X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao.h;h=fb06df06aeef473fbce7374be20490d92067a1b3;hp=d31928647dbfac5e769107db990ad88871e292b6;hb=e9584e846b9bd7926d61451d32ba5d7a30416f7b;hpb=f3f25a1cec7d2a034aa544569cfd23bea1a996c5 diff --git a/ao.h b/ao.h index d3192864..fb06df06 100644 --- a/ao.h +++ b/ao.h @@ -23,102 +23,827 @@ #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 0x80 #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 */ +void +ao_sleep(__xdata void *wchan); + +/* Wake all tasks sleeping on wchan */ +void +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) __reentrant; + +/* 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 + */ -/* 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); +#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 */ +#define AO_PANIC_CMD 6 /* Too many command sets registered */ -/* ao_timer.c */ +/* Stop the operating system, beeping and blinking the reason */ +void +ao_panic(uint8_t reason); -volatile __data uint16_t ao_time; +/* + * ao_timer.c + */ +/* Our timer runs at 100Hz */ #define AO_MS_TO_TICKS(ms) ((ms) / 10) #define AO_SEC_TO_TICKS(s) ((s) * 100) -void ao_timer_isr(void) interrupt 9; -void ao_timer_init(void); -uint16_t ao_time_atomic(void); -void ao_delay(uint16_t ticks); +/* Returns the current time in ticks */ +uint16_t +ao_time(void); + +/* Suspend the current task until ticks time has passed */ +void +ao_delay(uint16_t ticks); + +/* Set the ADC interval */ +void +ao_timer_set_adc_interval(uint8_t interval) __critical; + +/* Timer interrupt */ +void +ao_timer_isr(void) interrupt 9; -/* ao_adc.c */ +/* Initialize the timer */ +void +ao_timer_init(void); + +/* + * ao_adc.c + */ -#define ADC_RING 32 +#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 + */ 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 volatile __xdata struct ao_adc ao_adc_ring[ADC_RING]; +/* + * 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; -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); +/* Trigger a conversion sequence (called from the timer interrupt) */ +void +ao_adc_poll(void); -/* ao_beep.c */ +/* Suspend the current task until another A/D sample is converted */ +void +ao_adc_sleep(void); -#define AO_BEEP_LOW 150 -#define AO_BEEP_MID 94 -#define AO_BEEP_HIGH 75 -#define AO_BEEP_OFF 0 +/* 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 */ +#if !AO_NO_ADC_ISR void -ao_beep_init(void); +ao_adc_isr(void) interrupt 1; +#endif + +/* 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); +ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant; -/* ao_led.c */ +/* 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 -void -ao_led_init(void); - +/* 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); +/* 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) __reentrant; + +/* Initialize the LEDs */ +void +ao_led_init(uint8_t enable); + +/* + * ao_usb.c + */ + +/* Put one character to the USB output queue */ +void +ao_usb_putchar(char c); + +/* Get one character from the USB input queue */ +char +ao_usb_getchar(void); + +/* Flush the USB output queue */ +void +ao_usb_flush(void); + +/* USB interrupt handler */ +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); + +/* + * ao_cmd.c + */ + +enum ao_cmd_status { + ao_cmd_success = 0, + ao_cmd_lex_error = 1, + ao_cmd_syntax_error = 2, +}; + +extern __xdata uint16_t ao_cmd_lex_i; +extern __xdata char ao_cmd_lex_c; +extern __xdata enum ao_cmd_status ao_cmd_status; + +void +ao_cmd_lex(void); + +void +ao_cmd_put8(uint8_t v); + +void +ao_cmd_put16(uint16_t v); + +void +ao_cmd_white(void); + +void +ao_cmd_hex(void); + +void +ao_cmd_decimal(void); + +struct ao_cmds { + char cmd; + void (*func)(void); + const char *help; +}; + +void +ao_cmd_register(__code struct ao_cmds *cmds); + +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 + */ + +/* Structure containing GPS position, either lat or lon */ + +struct ao_gps_pos { + uint8_t degrees; + uint8_t minutes; + uint16_t minutes_fraction; /* in units of 1/10000 minutes */ +}; + +/* + * 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_GPS_TIME 'G' +#define AO_LOG_GPS_LAT 'N' +#define AO_LOG_GPS_LON 'W' +#define AO_LOG_GPS_ALT 'H' + +#define AO_LOG_POS_NONE (~0UL) + +struct ao_log_record { + char type; + uint8_t csum; + uint16_t tick; + union { + struct { + int16_t ground_accel; + 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 { + uint8_t hour; + uint8_t minute; + uint8_t second; + uint8_t flags; + } gps_time; + struct ao_gps_pos gps_latitude; + struct ao_gps_pos gps_longitude; + struct { + int16_t altitude; + uint16_t unused; + } gps_altitude; + 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_led_for(uint8_t colors, uint16_t ticks); +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 = 0, + ao_flight_idle = 1, + ao_flight_launchpad = 2, + ao_flight_boost = 3, + ao_flight_coast = 4, + ao_flight_apogee = 5, + ao_flight_drogue = 6, + ao_flight_main = 7, + ao_flight_landed = 8, + ao_flight_invalid = 9 +}; + +extern __xdata struct ao_adc ao_flight_data; +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; +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 +ao_flight(void); + +/* Initialize flight thread */ +void +ao_flight_init(void); + +/* + * ao_report.c + */ + +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_altitude_to_pres(int16_t alt) __reentrant; + +int16_t +ao_temp_to_dC(int16_t temp) __reentrant; + +/* + * 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); + +void +ao_dbg_init(void); + +/* + * ao_serial.c + */ + +#if !AO_NO_SERIAL_ISR +void +ao_serial_rx1_isr(void) interrupt 3; + +void +ao_serial_tx1_isr(void) interrupt 14; +#endif + +char +ao_serial_getchar(void) __critical; + +void +ao_serial_putchar(char c) __critical; + +void +ao_serial_init(void); + +/* + * ao_gps.c + */ + +#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); + +void +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); + +/* + * ao_radio.c + */ + +void +ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; + +struct ao_radio_recv { + struct ao_telemetry telemetry; + 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); + +/* + * ao_monitor.c + */ + +extern const char const * const ao_state_names[]; + +void +ao_monitor(void); + +void +ao_monitor_init(uint8_t led); + +/* + * ao_stdio.c + */ + +void +flush(void); + +/* + * 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_ */