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.
29 /* Convert a __data pointer into an __xdata pointer */
30 #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
32 /* Stack runs from above the allocated __data space to 0xfe, which avoids
33 * writing to 0xff as that triggers the stack overflow indicator
35 #define AO_STACK_START 0x80
36 #define AO_STACK_END 0xfe
37 #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
41 __xdata void *wchan; /* current wait channel (NULL if running) */
42 uint8_t stack_count; /* amount of saved stack */
43 uint8_t task_id; /* index in the task array */
44 __code char *name; /* task name */
45 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
48 extern __xdata struct ao_task *__data ao_cur_task;
50 #define AO_NUM_TASKS 16 /* maximum number of tasks */
51 #define AO_NO_TASK 0 /* no task id */
57 /* Suspend the current task until wchan is awoken */
59 ao_sleep(__xdata void *wchan);
61 /* Wake all tasks sleeping on wchan */
63 ao_wakeup(__xdata void *wchan);
65 /* Yield the processor to another task */
67 ao_yield(void) _naked;
69 /* Add a task to the run queue */
71 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
73 /* Dump task info to console */
77 /* Start the scheduler. This will not return */
79 ao_start_scheduler(void);
85 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
86 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
87 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
88 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
89 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
90 #define AO_PANIC_CMD 6 /* Too many command sets registered */
92 /* Stop the operating system, beeping and blinking the reason */
94 ao_panic(uint8_t reason);
100 /* Our timer runs at 100Hz */
101 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
102 #define AO_SEC_TO_TICKS(s) ((s) * 100)
104 /* Returns the current time in ticks */
108 /* Suspend the current task until ticks time has passed */
110 ao_delay(uint16_t ticks);
112 /* Set the ADC interval */
114 ao_timer_set_adc_interval(uint8_t interval) __critical;
116 /* Timer interrupt */
118 ao_timer_isr(void) interrupt 9;
120 /* Initialize the timer */
124 /* Initialize the hardware clock. Must be called first */
132 #define AO_ADC_RING 64
133 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
134 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
137 * One set of samples read from the A/D converter
140 uint16_t tick; /* tick when the sample was read */
141 int16_t accel; /* accelerometer */
142 int16_t pres; /* pressure sensor */
143 int16_t temp; /* temperature sensor */
144 int16_t v_batt; /* battery voltage */
145 int16_t sense_d; /* drogue continuity sense */
146 int16_t sense_m; /* main continuity sense */
150 * A/D data is stored in a ring, with the next sample to be written
153 extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
154 extern volatile __data uint8_t ao_adc_head;
156 /* Trigger a conversion sequence (called from the timer interrupt) */
160 /* Suspend the current task until another A/D sample is converted */
164 /* Get a copy of the last complete A/D sample set */
166 ao_adc_get(__xdata struct ao_adc *packet);
168 /* The A/D interrupt handler */
171 ao_adc_isr(void) interrupt 1;
174 /* Initialize the A/D converter */
183 * Various pre-defined beep frequencies
185 * frequency = 1/2 (24e6/32) / beep
188 #define AO_BEEP_LOW 150 /* 2500Hz */
189 #define AO_BEEP_MID 94 /* 3989Hz */
190 #define AO_BEEP_HIGH 75 /* 5000Hz */
191 #define AO_BEEP_OFF 0 /* off */
193 #define AO_BEEP_g 240 /* 1562.5Hz */
194 #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
195 #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
196 #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
197 #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
198 #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
199 #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
200 #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
201 #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
202 #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
203 #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
204 #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
205 #define AO_BEEP_gg 120 /* 3125Hz */
206 #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
207 #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
208 #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
209 #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
210 #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
211 #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
212 #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
213 #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
214 #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
215 #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
216 #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
217 #define AO_BEEP_ggg 60 /* 6250Hz */
219 /* Set the beeper to the specified tone */
221 ao_beep(uint8_t beep);
223 /* Turn on the beeper for the specified time */
225 ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
227 /* Initialize the beeper */
235 #define AO_LED_NONE 0
236 #define AO_LED_GREEN 1
239 /* Turn on the specified LEDs */
241 ao_led_on(uint8_t colors);
243 /* Turn off the specified LEDs */
245 ao_led_off(uint8_t colors);
247 /* Set all of the LEDs to the specified state */
249 ao_led_set(uint8_t colors);
251 /* Toggle the specified LEDs */
253 ao_led_toggle(uint8_t colors);
255 /* Turn on the specified LEDs for the indicated interval */
257 ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
259 /* Initialize the LEDs */
261 ao_led_init(uint8_t enable);
267 /* Put one character to the USB output queue */
269 ao_usb_putchar(char c);
271 /* Get one character from the USB input queue */
273 ao_usb_getchar(void);
275 /* Flush the USB output queue */
279 /* USB interrupt handler */
281 ao_usb_isr(void) interrupt 6;
283 /* Enable the USB controller */
287 /* Disable the USB controller */
289 ao_usb_disable(void);
291 /* Initialize the USB system */
301 ao_cmd_lex_error = 1,
302 ao_cmd_syntax_error = 2,
305 extern __xdata uint16_t ao_cmd_lex_i;
306 extern __xdata char ao_cmd_lex_c;
307 extern __xdata enum ao_cmd_status ao_cmd_status;
313 ao_cmd_put8(uint8_t v);
316 ao_cmd_put16(uint16_t v);
325 ao_cmd_decimal(void);
334 ao_cmd_register(__code struct ao_cmds *cmds);
343 /* Allocate a DMA channel. the 'done' parameter will be set to 1
344 * when the dma is finished and will be used to wakeup any waiters
347 ao_dma_alloc(__xdata uint8_t * done);
349 /* Setup a DMA channel */
351 ao_dma_set_transfer(uint8_t id,
352 void __xdata *srcaddr,
353 void __xdata *dstaddr,
358 /* Start a DMA channel */
360 ao_dma_start(uint8_t id);
362 /* Manually trigger a DMA channel */
364 ao_dma_trigger(uint8_t id);
366 /* Abort a running DMA transfer */
368 ao_dma_abort(uint8_t id);
370 /* DMA interrupt routine */
372 ao_dma_isr(void) interrupt 8;
379 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
382 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
389 * We reserve the last block on the device for
390 * configuration space. Writes and reads in this
391 * area return errors.
394 #define AO_EE_BLOCK_SIZE ((uint16_t) (256))
395 #define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
396 #define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
397 #define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
400 ao_ee_flush(void) __reentrant;
402 /* Write to the eeprom */
404 ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
406 /* Read from the eeprom */
408 ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
410 /* Write the config block (at the end of the eeprom) */
412 ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
414 /* Read the config block (at the end of the eeprom) */
416 ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
418 /* Initialize the EEPROM code */
426 /* Structure containing GPS position, either lat or lon */
431 uint16_t minutes_fraction; /* in units of 1/10000 minutes */
435 * The data log is recorded in the eeprom as a sequence
438 * Each packet starts with a 4-byte header that has the
439 * packet type, the packet checksum and the tick count. Then
440 * they all contain 2 16 bit values which hold packet-specific
443 * For each flight, the first packet
444 * is FLIGHT packet, indicating the serial number of the
445 * device and a unique number marking the number of flights
446 * recorded by this device.
448 * During flight, data from the accelerometer and barometer
449 * are recorded in SENSOR packets, using the raw 16-bit values
450 * read from the A/D converter.
452 * Also during flight, but at a lower rate, the deployment
453 * sensors are recorded in DEPLOY packets. The goal here is to
454 * detect failure in the deployment circuits.
456 * STATE packets hold state transitions as the flight computer
457 * transitions through different stages of the flight.
459 #define AO_LOG_FLIGHT 'F'
460 #define AO_LOG_SENSOR 'A'
461 #define AO_LOG_TEMP_VOLT 'T'
462 #define AO_LOG_DEPLOY 'D'
463 #define AO_LOG_STATE 'S'
464 #define AO_LOG_GPS_TIME 'G'
465 #define AO_LOG_GPS_LAT 'N'
466 #define AO_LOG_GPS_LON 'W'
467 #define AO_LOG_GPS_ALT 'H'
469 #define AO_LOG_POS_NONE (~0UL)
471 struct ao_log_record {
477 int16_t ground_accel;
502 struct ao_gps_pos gps_latitude;
503 struct ao_gps_pos gps_longitude;
515 /* Write a record to the eeprom log */
517 ao_log_data(struct ao_log_record *log);
524 * ao_log_dump_first() - get first log record
525 * ao_log_dump_next() - get next log record
527 extern __xdata struct ao_log_record ao_log_dump;
529 /* Retrieve first log record for the current flight */
531 ao_log_dump_first(void);
533 /* return next log record for the current flight */
535 ao_log_dump_next(void);
537 /* Logging thread main routine */
541 /* Start logging to eeprom */
549 /* Initialize the logging system */
557 enum ao_flight_state {
558 ao_flight_startup = 0,
564 ao_flight_drogue = 6,
566 ao_flight_landed = 8,
567 ao_flight_invalid = 9
570 extern __xdata struct ao_adc ao_flight_data;
571 extern __pdata enum ao_flight_state ao_flight_state;
572 extern __pdata uint16_t ao_flight_tick;
573 extern __pdata int16_t ao_flight_accel;
574 extern __pdata int16_t ao_flight_pres;
575 extern __pdata int32_t ao_flight_vel;
576 extern __pdata int16_t ao_ground_pres;
577 extern __pdata int16_t ao_ground_accel;
578 extern __pdata int16_t ao_min_pres;
579 extern __pdata uint16_t ao_launch_time;
585 /* Initialize flight thread */
587 ao_flight_init(void);
594 ao_report_init(void);
599 * Given raw data, convert to SI units
602 /* pressure from the sensor to altitude in meters */
604 ao_pres_to_altitude(int16_t pres) __reentrant;
607 ao_altitude_to_pres(int16_t alt) __reentrant;
610 ao_temp_to_dC(int16_t temp) __reentrant;
615 * debug another telemetrum board
618 /* Send a byte to the dbg target */
620 ao_dbg_send_byte(uint8_t byte);
622 /* Receive a byte from the dbg target */
624 ao_dbg_recv_byte(void);
626 /* Start a bulk transfer to/from dbg target memory */
628 ao_dbg_start_transfer(uint16_t addr);
630 /* End a bulk transfer to/from dbg target memory */
632 ao_dbg_end_transfer(void);
634 /* Write a byte to dbg target memory */
636 ao_dbg_write_byte(uint8_t byte);
638 /* Read a byte from dbg target memory */
640 ao_dbg_read_byte(void);
642 /* Enable dbg mode, switching use of the pins */
644 ao_dbg_debug_mode(void);
646 /* Reset the dbg target */
657 #if !AO_NO_SERIAL_ISR
659 ao_serial_rx1_isr(void) interrupt 3;
662 ao_serial_tx1_isr(void) interrupt 14;
666 ao_serial_getchar(void) __critical;
669 ao_serial_putchar(char c) __critical;
672 ao_serial_init(void);
678 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
679 #define AO_GPS_NUM_SAT_SHIFT (0)
681 #define AO_GPS_VALID (1 << 4)
682 #define AO_GPS_LONGITUDE_MASK (1 << 5)
683 #define AO_GPS_LONGITUDE_EAST (0 << 5)
684 #define AO_GPS_LONGITUDE_WEST (1 << 5)
686 #define AO_GPS_LATITUDE_MASK (1 << 6)
687 #define AO_GPS_LATITUDE_NORTH (0 << 6)
688 #define AO_GPS_LATITUDE_SOUTH (1 << 6)
695 struct ao_gps_pos latitude;
696 struct ao_gps_pos longitude;
700 extern __xdata uint8_t ao_gps_mutex;
701 extern __xdata struct ao_gps_data ao_gps_data;
707 ao_gps_print(__xdata struct ao_gps_data *gps_data);
720 ao_gps_report_init(void);
726 #define AO_MAX_CALLSIGN 8
728 struct ao_telemetry {
730 uint8_t flight_state;
731 int16_t flight_accel;
732 int16_t ground_accel;
737 struct ao_gps_data gps;
738 char callsign[AO_MAX_CALLSIGN];
741 /* Set delay between telemetry reports (0 to disable) */
743 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
744 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
745 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
748 ao_telemetry_set_interval(uint16_t interval);
751 ao_telemetry_init(void);
758 ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
760 struct ao_radio_recv {
761 struct ao_telemetry telemetry;
767 ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
776 extern const char const * const ao_state_names[];
782 ao_set_monitor(uint8_t monitoring);
785 ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
799 ao_igniter_drogue = 0,
804 ao_ignite(enum ao_igniter igniter);
806 enum ao_igniter_status {
807 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
808 ao_igniter_ready, /* continuity detected */
809 ao_igniter_active, /* igniter firing */
810 ao_igniter_open, /* open circuit detected */
813 enum ao_igniter_status
814 ao_igniter_status(enum ao_igniter igniter);
817 ao_igniter_init(void);
823 #define AO_CONFIG_MAJOR 1
824 #define AO_CONFIG_MINOR 0
829 uint16_t main_deploy;
830 int16_t accel_zero_g;
831 uint8_t radio_channel;
832 char callsign[AO_MAX_CALLSIGN + 1];
835 extern __xdata struct ao_config ao_config;
841 ao_config_init(void);
848 ao_rssi_set(int rssi_value);
851 ao_rssi_init(uint8_t rssi_led);
856 * values which need to be defined for
857 * each instance of a product
860 extern const uint8_t ao_usb_descriptors [];
861 extern const uint16_t ao_serial_number;
862 extern const char ao_version[];
863 extern const char ao_manufacturer[];
864 extern const char ao_product[];
870 #define AO_FIFO_SIZE 32
875 char fifo[AO_FIFO_SIZE];
878 #define ao_fifo_insert(f,c) do { \
879 (f).fifo[(f).insert] = (c); \
880 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
883 #define ao_fifo_remove(f,c) do {\
884 c = (f).fifo[(f).remove]; \
885 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
888 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
889 #define ao_fifo_empty(f) ((f).insert == (f).remove)
894 * Packet-based command interface
897 #define AO_PACKET_MAX 32
898 #define AO_PACKET_WIN 256
900 #define AO_PACKET_FIN (1 << 0)
901 #define AO_PACKET_SYN (1 << 1)
902 #define AO_PACKET_RST (1 << 2)
903 #define AO_PACKET_ACK (1 << 3)
912 uint8_t d[AO_PACKET_MAX];
916 ao_packet_connect(uint8_t dest);
919 ao_packet_accept(void);
922 ao_packet_send(uint8_t *data, int len);
925 ao_packet_recv(uint8_t *data, int len);
928 ao_packet_init(void);