#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 */
};
#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
*/
/* 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
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
/* 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
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);
};
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);
#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;
+ } gps_date;
struct {
uint16_t d0;
uint16_t d1;
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
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;
void
ao_serial_tx1_isr(void) interrupt 14;
-#endif
char
ao_serial_getchar(void) __critical;
void
ao_serial_init(void);
+#endif
/*
* 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_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];
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);
*/
#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;
projects / fw / altos / blobdiff