#ifndef DATA_TO_XDATA
#define DATA_TO_XDATA(a) (a)
#endif
+#ifndef PDATA_TO_XDATA
+#define PDATA_TO_XDATA(a) (a)
+#endif
+#ifndef CODE_TO_XDATA
+#define CODE_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) ao_arch_naked_declare;
/*
* 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 */
-};
#if HAS_ADC
* 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))
void
ao_usb_init(void);
+#if HAS_USB
+extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
+#endif
+
/*
* ao_cmd.c
*/
void
ao_cmd_put16(uint16_t v);
+uint8_t
+ao_cmd_is_white(void);
+
void
ao_cmd_white(void);
+int8_t
+ao_cmd_hexchar(char c);
+
+void
+ao_cmd_hexbyte(void);
+
void
ao_cmd_hex(void);
};
void
-ao_cmd_register(__code struct ao_cmds *cmds);
+ao_cmd_register(const __code struct ao_cmds *cmds);
void
ao_cmd_init(void);
ao_serial_init(void);
#endif
+#ifndef HAS_SERIAL_0
+#define HAS_SERIAL_0 0
+#endif
+
+#if HAS_SERIAL_0
+
+extern volatile __xdata struct ao_fifo ao_usart0_rx_fifo;
+extern volatile __xdata struct ao_fifo ao_usart0_tx_fifo;
+
+void
+ao_serial0_rx0_isr(void) ao_arch_interrupt(2);
+
+void
+ao_serial0_tx0_isr(void) ao_arch_interrupt(7);
+
+char
+ao_serial0_getchar(void) __critical;
+
+void
+ao_serial0_putchar(char c) __critical;
+
+void
+ao_serial0_drain(void) __critical;
+
+void
+ao_serial0_set_speed(uint8_t speed);
+
+void
+ao_serial0_init(void);
+
+#endif
+
+
/*
* ao_spi.c
*/
void
ao_spi_init(void);
+/*
+ * ao_spi_slave.c
+ */
+
+uint8_t
+ao_spi_slave_recv(uint8_t *buf, uint8_t len);
+
+void
+ao_spi_slave_send(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
*/
#define AO_MAX_CALLSIGN 8
#define AO_MAX_VERSION 8
+#if LEGACY_MONITOR
#define AO_MAX_TELEMETRY 128
+#else
+#define AO_MAX_TELEMETRY 32
+#endif
struct ao_telemetry_generic {
uint16_t serial; /* 0 */
/* 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;
+};
+
+struct ao_telemetry_all_recv {
+ union ao_telemetry_all telemetry;
+ int8_t rssi;
+ uint8_t status;
};
/*
/* 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_radio_set_packet(void);
void
-ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
+ao_radio_send(__xdata void *d, uint8_t size) __reentrant;
uint8_t
-ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
+ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
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_all_recv all;
+ 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);
#define AO_MONITORING_OFF 0
#define AO_MONITORING_ORIG 1
-#define AO_MONITORING_TINY 2
void
-ao_set_monitor(uint8_t monitoring);
+ao_monitor_set(uint8_t monitoring);
+
+void
+ao_monitor_disable(void);
void
-ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
+ao_monitor_enable(void);
+
+void
+ao_monitor_init(void) __reentrant;
/*
* ao_stdio.c
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 10
+#define AO_AES_LEN 16
+
+#if HAS_RADIO_CHANNELS
+#define AO_CHANNEL_NAME_LEN 10
+
+#define AO_NUM_CHANNELS 10
+
+struct ao_radio_channel {
+ char name[AO_CHANNEL_NAME_LEN];
+ uint32_t kHz;
+};
+#endif
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 */
+ uint32_t frequency; /* minor version 10 */
+#if HAS_RADIO_CHANNELS
+ struct ao_radio_channel radio_channels[AO_NUM_CHANNELS]; /* minor version 10 */
+#endif
};
#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_putchar(uint8_t d);
+
+void
+ao_lcd_putstring(char *string);
+
+void
+ao_lcd_contrast_set(uint8_t contrast);
+
+void
+ao_lcd_clear(void);
+
+void
+ao_lcd_cursor_on(void);
+
+void
+ao_lcd_cursor_off(void);
+
+#define AO_LCD_ADDR(row,col) ((row << 6) | (col))
+
+void
+ao_lcd_goto(uint8_t addr);
+
+void
+ao_lcd_start(void);
+
+void
+ao_lcd_init(void);
+
+/* ao_lcd_port.c */
+
+void
+ao_lcd_port_put_nibble(uint8_t rs, uint8_t d);
+
+void
+ao_lcd_port_init(void);
+
+/* ao_aes.c */
+
+extern __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
+
+#ifndef ao_xmemcpy
+#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
+#define ao_xmemset(d,v,c) memset(d,v,c)
+#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
+#endif
+
+/*
+ * ao_terraui.c
+ */
+
+void
+ao_terraui_init(void);
+
+/*
+ * ao_battery.c
+ */
+
+#ifdef BATTERY_PIN
+void
+ao_battery_isr(void) ao_arch_interrupt(1);
+
+uint16_t
+ao_battery_get(void);
+
+void
+ao_battery_init(void);
+#endif /* BATTERY_PIN */
+
+/*
+ * ao_sqrt.c
+ */
+
+uint32_t
+ao_sqrt(uint32_t op);
+
+/*
+ * ao_freq.c
+ */
+
+int32_t ao_freq_to_set(int32_t freq, int32_t cal);
+
#endif /* _AO_H_ */
projects / fw / altos / blobdiff