#include <stdint.h>
#include <stdio.h>
#include <string.h>
+#include <stddef.h>
#include "cc1111.h"
#define TRUE 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; /* index in the task array */
__code char *name; /* task name */
ao_task.c
*/
-/* Suspend the current task until wchan is awoken */
-void
+/* 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);
+/* Wake up a specific task */
+void
+ao_wake_task(__xdata struct ao_task *task);
+
+/* 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;
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);
void
ao_timer_init(void);
+/* Initialize the hardware clock. Must be called first */
+void
+ao_clock_init(void);
+
/*
* ao_adc.c
*/
-#define AO_ADC_RING 64
+#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))
* 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
+/* Allocate a DMA channel. the 'done' parameter will be set
+ * when the dma is finished or aborted and will be used to
+ * wakeup any waiters
*/
+
+#define AO_DMA_DONE 1
+#define AO_DMA_ABORTED 2
+
uint8_t
ao_dma_alloc(__xdata uint8_t * done);
* ao_log.c
*/
-/* Structure containing GPS position, either lat or lon */
-
-struct ao_gps_pos {
- uint8_t degrees;
- uint8_t minutes;
- uint16_t minutes_fraction; /* in units of 1/10000 minutes */
-};
-
/*
* The data log is recorded in the eeprom as a sequence
* of data packets.
#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_POS_NONE (~0UL)
uint8_t second;
uint8_t flags;
} gps_time;
- struct ao_gps_pos gps_latitude;
- struct ao_gps_pos gps_longitude;
+ int32_t gps_latitude;
+ int32_t gps_longitude;
struct {
int16_t altitude;
uint16_t unused;
} gps_altitude;
+ struct {
+ uint16_t svid;
+ uint8_t state;
+ uint8_t c_n;
+ } gps_sat;
struct {
uint16_t d0;
uint16_t d1;
ao_flight_pad = 2,
ao_flight_boost = 3,
ao_flight_fast = 4,
- ao_flight_apogee = 5,
+ ao_flight_coast = 5,
ao_flight_drogue = 6,
ao_flight_main = 7,
ao_flight_landed = 8,
void
ao_serial_putchar(char c) __critical;
+#define AO_SERIAL_SPEED_4800 0
+#define AO_SERIAL_SPEED_9600 1
+#define AO_SERIAL_SPEED_57600 2
+
+void
+ao_serial_set_speed(uint8_t speed);
+
void
ao_serial_init(void);
#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)
+#define AO_GPS_RUNNING (1 << 5)
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;
+ 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 */
+};
+
+#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;
+};
+
+struct ao_gps_tracking_data {
+ uint8_t channels;
+ struct ao_gps_sat_data sats[12];
};
extern __xdata uint8_t ao_gps_mutex;
extern __xdata struct ao_gps_data ao_gps_data;
+extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
void
ao_gps(void);
void
ao_gps_print(__xdata struct ao_gps_data *gps_data);
+void
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
+
void
ao_gps_init(void);
struct ao_adc adc;
struct ao_gps_data gps;
char callsign[AO_MAX_CALLSIGN];
+ struct ao_gps_tracking_data gps_tracking;
};
/* Set delay between telemetry reports (0 to disable) */
void
ao_telemetry_set_interval(uint16_t interval);
+void
+ao_rdf_set(uint8_t rdf);
+
void
ao_telemetry_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_set_telemetry(void);
+
+void
+ao_radio_set_packet(void);
+
+void
+ao_radio_set_rdf(void);
+
void
ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
uint8_t status;
};
-void
+uint8_t
ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
+void
+ao_radio_rdf(int ms);
+
+void
+ao_radio_abort(void);
+
+void
+ao_radio_rdf_abort(void);
+
+void
+ao_radio_idle(void);
+
void
ao_radio_init(void);
*/
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 0
+#define AO_CONFIG_MINOR 1
struct ao_config {
uint8_t major;
int16_t accel_zero_g;
uint8_t radio_channel;
char callsign[AO_MAX_CALLSIGN + 1];
+ uint8_t apogee_delay;
};
extern __xdata struct ao_config ao_config;
* 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)
+#define AO_PACKET_MAX 8
struct ao_packet {
uint8_t addr;
- uint8_t flags;
- uint16_t seq;
- uint16_t ack;
- uint16_t window;
uint8_t len;
+ uint8_t seq;
+ uint8_t ack;
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);
+struct ao_packet_recv {
+ struct ao_packet packet;
+ int8_t rssi;
+ uint8_t status;
+};
void
ao_packet_init(void);
projects / fw / altos / blobdiff