
-extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-
-void
-ao_companion_init(void);
-
-/* ao_lcd.c */
-
-void
-ao_lcd_putchar(uint8_t d);
-
-void
-ao_lcd_putstring(char *string);
-
-void
-ao_lcd_contrast_set(uint8_t contrast);
-
-void
-ao_lcd_clear(void);
-
-void
-ao_lcd_cursor_on(void);
-
-void
-ao_lcd_cursor_off(void);
-
-#define AO_LCD_ADDR(row,col) ((row << 6) | (col))
-
-void
-ao_lcd_goto(uint8_t addr);
-
-void
-ao_lcd_start(void);
-
-void
-ao_lcd_init(void);
-
-/* ao_lcd_port.c */
-
-void
-ao_lcd_port_put_nibble(uint8_t rs, uint8_t d);
-
-void
-ao_lcd_port_init(void);
-
-/* ao_aes.c */
-
-extern __xdata uint8_t ao_aes_mutex;
+#if HAS_BTM
+#include <ao_btm.h>
+#endif
-/* AES keys and blocks are 128 bits */
+#if HAS_COMPANION
+#include <ao_companion.h>
+#endif
-enum ao_aes_mode {
- ao_aes_mode_cbc_mac
-};
+#if HAS_LCD
+#include <ao_lcd.h>
+#endif
#if HAS_AES
-void
-ao_aes_isr(void) __interrupt 4;
+#include <ao_aes.h>
#endif
-void
-ao_aes_set_mode(enum ao_aes_mode mode);
-
-void
-ao_aes_set_key(__xdata uint8_t *in);
-
-void
-ao_aes_zero_iv(void);
-
-void
-ao_aes_run(__xdata uint8_t *in,
- __xdata uint8_t *out);
-
-void
-ao_aes_init(void);
-
-/* ao_radio_cmac.c */
-
-int8_t
-ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
-
-#define AO_RADIO_CMAC_OK 0
-#define AO_RADIO_CMAC_LEN_ERROR -1
-#define AO_RADIO_CMAC_CRC_ERROR -2
-#define AO_RADIO_CMAC_MAC_ERROR -3
-#define AO_RADIO_CMAC_TIMEOUT -4
-
-int8_t
-ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
-
-void
-ao_radio_cmac_init(void);
-
/* ao_launch.c */
struct ao_launch_command {