-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef _AO_H_
-#define _AO_H_
-
-#include <stdint.h>
-#include <stdio.h>
-#include <string.h>
-#include <stddef.h>
-#include "cc1111.h"
-#include "ao_pins.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 0x90
-#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; /* current wait channel (NULL if running) */
- uint16_t alarm; /* abort ao_sleep time */
- uint8_t stack_count; /* amount of saved stack */
- uint8_t task_id; /* unique id */
- __code char *name; /* task name */
- uint8_t stack[AO_STACK_SIZE]; /* saved stack */
-};
-
-extern __xdata struct ao_task *__data ao_cur_task;
-
-#define AO_NUM_TASKS 16 /* maximum number of tasks */
-#define AO_NO_TASK 0 /* no task id */
-
-/*
- ao_task.c
- */
-
-/* Suspend the current task until wchan is awoken.
- * returns:
- * 0 on normal wake
- * 1 on alarm
- */
-uint8_t
-ao_sleep(__xdata void *wchan);
-
-/* Wake all tasks sleeping on wchan */
-void
-ao_wakeup(__xdata void *wchan);
-
-/* set an alarm to go off in 'delay' ticks */
-void
-ao_alarm(uint16_t delay);
-
-/* 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) __reentrant;
-
-/* Terminate the current task */
-void
-ao_exit(void);
-
-/* Dump task info to console */
-void
-ao_task_info(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 */
-#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 */
-#define AO_PANIC_CMD 6 /* Too many command sets registered */
-#define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
-#define AO_PANIC_REBOOT 8 /* Reboot failed */
-#define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
-#define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
-#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
-
-/* Stop the operating system, beeping and blinking the reason */
-void
-ao_panic(uint8_t reason);
-
-/*
- * ao_timer.c
- */
-
-/* Our timer runs at 100Hz */
-#define AO_HERTZ 100
-#define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
-#define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
-
-/* 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);
-
-/* Set the ADC interval */
-void
-ao_timer_set_adc_interval(uint8_t interval) __critical;
-
-/* Timer interrupt */
-void
-ao_timer_isr(void) __interrupt 9;
-
-/* Initialize the timer */
-void
-ao_timer_init(void);
-
-/* Initialize the hardware clock. Must be called first */
-void
-ao_clock_init(void);
-
-/*
- * One set of samples read from the A/D converter or telemetry
- */
-struct ao_adc {
- 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 */
-};
-
-#ifndef HAS_ADC
-#error Please define HAS_ADC
-#endif
-
-#if HAS_ADC
-
-#if HAS_ACCEL
-#ifndef HAS_ACCEL_REF
-#error Please define HAS_ACCEL_REF
-#endif
-#else
-#define HAS_ACCEL_REF 0
-#endif
-
-/*
- * ao_adc.c
- */
-
-#define AO_ADC_RING 32
-#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
-
-
-/*
- * 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;
-#if HAS_ACCEL_REF
-extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
-#endif
-
-/* 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);
-
-/* Get a copy of the last complete A/D sample set */
-void
-ao_adc_get(__xdata struct ao_adc *packet);
-
-/* The A/D interrupt handler */
-
-void
-ao_adc_isr(void) __interrupt 1;
-
-/* Initialize the A/D converter */
-void
-ao_adc_init(void);
-
-#endif /* HAS_ADC */
-
-/*
- * 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) __reentrant;
-
-/* Initialize the beeper */
-void
-ao_beep_init(void);
-
-/*
- * ao_led.c
- */
-
-#define AO_LED_NONE 0
-
-/* 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);
-
-/* 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(uint8_t enable);
-
-/*
- * ao_romconfig.c
- */
-
-#define AO_ROMCONFIG_VERSION 2
-
-extern __code __at (0x00a0) uint16_t ao_romconfig_version;
-extern __code __at (0x00a2) uint16_t ao_romconfig_check;
-extern __code __at (0x00a4) uint16_t ao_serial_number;
-extern __code __at (0x00a6) uint32_t ao_radio_cal;
-
-#ifndef HAS_USB
-#error Please define HAS_USB
-#endif
-
-#if HAS_USB
-extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
-#endif
-
-/*
- * ao_usb.c
- */
-
-/* Put one character to the USB output queue */
-void
-ao_usb_putchar(char c);
-
-/* Get one character from the USB input queue */
-char
-ao_usb_getchar(void);
-
-/* Poll for a charcter on the USB input queue.
- * returns AO_READ_AGAIN if none are available
- */
-char
-ao_usb_pollchar(void);
-
-/* Flush the USB output queue */
-void
-ao_usb_flush(void);
-
-#if HAS_USB
-/* USB interrupt handler */
-void
-ao_usb_isr(void) __interrupt 6;
-#endif
-
-/* 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);
-
-/*
- * ao_cmd.c
- */
-
-enum ao_cmd_status {
- ao_cmd_success = 0,
- ao_cmd_lex_error = 1,
- ao_cmd_syntax_error = 2,
-};
-
-extern __pdata uint16_t ao_cmd_lex_i;
-extern __pdata uint32_t ao_cmd_lex_u32;
-extern __pdata char ao_cmd_lex_c;
-extern __pdata 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);
-
-void
-ao_cmd_decimal(void);
-
-uint8_t
-ao_match_word(__code char *word);
-
-struct ao_cmds {
- void (*func)(void);
- __code char *help;
-};
-
-void
-ao_cmd_register(__code struct ao_cmds *cmds);
-
-void
-ao_cmd_init(void);
-
-#if HAS_CMD_FILTER
-/*
- * Provided by an external module to filter raw command lines
- */
-uint8_t
-ao_cmd_filter(void);
-#endif
-
-/*
- * ao_dma.c
- */
-
-/* Allocate a DMA channel. the 'done' parameter will be set 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;
-
-/*
- * Storage interface, provided by one of the eeprom or flash
- * drivers
- */
-
-/* Total bytes of available storage */
-extern __pdata uint32_t ao_storage_total;
-
-/* Block size - device is erased in these units. At least 256 bytes */
-extern __pdata uint32_t ao_storage_block;
-
-/* Byte offset of config block. Will be ao_storage_block bytes long */
-extern __pdata uint32_t ao_storage_config;
-
-/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
-extern __pdata uint16_t ao_storage_unit;
-
-#define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
-
-/* Initialize above values. Can only be called once the OS is running */
-void
-ao_storage_setup(void) __reentrant;
-
-/* Write data. Returns 0 on failure, 1 on success */
-uint8_t
-ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Read data. Returns 0 on failure, 1 on success */
-uint8_t
-ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Erase a block of storage. This always clears ao_storage_block bytes */
-uint8_t
-ao_storage_erase(uint32_t pos) __reentrant;
-
-/* Flush any pending writes to stable storage */
-void
-ao_storage_flush(void) __reentrant;
-
-/* Initialize the storage code */
-void
-ao_storage_init(void);
-
-/*
- * Low-level functions wrapped by ao_storage.c
- */
-
-/* Read data within a storage unit */
-uint8_t
-ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Write data within a storage unit */
-uint8_t
-ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Initialize low-level device bits */
-void
-ao_storage_device_init(void);
-
-/* Print out information about flash chips */
-void
-ao_storage_device_info(void) __reentrant;
-
-/*
- * ao_log.c
- */
-
-/* We record flight numbers in the first record of
- * the log. Tasks may wait for this to be initialized
- * by sleeping on this variable.
- */
-extern __xdata uint16_t ao_flight_number;
-
-extern __pdata uint32_t ao_log_current_pos;
-extern __pdata uint32_t ao_log_end_pos;
-extern __pdata uint32_t ao_log_start_pos;
-extern __xdata uint8_t ao_log_running;
-extern __pdata enum flight_state ao_log_state;
-
-/* required functions from the underlying log system */
-
-#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
-#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
-#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
-#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
-#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
-#define AO_LOG_FORMAT_NONE 127 /* No log at all */
-
-extern __code uint8_t ao_log_format;
-
-/* Return the flight number from the given log slot, 0 if none */
-uint16_t
-ao_log_flight(uint8_t slot);
-
-/* Flush the log */
-void
-ao_log_flush(void);
-
-/* Logging thread main routine */
-void
-ao_log(void);
-
-/* functions provided in ao_log.c */
-
-/* Figure out the current flight number */
-void
-ao_log_scan(void) __reentrant;
-
-/* Return the position of the start of the given log slot */
-uint32_t
-ao_log_pos(uint8_t slot);
-
-/* 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);
-
-/* Write out the current flight number to the erase log */
-void
-ao_log_write_erase(uint8_t pos);
-
-/* Returns true if there are any logs stored in eeprom */
-uint8_t
-ao_log_present(void);
-
-/* Returns true if there is no more storage space available */
-uint8_t
-ao_log_full(void);
-
-/*
- * ao_log_big.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_GPS_TIME 'G'
-#define AO_LOG_GPS_LAT 'N'
-#define AO_LOG_GPS_LON 'W'
-#define AO_LOG_GPS_ALT 'H'
-#define AO_LOG_GPS_SAT 'V'
-#define AO_LOG_GPS_DATE 'Y'
-
-#define AO_LOG_POS_NONE (~0UL)
-
-struct ao_log_record {
- char type;
- uint8_t csum;
- uint16_t tick;
- union {
- struct {
- int16_t ground_accel;
- 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 {
- uint8_t hour;
- uint8_t minute;
- uint8_t second;
- uint8_t flags;
- } gps_time;
- int32_t gps_latitude;
- int32_t gps_longitude;
- struct {
- int16_t altitude;
- uint16_t unused;
- } gps_altitude;
- struct {
- uint16_t svid;
- uint8_t unused;
- uint8_t c_n;
- } gps_sat;
- struct {
- uint8_t year;
- uint8_t month;
- uint8_t day;
- uint8_t extra;
- } gps_date;
- struct {
- uint16_t d0;
- uint16_t d1;
- } anon;
- } u;
-};
-
-/* Write a record to the eeprom log */
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant;
-
-/*
- * ao_flight.c
- */
-
-enum ao_flight_state {
- ao_flight_startup = 0,
- ao_flight_idle = 1,
- ao_flight_pad = 2,
- ao_flight_boost = 3,
- ao_flight_fast = 4,
- ao_flight_coast = 5,
- ao_flight_drogue = 6,
- ao_flight_main = 7,
- ao_flight_landed = 8,
- ao_flight_invalid = 9
-};
-
-extern __pdata enum ao_flight_state ao_flight_state;
-
-extern __pdata uint16_t ao_launch_time;
-extern __pdata uint8_t ao_flight_force_idle;
-
-/* Flight thread */
-void
-ao_flight(void);
-
-/* Initialize flight thread */
-void
-ao_flight_init(void);
-
-/*
- * ao_flight_nano.c
- */
-
-void
-ao_flight_nano_init(void);
-
-/*
- * ao_sample.c
- */
-
-/*
- * Barometer calibration
- *
- * We directly sample the barometer. The specs say:
- *
- * Pressure range: 15-115 kPa
- * Voltage at 115kPa: 2.82
- * Output scale: 27mV/kPa
- *
- * If we want to detect launch with the barometer, we need
- * a large enough bump to not be fooled by noise. At typical
- * launch elevations (0-2000m), a 200Pa pressure change cooresponds
- * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
- * As all of our calculations are done in 16 bits, we'll actually see a change
- * of 16 times this though
- *
- * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
- */
-
-/* Accelerometer calibration
- *
- * We're sampling the accelerometer through a resistor divider which
- * consists of 5k and 10k resistors. This multiplies the values by 2/3.
- * That goes into the cc1111 A/D converter, which is running at 11 bits
- * of precision with the bits in the MSB of the 16 bit value. Only positive
- * values are used, so values should range from 0-32752 for 0-3.3V. The
- * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
- * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
- * for a final computation of:
- *
- * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
- *
- * Zero g was measured at 16000 (we would expect 16384).
- * Note that this value is only require to tell if the
- * rocket is standing upright. Once that is determined,
- * the value of the accelerometer is averaged for 100 samples
- * to find the resting accelerometer value, which is used
- * for all further flight computations
- */
-
-#define GRAVITY 9.80665
-
-/*
- * Above this height, the baro sensor doesn't work
- */
-#define AO_MAX_BARO_HEIGHT 12000
-
-/*
- * Above this speed, baro measurements are unreliable
- */
-#define AO_MAX_BARO_SPEED 200
-
-#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
-
-/*
- * Speed and acceleration are scaled by 16 to provide a bit more
- * resolution while still having reasonable range. Note that this
- * limits speed to 2047m/s (around mach 6) and acceleration to
- * 2047m/s² (over 200g)
- */
-
-#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
-#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
-#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
-
-extern __pdata uint16_t ao_sample_tick; /* time of last data */
-extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */
-extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */
-extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */
-extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
-
-#if HAS_ACCEL
-extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */
-#endif
-
-extern __pdata int16_t ao_ground_pres; /* startup pressure */
-extern __pdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
-
-#if HAS_ACCEL
-extern __pdata int16_t ao_ground_accel; /* startup acceleration */
-extern __pdata int16_t ao_accel_2g; /* factory accel calibration */
-extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
-#endif
-
-void ao_sample_init(void);
-
-/* returns FALSE in preflight mode, TRUE in flight mode */
-uint8_t ao_sample(void);
-
-/*
- * ao_kalman.c
- */
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix(x) ((x) >> 16)
-
-extern __pdata int16_t ao_height; /* meters */
-extern __pdata int16_t ao_speed; /* m/s * 16 */
-extern __pdata int16_t ao_accel; /* m/s² * 16 */
-extern __pdata int16_t ao_max_height; /* max of ao_height */
-extern __pdata int16_t ao_avg_height; /* running average of height */
-
-extern __pdata int16_t ao_error_h;
-extern __pdata int16_t ao_error_h_sq_avg;
-
-#if HAS_ACCEL
-extern __pdata int16_t ao_error_a;
-#endif
-
-void ao_kalman(void);
-
-/*
- * ao_report.c
- */
-
-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_altitude_to_pres(int16_t alt) __reentrant;
-
-int16_t
-ao_temp_to_dC(int16_t temp) __reentrant;
-
-/*
- * 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);
-
-void
-ao_dbg_init(void);
-
-/*
- * ao_serial.c
- */
-
-#ifndef HAS_SERIAL_1
-#error Please define HAS_SERIAL_1
-#endif
-
-#if HAS_SERIAL_1
-#ifndef USE_SERIAL_STDIN
-#error Please define USE_SERIAL_STDIN
-#endif
-
-void
-ao_serial_rx1_isr(void) __interrupt 3;
-
-void
-ao_serial_tx1_isr(void) __interrupt 14;
-
-char
-ao_serial_getchar(void) __critical;
-
-#if USE_SERIAL_STDIN
-char
-ao_serial_pollchar(void) __critical;
-
-void
-ao_serial_set_stdin(uint8_t stdin);
-#endif
-
-void
-ao_serial_putchar(char c) __critical;
-
-void
-ao_serial_drain(void) __critical;
-
-#define AO_SERIAL_SPEED_4800 0
-#define AO_SERIAL_SPEED_9600 1
-#define AO_SERIAL_SPEED_19200 2
-#define AO_SERIAL_SPEED_57600 3
-
-void
-ao_serial_set_speed(uint8_t speed);
-
-void
-ao_serial_init(void);
-#endif
-
-/*
- * ao_spi.c
- */
-
-extern __xdata uint8_t ao_spi_mutex;
-
-#define ao_spi_get_mask(reg,mask) do {\
- ao_mutex_get(&ao_spi_mutex); \
- (reg) &= ~(mask); \
- } while (0)
-
-#define ao_spi_put_mask(reg,mask) do { \
- (reg) |= (mask); \
- ao_mutex_put(&ao_spi_mutex); \
- } while (0)
-
-#define ao_spi_get_bit(bit) do {\
- ao_mutex_get(&ao_spi_mutex); \
- (bit) = 0; \
- } while (0)
-
-#define ao_spi_put_bit(bit) do { \
- (bit) = 1; \
- ao_mutex_put(&ao_spi_mutex); \
- } while (0)
-
-/*
- * The SPI mutex must be held to call either of these
- * functions -- this mutex covers the entire SPI operation,
- * from chip select low to chip select high
- */
-
-void
-ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
-
-void
-ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
-
-void
-ao_spi_init(void);
-
-/*
- * ao_telemetry.c
- */
-#define AO_MAX_CALLSIGN 8
-#define AO_MAX_VERSION 8
-#define AO_MAX_TELEMETRY 128
-
-struct ao_telemetry_generic {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t payload[27]; /* 5 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
-#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
-#define AO_TELEMETRY_SENSOR_TELENANO 0x03
-
-struct ao_telemetry_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t accel; /* 6 accelerometer (TM only) */
- int16_t pres; /* 8 pressure sensor */
- int16_t temp; /* 10 temperature sensor */
- int16_t v_batt; /* 12 battery voltage */
- int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
- int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
-
- int16_t acceleration; /* 18 m/s² * 16 */
- int16_t speed; /* 20 m/s * 16 */
- int16_t height; /* 22 m */
-
- int16_t ground_pres; /* 24 average pres on pad */
- int16_t ground_accel; /* 26 average accel on pad */
- int16_t accel_plus_g; /* 28 accel calibration at +1g */
- int16_t accel_minus_g; /* 30 accel calibration at -1g */
- /* 32 */
-};
-
-#define AO_TELEMETRY_CONFIGURATION 0x04
-
-struct ao_telemetry_configuration {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t device; /* 5 device type */
- uint16_t flight; /* 6 flight number */
- uint8_t config_major; /* 8 Config major version */
- uint8_t config_minor; /* 9 Config minor version */
- uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
- uint16_t main_deploy; /* 12 Main deploy alt in meters */
- uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
- char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
- char version[AO_MAX_VERSION]; /* 24 Software version */
- /* 32 */
-};
-
-#define AO_TELEMETRY_LOCATION 0x05
-
-#define AO_GPS_MODE_NOT_VALID 'N'
-#define AO_GPS_MODE_AUTONOMOUS 'A'
-#define AO_GPS_MODE_DIFFERENTIAL 'D'
-#define AO_GPS_MODE_ESTIMATED 'E'
-#define AO_GPS_MODE_MANUAL 'M'
-#define AO_GPS_MODE_SIMULATED 'S'
-
-struct ao_telemetry_location {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t flags; /* 5 Number of sats and other flags */
- int16_t altitude; /* 6 GPS reported altitude (m) */
- int32_t latitude; /* 8 latitude (degrees * 10⁷) */
- int32_t longitude; /* 12 longitude (degrees * 10⁷) */
- uint8_t year; /* 16 (- 2000) */
- uint8_t month; /* 17 (1-12) */
- uint8_t day; /* 18 (1-31) */
- uint8_t hour; /* 19 (0-23) */
- uint8_t minute; /* 20 (0-59) */
- uint8_t second; /* 21 (0-59) */
- uint8_t pdop; /* 22 (m * 5) */
- uint8_t hdop; /* 23 (m * 5) */
- uint8_t vdop; /* 24 (m * 5) */
- uint8_t mode; /* 25 */
- uint16_t ground_speed; /* 26 cm/s */
- int16_t climb_rate; /* 28 cm/s */
- uint8_t course; /* 30 degrees / 2 */
- uint8_t unused[1]; /* 31 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SATELLITE 0x06
-
-struct ao_telemetry_satellite_info {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-struct ao_telemetry_satellite {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t channels; /* 5 number of reported sats */
-
- struct ao_telemetry_satellite_info sats[12]; /* 6 */
- uint8_t unused[2]; /* 30 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_COMPANION 0x07
-
-#define AO_COMPANION_MAX_CHANNELS 12
-
-struct ao_telemetry_companion {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t board_id; /* 5 */
-
- uint8_t update_period; /* 6 */
- uint8_t channels; /* 7 */
- uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
- /* 32 */
-};
-
-union ao_telemetry_all {
- struct ao_telemetry_generic generic;
- struct ao_telemetry_sensor sensor;
- struct ao_telemetry_configuration configuration;
- struct ao_telemetry_location location;
- struct ao_telemetry_satellite satellite;
- struct ao_telemetry_companion companion;
-};
-
-/*
- * 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_RUNNING (1 << 5)
-#define AO_GPS_DATE_VALID (1 << 6)
-#define AO_GPS_COURSE_VALID (1 << 7)
-
-extern __pdata uint16_t ao_gps_tick;
-extern __xdata uint8_t ao_gps_mutex;
-extern __xdata struct ao_telemetry_location ao_gps_data;
-extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
-
-struct ao_gps_orig {
- uint8_t year;
- uint8_t month;
- uint8_t day;
- uint8_t hour;
- uint8_t minute;
- uint8_t second;
- uint8_t flags;
- int32_t latitude; /* degrees * 10⁷ */
- int32_t longitude; /* degrees * 10⁷ */
- int16_t altitude; /* m */
- uint16_t ground_speed; /* cm/s */
- uint8_t course; /* degrees / 2 */
- uint8_t hdop; /* * 5 */
- int16_t climb_rate; /* cm/s */
- uint16_t h_error; /* m */
- uint16_t v_error; /* m */
-};
-
-struct ao_gps_sat_orig {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-#define AO_MAX_GPS_TRACKING 12
-
-struct ao_gps_tracking_orig {
- uint8_t channels;
- struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
-};
-
-void
-ao_gps(void);
-
-void
-ao_gps_print(__xdata struct ao_gps_orig *gps_data);
-
-void
-ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
-
-void
-ao_gps_init(void);
-
-/*
- * ao_gps_report.c
- */
-
-void
-ao_gps_report(void);
-
-void
-ao_gps_report_init(void);
-
-/*
- * ao_telemetry_orig.c
- */
-
-struct ao_telemetry_orig {
- uint16_t serial;
- uint16_t flight;
- uint8_t flight_state;
- int16_t accel;
- int16_t ground_accel;
- union {
- struct {
- int16_t speed;
- int16_t unused;
- } k;
- int32_t flight_vel;
- } u;
- int16_t height;
- int16_t ground_pres;
- int16_t accel_plus_g;
- int16_t accel_minus_g;
- struct ao_adc adc;
- struct ao_gps_orig gps;
- char callsign[AO_MAX_CALLSIGN];
- struct ao_gps_tracking_orig gps_tracking;
-};
-
-struct ao_telemetry_tiny {
- uint16_t serial;
- uint16_t flight;
- uint8_t flight_state;
- int16_t height; /* AGL in meters */
- int16_t speed; /* in m/s * 16 */
- int16_t accel; /* in m/s² * 16 */
- int16_t ground_pres; /* sensor units */
- struct ao_adc adc; /* raw ADC readings */
- char callsign[AO_MAX_CALLSIGN];
-};
-
-/*
- * ao_radio_recv tacks on rssi and status bytes
- */
-
-struct ao_telemetry_raw_recv {
- uint8_t packet[AO_MAX_TELEMETRY + 2];
-};
-
-struct ao_telemetry_orig_recv {
- struct ao_telemetry_orig telemetry_orig;
- int8_t rssi;
- uint8_t status;
-};
-
-struct ao_telemetry_tiny_recv {
- struct ao_telemetry_tiny telemetry_tiny;
- int8_t rssi;
- uint8_t status;
-};
-
-/* 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(100)
-#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
-
-void
-ao_telemetry_set_interval(uint16_t interval);
-
-void
-ao_rdf_set(uint8_t rdf);
-
-void
-ao_telemetry_init(void);
-
-void
-ao_telemetry_orig_init(void);
-
-void
-ao_telemetry_tiny_init(void);
-
-/*
- * ao_radio.c
- */
-
-extern __xdata uint8_t ao_radio_dma;
-extern __xdata uint8_t ao_radio_dma_done;
-extern __xdata uint8_t ao_radio_done;
-extern __xdata uint8_t ao_radio_mutex;
-
-void
-ao_radio_general_isr(void) __interrupt 16;
-
-void
-ao_radio_get(uint8_t len);
-
-#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
-
-void
-ao_radio_set_packet(void);
-
-void
-ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
-
-uint8_t
-ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
-
-void
-ao_radio_recv_abort(void);
-
-void
-ao_radio_rdf(int ms);
-
-void
-ao_radio_rdf_abort(void);
-
-void
-ao_radio_idle(void);
-
-void
-ao_radio_init(void);
-
-/*
- * ao_monitor.c
- */
-
-extern const char const * const ao_state_names[];
-
-void
-ao_monitor(void);
-
-#define AO_MONITORING_OFF 0
-#define AO_MONITORING_ORIG 1
-#define AO_MONITORING_TINY 2
-
-void
-ao_set_monitor(uint8_t monitoring);
-
-void
-ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
-
-/*
- * ao_stdio.c
- */
-
-#define AO_READ_AGAIN ((char) -1)
-
-struct ao_stdio {
- char (*pollchar)(void);
- void (*putchar)(char c) __reentrant;
- void (*flush)(void);
- uint8_t echo;
-};
-
-extern __xdata struct ao_stdio ao_stdios[];
-extern __pdata int8_t ao_cur_stdio;
-extern __pdata int8_t ao_num_stdios;
-
-void
-flush(void);
-
-extern __xdata uint8_t ao_stdin_ready;
-
-uint8_t
-ao_echo(void);
-
-int8_t
-ao_add_stdio(char (*pollchar)(void),
- void (*putchar)(char) __reentrant,
- void (*flush)(void)) __reentrant;
-
-/*
- * ao_ignite.c
- */
-
-enum ao_igniter {
- ao_igniter_drogue = 0,
- ao_igniter_main = 1
-};
-
-void
-ao_ignite(enum ao_igniter igniter);
-
-enum ao_igniter_status {
- ao_igniter_unknown, /* unknown status (ambiguous voltage) */
- ao_igniter_ready, /* continuity detected */
- ao_igniter_active, /* igniter firing */
- ao_igniter_open, /* open circuit detected */
-};
-
-enum ao_igniter_status
-ao_igniter_status(enum ao_igniter igniter);
-
-void
-ao_ignite_set_pins(void);
-
-void
-ao_igniter_init(void);
-
-/*
- * ao_config.c
- */
-
-#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 8
-
-struct ao_config {
- uint8_t major;
- uint8_t minor;
- uint16_t main_deploy;
- int16_t accel_plus_g; /* changed for minor version 2 */
- uint8_t radio_channel;
- char callsign[AO_MAX_CALLSIGN + 1];
- uint8_t apogee_delay; /* minor version 1 */
- int16_t accel_minus_g; /* minor version 2 */
- uint32_t radio_cal; /* minor version 3 */
- uint32_t flight_log_max; /* minor version 4 */
- uint8_t ignite_mode; /* minor version 5 */
- uint8_t pad_orientation; /* minor version 6 */
- uint32_t radio_setting; /* minor version 7 */
- uint8_t radio_enable; /* minor version 8 */
-};
-
-#define AO_IGNITE_MODE_DUAL 0
-#define AO_IGNITE_MODE_APOGEE 1
-#define AO_IGNITE_MODE_MAIN 2
-
-#define AO_PAD_ORIENTATION_ANTENNA_UP 0
-#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
-
-extern __xdata struct ao_config ao_config;
-
-#define AO_CONFIG_MAX_SIZE 128
-
-void
-ao_config_get(void);
-
-void
-ao_config_put(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 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 64
-#define AO_PACKET_SYN (uint8_t) 0xff
-
-struct ao_packet {
- uint8_t addr;
- uint8_t len;
- uint8_t seq;
- uint8_t ack;
- uint8_t d[AO_PACKET_MAX];
- uint8_t callsign[AO_MAX_CALLSIGN];
-};
-
-struct ao_packet_recv {
- struct ao_packet packet;
- int8_t rssi;
- uint8_t status;
-};
-
-extern __xdata struct ao_packet_recv ao_rx_packet;
-extern __xdata struct ao_packet ao_tx_packet;
-extern __xdata struct ao_task ao_packet_task;
-extern __xdata uint8_t ao_packet_enable;
-extern __xdata uint8_t ao_packet_master_sleeping;
-extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
-
-void
-ao_packet_send(void);
-
-uint8_t
-ao_packet_recv(void);
-
-void
-ao_packet_flush(void);
-
-void
-ao_packet_putchar(char c) __reentrant;
-
-char
-ao_packet_pollchar(void) __critical;
-
-/* ao_packet_master.c */
-
-void
-ao_packet_master_init(void);
-
-/* ao_packet_slave.c */
-
-void
-ao_packet_slave_start(void);
-
-void
-ao_packet_slave_stop(void);
-
-void
-ao_packet_slave_init(uint8_t enable);
-
-/* ao_btm.c */
-
-/* If bt_link is on P2, this interrupt is shared by USB, so the USB
- * code calls this function. Otherwise, it's a regular ISR.
- */
-
-void
-ao_btm_isr(void)
-#if BT_LINK_ON_P1
- __interrupt 15
-#endif
- ;
-
-void
-ao_btm_init(void);
-
-/* ao_companion.c */
-
-#define AO_COMPANION_SETUP 1
-#define AO_COMPANION_FETCH 2
-#define AO_COMPANION_NOTIFY 3
-
-struct ao_companion_command {
- uint8_t command;
- uint8_t flight_state;
- uint16_t tick;
- uint16_t serial;
- uint16_t flight;
-};
-
-struct ao_companion_setup {
- uint16_t board_id;
- uint16_t board_id_inverse;
- uint8_t update_period;
- uint8_t channels;
-};
-
-extern __pdata uint8_t ao_companion_running;
-extern __xdata struct ao_companion_setup ao_companion_setup;
-extern __xdata uint8_t ao_companion_mutex;
-extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-
-void
-ao_companion_init(void);
-
-#endif /* _AO_H_ */
projects / fw / altos / blobdiff