/* 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 */
__code char *name; /* task name */
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);
+/* Wake up a specific task */
+void
+ao_wake_task(__xdata struct ao_task *task);
+
+/* 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;
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 */
/* 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_adc.c
*/
-#define AO_ADC_RING 64
+#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))
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);
void
ao_cmd_decimal(void);
+uint8_t
+ao_match_word(__code char *word);
+
struct ao_cmds {
char cmd;
void (*func)(void);
* 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 or aborted and will be used to
+ * wakeup any waiters
*/
+
+#define AO_DMA_DONE 1
+#define AO_DMA_ABORTED 2
+
uint8_t
ao_dma_alloc(__xdata uint8_t * done);
#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
ao_serial_putchar(char c) __critical;
#define AO_SERIAL_SPEED_4800 0
-#define AO_SERIAL_SPEED_57600 1
+#define AO_SERIAL_SPEED_9600 1
+#define AO_SERIAL_SPEED_57600 2
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)
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];
* 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_general_isr(void) interrupt 16;
+
+void
+ao_radio_set_telemetry(void);
+
+void
+ao_radio_set_packet(void);
+
+void
+ao_radio_set_rdf(void);
+
void
ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
uint8_t status;
};
-void
+uint8_t
ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
void
ao_radio_rdf(int ms);
+void
+ao_radio_abort(void);
+
void
ao_radio_rdf_abort(void);
+void
+ao_radio_idle(void);
+
void
ao_radio_init(void);
* ao_stdio.c
*/
+#define AO_READ_AGAIN ((char) -1)
+
+struct ao_stdio {
+ char (*pollchar)(void);
+ void (*putchar)(char c) __reentrant;
+ void (*flush)(void);
+};
+
void
flush(void);
+extern __xdata uint8_t ao_stdin_ready;
+
+void
+ao_add_stdio(char (*pollchar)(void),
+ void (*putchar)(char) __reentrant,
+ void (*flush)(void));
+
/*
* ao_ignite.c
*/
*/
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 1
+#define AO_CONFIG_MINOR 2
struct ao_config {
uint8_t major;
uint8_t minor;
uint16_t main_deploy;
- int16_t accel_zero_g;
+ int16_t accel_plus_g;
uint8_t radio_channel;
char callsign[AO_MAX_CALLSIGN + 1];
uint8_t apogee_delay;
+ int16_t accel_minus_g;
};
extern __xdata struct ao_config ao_config;
* 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 8
+#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
-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 */
+
+void
+ao_packet_master_init(void);
-int
-ao_packet_send(uint8_t *data, int len);
+/* ao_packet_slave.c */
-int
-ao_packet_recv(uint8_t *data, int len);
+void
+ao_packet_slave_start(void);
+
+void
+ao_packet_slave_stop(void);
void
-ao_packet_init(void);
+ao_packet_slave_init(void);
#endif /* _AO_H_ */
projects / fw / altos / blobdiff