altos: Calibrate IMU accelerometers too

[fw/altos] / src / core / ao.h

diff --git a/src/core/ao.h b/src/core/ao.h
index 6c790f69046cf7fefb94ac37224a9c6fccca2195..d12f13a08f0f3979e4cbae178b8db33133e9836b 100644 (file)
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -43,8 +43,16 @@
 #define HAS_TASK       1
 #endif
 
+#ifndef AO_PORT_TYPE
+#define AO_PORT_TYPE uint8_t
+#endif
+
+typedef AO_PORT_TYPE ao_port_t;
+
 #if HAS_TASK
 #include <ao_task.h>
+#else
+#include <ao_notask.h>
 #endif
 
 /*
@@ -66,6 +74,8 @@
 #define AO_PANIC_SPI           13      /* SPI communication failure */
 #define AO_PANIC_CRASH         14      /* Processor crashed */
 #define AO_PANIC_BUFIO         15      /* Mis-using bufio API */
+#define AO_PANIC_EXTI          16      /* Mis-using exti API */
+#define AO_PANIC_FAST_TIMER    17      /* Mis-using fast timer API */
 #define AO_PANIC_SELF_TEST_CC1120      0x40 | 1        /* Self test failure */
 #define AO_PANIC_SELF_TEST_HMC5883     0x40 | 2        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU6000     0x40 | 3        /* Self test failure */
@@ -94,7 +104,7 @@ extern volatile __data AO_TICK_TYPE ao_tick_count;
 #define AO_SEC_TO_TICKS(s)     ((s) * AO_HERTZ)
 
 /* Returns the current time in ticks */
-uint16_t
+AO_TICK_TYPE
 ao_time(void);
 
 /* Suspend the current task until ticks time has passed */
@@ -144,6 +154,9 @@ extern __pdata uint32_t ao_cmd_lex_u32;
 extern __pdata char    ao_cmd_lex_c;
 extern __pdata enum ao_cmd_status ao_cmd_status;
 
+void
+ao_put_string(__code char *s);
+
 void
 ao_cmd_lex(void);
 
@@ -169,7 +182,7 @@ void
 ao_cmd_hex(void);
 
 void
-ao_cmd_decimal(void);
+ao_cmd_decimal(void) __reentrant;
 
 /* Read a single hex nibble off stdin. */
 uint8_t
@@ -329,6 +342,10 @@ ao_spi_slave(void);
 #define AO_GPS_DATE_VALID      (1 << 6)
 #define AO_GPS_COURSE_VALID    (1 << 7)
 
+#define AO_GPS_NEW_DATA                1
+#define AO_GPS_NEW_TRACKING    2
+
+extern __xdata uint8_t ao_gps_new;
 extern __pdata uint16_t ao_gps_tick;
 extern __xdata uint8_t ao_gps_mutex;
 extern __xdata struct ao_telemetry_location ao_gps_data;
@@ -374,6 +391,9 @@ ao_gps_print(__xdata struct ao_gps_orig *gps_data);
 void
 ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
 
+void
+ao_gps_show(void) __reentrant;
+
 void
 ao_gps_init(void);
 
@@ -508,6 +528,8 @@ ao_telemetry_tiny_init(void);
 
 extern __xdata uint8_t ao_radio_dma;
 
+extern __xdata int8_t  ao_radio_rssi;
+
 #ifdef PKT_APPEND_STATUS_1_CRC_OK
 #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
 #else
@@ -532,7 +554,7 @@ ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
 
 #if HAS_RADIO_RECV
 uint8_t
-ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
+ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
 
 void
 ao_radio_recv_abort(void);
@@ -686,6 +708,8 @@ struct ao_ignition {
        uint8_t firing;
 };
 
+extern __code char * __code ao_igniter_status_names[];
+
 extern __xdata struct ao_ignition ao_ignition[2];
 
 enum ao_igniter_status
@@ -715,7 +739,7 @@ extern __xdata uint8_t ao_force_freq;
 #endif
 
 #define AO_CONFIG_MAJOR        1
-#define AO_CONFIG_MINOR        14
+#define AO_CONFIG_MINOR        15
 
 #define AO_AES_LEN 16
 
@@ -749,6 +773,11 @@ struct ao_config {
 #if HAS_RADIO_AMP
        uint8_t         radio_amp;              /* minor version 14 */
 #endif
+#if HAS_GYRO
+       uint16_t        accel_zero_along;       /* minor version 15 */
+       uint16_t        accel_zero_across;      /* minor version 15 */
+       uint16_t        accel_zero_through;     /* minor version 15 */
+#endif
 };
 
 #define AO_IGNITE_MODE_DUAL            0