X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao.h;h=20c2458cd87fc72766117784c25967120d3f409f;hp=fdf6b027bd46e57ff257d758574a550c42c188e1;hb=ed6f67dc47d750d5ff8bea63ae7cbb560689b9b6;hpb=e14f07bfdb8824fc7ed6df1129c66ee39ffd6d54 diff --git a/ao.h b/ao.h index fdf6b027..20c2458c 100644 --- a/ao.h +++ b/ao.h @@ -23,62 +23,574 @@ #include #include "cc1111.h" +/* Convert a __data pointer into an __xdata pointer */ #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00)) -#define AO_STACK_START 0x27 +/* 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 0x62 #define AO_STACK_END 0xfe #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) +/* An AltOS task */ struct ao_task { - __xdata void *wchan; - uint8_t stack[AO_STACK_SIZE]; - uint8_t stack_count; + __xdata void *wchan; /* current wait channel (NULL if running) */ + uint8_t stack_count; /* amount of saved stack */ + uint8_t task_id; /* index in the task array */ + __code char *name; /* task name */ + uint8_t stack[AO_STACK_SIZE]; /* saved stack */ }; -#define AO_NUM_TASKS 10 +extern __xdata struct ao_task *__data ao_cur_task; + +#define AO_NUM_TASKS 10 /* maximum number of tasks */ +#define AO_NO_TASK 0 /* no task id */ + +/* + ao_task.c + */ + +/* Suspend the current task until wchan is awoken */ +int +ao_sleep(__xdata void *wchan); + +/* Wake all tasks sleeping on wchan */ +int +ao_wakeup(__xdata void *wchan); + +/* Yield the processor to another task */ +void +ao_yield(void) _naked; + +/* Add a task to the run queue */ +void +ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name); + +/* Dump task info to console */ +void +ao_task_info(void); -#define AO_ERROR_NO_TASK 1 +/* Start the scheduler. This will not return */ +void +ao_start_scheduler(void); -#define ao_interrupt_disable() (EA = 0) -#define ao_interrupt_enable() (EA = 1) +/* + * ao_panic.c + */ + +#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */ +#define AO_PANIC_DMA 2 /* Attempt to start DMA while active */ +#define AO_PANIC_MUTEX 3 /* Mis-using mutex API */ +#define AO_PANIC_EE 4 /* Mis-using eeprom API */ +#define AO_PANIC_LOG 5 /* Failing to read/write log data */ + +/* Stop the operating system, beeping and blinking the reason */ +void +ao_panic(uint8_t reason); + +/* + * ao_timer.c + */ + +/* Our timer runs at 100Hz */ +#define AO_MS_TO_TICKS(ms) ((ms) / 10) +#define AO_SEC_TO_TICKS(s) ((s) * 100) -/* ao_task.c */ -int ao_sleep(__xdata void *wchan); -int ao_wakeup(__xdata void *wchan); -void ao_add_task(__xdata struct ao_task * task, void (*start)(void)); -void ao_start_scheduler(void); -void ao_yield(void) _naked; -void ao_panic(uint8_t reason); +/* Returns the current time in ticks */ +uint16_t +ao_time(void); -/* ao_timer.c */ +/* Suspend the current task until ticks time has passed */ +void +ao_delay(uint16_t ticks); -volatile __data uint16_t ao_time; +/* Timer interrupt */ +void +ao_timer_isr(void) interrupt 9; -void ao_timer_isr(void) interrupt 9; -void ao_timer_init(void); -uint16_t ao_time_atomic(void); -void ao_delay(uint16_t ticks); +/* Initialize the timer */ +void +ao_timer_init(void); -/* ao_adc.c */ +/* + * ao_adc.c + */ -#define ADC_RING 32 +#define AO_ADC_RING 128 +/* + * One set of samples read from the A/D converter + */ struct ao_adc { - uint16_t tick; - int16_t accel; - int16_t pres; - int16_t temp; - int16_t v_batt; - int16_t sense_d; - int16_t sense_m; + 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 */ }; -extern __xdata struct ao_adc ao_adc_ring[ADC_RING]; -extern __data uint8_t ao_adc_head; +/* + * A/D data is stored in a ring, with the next sample to be written + * at ao_adc_head + */ +extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; +extern volatile __data uint8_t ao_adc_head; + +/* Trigger a conversion sequence (called from the timer interrupt) */ +void +ao_adc_poll(void); + +/* Suspend the current task until another A/D sample is converted */ +void +ao_adc_sleep(void); + +/* Get a copy of the last complete A/D sample set */ +void +ao_adc_get(__xdata struct ao_adc *packet); + +/* The A/D interrupt handler */ +void +ao_adc_isr(void) interrupt 1; + +/* Initialize the A/D converter */ +void +ao_adc_init(void); + +/* + * ao_beep.c + */ + +/* + * Various pre-defined beep frequencies + * + * frequency = 1/2 (24e6/32) / beep + */ + +#define AO_BEEP_LOW 150 /* 2500Hz */ +#define AO_BEEP_MID 94 /* 3989Hz */ +#define AO_BEEP_HIGH 75 /* 5000Hz */ +#define AO_BEEP_OFF 0 /* off */ + +#define AO_BEEP_g 240 /* 1562.5Hz */ +#define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */ +#define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */ +#define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */ +#define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */ +#define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */ +#define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */ +#define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */ +#define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */ +#define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */ +#define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */ +#define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */ +#define AO_BEEP_gg 120 /* 3125Hz */ +#define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */ +#define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */ +#define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */ +#define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */ +#define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */ +#define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */ +#define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */ +#define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */ +#define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */ +#define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */ +#define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */ +#define AO_BEEP_ggg 60 /* 6250Hz */ + +/* Set the beeper to the specified tone */ +void +ao_beep(uint8_t beep); + +/* Turn on the beeper for the specified time */ +void +ao_beep_for(uint8_t beep, uint16_t ticks); + +/* Initialize the beeper */ +void +ao_beep_init(void); + +/* + * ao_led.c + */ + +#define AO_LED_NONE 0 +#define AO_LED_GREEN 1 +#define AO_LED_RED 2 + +/* Turn on the specified LEDs */ +void +ao_led_on(uint8_t colors); + +/* Turn off the specified LEDs */ +void +ao_led_off(uint8_t colors); + +/* Set all of the LEDs to the specified state */ +void +ao_led_set(uint8_t colors); + +/* Turn on the specified LEDs for the indicated interval */ +void +ao_led_for(uint8_t colors, uint16_t ticks); + +/* Initialize the LEDs */ +void +ao_led_init(void); + +/* + * ao_usb.c + */ + +/* Put one character to the USB output queue */ +void +ao_usb_putchar(uint8_t c); + +/* Get one character from the USB input queue */ +uint8_t +ao_usb_getchar(void); + +/* Flush the USB output queue */ +void +ao_usb_flush(void); + +/* USB interrupt handler */ +void +ao_usb_isr(void) interrupt 6; + +/* Initialize the USB system */ +void +ao_usb_init(void); + +/* + * ao_cmd.c + */ +void +ao_cmd_init(void); + +/* + * ao_dma.c + */ + +/* Allocate a DMA channel. the 'done' parameter will be set to 1 + * when the dma is finished and will be used to wakeup any waiters + */ +uint8_t +ao_dma_alloc(__xdata uint8_t * done); + +/* Setup a DMA channel */ +void +ao_dma_set_transfer(uint8_t id, + void __xdata *srcaddr, + void __xdata *dstaddr, + uint16_t count, + uint8_t cfg0, + uint8_t cfg1); + +/* Start a DMA channel */ +void +ao_dma_start(uint8_t id); + +/* Manually trigger a DMA channel */ +void +ao_dma_trigger(uint8_t id); + +/* Abort a running DMA transfer */ +void +ao_dma_abort(uint8_t id); + +/* DMA interrupt routine */ +void +ao_dma_isr(void) interrupt 8; + +/* + * ao_mutex.c + */ + +void +ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; + +void +ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; + +/* + * ao_ee.c + */ + +/* + * We reserve the last block on the device for + * configuration space. Writes and reads in this + * area return errors. + */ + +#define AO_EE_BLOCK_SIZE ((uint16_t) (256)) +#define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024) +#define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE) +#define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE)) + +void +ao_ee_flush(void) __reentrant; + +/* Write to the eeprom */ +uint8_t +ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant; + +/* Read from the eeprom */ +uint8_t +ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant; + +/* Write the config block (at the end of the eeprom) */ +uint8_t +ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant; + +/* Read the config block (at the end of the eeprom) */ +uint8_t +ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant; + +/* Initialize the EEPROM code */ +void +ao_ee_init(void); + +/* + * ao_log.c + */ + +/* + * The data log is recorded in the eeprom as a sequence + * of data packets. + * + * Each packet starts with a 4-byte header that has the + * packet type, the packet checksum and the tick count. Then + * they all contain 2 16 bit values which hold packet-specific + * data. + * + * For each flight, the first packet + * is FLIGHT packet, indicating the serial number of the + * device and a unique number marking the number of flights + * recorded by this device. + * + * During flight, data from the accelerometer and barometer + * are recorded in SENSOR packets, using the raw 16-bit values + * read from the A/D converter. + * + * Also during flight, but at a lower rate, the deployment + * sensors are recorded in DEPLOY packets. The goal here is to + * detect failure in the deployment circuits. + * + * STATE packets hold state transitions as the flight computer + * transitions through different stages of the flight. + */ +#define AO_LOG_FLIGHT 'F' +#define AO_LOG_SENSOR 'A' +#define AO_LOG_TEMP_VOLT 'T' +#define AO_LOG_DEPLOY 'D' +#define AO_LOG_STATE 'S' + +#define AO_LOG_POS_NONE (~0UL) + +struct ao_log_record { + uint8_t type; + uint8_t csum; + uint16_t tick; + union { + struct { + uint16_t serial; + uint16_t flight; + } flight; + struct { + int16_t accel; + int16_t pres; + } sensor; + struct { + int16_t temp; + int16_t v_batt; + } temp_volt; + struct { + int16_t drogue; + int16_t main; + } deploy; + struct { + uint16_t state; + uint16_t reason; + } state; + struct { + uint16_t d0; + uint16_t d1; + } anon; + } u; +}; + +/* Write a record to the eeprom log */ +void +ao_log_data(struct ao_log_record *log); + +/* Flush the log */ +void +ao_log_flush(void); + +/* Log dumping API: + * ao_log_dump_first() - get first log record + * ao_log_dump_next() - get next log record + */ +extern __xdata struct ao_log_record ao_log_dump; + +/* Retrieve first log record for the current flight */ +uint8_t +ao_log_dump_first(void); + +/* return next log record for the current flight */ +uint8_t +ao_log_dump_next(void); + +/* 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); + +/* + * ao_flight.c + */ + +enum ao_flight_state { + ao_flight_startup, + ao_flight_idle, + ao_flight_launchpad, + ao_flight_boost, + ao_flight_coast, + ao_flight_apogee, + ao_flight_drogue, + ao_flight_main, + ao_flight_landed, + ao_flight_invalid +}; + +extern __xdata struct ao_adc ao_flight_data; +extern __data enum flight_state ao_flight_state; +extern __data uint16_t ao_flight_tick; +extern __data int16_t ao_flight_accel; +extern __data int16_t ao_flight_pres; +extern __data int16_t ao_ground_pres; +extern __data int16_t ao_ground_accel; +extern __data int16_t ao_min_pres; +extern __data uint16_t ao_launch_time; + +/* Flight thread */ +void +ao_flight(void); + +/* Initialize flight thread */ +void +ao_flight_init(void); + +/* + * ao_report.c + */ + +void +ao_report_notify(void); + +void +ao_report_init(void); + +/* + * ao_convert.c + * + * Given raw data, convert to SI units + */ + +/* pressure from the sensor to altitude in meters */ +int16_t +ao_pres_to_altitude(int16_t pres) __reentrant; + +int16_t +ao_temp_to_dC(int16_t temp) __reentrant; + +int16_t +ao_accel_to_dm_per_s2(int16_t accel) +{ + return (998 - (accel >> 4)) * 3300 / 2047; +} + +/* + * ao_dbg.c + * + * debug another telemetrum board + */ + +/* Send a byte to the dbg target */ +void +ao_dbg_send_byte(uint8_t byte); + +/* Receive a byte from the dbg target */ +uint8_t +ao_dbg_recv_byte(void); + +/* Start a bulk transfer to/from dbg target memory */ +void +ao_dbg_start_transfer(uint16_t addr); + +/* End a bulk transfer to/from dbg target memory */ +void +ao_dbg_end_transfer(void); + +/* Write a byte to dbg target memory */ +void +ao_dbg_write_byte(uint8_t byte); + +/* Read a byte from dbg target memory */ +uint8_t +ao_dbg_read_byte(void); + +/* Enable dbg mode, switching use of the pins */ +void +ao_dbg_debug_mode(void); + +/* Reset the dbg target */ +void +ao_dbg_reset(void); + +/* + * ao_serial.c + */ + +void +ao_serial_rx1_isr(void) interrupt 3; + +void +ao_serial_tx1_isr(void) interrupt 14; + +uint8_t +ao_serial_getchar(void) __critical; + +void +ao_serial_putchar(uint8_t c) __critical; + +void +ao_serial_init(void); + +/* + * ao_gps.c + */ + +void +ao_gps(void); + +void +ao_gps_init(void); -void ao_adc_isr(void) interrupt 1; -void ao_adc_init(void); -void ao_adc_poll(void); -void ao_adc_get(__xdata struct ao_adc *packet); #endif /* _AO_H_ */ +