X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao.h;fp=src%2Fkernel%2Fao.h;h=5ff9b5185c51c8c498583d2fe3f67f8ad476cb9e;hb=3cf030fffffd223c3717011e03aac82346295d71;hp=0000000000000000000000000000000000000000;hpb=607fbb01710be1cb263625337f5be3d0fb48d5e7;p=fw%2Faltos diff --git a/src/kernel/ao.h b/src/kernel/ao.h new file mode 100644 index 00000000..5ff9b518 --- /dev/null +++ b/src/kernel/ao.h @@ -0,0 +1,970 @@ +/* + * Copyright © 2009 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_H_ +#define _AO_H_ + +#include +#include +#include +#include +#include +#include + +#define TRUE 1 +#define FALSE 0 + +/* Convert a __data pointer into an __xdata pointer */ +#ifndef DATA_TO_XDATA +#define DATA_TO_XDATA(a) (a) +#endif +#ifndef PDATA_TO_XDATA +#define PDATA_TO_XDATA(a) (a) +#endif +#ifndef CODE_TO_XDATA +#define CODE_TO_XDATA(a) (a) +#endif + +#ifndef HAS_TASK +#define HAS_TASK 1 +#endif + +#ifndef AO_PORT_TYPE +#define AO_PORT_TYPE uint8_t +#endif + +typedef AO_PORT_TYPE ao_port_t; + +#if HAS_TASK +#include +#else +#include +#endif + +/* + * ao_panic.c + */ + +#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */ +#define AO_PANIC_DMA 2 /* Attempt to start DMA while active */ +#define AO_PANIC_MUTEX 3 /* Mis-using mutex API */ +#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 */ +#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 */ +#define AO_PANIC_STACK 12 /* Stack overflow */ +#define AO_PANIC_SPI 13 /* SPI communication failure */ +#define AO_PANIC_CRASH 14 /* Processor crashed */ +#define AO_PANIC_BUFIO 15 /* Mis-using bufio API */ +#define AO_PANIC_EXTI 16 /* Mis-using exti API */ +#define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */ +#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */ +#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */ +#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */ +#define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */ + +/* Stop the operating system, beeping and blinking the reason */ +void +ao_panic(uint8_t reason); + +/* + * ao_timer.c + */ + +#ifndef AO_TICK_TYPE +#define AO_TICK_TYPE uint16_t +#define AO_TICK_SIGNED int16_t +#endif + +extern volatile __data AO_TICK_TYPE ao_tick_count; + +/* Our timer runs at 100Hz */ +#ifndef AO_HERTZ +#define AO_HERTZ 100 +#endif +#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 */ +AO_TICK_TYPE +ao_time(void); + +/* Suspend the current task until ticks time has passed */ +void +ao_delay(uint16_t ticks); + +/* Set the ADC interval */ +void +ao_timer_set_adc_interval(uint8_t interval); + +/* Timer interrupt */ +void +ao_timer_isr(void) ao_arch_interrupt(9); + +/* Initialize the timer */ +void +ao_timer_init(void); + +/* Initialize the hardware clock. Must be called first */ +void +ao_clock_init(void); + +/* + * ao_mutex.c + */ + +#ifndef ao_mutex_get +void +ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; + +void +ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; +#endif + +/* + * ao_cmd.c + */ + +enum ao_cmd_status { + ao_cmd_success = 0, + ao_cmd_lex_error = 1, + ao_cmd_syntax_error = 2, +}; + +extern __pdata uint16_t ao_cmd_lex_i; +extern __pdata uint32_t ao_cmd_lex_u32; +extern __pdata char ao_cmd_lex_c; +extern __pdata enum ao_cmd_status ao_cmd_status; + +void +ao_put_string(__code char *s); + +void +ao_cmd_lex(void); + +void +ao_cmd_put8(uint8_t v); + +void +ao_cmd_put16(uint16_t v); + +uint8_t +ao_cmd_is_white(void); + +void +ao_cmd_white(void); + +int8_t +ao_cmd_hexchar(char c); + +void +ao_cmd_hexbyte(void); + +void +ao_cmd_hex(void); + +void +ao_cmd_decimal(void) __reentrant; + +/* Read a single hex nibble off stdin. */ +uint8_t +ao_getnibble(void); + +uint8_t +ao_match_word(__code char *word); + +struct ao_cmds { + void (*func)(void); + __code char *help; +}; + +void +ao_cmd_register(const __code struct ao_cmds *cmds); + +void +ao_cmd_init(void); + +#if HAS_CMD_FILTER +/* + * Provided by an external module to filter raw command lines + */ +uint8_t +ao_cmd_filter(void); +#endif + +/* + * Various drivers + */ +#if HAS_ADC +#include +#endif + +#if HAS_BEEP +#include +#endif + +#if LEDS_AVAILABLE +#include +#endif + +#if HAS_USB +#include +#endif + +#if HAS_EEPROM +#include +#endif + +#if HAS_LOG +#include +#endif + +#if HAS_FLIGHT +#include +#include +#endif + +/* + * ao_report.c + */ + +#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5) +#define AO_RDF_LENGTH_MS 500 +#define AO_RDF_CONTINUITY_MS 32 +#define AO_RDF_CONTINUITY_PAUSE 96 +#define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE) + +/* This assumes that we're generating a 1kHz tone, which + * modulates the carrier at 2kbps, or 250kBps + */ +#define AO_MS_TO_RDF_LEN(ms) ((ms) / 4) + +#define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS) +#define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS) +#define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE) +#define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL) + +/* returns a value 0-3 to indicate igniter continuity */ +uint8_t +ao_report_igniter(void); + +void +ao_report_init(void); + +/* + * ao_convert.c + * + * Given raw data, convert to SI units + */ + +/* pressure from the sensor to altitude in meters */ +int16_t +ao_pres_to_altitude(int16_t pres) __reentrant; + +int16_t +ao_altitude_to_pres(int16_t alt) __reentrant; + +int16_t +ao_temp_to_dC(int16_t temp) __reentrant; + +/* + * ao_convert_pa.c + * + * Convert between pressure in Pa and altitude in meters + */ + +#include + +alt_t +ao_pa_to_altitude(int32_t pa); + +int32_t +ao_altitude_to_pa(alt_t alt); + +#if HAS_DBG +#include +#endif + +#if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3 +#include +#endif + +/* + * ao_convert_volt.c + * + * Convert ADC readings to decivolts + */ + +int16_t +ao_battery_decivolt(int16_t adc); + +int16_t +ao_ignite_decivolt(int16_t adc); + +/* + * ao_spi_slave.c + */ + +uint8_t +ao_spi_slave_recv(void *buf, uint16_t len); + +void +ao_spi_slave_send(void *buf, uint16_t len); + +void +ao_spi_slave_init(void); + +/* This must be defined by the product; it will get called when chip + * select goes low, at which point it should use ao_spi_read and + * ao_spi_write to deal with the request + */ + +void +ao_spi_slave(void); + +#include +/* + * ao_gps.c + */ + +#define AO_GPS_NUM_SAT_MASK (0xf << 0) +#define AO_GPS_NUM_SAT_SHIFT (0) + +#define AO_GPS_VALID (1 << 4) +#define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) + +#define AO_GPS_NEW_DATA 1 +#define AO_GPS_NEW_TRACKING 2 + +extern __xdata uint8_t ao_gps_new; +extern __pdata uint16_t ao_gps_tick; +extern __xdata uint8_t ao_gps_mutex; +extern __xdata struct ao_telemetry_location ao_gps_data; +extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data; + +struct ao_gps_orig { + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t minute; + uint8_t second; + uint8_t flags; + int32_t latitude; /* degrees * 10⁷ */ + int32_t longitude; /* degrees * 10⁷ */ + int16_t altitude; /* m */ + uint16_t ground_speed; /* cm/s */ + uint8_t course; /* degrees / 2 */ + uint8_t hdop; /* * 5 */ + int16_t climb_rate; /* cm/s */ + uint16_t h_error; /* m */ + uint16_t v_error; /* m */ +}; + +struct ao_gps_sat_orig { + uint8_t svid; + uint8_t c_n_1; +}; + +#define AO_MAX_GPS_TRACKING 12 + +struct ao_gps_tracking_orig { + uint8_t channels; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; +}; + +void +ao_gps_set_rate(uint8_t rate); + +void +ao_gps(void); + +void +ao_gps_print(__xdata struct ao_gps_orig *gps_data); + +void +ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data); + +void +ao_gps_show(void) __reentrant; + +void +ao_gps_init(void); + +/* + * ao_gps_report.c + */ + +void +ao_gps_report(void); + +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 + */ + +#if LEGACY_MONITOR +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; + uint8_t flight_state; + int16_t accel; + int16_t ground_accel; + union { + struct { + int16_t speed; + int16_t unused; + } k; + int32_t flight_vel; + } u; + int16_t height; + int16_t ground_pres; + int16_t accel_plus_g; + int16_t accel_minus_g; + struct ao_adc_orig adc; + struct ao_gps_orig gps; + char callsign[AO_MAX_CALLSIGN]; + struct ao_gps_tracking_orig gps_tracking; +}; + +struct ao_telemetry_tiny { + uint16_t serial; + uint16_t flight; + uint8_t flight_state; + int16_t height; /* AGL in meters */ + int16_t speed; /* in m/s * 16 */ + int16_t accel; /* in m/s² * 16 */ + int16_t ground_pres; /* sensor units */ + struct ao_adc adc; /* raw ADC readings */ + char callsign[AO_MAX_CALLSIGN]; +}; + +struct ao_telemetry_orig_recv { + struct ao_telemetry_orig telemetry_orig; + int8_t rssi; + uint8_t status; +}; + +struct ao_telemetry_tiny_recv { + struct ao_telemetry_tiny telemetry_tiny; + int8_t rssi; + uint8_t status; +}; + +#endif /* LEGACY_MONITOR */ + +/* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method + * for reporting RSSI. So, now we use these values everywhere + */ +#define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74) +#define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1) + +/* + * ao_radio_recv tacks on rssi and status bytes + */ + +struct ao_telemetry_raw_recv { + uint8_t packet[AO_MAX_TELEMETRY + 2]; +}; + +/* Set delay between telemetry reports (0 to disable) */ + +#ifdef AO_SEND_ALL_BARO +#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100) +#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) +#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100) +#else +#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) +#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) +#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) +#endif + +void +ao_telemetry_set_interval(uint16_t interval); + +void +ao_rdf_set(uint8_t rdf); + +void +ao_telemetry_init(void); + +void +ao_telemetry_orig_init(void); + +void +ao_telemetry_tiny_init(void); + +/* + * ao_radio.c + */ + +extern __xdata uint8_t ao_radio_dma; + +extern __xdata int8_t ao_radio_rssi; + +#ifdef PKT_APPEND_STATUS_1_CRC_OK +#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK +#else +#include +#define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK +#endif + +#ifndef HAS_RADIO_RECV +#define HAS_RADIO_RECV HAS_RADIO +#endif +#ifndef HAS_RADIO_XMIT +#define HAS_RADIO_XMIT HAS_RADIO +#endif + +void +ao_radio_general_isr(void) ao_arch_interrupt(16); + +#if HAS_RADIO_XMIT +void +ao_radio_send(const __xdata void *d, uint8_t size) __reentrant; +#endif + +#if HAS_RADIO_RECV +uint8_t +ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant; + +void +ao_radio_recv_abort(void); +#endif + +void +ao_radio_test(uint8_t on); + +typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len); + +void +ao_radio_send_aprs(ao_radio_fill_func fill); + +/* + * ao_radio_pa + */ + +#if HAS_RADIO_AMP +void +ao_radio_pa_on(void); + +void +ao_radio_pa_off(void); + +void +ao_radio_pa_init(void); +#else +#define ao_radio_pa_on() +#define ao_radio_pa_off() +#define ao_radio_pa_init() +#endif + +/* + * Compute the packet length as follows: + * + * 2000 bps (for a 1kHz tone) + * so, for 'ms' milliseconds, we need + * 2 * ms bits, or ms / 4 bytes + */ + +void +ao_radio_rdf(void); + +void +ao_radio_continuity(uint8_t c); + +void +ao_radio_rdf_abort(void); + +void +ao_radio_init(void); + +/* + * ao_monitor.c + */ + +#if HAS_MONITOR + +extern const char const * const ao_state_names[]; + +#define AO_MONITOR_RING 8 + +union ao_monitor { + struct ao_telemetry_raw_recv raw; + struct ao_telemetry_all_recv all; +#if LEGACY_MONITOR + struct ao_telemetry_orig_recv orig; + struct ao_telemetry_tiny_recv tiny; +#endif +}; + +extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; + +#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) + +extern __data uint8_t ao_monitoring; +extern __data uint8_t ao_monitor_head; + +void +ao_monitor(void); + +#define AO_MONITORING_OFF 0 +#define AO_MONITORING_ORIG 1 + +void +ao_monitor_set(uint8_t monitoring); + +void +ao_monitor_disable(void); + +void +ao_monitor_enable(void); + +void +ao_monitor_init(void) __reentrant; + +#endif + +/* + * ao_stdio.c + */ + +#define AO_READ_AGAIN (-1) + +struct ao_stdio { + int (*_pollchar)(void); /* Called with interrupts blocked */ + void (*putchar)(char c) __reentrant; + void (*flush)(void); + uint8_t echo; +}; + +extern __xdata struct ao_stdio ao_stdios[]; +extern __pdata int8_t ao_cur_stdio; +extern __pdata int8_t ao_num_stdios; + +void +flush(void); + +extern __xdata uint8_t ao_stdin_ready; + +uint8_t +ao_echo(void); + +int8_t +ao_add_stdio(int (*pollchar)(void), + void (*putchar)(char) __reentrant, + void (*flush)(void)) __reentrant; + +/* + * ao_ignite.c + */ + +enum ao_igniter { + ao_igniter_drogue = 0, + ao_igniter_main = 1 +}; + +void +ao_ignite(enum ao_igniter igniter); + +enum ao_igniter_status { + ao_igniter_unknown, /* unknown status (ambiguous voltage) */ + ao_igniter_ready, /* continuity detected */ + ao_igniter_active, /* igniter firing */ + ao_igniter_open, /* open circuit detected */ +}; + +struct ao_ignition { + uint8_t request; + uint8_t fired; + uint8_t firing; +}; + +extern __code char * __code ao_igniter_status_names[]; + +extern __xdata struct ao_ignition ao_ignition[2]; + +enum ao_igniter_status +ao_igniter_status(enum ao_igniter igniter); + +extern __pdata uint8_t ao_igniter_present; + +void +ao_ignite_set_pins(void); + +void +ao_igniter_init(void); + +/* + * ao_config.c + */ +#include + +#if AO_PYRO_NUM +#include +#endif + +#if HAS_FORCE_FREQ +/* + * Set this to force the frequency to 434.550MHz + */ +extern __xdata uint8_t ao_force_freq; +#endif + +/* + * ao_rssi.c + */ + +void +ao_rssi_set(int rssi_value); + +void +ao_rssi_init(uint8_t rssi_led); + +/* + * ao_product.c + * + * values which need to be defined for + * each instance of a product + */ + +extern const char ao_version[]; +extern const char ao_manufacturer[]; +extern const char ao_product[]; + +/* + * Fifos + */ + +#define AO_FIFO_SIZE 32 + +struct ao_fifo { + uint8_t insert; + uint8_t remove; + char fifo[AO_FIFO_SIZE]; +}; + +#define ao_fifo_insert(f,c) do { \ + (f).fifo[(f).insert] = (c); \ + (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \ +} while(0) + +#define ao_fifo_remove(f,c) do {\ + c = (f).fifo[(f).remove]; \ + (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \ +} while(0) + +#define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) +#define ao_fifo_empty(f) ((f).insert == (f).remove) + +#if PACKET_HAS_MASTER || PACKET_HAS_SLAVE +#include +#endif + +#if HAS_BTM +#include +#endif + +#if HAS_COMPANION +#include +#endif + +#if HAS_LCD +#include +#endif + +#if HAS_AES +#include +#endif + +/* ao_launch.c */ + +struct ao_launch_command { + uint16_t tick; + uint16_t serial; + uint8_t cmd; + uint8_t channel; + uint16_t unused; +}; + +#define AO_LAUNCH_QUERY 1 + +struct ao_launch_query { + uint16_t tick; + uint16_t serial; + uint8_t channel; + uint8_t valid; + uint8_t arm_status; + uint8_t igniter_status; +}; + +#define AO_LAUNCH_ARM 2 +#define AO_LAUNCH_FIRE 3 + +void +ao_launch_init(void); + +/* + * ao_log_single.c + */ + +#define AO_LOG_TELESCIENCE_START ((uint8_t) 's') +#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') + +#define AO_LOG_TELESCIENCE_NUM_ADC 12 + +struct ao_log_telescience { + uint8_t type; + uint8_t csum; + uint16_t tick; + uint16_t tm_tick; + uint8_t tm_state; + uint8_t unused; + uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC]; +}; + +#define AO_LOG_SINGLE_SIZE 32 + +union ao_log_single { + struct ao_log_telescience telescience; + union ao_telemetry_all telemetry; + uint8_t bytes[AO_LOG_SINGLE_SIZE]; +}; + +extern __xdata union ao_log_single ao_log_single_write_data; +extern __xdata union ao_log_single ao_log_single_read_data; + +void +ao_log_single_extra_query(void); + +void +ao_log_single_list(void); + +void +ao_log_single_main(void); + +uint8_t +ao_log_single_write(void); + +uint8_t +ao_log_single_read(uint32_t pos); + +void +ao_log_single_start(void); + +void +ao_log_single_stop(void); + +void +ao_log_single_restart(void); + +void +ao_log_single_set(void); + +void +ao_log_single_delete(void); + +void +ao_log_single_init(void); + +void +ao_log_single(void); + +/* + * ao_pyro_slave.c + */ + +#define AO_TELEPYRO_NUM_ADC 9 + +#ifndef ao_xmemcpy +#define ao_xmemcpy(d,s,c) memcpy(d,s,c) +#define ao_xmemset(d,v,c) memset(d,v,c) +#define ao_xmemcmp(d,s,c) memcmp(d,s,c) +#endif + +/* + * ao_terraui.c + */ + +void +ao_terraui_init(void); + +/* + * ao_battery.c + */ + +#ifdef BATTERY_PIN +void +ao_battery_isr(void) ao_arch_interrupt(1); + +uint16_t +ao_battery_get(void); + +void +ao_battery_init(void); +#endif /* BATTERY_PIN */ + +/* + * ao_sqrt.c + */ + +uint32_t +ao_sqrt(uint32_t op); + +/* + * ao_freq.c + */ + +int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant; + +/* + * ao_ms5607.c + */ + +void ao_ms5607_init(void); + +#include + +#endif /* _AO_H_ */