Force idle mode by shorting the SPI clock to ground at boot time.

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index aeceb870ae751e31138e33a3e65151aa4efa3dd8..2c6eb2b91180d254818ca2553849a0b2cde95a90 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -106,6 +106,9 @@ ao_start_scheduler(void);
 #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) */
 
 /* Stop the operating system, beeping and blinking the reason */
 void
@@ -116,8 +119,9 @@ ao_panic(uint8_t reason);
  */
 
 /* Our timer runs at 100Hz */
-#define AO_MS_TO_TICKS(ms)     ((ms) / 10)
-#define AO_SEC_TO_TICKS(s)     ((s) * 100)
+#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
@@ -290,6 +294,12 @@ ao_usb_putchar(char c);
 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);
@@ -321,6 +331,7 @@ enum ao_cmd_status {
 };
 
 extern __xdata uint16_t ao_cmd_lex_i;
+extern __xdata uint32_t ao_cmd_lex_u32;
 extern __xdata char    ao_cmd_lex_c;
 extern __xdata enum ao_cmd_status ao_cmd_status;
 
@@ -342,6 +353,9 @@ ao_cmd_hex(void);
 void
 ao_cmd_decimal(void);
 
+uint8_t
+ao_match_word(__code char *word);
+
 struct ao_cmds {
        char            cmd;
        void            (*func)(void);
@@ -481,6 +495,7 @@ ao_ee_init(void);
 #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)
 
@@ -523,9 +538,14 @@ struct ao_log_record {
                } gps_altitude;
                struct {
                        uint16_t        svid;
-                       uint8_t         state;
+                       uint8_t         unused;
                        uint8_t         c_n;
                } gps_sat;
+               struct {
+                       uint8_t         year;
+                       uint8_t         month;
+                       uint8_t         day;
+               } gps_date;
                struct {
                        uint16_t        d0;
                        uint16_t        d1;
@@ -541,11 +561,11 @@ ao_log_data(struct ao_log_record *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
+/* 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 struct ao_log_record ao_log_dump;
+extern __xdata uint16_t ao_flight_number;
 
 /* Retrieve first log record for the current flight */
 uint8_t
@@ -598,6 +618,7 @@ 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;
+extern __xdata uint8_t                 ao_flight_force_idle;
 
 /* Flight thread */
 void
@@ -708,8 +729,12 @@ ao_serial_init(void);
 
 #define AO_GPS_VALID           (1 << 4)
 #define AO_GPS_RUNNING         (1 << 5)
+#define AO_GPS_DATE_VALID      (1 << 6)
 
 struct ao_gps_data {
+       uint8_t                 year;
+       uint8_t                 month;
+       uint8_t                 day;
        uint8_t                 hour;
        uint8_t                 minute;
        uint8_t                 second;
@@ -725,18 +750,8 @@ struct ao_gps_data {
        uint16_t                v_error;        /* m */
 };
 
-#define SIRF_SAT_STATE_ACQUIRED                        (1 << 0)
-#define SIRF_SAT_STATE_CARRIER_PHASE_VALID     (1 << 1)
-#define SIRF_SAT_BIT_SYNC_COMPLETE             (1 << 2)
-#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE                (1 << 3)
-#define SIRF_SAT_CARRIER_PULLIN_COMPLETE       (1 << 4)
-#define SIRF_SAT_CODE_LOCKED                   (1 << 5)
-#define SIRF_SAT_ACQUISITION_FAILED            (1 << 6)
-#define SIRF_SAT_EPHEMERIS_AVAILABLE           (1 << 7)
-
 struct ao_gps_sat_data {
        uint8_t         svid;
-       uint8_t         state;
        uint8_t         c_n_1;
 };
 
@@ -776,15 +791,19 @@ ao_gps_report_init(void);
  */
 
 #define AO_MAX_CALLSIGN                8
+#define AO_TELEMETRY_VERSION   2
 
 struct ao_telemetry {
        uint8_t                 addr;
+       uint16_t                flight;
        uint8_t                 flight_state;
        int16_t                 flight_accel;
        int16_t                 ground_accel;
        int32_t                 flight_vel;
        int16_t                 flight_pres;
        int16_t                 ground_pres;
+       int16_t                 accel_plus_g;
+       int16_t                 accel_minus_g;
        struct ao_adc           adc;
        struct ao_gps_data      gps;
        char                    callsign[AO_MAX_CALLSIGN];
@@ -818,6 +837,11 @@ extern __xdata uint8_t ao_radio_mutex;
 void
 ao_radio_general_isr(void) interrupt 16;
 
+void
+ao_radio_get(void);
+
+#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
+
 void
 ao_radio_set_telemetry(void);
 
@@ -873,9 +897,24 @@ 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);
+};
+
 void
 flush(void);
 
+extern __xdata uint8_t ao_stdin_ready;
+
+void
+ao_add_stdio(char (*pollchar)(void),
+            void (*putchar)(char) __reentrant,
+            void (*flush)(void));
+
 /*
  * ao_ignite.c
  */
@@ -906,16 +945,18 @@ ao_igniter_init(void);
  */
 
 #define AO_CONFIG_MAJOR        1
-#define AO_CONFIG_MINOR        1
+#define AO_CONFIG_MINOR        3
 
 struct ao_config {
        uint8_t         major;
        uint8_t         minor;
        uint16_t        main_deploy;
-       int16_t         accel_zero_g;
+       int16_t         accel_plus_g;           /* changed for minor version 2 */
        uint8_t         radio_channel;
        char            callsign[AO_MAX_CALLSIGN + 1];
-       uint8_t         apogee_delay;
+       uint8_t         apogee_delay;           /* minor version 1 */
+       int16_t         accel_minus_g;          /* minor version 2 */
+       uint32_t        radio_cal;              /* minor version 3 */
 };
 
 extern __xdata struct ao_config ao_config;
@@ -997,7 +1038,42 @@ struct ao_packet_recv {
        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_init(void);
+ao_packet_slave_init(void);
 
 #endif /* _AO_H_ */