#include <stdio.h>
#include <string.h>
#include <stddef.h>
-#include "cc1111.h"
#include "ao_pins.h"
+#include <ao_arch.h>
#define TRUE 1
#define FALSE 0
/* Convert a __data pointer into an __xdata pointer */
-#define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
-
-/* 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 0x90
-#define AO_STACK_END 0xfe
-#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
+#ifndef DATA_TO_XDATA
+#define DATA_TO_XDATA(a) (a)
+#endif
/* 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 */
+ ao_arch_task_members /* any architecture-specific fields */
uint8_t task_id; /* unique id */
__code char *name; /* task name */
uint8_t stack[AO_STACK_SIZE]; /* saved stack */
void
ao_alarm(uint16_t delay);
+/* Clear any pending alarm */
+void
+ao_clear_alarm(void);
+
/* Yield the processor to another task */
void
-ao_yield(void) __naked;
+ao_yield(void) ao_arch_naked_declare;
/* Add a task to the run queue */
void
/* Timer interrupt */
void
-ao_timer_isr(void) __interrupt 9;
+ao_timer_isr(void) ao_arch_interrupt(9);
/* Initialize the timer */
void
/*
* 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 accel; /* accelerometer */
- int16_t pres; /* pressure sensor */
- int16_t temp; /* temperature sensor */
- int16_t v_batt; /* battery voltage */
- int16_t sense_d; /* drogue continuity sense */
- 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))
/* The A/D interrupt handler */
void
-ao_adc_isr(void) __interrupt 1;
+ao_adc_isr(void) ao_arch_interrupt(1);
/* Initialize the A/D converter */
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
*/
#if HAS_USB
/* USB interrupt handler */
void
-ao_usb_isr(void) __interrupt 6;
+ao_usb_isr(void) ao_arch_interrupt(6);
#endif
/* Enable the USB controller */
void
ao_usb_init(void);
+#if HAS_USB
+extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
+#endif
+
/*
* ao_cmd.c
*/
void
ao_cmd_white(void);
+int8_t
+ao_cmd_hexchar(char c);
+
+void
+ao_cmd_hexbyte(void);
+
void
ao_cmd_hex(void);
/* DMA interrupt routine */
void
-ao_dma_isr(void) __interrupt 8;
+ao_dma_isr(void) ao_arch_interrupt(8);
/*
* ao_mutex.c
#endif
void
-ao_serial_rx1_isr(void) __interrupt 3;
+ao_serial_rx1_isr(void) ao_arch_interrupt(3);
void
-ao_serial_tx1_isr(void) __interrupt 14;
+ao_serial_tx1_isr(void) ao_arch_interrupt(14);
char
ao_serial_getchar(void) __critical;
void
ao_spi_init(void);
+/*
+ * ao_spi_slave.c
+ */
+
+uint8_t
+ao_spi_read(uint8_t *buf, uint8_t len);
+
+void
+ao_spi_write(uint8_t *buf, uint8_t len);
+
+void
+ao_spi_slave_init(void);
+
+/* This must be defined by the product; it will get called when chip
+ * select goes low, at which point it should use ao_spi_read and
+ * ao_spi_write to deal with the request
+ */
+
+void
+ao_spi_slave(void);
+
/*
* ao_telemetry.c
*/
/* 32 */
};
+/* #define AO_SEND_ALL_BARO */
+
+#define AO_TELEMETRY_BARO 0x80
+
+/*
+ * This packet allows the full sampling rate baro
+ * data to be captured over the RF link so that the
+ * flight software can be tested using 'real' data.
+ *
+ * Along with this telemetry packet, the flight
+ * code is modified to send full-rate telemetry all the time
+ * and never send an RDF tone; this ensure that the full radio
+ * link is available.
+ */
+struct ao_telemetry_baro {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t samples; /* 5 number samples */
+
+ int16_t baro[12]; /* 6 samples */
+ /* 32 */
+};
+
union ao_telemetry_all {
struct ao_telemetry_generic generic;
struct ao_telemetry_sensor sensor;
struct ao_telemetry_location location;
struct ao_telemetry_satellite satellite;
struct ao_telemetry_companion companion;
+ struct ao_telemetry_baro baro;
};
/*
char callsign[AO_MAX_CALLSIGN];
};
-/*
- * ao_radio_recv tacks on rssi and status bytes
- */
-
-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;
};
+/*
+ * ao_radio_recv tacks on rssi and status bytes
+ */
+
+struct ao_telemetry_raw_recv {
+ uint8_t packet[AO_MAX_TELEMETRY + 2];
+};
+
/* Set delay between telemetry reports (0 to disable) */
+#ifdef AO_SEND_ALL_BARO
+#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
+#else
#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
+#endif
void
ao_telemetry_set_interval(uint16_t interval);
extern __xdata uint8_t ao_radio_mutex;
void
-ao_radio_general_isr(void) __interrupt 16;
+ao_radio_general_isr(void) ao_arch_interrupt(16);
void
ao_radio_get(uint8_t len);
void
ao_radio_recv_abort(void);
+/*
+ * Compute the packet length as follows:
+ *
+ * 2000 bps (for a 1kHz tone)
+ * so, for 'ms' milliseconds, we need
+ * 2 * ms bits, or ms / 4 bytes
+ */
+
+#define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2))
+
void
-ao_radio_rdf(int ms);
+ao_radio_rdf(uint8_t pkt_len);
void
ao_radio_rdf_abort(void);
extern const char const * const ao_state_names[];
+#define AO_MONITOR_RING 8
+
+union ao_monitor {
+ struct ao_telemetry_raw_recv raw;
+ struct ao_telemetry_orig_recv orig;
+ struct ao_telemetry_tiny_recv tiny;
+};
+
+extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
+
+#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
+
+extern __data uint8_t ao_monitoring;
+extern __data uint8_t ao_monitor_head;
+
void
ao_monitor(void);
ao_igniter_open, /* open circuit detected */
};
+struct ao_ignition {
+ uint8_t request;
+ uint8_t fired;
+ uint8_t firing;
+};
+
+extern __xdata struct ao_ignition ao_ignition[2];
+
enum ao_igniter_status
ao_igniter_status(enum ao_igniter igniter);
+extern __pdata uint8_t ao_igniter_present;
+
void
ao_ignite_set_pins(void);
*/
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 8
+#define AO_CONFIG_MINOR 9
+#define AO_AES_LEN 16
struct ao_config {
uint8_t major;
uint8_t pad_orientation; /* minor version 6 */
uint32_t radio_setting; /* minor version 7 */
uint8_t radio_enable; /* minor version 8 */
+ uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
};
#define AO_IGNITE_MODE_DUAL 0
};
extern __pdata uint8_t ao_companion_running;
-extern __xdata struct ao_companion_setup ao_companion_setup;
extern __xdata uint8_t ao_companion_mutex;
+extern __xdata struct ao_companion_command ao_companion_command;
+extern __xdata struct ao_companion_setup ao_companion_setup;
extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
void
ao_companion_init(void);
+/* ao_lcd.c */
+
+void
+ao_lcd_init(void);
+
+/* ao_aes.c */
+
+__xdata uint8_t ao_aes_mutex;
+
+/* AES keys and blocks are 128 bits */
+
+enum ao_aes_mode {
+ ao_aes_mode_cbc_mac
+};
+
+#if HAS_AES
+void
+ao_aes_isr(void) __interrupt 4;
+#endif
+
+void
+ao_aes_set_mode(enum ao_aes_mode mode);
+
+void
+ao_aes_set_key(__xdata uint8_t *in);
+
+void
+ao_aes_zero_iv(void);
+
+void
+ao_aes_run(__xdata uint8_t *in,
+ __xdata uint8_t *out);
+
+void
+ao_aes_init(void);
+
+/* ao_radio_cmac.c */
+
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
+
+#define AO_RADIO_CMAC_OK 0
+#define AO_RADIO_CMAC_LEN_ERROR -1
+#define AO_RADIO_CMAC_CRC_ERROR -2
+#define AO_RADIO_CMAC_MAC_ERROR -3
+#define AO_RADIO_CMAC_TIMEOUT -4
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
+
+void
+ao_radio_cmac_init(void);
+
+/* ao_launch.c */
+
+struct ao_launch_command {
+ uint16_t tick;
+ uint16_t serial;
+ uint8_t cmd;
+ uint8_t channel;
+ uint16_t unused;
+};
+
+#define AO_LAUNCH_QUERY 1
+
+struct ao_launch_query {
+ uint16_t tick;
+ uint16_t serial;
+ uint8_t channel;
+ uint8_t valid;
+ uint8_t arm_status;
+ uint8_t igniter_status;
+};
+
+#define AO_LAUNCH_ARM 2
+#define AO_LAUNCH_FIRE 3
+
+void
+ao_launch_init(void);
+
+/*
+ * ao_log_single.c
+ */
+
+#define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
+#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
+
+#define AO_LOG_TELESCIENCE_NUM_ADC 12
+
+struct ao_log_telescience {
+ uint8_t type;
+ uint8_t csum;
+ uint16_t tick;
+ uint16_t tm_tick;
+ uint8_t tm_state;
+ uint8_t unused;
+ uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
+};
+
+#define AO_LOG_SINGLE_SIZE 32
+
+union ao_log_single {
+ struct ao_log_telescience telescience;
+ union ao_telemetry_all telemetry;
+ uint8_t bytes[AO_LOG_SINGLE_SIZE];
+};
+
+extern __xdata union ao_log_single ao_log_single_write_data;
+extern __xdata union ao_log_single ao_log_single_read_data;
+
+void
+ao_log_single_extra_query(void);
+
+void
+ao_log_single_list(void);
+
+void
+ao_log_single_main(void);
+
+uint8_t
+ao_log_single_write(void);
+
+uint8_t
+ao_log_single_read(uint32_t pos);
+
+void
+ao_log_single_start(void);
+
+void
+ao_log_single_stop(void);
+
+void
+ao_log_single_restart(void);
+
+void
+ao_log_single_set(void);
+
+void
+ao_log_single_delete(void);
+
+void
+ao_log_single_init(void);
+
+void
+ao_log_single(void);
+
+/*
+ * ao_pyro_slave.c
+ */
+
+#define AO_TELEPYRO_NUM_ADC 9
+
#endif /* _AO_H_ */
projects / fw / altos / blobdiff