AltOS

AltOS is a operating system built for the 8051-compatible processor found in the TI cc1111 microcontroller. It's designed to be small and easy to program with. The main features are: @@ -61,7 +61,7 @@

As you can see, a long sequence of subsystems are initialized and then the scheduler is started. -

Chapter 2. Programming the 8051 with SDCC

Table of Contents

8051 memory spaces

__data
__idata
__xdata
__pdata
__code
__bit
__sfr, __sfr16, __sfr32, __sbit

Function calls on the 8051

__reentrant functions
Non __reentrant functions
__interrupt functions
__critical functions and statements

Chapter 2. Programming the 8051 with SDCC

Table of Contents

8051 memory spaces

__data
__idata
__xdata
__pdata
__code
__bit
__sfr, __sfr16, __sfr32, __sbit

Function calls on the 8051

__reentrant functions
Non __reentrant functions
__interrupt functions
__critical functions and statements

The 8051 is a primitive 8-bit processor, designed in the mists of time in as few transistors as possible. The architecture is highly irregular and includes several separate memory @@ -69,7 +69,7 @@ stack itself is of limited size. While SDCC papers over the instruction set, it is not completely able to hide the memory architecture from the application designer. -

8051 memory spaces

The __data/__xdata/__code memory spaces below were completely separate in the original 8051 design. In the cc1111, this isn't true—they all live in a single unified 64kB address @@ -83,7 +83,7 @@ is decorated with a memory space identifier which clutters the code but makes the resulting code far smaller and more efficient. -

__data

The 8051 can directly address these 128 bytes of memory. This makes them precious so they should be reserved for frequently addressed values. Oh, just to @@ -93,42 +93,42 @@ these registers located at 0x00 - 0x1F. AltOS uses only the first bank at 0x00 - 0x07, leaving the other 24 bytes available for other data. -

__idata

There are an additional 128 bytes of internal memory that share the same address space as __data but which cannot be directly addressed. The stack normally occupies this space and so AltOS doesn't place any static storage here. -

__xdata

This is additional general memory accessed through a single 16-bit address register. The CC1111F32 has 32kB of memory available here. Most program data should live in this memory space. -

__pdata

This is an alias for the first 256 bytes of __xdata memory, but uses a shorter addressing mode with single global 8-bit value for the high 8 bits of the address and any of several 8-bit registers for the low 8 bits. AltOS uses a few bits of this memory, it should probably use more. -

__code

All executable code must live in this address space, but you can stick read-only data here too. It is addressed using the 16-bit address register and special 'code' access opcodes. Anything read-only should live in this space. -

__bit

The 8051 has 128 bits of bit-addressible memory that lives in the __data segment from 0x20 through 0x2f. Special instructions access these bits in a single atomic operation. This isn't so much a separate address space as a special addressing mode for a few bytes in the __data segment. -

sfr, sfr16, sfr32, sbit

Access to physical registers in the device use this mode which declares the variable name, it's type and the address it lives at. No memory is allocated for these variables. -

Function calls on the 8051

Because stack addressing is expensive, and stack space limited, the default function call declaration in SDCC allocates all parameters and local variables in static global @@ -136,7 +136,7 @@ non-reentrant, and also consume space for parameters and locals even when they are not running. The benefit is smaller code and faster execution. -

__reentrant functions

All functions which are re-entrant, either due to recursion or due to a potential context switch while executing, should be marked as __reentrant so that their parameters and local @@ -149,7 +149,7 @@ invoked can also be marked as __reentrant. The resulting code will be larger, but the savings in memory are frequently worthwhile. -

Non __reentrant functions

All parameters and locals in non-reentrant functions can have data space decoration so that they are allocated in __xdata, __pdata or __data space as desired. This can avoid @@ -161,14 +161,14 @@ non-reentrant. Because of this, interrupt handlers must not invoke any library functions, including the multiply and divide code. -

__interrupt functions

Interrupt functions are declared with with an __interrupt decoration that includes the interrupt number. SDCC saves and restores all of the registers in these functions and uses the 'reti' instruction at the end so that they operate as stand-alone interrupt handlers. Interrupt functions may call the ao_wakeup function to wake AltOS tasks. -

__critical functions and statements

SDCC has built-in support for suspending interrupts during critical code. Functions marked as __critical will have interrupts suspended for the whole period of @@ -177,9 +177,9 @@ that statement. Keeping critical sections as short as possible is key to ensuring that interrupts are handled as quickly as possible. -

Chapter 3. Task functions

Table of Contents

ao_add_task
ao_exit
ao_sleep
ao_wakeup
ao_alarm
ao_wake_task
ao_start_scheduler
ao_clock_init

Chapter 3. Task functions

Table of Contents

ao_add_task
ao_exit
ao_sleep
ao_wakeup
ao_alarm
ao_wake_task
ao_start_scheduler
ao_clock_init

This chapter documents how to create, destroy and schedule AltOS tasks. -

ao_add_task

+    
ao_add_task
 	void
 	ao_add_task(__xdata struct ao_task * task,
 	            void (*start)(void),
@@ -190,12 +190,12 @@
 	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.
-      
ao_exit
+      
ao_exit
 	void
 	ao_exit(void)
       

 	This terminates the current task.
-      
ao_sleep
+      
ao_sleep
 	void
 	ao_sleep(__xdata void *wchan)
       

@@ -215,7 +215,7 @@
 	  __critical while (!ao_radio_done)
 	          ao_sleep(&ao_radio_done);

ao_wakeup

 	void
 	ao_wakeup(__xdata void *wchan)

@@ -233,7 +233,7 @@ ao_sleep block can only be run from normal mode, and so this sequence can never be interrupted with execution of the other sequence. -

ao_alarm

 	void
 	ao_alarm(uint16_t delay)

@@ -250,19 +250,19 @@ incoming radio data. If no data is received before the timeout fires, ao_sleep will return 1 and then this code will abort the radio receive operation. -

ao_wake_task

 	void
 	ao_wake_task(__xdata struct ao_task *task)

Force a specific task to wake up, independent of which 'wchan' it is waiting for. -

ao_start_scheduler

 	void
 	ao_start_scheduler(void)

This is called from 'main' when the system is all initialized and ready to run. It will not return. -

ao_clock_init

 	void
 	ao_clock_init(void)

@@ -271,7 +271,7 @@ internal devices like USB. It should be called by the 'main' function first, before initializing any of the other devices in the system. -

Chapter 4. Timer Functions

Table of Contents

ao_time
ao_delay
ao_timer_set_adc_interval
ao_timer_init

Chapter 4. Timer Functions

Table of Contents

ao_time
ao_delay
ao_timer_set_adc_interval
ao_timer_init

AltOS sets up one of the cc1111 timers to run at 100Hz and exposes this tick as the fundemental unit of time. At each interrupt, AltOS increments the counter, and schedules any tasks @@ -279,51 +279,51 @@ collect current data readings. Doing this from the ISR ensures that the ADC values are sampled at a regular rate, independent of any scheduling jitter. -

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. -

ao_delay

 	void
 	ao_delay(uint16_t ticks);

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

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. -

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. -

Chapter 5. AltOS Mutexes

Table of Contents

ao_mutex_get
ao_mutex_put

Chapter 5. AltOS Mutexes

Table of Contents

ao_mutex_get
ao_mutex_put

AltOS provides mutexes as a basic synchronization primitive. Each mutexes is simply a byte of memory which holds 0 when the mutex is free or the task id of the owning task when the mutex is owned. Mutex calls are checked—attempting to acquire a mutex already held by the current task or releasing a mutex not held by the current task will both cause a panic. -

ao_mutex_get

 	void
 	ao_mutex_get(__xdata uint8_t *mutex);

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

ao_mutex_put

 	void
 	ao_mutex_put(__xdata uint8_t *mutex);

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

Chapter 6. CC1111 DMA engine

Table of Contents

ao_dma_alloc
ao_dma_set_transfer
ao_dma_start
ao_dma_trigger
ao_dma_abort

Chapter 6. CC1111 DMA engine

Table of Contents

ao_dma_alloc
ao_dma_set_transfer
ao_dma_start
ao_dma_trigger
ao_dma_abort

The CC1111 contains a useful bit of extra hardware in the form of five programmable DMA engines. They can be configured to copy data in memory, or between memory and devices (or even between @@ -340,7 +340,7 @@ from hardware to memory, that trigger event is supplied by the hardware device. When copying data from memory to hardware, the transfer is usually initiated by software. -

ao_dma_alloc

+    
ao_dma_alloc
 	uint8_t
 	ao_dma_alloc(__xdata uint8_t *done)
       

@@ -351,7 +351,7 @@
 	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.
-      
ao_dma_set_transfer
+      
ao_dma_set_transfer
 	void
 	ao_dma_set_transfer(uint8_t id,
 	                    void __xdata *srcaddr,
@@ -365,24 +365,24 @@
 	cfg1 are values directly out of the CC1111 documentation
 	and tell the DMA engine what the transfer unit size,
 	direction and step are.
-      
ao_dma_start
+      
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_trigger
+      
ao_dma_trigger
 	void
 	ao_dma_trigger(uint8_t id)
       

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

Chapter 7. SDCC Stdio interface

Table of Contents

putchar
getchar
flush
ao_add_stdio

Chapter 7. SDCC Stdio interface

Table of Contents

putchar
getchar
flush
ao_add_stdio

AltOS offers a stdio interface over both USB and the RF packet link. This provides for control of the device localy or remotely. This is hooked up to the stdio functions in SDCC by @@ -390,13 +390,13 @@ automatically multiplex the two available communication channels; output is always delivered to the channel which provided the most recent input. -

putchar

+    
putchar
 	void
 	putchar(char c)
       

 	Delivers a single character to the current console
 	device.
-      
getchar
+      
getchar
 	char
 	getchar(void)
       

@@ -404,13 +404,13 @@
 	console devices. The current console device is set to
 	that which delivered this character. This blocks until
 	a character is available.
-      
flush
+      
flush
 	void
 	flush(void)
       

 	Flushes the current console device output buffer. Any
 	pending characters will be delivered to the target device.
-      xo	  
ao_add_stdio
+      xo	  
ao_add_stdio
 	void
 	ao_add_stdio(char (*pollchar)(void),
 	                   void (*putchar)(char),
@@ -432,13 +432,13 @@
 	'flush' forces the output buffer to be flushed. It may
 	block until the buffer is delivered, but it is not
 	required to do so.
-

Chapter 8. Command line interface

Table of Contents

ao_cmd_register
ao_cmd_lex
ao_cmd_put16
ao_cmd_put8
ao_cmd_white
ao_cmd_hex
ao_cmd_decimal
ao_match_word
ao_cmd_init

Chapter 8. Command line interface

Table of Contents

ao_cmd_register
ao_cmd_lex
ao_cmd_put16
ao_cmd_put8
ao_cmd_white
ao_cmd_hex
ao_cmd_decimal
ao_match_word
ao_cmd_init

AltOS includes a simple command line parser which is hooked up to the stdio interfaces permitting remote control of the device over USB 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. -

ao_cmd_register

+    
ao_cmd_register
 	void
 	ao_cmd_register(__code struct ao_cmds *cmds)
       

@@ -469,38 +469,38 @@
 		The command line is invalid for some reason other
 		than invalid tokens.
 	      

-

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. -

ao_cmd_put16

 	void
 	ao_cmd_put16(uint16_t v);

Writes 'v' as four hexadecimal characters. -

ao_cmd_put8

 	void
 	ao_cmd_put8(uint8_t v);

Writes 'v' as two hexadecimal characters. -

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. -

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; -

ao_cmd_decimal

 	void
 	ao_cmd_decimal(void)

@@ -508,7 +508,7 @@ 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; -

ao_match_word

 	uint8_t
 	ao_match_word(__code char *word)

@@ -516,14 +516,14 @@ 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. -

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

ao_usb_flush
ao_usb_putchar
ao_usb_pollchar
ao_usb_getchar
ao_usb_disable
ao_usb_enable
ao_usb_init

Chapter 9. CC1111 USB target device

Table of Contents

ao_usb_flush
ao_usb_putchar
ao_usb_pollchar
ao_usb_getchar
ao_usb_disable
ao_usb_enable
ao_usb_init

The CC1111 contains a full-speed USB target device. It can be programmed to offer any kind of USB target, but to simplify interactions with a variety of operating systems, AltOS provides @@ -537,7 +537,7 @@ interface if desired, offering control of the device over the USB link. Alternatively, the functions can be accessed directly to provide for USB-specific I/O. -

ao_usb_flush

+    
ao_usb_flush
 	void
 	ao_usb_flush(void);
       

@@ -545,7 +545,7 @@
 	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.
-      
ao_usb_putchar
+      
ao_usb_putchar
 	void
 	ao_usb_putchar(char c);
       

@@ -554,7 +554,7 @@
 	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.
-      
ao_usb_pollchar
+      
ao_usb_pollchar
 	char
 	ao_usb_pollchar(void);
       

@@ -562,13 +562,13 @@
 	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.
-      
ao_usb_getchar
+      
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.
-      
ao_usb_disable
+      
ao_usb_disable
 	void
 	ao_usb_disable(void);
       

@@ -583,7 +583,7 @@
 	after disabling the USB device, it's likely that the cable
 	will need to be disconnected and reconnected before it
 	will work again.
-      
ao_usb_enable
+      
ao_usb_enable
 	void
 	ao_usb_enable(void);
       

@@ -591,7 +591,7 @@
 	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.
-      
ao_usb_init
+      
ao_usb_init
 	void
 	ao_usb_init(void);
       

@@ -599,7 +599,7 @@
 	the control end point and adds the usb I/O functions to
 	the stdio system. Call this from main before
 	ao_start_scheduler.
-

Chapter 10. CC1111 Serial peripheral

Table of Contents

ao_serial_getchar
ao_serial_putchar
ao_serial_drain
ao_serial_set_speed
ao_serial_init

Chapter 10. CC1111 Serial peripheral

Table of Contents

ao_serial_getchar
ao_serial_putchar
ao_serial_drain
ao_serial_set_speed
ao_serial_init

The CC1111 provides two USART peripherals. AltOS uses one for asynch serial data, generally to communicate with a GPS device, and the other for a SPI bus. The UART is configured to operate @@ -610,25 +610,25 @@

To prevent loss of data, AltOS provides receive and transmit fifos of 32 characters each. -

ao_serial_getchar

+    
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.
-      
ao_serial_putchar
+      
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.
-      
ao_serial_drain
+      
ao_serial_drain
 	void
 	ao_serial_drain(void);
       

 	Blocks until the transmit fifo is empty. Used internally
 	when changing serial speeds.
-      
ao_serial_set_speed
+      
ao_serial_set_speed
 	void
 	ao_serial_set_speed(uint8_t speed);
       

@@ -636,14 +636,14 @@
 	AO_SERIAL_SPEED_4800, AO_SERIAL_SPEED_9600 or
 	AO_SERIAL_SPEED_57600. This first flushes the transmit
 	fifo using ao_serial_drain.
-      
ao_serial_init
+      
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.
-

Chapter 11. CC1111 Radio peripheral

Table of Contents

ao_radio_set_telemetry
ao_radio_set_packet
ao_radio_set_rdf
ao_radio_idle
ao_radio_get
ao_radio_put
ao_radio_abort
ao_radio_send
ao_radio_recv
ao_radio_rdf
ao_packet_putchar
ao_packet_pollchar
ao_packet_slave_start
ao_packet_slave_stop
ao_packet_slave_init
ao_packet_master_init

Chapter 11. CC1111 Radio peripheral

Table of Contents

ao_radio_set_telemetry
ao_radio_set_packet
ao_radio_set_rdf
ao_radio_idle
ao_radio_get
ao_radio_put
ao_radio_abort
ao_radio_send
ao_radio_recv
ao_radio_rdf
ao_packet_putchar
ao_packet_pollchar
ao_packet_slave_start
ao_packet_slave_stop
ao_packet_slave_init
ao_packet_master_init

The CC1111 radio transceiver sends and receives digital packets with forward error correction and detection. The AltOS driver is fairly specific to the needs of the TeleMetrum and TeleDongle @@ -681,7 +681,7 @@ receiver. This is designed to provide a beacon to track the device when other location mechanisms fail.

ao_radio_set_telemetry

+    
ao_radio_set_telemetry
 	  void
 	  ao_radio_set_telemetry(void);
 	

@@ -690,7 +690,7 @@
 	  other RF parameters. It does not include the base frequency
 	  or channel though. Those are set at the time of transmission
 	  or reception, in case the values are changed by the user.
-	
ao_radio_set_packet
+	
ao_radio_set_packet
 	  void
 	  ao_radio_set_packet(void);
 	

@@ -699,7 +699,7 @@
 	  parameters. It does not include the base frequency or
 	  channel though. Those are set at the time of transmission or
 	  reception, in case the values are changed by the user.
-	
ao_radio_set_rdf
+	
ao_radio_set_rdf
 	  void
 	  ao_radio_set_rdf(void);
 	

@@ -709,26 +709,26 @@
 	  and data whitening logic is turned off so that the resulting
 	  modulation is received as a 1kHz tone by a conventional 70cm
 	  FM audio receiver.
-	
ao_radio_idle
+	
ao_radio_idle
 	  void
 	  ao_radio_idle(void);
 	

 	  Sets the radio device to idle mode, waiting until it reaches
 	  that state. This will terminate any in-progress transmit or
 	  receive operation.
-	
ao_radio_get
+	
ao_radio_get
 	  void
 	  ao_radio_get(void);
 	

 	  Acquires the radio mutex and then configures the radio
 	  frequency using the global radio calibration and channel
 	  values.
-	
ao_radio_put
+	
ao_radio_put
 	  void
 	  ao_radio_put(void);
 	

 	  Releases the radio mutex.
-	
ao_radio_abort
+	
ao_radio_abort
 	  void
 	  ao_radio_abort(void);
 	

@@ -740,7 +740,7 @@
       packet. The data from receiving a packet also includes the RSSI
       and status values supplied by the receiver. These are added
       after the telemetry data.
-    
ao_radio_send
+    
ao_radio_send
 	  void
 	  ao_radio_send(__xdata struct ao_telemetry *telemetry);
 	

@@ -749,7 +749,7 @@
 	  telemetry mode. This function calls ao_radio_get() before
 	  sending, and ao_radio_put() afterwards, to correctly
 	  serialize access to the radio device.
-	
ao_radio_recv
+	
ao_radio_recv
 	  void
 	  ao_radio_recv(__xdata struct ao_radio_recv *radio);
 	

@@ -763,7 +763,7 @@
 	

       In radio direction finding mode, there's just one function to
       use
-    
ao_radio_rdf
+    
ao_radio_rdf
 	  void
 	  ao_radio_rdf(int ms);
 	

@@ -774,7 +774,7 @@
       for either master or slave mode (but not both). The basic I/O
       functions look the same at both ends, but the internals are
       different, along with the initialization steps.
-    
ao_packet_putchar
+    
ao_packet_putchar
 	  void
 	  ao_packet_putchar(char c);
 	

@@ -784,32 +784,32 @@
 	  transmit a packet if the output buffer is full. On the
 	  slave side, any pending data will be sent the next time
 	  the master polls for data.
-	
ao_packet_pollchar
+	
ao_packet_pollchar
 	  char
 	  ao_packet_pollchar(void);
 	

 	  This returns a pending input character if available,
 	  otherwise returns AO_READ_AGAIN. On the master side, if
 	  this empties the buffer, it triggers a poll for more data.
-	
ao_packet_slave_start
+	
ao_packet_slave_start
 	  void
 	  ao_packet_slave_start(void);
 	

 	  This is available only on the slave side and starts a task
 	  to listen for packet data.
-	
ao_packet_slave_stop
+	
ao_packet_slave_stop
 	  void
 	  ao_packet_slave_stop(void);
 	

 	  Disables the packet slave task, stopping the radio receiver.
-	
ao_packet_slave_init
+	
ao_packet_slave_init
 	  void
 	  ao_packet_slave_init(void);
 	

 	  Adds the packet stdio functions to the stdio package so
 	  that when packet slave mode is enabled, characters will
 	  get send and received through the stdio functions.
-	
ao_packet_master_init
+	
ao_packet_master_init
 	  void
 	  ao_packet_master_init(void);
 	

diff --git a/AltOS/doc/altos.pdf b/AltOS/doc/altos.pdf
index 1236a65..38f693d 100644
Binary files a/AltOS/doc/altos.pdf and b/AltOS/doc/altos.pdf differ
diff --git a/AltOS/doc/altusmetrum.html b/AltOS/doc/altusmetrum.html
index f417204..1817390 100644
--- a/AltOS/doc/altusmetrum.html
+++ b/AltOS/doc/altusmetrum.html
@@ -1,10 +1,10 @@
-The Altus Metrum System
The Altus Metrum System
An Owner's Manual for TeleMetrum and TeleDongle Devices
Bdale Garbee
Keith Packard
Bob Finch
Anthony Towns
Copyright © 2010 Bdale Garbee and Keith Packard

+The Altus Metrum System
The Altus Metrum System
An Owner's Manual for TeleMetrum and TeleDongle Devices
Bdale Garbee
Keith Packard
Bob Finch
Anthony Towns
Copyright © 2010 Bdale Garbee and Keith Packard

         This document is released under the terms of the
         
           Creative Commons ShareAlike 3.0
         
         license.
-      
Revision History
Revision 0.8 24 November 2010
Updated for software version 0.8 
Acknowledgements
+      
Revision History
Revision 0.8 24 November 2010
Updated for software version 0.8 
Acknowledgements
     
       Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing "The
       Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
@@ -31,7 +31,7 @@ Keith
 NAR #88757, TRA #12200

       

     
-  
Table of Contents
1. Introduction and Overview
2. Getting Started
FAQ
3. Specifications
4. Handling Precautions
5. Hardware Overview
6. System Operation
Firmware Modes 
GPS 
Ground Testing 
Radio Link 
Configurable Parameters
Radio Channel
Apogee Delay
Main Deployment Altitude
Calibration
Radio Frequency
Accelerometer
Updating Device Firmware
Updating TeleMetrum Firmware
Updating TeleDongle Firmware
7. AltosUI
Packet Command Mode
Monitor Flight
Launch Pad
Ascent
Descent
Landed
Site Map
Save Flight Data
Replay Flight
Graph Data
Export Data
Comma Separated Value Format
Keyhole Markup Language (for Google Earth)
Configure TeleMetrum
Main Deploy Altitude
Apogee Delay
Radio Channel
Radio Calibration
Callsign
Configure AltosUI
Voice Settings
Log Directory
Callsign
Flash Image
Fire Igniter
8. Using Altus Metrum Products
Being Legal
In the Rocket
On the Ground
Data Analysis
Future Plans
Chapter 1. Introduction and Overview

+  
Table of Contents
1. Introduction and Overview
2. Getting Started
FAQ
3. Specifications
4. Handling Precautions
5. Hardware Overview
6. System Operation
Firmware Modes 
GPS 
Ground Testing 
Radio Link 
Configurable Parameters
Radio Channel
Apogee Delay
Main Deployment Altitude
Calibration
Radio Frequency
Accelerometer
Updating Device Firmware
Updating TeleMetrum Firmware
Updating TeleDongle Firmware
7. AltosUI
Packet Command Mode
Monitor Flight
Launch Pad
Ascent
Descent
Landed
Site Map
Save Flight Data
Replay Flight
Graph Data
Export Data
Comma Separated Value Format
Keyhole Markup Language (for Google Earth)
Configure TeleMetrum
Main Deploy Altitude
Apogee Delay
Radio Channel
Radio Calibration
Callsign
Configure AltosUI
Voice Settings
Log Directory
Callsign
Flash Image
Fire Igniter
8. Using Altus Metrum Products
Being Legal
In the Rocket
On the Ground
Data Analysis
Future Plans
Chapter 1. Introduction and Overview

       Welcome to the Altus Metrum community!  Our circuits and software reflect
       our passion for both hobby rocketry and Free Software.  We hope their
       capabilities and performance will delight you in every way, but by
@@ -54,7 +54,7 @@ NAR
       More products will be added to the Altus Metrum family over time, and
       we currently envision that this will be a single, comprehensive manual
       for the entire product family.
-    
Chapter 2. Getting Started
Table of Contents
FAQ

+    
Chapter 2. Getting Started
Table of Contents
FAQ

       The first thing to do after you check the inventory of parts in your
       "starter kit" is to charge the battery by plugging it into the
       corresponding socket of the TeleMetrum and then using the USB A to
@@ -203,7 +203,7 @@ NAR
       the Log and Device menus.  It has a wonderful display of the incoming
       flight data and I am sure you will enjoy what it has to say to you
       once you enable the voice output!
-    
FAQ

+    
FAQ

         The altimeter (TeleMetrum) seems to shut off when disconnected from the
         computer.  Make sure the battery is adequately charged.  Remember the
         unit will pull more power than the USB port can deliver before the
@@ -248,7 +248,7 @@ NAR
         data after physically retrieving your TeleMetrum.  Make sure to save
         the on-board data after each flight, as the current firmware will
         over-write any previous flight data during a new flight.
-      
Chapter 3. Specifications

+      
Chapter 3. Specifications

           Recording altimeter for model rocketry.
         

           Supports dual deployment (can fire 2 ejection charges).
@@ -272,7 +272,7 @@ NAR
           battery if needed.
         

           2.75 x 1 inch board designed to fit inside 29mm airframe coupler tube.
-        
Chapter 4. Handling Precautions

+        
Chapter 4. Handling Precautions

       TeleMetrum is a sophisticated electronic device.  When handled gently and
       properly installed in an airframe, it will deliver impressive results.
       However, like all electronic devices, there are some precautions you
@@ -304,7 +304,7 @@ NAR
     

       As with all other rocketry electronics, TeleMetrum must be protected
       from exposure to corrosive motor exhaust and ejection charge gasses.
-    
Chapter 5. Hardware Overview

+    
Chapter 5. Hardware Overview

       TeleMetrum is a 1 inch by 2.75 inch circuit board.  It was designed to
       fit inside coupler for 29mm airframe tubing, but using it in a tube that
       small in diameter may require some creativity in mounting and wiring
@@ -356,7 +356,7 @@ NAR
       TeleMetrum with an SMA connector for the UHF antenna connection, and
       you can unplug the integrated GPS antenna and select an appropriate
       off-board GPS antenna with cable terminating in a U.FL connector.
-    
Chapter 6. System Operation
Table of Contents
Firmware Modes 
GPS 
Ground Testing 
Radio Link 
Configurable Parameters
Radio Channel
Apogee Delay
Main Deployment Altitude
Calibration
Radio Frequency
Accelerometer
Updating Device Firmware
Updating TeleMetrum Firmware
Updating TeleDongle Firmware
Firmware Modes 

+    
Chapter 6. System Operation
Table of Contents
Firmware Modes 
GPS 
Ground Testing 
Radio Link 
Configurable Parameters
Radio Channel
Apogee Delay
Main Deployment Altitude
Calibration
Radio Frequency
Accelerometer
Updating Device Firmware
Updating TeleMetrum Firmware
Updating TeleDongle Firmware
Firmware Modes 

         The AltOS firmware build for TeleMetrum has two fundamental modes,
         "idle" and "flight".  Which of these modes the firmware operates in
         is determined by the orientation of the rocket (well, actually the
@@ -404,7 +404,7 @@ NAR
         rickety step-ladder or hanging off the side of a launch tower with
         a screw-driver trying to turn on your avionics before installing
         igniters!
-      
GPS 

+      
GPS 

         TeleMetrum includes a complete GPS receiver.  See a later section for
         a brief explanation of how GPS works that will help you understand
         the information in the telemetry stream.  The bottom line is that
@@ -423,7 +423,7 @@ NAR
         is turned back on, the GPS system should lock very quickly, typically
         long before igniter installation and return to the flight line are
         complete.
-      
Ground Testing 

+      
Ground Testing 

         An important aspect of preparing a rocket using electronic deployment
         for flight is ground testing the recovery system.  Thanks
         to the bi-directional RF link central to the Altus Metrum system,
@@ -446,7 +446,7 @@ NAR
         the board from firing a charge.  The command to fire the apogee
         drogue charge is 'i DoIt drogue' and the command to fire the main
         charge is 'i DoIt main'.
-      
Radio Link 

+      
Radio Link 

         The chip our boards are based on incorporates an RF transceiver, but
         it's not a full duplex system... each end can only be transmitting or
         receiving at any given moment.  So we had to decide how to manage the
@@ -477,13 +477,13 @@ NAR
         the ground.  We hope to fly boards to higher altitudes soon, and would
         of course appreciate customer feedback on performance in higher
         altitude flights!
-      
Configurable Parameters

+      
Configurable Parameters

         Configuring a TeleMetrum board for flight is very simple.  Because we
         have both acceleration and pressure sensors, there is no need to set
         a "mach delay", for example.  The few configurable parameters can all
         be set using a simple terminal program over the USB port or RF link
         via TeleDongle.
-      
Radio Channel

+      
Radio Channel

           Our firmware supports 10 channels.  The default channel 0 corresponds
           to a center frequency of 434.550 Mhz, and channels are spaced every
           100 khz.  Thus, channel 1 is 434.650 Mhz, and channel 9 is 435.550 Mhz.
@@ -497,7 +497,7 @@ NAR
           As with all 'c' sub-commands, follow this with a 'c w' to write the
           change to the parameter block in the on-board DataFlash chip on
           your TeleMetrum board if you want the change to stay in place across reboots.
-        
Apogee Delay

+        
Apogee Delay

           Apogee delay is the number of seconds after TeleMetrum detects flight
           apogee that the drogue charge should be fired.  In most cases, this
           should be left at the default of 0.  However, if you are flying
@@ -517,7 +517,7 @@ NAR
           seconds later to avoid any chance of both charges firing
           simultaneously.  We've flown several airframes this way quite happily,
           including Keith's successful L3 cert.
-        
Main Deployment Altitude

+        
Main Deployment Altitude

           By default, TeleMetrum will fire the main deployment charge at an
           elevation of 250 meters (about 820 feet) above ground.  We think this
           is a good elevation for most airframes, but feel free to change this
@@ -530,10 +530,10 @@ NAR
           To set the main deployment altitude, use the 'c m' command.
           As with all 'c' sub-commands, follow this with a 'c w' to write the
           change to the parameter block in the on-board DataFlash chip.
-        
Calibration

+        
Calibration

         There are only two calibrations required for a TeleMetrum board, and
         only one for TeleDongle.
-      
Radio Frequency

+      
Radio Frequency

           The radio frequency is synthesized from a clock based on the 48 Mhz
           crystal on the board.  The actual frequency of this oscillator must be
           measured to generate a calibration constant.  While our GFSK modulation
@@ -557,7 +557,7 @@ NAR
           within a few tens of Hertz of the intended frequency.
           As with all 'c' sub-commands, follow this with a 'c w' to write the
           change to the parameter block in the on-board DataFlash chip.
-        
Accelerometer

+        
Accelerometer

           The accelerometer we use has its own 5 volt power supply and
           the output must be passed through a resistive voltage divider to match
           the input of our 3.3 volt ADC.  This means that unlike the barometric
@@ -596,7 +596,7 @@ NAR
          and use a small screwdriver or similar to short the two pins closest
          to the index post on the 4-pin end of the programming cable, and
          power up the board.  It should come up in 'idle mode' (two beeps).
-        
Updating Device Firmware

+        
Updating Device Firmware

       The big conceptual thing to realize is that you have to use a
       TeleDongle as a programmer to update a TeleMetrum, and vice versa.
       Due to limited memory resources in the cc1111, we don't support
@@ -611,7 +611,7 @@ NAR
       version from http://www.altusmetrum.org/AltOS/.
     

       We recommend updating TeleMetrum first, before updating TeleDongle.
-    
Updating TeleMetrum Firmware

+    
Updating TeleMetrum Firmware

           Find the 'programming cable' that you got as part of the starter
           kit, that has a red 8-pin MicroMaTch connector on one end and a
           red 4-pin MicroMaTch connector on the other end.
@@ -654,7 +654,7 @@ NAR
           the version, etc.
         

           If something goes wrong, give it another try.
-        
Updating TeleDongle Firmware

+        
Updating TeleDongle Firmware

         Updating TeleDongle's firmware is just like updating TeleMetrum
 	firmware, but you switch which board is the programmer and which
 	is the programming target.
@@ -715,7 +715,7 @@ NAR
         slightly to extract the connector.  We used a locking connector on
         TeleMetrum to help ensure that the cabling to companion boards
         used in a rocket don't ever come loose accidentally in flight.
-      
Chapter 7. AltosUI
Table of Contents
Packet Command Mode
Monitor Flight
Launch Pad
Ascent
Descent
Landed
Site Map
Save Flight Data
Replay Flight
Graph Data
Export Data
Comma Separated Value Format
Keyhole Markup Language (for Google Earth)
Configure TeleMetrum
Main Deploy Altitude
Apogee Delay
Radio Channel
Radio Calibration
Callsign
Configure AltosUI
Voice Settings
Log Directory
Callsign
Flash Image
Fire Igniter

+      
Chapter 7. AltosUI
Table of Contents
Packet Command Mode
Monitor Flight
Launch Pad
Ascent
Descent
Landed
Site Map
Save Flight Data
Replay Flight
Graph Data
Export Data
Comma Separated Value Format
Keyhole Markup Language (for Google Earth)
Configure TeleMetrum
Main Deploy Altitude
Apogee Delay
Radio Channel
Radio Calibration
Callsign
Configure AltosUI
Voice Settings
Log Directory
Callsign
Flash Image
Fire Igniter

       The AltosUI program provides a graphical user interface for
       interacting with the Altus Metrum product family, including
       TeleMetrum and TeleDongle. AltosUI can monitor telemetry data,
@@ -724,7 +724,7 @@ NAR
       buttons, one for each major activity in the system.  This manual
       is split into chapters, each of which documents one of the tasks
       provided from the top-level toolbar.
-    
Packet Command Mode
Controlling TeleMetrum Over The Radio Link

+    
Packet Command Mode
Controlling TeleMetrum Over The Radio Link

         One of the unique features of the Altus Metrum environment is
         the ability to create a two way command link between TeleDongle
         and TeleMetrum using the digital radio transceivers built into
@@ -783,7 +783,7 @@ NAR
         TeleMetrum transmit a packet while the green LED will light up
         on TeleDongle while it is waiting to receive a packet from
         TeleMetrum.
-      
Monitor Flight
Receive, Record and Display Telemetry Data

+      
Monitor Flight
Receive, Record and Display Telemetry Data

         Selecting this item brings up a dialog box listing all of the
         connected TeleDongle devices. When you choose one of these,
         AltosUI will create a window to display telemetry data as
@@ -824,7 +824,7 @@ NAR
         data relevant to the current state of the flight. You can select
         other tabs at any time. The final 'table' tab contains all of
         the telemetry data in one place.
-      
Launch Pad

+      
Launch Pad

           The 'Launch Pad' tab shows information used to decide when the
           rocket is ready for flight. The first elements include red/green
           indicators, if any of these is red, you'll want to evaluate
@@ -861,7 +861,7 @@ NAR
             and altitude, averaging many reported positions to improve the
             accuracy of the fix.
           

-        
Ascent

+        
Ascent

           This tab is shown during Boost, Fast and Coast
           phases. The information displayed here helps monitor the
           rocket as it heads towards apogee.
@@ -880,7 +880,7 @@ NAR
           Finally, the current igniter voltages are reported as in the
           Launch Pad tab. This can help diagnose deployment failures
           caused by wiring which comes loose under high acceleration.
-        
Descent

+        
Descent

           Once the rocket has reached apogee and (we hope) activated the
           apogee charge, attention switches to tracking the rocket on
           the way back to the ground, and for dual-deploy flights,
@@ -901,7 +901,7 @@ NAR
           Finally, the igniter voltages are reported in this tab as
           well, both to monitor the main charge as well as to see what
           the status of the apogee charge is.
-        
Landed

+        
Landed

           Once the rocket is on the ground, attention switches to
           recovery. While the radio signal is generally lost once the
           rocket is on the ground, the last reported GPS position is
@@ -916,7 +916,7 @@ NAR
         

           Finally, the maximum height, speed and acceleration reported
           during the flight are displayed for your admiring observers.
-        
Site Map

+        
Site Map

           When the rocket gets a GPS fix, the Site Map tab will map
           the rocket's position to make it easier for you to locate the
           rocket, both while it is in the air, and when it has landed. The
@@ -932,7 +932,7 @@ NAR
           and are cached for reuse. If map images cannot be downloaded,
           the rocket's path will be traced on a dark grey background
           instead.
-        
Save Flight Data

+        
Save Flight Data

         TeleMetrum records flight data to its internal flash memory.
         This data is recorded at a much higher rate than the telemetry
         system can handle, and is not subject to radio drop-outs. As
@@ -951,7 +951,7 @@ NAR
         The filename for the data is computed automatically from the recorded
         flight date, TeleMetrum serial number and flight number
         information.
-      
Replay Flight

+      
Replay Flight

         Select this button and you are prompted to select a flight
         record file, either a .telem file recording telemetry data or a
         .eeprom file containing flight data saved from the TeleMetrum
@@ -960,7 +960,7 @@ NAR
         Once a flight record is selected, the flight monitor interface
         is displayed and the flight is re-enacted in real time. Check
         the Monitor Flight chapter above to learn how this window operates.
-      
Graph Data

+      
Graph Data

         Select this button and you are prompted to select a flight
         record file, either a .telem file recording telemetry data or a
         .eeprom file containing flight data saved from the TeleMetrum
@@ -982,7 +982,7 @@ NAR
         and will also often have significant amounts of data received
         while the rocket was waiting on the pad. Use saved flight data
         for graphing where possible.
-      
Export Data

+      
Export Data

         This tool takes the raw data files and makes them available for
         external analysis. When you select this button, you are prompted to select a flight
         data file (either .eeprom or .telem will do, remember that
@@ -990,7 +990,7 @@ NAR
         data). Next, a second dialog appears which is used to select
         where to write the resulting file. It has a selector to choose
         between CSV and KML file formats.
-      
Comma Separated Value Format

+      
Comma Separated Value Format

           This is a text file containing the data in a form suitable for
           import into a spreadsheet or other external data analysis
           tool. The first few lines of the file contain the version and
@@ -1004,12 +1004,12 @@ NAR
           the sensor values are converted to standard units, with the
           barometric data reported in both pressure, altitude and
           height above pad units.
-        
Keyhole Markup Language (for Google Earth)

+        
Keyhole Markup Language (for Google Earth)

           This is the format used by
           Googleearth to provide an overlay within that
           application. With this, you can use Googleearth to see the
           whole flight path in 3D.
-        
Configure TeleMetrum

+        
Configure TeleMetrum

         Select this button and then select either a TeleMetrum or
         TeleDongle Device from the list provided. Selecting a TeleDongle
         device will use Packet Comamnd Mode to configure remote
@@ -1038,14 +1038,14 @@ NAR
             lost.
           

         The rest of the dialog contains the parameters to be configured.
-      
Main Deploy Altitude

+      
Main Deploy Altitude

           This sets the altitude (above the recorded pad altitude) at
           which the 'main' igniter will fire. The drop-down menu shows
           some common values, but you can edit the text directly and
           choose whatever you like. If the apogee charge fires below
           this altitude, then the main charge will fire two seconds
           after the apogee charge fires.
-        
Apogee Delay

+        
Apogee Delay

           When flying redundant electronics, it's often important to
           ensure that multiple apogee charges don't fire at precisely
           the same time as that can overpressurize the apogee deployment
@@ -1053,24 +1053,24 @@ NAR
           Delay parameter tells the flight computer to fire the apogee
           charge a certain number of seconds after apogee has been
           detected.
-        
Radio Channel

+        
Radio Channel

           This configures which of the 10 radio channels to use for both
           telemetry and packet command mode. Note that if you set this
           value via packet command mode, you will have to reconfigure
           the TeleDongle channel before you will be able to use packet
           command mode again.
-        
Radio Calibration

+        
Radio Calibration

           The radios in every Altus Metrum device are calibrated at the
           factory to ensure that they transmit and receive on the
           specified frequency for each channel. You can adjust that
           calibration by changing this value. To change the TeleDongle's
           calibration, you must reprogram the unit completely.
-        
Callsign

+        
Callsign

           This sets the callsign included in each telemetry packet. Set this
           as needed to conform to your local radio regulations.
-        
Configure AltosUI

+        
Configure AltosUI

         This button presents a dialog so that you can configure the AltosUI global settings.
-      
Voice Settings

+      
Voice Settings

           AltosUI provides voice annoucements during flight so that you
           can keep your eyes on the sky and still get information about
           the current flight status. However, sometimes you don't want
@@ -1079,7 +1079,7 @@ NAR
               Test Voice—Plays a short message allowing you to verify
               that the audio systme is working and the volume settings
               are reasonable
-            
Log Directory

+            
Log Directory

           AltosUI logs all telemetry data and saves all TeleMetrum flash
           data to this directory. This directory is also used as the
           staring point when selecting data files for display or export.
@@ -1087,14 +1087,14 @@ NAR
           Click on the directory name to bring up a directory choosing
           dialog, select a new directory and click 'Select Directory' to
           change where AltosUI reads and writes data files.
-        
Callsign

+        
Callsign

           This value is used in command packet mode and is transmitted
           in each packet sent from TeleDongle and received from
           TeleMetrum. It is not used in telemetry mode as that transmits
           packets only from TeleMetrum to TeleDongle. Configure this
           with the AltosUI operators callsign as needed to comply with
           your local radio regulations.
-        
Flash Image

+        
Flash Image

         This reprograms any Altus Metrum device by using a TeleMetrum or
         TeleDongle as a programming dongle. Please read the directions
         for connecting the programming cable in the main TeleMetrum
@@ -1124,7 +1124,7 @@ NAR
         will have to unplug it and then plug it back in for the USB
         connection to reset so that you can communicate with the device
         again.
-      
Fire Igniter

+      
Fire Igniter

 	This activates the igniter circuits in TeleMetrum to help test
 	recovery systems deployment. Because this command can operate
 	over the Packet Command Link, you can prepare the rocket as
@@ -1144,11 +1144,11 @@ NAR
 	you have 10 seconds to press the 'Fire' button or the system
 	will deactivate, at which point you start over again at
 	selecting the desired igniter.
-      
Chapter 8. Using Altus Metrum Products
Table of Contents
Being Legal
In the Rocket
On the Ground
Data Analysis
Future Plans
Being Legal

+      
Chapter 8. Using Altus Metrum Products
Table of Contents
Being Legal
In the Rocket
On the Ground
Data Analysis
Future Plans
Being Legal

         First off, in the US, you need an amateur radio license or
         other authorization to legally operate the radio transmitters that are part
         of our products.
-      
In the Rocket

+      
In the Rocket

           In the rocket itself, you just need a TeleMetrum board and
           a LiPo rechargeable battery.  An 860mAh battery weighs less than a 9V
           alkaline battery, and will run a TeleMetrum for hours.
@@ -1158,7 +1158,7 @@ NAR
           which is opaque to RF signals, you may choose to have an SMA connector
           installed so that you can run a coaxial cable to an antenna mounted
           elsewhere in the rocket.
-        
On the Ground

+        
On the Ground

           To receive the data stream from the rocket, you need an antenna and short
           feedline connected to one of our TeleDongle units.  The
           TeleDongle in turn plugs directly into the USB port on a notebook
@@ -1209,7 +1209,7 @@ NAR
           
           The 440-3 and 440-5 are both good choices for finding a
           TeleMetrum-equipped rocket when used with a suitable 70cm HT.
-        
Data Analysis

+        
Data Analysis

           Our software makes it easy to log the data from each flight, both the
           telemetry received over the RF link during the flight itself, and the more
           complete data log recorded in the DataFlash memory on the TeleMetrum
@@ -1224,7 +1224,7 @@ NAR
           Our ultimate goal is to emit a set of files for each flight that can be
           published as a web page per flight, or just viewed on your local disk with
           a web browser.
-        
Future Plans

+        
Future Plans

           In the future, we intend to offer "companion boards" for the rocket that will
           plug in to TeleMetrum to collect additional data, provide more pyro channels,
           and so forth.  A reference design for a companion board will be documented
diff --git a/AltOS/doc/altusmetrum.pdf b/AltOS/doc/altusmetrum.pdf
index 2eb1ff1..dbaf39b 100644
Binary files a/AltOS/doc/altusmetrum.pdf and b/AltOS/doc/altusmetrum.pdf differ

Revision History
Revision 0.8	24 November 2010
Updated for software version 0.8

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. Programming the 8051 with SDCC

8051 memory spaces

8051 memory spaces

__data

__data

__idata

__idata

__xdata

__xdata

__pdata

__pdata

__code

__code

__bit

__bit

__sfr, __sfr16, __sfr32, __sbit

__sfr, __sfr16, __sfr32, __sbit

Function calls on the 8051

Function calls on the 8051

__reentrant functions

__reentrant functions

Non __reentrant functions

Non __reentrant functions

__interrupt functions

__interrupt functions

__critical functions and statements

__critical functions and statements

Chapter 3. Task functions

Chapter 3. Task functions

ao_add_task

ao_add_task

ao_exit

ao_exit

ao_sleep

ao_sleep

ao_wakeup

ao_wakeup

ao_alarm

ao_alarm

ao_wake_task

ao_wake_task

ao_start_scheduler

ao_start_scheduler

ao_clock_init

ao_clock_init

Chapter 4. Timer Functions

Chapter 4. Timer Functions

ao_time

ao_time

ao_delay

ao_delay

ao_timer_set_adc_interval

ao_timer_set_adc_interval

ao_timer_init

ao_timer_init

Chapter 5. AltOS Mutexes

Chapter 5. AltOS Mutexes

ao_mutex_get

ao_mutex_get

ao_mutex_put

ao_mutex_put

Chapter 6. CC1111 DMA engine

Chapter 6. CC1111 DMA engine

ao_dma_alloc

ao_dma_alloc

ao_dma_set_transfer

ao_dma_set_transfer

ao_dma_start

ao_dma_start

ao_dma_trigger

ao_dma_trigger

sfr, sfr16, sfr32, sbit

sfr, sfr16, sfr32, sbit