2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
31 /* Convert a __data pointer into an __xdata pointer */
32 #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
34 /* Stack runs from above the allocated __data space to 0xfe, which avoids
35 * writing to 0xff as that triggers the stack overflow indicator
37 #define AO_STACK_START 0x80
38 #define AO_STACK_END 0xfe
39 #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
43 __xdata void *wchan; /* current wait channel (NULL if running) */
44 uint16_t alarm; /* abort ao_sleep time */
45 uint8_t stack_count; /* amount of saved stack */
46 uint8_t task_id; /* unique id */
47 __code char *name; /* task name */
48 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
51 extern __xdata struct ao_task *__data ao_cur_task;
53 #define AO_NUM_TASKS 16 /* maximum number of tasks */
54 #define AO_NO_TASK 0 /* no task id */
60 /* Suspend the current task until wchan is awoken.
66 ao_sleep(__xdata void *wchan);
68 /* Wake all tasks sleeping on wchan */
70 ao_wakeup(__xdata void *wchan);
72 /* set an alarm to go off in 'delay' ticks */
74 ao_alarm(uint16_t delay);
76 /* Yield the processor to another task */
78 ao_yield(void) __naked;
80 /* Add a task to the run queue */
82 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
84 /* Terminate the current task */
88 /* Dump task info to console */
92 /* Start the scheduler. This will not return */
94 ao_start_scheduler(void);
100 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
101 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
102 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
103 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
104 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
105 #define AO_PANIC_CMD 6 /* Too many command sets registered */
106 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
107 #define AO_PANIC_REBOOT 8 /* Reboot failed */
108 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
109 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
111 /* Stop the operating system, beeping and blinking the reason */
113 ao_panic(uint8_t reason);
119 /* Our timer runs at 100Hz */
121 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
122 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
124 /* Returns the current time in ticks */
128 /* Suspend the current task until ticks time has passed */
130 ao_delay(uint16_t ticks);
132 /* Set the ADC interval */
134 ao_timer_set_adc_interval(uint8_t interval) __critical;
136 /* Timer interrupt */
138 ao_timer_isr(void) __interrupt 9;
140 /* Initialize the timer */
144 /* Initialize the hardware clock. Must be called first */
149 * One set of samples read from the A/D converter or telemetry
152 uint16_t tick; /* tick when the sample was read */
153 int16_t accel; /* accelerometer */
154 int16_t pres; /* pressure sensor */
155 int16_t temp; /* temperature sensor */
156 int16_t v_batt; /* battery voltage */
157 int16_t sense_d; /* drogue continuity sense */
158 int16_t sense_m; /* main continuity sense */
162 #error Please define HAS_ADC
170 #define AO_ADC_RING 32
171 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
172 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
176 * A/D data is stored in a ring, with the next sample to be written
179 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
180 extern volatile __data uint8_t ao_adc_head;
182 /* Trigger a conversion sequence (called from the timer interrupt) */
186 /* Suspend the current task until another A/D sample is converted */
190 /* Get a copy of the last complete A/D sample set */
192 ao_adc_get(__xdata struct ao_adc *packet);
194 /* The A/D interrupt handler */
197 ao_adc_isr(void) __interrupt 1;
199 /* Initialize the A/D converter */
210 * Various pre-defined beep frequencies
212 * frequency = 1/2 (24e6/32) / beep
215 #define AO_BEEP_LOW 150 /* 2500Hz */
216 #define AO_BEEP_MID 94 /* 3989Hz */
217 #define AO_BEEP_HIGH 75 /* 5000Hz */
218 #define AO_BEEP_OFF 0 /* off */
220 #define AO_BEEP_g 240 /* 1562.5Hz */
221 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
222 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
223 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
224 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
225 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
226 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
227 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
228 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
229 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
230 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
231 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
232 #define AO_BEEP_gg 120 /* 3125Hz */
233 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
234 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
235 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
236 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
237 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
238 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
239 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
240 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
241 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
242 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
243 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
244 #define AO_BEEP_ggg 60 /* 6250Hz */
246 /* Set the beeper to the specified tone */
248 ao_beep(uint8_t beep);
250 /* Turn on the beeper for the specified time */
252 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
254 /* Initialize the beeper */
262 #define AO_LED_NONE 0
264 /* Turn on the specified LEDs */
266 ao_led_on(uint8_t colors);
268 /* Turn off the specified LEDs */
270 ao_led_off(uint8_t colors);
272 /* Set all of the LEDs to the specified state */
274 ao_led_set(uint8_t colors);
276 /* Toggle the specified LEDs */
278 ao_led_toggle(uint8_t colors);
280 /* Turn on the specified LEDs for the indicated interval */
282 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
284 /* Initialize the LEDs */
286 ao_led_init(uint8_t enable);
292 #define AO_ROMCONFIG_VERSION 2
294 extern __code __at (0x00a0) uint16_t ao_romconfig_version;
295 extern __code __at (0x00a2) uint16_t ao_romconfig_check;
296 extern __code __at (0x00a4) uint16_t ao_serial_number;
297 extern __code __at (0x00a6) uint32_t ao_radio_cal;
298 extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
304 /* Put one character to the USB output queue */
306 ao_usb_putchar(char c);
308 /* Get one character from the USB input queue */
310 ao_usb_getchar(void);
312 /* Poll for a charcter on the USB input queue.
313 * returns AO_READ_AGAIN if none are available
316 ao_usb_pollchar(void);
318 /* Flush the USB output queue */
322 /* USB interrupt handler */
324 ao_usb_isr(void) __interrupt 6;
326 /* Enable the USB controller */
330 /* Disable the USB controller */
332 ao_usb_disable(void);
334 /* Initialize the USB system */
344 ao_cmd_lex_error = 1,
345 ao_cmd_syntax_error = 2,
348 extern __xdata uint16_t ao_cmd_lex_i;
349 extern __xdata uint32_t ao_cmd_lex_u32;
350 extern __xdata char ao_cmd_lex_c;
351 extern __xdata enum ao_cmd_status ao_cmd_status;
357 ao_cmd_put8(uint8_t v);
360 ao_cmd_put16(uint16_t v);
369 ao_cmd_decimal(void);
372 ao_match_word(__code char *word);
381 ao_cmd_register(__code struct ao_cmds *cmds);
390 /* Allocate a DMA channel. the 'done' parameter will be set when the
391 * dma is finished and will be used to wakeup any waiters
395 ao_dma_alloc(__xdata uint8_t * done);
397 /* Setup a DMA channel */
399 ao_dma_set_transfer(uint8_t id,
400 void __xdata *srcaddr,
401 void __xdata *dstaddr,
406 /* Start a DMA channel */
408 ao_dma_start(uint8_t id);
410 /* Manually trigger a DMA channel */
412 ao_dma_trigger(uint8_t id);
414 /* Abort a running DMA transfer */
416 ao_dma_abort(uint8_t id);
418 /* DMA interrupt routine */
420 ao_dma_isr(void) __interrupt 8;
427 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
430 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
433 * Storage interface, provided by one of the eeprom or flash
437 /* Total bytes of available storage */
438 extern __xdata uint32_t ao_storage_total;
440 /* Block size - device is erased in these units. At least 256 bytes */
441 extern __xdata uint32_t ao_storage_block;
443 /* Byte offset of config block. Will be ao_storage_block bytes long */
444 extern __xdata uint32_t ao_storage_config;
446 #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
448 /* Initialize above values. Can only be called once the OS is running */
450 ao_storage_setup(void);
452 /* Flush any pending write data */
454 ao_storage_flush(void) __reentrant;
456 /* Write data. Returns 0 on failure, 1 on success */
458 ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
460 /* Read data. Returns 0 on failure, 1 on success */
462 ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
464 /* Erase a block of storage. This always clears ao_storage_block bytes */
466 ao_storage_erase(uint32_t pos);
468 /* Initialize the storage code */
470 ao_storage_init(void);
477 * The data log is recorded in the eeprom as a sequence
480 * Each packet starts with a 4-byte header that has the
481 * packet type, the packet checksum and the tick count. Then
482 * they all contain 2 16 bit values which hold packet-specific
485 * For each flight, the first packet
486 * is FLIGHT packet, indicating the serial number of the
487 * device and a unique number marking the number of flights
488 * recorded by this device.
490 * During flight, data from the accelerometer and barometer
491 * are recorded in SENSOR packets, using the raw 16-bit values
492 * read from the A/D converter.
494 * Also during flight, but at a lower rate, the deployment
495 * sensors are recorded in DEPLOY packets. The goal here is to
496 * detect failure in the deployment circuits.
498 * STATE packets hold state transitions as the flight computer
499 * transitions through different stages of the flight.
501 #define AO_LOG_FLIGHT 'F'
502 #define AO_LOG_SENSOR 'A'
503 #define AO_LOG_TEMP_VOLT 'T'
504 #define AO_LOG_DEPLOY 'D'
505 #define AO_LOG_STATE 'S'
506 #define AO_LOG_GPS_TIME 'G'
507 #define AO_LOG_GPS_LAT 'N'
508 #define AO_LOG_GPS_LON 'W'
509 #define AO_LOG_GPS_ALT 'H'
510 #define AO_LOG_GPS_SAT 'V'
511 #define AO_LOG_GPS_DATE 'Y'
513 #define AO_LOG_POS_NONE (~0UL)
515 struct ao_log_record {
521 int16_t ground_accel;
546 int32_t gps_latitude;
547 int32_t gps_longitude;
570 /* Write a record to the eeprom log */
572 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
578 /* We record flight numbers in the first record of
579 * the log. Tasks may wait for this to be initialized
580 * by sleeping on this variable.
582 extern __xdata uint16_t ao_flight_number;
584 /* Retrieve first log record for the current flight */
586 ao_log_dump_first(void);
588 /* return next log record for the current flight */
590 ao_log_dump_next(void);
592 /* Logging thread main routine */
596 /* Start logging to eeprom */
604 /* Initialize the logging system */
612 enum ao_flight_state {
613 ao_flight_startup = 0,
619 ao_flight_drogue = 6,
621 ao_flight_landed = 8,
622 ao_flight_invalid = 9
625 extern __xdata struct ao_adc ao_flight_data;
626 extern __pdata enum ao_flight_state ao_flight_state;
627 extern __pdata uint16_t ao_flight_tick;
628 extern __pdata int16_t ao_flight_accel;
629 extern __pdata int16_t ao_flight_pres;
630 extern __pdata int32_t ao_flight_vel;
631 extern __pdata int16_t ao_ground_pres;
632 extern __pdata int16_t ao_ground_accel;
633 extern __pdata int16_t ao_min_pres;
634 extern __pdata uint16_t ao_launch_time;
635 extern __xdata uint8_t ao_flight_force_idle;
641 /* Initialize flight thread */
643 ao_flight_init(void);
650 ao_report_init(void);
655 * Given raw data, convert to SI units
658 /* pressure from the sensor to altitude in meters */
660 ao_pres_to_altitude(int16_t pres) __reentrant;
663 ao_altitude_to_pres(int16_t alt) __reentrant;
666 ao_temp_to_dC(int16_t temp) __reentrant;
671 * debug another telemetrum board
674 /* Send a byte to the dbg target */
676 ao_dbg_send_byte(uint8_t byte);
678 /* Receive a byte from the dbg target */
680 ao_dbg_recv_byte(void);
682 /* Start a bulk transfer to/from dbg target memory */
684 ao_dbg_start_transfer(uint16_t addr);
686 /* End a bulk transfer to/from dbg target memory */
688 ao_dbg_end_transfer(void);
690 /* Write a byte to dbg target memory */
692 ao_dbg_write_byte(uint8_t byte);
694 /* Read a byte from dbg target memory */
696 ao_dbg_read_byte(void);
698 /* Enable dbg mode, switching use of the pins */
700 ao_dbg_debug_mode(void);
702 /* Reset the dbg target */
714 #error Please define HAS_SERIAL_1
719 ao_serial_rx1_isr(void) __interrupt 3;
722 ao_serial_tx1_isr(void) __interrupt 14;
725 ao_serial_getchar(void) __critical;
728 ao_serial_putchar(char c) __critical;
730 #define AO_SERIAL_SPEED_4800 0
731 #define AO_SERIAL_SPEED_9600 1
732 #define AO_SERIAL_SPEED_57600 2
735 ao_serial_set_speed(uint8_t speed);
738 ao_serial_init(void);
746 ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
749 ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
758 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
759 #define AO_GPS_NUM_SAT_SHIFT (0)
761 #define AO_GPS_VALID (1 << 4)
762 #define AO_GPS_RUNNING (1 << 5)
763 #define AO_GPS_DATE_VALID (1 << 6)
765 extern __xdata uint16_t ao_gps_tick;
775 int32_t latitude; /* degrees * 10⁷ */
776 int32_t longitude; /* degrees * 10⁷ */
777 int16_t altitude; /* m */
778 uint16_t ground_speed; /* cm/s */
779 uint8_t course; /* degrees / 2 */
780 uint8_t hdop; /* * 5 */
781 int16_t climb_rate; /* cm/s */
782 uint16_t h_error; /* m */
783 uint16_t v_error; /* m */
786 struct ao_gps_sat_data {
791 #define AO_MAX_GPS_TRACKING 12
793 struct ao_gps_tracking_data {
795 struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
798 extern __xdata uint8_t ao_gps_mutex;
799 extern __xdata struct ao_gps_data ao_gps_data;
800 extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
806 ao_gps_print(__xdata struct ao_gps_data *gps_data);
809 ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
822 ao_gps_report_init(void);
828 #define AO_MAX_CALLSIGN 8
829 #define AO_TELEMETRY_VERSION 3
831 struct ao_telemetry {
834 uint8_t flight_state;
835 int16_t flight_accel;
836 int16_t ground_accel;
840 int16_t accel_plus_g;
841 int16_t accel_minus_g;
843 struct ao_gps_data gps;
844 char callsign[AO_MAX_CALLSIGN];
845 struct ao_gps_tracking_data gps_tracking;
849 * ao_radio_recv tacks on rssi and status bytes
851 struct ao_telemetry_recv {
852 struct ao_telemetry telemetry;
857 /* Set delay between telemetry reports (0 to disable) */
859 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
860 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
861 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
864 ao_telemetry_set_interval(uint16_t interval);
867 ao_rdf_set(uint8_t rdf);
870 ao_telemetry_init(void);
876 extern __xdata uint8_t ao_radio_dma;
877 extern __xdata uint8_t ao_radio_dma_done;
878 extern __xdata uint8_t ao_radio_done;
879 extern __xdata uint8_t ao_radio_mutex;
882 ao_radio_general_isr(void) __interrupt 16;
887 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
890 ao_radio_set_telemetry(void);
893 ao_radio_set_packet(void);
896 ao_radio_set_rdf(void);
899 ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
902 ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
905 ao_radio_recv_abort(void);
908 ao_radio_rdf(int ms);
911 ao_radio_rdf_abort(void);
923 extern const char const * const ao_state_names[];
929 ao_set_monitor(uint8_t monitoring);
932 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
938 #define AO_READ_AGAIN ((char) -1)
941 char (*pollchar)(void);
942 void (*putchar)(char c) __reentrant;
949 extern __xdata uint8_t ao_stdin_ready;
952 ao_add_stdio(char (*pollchar)(void),
953 void (*putchar)(char) __reentrant,
954 void (*flush)(void));
961 ao_igniter_drogue = 0,
966 ao_ignite(enum ao_igniter igniter);
968 enum ao_igniter_status {
969 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
970 ao_igniter_ready, /* continuity detected */
971 ao_igniter_active, /* igniter firing */
972 ao_igniter_open, /* open circuit detected */
975 enum ao_igniter_status
976 ao_igniter_status(enum ao_igniter igniter);
979 ao_igniter_init(void);
985 #define AO_CONFIG_MAJOR 1
986 #define AO_CONFIG_MINOR 3
991 uint16_t main_deploy;
992 int16_t accel_plus_g; /* changed for minor version 2 */
993 uint8_t radio_channel;
994 char callsign[AO_MAX_CALLSIGN + 1];
995 uint8_t apogee_delay; /* minor version 1 */
996 int16_t accel_minus_g; /* minor version 2 */
997 uint32_t radio_cal; /* minor version 3 */
1000 extern __xdata struct ao_config ao_config;
1002 #define AO_CONFIG_MAX_SIZE 128
1005 ao_config_get(void);
1008 ao_config_put(void);
1011 ao_config_init(void);
1018 ao_rssi_set(int rssi_value);
1021 ao_rssi_init(uint8_t rssi_led);
1026 * values which need to be defined for
1027 * each instance of a product
1030 extern __code __at(0x00aa) uint8_t ao_usb_descriptors [];
1031 extern const char ao_version[];
1032 extern const char ao_manufacturer[];
1033 extern const char ao_product[];
1039 #define AO_FIFO_SIZE 32
1044 char fifo[AO_FIFO_SIZE];
1047 #define ao_fifo_insert(f,c) do { \
1048 (f).fifo[(f).insert] = (c); \
1049 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
1052 #define ao_fifo_remove(f,c) do {\
1053 c = (f).fifo[(f).remove]; \
1054 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
1057 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
1058 #define ao_fifo_empty(f) ((f).insert == (f).remove)
1063 * Packet-based command interface
1066 #define AO_PACKET_MAX 64
1067 #define AO_PACKET_SYN (uint8_t) 0xff
1074 uint8_t d[AO_PACKET_MAX];
1075 uint8_t callsign[AO_MAX_CALLSIGN];
1078 struct ao_packet_recv {
1079 struct ao_packet packet;
1084 extern __xdata struct ao_packet_recv ao_rx_packet;
1085 extern __xdata struct ao_packet ao_tx_packet;
1086 extern __xdata struct ao_task ao_packet_task;
1087 extern __xdata uint8_t ao_packet_enable;
1088 extern __xdata uint8_t ao_packet_master_sleeping;
1089 extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
1092 ao_packet_send(void);
1095 ao_packet_recv(void);
1098 ao_packet_flush(void);
1101 ao_packet_putchar(char c) __reentrant;
1104 ao_packet_pollchar(void) __critical;
1106 /* ao_packet_master.c */
1109 ao_packet_master_init(void);
1111 /* ao_packet_slave.c */
1114 ao_packet_slave_start(void);
1117 ao_packet_slave_stop(void);
1120 ao_packet_slave_init(void);