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 */
33 #define DATA_TO_XDATA(a) (a)
35 #ifndef PDATA_TO_XDATA
36 #define PDATA_TO_XDATA(a) (a)
39 #define CODE_TO_XDATA(a) (a)
44 __xdata void *wchan; /* current wait channel (NULL if running) */
45 uint16_t alarm; /* abort ao_sleep time */
46 ao_arch_task_members /* any architecture-specific fields */
47 uint8_t task_id; /* unique id */
48 __code char *name; /* task name */
49 uint8_t stack[AO_STACK_SIZE]; /* saved stack */
52 extern __xdata struct ao_task *__data ao_cur_task;
54 #define AO_NUM_TASKS 16 /* maximum number of tasks */
55 #define AO_NO_TASK 0 /* no task id */
61 /* Suspend the current task until wchan is awoken.
67 ao_sleep(__xdata void *wchan);
69 /* Wake all tasks sleeping on wchan */
71 ao_wakeup(__xdata void *wchan);
73 /* set an alarm to go off in 'delay' ticks */
75 ao_alarm(uint16_t delay);
77 /* Clear any pending alarm */
81 /* Yield the processor to another task */
83 ao_yield(void) ao_arch_naked_declare;
85 /* Add a task to the run queue */
87 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
89 /* Terminate the current task */
93 /* Dump task info to console */
97 /* Start the scheduler. This will not return */
99 ao_start_scheduler(void);
105 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
106 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
107 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
108 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
109 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
110 #define AO_PANIC_CMD 6 /* Too many command sets registered */
111 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
112 #define AO_PANIC_REBOOT 8 /* Reboot failed */
113 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
114 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
115 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
116 #define AO_PANIC_STACK 12 /* Stack overflow */
117 #define AO_PANIC_SPI 13 /* SPI communication failure */
119 /* Stop the operating system, beeping and blinking the reason */
121 ao_panic(uint8_t reason);
127 /* Our timer runs at 100Hz */
129 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
130 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
132 /* Returns the current time in ticks */
136 /* Suspend the current task until ticks time has passed */
138 ao_delay(uint16_t ticks);
140 /* Set the ADC interval */
142 ao_timer_set_adc_interval(uint8_t interval) __critical;
144 /* Timer interrupt */
146 ao_timer_isr(void) ao_arch_interrupt(9);
148 /* Initialize the timer */
152 /* Initialize the hardware clock. Must be called first */
161 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
164 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
172 ao_cmd_lex_error = 1,
173 ao_cmd_syntax_error = 2,
176 extern __pdata uint16_t ao_cmd_lex_i;
177 extern __pdata uint32_t ao_cmd_lex_u32;
178 extern __pdata char ao_cmd_lex_c;
179 extern __pdata enum ao_cmd_status ao_cmd_status;
185 ao_cmd_put8(uint8_t v);
188 ao_cmd_put16(uint16_t v);
191 ao_cmd_is_white(void);
197 ao_cmd_hexchar(char c);
200 ao_cmd_hexbyte(void);
206 ao_cmd_decimal(void);
209 ao_match_word(__code char *word);
217 ao_cmd_register(const __code struct ao_cmds *cmds);
224 * Provided by an external module to filter raw command lines
250 #include <ao_storage.h>
258 #include <ao_flight.h>
259 #include <ao_sample.h>
267 ao_report_init(void);
272 * Given raw data, convert to SI units
275 /* pressure from the sensor to altitude in meters */
277 ao_pres_to_altitude(int16_t pres) __reentrant;
280 ao_altitude_to_pres(int16_t alt) __reentrant;
283 ao_temp_to_dC(int16_t temp) __reentrant;
288 * Convert between pressure in Pa and altitude in meters
292 ao_pa_to_altitude(int32_t pa);
295 ao_altitude_to_pa(int32_t alt);
301 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
302 #include <ao_serial.h>
311 ao_spi_slave_recv(uint8_t *buf, uint8_t len);
314 ao_spi_slave_send(uint8_t *buf, uint8_t len);
317 ao_spi_slave_init(void);
319 /* This must be defined by the product; it will get called when chip
320 * select goes low, at which point it should use ao_spi_read and
321 * ao_spi_write to deal with the request
330 #define AO_MAX_CALLSIGN 8
331 #define AO_MAX_VERSION 8
333 #define AO_MAX_TELEMETRY 128
335 #define AO_MAX_TELEMETRY 32
338 struct ao_telemetry_generic {
339 uint16_t serial; /* 0 */
340 uint16_t tick; /* 2 */
341 uint8_t type; /* 4 */
342 uint8_t payload[27]; /* 5 */
346 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
347 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
348 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
350 struct ao_telemetry_sensor {
351 uint16_t serial; /* 0 */
352 uint16_t tick; /* 2 */
353 uint8_t type; /* 4 */
355 uint8_t state; /* 5 flight state */
356 int16_t accel; /* 6 accelerometer (TM only) */
357 int16_t pres; /* 8 pressure sensor */
358 int16_t temp; /* 10 temperature sensor */
359 int16_t v_batt; /* 12 battery voltage */
360 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
361 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
363 int16_t acceleration; /* 18 m/s² * 16 */
364 int16_t speed; /* 20 m/s * 16 */
365 int16_t height; /* 22 m */
367 int16_t ground_pres; /* 24 average pres on pad */
368 int16_t ground_accel; /* 26 average accel on pad */
369 int16_t accel_plus_g; /* 28 accel calibration at +1g */
370 int16_t accel_minus_g; /* 30 accel calibration at -1g */
374 #define AO_TELEMETRY_CONFIGURATION 0x04
376 struct ao_telemetry_configuration {
377 uint16_t serial; /* 0 */
378 uint16_t tick; /* 2 */
379 uint8_t type; /* 4 */
381 uint8_t device; /* 5 device type */
382 uint16_t flight; /* 6 flight number */
383 uint8_t config_major; /* 8 Config major version */
384 uint8_t config_minor; /* 9 Config minor version */
385 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
386 uint16_t main_deploy; /* 12 Main deploy alt in meters */
387 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
388 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
389 char version[AO_MAX_VERSION]; /* 24 Software version */
393 #define AO_TELEMETRY_LOCATION 0x05
395 #define AO_GPS_MODE_NOT_VALID 'N'
396 #define AO_GPS_MODE_AUTONOMOUS 'A'
397 #define AO_GPS_MODE_DIFFERENTIAL 'D'
398 #define AO_GPS_MODE_ESTIMATED 'E'
399 #define AO_GPS_MODE_MANUAL 'M'
400 #define AO_GPS_MODE_SIMULATED 'S'
402 struct ao_telemetry_location {
403 uint16_t serial; /* 0 */
404 uint16_t tick; /* 2 */
405 uint8_t type; /* 4 */
407 uint8_t flags; /* 5 Number of sats and other flags */
408 int16_t altitude; /* 6 GPS reported altitude (m) */
409 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
410 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
411 uint8_t year; /* 16 (- 2000) */
412 uint8_t month; /* 17 (1-12) */
413 uint8_t day; /* 18 (1-31) */
414 uint8_t hour; /* 19 (0-23) */
415 uint8_t minute; /* 20 (0-59) */
416 uint8_t second; /* 21 (0-59) */
417 uint8_t pdop; /* 22 (m * 5) */
418 uint8_t hdop; /* 23 (m * 5) */
419 uint8_t vdop; /* 24 (m * 5) */
420 uint8_t mode; /* 25 */
421 uint16_t ground_speed; /* 26 cm/s */
422 int16_t climb_rate; /* 28 cm/s */
423 uint8_t course; /* 30 degrees / 2 */
424 uint8_t unused[1]; /* 31 */
428 #define AO_TELEMETRY_SATELLITE 0x06
430 struct ao_telemetry_satellite_info {
435 struct ao_telemetry_satellite {
436 uint16_t serial; /* 0 */
437 uint16_t tick; /* 2 */
438 uint8_t type; /* 4 */
439 uint8_t channels; /* 5 number of reported sats */
441 struct ao_telemetry_satellite_info sats[12]; /* 6 */
442 uint8_t unused[2]; /* 30 */
446 #define AO_TELEMETRY_COMPANION 0x07
448 #define AO_COMPANION_MAX_CHANNELS 12
450 struct ao_telemetry_companion {
451 uint16_t serial; /* 0 */
452 uint16_t tick; /* 2 */
453 uint8_t type; /* 4 */
454 uint8_t board_id; /* 5 */
456 uint8_t update_period; /* 6 */
457 uint8_t channels; /* 7 */
458 uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
462 /* #define AO_SEND_ALL_BARO */
464 #define AO_TELEMETRY_BARO 0x80
467 * This packet allows the full sampling rate baro
468 * data to be captured over the RF link so that the
469 * flight software can be tested using 'real' data.
471 * Along with this telemetry packet, the flight
472 * code is modified to send full-rate telemetry all the time
473 * and never send an RDF tone; this ensure that the full radio
476 struct ao_telemetry_baro {
477 uint16_t serial; /* 0 */
478 uint16_t tick; /* 2 */
479 uint8_t type; /* 4 */
480 uint8_t samples; /* 5 number samples */
482 int16_t baro[12]; /* 6 samples */
486 union ao_telemetry_all {
487 struct ao_telemetry_generic generic;
488 struct ao_telemetry_sensor sensor;
489 struct ao_telemetry_configuration configuration;
490 struct ao_telemetry_location location;
491 struct ao_telemetry_satellite satellite;
492 struct ao_telemetry_companion companion;
493 struct ao_telemetry_baro baro;
496 struct ao_telemetry_all_recv {
497 union ao_telemetry_all telemetry;
506 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
507 #define AO_GPS_NUM_SAT_SHIFT (0)
509 #define AO_GPS_VALID (1 << 4)
510 #define AO_GPS_RUNNING (1 << 5)
511 #define AO_GPS_DATE_VALID (1 << 6)
512 #define AO_GPS_COURSE_VALID (1 << 7)
514 extern __pdata uint16_t ao_gps_tick;
515 extern __xdata uint8_t ao_gps_mutex;
516 extern __xdata struct ao_telemetry_location ao_gps_data;
517 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
527 int32_t latitude; /* degrees * 10⁷ */
528 int32_t longitude; /* degrees * 10⁷ */
529 int16_t altitude; /* m */
530 uint16_t ground_speed; /* cm/s */
531 uint8_t course; /* degrees / 2 */
532 uint8_t hdop; /* * 5 */
533 int16_t climb_rate; /* cm/s */
534 uint16_t h_error; /* m */
535 uint16_t v_error; /* m */
538 struct ao_gps_sat_orig {
543 #define AO_MAX_GPS_TRACKING 12
545 struct ao_gps_tracking_orig {
547 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
554 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
557 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
570 ao_gps_report_init(void);
573 * ao_telemetry_orig.c
576 struct ao_telemetry_orig {
579 uint8_t flight_state;
581 int16_t ground_accel;
591 int16_t accel_plus_g;
592 int16_t accel_minus_g;
594 struct ao_gps_orig gps;
595 char callsign[AO_MAX_CALLSIGN];
596 struct ao_gps_tracking_orig gps_tracking;
599 struct ao_telemetry_tiny {
602 uint8_t flight_state;
603 int16_t height; /* AGL in meters */
604 int16_t speed; /* in m/s * 16 */
605 int16_t accel; /* in m/s² * 16 */
606 int16_t ground_pres; /* sensor units */
607 struct ao_adc adc; /* raw ADC readings */
608 char callsign[AO_MAX_CALLSIGN];
611 struct ao_telemetry_orig_recv {
612 struct ao_telemetry_orig telemetry_orig;
617 struct ao_telemetry_tiny_recv {
618 struct ao_telemetry_tiny telemetry_tiny;
624 * ao_radio_recv tacks on rssi and status bytes
627 struct ao_telemetry_raw_recv {
628 uint8_t packet[AO_MAX_TELEMETRY + 2];
631 /* Set delay between telemetry reports (0 to disable) */
633 #ifdef AO_SEND_ALL_BARO
634 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
635 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
636 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
638 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
639 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
640 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
644 ao_telemetry_set_interval(uint16_t interval);
647 ao_rdf_set(uint8_t rdf);
650 ao_telemetry_init(void);
653 ao_telemetry_orig_init(void);
656 ao_telemetry_tiny_init(void);
662 extern __xdata uint8_t ao_radio_dma;
663 extern __xdata uint8_t ao_radio_dma_done;
664 extern __xdata uint8_t ao_radio_done;
665 extern __xdata uint8_t ao_radio_mutex;
668 ao_radio_general_isr(void) ao_arch_interrupt(16);
671 ao_radio_get(uint8_t len);
673 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
676 ao_radio_set_packet(void);
679 ao_radio_send(__xdata void *d, uint8_t size) __reentrant;
682 ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
685 ao_radio_recv_abort(void);
688 * Compute the packet length as follows:
690 * 2000 bps (for a 1kHz tone)
691 * so, for 'ms' milliseconds, we need
692 * 2 * ms bits, or ms / 4 bytes
695 #define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2))
698 ao_radio_rdf(uint8_t pkt_len);
701 ao_radio_rdf_abort(void);
713 extern const char const * const ao_state_names[];
715 #define AO_MONITOR_RING 8
718 struct ao_telemetry_raw_recv raw;
719 struct ao_telemetry_all_recv all;
720 struct ao_telemetry_orig_recv orig;
721 struct ao_telemetry_tiny_recv tiny;
724 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
726 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
728 extern __data uint8_t ao_monitoring;
729 extern __data uint8_t ao_monitor_head;
734 #define AO_MONITORING_OFF 0
735 #define AO_MONITORING_ORIG 1
738 ao_monitor_set(uint8_t monitoring);
741 ao_monitor_disable(void);
744 ao_monitor_enable(void);
747 ao_monitor_init(void) __reentrant;
753 #define AO_READ_AGAIN ((char) -1)
756 char (*pollchar)(void);
757 void (*putchar)(char c) __reentrant;
762 extern __xdata struct ao_stdio ao_stdios[];
763 extern __pdata int8_t ao_cur_stdio;
764 extern __pdata int8_t ao_num_stdios;
769 extern __xdata uint8_t ao_stdin_ready;
775 ao_add_stdio(char (*pollchar)(void),
776 void (*putchar)(char) __reentrant,
777 void (*flush)(void)) __reentrant;
784 ao_igniter_drogue = 0,
789 ao_ignite(enum ao_igniter igniter);
791 enum ao_igniter_status {
792 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
793 ao_igniter_ready, /* continuity detected */
794 ao_igniter_active, /* igniter firing */
795 ao_igniter_open, /* open circuit detected */
804 extern __xdata struct ao_ignition ao_ignition[2];
806 enum ao_igniter_status
807 ao_igniter_status(enum ao_igniter igniter);
809 extern __pdata uint8_t ao_igniter_present;
812 ao_ignite_set_pins(void);
815 ao_igniter_init(void);
821 #define AO_CONFIG_MAJOR 1
822 #define AO_CONFIG_MINOR 11
824 #define AO_AES_LEN 16
829 uint16_t main_deploy;
830 int16_t accel_plus_g; /* changed for minor version 2 */
831 uint8_t _legacy_radio_channel;
832 char callsign[AO_MAX_CALLSIGN + 1];
833 uint8_t apogee_delay; /* minor version 1 */
834 int16_t accel_minus_g; /* minor version 2 */
835 uint32_t radio_cal; /* minor version 3 */
836 uint32_t flight_log_max; /* minor version 4 */
837 uint8_t ignite_mode; /* minor version 5 */
838 uint8_t pad_orientation; /* minor version 6 */
839 uint32_t radio_setting; /* minor version 7 */
840 uint8_t radio_enable; /* minor version 8 */
841 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
842 uint32_t frequency; /* minor version 10 */
843 uint16_t apogee_lockout; /* minor version 11 */
846 #define AO_IGNITE_MODE_DUAL 0
847 #define AO_IGNITE_MODE_APOGEE 1
848 #define AO_IGNITE_MODE_MAIN 2
850 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
851 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
853 extern __xdata struct ao_config ao_config;
855 #define AO_CONFIG_MAX_SIZE 128
864 ao_config_set_radio(void);
867 ao_config_init(void);
874 ao_rssi_set(int rssi_value);
877 ao_rssi_init(uint8_t rssi_led);
882 * values which need to be defined for
883 * each instance of a product
886 extern const char ao_version[];
887 extern const char ao_manufacturer[];
888 extern const char ao_product[];
894 #define AO_FIFO_SIZE 32
899 char fifo[AO_FIFO_SIZE];
902 #define ao_fifo_insert(f,c) do { \
903 (f).fifo[(f).insert] = (c); \
904 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
907 #define ao_fifo_remove(f,c) do {\
908 c = (f).fifo[(f).remove]; \
909 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
912 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
913 #define ao_fifo_empty(f) ((f).insert == (f).remove)
915 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
916 #include <ao_packet.h>
924 #include <ao_companion.h>
937 struct ao_launch_command {
945 #define AO_LAUNCH_QUERY 1
947 struct ao_launch_query {
953 uint8_t igniter_status;
956 #define AO_LAUNCH_ARM 2
957 #define AO_LAUNCH_FIRE 3
960 ao_launch_init(void);
966 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
967 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
969 #define AO_LOG_TELESCIENCE_NUM_ADC 12
971 struct ao_log_telescience {
978 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
981 #define AO_LOG_SINGLE_SIZE 32
983 union ao_log_single {
984 struct ao_log_telescience telescience;
985 union ao_telemetry_all telemetry;
986 uint8_t bytes[AO_LOG_SINGLE_SIZE];
989 extern __xdata union ao_log_single ao_log_single_write_data;
990 extern __xdata union ao_log_single ao_log_single_read_data;
993 ao_log_single_extra_query(void);
996 ao_log_single_list(void);
999 ao_log_single_main(void);
1002 ao_log_single_write(void);
1005 ao_log_single_read(uint32_t pos);
1008 ao_log_single_start(void);
1011 ao_log_single_stop(void);
1014 ao_log_single_restart(void);
1017 ao_log_single_set(void);
1020 ao_log_single_delete(void);
1023 ao_log_single_init(void);
1026 ao_log_single(void);
1032 #define AO_TELEPYRO_NUM_ADC 9
1035 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
1036 #define ao_xmemset(d,v,c) memset(d,v,c)
1037 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
1045 ao_terraui_init(void);
1053 ao_battery_isr(void) ao_arch_interrupt(1);
1056 ao_battery_get(void);
1059 ao_battery_init(void);
1060 #endif /* BATTERY_PIN */
1067 ao_sqrt(uint32_t op);
1073 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
1075 #include <ao_arch_funcs.h>
1081 void ao_ms5607_init(void);