struct ao_task {
__xdata void *wchan; /* current wait channel (NULL if running) */
uint16_t alarm; /* abort ao_sleep time */
+ ao_arch_task_members /* any architecture-specific fields */
uint8_t task_id; /* unique id */
__code char *name; /* task name */
- ao_arch_task_members /* any architecture-specific fields */
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) ao_arch_naked_declare;
void
ao_cmd_white(void);
+int8_t
+ao_cmd_hexchar(char c);
+
+void
+ao_cmd_hexbyte(void);
+
void
ao_cmd_hex(void);
/* 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;
};
/*
/* 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);
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);
*/
#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
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);
+
#endif /* _AO_H_ */