/* Stack runs from above the allocated __data space to 0xfe, which avoids
* writing to 0xff as that triggers the stack overflow indicator
*/
-#define AO_STACK_START 0x80
+#define AO_STACK_START 0x90
#define AO_STACK_END 0xfe
#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
#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 */
+#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
/* Stop the operating system, beeping and blinking the reason */
void
void
ao_cmd_init(void);
+#if HAS_CMD_FILTER
+/*
+ * Provided by an external module to filter raw command lines
+ */
+uint8_t
+ao_cmd_filter(void);
+#endif
+
/*
* ao_dma.c
*/
/* Initialize above values. Can only be called once the OS is running */
void
-ao_storage_setup(void);
+ao_storage_setup(void) __reentrant;
/* Write data. Returns 0 on failure, 1 on success */
uint8_t
* ao_log.c
*/
+/* 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 uint16_t ao_flight_number;
+
+extern __pdata uint32_t ao_log_current_pos;
+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;
+
+/* required functions from the underlying log system */
+
+/* Return the flight number from the given log slot, 0 if none */
+uint16_t
+ao_log_flight(uint8_t slot);
+
+/* Flush the log */
+void
+ao_log_flush(void);
+
+/* Logging thread main routine */
+void
+ao_log(void);
+
+/* functions provided in ao_log.c */
+
+/* Figure out the current flight number */
+void
+ao_log_scan(void) __reentrant;
+
+/* Return the position of the start of the given log slot */
+uint32_t
+ao_log_pos(uint8_t slot);
+
+/* Start logging to eeprom */
+void
+ao_log_start(void);
+
+/* Stop logging */
+void
+ao_log_stop(void);
+
+/* Initialize the logging system */
+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_log_big.c
+ */
+
/*
* The data log is recorded in the eeprom as a sequence
* of data packets.
uint8_t
ao_log_data(__xdata struct ao_log_record *log) __reentrant;
-/* Flush the log */
-void
-ao_log_flush(void);
-
-/* 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 uint16_t ao_flight_number;
-
-/* Logging thread main routine */
-void
-ao_log(void);
-
-/* Start logging to eeprom */
-void
-ao_log_start(void);
-
-/* Stop logging */
-void
-ao_log_stop(void);
-
-/* Initialize the logging system */
-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
*/
ao_flight_invalid = 9
};
-extern __data uint8_t ao_flight_adc;
extern __pdata enum ao_flight_state ao_flight_state;
-extern __pdata uint16_t ao_flight_tick;
-extern __pdata int16_t ao_flight_accel;
-extern __pdata int16_t ao_flight_pres;
-extern __pdata int32_t ao_flight_vel;
-extern __pdata int16_t ao_ground_pres;
-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;
void
ao_flight_init(void);
+/*
+ * ao_flight_nano.c
+ */
+
+void
+ao_flight_nano_init(void);
+
+/*
+ * ao_sample.c
+ */
+
+/*
+ * Barometer calibration
+ *
+ * We directly sample the barometer. The specs say:
+ *
+ * Pressure range: 15-115 kPa
+ * Voltage at 115kPa: 2.82
+ * Output scale: 27mV/kPa
+ *
+ * If we want to detect launch with the barometer, we need
+ * a large enough bump to not be fooled by noise. At typical
+ * launch elevations (0-2000m), a 200Pa pressure change cooresponds
+ * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
+ * As all of our calculations are done in 16 bits, we'll actually see a change
+ * of 16 times this though
+ *
+ * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
+ */
+
+/* Accelerometer calibration
+ *
+ * We're sampling the accelerometer through a resistor divider which
+ * consists of 5k and 10k resistors. This multiplies the values by 2/3.
+ * That goes into the cc1111 A/D converter, which is running at 11 bits
+ * of precision with the bits in the MSB of the 16 bit value. Only positive
+ * values are used, so values should range from 0-32752 for 0-3.3V. The
+ * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
+ * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
+ * for a final computation of:
+ *
+ * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
+ *
+ * Zero g was measured at 16000 (we would expect 16384).
+ * Note that this value is only require to tell if the
+ * rocket is standing upright. Once that is determined,
+ * the value of the accelerometer is averaged for 100 samples
+ * to find the resting accelerometer value, which is used
+ * for all further flight computations
+ */
+
+#define GRAVITY 9.80665
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT 12000
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED 200
+
+#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
+
+/*
+ * Speed and acceleration are scaled by 16 to provide a bit more
+ * resolution while still having reasonable range. Note that this
+ * limits speed to 2047m/s (around mach 6) and acceleration to
+ * 2047m/s² (over 200g)
+ */
+
+#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
+#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
+
+extern __pdata uint16_t ao_sample_tick; /* time of last data */
+extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */
+extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */
+extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */
+extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
+
+#if HAS_ACCEL
+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 */
+
+#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 */
+#endif
+
+void ao_sample_init(void);
+
+/* returns FALSE in preflight mode, TRUE in flight mode */
+uint8_t ao_sample(void);
+
+/*
+ * ao_kalman.c
+ */
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix(x) ((x) >> 16)
+
+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_error_h;
+extern __pdata int16_t ao_error_h_sq_avg;
+
+#if HAS_ACCEL
+extern __pdata int16_t ao_error_a;
+#endif
+
+void ao_kalman(void);
+
/*
* ao_report.c
*/
#endif
#if HAS_SERIAL_1
+#ifndef USE_SERIAL_STDIN
+#error Please define USE_SERIAL_STDIN
+#endif
+
void
ao_serial_rx1_isr(void) __interrupt 3;
char
ao_serial_getchar(void) __critical;
+#if USE_SERIAL_STDIN
+char
+ao_serial_pollchar(void) __critical;
+
+void
+ao_serial_set_stdin(uint8_t stdin);
+#endif
+
void
ao_serial_putchar(char c) __critical;
+void
+ao_serial_drain(void) __critical;
+
#define AO_SERIAL_SPEED_4800 0
#define AO_SERIAL_SPEED_9600 1
-#define AO_SERIAL_SPEED_57600 2
+#define AO_SERIAL_SPEED_19200 2
+#define AO_SERIAL_SPEED_57600 3
void
ao_serial_set_speed(uint8_t speed);
void
ao_spi_init(void);
+/*
+ * ao_telemetry.c
+ */
+#define AO_MAX_CALLSIGN 8
+#define AO_MAX_VERSION 8
+#define AO_MAX_TELEMETRY 128
+
+struct ao_telemetry_generic {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t payload[27]; /* 5 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
+#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
+#define AO_TELEMETRY_SENSOR_TELENANO 0x03
+
+struct ao_telemetry_sensor {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+ int16_t accel; /* 6 accelerometer (TM only) */
+ int16_t pres; /* 8 pressure sensor */
+ int16_t temp; /* 10 temperature sensor */
+ int16_t v_batt; /* 12 battery voltage */
+ int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
+ int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
+
+ int16_t acceleration; /* 18 m/s² * 16 */
+ int16_t speed; /* 20 m/s * 16 */
+ int16_t height; /* 22 m */
+
+ int16_t ground_pres; /* 24 average pres on pad */
+ int16_t ground_accel; /* 26 average accel on pad */
+ int16_t accel_plus_g; /* 28 accel calibration at +1g */
+ int16_t accel_minus_g; /* 30 accel calibration at -1g */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_CONFIGURATION 0x04
+
+struct ao_telemetry_configuration {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t device; /* 5 device type */
+ uint16_t flight; /* 6 flight number */
+ uint8_t config_major; /* 8 Config major version */
+ uint8_t config_minor; /* 9 Config minor version */
+ 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 */
+};
+
+#define AO_TELEMETRY_LOCATION 0x05
+
+#define AO_GPS_MODE_NOT_VALID 'N'
+#define AO_GPS_MODE_AUTONOMOUS 'A'
+#define AO_GPS_MODE_DIFFERENTIAL 'D'
+#define AO_GPS_MODE_ESTIMATED 'E'
+#define AO_GPS_MODE_MANUAL 'M'
+#define AO_GPS_MODE_SIMULATED 'S'
+
+struct ao_telemetry_location {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t flags; /* 5 Number of sats and other flags */
+ int16_t altitude; /* 6 GPS reported altitude (m) */
+ int32_t latitude; /* 8 latitude (degrees * 10⁷) */
+ int32_t longitude; /* 12 longitude (degrees * 10⁷) */
+ uint8_t year; /* 16 (- 2000) */
+ uint8_t month; /* 17 (1-12) */
+ uint8_t day; /* 18 (1-31) */
+ uint8_t hour; /* 19 (0-23) */
+ uint8_t minute; /* 20 (0-59) */
+ uint8_t second; /* 21 (0-59) */
+ uint8_t pdop; /* 22 (m * 5) */
+ uint8_t hdop; /* 23 (m * 5) */
+ uint8_t vdop; /* 24 (m * 5) */
+ uint8_t mode; /* 25 */
+ uint16_t ground_speed; /* 26 cm/s */
+ int16_t climb_rate; /* 28 cm/s */
+ uint8_t course; /* 30 degrees / 2 */
+ uint8_t unused[1]; /* 31 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_SATELLITE 0x06
+
+struct ao_telemetry_satellite_info {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+struct ao_telemetry_satellite {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t channels; /* 5 number of reported sats */
+
+ struct ao_telemetry_satellite_info sats[12]; /* 6 */
+ uint8_t unused[2]; /* 30 */
+ /* 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;
+};
+
/*
* ao_gps.c
*/
#define AO_GPS_VALID (1 << 4)
#define AO_GPS_RUNNING (1 << 5)
#define AO_GPS_DATE_VALID (1 << 6)
+#define AO_GPS_COURSE_VALID (1 << 7)
extern __xdata 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;
-struct ao_gps_data {
+struct ao_gps_orig {
uint8_t year;
uint8_t month;
uint8_t day;
uint16_t v_error; /* m */
};
-struct ao_gps_sat_data {
+struct ao_gps_sat_orig {
uint8_t svid;
uint8_t c_n_1;
};
#define AO_MAX_GPS_TRACKING 12
-struct ao_gps_tracking_data {
+struct ao_gps_tracking_orig {
uint8_t channels;
- struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
+ struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
};
-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);
+ao_gps_print(__xdata struct ao_gps_orig *gps_data);
void
-ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
void
ao_gps_init(void);
ao_gps_report_init(void);
/*
- * ao_telemetry.c
+ * ao_telemetry_orig.c
*/
-#define AO_MAX_CALLSIGN 8
-#define AO_TELEMETRY_VERSION 3
-
-struct ao_telemetry {
+struct ao_telemetry_orig {
uint16_t serial;
uint16_t flight;
uint8_t flight_state;
- int16_t flight_accel;
+ int16_t accel;
int16_t ground_accel;
- int32_t flight_vel;
- int16_t flight_pres;
+ union {
+ struct {
+ int16_t speed;
+ int16_t unused;
+ } k;
+ int32_t flight_vel;
+ } u;
+ int16_t height;
int16_t ground_pres;
int16_t accel_plus_g;
int16_t accel_minus_g;
struct ao_adc adc;
- struct ao_gps_data gps;
+ struct ao_gps_orig gps;
+ char callsign[AO_MAX_CALLSIGN];
+ struct ao_gps_tracking_orig gps_tracking;
+};
+
+struct ao_telemetry_tiny {
+ uint16_t serial;
+ uint16_t flight;
+ uint8_t flight_state;
+ int16_t height; /* AGL in meters */
+ int16_t speed; /* in m/s * 16 */
+ int16_t accel; /* in m/s² * 16 */
+ int16_t ground_pres; /* sensor units */
+ struct ao_adc adc; /* raw ADC readings */
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;
+
+struct ao_telemetry_raw_recv {
+ uint8_t packet[AO_MAX_TELEMETRY + 2];
+};
+
+struct ao_telemetry_orig_recv {
+ struct ao_telemetry_orig telemetry_orig;
+ int8_t rssi;
+ uint8_t status;
+};
+
+struct ao_telemetry_tiny_recv {
+ struct ao_telemetry_tiny telemetry_tiny;
+ int8_t rssi;
+ uint8_t status;
};
/* Set delay between telemetry reports (0 to disable) */
#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
-#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50)
+#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
void
void
ao_telemetry_init(void);
+void
+ao_telemetry_orig_init(void);
+
+void
+ao_telemetry_tiny_init(void);
+
/*
* ao_radio.c
*/
ao_radio_general_isr(void) __interrupt 16;
void
-ao_radio_get(void);
+ao_radio_get(uint8_t len);
#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
void
-ao_radio_set_fixed_pkt(size_t size);
-
-#define ao_radio_set_telemetry() \
- ao_radio_set_fixed_pkt(sizeof (struct ao_telemetry))
-
-#define ao_radio_set_packet() \
- ao_radio_set_fixed_pkt(sizeof (struct ao_packet))
+ao_radio_set_packet(void);
void
ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
void
ao_monitor(void);
+#define AO_MONITORING_OFF 0
+#define AO_MONITORING_ORIG 1
+#define AO_MONITORING_TINY 2
+
void
ao_set_monitor(uint8_t monitoring);
char (*pollchar)(void);
void (*putchar)(char c) __reentrant;
void (*flush)(void);
+ uint8_t echo;
};
+extern __xdata struct ao_stdio ao_stdios[];
+extern __data int8_t ao_cur_stdio;
+extern __data int8_t ao_num_stdios;
+
void
flush(void);
extern __xdata uint8_t ao_stdin_ready;
-void
+uint8_t
+ao_echo(void);
+
+int8_t
ao_add_stdio(char (*pollchar)(void),
void (*putchar)(char) __reentrant,
- void (*flush)(void));
+ void (*flush)(void)) __reentrant;
/*
* ao_ignite.c
ao_packet_slave_stop(void);
void
-ao_packet_slave_init(void);
+ao_packet_slave_init(uint8_t enable);
+
+/* ao_btm.c */
+
+/* If bt_link is on P2, this interrupt is shared by USB, so the USB
+ * code calls this function. Otherwise, it's a regular ISR.
+ */
+
+void
+ao_btm_isr(void)
+#if BT_LINK_ON_P1
+ __interrupt 15
+#endif
+ ;
+
+
+void
+ao_btm_init(void);
#endif /* _AO_H_ */
projects / fw / altos / blobdiff