X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao.h;h=b3f780f5c7609797c15c895e90b0fa965dcf1a44;hb=HEAD;hp=1b269d73e09b8871d9e5834e3c18327351511d3c;hpb=2cdb1f30c49ba460b0850d23ba9c85e0336af290;p=fw%2Faltos

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 1b269d73..b3f780f5 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -40,8 +40,18 @@ extern char ao_getchar(void);
 #define HAS_TASK	1
 #endif
 
+#ifndef AO_GPIO_TYPE
+#define AO_GPIO_TYPE void *
+#endif
+
+typedef AO_GPIO_TYPE ao_gpio_t;
 typedef AO_PORT_TYPE ao_port_t;
 
+#ifndef AO_TICK_TYPE
+#define AO_TICK_TYPE uint32_t
+#define AO_TICK_SIGNED int32_t
+#endif
+
 #if HAS_TASK
 #include <ao_task.h>
 #else
@@ -75,21 +85,31 @@ typedef AO_PORT_TYPE ao_port_t;
 #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_MPU9250	0x40 | 3	/* Self test failure */
+#define AO_PANIC_SELF_TEST_BMX160	0x40 | 3	/* Self test failure */
 #define AO_PANIC_SELF_TEST_MS5607	0x40 | 4	/* Self test failure */
+#define AO_PANIC_SELF_TEST_ADS124S0X	0x40 | 5	/* Self test failure */
 
 /* Stop the operating system, beeping and blinking the reason */
 void
-ao_panic(uint8_t reason);
+ao_panic(uint8_t reason) __attribute__((noreturn));
 
 /*
- * ao_timer.c
+ * ao_romconfig.c
  */
 
-#ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE	uint16_t
-#define AO_TICK_SIGNED	int16_t
+#define AO_ROMCONFIG_VERSION	2
+
+extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_version;
+extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_check;
+extern AO_ROMCONFIG_SYMBOL uint16_t ao_serial_number;
+#if HAS_RADIO
+extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal;
 #endif
 
+/*
+ * ao_timer.c
+ */
+
 extern volatile AO_TICK_TYPE ao_tick_count;
 
 /* Our timer runs at 100Hz */
@@ -97,15 +117,20 @@ extern volatile AO_TICK_TYPE ao_tick_count;
 #define AO_HERTZ		100
 #endif
 #define AO_MS_TO_TICKS(ms)	((ms) / (1000 / AO_HERTZ))
-#define AO_SEC_TO_TICKS(s)	((s) * AO_HERTZ)
+#define AO_SEC_TO_TICKS(s)	((AO_TICK_TYPE) (s) * AO_HERTZ)
+#define AO_NS_TO_TICKS(ns)	((ns) / (1000000000L / AO_HERTZ))
 
 /* Returns the current time in ticks */
 AO_TICK_TYPE
 ao_time(void);
 
+/* Returns the current time in ns */
+uint64_t
+ao_time_ns(void);
+
 /* Suspend the current task until ticks time has passed */
 void
-ao_delay(uint16_t ticks);
+ao_delay(AO_TICK_TYPE ticks);
 
 /* Set the ADC interval */
 void
@@ -370,7 +395,8 @@ ao_spi_slave(void);
 #define AO_GPS_NEW_TRACKING	2
 
 extern uint8_t ao_gps_new;
-extern uint16_t ao_gps_tick;
+extern AO_TICK_TYPE ao_gps_tick;
+extern AO_TICK_TYPE ao_gps_utc_tick;
 extern uint8_t ao_gps_mutex;
 extern struct ao_telemetry_location ao_gps_data;
 extern struct ao_telemetry_satellite ao_gps_tracking_data;
@@ -512,7 +538,7 @@ struct ao_telemetry_tiny_recv {
  * 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)
+#define AO_RADIO_FROM_RSSI(rssi)	((uint8_t) (((rssi) + 74) << 1))
 
 /*
  * ao_radio_recv tacks on rssi and status bytes
@@ -584,7 +610,7 @@ ao_radio_send(const void *d, uint8_t size);
 
 #if HAS_RADIO_RECV
 uint8_t
-ao_radio_recv(void *d, uint8_t size, uint8_t timeout);
+ao_radio_recv(void *d, uint8_t size, AO_TICK_TYPE timeout);
 
 void
 ao_radio_recv_abort(void);
@@ -705,8 +731,8 @@ struct ao_stdio {
 };
 
 extern struct ao_stdio ao_stdios[];
-extern int8_t ao_cur_stdio;
-extern int8_t ao_num_stdios;
+extern uint8_t ao_cur_stdio;
+extern uint8_t ao_num_stdios;
 
 void
 flush(void);
@@ -716,7 +742,7 @@ extern uint8_t ao_stdin_ready;
 uint8_t
 ao_echo(void);
 
-int8_t
+uint8_t
 ao_add_stdio(int (*pollchar)(void),
 	     void (*putchar)(char) ,
 	     void (*flush)(void));
@@ -730,9 +756,6 @@ enum ao_igniter {
 	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 */
@@ -812,15 +835,15 @@ struct ao_fifo {
 	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_insert(f,c) do {					\
+		(f).fifo[(f).insert] = (char) (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_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_mostly(f)	((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
@@ -919,12 +942,6 @@ ao_log_single(void);
 
 #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
  */
@@ -955,7 +972,7 @@ ao_sqrt(uint32_t op);
  * ao_freq.c
  */
 
-int32_t ao_freq_to_set(int32_t freq, int32_t cal);
+uint32_t ao_freq_to_set(uint32_t freq, uint32_t cal);
 
 /*
  * ao_ms5607.c