X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao.h;h=4895f016d663c8b93749b8600b4a2fa72cbcafd6;hb=a08173197d5533ecb395102ed34e751135660d06;hp=b92e623f040fb06741ada8978a544cede17c4d12;hpb=9f8a96a8516e13878b329dbf1da855ed9a3219c4;p=fw%2Faltos

diff --git a/src/ao.h b/src/ao.h
index b92e623f..4895f016 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -107,6 +107,7 @@ ao_start_scheduler(void);
 #define AO_PANIC_REBOOT		8	/* Reboot failed */
 #define AO_PANIC_FLASH		9	/* Invalid flash part (or wrong blocksize) */
 #define AO_PANIC_USB		10	/* Trying to send USB packet while busy */
+#define AO_PANIC_BT		11	/* Communications with bluetooth device failed */
 
 /* Stop the operating system, beeping and blinking the reason */
 void
@@ -1035,12 +1036,102 @@ void
 ao_gps_report_init(void);
 
 /*
- * ao_telemetry.c
+ * ao_telemetry_orig.c
  */
 
 #define AO_MAX_CALLSIGN			8
+#define AO_MAX_TELEMETRY		128
+
+struct ao_telemetry_generic {
+	uint16_t	serial;		/* 0 */
+	uint16_t	tick;		/* 2 */
+	uint8_t		type;		/* 4 */
+	uint8_t		payload[19];	/* 5 */
+	/* 24 */
+};
+
+#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 */
+	/* 24 */
+};
+
+#define AO_TELEMETRY_CONSTANT		0x10
+
+struct ao_telemetry_constant {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+	uint8_t         device;         /*  5 device type */
+	uint16_t        flight;		/*  6 flight number */
+	int16_t		ground_accel;   /*  8 average ground accelerometer (TM only) */
+	int16_t		ground_pres;	/* 10 average ground barometer */
+	int16_t		accel_plus_g;   /* 12 +1g accelerometer calibration value (TM only) */
+	int16_t		accel_minus_g;  /* 14 -1g accelermeter calibration value (TM only) */
+	char		callsign[AO_MAX_CALLSIGN];	/* 16 identity */
+	/* 24 */
+};
+
+#define AO_TELEMETRY_LOCATION		0x11
+
+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         hdop;		/* 22 (m * 5) */
+	uint8_t         unused;		/* 23 */
+	/* 24 */
+};
 
-struct ao_telemetry {
+#define AO_TELEMETRY_SATELLITE		0x12
+
+struct ao_telemetry_satellite {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+	uint8_t		channels;	/*  5 number of reported sats */
+	uint8_t		sats_0_1[3];	/*  6 reported sats 0 and 1 */
+	uint8_t		sats_2_3[3];
+	uint8_t		sats_4_5[3];
+	uint8_t		sats_6_7[3];
+	uint8_t		sats_8_9[3];
+	uint8_t		sats_10_11[3];
+	/* 24 */
+};
+
+#define AO_SAT_0_SSID(s)	((s)[0] & 0x3f)
+#define AO_SAT_0_C_N_1(s)	((((s)[0] & 0xc0) >> 2) | ((s)[1] & 0x0f))
+#define AO_SAT_1_SSID(s)	((((s)[1] & 0xf0) >> 2) | ((s)[2] & 0x03))
+#define AO_SAT_1_C_N_1(s)	(((s)[2] & 0xfc) >> 2)
+
+struct ao_telemetry_orig {
 	uint16_t		serial;
 	uint16_t		flight;
 	uint8_t			flight_state;
@@ -1078,10 +1169,15 @@ struct ao_telemetry_tiny {
 /*
  * ao_radio_recv tacks on rssi and status bytes
  */
-struct ao_telemetry_recv {
-	struct ao_telemetry	telemetry;
-	int8_t			rssi;
-	uint8_t			status;
+
+struct ao_telemetry_raw_recv {
+	uint8_t			packet[AO_MAX_TELEMETRY + 2];
+};
+
+struct ao_telemetry_orig_recv {
+	struct ao_telemetry_orig	telemetry_orig;
+	int8_t				rssi;
+	uint8_t				status;
 };
 
 struct ao_telemetry_tiny_recv {
@@ -1103,7 +1199,7 @@ void
 ao_rdf_set(uint8_t rdf);
 
 void
-ao_telemetry_init(void);
+ao_telemetry_orig_init(void);
 
 void
 ao_telemetry_tiny_init(void);
@@ -1159,7 +1255,7 @@ void
 ao_monitor(void);
 
 #define AO_MONITORING_OFF	0
-#define AO_MONITORING_FULL	1
+#define AO_MONITORING_ORIG	1
 #define AO_MONITORING_TINY	2
 
 void
@@ -1178,8 +1274,10 @@ struct ao_stdio {
 	char	(*pollchar)(void);
 	void	(*putchar)(char c) __reentrant;
 	void	(*flush)(void);
+	uint8_t	echo;
 };
 
+extern __xdata struct ao_stdio ao_stdios[];
 extern __data int8_t ao_cur_stdio;
 extern __data int8_t ao_num_stdios;
 
@@ -1188,7 +1286,10 @@ flush(void);
 
 extern __xdata uint8_t ao_stdin_ready;
 
-void
+uint8_t
+ao_echo(void);
+
+int8_t
 ao_add_stdio(char (*pollchar)(void),
 	     void (*putchar)(char) __reentrant,
 	     void (*flush)(void)) __reentrant;
@@ -1361,6 +1462,18 @@ 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
+#endif
+	;
+
+
 void
 ao_btm_init(void);