X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao.h;h=fb06df06aeef473fbce7374be20490d92067a1b3;hp=b10f1b34c1d2502cdd60c0252da5bfcc00447830;hb=e9584e846b9bd7926d61451d32ba5d7a30416f7b;hpb=f155333ae18a25068644792e8940269d9fb28033 diff --git a/ao.h b/ao.h index b10f1b34..fb06df06 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 0x68 +#define AO_STACK_START 0x80 #define AO_STACK_END 0xfe #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) @@ -65,7 +65,7 @@ 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); +ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant; /* Dump task info to console */ void @@ -123,6 +123,8 @@ ao_timer_init(void); */ #define AO_ADC_RING 64 +#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) +#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) /* * One set of samples read from the A/D converter @@ -147,7 +149,7 @@ 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); @@ -213,7 +215,7 @@ ao_beep(uint8_t beep); /* Turn on the beeper for the specified time */ void -ao_beep_for(uint8_t beep, uint16_t ticks); +ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant; /* Initialize the beeper */ void @@ -239,13 +241,17 @@ ao_led_off(uint8_t colors); void ao_led_set(uint8_t colors); +/* Toggle the specified LEDs */ +void +ao_led_toggle(uint8_t colors); + /* Turn on the specified LEDs for the indicated interval */ void -ao_led_for(uint8_t colors, uint16_t ticks); +ao_led_for(uint8_t colors, uint16_t ticks) __reentrant; /* Initialize the LEDs */ void -ao_led_init(void); +ao_led_init(uint8_t enable); /* * ao_usb.c @@ -253,10 +259,10 @@ ao_led_init(void); /* Put one character to the USB output queue */ void -ao_usb_putchar(uint8_t c); +ao_usb_putchar(char c); /* Get one character from the USB input queue */ -uint8_t +char ao_usb_getchar(void); /* Flush the USB output queue */ @@ -267,6 +273,14 @@ ao_usb_flush(void); void ao_usb_isr(void) interrupt 6; +/* Enable the USB controller */ +void +ao_usb_enable(void); + +/* Disable the USB controller */ +void +ao_usb_disable(void); + /* Initialize the USB system */ void ao_usb_init(void); @@ -282,7 +296,7 @@ enum ao_cmd_status { }; extern __xdata uint16_t ao_cmd_lex_i; -extern __xdata uint8_t ao_cmd_lex_c; +extern __xdata char ao_cmd_lex_c; extern __xdata enum ao_cmd_status ao_cmd_status; void @@ -300,8 +314,11 @@ ao_cmd_white(void); void ao_cmd_hex(void); +void +ao_cmd_decimal(void); + struct ao_cmds { - uint8_t cmd; + char cmd; void (*func)(void); const char *help; }; @@ -317,7 +334,7 @@ ao_cmd_init(void); */ /* 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 + * when the dma is finished and will be used to wakeup any waiters */ uint8_t ao_dma_alloc(__xdata uint8_t * done); @@ -415,7 +432,7 @@ struct ao_gps_pos { * 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 @@ -445,12 +462,12 @@ struct ao_gps_pos { #define AO_LOG_POS_NONE (~0UL) struct ao_log_record { - uint8_t type; + char type; uint8_t csum; uint16_t tick; union { struct { - uint16_t serial; + int16_t ground_accel; uint16_t flight; } flight; struct { @@ -544,7 +561,7 @@ enum ao_flight_state { }; extern __xdata struct ao_adc ao_flight_data; -extern __pdata enum flight_state ao_flight_state; +extern __pdata enum ao_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; @@ -579,10 +596,10 @@ int16_t ao_pres_to_altitude(int16_t pres) __reentrant; int16_t -ao_temp_to_dC(int16_t temp) __reentrant; +ao_altitude_to_pres(int16_t alt) __reentrant; int16_t -ao_accel_to_cm_per_s2(int16_t accel) __reentrant; +ao_temp_to_dC(int16_t temp) __reentrant; /* * ao_dbg.c @@ -637,11 +654,11 @@ void ao_serial_tx1_isr(void) interrupt 14; #endif -uint8_t +char ao_serial_getchar(void) __critical; void -ao_serial_putchar(uint8_t c) __critical; +ao_serial_putchar(char c) __critical; void ao_serial_init(void); @@ -684,17 +701,42 @@ ao_gps_print(__xdata struct ao_gps_data *gps_data); void ao_gps_init(void); +/* + * ao_gps_report.c + */ + +void +ao_gps_report(void); + +void +ao_gps_report_init(void); + /* * ao_telemetry.c */ +#define AO_MAX_CALLSIGN 8 + struct ao_telemetry { uint8_t addr; uint8_t flight_state; struct ao_adc adc; struct ao_gps_data gps; + char callsign[AO_MAX_CALLSIGN]; }; +/* Set delay between telemetry reports (0 to disable) */ + +#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) +#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50) +#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) + +void +ao_telemetry_set_interval(uint16_t interval); + +void +ao_rdf_set(uint8_t rdf); + void ao_telemetry_init(void); @@ -707,13 +749,19 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; struct ao_radio_recv { struct ao_telemetry telemetry; - uint8_t rssi; + int8_t rssi; uint8_t status; }; void ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; +void +ao_radio_rdf(void); + +void +ao_radio_rdf_abort(void); + void ao_radio_init(void); @@ -721,11 +769,13 @@ ao_radio_init(void); * ao_monitor.c */ +extern const char const * const ao_state_names[]; + void ao_monitor(void); void -ao_monitor_init(void); +ao_monitor_init(uint8_t led); /* * ao_stdio.c @@ -734,5 +784,66 @@ ao_monitor_init(void); void flush(void); -#endif /* _AO_H_ */ +/* + * ao_ignite.c + */ + +enum ao_igniter { + ao_igniter_drogue = 0, + ao_igniter_main = 1 +}; + +void +ao_ignite(enum ao_igniter igniter); + +enum ao_igniter_status { + ao_igniter_unknown, /* unknown status (ambiguous voltage) */ + ao_igniter_ready, /* continuity detected */ + ao_igniter_active, /* igniter firing */ + ao_igniter_open, /* open circuit detected */ +}; + +enum ao_igniter_status +ao_igniter_status(enum ao_igniter igniter); +void +ao_igniter_init(void); + +/* + * ao_config.c + */ + +#define AO_CONFIG_MAJOR 1 +#define AO_CONFIG_MINOR 0 + +struct ao_config { + uint8_t major; + uint8_t minor; + uint16_t main_deploy; + int16_t accel_zero_g; + uint8_t radio_channel; + char callsign[AO_MAX_CALLSIGN + 1]; +}; + +extern __xdata struct ao_config ao_config; + +void +ao_config_get(void); + +void +ao_config_init(void); + +/* + * ao_product.c + * + * values which need to be defined for + * each instance of a product + */ + +extern const uint8_t ao_usb_descriptors []; +extern const uint16_t ao_serial_number; +extern const char ao_version[]; +extern const char ao_manufacturer[]; +extern const char ao_product[]; + +#endif /* _AO_H_ */