#include <string.h>
#include <stddef.h>
#include "cc1111.h"
+#include "ao_pins.h"
#define TRUE 1
#define FALSE 0
__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 */
+ uint8_t task_id; /* unique id */
__code char *name; /* task name */
uint8_t stack[AO_STACK_SIZE]; /* saved stack */
};
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;
+ao_yield(void) __naked;
/* Add a task to the run queue */
void
#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 */
/* Stop the operating system, beeping and blinking the reason */
void
*/
/* 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
/* Timer interrupt */
void
-ao_timer_isr(void) interrupt 9;
+ao_timer_isr(void) __interrupt 9;
/* Initialize the timer */
void
ao_clock_init(void);
/*
- * 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))
-
-/*
- * One set of samples read from the A/D converter
+ * 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 sense_m; /* main continuity sense */
};
+#ifndef HAS_ADC
+#error Please define HAS_ADC
+#endif
+
+#if HAS_ADC
+/*
+ * 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
ao_adc_get(__xdata struct ao_adc *packet);
/* The A/D interrupt handler */
-#if !AO_NO_ADC_ISR
+
void
-ao_adc_isr(void) interrupt 1;
-#endif
+ao_adc_isr(void) __interrupt 1;
/* Initialize the A/D converter */
void
ao_adc_init(void);
+#endif /* HAS_ADC */
+
/*
* ao_beep.c
*/
*/
#define AO_LED_NONE 0
-#define AO_LED_GREEN 1
-#define AO_LED_RED 2
/* Turn on the specified LEDs */
void
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;
+extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
+
/*
* ao_usb.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);
/* USB interrupt handler */
void
-ao_usb_isr(void) interrupt 6;
+ao_usb_isr(void) __interrupt 6;
/* Enable the USB controller */
void
};
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;
void
ao_cmd_decimal(void);
+uint8_t
+ao_match_word(__code char *word);
+
struct ao_cmds {
char cmd;
void (*func)(void);
* ao_dma.c
*/
-/* 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
+/* Allocate a DMA channel. the 'done' parameter will be set when the
+ * dma is finished 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);
/* DMA interrupt routine */
void
-ao_dma_isr(void) interrupt 8;
+ao_dma_isr(void) __interrupt 8;
/*
* ao_mutex.c
ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
/*
- * ao_ee.c
+ * Storage interface, provided by one of the eeprom or flash
+ * drivers
*/
-/*
- * We reserve the last block on the device for
- * configuration space. Writes and reads in this
- * area return errors.
- */
+/* Total bytes of available storage */
+extern __xdata uint32_t ao_storage_total;
+
+/* Block size - device is erased in these units. At least 256 bytes */
+extern __xdata uint32_t ao_storage_block;
-#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))
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+extern __xdata uint32_t ao_storage_config;
+/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
+extern __xdata 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_ee_flush(void) __reentrant;
+ao_storage_setup(void);
+
+/* Write data. Returns 0 on failure, 1 on success */
+uint8_t
+ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-/* Write to the eeprom */
+/* Read data. Returns 0 on failure, 1 on success */
uint8_t
-ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
+ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-/* Read from the eeprom */
+/* Erase a block of storage. This always clears ao_storage_block bytes */
uint8_t
-ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
+ao_storage_erase(uint32_t pos) __reentrant;
+
+/* Flush any pending writes to stable storage */
+void
+ao_storage_flush(void) __reentrant;
-/* Write the config block (at the end of the eeprom) */
+/* 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_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
+ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-/* Read the config block (at the end of the eeprom) */
+/* Write data within a storage unit */
uint8_t
-ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
+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);
-/* Initialize the EEPROM code */
+/* Print out information about flash chips */
void
-ao_ee_init(void);
+ao_storage_device_info(void) __reentrant;
/*
* ao_log.c
#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)
} 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;
+ uint8_t extra;
+ } gps_date;
struct {
uint16_t d0;
uint16_t d1;
};
/* Write a record to the eeprom log */
-void
-ao_log_data(struct ao_log_record *log);
+uint8_t
+ao_log_data(__xdata struct ao_log_record *log) __reentrant;
/* 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
+/* 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;
-
-/* 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);
+extern __xdata uint16_t ao_flight_number;
/* Logging thread main routine */
void
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_flight.c
*/
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
* ao_serial.c
*/
-#if !AO_NO_SERIAL_ISR
+#ifndef HAS_SERIAL_1
+#error Please define HAS_SERIAL_1
+#endif
+
+#if HAS_SERIAL_1
void
-ao_serial_rx1_isr(void) interrupt 3;
+ao_serial_rx1_isr(void) __interrupt 3;
void
-ao_serial_tx1_isr(void) interrupt 14;
-#endif
+ao_serial_tx1_isr(void) __interrupt 14;
char
ao_serial_getchar(void) __critical;
void
ao_serial_init(void);
+#endif
+
+/*
+ * ao_spi.c
+ */
+
+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_gps.c
#define AO_GPS_VALID (1 << 4)
#define AO_GPS_RUNNING (1 << 5)
+#define AO_GPS_DATE_VALID (1 << 6)
+
+extern __xdata uint16_t ao_gps_tick;
struct ao_gps_data {
+ uint8_t year;
+ uint8_t month;
+ uint8_t day;
uint8_t hour;
uint8_t minute;
uint8_t second;
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;
};
+#define AO_MAX_GPS_TRACKING 12
+
struct ao_gps_tracking_data {
uint8_t channels;
- struct ao_gps_sat_data sats[12];
+ struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
};
extern __xdata uint8_t ao_gps_mutex;
*/
#define AO_MAX_CALLSIGN 8
+#define AO_TELEMETRY_VERSION 3
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];
struct ao_gps_tracking_data gps_tracking;
};
+/*
+ * ao_radio_recv tacks on rssi and status bytes
+ */
+struct ao_telemetry_recv {
+ struct ao_telemetry telemetry;
+ int8_t rssi;
+ uint8_t status;
+};
+
/* Set delay between telemetry reports (0 to disable) */
#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
extern __xdata uint8_t ao_radio_mutex;
void
-ao_radio_general_isr(void) interrupt 16;
+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);
ao_radio_set_rdf(void);
void
-ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
-
-struct ao_radio_recv {
- struct ao_telemetry telemetry;
- int8_t rssi;
- uint8_t status;
-};
+ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
uint8_t
-ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
+ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
void
-ao_radio_rdf(int ms);
+ao_radio_recv_abort(void);
void
-ao_radio_abort(void);
+ao_radio_rdf(int ms);
void
ao_radio_rdf_abort(void);
*/
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 1
+#define AO_CONFIG_MINOR 4
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 */
+ uint32_t flight_log_max; /* minor version 4 */
};
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);
* each instance of a product
*/
-extern const uint8_t ao_usb_descriptors [];
-extern const uint16_t ao_serial_number;
+extern __code __at(0x00aa) uint8_t ao_usb_descriptors [];
extern const char ao_version[];
extern const char ao_manufacturer[];
extern const char ao_product[];
* Packet-based command interface
*/
-#define AO_PACKET_MAX 8
+#define AO_PACKET_MAX 64
#define AO_PACKET_SYN (uint8_t) 0xff
struct ao_packet {
uint8_t seq;
uint8_t ack;
uint8_t d[AO_PACKET_MAX];
+ uint8_t callsign[AO_MAX_CALLSIGN];
};
struct ao_packet_recv {
projects / fw / altos / blobdiff