altos: Correct AO_CONFIG_MINOR from 6 to 7

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index e52a2198c4645eb3f45377f4f96dc4321521ec92..79452862e77d16a06f2e942dc673b732a1af67ee 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -539,6 +539,15 @@ 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);
@@ -829,6 +838,7 @@ 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;
@@ -955,6 +965,34 @@ ao_serial_init(void);
  * 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;
 
@@ -1079,12 +1117,29 @@ struct ao_telemetry_satellite {
        /* 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;
 };
 
 /*
@@ -1349,6 +1404,9 @@ enum ao_igniter_status {
 enum ao_igniter_status
 ao_igniter_status(enum ao_igniter igniter);
 
+void
+ao_ignite_set_pins(void);
+
 void
 ao_igniter_init(void);
 
@@ -1357,7 +1415,7 @@ 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;
@@ -1370,8 +1428,18 @@ struct ao_config {
        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
@@ -1506,8 +1574,36 @@ ao_btm_isr(void)
 #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_ */