Revision History
Revision 0.1	22 November 2010
Initial content

Revision History

Revision 0.1

22 November 2010

Initial content

Revision History
Revision 1.1	05 November 2012
Portable version
Revision 0.1	22 November 2010
Initial content

Revision History

Revision 1.1

05 November 2012

Portable version

Revision 0.1

22 November 2010

Initial content

1. ao_add_task

 	void
 	ao_add_task(__xdata struct ao_task * task,
 	            void (*start)(void),
@@ -190,12 +321,12 @@
 	display), and the start address. It does not switch to the
 	new task. 'start' must not ever return; there is no place
 	to return to.
-

2. ao_exit

 	void
 	ao_exit(void)

This terminates the current task. -

3. ao_sleep

 	void
 	ao_sleep(__xdata void *wchan)

@@ -205,17 +336,19 @@ it returns 1. This is the only way to switch to another task.

Because ao_wakeup wakes every task waiting on a particular - location, ao_sleep should be used in a loop that first - checks the desired condition, blocks in ao_sleep and then - rechecks until the condition is satisfied. If the - location may be signaled from an interrupt handler, the - code will need to block interrupts by using the __critical - label around the block of code. Here's a complete example: + location, ao_sleep should be used in a loop that first checks + the desired condition, blocks in ao_sleep and then rechecks + until the condition is satisfied. If the location may be + signaled from an interrupt handler, the code will need to + block interrupts around the block of code. Here's a complete + example:

-	  __critical while (!ao_radio_done)
+	  ao_arch_block_interrupts();
+	  while (!ao_radio_done)
 	          ao_sleep(&ao_radio_done);
+	  ao_arch_release_interrupts();

4. ao_wakeup

 	void
 	ao_wakeup(__xdata void *wchan)

@@ -229,100 +362,109 @@ RFIF &= ~RFIF_IM_DONE; }

ao_alarm(ao_packet_master_delay); - __critical while (!ao_radio_dma_done) + ao_arch_block_interrupts(); + while (!ao_radio_dma_done) if (ao_sleep(&ao_radio_dma_done) != 0) ao_radio_abort(); + ao_arch_release_interrupts(); + ao_clear_alarm();

1. ao_time

 	uint16_t
 	ao_time(void)

Returns the current system tick count. Note that this is only a 16 bit value, and so it wraps every 655.36 seconds. -

2. ao_delay

 	void
 	ao_delay(uint16_t ticks);

Suspend the current task for at least 'ticks' clock units. -

3. ao_timer_set_adc_interval

 	void
 	ao_timer_set_adc_interval(uint8_t interval);

This sets the number of ticks between ADC samples. If set to 0, no ADC samples are generated. AltOS uses this to slow down the ADC sampling rate to save power. -

4. ao_timer_init

 	void
 	ao_timer_init(void)

- This turns on the 100Hz tick using the CC1111 timer 1. It - is required for any of the time-based functions to - work. It should be called by 'main' before ao_start_scheduler. -

1. ao_mutex_get

 	void
 	ao_mutex_get(__xdata uint8_t *mutex);

Acquires the specified mutex, blocking if the mutex is owned by another task. -

2. ao_mutex_put

 	void
 	ao_mutex_put(__xdata uint8_t *mutex);

Releases the specified mutex, waking up all tasks waiting for it. -

- void - ao_dma_set_transfer(uint8_t id, - void __xdata *srcaddr, - void __xdata *dstaddr, - uint16_t count, - uint8_t cfg0, - uint8_t cfg1) -

1. CC1111 DMA Engine

1.1. ao_dma_alloc

+	  uint8_t
+	  ao_dma_alloc(__xdata uint8_t *done)
+

+ Allocate a DMA engine, returning the identifier. 'done' is + cleared when the DMA is started, and then receives the + AO_DMA_DONE bit on a successful transfer or the + AO_DMA_ABORTED bit if ao_dma_abort was called. Note that it + is possible to get both bits if the transfer was aborted + after it had finished. +

1.2. ao_dma_set_transfer

+	  void
+	  ao_dma_set_transfer(uint8_t id,
+	  void __xdata *srcaddr,
+	  void __xdata *dstaddr,
+	  uint16_t count,
+	  uint8_t cfg0,
+	  uint8_t cfg1)
+

+ Initializes the specified dma engine to copy data + from 'srcaddr' to 'dstaddr' for 'count' units. cfg0 and + cfg1 are values directly out of the CC1111 documentation + and tell the DMA engine what the transfer unit size, + direction and step are. +

1.3. ao_dma_start

+	  void
+	  ao_dma_start(uint8_t id);
+

+ Arm the specified DMA engine and await a signal from + either hardware or software to start transferring data. +

1.4. ao_dma_trigger

+	  void
+	  ao_dma_trigger(uint8_t id)
+

+ Trigger the specified DMA engine to start copying data. +

1.5. ao_dma_abort

+	  void
+	  ao_dma_abort(uint8_t id)
+

+ Terminate any in-progress DMA transation, marking its + 'done' variable with the AO_DMA_ABORTED bit. +

2. STM32L DMA Engine

2.1. ao_dma_alloc

+	  uint8_t ao_dma_done[];
+
+	  void
+	  ao_dma_alloc(uint8_t index);
+

+ Reserve a DMA engine for exclusive use by one + driver. +

2.2. ao_dma_set_transfer

+	  void
+	  ao_dma_set_transfer(uint8_t id,
+	  void *peripheral,
+	  void *memory,
+	  uint16_t count,
+	  uint32_t ccr);
+

+ Initializes the specified dma engine to copy data between + 'peripheral' and 'memory' for 'count' units. 'ccr' is a + value directly out of the STM32L documentation and tells the + DMA engine what the transfer unit size, direction and step + are. +

2.3. ao_dma_set_isr

+	  void
+	  ao_dma_set_isr(uint8_t index, void (*isr)(int))
+

+ This sets a function to be called when the DMA transfer + completes in lieu of setting the ao_dma_done bits. Use this + when some work needs to be done when the DMA finishes that + cannot wait until user space resumes. +

2.4. ao_dma_start

+	  void
+	  ao_dma_start(uint8_t id);
+

+ Arm the specified DMA engine and await a signal from either + hardware or software to start transferring data. + 'ao_dma_done[index]' is cleared when the DMA is started, and + then receives the AO_DMA_DONE bit on a successful transfer + or the AO_DMA_ABORTED bit if ao_dma_abort was called. Note + that it is possible to get both bits if the transfer was + aborted after it had finished. +

2.5. ao_dma_done_transfer

+	  void
+	  ao_dma_done_transfer(uint8_t id);
+

+ Signals that a specific DMA engine is done being used. This + allows multiple drivers to use the same DMA engine safely. +

2.6. ao_dma_abort

+	  void
+	  ao_dma_abort(uint8_t id)
+

+ Terminate any in-progress DMA transation, marking its + 'done' variable with the AO_DMA_ABORTED bit. +

void ao_add_stdio(char (*pollchar)(void), void (*putchar)(char), @@ -426,13 +619,13 @@ 'flush' forces the output buffer to be flushed. It may block until the buffer is delivered, but it is not required to do so. -

+ over USB, serial or the RF link as desired. Each command uses a + single character to invoke it, the remaining characters on the + line are available as parameters to the command. +

1. ao_cmd_register

 	void
 	ao_cmd_register(__code struct ao_cmds *cmds)

@@ -452,49 +645,49 @@ '?' command. Syntax errors found while executing 'func' should be indicated by modifying the global ao_cmd_status variable with one of the following values: -

ao_cmd_success: The command was parsed successfully. There is no need to assign this value, it is the default. -
: +
ao_cmd_lex_error: A token in the line was invalid, such as a number containing invalid characters. The low-level lexing functions already assign this value as needed. -
: +
ao_syntax_error: The command line is invalid for some reason other than invalid tokens.

2. ao_cmd_lex

 	void
 	ao_cmd_lex(void);

This gets the next character out of the command line buffer and sticks it into ao_cmd_lex_c. At the end of the line, ao_cmd_lex_c will get a newline ('\n') character. -

3. ao_cmd_put16

 	void
 	ao_cmd_put16(uint16_t v);

Writes 'v' as four hexadecimal characters. -

4. ao_cmd_put8

 	void
 	ao_cmd_put8(uint8_t v);

Writes 'v' as two hexadecimal characters. -

5. ao_cmd_white

 	void
 	ao_cmd_white(void)

This skips whitespace by calling ao_cmd_lex while ao_cmd_lex_c is either a space or tab. It does not skip any characters if ao_cmd_lex_c already non-white. -

6. ao_cmd_hex

 	void
 	ao_cmd_hex(void)

This reads a 16-bit hexadecimal value from the command line with optional leading whitespace. The resulting value is stored in ao_cmd_lex_i; -

7. ao_cmd_decimal

 	void
 	ao_cmd_decimal(void)

@@ -502,7 +695,7 @@ line with optional leading whitespace. The resulting value is stored in ao_cmd_lex_u32 and the low 16 bits are stored in ao_cmd_lex_i; -

8. ao_match_word

 	uint8_t
 	ao_match_word(__code char *word)

@@ -510,15 +703,15 @@ line. It does not skip leading white space. If 'word' is found, then 1 is returned. Otherwise, ao_cmd_status is set to ao_cmd_syntax_error and 0 is returned. -

9. ao_cmd_init

 	void
 	ao_cmd_init(void

Initializes the command system, setting up the built-in commands and adding a task to run the command processing loop. It should be called by 'main' before ao_start_scheduler. -

Chapter 9. CC1111 USB target device

Table of Contents

1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init

- The CC1111 contains a full-speed USB target device. It can be +

1. ao_usb_flush

 	void
 	ao_usb_flush(void);

@@ -539,7 +732,7 @@ to be delivered to the USB host if there is pending data, or if the last IN packet was full to indicate to the host that there isn't any more pending data available. -

2. ao_usb_putchar

 	void
 	ao_usb_putchar(char c);

@@ -548,7 +741,7 @@ adds a byte to the pending IN packet for delivery to the USB host. If the USB packet is full, this queues the 'IN' packet for delivery. -

3. ao_usb_pollchar

 	char
 	ao_usb_pollchar(void);

@@ -556,13 +749,13 @@ packet received, this returns AO_READ_AGAIN. Otherwise, it returns the next character, reporting to the host that it is ready for more data when the last character is gone. -

4. ao_usb_getchar

 	char
 	ao_usb_getchar(void);

This uses ao_pollchar to receive the next character, blocking while ao_pollchar returns AO_READ_AGAIN. -

5. ao_usb_disable

 	void
 	ao_usb_disable(void);

@@ -577,7 +770,7 @@ after disabling the USB device, it's likely that the cable will need to be disconnected and reconnected before it will work again. -

6. ao_usb_enable

 	void
 	ao_usb_enable(void);

@@ -585,7 +778,7 @@ disabled. See the note above about needing to physically remove and re-insert the cable to get the host to re-initialize the USB link. -

7. ao_usb_init

 	void
 	ao_usb_init(void);

@@ -593,7 +786,7 @@ the control end point and adds the usb I/O functions to the stdio system. Call this from main before ao_start_scheduler. -

1. ao_serial_getchar

 	char
 	ao_serial_getchar(void);

Returns the next character from the receive fifo, blocking until a character is received if the fifo is empty. -

2. ao_serial_putchar

 	void
 	ao_serial_putchar(char c);

Adds a character to the transmit fifo, blocking if the fifo is full. Starts transmitting characters. -

3. ao_serial_drain

 	void
 	ao_serial_drain(void);

Blocks until the transmit fifo is empty. Used internally when changing serial speeds. -

4. ao_serial_set_speed

 	void
 	ao_serial_set_speed(uint8_t speed);

@@ -630,52 +823,52 @@ AO_SERIAL_SPEED_4800, AO_SERIAL_SPEED_9600 or AO_SERIAL_SPEED_57600. This first flushes the transmit fifo using ao_serial_drain. -

5. ao_serial_init

 	void
 	ao_serial_init(void)

Initializes the serial peripheral. Call this from 'main' before jumping to ao_start_scheduler. The default speed setting is AO_SERIAL_SPEED_4800. -

Revision History

Revision 1.3

12 November 2013

+ Updated for software version 1.3. Version 1.3 adds support + for TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini + and fixes bugs in AltosUI and the AltOS firmware. +

Revision 1.2.1

21 May 2013

Updated for software version 1.2. Version 1.2 adds support for TeleBT and AltosDroid. It also adds a few minor features and fixes bugs in AltosUI and the AltOS firmware. @@ -26,23 +30,20 @@ Updated for software version 0.9. Note that 0.9 represents a telemetry format change, meaning both ends of a link (TeleMetrum and TeleDongle) must be updated or communications will fail. -

Revision 0.8

24 November 2010

Updated for software version 0.8

Device	Barometer	Z-axis accelerometer	GPS	3D sensors	Storage	RF Output	Battery
TeleMetrum v1.0	MP3H6115 10km (33k')	MMA2202 50g	SkyTraq	-	1MB	10mW	3.7V
TeleMetrum v1.1	MP3H6115 10km (33k')	MMA2202 50g	SkyTraq	-	2MB	10mW	3.7V
TeleMetrum v1.2	MP3H6115 10km (33k')	ADXL78 70g	SkyTraq	-	2MB	10mW	3.7V
TeleMetrum v2.0	MS5607 30km (100k')	MMA6555 102g	uBlox Max-7Q	-	8MB	40mW	3.7V
TeleMini v1.0	MP3H6115 10km (33k')	-	-	-	5kB	10mW	3.7V
TeleMini v2.0	MS5607 30km (100k')	-	-	-	1MB	10mW	3.7-12V
EasyMini v1.0	MS5607 30km (100k')	-	-	-	1MB	-	3.7-12V
TeleMega v1.0	MS5607 30km (100k')	MMA6555 102g	uBlox Max-7Q	MPU6000 HMC5883	8MB	40mW	3.7V

Device

Barometer

Z-axis accelerometer

GPS

3D sensors

Storage

RF Output

Battery

TeleMetrum v1.0

MP3H6115 10km (33k')

MMA2202 50g

SkyTraq

1MB

10mW

3.7V

TeleMetrum v1.1

MP3H6115 10km (33k')

MMA2202 50g

SkyTraq

2MB

10mW

3.7V

TeleMetrum v1.2

MP3H6115 10km (33k')

ADXL78 70g

SkyTraq

2MB

10mW

3.7V

TeleMetrum v2.0

MS5607 30km (100k')

MMA6555 102g

uBlox Max-7Q

8MB

40mW

3.7V

TeleMini v1.0

MP3H6115 10km (33k')

5kB

10mW

3.7V

TeleMini v2.0

MS5607 30km (100k')

1MB

10mW

3.7-12V

EasyMini v1.0

MS5607 30km (100k')

1MB

3.7-12V

TeleMega v1.0

MS5607 30km (100k')

MMA6555 102g

uBlox Max-7Q

MPU6000 HMC5883

8MB

40mW

3.7V

Device	Connectors	Screw Terminals	Width	Length	Tube Size
TeleMetrum	+ Antenna + Debug + Companion + USB + Battery +	Apogee pyro Main pyro Switch	1 inch (2.54cm)	2 ¾ inch (6.99cm)	29mm coupler
TeleMini v1.0	+ Antenna + Debug + Battery +	+ Apogee pyro + Main pyro +	½ inch (1.27cm)	1½ inch (3.81cm)	18mm coupler
TeleMini v2.0	+ Antenna + Debug + USB + Battery +	+ Apogee pyro + Main pyro + Battery + Switch +	0.8 inch (2.03cm)	1½ inch (3.81cm)	24mm coupler
EasyMini	+ Debug + USB + Battery +	+ Apogee pyro + Main pyro + Battery + Switch +	0.8 inch (2.03cm)	1½ inch (3.81cm)	24mm coupler
TeleMega	+ Antenna + Debug + Companion + USB + Battery +	+ Apogee pyro + Main pyro + Pyro A-D + Switch + Pyro battery +	1¼ inch (3.18cm)	3¼ inch (8.26cm)	38mm coupler

Device

Connectors

Screw Terminals

Width

Length

Tube Size

TeleMetrum

+ Antenna + Debug + Companion + USB + Battery +

Apogee pyro Main pyro Switch

1 inch (2.54cm)

2 ¾ inch (6.99cm)

29mm coupler

TeleMini v1.0

+ Antenna + Debug + Battery +

+ Apogee pyro + Main pyro +

½ inch (1.27cm)

1½ inch (3.81cm)

18mm coupler

TeleMini v2.0

+ Antenna + Debug + USB + Battery +

+ Apogee pyro + Main pyro + Battery + Switch +

0.8 inch (2.03cm)

1½ inch (3.81cm)

24mm coupler

EasyMini

+ Debug + USB + Battery +

+ Apogee pyro + Main pyro + Battery + Switch +

0.8 inch (2.03cm)

1½ inch (3.81cm)

24mm coupler

TeleMega

+ Antenna + Debug + Companion + USB + Battery +

+ Apogee pyro + Main pyro + Pyro A-D + Switch + Pyro battery +

1¼ inch (3.18cm)

3¼ inch (8.26cm)

38mm coupler

Device	Bytes per Sample	Total Storage	Minutes at Full Rate
TeleMetrum v1.0	8	1MB	20
TeleMetrum v1.1 v1.2	8	2MB	40
TeleMetrum v2.0	16	8MB	80
TeleMini v1.0	2	5kB	4
TeleMini v2.0	16	1MB	10
EasyMini	16	1MB	10
TeleMega	32	8MB	40

Device

Bytes per Sample

Total Storage

Minutes at Full Rate

TeleMetrum v1.0

1MB

TeleMetrum v1.1 v1.2

2MB

TeleMetrum v2.0

8MB

TeleMini v1.0

5kB

TeleMini v2.0

1MB

EasyMini

1MB

TeleMega

8MB

Mode Name	Abbreviation	Beeps	Description
Startup	S	dit dit dit	+ + Calibrating sensors, detecting orientation. + +
Idle	I	dit dit	+ + Ready to accept commands over USB or radio link. + +
Pad	P	dit dah dah dit	+ + Waiting for launch. Not listening for commands. + +
Boost	B	dah dit dit dit	+ + Accelerating upwards. + +
Fast	F	dit dit dah dit	+ + Decellerating, but moving faster than 200m/s. + +
Coast	C	dah dit dah dit	+ + Decellerating, moving slower than 200m/s + +
Drogue	D	dah dit dit	+ + Descending after apogee. Above main height. + +
Main	M	dah dah	+ + Descending. Below main height. + +
Landed	L	dit dah dit dit	+ + Stable altitude for at least ten seconds. + +
Sensor error	X	dah dit dit dah	+ + Error detected during sensor calibration. + +

Mode Name

Abbreviation

Beeps

Description

Startup

dit dit dit

+ Calibrating sensors, detecting orientation. +

Idle

dit dit

+ Ready to accept commands over USB or radio link. +

Pad

dit dah dah dit

+ Waiting for launch. Not listening for commands. +

Boost

dah dit dit dit

+ Accelerating upwards. +

Fast

dit dit dah dit

+ Decellerating, but moving faster than 200m/s. +

Coast

dah dit dah dit

+ Decellerating, moving slower than 200m/s +

Drogue

dah dit dit

+ Descending after apogee. Above main height. +

Main

dah dah

+ Descending. Below main height. +

Landed

dit dah dit dit

+ Stable altitude for at least ten seconds. +

Sensor error

dah dit dit dah

+ Error detected during sensor calibration. +

Name	Beeps	Description
Neither	brap	+ + No continuity detected on either apogee or main + igniters. + +
Apogee	dit	+ + Continuity detected only on apogee igniter. + +
Main	dit dit	+ + Continuity detected only on main igniter. + +
Both	dit dit dit	+ + Continuity detected on both igniters. + +
Storage Full	warble	+ + On-board data logging storage is full. This will + not prevent the flight computer from safely + controlling the flight or transmitting telemetry + signals, but no record of the flight will be + stored in on-board flash. + +

Name

Beeps

Description

Neither

brap

+ No continuity detected on either apogee or main + igniters. +

Apogee

dit

+ Continuity detected only on apogee igniter. +

Main

dit dit

+ Continuity detected only on main igniter. +

Both

dit dit dit

+ Continuity detected on both igniters. +

Storage Full

warble

+ On-board data logging storage is full. This will + not prevent the flight computer from safely + controlling the flight or transmitting telemetry + signals, but no record of the flight will be + stored in on-board flash. +

AltOS Companion Port

Protocol Definitions

Keith Packard

+AltOS Companion Port

AltOS Companion Port

Protocol Definitions

Keith Packard

This document is released under the terms of the Creative Commons ShareAlike 3.0 license. -

Revision History
Revision 0.1	13 January 2012
Initial content

Table of Contents

1. Companion Port

2. Companion SPI Protocol

3. SPI Message Formats

3.1. Command Message
3.2. SETUP reply message
3.3. FETCH reply message

4. History and Motivation

1. Companion Port

Revision History
Revision 0.1	13 January 2012
Initial content

Table of Contents

1. Companion Port

2. Companion SPI Protocol

3. SPI Message Formats

3.1. Command Message
3.2. SETUP reply message
3.3. FETCH reply message

4. History and Motivation

1. Companion Port

Many Altus Metrum products come with an eight pin Micro MaTch connector, called the Companion Port. This is often used to program devices using a programming cable. However, it can also @@ -12,20 +12,20 @@ (hence the name).

The Companion Port provides two different functions: -

+
- Power. Both battery-level and 3.3V regulated power are available. Note that the amount of regulated power is not huge; TeleMetrum contains a 150mA regulator and uses, at peak, about 120mA or so. For applications needing more than a few dozen mA, placing a separate regulator on them and using the battery for power is probably a good idea. -
- +
- SPI. The flight computer operates as a SPI master, using a protocol defined in this document. Companion boards provide a matching SPI slave implementation which supplies telemetry information for the radio downlink during flight -
-

2. Companion SPI Protocol

The flight computer implements a SPI master communications channel over the companion port, and uses this to get information about a connected companion board and then to get @@ -42,11 +42,11 @@

Because of the limits of the AVR processors used in the first two companion boards, the SPI data rate is set to 187.5kbaud. -

3. SPI Message Formats

This section first defines the command message format sent from the flight computer to the companion board, and then the various reply message formats for each type of command message. -

3.1. Command Message

Table 1. Companion Command Message

Offset	Data Type	Name	Description
0	uint8_t	command	Command identifier
1	uint8_t	flight_state	Current flight computer state
2	uint16_t	tick	Flight computer clock (100 ticks/second)
4	uint16_t	serial	Flight computer serial number
6	uint16_t	flight	Flight number
8

Table 2. Companion Command Identifiers

Value

Name

Description

SETUP

Supply the flight computer with companion +

3.1. Command Message

Table 1. Companion Command Message

Offset	Data Type	Name	Description
0	uint8_t	command	Command identifier
1	uint8_t	flight_state	Current flight computer state
2	uint16_t	tick	Flight computer clock (100 ticks/second)
4	uint16_t	serial	Flight computer serial number
6	uint16_t	flight	Flight number
8

Table 2. Companion Command Identifiers

Value	Name	Description
1	SETUP	Supply the flight computer with companion information
2	FETCH	Return telemetry information
3	NOTIFY	Tell companion board when flight state changes

The flight computer will send a SETUP message shortly after @@ -74,7 +74,7 @@ use this to change data collection parameters, disabling data logging until the flight starts and terminating it when the flight ends. -

3.2. SETUP reply message

Table 3. SETUP reply contents

Offset	Data Type	Name	Description
0	uint16_t	board_id	Board identifier
2	uint16_t	board_id_inverse	~board_id—used to tell if a board is present
4	uint8_t	update_period	Minimum time (in 100Hz ticks) between FETCH commands
5	uint8_t	channels	Number of data channels to retrieve in FETCH command
6

3.2. SETUP reply message

Table 3. SETUP reply contents

Offset	Data Type	Name	Description
0	uint16_t	board_id	Board identifier
2	uint16_t	board_id_inverse	~board_id—used to tell if a board is present
4	uint8_t	update_period	Minimum time (in 100Hz ticks) between FETCH commands
5	uint8_t	channels	Number of data channels to retrieve in FETCH command
6

The SETUP reply contains enough information to uniquely identify the companion board to the end user as well as for the flight computer to know how many data values to expect in @@ -85,12 +85,12 @@ bit-wise inverse of board_id. Current companion boards use USB product ID as the board_id, but the flight computer does not interpret this data and so it can be any value. -

3.3. FETCH reply message

Table 4. FETCH reply contents

Offset	Data Type	Name	Description
0	uint16_t	data0	0th data item
2	uint16_t	data1	1st data item
...

3.3. FETCH reply message

Table 4. FETCH reply contents

Offset	Data Type	Name	Description
0	uint16_t	data0	0th data item
2	uint16_t	data1	1st data item
...

The FETCH reply contains arbitrary data to be reported over the flight computer telemetry link. The number of 16-bit data items must match the 'channels' value provided in the SETUP reply message. -

4. History and Motivation

To allow cross-programming, the original TeleMetrum and TeleDongle designs needed to include some kind of connector. With that in place, adding the ability to connect diff --git a/AltOS/doc/companion.pdf b/AltOS/doc/companion.pdf index d10306b..a0e0f60 100644 Binary files a/AltOS/doc/companion.pdf and b/AltOS/doc/companion.pdf differ diff --git a/AltOS/doc/configure-altimeter.png b/AltOS/doc/configure-altimeter.png new file mode 100644 index 0000000..afb1932 Binary files /dev/null and b/AltOS/doc/configure-altimeter.png differ diff --git a/AltOS/doc/configure-altosui.png b/AltOS/doc/configure-altosui.png new file mode 100644 index 0000000..43fd400 Binary files /dev/null and b/AltOS/doc/configure-altosui.png differ diff --git a/AltOS/doc/configure-groundstation.png b/AltOS/doc/configure-groundstation.png new file mode 100644 index 0000000..9f836e7 Binary files /dev/null and b/AltOS/doc/configure-groundstation.png differ diff --git a/AltOS/doc/configure-pyro.png b/AltOS/doc/configure-pyro.png new file mode 100644 index 0000000..4f03c0a Binary files /dev/null and b/AltOS/doc/configure-pyro.png differ diff --git a/AltOS/doc/descent.png b/AltOS/doc/descent.png new file mode 100644 index 0000000..0c479e7 Binary files /dev/null and b/AltOS/doc/descent.png differ diff --git a/AltOS/doc/device-selection.png b/AltOS/doc/device-selection.png new file mode 100644 index 0000000..ffd067d Binary files /dev/null and b/AltOS/doc/device-selection.png differ diff --git a/AltOS/doc/easymini-top.jpg b/AltOS/doc/easymini-top.jpg new file mode 100644 index 0000000..2b9e0a3 Binary files /dev/null and b/AltOS/doc/easymini-top.jpg differ diff --git a/AltOS/doc/fire-igniter.png b/AltOS/doc/fire-igniter.png new file mode 100644 index 0000000..8580457 Binary files /dev/null and b/AltOS/doc/fire-igniter.png differ diff --git a/AltOS/doc/graph-configure.png b/AltOS/doc/graph-configure.png new file mode 100644 index 0000000..b588833 Binary files /dev/null and b/AltOS/doc/graph-configure.png differ diff --git a/AltOS/doc/graph-map.png b/AltOS/doc/graph-map.png new file mode 100644 index 0000000..fd0fb13 Binary files /dev/null and b/AltOS/doc/graph-map.png differ diff --git a/AltOS/doc/graph-stats.png b/AltOS/doc/graph-stats.png new file mode 100644 index 0000000..6f5c979 Binary files /dev/null and b/AltOS/doc/graph-stats.png differ diff --git a/AltOS/doc/graph.png b/AltOS/doc/graph.png new file mode 100644 index 0000000..c7c7b7d Binary files /dev/null and b/AltOS/doc/graph.png differ diff --git a/AltOS/doc/landed.png b/AltOS/doc/landed.png new file mode 100644 index 0000000..7b4f317 Binary files /dev/null and b/AltOS/doc/landed.png differ diff --git a/AltOS/doc/launch-pad.png b/AltOS/doc/launch-pad.png new file mode 100644 index 0000000..a6f142d Binary files /dev/null and b/AltOS/doc/launch-pad.png differ diff --git a/AltOS/doc/load-maps.png b/AltOS/doc/load-maps.png new file mode 100644 index 0000000..dc7ea64 Binary files /dev/null and b/AltOS/doc/load-maps.png differ diff --git a/AltOS/doc/micropeak.html b/AltOS/doc/micropeak.html index 8a0f85c..2f6afb7 100644 --- a/AltOS/doc/micropeak.html +++ b/AltOS/doc/micropeak.html @@ -1,10 +1,10 @@ -MicroPeak Owner's Manual

MicroPeak Owner's Manual

A recording altimeter for hobby rocketry

Keith Packard

+MicroPeak Owner's Manual

MicroPeak Owner's Manual

A recording altimeter for hobby rocketry

Keith Packard

This document is released under the terms of the Creative Commons ShareAlike 3.0 license. -

Revision History

Revision 0.1

29 October 2012

Revision History
Revision 0.1	29 October 2012
Initial release with preliminary hardware.
Revision 1.0	18 November 2012
Updates for version 1.0 release. @@ -14,11 +14,9 @@ Add documentation for the MicroPeak USB adapter board. Note the switch to a Kalman filter for peak altitude determination. -

Acknowledgements

Thanks to John Lyngdal for suggesting that we build something like this. -

Have fun using these products, and we hope to meet all of you out on the rocket flight line somewhere.

@@ -28,11 +26,10 @@ NAR Keith Packard, KD7SQG
NAR #88757, TRA #12200

Table of Contents

1. Quick Start Guide

2. Handling Precautions

3. The MicroPeak USB adapter

1. Installing the MicroPeak software
2. Downloading Micro Peak data
3. Analyzing MicroPeak Data
4. Configuring the MicroPeak application

4. Technical Information

1. Barometric Sensor
2. Micro-controller
3. Lithium Battery
4. Atmospheric Model
5. Mechanical Considerations
6. On-board data storage
7. MicroPeak Programming Interface

List of Tables

4.1. MicroPeak EEPROM Data Storage

Chapter 1. Quick Start Guide

Table of Contents

1. Quick Start Guide

2. Handling Precautions

3. The MicroPeak USB adapter

1. Installing the MicroPeak software
2. Downloading Micro Peak data
3. Analyzing MicroPeak Data
4. Configuring the MicroPeak application

4. Technical Information

1. Barometric Sensor
2. Micro-controller
3. Lithium Battery
4. Atmospheric Model
5. Mechanical Considerations
6. On-board data storage
7. MicroPeak Programming Interface

List of Tables

4.1. MicroPeak EEPROM Data Storage

Chapter 1. Quick Start Guide

MicroPeak is designed to be easy to use. Requiring no external components, flying takes just a few steps -

+
- Install the battery. Fit a CR1025 battery into the plastic carrier. The positive (+) terminal should be towards the more open side of the carrier. Slip the carrier into the battery @@ -58,17 +55,17 @@ NAR
- Finish preparing the rocket for flight. After the previous flight data have been reported, MicroPeak waits for - 30 seconds before starting to check for launch. This gives + one minute before starting to check for launch. This gives you time to finish assembling the rocket. As those activities might cause pressure changes inside the airframe, MicroPeak might accidentally detect boost. If you need to do - anything to the airframe after the 30 second window passes, + anything to the airframe after the one minute window passes, make sure to be careful not to disturb the altimeter. The - LED will remain dark during the 30 second delay, but after + LED will remain dark during the one minute delay, but after that, it will start blinking once every 3 seconds.
- - Fly the rocket. Once the rocket passes about 10m in height - (32 feet), the micro-controller will record the ground + Fly the rocket. Once the rocket passes about 30m in height + (100 feet), the micro-controller will record the ground pressure and track the pressure seen during the flight. In this mode, the LED flickers rapidly. When the rocket lands, and the pressure stabilizes, the micro-controller will record @@ -80,7 +77,7 @@ NAR Recover the data. Turn MicroPeak off and then back on. MicroPeak will blink out the maximum height for the last flight. Turn MicroPeak back off to conserve battery power. -

Chapter 2. Handling Precautions

All Altus Metrum products are sophisticated electronic devices. When handled gently and properly installed in an air-frame, they will deliver impressive results. However, as with all electronic @@ -110,12 +107,12 @@ NAR As with all other rocketry electronics, Altus Metrum altimeters must be protected from exposure to corrosive motor exhaust and ejection charge gasses. -

Chapter 3. The MicroPeak USB adapter

Table of Contents

1. Installing the MicroPeak software
2. Downloading Micro Peak data
3. Analyzing MicroPeak Data
4. Configuring the MicroPeak application

Chapter 3. The MicroPeak USB adapter

Table of Contents

1. Installing the MicroPeak software
2. Downloading Micro Peak data
3. Analyzing MicroPeak Data
4. Configuring the MicroPeak application

MicroPeak stores barometric pressure information for the first 48 seconds of the flight in on-board non-volatile memory. The contents of this memory can be downloaded to a computer using the MicroPeak USB adapter. -

1. Installing the MicroPeak software

The MicroPeak application runs on Linux, Mac OS X and Windows. You can download the latest version from http://altusmetrum.org/AltOS. @@ -124,19 +121,24 @@ NAR be installed. A compatible version of this driver is included with the MicroPeak application, but you may want to download a newer version from http://www.ftdichip.com/FTDrivers.htm. -

2. Downloading Micro Peak data

Connect the MicroPeak USB adapter to a USB cable and plug it in to your computer.
Start the MicroPeak application, locate the File menu and select the Download entry.
- The MicroPeak USB adapter has a small phototransistor on the - end of the board furthest from the USB connector. Locate - this and place the LED on the MicroPeak right over - it. Turn on the MicroPeak board and adjust the position - until the blue LED on the MicroPeak USB adapter blinks in - time with the orange LED on the MicroPeak board. + The MicroPeak USB adapter has a small phototransistor on + the end of the board furthest from the USB + connector. Locate this and place the LED on the MicroPeak + directly in contact with it. The MicroPeak LED and the + MicroPeak USB adapter photo need to be touching—even a + millimeters of space between them will reduce the light + intensity from the LED enough that the phototransistor + will not sense it. Turn on the MicroPeak board and adjust + the position until the blue LED on the MicroPeak USB + adapter blinks in time with the orange LED on the + MicroPeak board.
After the maximum flight height is reported, MicroPeak will pause for a few seconds, blink the LED four times rapidly @@ -145,7 +147,7 @@ NAR it will present the data in a graph and offer to save the data to a file. If not, you can power cycle the MicroPeak board and try again. -

3. Analyzing MicroPeak Data

The MicroPeak application can present flight data in the form of a graph, a collection of computed statistics or in tabular form. @@ -188,11 +190,11 @@ NAR Data tab) to a file, change the application Preferences, Close the current window or close all windows and Exit the application. -

4. Configuring the MicroPeak application

The MicroPeak application has a few user settings which are configured through the Preferences dialog, which can be accessed from the File menu. -

+
- The Log Directory is where flight data will be saved to and loaded from by default. Of course, you can always navigate to other directories in the file chooser windows, @@ -222,7 +224,7 @@ NAR Note that MicroPeak shares a subset of the AltosUI preferences, so if you use both of these applications, change in one application will affect the other. -

Chapter 4. Technical Information

Table of Contents

1. Barometric Sensor
2. Micro-controller
3. Lithium Battery
4. Atmospheric Model
5. Mechanical Considerations
6. On-board data storage
7. MicroPeak Programming Interface

1. Barometric Sensor

Chapter 4. Technical Information

Table of Contents

1. Barometric Sensor
2. Micro-controller
3. Lithium Battery
4. Atmospheric Model
5. Mechanical Considerations
6. On-board data storage
7. MicroPeak Programming Interface

1. Barometric Sensor

MicroPeak uses the Measurement Specialties MS5607 sensor. This has a range of 120kPa to 1kPa with an absolute accuracy of 150Pa and a resolution of 2.4Pa. @@ -236,7 +238,7 @@ NAR taken while the altimeter is at rest. Flight pressure is computed from a Kalman filter designed to smooth out any minor noise in the sensor values. -

2. Micro-controller

MicroPeak uses an Atmel ATtiny85 micro-controller. This tiny CPU contains 8kB of flash for the application, 512B of RAM for temporary data storage and 512B of EEPROM for non-volatile @@ -247,8 +249,8 @@ NAR this mode, the chip consumes only .1μA of power. MicroPeak uses this mode once the flight has ended to preserve battery power. -

3. Lithium Battery

- The CR1025 battery used by MicroPeak holes 30mAh of power, +

3. Lithium Battery

+ The CR1025 battery used by MicroPeak holds 30mAh of power, which is sufficient to run for over 40 hours. Because MicroPeak powers down on landing, run time includes only time sitting on the launch pad or during flight. @@ -264,7 +266,7 @@ NAR battery with MicroPeak. If so, many stores carry CR1025 batteries as they are commonly used in small electronic devices such as flash lights. -

4. Atmospheric Model

MicroPeak contains a fixed atmospheric model which is used to convert barometric pressure into altitude. The model was converted into a 469-element piece wise linear approximation @@ -280,7 +282,7 @@ NAR altitude is subtracted from the computed apogee altitude, so the resulting height is more accurate than either the ground or apogee altitudes. -

5. Mechanical Considerations

MicroPeak is designed to be rugged enough for typical rocketry applications. It contains two moving parts, the battery holder and the power switch, which were selected for their @@ -296,7 +298,7 @@ NAR any direction. Because it is a sliding switch, orienting the switch perpendicular to the direction of rocket travel will serve to further protect the switch from launch forces. -

6. On-board data storage

The ATtiny85 has 512 bytes of non-volatile storage, separate from the code storage memory. The MicroPeak firmware uses this to store information about the last completed @@ -309,7 +311,7 @@ NAR at regular intervals during the flight. This information can be extracted from MicroPeak through any AVR programming tool. -

Table 4.1. MicroPeak EEPROM Data Storage

Address	Size (bytes)	Description
0x000	4	Average ground pressure (Pa)
0x004	4	Minimum flight pressure (Pa)
0x008	2	Number of in-flight samples
0x00a … 0x1fe	2	Instantaneous flight pressure (Pa) low 16 bits

Table 4.1. MicroPeak EEPROM Data Storage

Address	Size (bytes)	Description
0x000	4	Average ground pressure (Pa)
0x004	4	Minimum flight pressure (Pa)
0x008	2	Number of in-flight samples
0x00a … 0x1fe	2	Instantaneous flight pressure (Pa) low 16 bits

All EEPROM data are stored least-significant byte first. The instantaneous flight pressure data are stored without the upper 16 bits of data. The upper bits can be reconstructed @@ -329,7 +331,7 @@ NAR 25°C. So, you can count on the pressure data being accurate, but speed or acceleration data computed from this will be limited by the accuracy of this clock. -

7. MicroPeak Programming Interface

MicroPeak exposes a standard 6-pin AVR programming interface, but not using the usual 2x3 array of pins on 0.1" centers. Instead, there is a single row of tiny 0.60mm × diff --git a/AltOS/doc/micropeak.pdf b/AltOS/doc/micropeak.pdf index 3dd1476..5379725 100644 Binary files a/AltOS/doc/micropeak.pdf and b/AltOS/doc/micropeak.pdf differ diff --git a/AltOS/doc/release-notes-0.7.1.html b/AltOS/doc/release-notes-0.7.1.html index 7012755..7a1f22b 100644 --- a/AltOS/doc/release-notes-0.7.1.html +++ b/AltOS/doc/release-notes-0.7.1.html @@ -1,36 +1,36 @@ -

Version 0.7.1 is the first release containing our new cross-platform Java-based user interface. AltosUI can: -

+
- Receive and log telemetry from a connected TeleDongle device. All data received is saved to log files named with the current date and the connected rocket serial and flight numbers. There is no mode in which telemetry data will not be saved. -
- +
- Download logged data from TeleMetrum devices, either through a direct USB connection or over the air through a TeleDongle device. -
- +
- Configure a TeleMetrum device, setting the radio channel, callsign, apogee delay and main deploy height. This can be done through either a USB connection or over a radio link via a TeleDongle device. -
- +
- Replay a flight in real-time. This takes a saved telemetry log or eeprom download and replays it through the user interface so you can relive your favorite rocket flights. -
- +
- Reprogram Altus Metrum devices. Using an Altus Metrum device connected via USB, another Altus Metrum device can be reprogrammed using the supplied programming cable between the two devices. -
- +
- Export Flight data to a comma-separated-values file. This takes either telemetry or on-board flight data and generates data suitable for use in external applications. All data is exported using standard units so that no device-specific knowledge is needed to handle the data. -
- +
- Speak to you during the flight. Instead of spending the flight hunched over your laptop looking at the screen, enjoy the view while the computer tells you what’s going on up there. During @@ -39,4 +39,4 @@ Version 0.7.1 is the first release containing our new cross-platform Java-based range information to try and help you find your rocket in the air. Once on the ground, the direction and distance are reported. -

diff --git a/AltOS/doc/release-notes-0.8.html b/AltOS/doc/release-notes-0.8.html index ee4943d..8ace7a9 100644 --- a/AltOS/doc/release-notes-0.8.html +++ b/AltOS/doc/release-notes-0.8.html @@ -1,23 +1,23 @@ -

Version 0.8 offers a major upgrade in the AltosUI interface. Significant new features include: -

+
- Post-flight graphing tool. This lets you explore the behaviour of your rocket after flight with a scroll-able and zoom-able chart showing the altitude, speed and acceleration of the airframe along with events recorded by the flight computer. You can export graphs to PNG files, or print them directly. -
- +
- Real-time moving map which overlays the in-progress flight on satellite imagery fetched from Google Maps. This lets you see in pictures where your rocket has landed, allowing you to plan recovery activities more accurately. -
- +
- Wireless recovery system testing. Prep your rocket for flight and test fire the deployment charges to make sure things work as expected. All without threading wires through holes in your airframe. -
- +
- Optimized flight status displays. Each flight state now has it's own custom 'tab' in the flight monitoring window so you can focus on the most important details. Pre-flight, the system @@ -26,16 +26,16 @@ they're all green and your rocket is ready for flight. There are also tabs for ascent, descent and landing along with the original tabular view of the data. -
- +
- Monitor multiple flights simultaneously. If you have more than one TeleDongle, you can monitor a flight with each one on the same computer. -
- +
- Automatic flight monitoring at startup. Plug TeleDongle into the machine before starting AltosUI and it will automatically connect to it and prepare to monitor a flight. -
- +
- Exports Google Earth flight tracks. Using the Keyhole Markup Language (.kml) file format, this provides a 3D view of your rocket flight through the Google Earth program. -

diff --git a/AltOS/doc/release-notes-0.9.2.html b/AltOS/doc/release-notes-0.9.2.html index c4bf75b..9e16524 100644 --- a/AltOS/doc/release-notes-0.9.2.html +++ b/AltOS/doc/release-notes-0.9.2.html @@ -1,9 +1,9 @@ -

Version 0.9.2 is an AltosUI bug-fix release, with no firmware changes. -

+
- Fix plotting problems due to missing file in the Mac OS install image. -
- +
- Always read whole eeprom blocks, mark empty records invalid, display parsing errors to user. -
- +
- Add software version to Configure AltosUI dialog -

diff --git a/AltOS/doc/release-notes-0.9.html b/AltOS/doc/release-notes-0.9.html index bd17cf4..f5ed9a7 100644 --- a/AltOS/doc/release-notes-0.9.html +++ b/AltOS/doc/release-notes-0.9.html @@ -1,20 +1,20 @@ -

Version 0.9 adds a few new firmware features and accompanying AltosUI changes, along with new hardware support. -

+
- Support for TeleMetrum v1.1 hardware. Sources for the flash memory part used in v1.0 dried up, so v1.1 uses a different part which required a new driver and support for explicit flight log erasing. -
- +
- Multiple flight log support. This stores more than one flight log in the on-board flash memory. It also requires the user to explicitly erase flights so that you won't lose flight logs just because you fly the same board twice in one day. -
- +
- Telemetry support for devices with serial number >= 256. Previous versions used a telemetry packet format that provided only 8 bits for the device serial number. This change requires that both ends of the telemetry link be running the 0.9 firmware or they will not communicate. -

diff --git a/AltOS/doc/release-notes-1.0.1.html b/AltOS/doc/release-notes-1.0.1.html index 361ad04..a58fed6 100644 --- a/AltOS/doc/release-notes-1.0.1.html +++ b/AltOS/doc/release-notes-1.0.1.html @@ -1,27 +1,27 @@ -

Version 1.0.1 is a major release, adding support for the TeleMini device and lots of new AltosUI features

AltOS Firmware Changes -

+
- Add TeleMini v1.0 support. Firmware images for TeleMini are included in AltOS releases. -
- +
- Change telemetry to be encoded in multiple 32-byte packets. This enables support for TeleMini and other devices without requiring further updates to the TeleDongle firmware. -
- +
- Support operation of TeleMetrum with the antenna pointing aft. Previous firmware versions required the antenna to be pointing upwards, now there is a configuration option allowing the antenna to point aft, to aid installation in some airframes. -
- +
- Ability to disable telemetry. For airframes where an antenna just isn't possible, or where radio transmissions might cause trouble with other electronics, there's a configuration option to disable all telemetry. Note that the board will still enable the radio link in idle mode. -
- +
- Arbitrary frequency selection. The radios in Altus Metrum devices can be programmed to a wide range of frequencies, so instead of limiting devices to 10 pre-selected 'channels', the @@ -29,7 +29,7 @@ 70cm band. Note that the RF matching circuit on the boards is tuned for around 435MHz, so frequencies far from that may reduce the available range. -
- +
- Kalman-filter based flight-tracking. The model based sensor fusion approach of a Kalman filter means that AltOS now computes apogee much more accurately than before, generally @@ -37,31 +37,31 @@ allows the baro-only TeleMini device to correctly identify Mach transitions, avoiding the error-prone selection of a Mach delay. -
+

AltosUI Changes -

+
- Wait for altimeter when using packet mode. Instead of quicly timing out when trying to initialize a packet mode configuration connection, AltosUI now waits indefinitely for the remote device to appear, providing a cancel button should the user get bored. This is necessary as the TeleMini can only be placed in "Idle" mode if AltosUI is polling it. -
- +
- Add main/apogee voltage graphs to the data plot. This provides a visual indication if the igniters fail before being fired. -
- +
- Scan for altimeter devices by watching the defined telemetry frequencies. This avoids the problem of remembering what frequency a device was configured to use, which is especially important with TeleMini which does not include a USB connection. -
- +
- Monitor altimeter state in "Idle" mode. This provides much of the information presented in the "Pad" dialog from the Monitor Flight command, monitoring the igniters, battery and GPS status withing requiring the flight computer to be armed and ready for flight. -
- +
- Pre-load map images from home. For those launch sites which don't provide free Wi-Fi, this allows you to download the necessary satellite images given the location of the launch @@ -70,12 +70,12 @@ you've got a launch site not on that list, please send the name of it, latitude and longitude along with a link to the web site of the controlling club to the altusmetrum mailing list. -
- +
- Flight statistics are now displayed in the Graph data window. These include max height/speed/accel, average descent rates and a few other bits of information. The Graph Data window can now be reached from the 'Landed' tab in the Monitor Flight window so you can immediately see the results of a flight. -
+

diff --git a/AltOS/doc/release-notes-1.1.1.html b/AltOS/doc/release-notes-1.1.1.html index 4e33c11..2281d94 100644 --- a/AltOS/doc/release-notes-1.1.1.html +++ b/AltOS/doc/release-notes-1.1.1.html @@ -1,4 +1,4 @@ -

Version 1.1.1 is a bug-fix release. It fixes a couple of bugs in AltosUI and one firmware bug that affects TeleMetrum version 1.0 boards. Thanks to Bob Brown for help diagnosing the Google Earth @@ -6,7 +6,7 @@ Distance value in the Descent tab.

AltOS Firmware Changes -

+
- TeleMetrum v1.0 boards use the AT45DB081D flash memory part to store flight data, which is different from later TeleMetrum boards. The AltOS v1.1 driver for this chip couldn't erase @@ -14,20 +14,20 @@ configuration values. This bug doesn't affect newer TeleMetrum boards, and it doesn't affect the safety of rockets flying version 1.1 firmware. -
+

AltosUI Changes -

+
- Creating a Google Earth file (KML) from on-board flight data (EEPROM) would generate an empty file. The code responsible for reading the EEPROM file wasn't ever setting the GPS valid bits, and so the KML export code thought there was no GPS data in the file. -
- +
- The “Landed” tab was displaying all values in metric units, even when AltosUI was configured to display imperial units. Somehow I just missed this tab when doing the units stuff. -
- +
- The “Descent” tab displays the range to the rocket, which is a combination of the over-the-ground distance to the rockets current latitude/longitude and the height of the rocket. As @@ -36,11 +36,11 @@ eventually land. A new “Ground Distance” field has been added which displays the distance to a spot right underneath the rocket. -
- +
- Sensor data wasn't being displayed for TeleMini flight computers in Monitor Idle mode, including things like battery voltage. The code that picked which kinds of data to fetch from the flight computer was missing a check for TeleMini when deciding whether to fetch the analog sensor data. -
+

diff --git a/AltOS/doc/release-notes-1.1.html b/AltOS/doc/release-notes-1.1.html index a86a5ae..c1be788 100644 --- a/AltOS/doc/release-notes-1.1.html +++ b/AltOS/doc/release-notes-1.1.html @@ -1,73 +1,73 @@ -

Version 1.1 is a minor release. It provides a few new features in AltosUI and the AltOS firmware and fixes bugs.

AltOS Firmware Changes -

+
- Add apogee-lockout value. Overrides the apogee detection logic to prevent incorrect apogee charge firing. -
- +
- Fix a bug where the data reported in telemetry packets was from 320ms ago. -
- +
- Force the radio frequency to 434.550MHz when the debug clock pin is connected to ground at boot time. This provides a way to talk to a TeleMini which is configured to some unknown frequency. -
- +
- Provide RSSI values for Monitor Idle mode. This makes it easy to check radio range without needing to go to flight mode. -
- +
- Fix a bug which caused the old received telemetry packets to be retransmitted over the USB link when the radio was turned off and back on. -
+

AltosUI Changes -

+
- Fix a bug that caused GPS ready to happen too quickly. The software was using every telemetry packet to signal new GPS data, which caused GPS ready to be signalled after 10 packets instead of 10 GPS updates. -
- +
- Fix Google Earth data export to work with recent versions. The google earth file loading code got a lot pickier, requiring some minor white space changes in the export code. -
- +
- Make the look-n-feel configurable, providing a choice from the available options. -
- +
- Add an 'Age' element to mark how long since a telemetry packet has been received. Useful to quickly gauge whether communications with the rocket are still active. -
- +
- Add 'Configure Ground Station' dialog to set the radio frequency used by a particular TeleDongle without having to go through the flight monitor UI. -
- +
- Add configuration for the new apogee-lockout value. A menu provides a list of reasonable values, or the value can be set by hand. -
- +
- Changed how flight data are downloaded. Now there's an initial dialog asking which flights to download, and after that finishes, a second dialog comes up asking which flights to delete. -
- +
- Re-compute time spent in each state for the flight graph; this figures out the actual boost and landing times instead of using the conservative values provide by the flight electronics. This improves the accuracy of the boost acceleration and main descent rate computations. -
- +
- Make AltosUI run on Mac OS Lion. The default Java heap space was dramatically reduced for this release causing much of the UI to fail randomly. This most often affected the satellite mapping download and displays. -
- +
- Change how data are displayed in the 'table' tab of the flight monitoring window. This eliminates entries duplicated from the header and adds both current altitude and pad altitude, which are useful in 'Monitor Idle' mode. -
- +
- Add Imperial units mode to present data in feet instead of meters. -
+

diff --git a/AltOS/doc/release-notes-1.2.1.html b/AltOS/doc/release-notes-1.2.1.html index 7b869ce..b2943dc 100644 --- a/AltOS/doc/release-notes-1.2.1.html +++ b/AltOS/doc/release-notes-1.2.1.html @@ -4,58 +4,58 @@ AltosUI and fixes some bugs in the AltOS firmware.

AltOS Firmware Changes -

+
- Add support for TeleBT -
- +
- In TeleMini recovery mode (when booted with the outer two debug pins connected together), the radio parameters are also set back to defaults (434.550MHz, N0CALL, factory radio cal). -
- +
- Add support for reflashing the SkyTraq GPS chips. This requires special host-side code which currently only exists for Linux. -
- +
- Correct Kalman filter model error covariance matrix. The values used previously assumed continuous measurements instead of discrete measurements. -
- +
- Fix some bugs in the USB driver for TeleMetrum and TeleDongle that affected Windows users. -
- +
- Adjusted the automatic gain control parameters that affect receive performance for TeleDongle. Field tests indicate that this may improve receive performance somewhat. -
+

AltosUI Changes -

+
- Handle missing GPS lock in 'Descent' tab. Previously, if the GPS position of the pad was unknown, an exception would be raised, breaking the Descent tab contents. -
- +
- Improve the graph, adding tool-tips to show values near the cursor and making the displayed set of values configurable, adding all of the flight data as options while leaving the default settings alone so that the graph starts by showing height, speed and acceleration. -
- +
- Make the initial position of the AltosUI top level window configurable. Along with this change, the other windows will pop up at 'sensible' places now, instead of on top of one another. -
- +
- Add callsign to Monitor idle window and connecting dialogs. This makes it clear which callsign is being used so that the operator will be aware that it must match the flight computer value or no communication will work. -
- +
- When downloading flight data, display the block number so that the user has some sense of progress. Unfortunately, we don't know how many blocks will need to be downloaded, but at least it isn't just sitting there doing nothing for a long time. -
- +
- Add GPS data and a map to the graph window. This lets you see a complete summary of the flight without needing to 'replay' the whole thing. -
+

diff --git a/AltOS/doc/release-notes-1.2.html b/AltOS/doc/release-notes-1.2.html index 3f7453e..e9a4eb7 100644 --- a/AltOS/doc/release-notes-1.2.html +++ b/AltOS/doc/release-notes-1.2.html @@ -3,25 +3,25 @@ the MicroPeak USB adapter.

AltOS Firmware Changes -

+
- Add MicroPeak support. This includes support for the ATtiny85 processor and adaptations to the core code to allow for devices too small to run the multi-tasking scheduler. -
+

MicroPeak UI changes -

+
- Added this new application -
+

Distribution Changes -

+
- Distribute Mac OS X packages in disk image ('.dmg') format to greatly simplify installation. -
- +
- Provide version numbers for the shared Java libraries to ensure that upgrades work properly, and to allow for multiple Altus Metrum software packages to be installed in the same directory at the same time. -
+

diff --git a/AltOS/doc/release-notes-1.3.html b/AltOS/doc/release-notes-1.3.html new file mode 100644 index 0000000..7000d2b --- /dev/null +++ b/AltOS/doc/release-notes-1.3.html @@ -0,0 +1,42 @@ +

+ Version 1.3 is a major release. It adds support for TeleMega, + TeleMetrum v2.0, TeleMini v2.0 and EasyMini. +

+ AltOS Firmware Changes +

+ Add STM32L processor support. This includes enhancements to + the scheduler to support products with many threads. +
+ Add NXP LPC11U14 processor support. +
+ Support additional pyro channels. These are configurable + through the UI to handle air starts, staging, additional + recovery events and external devices such as cameras. +
+ Add 3-axis gyro support for orientation tracking. This + integrates the gyros to compute the angle from vertical during + flight, allowing the additional pyro events to be controlled + by this value. +
+ Many more device drivers, including u-Blox Max 7Q GPS, + Freescale MMA6555 digital single-axis accelerometer, + Invensense MPU6000 3-axis accelerometer + 3 axis gyro, + Honeywell HMC5883 3-axis magnetic sensor and the TI CC1120 and + CC115L digital FM transceivers +

+ AltosUI changes +

+ Support TeleMega, TeleMetrum v2.0, TeleMini v2.0 and EasyMini telemetry and log formats. +
+ Use preferred units for main deployment height configuration, + instead of always doing configuration in meters. +

+ MicroPeak UI changes +

+ Add 'Download' button to menu bar. +
+ Save the last log directory and offer that as the default for new downloads +

diff --git a/AltOS/doc/scan-channels.png b/AltOS/doc/scan-channels.png new file mode 100644 index 0000000..bf6b6e5 Binary files /dev/null and b/AltOS/doc/scan-channels.png differ diff --git a/AltOS/doc/site-map.png b/AltOS/doc/site-map.png new file mode 100644 index 0000000..a6d3f78 Binary files /dev/null and b/AltOS/doc/site-map.png differ diff --git a/AltOS/doc/table.png b/AltOS/doc/table.png new file mode 100644 index 0000000..86cb988 Binary files /dev/null and b/AltOS/doc/table.png differ diff --git a/AltOS/doc/telemega-v1.0-top.jpg b/AltOS/doc/telemega-v1.0-top.jpg new file mode 100644 index 0000000..709d59f Binary files /dev/null and b/AltOS/doc/telemega-v1.0-top.jpg differ diff --git a/AltOS/doc/telemetrum-v1.1-thside.jpg b/AltOS/doc/telemetrum-v1.1-thside.jpg new file mode 100644 index 0000000..2ffbdbd Binary files /dev/null and b/AltOS/doc/telemetrum-v1.1-thside.jpg differ diff --git a/AltOS/doc/telemetry.html b/AltOS/doc/telemetry.html index dc7c606..db76d5d 100644 --- a/AltOS/doc/telemetry.html +++ b/AltOS/doc/telemetry.html @@ -1,10 +1,10 @@ -AltOS Telemetry

AltOS Telemetry

Packet Definitions

Keith Packard

+AltOS Telemetry

AltOS Telemetry

Packet Definitions

Keith Packard

This document is released under the terms of the Creative Commons ShareAlike 3.0 license. -

Revision History
Revision 0.1	01 July 2011
Initial content

Table of Contents

1. Packet Format Design

2. Packet Formats

2.1. Packet Header
2.2. Sensor Data
2.3. Configuration Data
2.4. GPS Location
2.5. GPS Satellite Data

3. Data Transmission

3.1. Modulation Scheme
3.2. Error Correction

4. TeleDongle packet format

5. History and Motivation

1. Packet Format Design

Revision History
Revision 0.1	01 July 2011
Initial content

Table of Contents

1. Packet Format Design

2. Packet Formats

2.1. Packet Header
2.2. Sensor Data
2.3. Configuration Data
2.4. GPS Location
2.5. GPS Satellite Data

3. Data Transmission

3.1. Modulation Scheme
3.2. Error Correction

4. TeleDongle packet format

5. History and Motivation

1. Packet Format Design

AltOS telemetry data is split into multiple different packets, all the same size, but each includs an identifier so that the ground station can distinguish among different types. A single @@ -22,14 +22,14 @@ All packet types start with a five byte header which encodes the device serial number, device clock value and the packet type. The remaining 27 bytes encode type-specific data. -

2. Packet Formats

- This section first defines the packet header common to all packets - and then the per-packet data layout. -

2.1. Packet Header

Table 1. Telemetry Packet Header

Offset	Data Type	Name	Description
0	uint16_t	serial	Device serial Number
2	uint16_t	tick	Device time in 100ths of a second
4	uint8_t	type	Packet type
5

2. Packet Formats

+ This section first defines the packet header common to all packets + and then the per-packet data layout. +

2.1. Packet Header

Table 1. Telemetry Packet Header

Offset	Data Type	Name	Description
0	uint16_t	serial	Device serial Number
2	uint16_t	tick	Device time in 100ths of a second
4	uint8_t	type	Packet type
5

Each packet starts with these five bytes which serve to identify which device has transmitted the packet, when it was transmitted and what the rest of the packet contains. -

2.2. Sensor Data

Type	Description
0x01	TeleMetrum Sensor Data
0x02	TeleMini Sensor Data
0x03	TeleNano Sensor Data

2.2. Sensor Data

Type	Description
0x01	TeleMetrum Sensor Data
0x02	TeleMini Sensor Data
0x03	TeleNano Sensor Data

TeleMetrum, TeleMini and TeleNano share this same packet format for sensor data. Each uses a distinct packet type so that the receiver knows which data values are valid and which @@ -38,63 +38,63 @@ Sensor Data packets are transmitted once per second on the ground, 10 times per second during ascent and once per second during descent and landing -

Table 2. Sensor Packet Contents

Offset	Data Type	Name	Description
5	uint8_t	state	Flight state
6	int16_t	accel	accelerometer (TM only)
8	int16_t	pres	pressure sensor
10	int16_t	temp	temperature sensor
12	int16_t	v_batt	battery voltage
14	int16_t	sense_d	drogue continuity sense (TM/Tm)
16	int16_t	sense_m	main continuity sense (TM/Tm)
18	int16_t	acceleration	m/s² * 16
20	int16_t	speed	m/s * 16
22	int16_t	height	m
24	int16_t	ground_pres	Average barometer reading on ground
26	int16_t	ground_accel	TM
28	int16_t	accel_plus_g	TM
30	int16_t	accel_minus_g	TM
32

2.3. Configuration Data

Type	Description
0x04	Configuration Data

Table 2. Sensor Packet Contents

Offset	Data Type	Name	Description
5	uint8_t	state	Flight state
6	int16_t	accel	accelerometer (TM only)
8	int16_t	pres	pressure sensor
10	int16_t	temp	temperature sensor
12	int16_t	v_batt	battery voltage
14	int16_t	sense_d	drogue continuity sense (TM/Tm)
16	int16_t	sense_m	main continuity sense (TM/Tm)
18	int16_t	acceleration	m/s² * 16
20	int16_t	speed	m/s * 16
22	int16_t	height	m
24	int16_t	ground_pres	Average barometer reading on ground
26	int16_t	ground_accel	TM
28	int16_t	accel_plus_g	TM
30	int16_t	accel_minus_g	TM
32

2.3. Configuration Data

Type	Description
0x04	Configuration Data

This provides a description of the software installed on the flight computer as well as any user-specified configuration data.

Configuration data packets are transmitted once per second during all phases of the flight -

Table 3. Sensor Packet Contents

Offset	Data Type	Name	Description
5	uint8_t	type	Device type
6	uint16_t	flight	Flight number
8	uint8_t	config_major	Config major version
9	uint8_t	config_minor	Config minor version
10	uint16_t	apogee_delay	Apogee deploy delay in seconds
12	uint16_t	main_deploy	Main deploy alt in meters
14	uint16_t	flight_log_max	Maximum flight log size (kB)
16	char	callsign[8]	Radio operator identifier
24	char	version[8]	Software version identifier
32

2.4. GPS Location

Type	Description
0x05	GPS Location

Table 3. Sensor Packet Contents

Offset	Data Type	Name	Description
5	uint8_t	type	Device type
6	uint16_t	flight	Flight number
8	uint8_t	config_major	Config major version
9	uint8_t	config_minor	Config minor version
10	uint16_t	apogee_delay	Apogee deploy delay in seconds
12	uint16_t	main_deploy	Main deploy alt in meters
14	uint16_t	flight_log_max	Maximum flight log size (kB)
16	char	callsign[8]	Radio operator identifier
24	char	version[8]	Software version identifier
32

2.4. GPS Location

Type	Description
0x05	GPS Location

This packet provides all of the information available from the Venus SkyTraq GPS receiver—position, time, speed and precision estimates.

GPS Location packets are transmitted once per second during all phases of the flight -

Table 4. GPS Location Packet Contents

Offset	Data Type	Name	Description
5	uint8_t	flags	See GPS Flags table below
6	int16_t	altitude	m
8	int32_t	latitude	degrees * 10⁷
12	int32_t	longitude	degrees * 10⁷
16	uint8_t	year
17	uint8_t	month
18	uint8_t	day
19	uint8_t	hour
20	uint8_t	minute
21	uint8_t	second
22	uint8_t	pdop	* 5
23	uint8_t	hdop	* 5
24	uint8_t	vdop	* 5
25	uint8_t	mode	See GPS Mode table below
26	uint16_t	ground_speed	cm/s
28	int16_t	climb_rate	cm/s
30	uint8_t	course	/ 2
31	uint8_t	unused[1]
32

Table 4. GPS Location Packet Contents

Offset	Data Type	Name	Description
5	uint8_t	flags	See GPS Flags table below
6	int16_t	altitude	m
8	int32_t	latitude	degrees * 10⁷
12	int32_t	longitude	degrees * 10⁷
16	uint8_t	year
17	uint8_t	month
18	uint8_t	day
19	uint8_t	hour
20	uint8_t	minute
21	uint8_t	second
22	uint8_t	pdop	* 5
23	uint8_t	hdop	* 5
24	uint8_t	vdop	* 5
25	uint8_t	mode	See GPS Mode table below
26	uint16_t	ground_speed	cm/s
28	int16_t	climb_rate	cm/s
30	uint8_t	course	/ 2
31	uint8_t	unused[1]
32

Packed into a one byte field are status flags and the count of satellites used to compute the position fix. Note that this number may be lower than the number of satellites being tracked; the receiver will not use information from satellites with weak signals or which are close enough to the horizon to have significantly degraded position accuracy. -

Table 5. GPS Flags

Bits	Name	Description
0-3	nsats	Number of satellites in solution
4	valid	GPS solution is valid
5	running	GPS receiver is operational
6	date_valid	Reported date is valid
7	course_valid	ground speed, course and climb rates are valid

Table 5. GPS Flags

Bits	Name	Description
0-3	nsats	Number of satellites in solution
4	valid	GPS solution is valid
5	running	GPS receiver is operational
6	date_valid	Reported date is valid
7	course_valid	ground speed, course and climb rates are valid

Here are all of the valid GPS operational modes. Altus Metrum products will only ever report 'N' (not valid), 'A' (Autonomous) modes or 'E' (Estimated). The remaining modes are either testing modes or require additional data. -

Table 6. GPS Mode

Mode

Name

Decsription

Not Valid

All data are invalid

Autonomous mode

Data are derived from satellite data

Differential Mode

Table 6. GPS Mode

Mode	Name	Decsription
N	Not Valid	All data are invalid
A	Autonomous mode	Data are derived from satellite data
D	Differential Mode	Data are augmented with differential data from a known ground station. The SkyTraq unit in TeleMetrum does not support this mode
E	Estimated	Data are estimated using dead reckoning from the last known data -
M	Manual	Data were entered manually
S	Simulated	GPS receiver testing mode

2.5. GPS Satellite Data

Type	Description
0x06	GPS Satellite Data

Manual

Data were entered manually

Simulated

GPS receiver testing mode

2.5. GPS Satellite Data

Type	Description
0x06	GPS Satellite Data

This packet provides space vehicle identifiers and signal quality information in the form of a C/N1 number for up to 12 satellites. The order of the svids is not specified.

GPS Satellite data are transmitted once per second during all phases of the flight. -

Table 7. GPS Satellite Data Contents

Offset	Data Type	Name	Description
5	uint8_t	channels	Number of reported satellite information
6	sat_info_t	sats[12]	See Per-Satellite data table below
30	uint8_t	unused[2]
32

Table 8. GPS Per-Satellite data (sat_info_t)

Offset	Data Type	Name	Description
0	uint8_t	svid	Space Vehicle Identifier
1	uint8_t	c_n_1	C/N1 signal quality indicator
2

3. Data Transmission

Table 7. GPS Satellite Data Contents

Offset	Data Type	Name	Description
5	uint8_t	channels	Number of reported satellite information
6	sat_info_t	sats[12]	See Per-Satellite data table below
30	uint8_t	unused[2]
32

Table 8. GPS Per-Satellite data (sat_info_t)

Offset	Data Type	Name	Description
0	uint8_t	svid	Space Vehicle Identifier
1	uint8_t	c_n_1	C/N1 signal quality indicator
2

3. Data Transmission

Altus Metrum devices use the Texas Instruments CC1111 microcontroller which includes an integrated sub-GHz digital transceiver. This transceiver is used to both transmit and receive the telemetry packets. This section discusses what modulation scheme is used and how this device is configured. -

3.1. Modulation Scheme

Texas Instruments provides a tool for computing modulation parameters given a desired modulation format and basic bit rate. For AltOS, the basic bit rate was specified as 38 kBaud, resulting in the following signal parmeters: -

Table 9.

Parameter	Value	Description
Modulation	GFSK	Gaussian Frequency Shift Keying
Deviation	20.507812 kHz	Frequency modulation
Data rate	38.360596 kBaud	Raw bit rate
RX Filter Bandwidth	93.75 kHz	Receiver Band pass filter bandwidth
IF Frequency	140.62 kHz	Receiver intermediate frequency

3.2. Error Correction

Table 9. Modulation Scheme

Parameter	Value	Description
Modulation	GFSK	Gaussian Frequency Shift Keying
Deviation	20.507812 kHz	Frequency modulation
Data rate	38.360596 kBaud	Raw bit rate
RX Filter Bandwidth	93.75 kHz	Receiver Band pass filter bandwidth
IF Frequency	140.62 kHz	Receiver intermediate frequency

3.2. Error Correction

The cc1111 provides forward error correction in hardware, which AltOS uses to improve reception of weak signals. The overall effect of this is to halve the available bandwidth for data from 38 kBaud to 19 kBaud. -

Table 10.

Parameter	Value	Description
Error Correction	Convolutional coding FEC	1/2 code, constraint length m=4
Interleaving	4 x 4	Reduce effect of noise burst
Data Whitening	XOR with 9-bit PNR	Rotate right with bit 8 = bit 0 xor bit 5, initial - value 111111111

4. TeleDongle packet format

Table 10. Error Correction

Parameter	Value	Description
Error Correction	Convolutional coding	1/2 rate, constraint length m=4
Interleaving	4 x 4	Reduce effect of noise burst
Data Whitening	XOR with 9-bit PNR	Rotate right with bit 8 = bit 0 xor bit 5, initial + value 111111111

4. TeleDongle packet format

TeleDongle does not do any interpretation of the packet data, instead it is configured to receive packets of a specified length (32 bytes in this case). For each received packet, @@ -106,9 +106,9 @@ the packet data, two bytes added by the cc1111 radio receiver hardware and finally a checksum so that the host software can validate that the line was transmitted without any errors. -

Table 11.

Offset

Name

Example

Description

length

Total length of data bytes in the line. Note that +

Table 11. Packet Format

Offset	Name	Example	Description
0	length	22	Total length of data bytes in the line. Note that this includes the added RSSI and status bytes
1 ·· length-3	packet	4f ·· 00	Bytes of actual packet data
length-2	rssi	3f	Received signal strength. dBm = rssi / 2 - 74
length-1	lqi	a9	Link Quality Indicator and CRC status. Bit 7 - is set when the CRC is correct
length	checksum	88	(0x5a + sum(bytes 1 ·· length-1)) % 256

5. History and Motivation

+ is set when the CRC is correct

length

checksum

(0x5a + sum(bytes 1 ·· length-1)) % 256

5. History and Motivation

The original AltoOS telemetry mechanism encoded everything available piece of information on the TeleMetrum hardware into a single unified packet. Initially, the packets contained very diff --git a/AltOS/doc/telemetry.pdf b/AltOS/doc/telemetry.pdf index 987f01d..8cfee40 100644 Binary files a/AltOS/doc/telemetry.pdf and b/AltOS/doc/telemetry.pdf differ diff --git a/AltOS/doc/telemini-v1-top.jpg b/AltOS/doc/telemini-v1-top.jpg new file mode 100644 index 0000000..f79714c Binary files /dev/null and b/AltOS/doc/telemini-v1-top.jpg differ diff --git a/AltOS/doc/telemini-v2-top.jpg b/AltOS/doc/telemini-v2-top.jpg new file mode 100644 index 0000000..bc8ae45 Binary files /dev/null and b/AltOS/doc/telemini-v2-top.jpg differ

AltOS

Altos Metrum Operating System

Keith Packard

AltOS

Altos Metrum Operating System

Keith Packard

Chapter 1. Overview

Chapter 1. Overview

Chapter 2. Programming the 8051 with SDCC

Chapter 2. AltOS Porting Layer

1. Low-level CPU operations

1.1. ao_arch_block_interrupts/ao_arch_release_interrupts

1.2. ao_arch_save_regs, ao_arch_save_stack, + ao_arch_restore_stack

1.3. ao_arch_wait_interupt

2. GPIO operations

2.1. GPIO setup

2.1.1. ao_enable_output

2.1.2. ao_enable_input

2.2. Reading and writing GPIO pins

2.2.1. ao_gpio_set

2.2.2. ao_gpio_get

Chapter 3. Programming the 8051 with SDCC

1. 8051 memory spaces

1. 8051 memory spaces

1.1. __data

1.1. __data

1.2. __idata

1.2. __idata

1.3. __xdata

1.3. __xdata

1.4. __pdata

1.4. __pdata

1.5. __code

1.5. __code

1.6. __bit

1.6. __bit

1.7. __sfr, __sfr16, __sfr32, __sbit

1.7. __sfr, __sfr16, __sfr32, __sbit

2. Function calls on the 8051

2. Function calls on the 8051

2.1. __reentrant functions

2.1. __reentrant functions

2.2. Non __reentrant functions

2.2. Non __reentrant functions

2.3. __interrupt functions

2.3. __interrupt functions

2.4. __critical functions and statements

2.4. __critical functions and statements

Chapter 3. Task functions

Chapter 4. Task functions

1. ao_add_task

1. ao_add_task

2. ao_exit

2. ao_exit

3. ao_sleep

3. ao_sleep

4. ao_wakeup

4. ao_wakeup

5. ao_alarm

5. ao_alarm

6. ao_start_scheduler

6. ao_start_scheduler

7. ao_clock_init

7. ao_clock_init

Chapter 4. Timer Functions

Chapter 5. Timer Functions

1. ao_time

1. ao_time

2. ao_delay

2. ao_delay

3. ao_timer_set_adc_interval

3. ao_timer_set_adc_interval

4. ao_timer_init

4. ao_timer_init

Chapter 5. AltOS Mutexes

Chapter 6. AltOS Mutexes

1. ao_mutex_get

1. ao_mutex_get

2. ao_mutex_put

2. ao_mutex_put

1.7. sfr, sfr16, sfr32, sbit

1.7. sfr, sfr16, sfr32, sbit