/* 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 0x4b
+#define AO_STACK_START 0x7f
#define AO_STACK_END 0xfe
#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
struct ao_task {
__xdata void *wchan; /* current wait channel (NULL if running) */
uint8_t stack_count; /* amount of saved stack */
+ uint8_t task_id; /* index in the task array */
uint8_t stack[AO_STACK_SIZE]; /* saved stack */
};
+extern __xdata struct ao_task *__data ao_cur_task;
+
#define AO_NUM_TASKS 10 /* maximum number of tasks */
+#define AO_NO_TASK 0 /* no task id */
/*
ao_task.c
*/
#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
+#define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
+#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 */
/* Stop the operating system, beeping and blinking the reason */
void
* ao_adc.c
*/
-#define ADC_RING 128
+#define AO_ADC_RING 128
/*
* One set of samples read from the A/D converter
* A/D data is stored in a ring, with the next sample to be written
* at ao_adc_head
*/
-extern volatile __xdata struct ao_adc ao_adc_ring[ADC_RING];
+extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
extern volatile __data uint8_t ao_adc_head;
/* Trigger a conversion sequence (called from the timer interrupt) */
void
ao_cmd_init(void);
+/*
+ * ao_dma.c
+ */
+
+/* Allocate a DMA channel. the 'done' parameter will be set to 1
+ * when the dma is finished and will be used to wakeup any waiters
+ */
+uint8_t
+ao_dma_alloc(__xdata uint8_t * done);
+
+/* Setup a DMA channel */
+void
+ao_dma_set_transfer(uint8_t id,
+ void __xdata *srcaddr,
+ void __xdata *dstaddr,
+ uint16_t count,
+ uint8_t cfg0,
+ uint8_t cfg1);
+
+/* Start a DMA channel */
+void
+ao_dma_start(uint8_t id);
+
+/* Manually trigger a DMA channel */
+void
+ao_dma_trigger(uint8_t id);
+
+/* Abort a running DMA transfer */
+void
+ao_dma_abort(uint8_t id);
+
+/* DMA interrupt routine */
+void
+ao_dma_isr(void) interrupt 8;
+
+/*
+ * ao_mutex.c
+ */
+
+void
+ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
+
+void
+ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
+
+/*
+ * ao_ee.c
+ */
+
+/*
+ * We reserve the last block on the device for
+ * configuration space. Writes and reads in this
+ * area return errors.
+ */
+
+#define AO_EE_BLOCK_SIZE ((uint16_t) (256))
+#define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
+#define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
+#define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
+
+void
+ao_ee_flush(void) __reentrant;
+
+/* Write to the eeprom */
+uint8_t
+ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
+
+/* Read from the eeprom */
+uint8_t
+ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
+
+/* Write the config block (at the end of the eeprom) */
+uint8_t
+ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
+
+/* Read the config block (at the end of the eeprom) */
+uint8_t
+ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
+
+/* Initialize the EEPROM code */
+void
+ao_ee_init(void);
+
+/*
+ * ao_log.c
+ */
+
+/*
+ * The data log is recorded in the eeprom as a sequence
+ * of data packets.
+ *
+ * Each packet starts with a 4-byte header that has the
+ * packet type, the packet checksum and the tick count. Then
+ * they all contain 2 16 bit values which hold packet-specific
+ * data.
+ *
+ * For each flight, the first packet
+ * is FLIGHT packet, indicating the serial number of the
+ * device and a unique number marking the number of flights
+ * recorded by this device.
+ *
+ * During flight, data from the accelerometer and barometer
+ * are recorded in SENSOR packets, using the raw 16-bit values
+ * read from the A/D converter.
+ *
+ * Also during flight, but at a lower rate, the deployment
+ * sensors are recorded in DEPLOY packets. The goal here is to
+ * detect failure in the deployment circuits.
+ *
+ * STATE packets hold state transitions as the flight computer
+ * transitions through different stages of the flight.
+ */
+#define AO_LOG_FLIGHT 'F'
+#define AO_LOG_SENSOR 'A'
+#define AO_LOG_TEMP_VOLT 'T'
+#define AO_LOG_DEPLOY 'D'
+#define AO_LOG_STATE 'S'
+
+#define AO_LOG_POS_NONE (~0UL)
+
+struct ao_log_record {
+ uint8_t type;
+ uint8_t csum;
+ uint16_t tick;
+ union {
+ struct {
+ uint16_t serial;
+ uint16_t flight;
+ } flight;
+ struct {
+ int16_t accel;
+ int16_t pres;
+ } sensor;
+ struct {
+ int16_t temp;
+ int16_t v_batt;
+ } temp_volt;
+ struct {
+ int16_t drogue;
+ int16_t main;
+ } deploy;
+ struct {
+ uint16_t state;
+ uint16_t reason;
+ } state;
+ struct {
+ uint16_t d0;
+ uint16_t d1;
+ } anon;
+ } u;
+};
+
+/* Write a record to the eeprom log */
+void
+ao_log_data(struct ao_log_record *log);
+
+/* Flush the log */
+void
+ao_log_flush(void);
+
+/* Log dumping API:
+ * ao_log_dump_first() - get first log record
+ * ao_log_dump_next() - get next log record
+ */
+extern __xdata struct ao_log_record ao_log_dump;
+
+/* Retrieve first log record for the current flight */
+uint8_t
+ao_log_dump_first(void);
+
+/* return next log record for the current flight */
+uint8_t
+ao_log_dump_next(void);
+
+/* Logging thread main routine */
+void
+ao_log(void);
+
+/* Start logging to eeprom */
+void
+ao_log_start(void);
+
+/* Initialize the logging system */
+void
+ao_log_init(void);
+
+/*
+ * ao_flight.c
+ */
+
+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
+};
+
+extern __xdata struct ao_adc ao_flight_data;
+extern __data enum flight_state ao_flight_state;
+extern __data uint16_t ao_flight_state_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;
+
+/* Flight thread */
+void
+ao_flight(void);
+
+/* Initialize flight thread */
+void
+ao_flight_init(void);
+
+/*
+ * ao_report.c
+ */
+
+void
+ao_report_notify(void);
+
+void
+ao_report_init(void);
+
#endif /* _AO_H_ */
projects / fw / altos / blobdiff