ao_cmd_syntax_error = 2,
};
-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;
+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);
struct ao_cmds {
void (*func)(void);
- const char *help;
+ __code char *help;
};
void
*/
/* Total bytes of available storage */
-extern __xdata uint32_t ao_storage_total;
+extern __pdata uint32_t ao_storage_total;
/* Block size - device is erased in these units. At least 256 bytes */
-extern __xdata uint32_t ao_storage_block;
+extern __pdata uint32_t ao_storage_block;
/* Byte offset of config block. Will be ao_storage_block bytes long */
-extern __xdata uint32_t ao_storage_config;
+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 __xdata uint16_t ao_storage_unit;
+extern __pdata uint16_t ao_storage_unit;
#define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
extern __pdata uint32_t ao_log_end_pos;
extern __pdata uint32_t ao_log_start_pos;
extern __xdata uint8_t ao_log_running;
-extern __xdata enum flight_state ao_log_state;
+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);
extern __pdata enum ao_flight_state ao_flight_state;
extern __pdata uint16_t ao_launch_time;
-extern __xdata uint8_t ao_flight_force_idle;
+extern __pdata uint8_t ao_flight_force_idle;
/* Flight thread */
void
extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */
#endif
-extern __xdata int16_t ao_ground_pres; /* startup pressure */
-extern __xdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
+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 __xdata int16_t ao_ground_accel; /* startup acceleration */
-extern __xdata int16_t ao_accel_2g; /* factory accel calibration */
-extern __xdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
+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);
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;
* 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;
uint16_t flight; /* 6 flight number */
uint8_t config_major; /* 8 Config major version */
uint8_t config_minor; /* 9 Config minor version */
- uint16_t main_deploy; /* 10 Main deploy alt in meters */
- uint32_t flight_log_max; /* 12 Maximum flight log size in bytes */
+ 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 */
/* 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;
};
/*
#define AO_GPS_DATE_VALID (1 << 6)
#define AO_GPS_COURSE_VALID (1 << 7)
-extern __xdata uint16_t ao_gps_tick;
+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;
};
extern __xdata struct ao_stdio ao_stdios[];
-extern __data int8_t ao_cur_stdio;
-extern __data int8_t ao_num_stdios;
+extern __pdata int8_t ao_cur_stdio;
+extern __pdata int8_t ao_num_stdios;
void
flush(void);
enum ao_igniter_status
ao_igniter_status(enum ao_igniter igniter);
+void
+ao_ignite_set_pins(void);
+
void
ao_igniter_init(void);
*/
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 4
+#define AO_CONFIG_MINOR 7
struct ao_config {
uint8_t major;
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 */
};
+#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
#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