X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao.h;h=bc9afcc32ca38430986dce42caefb85c64813f31;hb=036400a2db303f3db3be7cc0426f88359c6bd2b1;hp=e86b4bf99cf81840f95bd876a911deb31f842c31;hpb=7b14c3e609749f4fc00dbd660541375048535218;p=fw%2Faltos

diff --git a/src/ao.h b/src/ao.h
index e86b4bf9..bc9afcc3 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -40,6 +40,7 @@
 /* An AltOS task */
 struct ao_task {
 	__xdata void *wchan;		/* current wait channel (NULL if running) */
+	uint16_t alarm;			/* abort ao_sleep time */
 	uint8_t	stack_count;		/* amount of saved stack */
 	uint8_t task_id;		/* index in the task array */
 	__code char *name;		/* task name */
@@ -55,8 +56,12 @@ extern __xdata struct ao_task *__data ao_cur_task;
  ao_task.c
  */
 
-/* Suspend the current task until wchan is awoken */
-void
+/* Suspend the current task until wchan is awoken.
+ * returns:
+ *  0 on normal wake
+ *  1 on alarm
+ */
+uint8_t
 ao_sleep(__xdata void *wchan);
 
 /* Wake all tasks sleeping on wchan */
@@ -67,6 +72,10 @@ ao_wakeup(__xdata void *wchan);
 void
 ao_wake_task(__xdata struct ao_task *task);
 
+/* set an alarm to go off in 'delay' ticks */
+void
+ao_alarm(uint16_t delay);
+
 /* Yield the processor to another task */
 void
 ao_yield(void) _naked;
@@ -97,6 +106,7 @@ ao_start_scheduler(void);
 #define AO_PANIC_EE		4	/* Mis-using eeprom API */
 #define AO_PANIC_LOG		5	/* Failing to read/write log data */
 #define AO_PANIC_CMD		6	/* Too many command sets registered */
+#define AO_PANIC_STDIO		7	/* Too many stdio handlers registered */
 
 /* Stop the operating system, beeping and blinking the reason */
 void
@@ -107,8 +117,9 @@ ao_panic(uint8_t reason);
  */
 
 /* Our timer runs at 100Hz */
-#define AO_MS_TO_TICKS(ms)	((ms) / 10)
-#define AO_SEC_TO_TICKS(s)	((s) * 100)
+#define AO_HERTZ		100
+#define AO_MS_TO_TICKS(ms)	((ms) / (1000 / AO_HERTZ))
+#define AO_SEC_TO_TICKS(s)	((s) * AO_HERTZ)
 
 /* Returns the current time in ticks */
 uint16_t
@@ -281,6 +292,12 @@ ao_usb_putchar(char c);
 char
 ao_usb_getchar(void);
 
+/* Poll for a charcter on the USB input queue.
+ * returns AO_READ_AGAIN if none are available
+ */
+char
+ao_usb_pollchar(void);
+
 /* Flush the USB output queue */
 void
 ao_usb_flush(void);
@@ -356,7 +373,6 @@ ao_cmd_init(void);
 
 #define AO_DMA_DONE	1
 #define AO_DMA_ABORTED	2
-#define AO_DMA_TIMEOUT	4
 
 uint8_t
 ao_dma_alloc(__xdata uint8_t * done);
@@ -380,7 +396,7 @@ ao_dma_trigger(uint8_t id);
 
 /* Abort a running DMA transfer */
 void
-ao_dma_abort(uint8_t id, uint8_t reason);
+ao_dma_abort(uint8_t id);
 
 /* DMA interrupt routine */
 void
@@ -768,6 +784,7 @@ ao_gps_report_init(void);
  */
 
 #define AO_MAX_CALLSIGN		8
+#define AO_TELEMETRY_VERSION	1
 
 struct ao_telemetry {
 	uint8_t			addr;
@@ -777,6 +794,8 @@ struct ao_telemetry {
 	int32_t			flight_vel;
 	int16_t			flight_pres;
 	int16_t			ground_pres;
+	int16_t			accel_plus_g;
+	int16_t			accel_minus_g;
 	struct ao_adc		adc;
 	struct ao_gps_data	gps;
 	char			callsign[AO_MAX_CALLSIGN];
@@ -804,8 +823,12 @@ ao_telemetry_init(void);
 
 extern __xdata uint8_t	ao_radio_dma;
 extern __xdata uint8_t ao_radio_dma_done;
+extern __xdata uint8_t ao_radio_done;
 extern __xdata uint8_t ao_radio_mutex;
 
+void
+ao_radio_general_isr(void) interrupt 16;
+
 void
 ao_radio_set_telemetry(void);
 
@@ -831,7 +854,7 @@ void
 ao_radio_rdf(int ms);
 
 void
-ao_radio_abort(uint8_t reason);
+ao_radio_abort(void);
 
 void
 ao_radio_rdf_abort(void);
@@ -861,9 +884,24 @@ ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
  * ao_stdio.c
  */
 
+#define AO_READ_AGAIN	((char) -1)
+
+struct ao_stdio {
+	char	(*pollchar)(void);
+	void	(*putchar)(char c) __reentrant;
+	void	(*flush)(void);
+};
+
 void
 flush(void);
 
+extern __xdata uint8_t ao_stdin_ready;
+
+void
+ao_add_stdio(char (*pollchar)(void),
+	     void (*putchar)(char) __reentrant,
+	     void (*flush)(void));
+
 /*
  * ao_ignite.c
  */
@@ -894,16 +932,17 @@ ao_igniter_init(void);
  */
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	1
+#define AO_CONFIG_MINOR	2
 
 struct ao_config {
 	uint8_t		major;
 	uint8_t		minor;
 	uint16_t	main_deploy;
-	int16_t		accel_zero_g;
+	int16_t		accel_plus_g;
 	uint8_t		radio_channel;
 	char		callsign[AO_MAX_CALLSIGN + 1];
 	uint8_t		apogee_delay;
+	int16_t		accel_minus_g;
 };
 
 extern __xdata struct ao_config ao_config;
@@ -969,6 +1008,7 @@ struct ao_fifo {
  */
 
 #define AO_PACKET_MAX	8
+#define AO_PACKET_SYN		(uint8_t) 0xff
 
 struct ao_packet {
 	uint8_t		addr;
@@ -984,7 +1024,42 @@ struct ao_packet_recv {
 	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_init(void);
+ao_packet_slave_init(void);
 
 #endif /* _AO_H_ */