#include <string.h>
#include "cc1111.h"
+#define TRUE 1
+#define FALSE 0
+
/* Convert a __data pointer into an __xdata pointer */
#define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
/* 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 0x7e
+#define AO_STACK_START 0x80
#define AO_STACK_END 0xfe
#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
extern __xdata struct ao_task *__data ao_cur_task;
-#define AO_NUM_TASKS 10 /* maximum number of tasks */
+#define AO_NUM_TASKS 16 /* maximum number of tasks */
#define AO_NO_TASK 0 /* no task id */
/*
void
ao_led_set(uint8_t colors);
+/* Toggle the specified LEDs */
+void
+ao_led_toggle(uint8_t colors);
+
/* Turn on the specified LEDs for the indicated interval */
void
ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
/* Initialize the LEDs */
void
-ao_led_init(void);
+ao_led_init(uint8_t enable);
/*
* ao_usb.c
/* Put one character to the USB output queue */
void
-ao_usb_putchar(uint8_t c);
+ao_usb_putchar(char c);
/* Get one character from the USB input queue */
-uint8_t
+char
ao_usb_getchar(void);
/* Flush the USB output queue */
void
ao_usb_isr(void) interrupt 6;
+/* Enable the USB controller */
+void
+ao_usb_enable(void);
+
+/* Disable the USB controller */
+void
+ao_usb_disable(void);
+
/* Initialize the USB system */
void
ao_usb_init(void);
};
extern __xdata uint16_t ao_cmd_lex_i;
-extern __xdata uint8_t ao_cmd_lex_c;
+extern __xdata char ao_cmd_lex_c;
extern __xdata enum ao_cmd_status ao_cmd_status;
void
void
ao_cmd_hex(void);
+void
+ao_cmd_decimal(void);
+
struct ao_cmds {
- uint8_t cmd;
+ char cmd;
void (*func)(void);
const char *help;
};
#define AO_LOG_POS_NONE (~0UL)
struct ao_log_record {
- uint8_t type;
+ char type;
uint8_t csum;
uint16_t tick;
union {
struct {
- uint16_t serial;
+ int16_t ground_accel;
uint16_t flight;
} flight;
struct {
extern __pdata uint16_t ao_flight_tick;
extern __pdata int16_t ao_flight_accel;
extern __pdata int16_t ao_flight_pres;
+extern __pdata int32_t ao_flight_vel;
extern __pdata int16_t ao_ground_pres;
extern __pdata int16_t ao_ground_accel;
extern __pdata int16_t ao_min_pres;
ao_pres_to_altitude(int16_t pres) __reentrant;
int16_t
-ao_temp_to_dC(int16_t temp) __reentrant;
+ao_altitude_to_pres(int16_t alt) __reentrant;
int16_t
-ao_accel_to_cm_per_s2(int16_t accel) __reentrant;
+ao_temp_to_dC(int16_t temp) __reentrant;
/*
* ao_dbg.c
ao_serial_tx1_isr(void) interrupt 14;
#endif
-uint8_t
+char
ao_serial_getchar(void) __critical;
void
-ao_serial_putchar(uint8_t c) __critical;
+ao_serial_putchar(char c) __critical;
void
ao_serial_init(void);
void
ao_gps_init(void);
+/*
+ * ao_gps_report.c
+ */
+
+void
+ao_gps_report(void);
+
+void
+ao_gps_report_init(void);
+
/*
* ao_telemetry.c
*/
+#define AO_MAX_CALLSIGN 8
+
struct ao_telemetry {
uint8_t addr;
uint8_t flight_state;
+ int16_t flight_accel;
+ int16_t ground_accel;
+ int32_t flight_vel;
+ int16_t flight_pres;
+ int16_t ground_pres;
struct ao_adc adc;
struct ao_gps_data gps;
+ char callsign[AO_MAX_CALLSIGN];
};
+/* Set delay between telemetry reports (0 to disable) */
+
+#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
+#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
+#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
+
+void
+ao_telemetry_set_interval(uint16_t interval);
+
void
ao_telemetry_init(void);
struct ao_radio_recv {
struct ao_telemetry telemetry;
- uint8_t rssi;
+ int8_t rssi;
uint8_t status;
};
ao_monitor(void);
void
-ao_monitor_init(void);
+ao_set_monitor(uint8_t monitoring);
+
+void
+ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
/*
* ao_stdio.c
void
ao_igniter_init(void);
-#endif /* _AO_H_ */
+/*
+ * ao_config.c
+ */
+
+#define AO_CONFIG_MAJOR 1
+#define AO_CONFIG_MINOR 0
+
+struct ao_config {
+ uint8_t major;
+ uint8_t minor;
+ uint16_t main_deploy;
+ int16_t accel_zero_g;
+ uint8_t radio_channel;
+ char callsign[AO_MAX_CALLSIGN + 1];
+};
+
+extern __xdata struct ao_config ao_config;
+
+void
+ao_config_get(void);
+
+void
+ao_config_init(void);
+/*
+ * ao_rssi.c
+ */
+
+void
+ao_rssi_set(int rssi_value);
+
+void
+ao_rssi_init(uint8_t rssi_led);
+
+/*
+ * ao_product.c
+ *
+ * values which need to be defined for
+ * each instance of a product
+ */
+
+extern const uint8_t ao_usb_descriptors [];
+extern const uint16_t ao_serial_number;
+extern const char ao_version[];
+extern const char ao_manufacturer[];
+extern const char ao_product[];
+
+/*
+ * Fifos
+ */
+
+#define AO_FIFO_SIZE 32
+
+struct ao_fifo {
+ uint8_t insert;
+ uint8_t remove;
+ char fifo[AO_FIFO_SIZE];
+};
+
+#define ao_fifo_insert(f,c) do { \
+ (f).fifo[(f).insert] = (c); \
+ (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
+} while(0)
+
+#define ao_fifo_remove(f,c) do {\
+ c = (f).fifo[(f).remove]; \
+ (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
+} while(0)
+
+#define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
+#define ao_fifo_empty(f) ((f).insert == (f).remove)
+
+/*
+ * ao_packet.c
+ *
+ * Packet-based command interface
+ */
+
+#define AO_PACKET_MAX 32
+#define AO_PACKET_WIN 256
+
+#define AO_PACKET_FIN (1 << 0)
+#define AO_PACKET_SYN (1 << 1)
+#define AO_PACKET_RST (1 << 2)
+#define AO_PACKET_ACK (1 << 3)
+
+struct ao_packet {
+ uint8_t addr;
+ uint8_t flags;
+ uint16_t seq;
+ uint16_t ack;
+ uint16_t window;
+ uint8_t len;
+ uint8_t d[AO_PACKET_MAX];
+};
+
+uint8_t
+ao_packet_connect(uint8_t dest);
+
+uint8_t
+ao_packet_accept(void);
+
+int
+ao_packet_send(uint8_t *data, int len);
+
+int
+ao_packet_recv(uint8_t *data, int len);
+
+void
+ao_packet_init(void);
+
+#endif /* _AO_H_ */
projects / fw / altos / blobdiff