X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao.h;h=bbf358e971dc1328fc8cb30db69d2fb77458c8d9;hp=853738b29171358967c0a80b931bcefa6d529b66;hb=c4e983daa4579896b227fdcb2be43fad75e94307;hpb=022f83ca6fd589005d8eb3e25e633950fef69fa7

diff --git a/ao.h b/ao.h
index 853738b2..bbf358e9 100644
--- a/ao.h
+++ b/ao.h
@@ -29,7 +29,7 @@
 /* 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	0x6f
+#define AO_STACK_START	0x62
 #define AO_STACK_END	0xfe
 #define AO_STACK_SIZE	(AO_STACK_END - AO_STACK_START + 1)
 
@@ -38,6 +38,7 @@ struct ao_task {
 	__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 */
 };
 
@@ -64,7 +65,11 @@ ao_yield(void) _naked;
 
 /* Add a task to the run queue */
 void
-ao_add_task(__xdata struct ao_task * task, void (*start)(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);
 
 /* Start the scheduler. This will not return */
 void
@@ -472,15 +477,15 @@ enum ao_flight_state {
 	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;
+extern __xdata struct ao_adc		ao_flight_data;
+extern __pdata enum flight_state	ao_flight_state;
+extern __pdata uint16_t			ao_flight_tick;
+extern __pdata int16_t			ao_flight_accel;
+extern __pdata int16_t			ao_flight_pres;
+extern __pdata int16_t			ao_ground_pres;
+extern __pdata int16_t			ao_ground_accel;
+extern __pdata int16_t			ao_min_pres;
+extern __pdata uint16_t			ao_launch_time;
 
 /* Flight thread */
 void
@@ -580,6 +585,37 @@ ao_serial_init(void);
  * ao_gps.c
  */
 
+struct ao_gps_pos {
+	uint8_t	degrees;
+	uint8_t	minutes;
+	uint16_t minutes_fraction;	/* in units of 1/10000 minutes */
+};
+
+#define AO_GPS_NUM_SAT_MASK	(0xf << 0)
+#define AO_GPS_NUM_SAT_SHIFT	(0)
+
+#define AO_GPS_VALID		(1 << 4)
+#define AO_GPS_LONGITUDE_MASK	(1 << 5)
+#define AO_GPS_LONGITUDE_EAST	(0 << 5)
+#define AO_GPS_LONGITUDE_WEST	(1 << 5)
+
+#define AO_GPS_LATITUDE_MASK	(1 << 6)
+#define AO_GPS_LATITUDE_NORTH	(0 << 6)
+#define AO_GPS_LATITUDE_SOUTH	(1 << 6)
+
+struct ao_gps_data {
+	uint8_t			hour;
+	uint8_t			minute;
+	uint8_t			second;
+	uint8_t			flags;
+	struct ao_gps_pos	latitude;
+	struct ao_gps_pos	longitude;
+	int16_t			altitude;
+};
+
+extern __xdata uint8_t ao_gps_mutex;
+extern __xdata struct ao_gps_data ao_gps_data;
+
 void
 ao_gps(void);