X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;fp=src%2Fao.h;h=0000000000000000000000000000000000000000;hp=8ac9ac3d09a30ede2a3825f669552de9e05afc1f;hb=9513be7f9d3d0b0ec29f6487fa9dc8f1ac24d0de;hpb=3bfe8df44b575ca430ffaa051e20faa955a06c03 diff --git a/src/ao.h b/src/ao.h deleted file mode 100644 index 8ac9ac3d..00000000 --- a/src/ao.h +++ /dev/null @@ -1,1610 +0,0 @@ -/* - * Copyright © 2009 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#ifndef _AO_H_ -#define _AO_H_ - -#include -#include -#include -#include -#include "cc1111.h" -#include "ao_pins.h" - -#define TRUE 1 -#define FALSE 0 - -/* Convert a __data pointer into an __xdata pointer */ -#define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00)) - -/* 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 0x90 -#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; /* current wait channel (NULL if running) */ - uint16_t alarm; /* abort ao_sleep time */ - uint8_t stack_count; /* amount of saved stack */ - uint8_t task_id; /* unique id */ - __code char *name; /* task name */ - uint8_t stack[AO_STACK_SIZE]; /* saved stack */ -}; - -extern __xdata struct ao_task *__data ao_cur_task; - -#define AO_NUM_TASKS 16 /* maximum number of tasks */ -#define AO_NO_TASK 0 /* no task id */ - -/* - ao_task.c - */ - -/* Suspend the current task until wchan is awoken. - * returns: - * 0 on normal wake - * 1 on alarm - */ -uint8_t -ao_sleep(__xdata void *wchan); - -/* Wake all tasks sleeping on wchan */ -void -ao_wakeup(__xdata void *wchan); - -/* set an alarm to go off in 'delay' ticks */ -void -ao_alarm(uint16_t delay); - -/* 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; - -/* Terminate the current task */ -void -ao_exit(void); - -/* Dump task info to console */ -void -ao_task_info(void); - -/* Start the scheduler. This will not return */ -void -ao_start_scheduler(void); - -/* - * 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 */ -#define AO_PANIC_CMD 6 /* Too many command sets registered */ -#define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */ -#define AO_PANIC_REBOOT 8 /* Reboot failed */ -#define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */ -#define AO_PANIC_USB 10 /* Trying to send USB packet while busy */ -#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */ - -/* 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_HERTZ 100 -#define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ)) -#define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ) - -/* 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; - -/* Initialize the timer */ -void -ao_timer_init(void); - -/* Initialize the hardware clock. Must be called first */ -void -ao_clock_init(void); - -/* - * One set of samples read from the A/D converter or telemetry - */ -struct ao_adc { - 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 */ -}; - -#ifndef HAS_ADC -#error Please define HAS_ADC -#endif - -#if HAS_ADC - -#if HAS_ACCEL -#ifndef HAS_ACCEL_REF -#error Please define HAS_ACCEL_REF -#endif -#else -#define HAS_ACCEL_REF 0 -#endif - -/* - * ao_adc.c - */ - -#define AO_ADC_RING 32 -#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) -#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) - - -/* - * 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; -#if HAS_ACCEL_REF -extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING]; -#endif - -/* 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); - -#endif /* HAS_ADC */ - -/* - * 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) __reentrant; - -/* Initialize the beeper */ -void -ao_beep_init(void); - -/* - * ao_led.c - */ - -#define AO_LED_NONE 0 - -/* 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_romconfig.c - */ - -#define AO_ROMCONFIG_VERSION 2 - -extern __code __at (0x00a0) uint16_t ao_romconfig_version; -extern __code __at (0x00a2) uint16_t ao_romconfig_check; -extern __code __at (0x00a4) uint16_t ao_serial_number; -extern __code __at (0x00a6) uint32_t ao_radio_cal; - -#ifndef HAS_USB -#error Please define HAS_USB -#endif - -#if HAS_USB -extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; -#endif - -/* - * 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); - -/* Poll for a charcter on the USB input queue. - * returns AO_READ_AGAIN if none are available - */ -char -ao_usb_pollchar(void); - -/* Flush the USB output queue */ -void -ao_usb_flush(void); - -#if HAS_USB -/* USB interrupt handler */ -void -ao_usb_isr(void) __interrupt 6; -#endif - -/* 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 __pdata uint16_t ao_cmd_lex_i; -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_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); - -uint8_t -ao_match_word(__code char *word); - -struct ao_cmds { - void (*func)(void); - __code char *help; -}; - -void -ao_cmd_register(__code struct ao_cmds *cmds); - -void -ao_cmd_init(void); - -#if HAS_CMD_FILTER -/* - * Provided by an external module to filter raw command lines - */ -uint8_t -ao_cmd_filter(void); -#endif - -/* - * ao_dma.c - */ - -/* Allocate a DMA channel. the 'done' parameter will be set 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; - -/* - * Storage interface, provided by one of the eeprom or flash - * drivers - */ - -/* Total bytes of available storage */ -extern __pdata uint32_t ao_storage_total; - -/* Block size - device is erased in these units. At least 256 bytes */ -extern __pdata uint32_t ao_storage_block; - -/* Byte offset of config block. Will be ao_storage_block bytes long */ -extern __pdata uint32_t ao_storage_config; - -/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ -extern __pdata uint16_t ao_storage_unit; - -#define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE) - -/* Initialize above values. Can only be called once the OS is running */ -void -ao_storage_setup(void) __reentrant; - -/* Write data. Returns 0 on failure, 1 on success */ -uint8_t -ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; - -/* Read data. Returns 0 on failure, 1 on success */ -uint8_t -ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; - -/* Erase a block of storage. This always clears ao_storage_block bytes */ -uint8_t -ao_storage_erase(uint32_t pos) __reentrant; - -/* Flush any pending writes to stable storage */ -void -ao_storage_flush(void) __reentrant; - -/* Initialize the storage code */ -void -ao_storage_init(void); - -/* - * Low-level functions wrapped by ao_storage.c - */ - -/* Read data within a storage unit */ -uint8_t -ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; - -/* Write data within a storage unit */ -uint8_t -ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; - -/* Initialize low-level device bits */ -void -ao_storage_device_init(void); - -/* Print out information about flash chips */ -void -ao_storage_device_info(void) __reentrant; - -/* - * ao_log.c - */ - -/* We record flight numbers in the first record of - * the log. Tasks may wait for this to be initialized - * by sleeping on this variable. - */ -extern __xdata uint16_t ao_flight_number; - -extern __pdata uint32_t ao_log_current_pos; -extern __pdata uint32_t ao_log_end_pos; -extern __pdata uint32_t ao_log_start_pos; -extern __xdata uint8_t ao_log_running; -extern __pdata enum flight_state ao_log_state; - -/* required functions from the underlying log system */ - -#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ -#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */ -#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */ -#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ -#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ -#define AO_LOG_FORMAT_NONE 127 /* No log at all */ - -extern __code uint8_t ao_log_format; - -/* Return the flight number from the given log slot, 0 if none */ -uint16_t -ao_log_flight(uint8_t slot); - -/* Flush the log */ -void -ao_log_flush(void); - -/* Logging thread main routine */ -void -ao_log(void); - -/* functions provided in ao_log.c */ - -/* Figure out the current flight number */ -void -ao_log_scan(void) __reentrant; - -/* Return the position of the start of the given log slot */ -uint32_t -ao_log_pos(uint8_t slot); - -/* 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); - -/* Write out the current flight number to the erase log */ -void -ao_log_write_erase(uint8_t pos); - -/* Returns true if there are any logs stored in eeprom */ -uint8_t -ao_log_present(void); - -/* Returns true if there is no more storage space available */ -uint8_t -ao_log_full(void); - -/* - * ao_log_big.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_GPS_TIME 'G' -#define AO_LOG_GPS_LAT 'N' -#define AO_LOG_GPS_LON 'W' -#define AO_LOG_GPS_ALT 'H' -#define AO_LOG_GPS_SAT 'V' -#define AO_LOG_GPS_DATE 'Y' - -#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; - int32_t gps_latitude; - int32_t gps_longitude; - struct { - int16_t altitude; - uint16_t unused; - } gps_altitude; - struct { - uint16_t svid; - uint8_t unused; - uint8_t c_n; - } gps_sat; - struct { - uint8_t year; - uint8_t month; - uint8_t day; - uint8_t extra; - } gps_date; - struct { - uint16_t d0; - uint16_t d1; - } anon; - } u; -}; - -/* Write a record to the eeprom log */ -uint8_t -ao_log_data(__xdata struct ao_log_record *log) __reentrant; - -/* - * ao_flight.c - */ - -enum ao_flight_state { - ao_flight_startup = 0, - ao_flight_idle = 1, - ao_flight_pad = 2, - ao_flight_boost = 3, - ao_flight_fast = 4, - ao_flight_coast = 5, - ao_flight_drogue = 6, - ao_flight_main = 7, - ao_flight_landed = 8, - ao_flight_invalid = 9 -}; - -extern __pdata enum ao_flight_state ao_flight_state; - -extern __pdata uint16_t ao_launch_time; -extern __pdata uint8_t ao_flight_force_idle; - -/* Flight thread */ -void -ao_flight(void); - -/* Initialize flight thread */ -void -ao_flight_init(void); - -/* - * ao_flight_nano.c - */ - -void -ao_flight_nano_init(void); - -/* - * ao_sample.c - */ - -/* - * Barometer calibration - * - * We directly sample the barometer. The specs say: - * - * Pressure range: 15-115 kPa - * Voltage at 115kPa: 2.82 - * Output scale: 27mV/kPa - * - * If we want to detect launch with the barometer, we need - * a large enough bump to not be fooled by noise. At typical - * launch elevations (0-2000m), a 200Pa pressure change cooresponds - * to about a 20m elevation change. This is 5.4mV, or about 3LSB. - * As all of our calculations are done in 16 bits, we'll actually see a change - * of 16 times this though - * - * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa - */ - -/* Accelerometer calibration - * - * We're sampling the accelerometer through a resistor divider which - * consists of 5k and 10k resistors. This multiplies the values by 2/3. - * That goes into the cc1111 A/D converter, which is running at 11 bits - * of precision with the bits in the MSB of the 16 bit value. Only positive - * values are used, so values should range from 0-32752 for 0-3.3V. The - * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what - * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV, - * for a final computation of: - * - * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g - * - * Zero g was measured at 16000 (we would expect 16384). - * Note that this value is only require to tell if the - * rocket is standing upright. Once that is determined, - * the value of the accelerometer is averaged for 100 samples - * to find the resting accelerometer value, which is used - * for all further flight computations - */ - -#define GRAVITY 9.80665 - -/* - * Above this height, the baro sensor doesn't work - */ -#define AO_MAX_BARO_HEIGHT 12000 - -/* - * Above this speed, baro measurements are unreliable - */ -#define AO_MAX_BARO_SPEED 200 - -#define ACCEL_NOSE_UP (ao_accel_2g >> 2) - -/* - * Speed and acceleration are scaled by 16 to provide a bit more - * resolution while still having reasonable range. Note that this - * limits speed to 2047m/s (around mach 6) and acceleration to - * 2047m/s² (over 200g) - */ - -#define AO_M_TO_HEIGHT(m) ((int16_t) (m)) -#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) -#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) - -extern __pdata uint16_t ao_sample_tick; /* time of last data */ -extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */ -extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */ -extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */ -extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ - -#if HAS_ACCEL -extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */ -#endif - -extern __pdata int16_t ao_ground_pres; /* startup pressure */ -extern __pdata int16_t ao_ground_height; /* MSL of ao_ground_pres */ - -#if HAS_ACCEL -extern __pdata int16_t ao_ground_accel; /* startup acceleration */ -extern __pdata int16_t ao_accel_2g; /* factory accel calibration */ -extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ -#endif - -void ao_sample_init(void); - -/* returns FALSE in preflight mode, TRUE in flight mode */ -uint8_t ao_sample(void); - -/* - * ao_kalman.c - */ - -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) -#define from_fix(x) ((x) >> 16) - -extern __pdata int16_t ao_height; /* meters */ -extern __pdata int16_t ao_speed; /* m/s * 16 */ -extern __pdata int16_t ao_accel; /* m/s² * 16 */ -extern __pdata int16_t ao_max_height; /* max of ao_height */ -extern __pdata int16_t ao_avg_height; /* running average of height */ - -extern __pdata int16_t ao_error_h; -extern __pdata int16_t ao_error_h_sq_avg; - -#if HAS_ACCEL -extern __pdata int16_t ao_error_a; -#endif - -void ao_kalman(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 - */ - -#ifndef HAS_SERIAL_1 -#error Please define HAS_SERIAL_1 -#endif - -#if HAS_SERIAL_1 -#ifndef USE_SERIAL_STDIN -#error Please define USE_SERIAL_STDIN -#endif - -void -ao_serial_rx1_isr(void) __interrupt 3; - -void -ao_serial_tx1_isr(void) __interrupt 14; - -char -ao_serial_getchar(void) __critical; - -#if USE_SERIAL_STDIN -char -ao_serial_pollchar(void) __critical; - -void -ao_serial_set_stdin(uint8_t stdin); -#endif - -void -ao_serial_putchar(char c) __critical; - -void -ao_serial_drain(void) __critical; - -#define AO_SERIAL_SPEED_4800 0 -#define AO_SERIAL_SPEED_9600 1 -#define AO_SERIAL_SPEED_19200 2 -#define AO_SERIAL_SPEED_57600 3 - -void -ao_serial_set_speed(uint8_t speed); - -void -ao_serial_init(void); -#endif - -/* - * ao_spi.c - */ - -extern __xdata uint8_t ao_spi_mutex; - -#define ao_spi_get_mask(reg,mask) do {\ - ao_mutex_get(&ao_spi_mutex); \ - (reg) &= ~(mask); \ - } while (0) - -#define ao_spi_put_mask(reg,mask) do { \ - (reg) |= (mask); \ - ao_mutex_put(&ao_spi_mutex); \ - } while (0) - -#define ao_spi_get_bit(bit) do {\ - ao_mutex_get(&ao_spi_mutex); \ - (bit) = 0; \ - } while (0) - -#define ao_spi_put_bit(bit) do { \ - (bit) = 1; \ - ao_mutex_put(&ao_spi_mutex); \ - } while (0) - -/* - * The SPI mutex must be held to call either of these - * functions -- this mutex covers the entire SPI operation, - * from chip select low to chip select high - */ - -void -ao_spi_send(void __xdata *block, uint16_t len) __reentrant; - -void -ao_spi_recv(void __xdata *block, uint16_t len) __reentrant; - -void -ao_spi_init(void); - -/* - * ao_telemetry.c - */ -#define AO_MAX_CALLSIGN 8 -#define AO_MAX_VERSION 8 -#define AO_MAX_TELEMETRY 128 - -struct ao_telemetry_generic { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t payload[27]; /* 5 */ - /* 32 */ -}; - -#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01 -#define AO_TELEMETRY_SENSOR_TELEMINI 0x02 -#define AO_TELEMETRY_SENSOR_TELENANO 0x03 - -struct ao_telemetry_sensor { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - - uint8_t state; /* 5 flight state */ - int16_t accel; /* 6 accelerometer (TM only) */ - int16_t pres; /* 8 pressure sensor */ - int16_t temp; /* 10 temperature sensor */ - int16_t v_batt; /* 12 battery voltage */ - int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */ - int16_t sense_m; /* 16 main continuity sense (TM/Tm) */ - - int16_t acceleration; /* 18 m/s² * 16 */ - int16_t speed; /* 20 m/s * 16 */ - int16_t height; /* 22 m */ - - int16_t ground_pres; /* 24 average pres on pad */ - int16_t ground_accel; /* 26 average accel on pad */ - int16_t accel_plus_g; /* 28 accel calibration at +1g */ - int16_t accel_minus_g; /* 30 accel calibration at -1g */ - /* 32 */ -}; - -#define AO_TELEMETRY_CONFIGURATION 0x04 - -struct ao_telemetry_configuration { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - - uint8_t device; /* 5 device type */ - uint16_t flight; /* 6 flight number */ - uint8_t config_major; /* 8 Config major version */ - uint8_t config_minor; /* 9 Config minor version */ - uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */ - uint16_t main_deploy; /* 12 Main deploy alt in meters */ - uint16_t flight_log_max; /* 14 Maximum flight log size in kB */ - char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */ - char version[AO_MAX_VERSION]; /* 24 Software version */ - /* 32 */ -}; - -#define AO_TELEMETRY_LOCATION 0x05 - -#define AO_GPS_MODE_NOT_VALID 'N' -#define AO_GPS_MODE_AUTONOMOUS 'A' -#define AO_GPS_MODE_DIFFERENTIAL 'D' -#define AO_GPS_MODE_ESTIMATED 'E' -#define AO_GPS_MODE_MANUAL 'M' -#define AO_GPS_MODE_SIMULATED 'S' - -struct ao_telemetry_location { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - - uint8_t flags; /* 5 Number of sats and other flags */ - int16_t altitude; /* 6 GPS reported altitude (m) */ - int32_t latitude; /* 8 latitude (degrees * 10⁷) */ - int32_t longitude; /* 12 longitude (degrees * 10⁷) */ - uint8_t year; /* 16 (- 2000) */ - uint8_t month; /* 17 (1-12) */ - uint8_t day; /* 18 (1-31) */ - uint8_t hour; /* 19 (0-23) */ - uint8_t minute; /* 20 (0-59) */ - uint8_t second; /* 21 (0-59) */ - uint8_t pdop; /* 22 (m * 5) */ - uint8_t hdop; /* 23 (m * 5) */ - uint8_t vdop; /* 24 (m * 5) */ - uint8_t mode; /* 25 */ - uint16_t ground_speed; /* 26 cm/s */ - int16_t climb_rate; /* 28 cm/s */ - uint8_t course; /* 30 degrees / 2 */ - uint8_t unused[1]; /* 31 */ - /* 32 */ -}; - -#define AO_TELEMETRY_SATELLITE 0x06 - -struct ao_telemetry_satellite_info { - uint8_t svid; - uint8_t c_n_1; -}; - -struct ao_telemetry_satellite { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t channels; /* 5 number of reported sats */ - - struct ao_telemetry_satellite_info sats[12]; /* 6 */ - uint8_t unused[2]; /* 30 */ - /* 32 */ -}; - -#define AO_TELEMETRY_COMPANION 0x07 - -#define AO_COMPANION_MAX_CHANNELS 12 - -struct ao_telemetry_companion { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t board_id; /* 5 */ - - uint8_t update_period; /* 6 */ - uint8_t channels; /* 7 */ - uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */ - /* 32 */ -}; - -union ao_telemetry_all { - struct ao_telemetry_generic generic; - struct ao_telemetry_sensor sensor; - struct ao_telemetry_configuration configuration; - struct ao_telemetry_location location; - struct ao_telemetry_satellite satellite; - struct ao_telemetry_companion companion; -}; - -/* - * 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_RUNNING (1 << 5) -#define AO_GPS_DATE_VALID (1 << 6) -#define AO_GPS_COURSE_VALID (1 << 7) - -extern __pdata uint16_t ao_gps_tick; -extern __xdata uint8_t ao_gps_mutex; -extern __xdata struct ao_telemetry_location ao_gps_data; -extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data; - -struct ao_gps_orig { - uint8_t year; - uint8_t month; - uint8_t day; - uint8_t hour; - uint8_t minute; - uint8_t second; - uint8_t flags; - int32_t latitude; /* degrees * 10⁷ */ - int32_t longitude; /* degrees * 10⁷ */ - int16_t altitude; /* m */ - uint16_t ground_speed; /* cm/s */ - uint8_t course; /* degrees / 2 */ - uint8_t hdop; /* * 5 */ - int16_t climb_rate; /* cm/s */ - uint16_t h_error; /* m */ - uint16_t v_error; /* m */ -}; - -struct ao_gps_sat_orig { - uint8_t svid; - uint8_t c_n_1; -}; - -#define AO_MAX_GPS_TRACKING 12 - -struct ao_gps_tracking_orig { - uint8_t channels; - struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; -}; - -void -ao_gps(void); - -void -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_init(void); - -/* - * ao_gps_report.c - */ - -void -ao_gps_report(void); - -void -ao_gps_report_init(void); - -/* - * ao_telemetry_orig.c - */ - -struct ao_telemetry_orig { - uint16_t serial; - uint16_t flight; - uint8_t flight_state; - int16_t accel; - int16_t ground_accel; - union { - struct { - int16_t speed; - int16_t unused; - } k; - int32_t flight_vel; - } u; - int16_t height; - int16_t ground_pres; - int16_t accel_plus_g; - int16_t accel_minus_g; - struct ao_adc adc; - struct ao_gps_orig gps; - char callsign[AO_MAX_CALLSIGN]; - struct ao_gps_tracking_orig gps_tracking; -}; - -struct ao_telemetry_tiny { - uint16_t serial; - uint16_t flight; - uint8_t flight_state; - int16_t height; /* AGL in meters */ - int16_t speed; /* in m/s * 16 */ - int16_t accel; /* in m/s² * 16 */ - int16_t ground_pres; /* sensor units */ - struct ao_adc adc; /* raw ADC readings */ - char callsign[AO_MAX_CALLSIGN]; -}; - -/* - * ao_radio_recv tacks on rssi and status bytes - */ - -struct ao_telemetry_raw_recv { - uint8_t packet[AO_MAX_TELEMETRY + 2]; -}; - -struct ao_telemetry_orig_recv { - struct ao_telemetry_orig telemetry_orig; - int8_t rssi; - uint8_t status; -}; - -struct ao_telemetry_tiny_recv { - struct ao_telemetry_tiny telemetry_tiny; - int8_t rssi; - uint8_t status; -}; - -/* 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(100) -#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); - -void -ao_telemetry_orig_init(void); - -void -ao_telemetry_tiny_init(void); - -/* - * ao_radio.c - */ - -extern __xdata uint8_t ao_radio_dma; -extern __xdata uint8_t ao_radio_dma_done; -extern __xdata uint8_t ao_radio_done; -extern __xdata uint8_t ao_radio_mutex; - -void -ao_radio_general_isr(void) __interrupt 16; - -void -ao_radio_get(uint8_t len); - -#define ao_radio_put() ao_mutex_put(&ao_radio_mutex) - -void -ao_radio_set_packet(void); - -void -ao_radio_send(__xdata void *data, uint8_t size) __reentrant; - -uint8_t -ao_radio_recv(__xdata void *data, uint8_t size) __reentrant; - -void -ao_radio_recv_abort(void); - -void -ao_radio_rdf(int ms); - -void -ao_radio_rdf_abort(void); - -void -ao_radio_idle(void); - -void -ao_radio_init(void); - -/* - * ao_monitor.c - */ - -extern const char const * const ao_state_names[]; - -void -ao_monitor(void); - -#define AO_MONITORING_OFF 0 -#define AO_MONITORING_ORIG 1 -#define AO_MONITORING_TINY 2 - -void -ao_set_monitor(uint8_t monitoring); - -void -ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant; - -/* - * ao_stdio.c - */ - -#define AO_READ_AGAIN ((char) -1) - -struct ao_stdio { - char (*pollchar)(void); - void (*putchar)(char c) __reentrant; - void (*flush)(void); - uint8_t echo; -}; - -extern __xdata struct ao_stdio ao_stdios[]; -extern __pdata int8_t ao_cur_stdio; -extern __pdata int8_t ao_num_stdios; - -void -flush(void); - -extern __xdata uint8_t ao_stdin_ready; - -uint8_t -ao_echo(void); - -int8_t -ao_add_stdio(char (*pollchar)(void), - void (*putchar)(char) __reentrant, - void (*flush)(void)) __reentrant; - -/* - * 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_ignite_set_pins(void); - -void -ao_igniter_init(void); - -/* - * ao_config.c - */ - -#define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 8 - -struct ao_config { - uint8_t major; - uint8_t minor; - uint16_t main_deploy; - int16_t accel_plus_g; /* changed for minor version 2 */ - uint8_t radio_channel; - char callsign[AO_MAX_CALLSIGN + 1]; - uint8_t apogee_delay; /* minor version 1 */ - int16_t accel_minus_g; /* minor version 2 */ - uint32_t radio_cal; /* minor version 3 */ - uint32_t flight_log_max; /* minor version 4 */ - uint8_t ignite_mode; /* minor version 5 */ - uint8_t pad_orientation; /* minor version 6 */ - uint32_t radio_setting; /* minor version 7 */ - uint8_t radio_enable; /* minor version 8 */ -}; - -#define AO_IGNITE_MODE_DUAL 0 -#define AO_IGNITE_MODE_APOGEE 1 -#define AO_IGNITE_MODE_MAIN 2 - -#define AO_PAD_ORIENTATION_ANTENNA_UP 0 -#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 - -extern __xdata struct ao_config ao_config; - -#define AO_CONFIG_MAX_SIZE 128 - -void -ao_config_get(void); - -void -ao_config_put(void); - -void -ao_config_init(void); - -/* - * ao_rssi.c - */ - -void -ao_rssi_set(int rssi_value); - -void -ao_rssi_init(uint8_t rssi_led); - -/* - * ao_product.c - * - * values which need to be defined for - * each instance of a product - */ - -extern const char ao_version[]; -extern const char ao_manufacturer[]; -extern const char ao_product[]; - -/* - * Fifos - */ - -#define AO_FIFO_SIZE 32 - -struct ao_fifo { - uint8_t insert; - uint8_t remove; - char fifo[AO_FIFO_SIZE]; -}; - -#define ao_fifo_insert(f,c) do { \ - (f).fifo[(f).insert] = (c); \ - (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \ -} while(0) - -#define ao_fifo_remove(f,c) do {\ - c = (f).fifo[(f).remove]; \ - (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \ -} while(0) - -#define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) -#define ao_fifo_empty(f) ((f).insert == (f).remove) - -/* - * ao_packet.c - * - * Packet-based command interface - */ - -#define AO_PACKET_MAX 64 -#define AO_PACKET_SYN (uint8_t) 0xff - -struct ao_packet { - uint8_t addr; - uint8_t len; - uint8_t seq; - uint8_t ack; - uint8_t d[AO_PACKET_MAX]; - uint8_t callsign[AO_MAX_CALLSIGN]; -}; - -struct ao_packet_recv { - struct ao_packet packet; - int8_t rssi; - uint8_t status; -}; - -extern __xdata struct ao_packet_recv ao_rx_packet; -extern __xdata struct ao_packet ao_tx_packet; -extern __xdata struct ao_task ao_packet_task; -extern __xdata uint8_t ao_packet_enable; -extern __xdata uint8_t ao_packet_master_sleeping; -extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; - -void -ao_packet_send(void); - -uint8_t -ao_packet_recv(void); - -void -ao_packet_flush(void); - -void -ao_packet_putchar(char c) __reentrant; - -char -ao_packet_pollchar(void) __critical; - -/* ao_packet_master.c */ - -void -ao_packet_master_init(void); - -/* ao_packet_slave.c */ - -void -ao_packet_slave_start(void); - -void -ao_packet_slave_stop(void); - -void -ao_packet_slave_init(uint8_t enable); - -/* ao_btm.c */ - -/* If bt_link is on P2, this interrupt is shared by USB, so the USB - * code calls this function. Otherwise, it's a regular ISR. - */ - -void -ao_btm_isr(void) -#if BT_LINK_ON_P1 - __interrupt 15 -#endif - ; - -void -ao_btm_init(void); - -/* ao_companion.c */ - -#define AO_COMPANION_SETUP 1 -#define AO_COMPANION_FETCH 2 -#define AO_COMPANION_NOTIFY 3 - -struct ao_companion_command { - uint8_t command; - uint8_t flight_state; - uint16_t tick; - uint16_t serial; - uint16_t flight; -}; - -struct ao_companion_setup { - uint16_t board_id; - uint16_t board_id_inverse; - uint8_t update_period; - uint8_t channels; -}; - -extern __pdata uint8_t ao_companion_running; -extern __xdata struct ao_companion_setup ao_companion_setup; -extern __xdata uint8_t ao_companion_mutex; -extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; - -void -ao_companion_init(void); - -#endif /* _AO_H_ */