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.
30 /* replace stdio macros with direct calls to our functions */
33 #define putchar(c) ao_putchar(c)
34 #define getchar ao_getchar
36 extern int ao_putchar(char c);
37 extern char ao_getchar(void);
43 typedef AO_PORT_TYPE ao_port_t;
46 #define AO_TICK_TYPE uint32_t
47 #define AO_TICK_SIGNED int32_t
53 #include <ao_notask.h>
60 #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
61 #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
62 #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
63 #define AO_PANIC_EE 4 /* Mis-using eeprom API */
64 #define AO_PANIC_LOG 5 /* Failing to read/write log data */
65 #define AO_PANIC_CMD 6 /* Too many command sets registered */
66 #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
67 #define AO_PANIC_REBOOT 8 /* Reboot failed */
68 #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
69 #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
70 #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
71 #define AO_PANIC_STACK 12 /* Stack overflow */
72 #define AO_PANIC_SPI 13 /* SPI communication failure */
73 #define AO_PANIC_CRASH 14 /* Processor crashed */
74 #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
75 #define AO_PANIC_EXTI 16 /* Mis-using exti API */
76 #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
77 #define AO_PANIC_ADC 18 /* Mis-using ADC interface */
78 #define AO_PANIC_IRQ 19 /* interrupts not blocked */
79 #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
80 #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
81 #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
82 #define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */
83 #define AO_PANIC_SELF_TEST_BMX160 0x40 | 3 /* Self test failure */
84 #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
85 #define AO_PANIC_SELF_TEST_ADS124S0X 0x40 | 5 /* Self test failure */
87 /* Stop the operating system, beeping and blinking the reason */
89 ao_panic(uint8_t reason);
95 #define AO_ROMCONFIG_VERSION 2
97 extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_version;
98 extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_check;
99 extern AO_ROMCONFIG_SYMBOL uint16_t ao_serial_number;
101 extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal;
108 extern volatile AO_TICK_TYPE ao_tick_count;
110 /* Our timer runs at 100Hz */
114 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
115 #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
117 /* Returns the current time in ticks */
121 /* Returns the current time in ns */
125 /* Suspend the current task until ticks time has passed */
127 ao_delay(AO_TICK_TYPE ticks);
130 ao_delay_until(AO_TICK_TYPE target);
132 /* Set the ADC interval */
134 ao_timer_set_adc_interval(uint8_t interval);
136 /* Initialize the timer */
140 /* Initialize the hardware clock. Must be called first */
144 #if AO_POWER_MANAGEMENT
145 /* Go to low power clock */
147 ao_clock_suspend(void);
149 /* Restart full-speed clock */
151 ao_clock_resume(void);
160 ao_mutex_try(uint8_t *ao_mutex, uint8_t task_id);
163 ao_mutex_get(uint8_t *ao_mutex);
166 ao_mutex_put(uint8_t *ao_mutex);
175 ao_cmd_lex_error = 1,
176 ao_cmd_syntax_error = 2,
179 extern char ao_cmd_lex_c;
180 extern enum ao_cmd_status ao_cmd_status;
183 ao_put_string(const char *s);
186 ao_cmd_readline(const char *prompt);
192 ao_cmd_put8(uint8_t v);
195 ao_cmd_put16(uint16_t v);
198 ao_cmd_is_white(void);
204 ao_cmd_hexchar(char c);
207 ao_cmd_hexbyte(void);
213 ao_cmd_decimal(void);
215 /* Read a single hex nibble off stdin. */
220 ao_match_word(const char *word);
228 ao_cmd_register(const struct ao_cmds *cmds);
238 * Provided by an external module to filter raw command lines
255 #if LEDS_AVAILABLE || HAS_LED
264 #include <ao_storage.h>
272 #include <ao_flight.h>
273 #include <ao_sample.h>
280 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
281 #define AO_RDF_LENGTH_MS 500
282 #define AO_RDF_CONTINUITY_MS 32
283 #define AO_RDF_CONTINUITY_PAUSE 96
284 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
286 /* This assumes that we're generating a 1kHz tone, which
287 * modulates the carrier at 2kbps, or 250kBps
289 #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
291 #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
292 #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
293 #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
294 #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
296 /* returns a value 0-3 to indicate igniter continuity */
298 ao_report_igniter(void);
301 ao_report_init(void);
306 * Given raw data, convert to SI units
310 /* pressure from the sensor to altitude in meters */
312 ao_pres_to_altitude(pres_t pres);
315 ao_altitude_to_pres(alt_t alt);
318 ao_temp_to_dC(int16_t temp);
324 * Convert between pressure in Pa and altitude in meters
331 ao_pa_to_altitude(pres_t pa);
334 ao_altitude_to_pa(alt_t alt);
341 #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
342 #include <ao_serial.h>
348 * Convert ADC readings to decivolts
352 ao_battery_decivolt(int16_t adc);
355 ao_ignite_decivolt(int16_t adc);
362 ao_spi_slave_recv(void *buf, uint16_t len);
365 ao_spi_slave_send(void *buf, uint16_t len);
368 ao_spi_slave_init(void);
370 /* This must be defined by the product; it will get called when chip
371 * select goes low, at which point it should use ao_spi_read and
372 * ao_spi_write to deal with the request
378 #include <ao_telemetry.h>
383 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
384 #define AO_GPS_NUM_SAT_SHIFT (0)
386 #define AO_GPS_VALID (1 << 4)
387 #define AO_GPS_RUNNING (1 << 5)
388 #define AO_GPS_DATE_VALID (1 << 6)
389 #define AO_GPS_COURSE_VALID (1 << 7)
391 #define AO_GPS_NEW_DATA 1
392 #define AO_GPS_NEW_TRACKING 2
394 extern uint8_t ao_gps_new;
395 extern uint16_t ao_gps_tick;
396 extern uint8_t ao_gps_mutex;
397 extern struct ao_telemetry_location ao_gps_data;
398 extern struct ao_telemetry_satellite ao_gps_tracking_data;
408 int32_t latitude; /* degrees * 10⁷ */
409 int32_t longitude; /* degrees * 10⁷ */
410 int16_t altitude; /* m */
411 uint16_t ground_speed; /* cm/s */
412 uint8_t course; /* degrees / 2 */
413 uint8_t hdop; /* * 5 */
414 int16_t climb_rate; /* cm/s */
415 uint16_t h_error; /* m */
416 uint16_t v_error; /* m */
419 struct ao_gps_sat_orig {
424 #define AO_MAX_GPS_TRACKING 12
426 struct ao_gps_tracking_orig {
428 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
432 ao_gps_set_rate(uint8_t rate);
438 ao_gps_print(struct ao_gps_orig *gps_data);
441 ao_gps_tracking_print(struct ao_gps_tracking_orig *gps_tracking_data);
457 ao_gps_report_init(void);
460 * ao_gps_report_mega.c
464 ao_gps_report_mega(void);
467 ao_gps_report_mega_init(void);
470 * ao_telemetry_orig.c
475 uint16_t tick; /* tick when the sample was read */
476 int16_t accel; /* accelerometer */
477 int16_t pres; /* pressure sensor */
478 int16_t temp; /* temperature sensor */
479 int16_t v_batt; /* battery voltage */
480 int16_t sense_d; /* drogue continuity sense */
481 int16_t sense_m; /* main continuity sense */
484 struct ao_telemetry_orig {
487 uint8_t flight_state;
489 int16_t ground_accel;
499 int16_t accel_plus_g;
500 int16_t accel_minus_g;
501 struct ao_adc_orig adc;
502 struct ao_gps_orig gps;
503 char callsign[AO_MAX_CALLSIGN];
504 struct ao_gps_tracking_orig gps_tracking;
507 struct ao_telemetry_tiny {
510 uint8_t flight_state;
511 int16_t height; /* AGL in meters */
512 int16_t speed; /* in m/s * 16 */
513 int16_t accel; /* in m/s² * 16 */
514 int16_t ground_pres; /* sensor units */
515 struct ao_adc adc; /* raw ADC readings */
516 char callsign[AO_MAX_CALLSIGN];
519 struct ao_telemetry_orig_recv {
520 struct ao_telemetry_orig telemetry_orig;
525 struct ao_telemetry_tiny_recv {
526 struct ao_telemetry_tiny telemetry_tiny;
531 #endif /* LEGACY_MONITOR */
533 /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
534 * for reporting RSSI. So, now we use these values everywhere
536 #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
537 #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
540 * ao_radio_recv tacks on rssi and status bytes
543 struct ao_telemetry_raw_recv {
544 uint8_t packet[AO_MAX_TELEMETRY + 2];
547 /* Set delay between telemetry reports (0 to disable) */
549 #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
550 #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
551 #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
554 ao_telemetry_reset_interval(void);
557 ao_telemetry_set_interval(uint16_t interval);
560 ao_rdf_set(uint8_t rdf);
563 ao_telemetry_init(void);
566 ao_telemetry_orig_init(void);
569 ao_telemetry_tiny_init(void);
575 extern uint8_t ao_radio_dma;
577 extern int8_t ao_radio_rssi;
579 #ifdef PKT_APPEND_STATUS_1_CRC_OK
580 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
583 #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
586 #ifndef HAS_RADIO_RECV
587 #define HAS_RADIO_RECV HAS_RADIO
589 #ifndef HAS_RADIO_XMIT
590 #define HAS_RADIO_XMIT HAS_RADIO
593 #define AO_RADIO_RATE_38400 0
594 #define AO_RADIO_RATE_9600 1
595 #define AO_RADIO_RATE_2400 2
596 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400
598 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE)
599 #define HAS_RADIO_RATE HAS_RADIO
604 ao_radio_send(const void *d, uint8_t size);
609 ao_radio_recv(void *d, uint8_t size, uint8_t timeout);
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 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 uint8_t ao_monitoring_mutex;
693 extern uint8_t ao_monitoring;
694 extern 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);
720 #define AO_READ_AGAIN (-1)
723 int (*_pollchar)(void); /* Called with interrupts blocked */
724 void (*putchar)(char c);
729 extern struct ao_stdio ao_stdios[];
730 extern int8_t ao_cur_stdio;
731 extern int8_t ao_num_stdios;
736 extern uint8_t ao_stdin_ready;
742 ao_add_stdio(int (*pollchar)(void),
743 void (*putchar)(char) ,
744 void (*flush)(void));
751 ao_igniter_drogue = 0,
755 enum ao_igniter_status {
756 ao_igniter_unknown, /* unknown status (ambiguous voltage) */
757 ao_igniter_ready, /* continuity detected */
758 ao_igniter_active, /* igniter firing */
759 ao_igniter_open, /* open circuit detected */
768 extern const char * const ao_igniter_status_names[];
770 extern struct ao_ignition ao_ignition[2];
772 enum ao_igniter_status
773 ao_igniter_status(enum ao_igniter igniter);
775 extern uint8_t ao_igniter_present;
778 ao_ignite_set_pins(void);
781 ao_igniter_init(void);
786 #include <ao_config.h>
794 * Set this to force the frequency to 434.550MHz
796 extern uint8_t ao_force_freq;
805 ao_rssi_set(int16_t rssi_value);
808 ao_rssi_init(AO_LED_TYPE rssi_led);
814 * values which need to be defined for
815 * each instance of a product
818 extern const char ao_version[];
819 extern const char ao_manufacturer[];
820 extern const char ao_product[];
826 #define AO_FIFO_SIZE 32
831 char fifo[AO_FIFO_SIZE];
834 #define ao_fifo_insert(f,c) do { \
835 (f).fifo[(f).insert] = (c); \
836 (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
839 #define ao_fifo_remove(f,c) do {\
840 c = (f).fifo[(f).remove]; \
841 (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
844 #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
845 #define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4))
846 #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4))
847 #define ao_fifo_empty(f) ((f).insert == (f).remove)
849 #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
850 #include <ao_packet.h>
858 #include <ao_companion.h>
873 #define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
874 #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
876 #define AO_LOG_TELESCIENCE_NUM_ADC 12
878 struct ao_log_telescience {
885 uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
888 #define AO_LOG_SINGLE_SIZE 32
890 union ao_log_single {
891 struct ao_log_telescience telescience;
892 union ao_telemetry_all telemetry;
893 uint8_t bytes[AO_LOG_SINGLE_SIZE];
896 extern union ao_log_single ao_log_single_write_data;
897 extern union ao_log_single ao_log_single_read_data;
900 ao_log_single_extra_query(void);
903 ao_log_single_list(void);
906 ao_log_single_main(void);
909 ao_log_single_write(void);
912 ao_log_single_read(uint32_t pos);
915 ao_log_single_start(void);
918 ao_log_single_stop(void);
921 ao_log_single_restart(void);
924 ao_log_single_set(void);
927 ao_log_single_delete(void);
930 ao_log_single_init(void);
939 #define AO_TELEPYRO_NUM_ADC 9
946 ao_terraui_init(void);
954 ao_battery_get(void);
957 ao_battery_init(void);
958 #endif /* BATTERY_PIN */
965 ao_sqrt(uint32_t op);
971 int32_t ao_freq_to_set(int32_t freq, int32_t cal);
977 void ao_ms5607_init(void);
979 #include <ao_arch_funcs.h>