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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
29 /* replace stdio macros with direct calls to our functions */
32 #define putchar(c) ao_putchar(c)
33 #define getchar ao_getchar
35 extern int ao_putchar(char c);
36 extern char ao_getchar(void);
41 /* Convert a __data pointer into an __xdata pointer */
43 #define DATA_TO_XDATA(a) (a)
45 #ifndef PDATA_TO_XDATA
46 #define PDATA_TO_XDATA(a) (a)
49 #define CODE_TO_XDATA(a) (a)
56 typedef AO_PORT_TYPE ao_port_t;
61 #include <ao_notask.h>
68 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
69 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
70 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
71 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
72 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
73 #define AO_PANIC_CMD 6 /* Too many command sets registered */
74 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
75 #define AO_PANIC_REBOOT 8 /* Reboot failed */
76 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
77 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
78 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
79 #define AO_PANIC_STACK 12 /* Stack overflow */
80 #define AO_PANIC_SPI 13 /* SPI communication failure */
81 #define AO_PANIC_CRASH 14 /* Processor crashed */
82 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
83 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
84 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
85 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
86 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
87 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
88 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
89 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
90 #define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */
91 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
93 /* Stop the operating system, beeping and blinking the reason */
95 ao_panic(uint8_t reason);
102 #define AO_TICK_TYPE uint16_t
103 #define AO_TICK_SIGNED int16_t
106 extern volatile __data AO_TICK_TYPE ao_tick_count;
108 /* Our timer runs at 100Hz */
112 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
113 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
115 /* Returns the current time in ticks */
119 /* Suspend the current task until ticks time has passed */
121 ao_delay(uint16_t ticks);
123 /* Set the ADC interval */
125 ao_timer_set_adc_interval(uint8_t interval);
127 /* Timer interrupt */
129 ao_timer_isr(void) ao_arch_interrupt(9);
131 /* Initialize the timer */
135 /* Initialize the hardware clock. Must be called first */
139 #if AO_POWER_MANAGEMENT
140 /* Go to low power clock */
142 ao_clock_suspend(void);
144 /* Restart full-speed clock */
146 ao_clock_resume(void);
155 ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant;
158 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
161 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
170 ao_cmd_lex_error = 1,
171 ao_cmd_syntax_error = 2,
174 extern __pdata uint16_t ao_cmd_lex_i;
175 extern __pdata uint32_t ao_cmd_lex_u32;
176 extern __pdata char ao_cmd_lex_c;
177 extern __pdata enum ao_cmd_status ao_cmd_status;
180 ao_put_string(__code char *s);
183 ao_cmd_readline(void);
189 ao_cmd_put8(uint8_t v);
192 ao_cmd_put16(uint16_t v);
195 ao_cmd_is_white(void);
201 ao_cmd_hexchar(char c);
204 ao_cmd_hexbyte(void);
210 ao_cmd_decimal(void) __reentrant;
212 /* Read a single hex nibble off stdin. */
217 ao_match_word(__code char *word);
225 ao_cmd_register(const __code struct ao_cmds *cmds);
235 * Provided by an external module to filter raw command lines
261 #include <ao_storage.h>
269 #include <ao_flight.h>
270 #include <ao_sample.h>
277 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
278 #define AO_RDF_LENGTH_MS 500
279 #define AO_RDF_CONTINUITY_MS 32
280 #define AO_RDF_CONTINUITY_PAUSE 96
281 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
283 /* This assumes that we're generating a 1kHz tone, which
284 * modulates the carrier at 2kbps, or 250kBps
286 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
288 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
289 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
290 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
291 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
293 /* returns a value 0-3 to indicate igniter continuity */
295 ao_report_igniter(void);
298 ao_report_init(void);
303 * Given raw data, convert to SI units
307 /* pressure from the sensor to altitude in meters */
309 ao_pres_to_altitude(pres_t pres) __reentrant;
312 ao_altitude_to_pres(alt_t alt) __reentrant;
315 ao_temp_to_dC(int16_t temp) __reentrant;
321 * Convert between pressure in Pa and altitude in meters
328 ao_pa_to_altitude(pres_t pa);
331 ao_altitude_to_pa(alt_t alt);
338 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
339 #include <ao_serial.h>
345 * Convert ADC readings to decivolts
349 ao_battery_decivolt(int16_t adc);
352 ao_ignite_decivolt(int16_t adc);
359 ao_spi_slave_recv(void *buf, uint16_t len);
362 ao_spi_slave_send(void *buf, uint16_t len);
365 ao_spi_slave_init(void);
367 /* This must be defined by the product; it will get called when chip
368 * select goes low, at which point it should use ao_spi_read and
369 * ao_spi_write to deal with the request
375 #include <ao_telemetry.h>
380 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
381 #define AO_GPS_NUM_SAT_SHIFT (0)
383 #define AO_GPS_VALID (1 << 4)
384 #define AO_GPS_RUNNING (1 << 5)
385 #define AO_GPS_DATE_VALID (1 << 6)
386 #define AO_GPS_COURSE_VALID (1 << 7)
388 #define AO_GPS_NEW_DATA 1
389 #define AO_GPS_NEW_TRACKING 2
391 extern __xdata uint8_t ao_gps_new;
392 extern __pdata uint16_t ao_gps_tick;
393 extern __xdata uint8_t ao_gps_mutex;
394 extern __xdata struct ao_telemetry_location ao_gps_data;
395 extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
405 int32_t latitude; /* degrees * 10⁷ */
406 int32_t longitude; /* degrees * 10⁷ */
407 int16_t altitude; /* m */
408 uint16_t ground_speed; /* cm/s */
409 uint8_t course; /* degrees / 2 */
410 uint8_t hdop; /* * 5 */
411 int16_t climb_rate; /* cm/s */
412 uint16_t h_error; /* m */
413 uint16_t v_error; /* m */
416 struct ao_gps_sat_orig {
421 #define AO_MAX_GPS_TRACKING 12
423 struct ao_gps_tracking_orig {
425 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
429 ao_gps_set_rate(uint8_t rate);
435 ao_gps_print(__xdata struct ao_gps_orig *gps_data);
438 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
441 ao_gps_show(void) __reentrant;
454 ao_gps_report_init(void);
457 * ao_gps_report_mega.c
461 ao_gps_report_mega(void);
464 ao_gps_report_mega_init(void);
467 * ao_telemetry_orig.c
472 uint16_t tick; /* tick when the sample was read */
473 int16_t accel; /* accelerometer */
474 int16_t pres; /* pressure sensor */
475 int16_t temp; /* temperature sensor */
476 int16_t v_batt; /* battery voltage */
477 int16_t sense_d; /* drogue continuity sense */
478 int16_t sense_m; /* main continuity sense */
481 struct ao_telemetry_orig {
484 uint8_t flight_state;
486 int16_t ground_accel;
496 int16_t accel_plus_g;
497 int16_t accel_minus_g;
498 struct ao_adc_orig adc;
499 struct ao_gps_orig gps;
500 char callsign[AO_MAX_CALLSIGN];
501 struct ao_gps_tracking_orig gps_tracking;
504 struct ao_telemetry_tiny {
507 uint8_t flight_state;
508 int16_t height; /* AGL in meters */
509 int16_t speed; /* in m/s * 16 */
510 int16_t accel; /* in m/s² * 16 */
511 int16_t ground_pres; /* sensor units */
512 struct ao_adc adc; /* raw ADC readings */
513 char callsign[AO_MAX_CALLSIGN];
516 struct ao_telemetry_orig_recv {
517 struct ao_telemetry_orig telemetry_orig;
522 struct ao_telemetry_tiny_recv {
523 struct ao_telemetry_tiny telemetry_tiny;
528 #endif /* LEGACY_MONITOR */
530 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
531 * for reporting RSSI. So, now we use these values everywhere
533 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
534 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
537 * ao_radio_recv tacks on rssi and status bytes
540 struct ao_telemetry_raw_recv {
541 uint8_t packet[AO_MAX_TELEMETRY + 2];
544 /* Set delay between telemetry reports (0 to disable) */
546 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
547 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
548 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
551 ao_telemetry_reset_interval(void);
554 ao_telemetry_set_interval(uint16_t interval);
557 ao_rdf_set(uint8_t rdf);
560 ao_telemetry_init(void);
563 ao_telemetry_orig_init(void);
566 ao_telemetry_tiny_init(void);
572 extern __xdata uint8_t ao_radio_dma;
574 extern __xdata int8_t ao_radio_rssi;
576 #ifdef PKT_APPEND_STATUS_1_CRC_OK
577 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
580 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
583 #ifndef HAS_RADIO_RECV
584 #define HAS_RADIO_RECV HAS_RADIO
586 #ifndef HAS_RADIO_XMIT
587 #define HAS_RADIO_XMIT HAS_RADIO
590 #define AO_RADIO_RATE_38400 0
591 #define AO_RADIO_RATE_9600 1
592 #define AO_RADIO_RATE_2400 2
593 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
595 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
596 #define HAS_RADIO_RATE HAS_RADIO
600 ao_radio_general_isr(void) ao_arch_interrupt(16);
604 ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
609 ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
612 ao_radio_recv_abort(void);
616 ao_radio_test(uint8_t on);
618 typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
621 ao_radio_send_aprs(ao_radio_fill_func fill);
629 ao_radio_pa_on(void);
632 ao_radio_pa_off(void);
635 ao_radio_pa_init(void);
637 #define ao_radio_pa_on()
638 #define ao_radio_pa_off()
639 #define ao_radio_pa_init()
643 * Compute the packet length as follows:
645 * 2000 bps (for a 1kHz tone)
646 * so, for 'ms' milliseconds, we need
647 * 2 * ms bits, or ms / 4 bytes
654 ao_radio_continuity(uint8_t c);
657 ao_radio_rdf_abort(void);
660 ao_radio_test_on(void);
663 ao_radio_test_off(void);
674 extern const char * const ao_state_names[];
676 #define AO_MONITOR_RING 8
679 struct ao_telemetry_raw_recv raw;
680 struct ao_telemetry_all_recv all;
682 struct ao_telemetry_orig_recv orig;
683 struct ao_telemetry_tiny_recv tiny;
687 extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
689 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
690 #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1))
692 extern __xdata uint8_t ao_monitoring_mutex;
693 extern __data uint8_t ao_monitoring;
694 extern __data uint8_t ao_monitor_head;
699 #define AO_MONITORING_OFF 0
700 #define AO_MONITORING_ORIG 1
703 ao_monitor_set(uint8_t monitoring);
706 ao_monitor_disable(void);
709 ao_monitor_enable(void);
712 ao_monitor_init(void) __reentrant;
720 #define AO_READ_AGAIN (-1)
723 int (*_pollchar)(void); /* Called with interrupts blocked */
724 void (*putchar)(char c) __reentrant;
729 extern __xdata struct ao_stdio ao_stdios[];
730 extern __pdata int8_t ao_cur_stdio;
731 extern __pdata int8_t ao_num_stdios;
736 extern __xdata uint8_t ao_stdin_ready;
742 ao_add_stdio(int (*pollchar)(void),
743 void (*putchar)(char) __reentrant,
744 void (*flush)(void)) __reentrant;
751 ao_igniter_drogue = 0,
756 ao_ignite(enum ao_igniter igniter);
758 enum ao_igniter_status {
759 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
760 ao_igniter_ready, /* continuity detected */
761 ao_igniter_active, /* igniter firing */
762 ao_igniter_open, /* open circuit detected */
771 extern __code char * __code ao_igniter_status_names[];
773 extern __xdata struct ao_ignition ao_ignition[2];
775 enum ao_igniter_status
776 ao_igniter_status(enum ao_igniter igniter);
778 extern __pdata uint8_t ao_igniter_present;
781 ao_ignite_set_pins(void);
784 ao_igniter_init(void);
789 #include <ao_config.h>
797 * Set this to force the frequency to 434.550MHz
799 extern __xdata uint8_t ao_force_freq;
808 ao_rssi_set(int16_t rssi_value);
811 ao_rssi_init(AO_LED_TYPE rssi_led);
817 * values which need to be defined for
818 * each instance of a product
821 extern const char ao_version[];
822 extern const char ao_manufacturer[];
823 extern const char ao_product[];
829 #define AO_FIFO_SIZE 32
834 char fifo[AO_FIFO_SIZE];
837 #define ao_fifo_insert(f,c) do { \
838 (f).fifo[(f).insert] = (c); \
839 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
842 #define ao_fifo_remove(f,c) do {\
843 c = (f).fifo[(f).remove]; \
844 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
847 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
848 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
849 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
850 #define ao_fifo_empty(f) ((f).insert == (f).remove)
852 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
853 #include <ao_packet.h>
861 #include <ao_companion.h>
876 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
877 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
879 #define AO_LOG_TELESCIENCE_NUM_ADC 12
881 struct ao_log_telescience {
888 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
891 #define AO_LOG_SINGLE_SIZE 32
893 union ao_log_single {
894 struct ao_log_telescience telescience;
895 union ao_telemetry_all telemetry;
896 uint8_t bytes[AO_LOG_SINGLE_SIZE];
899 extern __xdata union ao_log_single ao_log_single_write_data;
900 extern __xdata union ao_log_single ao_log_single_read_data;
903 ao_log_single_extra_query(void);
906 ao_log_single_list(void);
909 ao_log_single_main(void);
912 ao_log_single_write(void);
915 ao_log_single_read(uint32_t pos);
918 ao_log_single_start(void);
921 ao_log_single_stop(void);
924 ao_log_single_restart(void);
927 ao_log_single_set(void);
930 ao_log_single_delete(void);
933 ao_log_single_init(void);
942 #define AO_TELEPYRO_NUM_ADC 9
945 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
946 #define ao_xmemset(d,v,c) memset(d,v,c)
947 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
955 ao_terraui_init(void);
963 ao_battery_isr(void) ao_arch_interrupt(1);
966 ao_battery_get(void);
969 ao_battery_init(void);
970 #endif /* BATTERY_PIN */
977 ao_sqrt(uint32_t op);
983 int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
989 void ao_ms5607_init(void);
991 #include <ao_arch_funcs.h>