X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao.h;h=27a16606010ff8f629c30755ed1e9ec39aeea1c3;hb=658d8be170f9aea683fe62b68368736a177411a5;hp=ad5bbf8e76ae152fefaed06eed6758963b8ec0da;hpb=013e9ccfbe76dc46e8c69ea314950bed83d9a39f;p=fw%2Faltos

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index ad5bbf8e..27a16606 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -43,10 +43,6 @@
 #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
@@ -76,6 +72,8 @@ typedef AO_PORT_TYPE ao_port_t;
 #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_ADC		18	/* Mis-using ADC interface */
+#define AO_PANIC_IRQ		19	/* interrupts not blocked */
 #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 */
@@ -127,6 +125,16 @@ ao_timer_init(void);
 void
 ao_clock_init(void);
 
+#if AO_POWER_MANAGEMENT
+/* Go to low power clock */
+void
+ao_clock_suspend(void);
+
+/* Restart full-speed clock */
+void
+ao_clock_resume(void);
+#endif
+
 /*
  * ao_mutex.c
  */
@@ -518,15 +526,9 @@ struct ao_telemetry_raw_recv {
 
 /* 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_reset_interval(void);
@@ -662,6 +664,7 @@ union ao_monitor {
 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
 
 #define ao_monitor_ring_next(n)	(((n) + 1) & (AO_MONITOR_RING - 1))
+#define ao_monitor_ring_prev(n)	(((n) - 1) & (AO_MONITOR_RING - 1))
 
 extern __data uint8_t ao_monitoring;
 extern __data uint8_t ao_monitor_head;
@@ -818,6 +821,8 @@ struct ao_fifo {
 } while(0)
 
 #define ao_fifo_full(f)		((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
+#define ao_fifo_mostly(f)	((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
+#define ao_fifo_barely(f)	((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
 #define ao_fifo_empty(f)	((f).insert == (f).remove)
 
 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE