#include <string.h>
#include <stddef.h>
#include "cc1111.h"
+#include "ao_pins.h"
#define TRUE 1
#define FALSE 0
/* 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)
/* An AltOS task */
struct ao_task {
__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 */
};
ao_task.c
*/
-/* Suspend the current task until wchan is awoken */
-void
+/* Suspend the current task until wchan is awoken.
+ * returns:
+ * 0 on normal wake
+ * 1 on alarm
+ */
+uint8_t
ao_sleep(__xdata void *wchan);
/* Wake all tasks sleeping on wchan */
void
ao_wakeup(__xdata void *wchan);
+/* set an alarm to go off in 'delay' ticks */
+void
+ao_alarm(uint16_t delay);
+
/* Yield the processor to another task */
void
-ao_yield(void) _naked;
+ao_yield(void) __naked;
/* Add a task to the run queue */
void
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+/* Terminate the current task */
+void
+ao_exit(void);
+
/* Dump task info to console */
void
ao_task_info(void);
#define AO_PANIC_EE 4 /* Mis-using eeprom API */
#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) */
+#define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
/* 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
/* Timer interrupt */
void
-ao_timer_isr(void) interrupt 9;
+ao_timer_isr(void) __interrupt 9;
/* Initialize the timer */
void
ao_clock_init(void);
/*
- * ao_adc.c
- */
-
-#define AO_ADC_RING 64
-#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
+
+#if HAS_ACCEL
+#ifndef HAS_ACCEL_REF
+#error Please define HAS_ACCEL_REF
+#endif
+#else
+#define HAS_ACCEL_REF 0
+#endif
+
+/*
+ * 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
*/
extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
extern volatile __data uint8_t ao_adc_head;
+#if HAS_ACCEL_REF
+extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
+#endif
/* Trigger a conversion sequence (called from the timer interrupt) */
void
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
+ao_adc_isr(void) __interrupt 1;
/* 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
void
ao_led_init(uint8_t enable);
+/*
+ * ao_romconfig.c
+ */
+
+#define AO_ROMCONFIG_VERSION 2
+
+extern __code __at (0x00a0) uint16_t ao_romconfig_version;
+extern __code __at (0x00a2) uint16_t ao_romconfig_check;
+extern __code __at (0x00a4) uint16_t ao_serial_number;
+extern __code __at (0x00a6) uint32_t ao_radio_cal;
+
+#ifndef HAS_USB
+#error Please define HAS_USB
+#endif
+
+#if HAS_USB
+extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
+#endif
+
/*
* ao_usb.c
*/
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);
+#if HAS_USB
/* USB interrupt handler */
void
-ao_usb_isr(void) interrupt 6;
+ao_usb_isr(void) __interrupt 6;
+#endif
/* Enable the USB controller */
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);
const char *help;
};
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
*/
-/* Allocate a DMA channel. the 'done' parameter will be set to 1
- * when the dma is finished and will be used to wakeup any waiters
+/* Allocate a DMA channel. the 'done' parameter will be set when the
+ * dma is finished and will be used to wakeup any waiters
*/
+
uint8_t
ao_dma_alloc(__xdata uint8_t * done);
/* DMA interrupt routine */
void
-ao_dma_isr(void) interrupt 8;
+ao_dma_isr(void) __interrupt 8;
/*
* ao_mutex.c
ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
/*
- * ao_ee.c
+ * Storage interface, provided by one of the eeprom or flash
+ * drivers
*/
-/*
- * We reserve the last block on the device for
- * configuration space. Writes and reads in this
- * area return errors.
- */
+/* Total bytes of available storage */
+extern __xdata uint32_t ao_storage_total;
+
+/* Block size - device is erased in these units. At least 256 bytes */
+extern __xdata uint32_t ao_storage_block;
+
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+extern __xdata 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;
-#define AO_EE_BLOCK_SIZE ((uint16_t) (256))
-#define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
-#define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
-#define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
+#define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
+/* Initialize above values. Can only be called once the OS is running */
void
-ao_ee_flush(void) __reentrant;
+ao_storage_setup(void) __reentrant;
-/* Write to the eeprom */
+/* Write data. Returns 0 on failure, 1 on success */
uint8_t
-ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
+ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-/* Read from the eeprom */
+/* Read data. Returns 0 on failure, 1 on success */
uint8_t
-ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
+ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
-/* Write the config block (at the end of the eeprom) */
+/* Erase a block of storage. This always clears ao_storage_block bytes */
uint8_t
-ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
+ao_storage_erase(uint32_t pos) __reentrant;
+
+/* Flush any pending writes to stable storage */
+void
+ao_storage_flush(void) __reentrant;
+
+/* Initialize the storage code */
+void
+ao_storage_init(void);
-/* Read the config block (at the end of the eeprom) */
+/*
+ * Low-level functions wrapped by ao_storage.c
+ */
+
+/* Read data within a storage unit */
+uint8_t
+ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
+
+/* Write data within a storage unit */
uint8_t
-ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
+ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
+
+/* Initialize low-level device bits */
+void
+ao_storage_device_init(void);
-/* Initialize the EEPROM code */
+/* Print out information about flash chips */
void
-ao_ee_init(void);
+ao_storage_device_info(void) __reentrant;
/*
* 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.
#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;
+ uint8_t extra;
+ } gps_date;
struct {
uint16_t d0;
uint16_t d1;
};
/* Write a record to the eeprom log */
-void
-ao_log_data(struct ao_log_record *log);
-
-/* Flush the log */
-void
-ao_log_flush(void);
-
-/* Log dumping API:
- * ao_log_dump_first() - get first log record
- * ao_log_dump_next() - get next log record
- */
-extern __xdata struct ao_log_record ao_log_dump;
-
-/* Retrieve first log record for the current flight */
-uint8_t
-ao_log_dump_first(void);
-
-/* return next log record for the current flight */
uint8_t
-ao_log_dump_next(void);
-
-/* 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);
+ao_log_data(__xdata struct ao_log_record *log) __reentrant;
/*
* ao_flight.c
ao_flight_invalid = 9
};
-extern __xdata struct ao_adc ao_flight_data;
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;
/* 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
*/
* ao_serial.c
*/
-#if !AO_NO_SERIAL_ISR
+#ifndef HAS_SERIAL_1
+#error Please define HAS_SERIAL_1
+#endif
+
+#if HAS_SERIAL_1
+#ifndef USE_SERIAL_STDIN
+#error Please define USE_SERIAL_STDIN
+#endif
+
void
-ao_serial_rx1_isr(void) interrupt 3;
+ao_serial_rx1_isr(void) __interrupt 3;
void
-ao_serial_tx1_isr(void) interrupt 14;
-#endif
+ao_serial_tx1_isr(void) __interrupt 14;
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_serial_init(void);
+#endif
+
+/*
+ * ao_spi.c
+ */
+
+void
+ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
+
+void
+ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
+
+void
+ao_spi_init(void);
/*
* 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;
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_GPS_TRACKING 12
+
struct ao_gps_tracking_data {
uint8_t channels;
- struct ao_gps_sat_data sats[12];
+ struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
};
extern __xdata uint8_t ao_gps_mutex;
* ao_telemetry.c
*/
-#define AO_MAX_CALLSIGN 8
+#define AO_MAX_CALLSIGN 8
struct ao_telemetry {
- uint8_t addr;
+ 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;
char callsign[AO_MAX_CALLSIGN];
struct ao_gps_tracking_data 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];
+};
+
+/*
+ * 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_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_tiny_init(void);
+
/*
* ao_radio.c
*/
+extern __xdata uint8_t ao_radio_dma;
+extern __xdata uint8_t ao_radio_dma_done;
+extern __xdata uint8_t ao_radio_done;
+extern __xdata uint8_t ao_radio_mutex;
+
void
-ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
+ao_radio_general_isr(void) __interrupt 16;
-struct ao_radio_recv {
- struct ao_telemetry telemetry;
- int8_t rssi;
- uint8_t status;
-};
+void
+ao_radio_get(uint8_t len);
+
+#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
void
-ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
+ao_radio_set_packet(void);
+
+void
+ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
+
+uint8_t
+ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
+
+void
+ao_radio_recv_abort(void);
void
ao_radio_rdf(int ms);
void
ao_radio_rdf_abort(void);
+void
+ao_radio_idle(void);
+
void
ao_radio_init(void);
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);
* ao_stdio.c
*/
+#define AO_READ_AGAIN ((char) -1)
+
+struct ao_stdio {
+ 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)) __reentrant;
+
/*
* ao_ignite.c
*/
*/
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 0
+#define AO_CONFIG_MINOR 4
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; /* minor version 1 */
+ int16_t accel_minus_g; /* minor version 2 */
+ uint32_t radio_cal; /* minor version 3 */
+ uint32_t flight_log_max; /* minor version 4 */
};
extern __xdata struct ao_config ao_config;
+#define AO_CONFIG_MAX_SIZE 128
+
void
ao_config_get(void);
+void
+ao_config_put(void);
+
void
ao_config_init(void);
* each instance of a product
*/
-extern const uint8_t ao_usb_descriptors [];
-extern const uint16_t ao_serial_number;
extern const char ao_version[];
extern const char ao_manufacturer[];
extern const char ao_product[];
* Packet-based command interface
*/
-#define AO_PACKET_MAX 32
-#define AO_PACKET_WIN 256
-
-#define AO_PACKET_FIN (1 << 0)
-#define AO_PACKET_SYN (1 << 1)
-#define AO_PACKET_RST (1 << 2)
-#define AO_PACKET_ACK (1 << 3)
+#define AO_PACKET_MAX 64
+#define AO_PACKET_SYN (uint8_t) 0xff
struct ao_packet {
uint8_t addr;
- uint8_t flags;
- uint16_t seq;
- uint16_t ack;
- uint16_t window;
uint8_t len;
+ uint8_t seq;
+ uint8_t ack;
uint8_t d[AO_PACKET_MAX];
+ uint8_t callsign[AO_MAX_CALLSIGN];
};
-uint8_t
-ao_packet_connect(uint8_t dest);
+struct ao_packet_recv {
+ struct ao_packet packet;
+ int8_t rssi;
+ uint8_t status;
+};
+
+extern __xdata struct ao_packet_recv ao_rx_packet;
+extern __xdata struct ao_packet ao_tx_packet;
+extern __xdata struct ao_task ao_packet_task;
+extern __xdata uint8_t ao_packet_enable;
+extern __xdata uint8_t ao_packet_master_sleeping;
+extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
+
+void
+ao_packet_send(void);
uint8_t
-ao_packet_accept(void);
+ao_packet_recv(void);
+
+void
+ao_packet_flush(void);
+
+void
+ao_packet_putchar(char c) __reentrant;
+
+char
+ao_packet_pollchar(void) __critical;
+
+/* ao_packet_master.c */
-int
-ao_packet_send(uint8_t *data, int len);
+void
+ao_packet_master_init(void);
+
+/* ao_packet_slave.c */
+
+void
+ao_packet_slave_start(void);
+
+void
+ao_packet_slave_stop(void);
+
+void
+ao_packet_slave_init(uint8_t enable);
-int
-ao_packet_recv(uint8_t *data, int len);
+/* ao_btm.c */
void
-ao_packet_init(void);
+ao_btm_init(void);
#endif /* _AO_H_ */
projects / fw / altos / blobdiff