/* 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)
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_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;
-#ifdef USE_KALMAN
-extern __pdata int16_t ao_ground_height;
-extern __pdata int32_t ao_k_max_height;
-extern __pdata int32_t ao_k_height;
-extern __pdata int32_t ao_k_speed;
-extern __pdata int32_t ao_k_accel;
-#endif
/* Flight thread */
void
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);
#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;
* ao_telemetry.c
*/
-#define AO_MAX_CALLSIGN 8
-#define AO_TELEMETRY_VERSION 3
+#define AO_MAX_CALLSIGN 8
struct ao_telemetry {
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;
void
ao_monitor(void);
+#define AO_MONITORING_OFF 0
+#define AO_MONITORING_FULL 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;
+uint8_t
+ao_echo(void);
+
void
ao_add_stdio(char (*pollchar)(void),
void (*putchar)(char) __reentrant,
- void (*flush)(void));
+ void (*flush)(void)) __reentrant;
/*
* ao_ignite.c
void
ao_packet_slave_init(uint8_t enable);
+/* ao_btm.c */
+
+void
+ao_btm_init(void);
+
#endif /* _AO_H_ */
projects / fw / altos / blobdiff