/* 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)
#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
*/
*/
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
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
void
ao_usb_flush(void);
+#if HAS_USB
/* USB interrupt handler */
void
ao_usb_isr(void) __interrupt 6;
+#endif
/* Enable the USB controller */
void
ao_match_word(__code char *word);
struct ao_cmds {
- char cmd;
void (*func)(void);
const char *help;
};
/* 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);
-
/*
* ao_flight.c
*/
ao_flight_invalid = 9
};
-extern __xdata struct ao_adc ao_flight_data;
+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 __xdata 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;
+extern __pdata int16_t ao_ground_height;
+extern __pdata int16_t ao_max_height;
+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 */
+
+#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))
/* Flight thread */
void
#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 {
- 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_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
*/
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
*/
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_telemetry(void);
-
void
ao_radio_set_packet(void);
-void
-ao_radio_set_rdf(void);
-
void
ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
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);
* each instance of a product
*/
-extern __code __at(0x00aa) uint8_t ao_usb_descriptors [];
extern const char ao_version[];
extern const char ao_manufacturer[];
extern const char ao_product[];
ao_packet_slave_stop(void);
void
-ao_packet_slave_init(void);
+ao_packet_slave_init(uint8_t enable);
#endif /* _AO_H_ */
projects / fw / altos / blobdiff