#include <string.h>
#include "cc1111.h"
+/* Convert a __data pointer into an __xdata pointer */
#define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
-#define AO_STACK_START 0x34
+/* 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 0x28
#define AO_STACK_END 0xfe
#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
+/* An AltOS task */
struct ao_task {
- __xdata void *wchan;
- uint8_t stack[AO_STACK_SIZE];
- uint8_t stack_count;
+ __xdata void *wchan; /* current wait channel (NULL if running) */
+ uint8_t stack_count; /* amount of saved stack */
+ uint8_t stack[AO_STACK_SIZE]; /* saved stack */
};
-#define AO_NUM_TASKS 10
-
-#define AO_ERROR_NO_TASK 1
+#define AO_NUM_TASKS 10 /* maximum number of tasks */
#define ao_interrupt_disable() (EA = 0)
#define ao_interrupt_enable() (EA = 1)
-/* ao_task.c */
-int ao_sleep(__xdata void *wchan);
-int ao_wakeup(__xdata void *wchan);
-void ao_add_task(__xdata struct ao_task * task, void (*start)(void));
-void ao_start_scheduler(void);
-void ao_yield(void) _naked;
-void ao_panic(uint8_t reason);
+/*
+ ao_task.c
+ */
+
+/* Suspend the current task until wchan is awoken */
+int
+ao_sleep(__xdata void *wchan);
+
+/* Wake all tasks sleeping on wchan */
+int
+ao_wakeup(__xdata void *wchan);
+
+/* Yield the processor to another task */
+void
+ao_yield(void) _naked;
+
+/* Add a task to the run queue */
+void
+ao_add_task(__xdata struct ao_task * task, void (*start)(void));
+
+/* Start the scheduler. This will not return */
+void
+ao_start_scheduler(void);
+
+/*
+ * ao_panic.c
+ */
+
+#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
-/* ao_timer.c */
+/* Stop the operating system, beeping and blinking the reason */
+void
+ao_panic(uint8_t reason);
-volatile __data uint16_t ao_time;
+/*
+ * ao_timer.c
+ */
+/* Our timer runs at 100Hz */
#define AO_MS_TO_TICKS(ms) ((ms) / 10)
#define AO_SEC_TO_TICKS(s) ((s) * 100)
-void ao_timer_isr(void) interrupt 9;
-void ao_timer_init(void);
-uint16_t ao_time_atomic(void);
-void ao_delay(uint16_t ticks);
+/* Returns the current time in ticks */
+uint16_t
+ao_time(void);
+
+/* Suspend the current task until ticks time has passed */
+void
+ao_delay(uint16_t ticks);
+
+/* Timer interrupt */
+void
+ao_timer_isr(void) interrupt 9;
+
+/* Initialize the timer */
+void
+ao_timer_init(void);
-/* ao_adc.c */
+/*
+ * ao_adc.c
+ */
-#define ADC_RING 32
+#define ADC_RING 128
+/*
+ * One set of samples read from the A/D converter
+ */
struct ao_adc {
- uint16_t tick;
- int16_t accel;
- int16_t pres;
- int16_t temp;
- int16_t v_batt;
- int16_t sense_d;
- int16_t sense_m;
+ uint16_t tick; /* tick when the sample was read */
+ int16_t accel; /* accelerometer */
+ int16_t pres; /* pressure sensor */
+ int16_t temp; /* temperature sensor */
+ int16_t v_batt; /* battery voltage */
+ int16_t sense_d; /* drogue continuity sense */
+ int16_t sense_m; /* main continuity sense */
};
+/*
+ * 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 __data uint8_t ao_adc_head;
-void ao_adc_isr(void) interrupt 1;
-void ao_adc_init(void);
-void ao_adc_poll(void);
-void ao_adc_get(__xdata struct ao_adc *packet);
+/* Trigger a conversion sequence (called from the timer interrupt) */
+void
+ao_adc_poll(void);
+
+/* Suspend the current task until another A/D sample is converted */
+void
+ao_adc_sleep(void);
-/* ao_beep.c */
+/* Get a copy of the last complete A/D sample set */
+void
+ao_adc_get(__xdata struct ao_adc *packet);
-#define AO_BEEP_LOW 150
-#define AO_BEEP_MID 94
-#define AO_BEEP_HIGH 75
-#define AO_BEEP_OFF 0
+/* The A/D interrupt handler */
+void
+ao_adc_isr(void) interrupt 1;
+/* Initialize the A/D converter */
void
-ao_beep_init(void);
+ao_adc_init(void);
+
+/*
+ * ao_beep.c
+ */
+
+/*
+ * Various pre-defined beep frequencies
+ *
+ * frequency = 1/2 (24e6/32) / beep
+ */
+#define AO_BEEP_LOW 150 /* 2500Hz */
+#define AO_BEEP_MID 94 /* 3989Hz */
+#define AO_BEEP_HIGH 75 /* 5000Hz */
+#define AO_BEEP_OFF 0 /* off */
+
+#define AO_BEEP_g 240 /* 1562.5Hz */
+#define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
+#define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
+#define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
+#define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
+#define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
+#define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
+#define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
+#define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
+#define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
+#define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
+#define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
+#define AO_BEEP_gg 120 /* 3125Hz */
+#define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
+#define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
+#define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
+#define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
+#define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
+#define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
+#define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
+#define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
+#define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
+#define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
+#define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
+#define AO_BEEP_ggg 60 /* 6250Hz */
+
+/* Set the beeper to the specified tone */
void
ao_beep(uint8_t beep);
+/* Turn on the beeper for the specified time */
void
ao_beep_for(uint8_t beep, uint16_t ticks);
-/* ao_led.c */
+/* Initialize the beeper */
+void
+ao_beep_init(void);
+
+/*
+ * ao_led.c
+ */
#define AO_LED_NONE 0
#define AO_LED_GREEN 1
#define AO_LED_RED 2
-void
-ao_led_init(void);
-
+/* Turn on the specified LEDs */
void
ao_led_on(uint8_t colors);
+/* Turn off the specified LEDs */
void
ao_led_off(uint8_t colors);
+/* Set all of the LEDs to the specified state */
void
ao_led_set(uint8_t colors);
+/* Turn on the specified LEDs for the indicated interval */
void
ao_led_for(uint8_t colors, uint16_t ticks);
-/* ao_usb.c */
-
+/* Initialize the LEDs */
void
-ao_usb_isr(void) interrupt 6;
+ao_led_init(void);
-void
-ao_usb_flush(void);
+/*
+ * ao_usb.c
+ */
+/* Put one character to the USB output queue */
void
ao_usb_putchar(uint8_t c);
+/* Get one character from the USB input queue */
uint8_t
ao_usb_getchar(void);
+/* Flush the USB output queue */
+void
+ao_usb_flush(void);
+
+/* USB interrupt handler */
+void
+ao_usb_isr(void) interrupt 6;
+
+/* Initialize the USB system */
void
ao_usb_init(void);
projects / fw / altos / blobdiff