#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 0x32
+/* 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_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 task_id; /* index in the task array */
+ __code char *name; /* task name */
+ uint8_t stack[AO_STACK_SIZE]; /* saved stack */
};
-#define AO_NUM_TASKS 10
+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
+ */
+
+/* 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), __code char *name);
+
+/* Dump task info to console */
+void
+ao_task_info(void);
-#define AO_ERROR_NO_TASK 1
+/* Start the scheduler. This will not return */
+void
+ao_start_scheduler(void);
-#define ao_interrupt_disable() (EA = 0)
-#define ao_interrupt_enable() (EA = 1)
+/*
+ * ao_panic.c
+ */
-/* 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);
+#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 */
-/* 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);
-/* ao_adc.c */
+/* 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
+ */
-#define ADC_RING 32
+#define AO_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 */
};
-extern volatile __xdata struct ao_adc ao_adc_ring[ADC_RING];
+/*
+ * 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[AO_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);
+/*
+ * ao_cmd.c
+ */
+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);
+
+/* Stop logging */
+void
+ao_log_stop(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 __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_flight(void);
+
+/* Initialize flight thread */
+void
+ao_flight_init(void);
+
+/*
+ * ao_report.c
+ */
+
+void
+ao_report_notify(void);
+
+void
+ao_report_init(void);
+
+/*
+ * ao_convert.c
+ *
+ * Given raw data, convert to SI units
+ */
+
+/* pressure from the sensor to altitude in meters */
+int16_t
+ao_pres_to_altitude(int16_t pres) __reentrant;
+
+int16_t
+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_dbg.c
+ *
+ * debug another telemetrum board
+ */
+
+/* Send a byte to the dbg target */
+void
+ao_dbg_send_byte(uint8_t byte);
+
+/* Receive a byte from the dbg target */
+uint8_t
+ao_dbg_recv_byte(void);
+
+/* Start a bulk transfer to/from dbg target memory */
+void
+ao_dbg_start_transfer(uint16_t addr);
+
+/* End a bulk transfer to/from dbg target memory */
+void
+ao_dbg_end_transfer(void);
+
+/* Write a byte to dbg target memory */
+void
+ao_dbg_write_byte(uint8_t byte);
+
+/* Read a byte from dbg target memory */
+uint8_t
+ao_dbg_read_byte(void);
+
+/* Enable dbg mode, switching use of the pins */
+void
+ao_dbg_debug_mode(void);
+
+/* Reset the dbg target */
+void
+ao_dbg_reset(void);
+
+/*
+ * ao_serial.c
+ */
+
+void
+ao_serial_rx1_isr(void) interrupt 3;
+
+void
+ao_serial_tx1_isr(void) interrupt 14;
+
+uint8_t
+ao_serial_getchar(void) __critical;
+
+void
+ao_serial_putchar(uint8_t c) __critical;
+
+void
+ao_serial_init(void);
+
+/*
+ * ao_gps.c
+ */
+
+struct ao_gps_pos {
+ uint8_t degrees;
+ uint8_t minutes;
+ uint16_t minutes_fraction; /* in units of 1/10000 minutes */
+};
+
+#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_init(void);
+
+
#endif /* _AO_H_ */
+
projects / fw / altos / blobdiff