/* Stack runs from above the allocated __data space to 0xfe, which avoids
* writing to 0xff as that triggers the stack overflow indicator
*/
-#define AO_STACK_START 0x62
+#define AO_STACK_START 0x68
#define AO_STACK_END 0xfe
#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
*/
/* Suspend the current task until wchan is awoken */
-int
+void
ao_sleep(__xdata void *wchan);
/* Wake all tasks sleeping on wchan */
-int
+void
ao_wakeup(__xdata void *wchan);
/* Yield the processor to another task */
#define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
#define AO_PANIC_EE 4 /* Mis-using eeprom API */
#define AO_PANIC_LOG 5 /* Failing to read/write log data */
+#define AO_PANIC_CMD 6 /* Too many command sets registered */
/* Stop the operating system, beeping and blinking the reason */
void
void
ao_delay(uint16_t ticks);
+/* Set the ADC interval */
+void
+ao_timer_set_adc_interval(uint8_t interval) __critical;
+
/* Timer interrupt */
void
ao_timer_isr(void) interrupt 9;
ao_adc_get(__xdata struct ao_adc *packet);
/* The A/D interrupt handler */
+#if !AO_NO_ADC_ISR
void
ao_adc_isr(void) interrupt 1;
+#endif
/* Initialize the A/D converter */
void
/*
* ao_cmd.c
*/
+
+enum ao_cmd_status {
+ ao_cmd_success = 0,
+ ao_cmd_lex_error = 1,
+ ao_cmd_syntax_error = 2,
+};
+
+extern __xdata uint16_t ao_cmd_lex_i;
+extern __xdata uint8_t ao_cmd_lex_c;
+extern __xdata enum ao_cmd_status ao_cmd_status;
+
+void
+ao_cmd_lex(void);
+
+void
+ao_cmd_put8(uint8_t v);
+
+void
+ao_cmd_put16(uint16_t v);
+
+void
+ao_cmd_white(void);
+
+void
+ao_cmd_hex(void);
+
+struct ao_cmds {
+ uint8_t cmd;
+ void (*func)(void);
+ const char *help;
+};
+
+void
+ao_cmd_register(__code struct ao_cmds *cmds);
+
void
ao_cmd_init(void);
* ao_log.c
*/
+/* Structure containing GPS position, either lat or lon */
+
+struct ao_gps_pos {
+ uint8_t degrees;
+ uint8_t minutes;
+ uint16_t minutes_fraction; /* in units of 1/10000 minutes */
+};
+
/*
* The data log is recorded in the eeprom as a sequence
* of data packets.
#define AO_LOG_TEMP_VOLT 'T'
#define AO_LOG_DEPLOY 'D'
#define AO_LOG_STATE 'S'
+#define AO_LOG_GPS_TIME 'G'
+#define AO_LOG_GPS_LAT 'N'
+#define AO_LOG_GPS_LON 'W'
+#define AO_LOG_GPS_ALT 'H'
#define AO_LOG_POS_NONE (~0UL)
uint16_t state;
uint16_t reason;
} state;
+ struct {
+ uint8_t hour;
+ uint8_t minute;
+ uint8_t second;
+ uint8_t flags;
+ } gps_time;
+ struct ao_gps_pos gps_latitude;
+ struct ao_gps_pos gps_longitude;
+ struct {
+ int16_t altitude;
+ uint16_t unused;
+ } gps_altitude;
struct {
uint16_t d0;
uint16_t d1;
*/
enum ao_flight_state {
- ao_flight_startup,
- ao_flight_idle,
- ao_flight_launchpad,
- ao_flight_boost,
- ao_flight_coast,
- ao_flight_apogee,
- ao_flight_drogue,
- ao_flight_main,
- ao_flight_landed,
- ao_flight_invalid
+ ao_flight_startup = 0,
+ ao_flight_idle = 1,
+ ao_flight_launchpad = 2,
+ ao_flight_boost = 3,
+ ao_flight_coast = 4,
+ ao_flight_apogee = 5,
+ ao_flight_drogue = 6,
+ ao_flight_main = 7,
+ ao_flight_landed = 8,
+ ao_flight_invalid = 9
};
-extern __xdata struct ao_adc ao_flight_data;
-extern __data enum flight_state ao_flight_state;
-extern __data uint16_t ao_flight_tick;
-extern __data int16_t ao_flight_accel;
-extern __data int16_t ao_flight_pres;
-extern __data int16_t ao_ground_pres;
-extern __data int16_t ao_ground_accel;
-extern __data int16_t ao_min_pres;
-extern __data uint16_t ao_launch_time;
+extern __xdata struct ao_adc ao_flight_data;
+extern __pdata enum flight_state ao_flight_state;
+extern __pdata uint16_t ao_flight_tick;
+extern __pdata int16_t ao_flight_accel;
+extern __pdata int16_t ao_flight_pres;
+extern __pdata int16_t ao_ground_pres;
+extern __pdata int16_t ao_ground_accel;
+extern __pdata int16_t ao_min_pres;
+extern __pdata uint16_t ao_launch_time;
/* Flight thread */
void
* ao_report.c
*/
-void
-ao_report_notify(void);
-
void
ao_report_init(void);
ao_temp_to_dC(int16_t temp) __reentrant;
int16_t
-ao_accel_to_dm_per_s2(int16_t accel)
-{
- return (998 - (accel >> 4)) * 3300 / 2047;
-}
+ao_accel_to_cm_per_s2(int16_t accel) __reentrant;
/*
* ao_dbg.c
void
ao_dbg_reset(void);
+void
+ao_dbg_init(void);
+
/*
* ao_serial.c
*/
+#if !AO_NO_SERIAL_ISR
void
ao_serial_rx1_isr(void) interrupt 3;
void
ao_serial_tx1_isr(void) interrupt 14;
+#endif
uint8_t
ao_serial_getchar(void) __critical;
* ao_gps.c
*/
+#define AO_GPS_NUM_SAT_MASK (0xf << 0)
+#define AO_GPS_NUM_SAT_SHIFT (0)
+
+#define AO_GPS_VALID (1 << 4)
+#define AO_GPS_LONGITUDE_MASK (1 << 5)
+#define AO_GPS_LONGITUDE_EAST (0 << 5)
+#define AO_GPS_LONGITUDE_WEST (1 << 5)
+
+#define AO_GPS_LATITUDE_MASK (1 << 6)
+#define AO_GPS_LATITUDE_NORTH (0 << 6)
+#define AO_GPS_LATITUDE_SOUTH (1 << 6)
+
+struct ao_gps_data {
+ uint8_t hour;
+ uint8_t minute;
+ uint8_t second;
+ uint8_t flags;
+ struct ao_gps_pos latitude;
+ struct ao_gps_pos longitude;
+ int16_t altitude;
+};
+
+extern __xdata uint8_t ao_gps_mutex;
+extern __xdata struct ao_gps_data ao_gps_data;
+
void
ao_gps(void);
+void
+ao_gps_print(__xdata struct ao_gps_data *gps_data);
+
void
ao_gps_init(void);
+/*
+ * ao_telemetry.c
+ */
+
+struct ao_telemetry {
+ uint8_t addr;
+ uint8_t flight_state;
+ struct ao_adc adc;
+ struct ao_gps_data gps;
+};
+
+void
+ao_telemetry_init(void);
+
+/*
+ * ao_radio.c
+ */
+
+void
+ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
+
+struct ao_radio_recv {
+ struct ao_telemetry telemetry;
+ uint8_t rssi;
+ uint8_t status;
+};
+
+void
+ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
+
+void
+ao_radio_init(void);
+
+/*
+ * ao_monitor.c
+ */
+
+void
+ao_monitor(void);
+
+void
+ao_monitor_init(void);
+
+/*
+ * ao_stdio.c
+ */
+
+void
+flush(void);
#endif /* _AO_H_ */
projects / fw / altos / blobdiff