X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=2c6eb2b91180d254818ca2553849a0b2cde95a90;hp=f89568f2b4ff9a1ad2503368df02d1d9a4fb14a8;hb=0c2533be15858774ef9381aa8c8344356fd5b971;hpb=c57bd7fd2f80e50b0b4c87fccb024ab07c93773d diff --git a/src/ao.h b/src/ao.h index f89568f2..2c6eb2b9 100644 --- a/src/ao.h +++ b/src/ao.h @@ -40,6 +40,7 @@ /* 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; /* index in the task array */ __code char *name; /* task name */ @@ -55,14 +56,26 @@ extern __xdata struct ao_task *__data ao_cur_task; ao_task.c */ -/* Suspend the current task until wchan is awoken */ -void +/* 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); +/* Wake up a specific task */ +void +ao_wake_task(__xdata struct ao_task *task); + +/* 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; @@ -71,6 +84,10 @@ ao_yield(void) _naked; 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); @@ -89,6 +106,9 @@ ao_start_scheduler(void); #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) */ /* Stop the operating system, beeping and blinking the reason */ void @@ -99,8 +119,9 @@ ao_panic(uint8_t reason); */ /* Our timer runs at 100Hz */ -#define AO_MS_TO_TICKS(ms) ((ms) / 10) -#define AO_SEC_TO_TICKS(s) ((s) * 100) +#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 @@ -130,7 +151,7 @@ ao_clock_init(void); * ao_adc.c */ -#define AO_ADC_RING 64 +#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)) @@ -273,6 +294,12 @@ ao_usb_putchar(char c); 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); @@ -304,6 +331,7 @@ enum ao_cmd_status { }; extern __xdata uint16_t ao_cmd_lex_i; +extern __xdata uint32_t ao_cmd_lex_u32; extern __xdata char ao_cmd_lex_c; extern __xdata enum ao_cmd_status ao_cmd_status; @@ -325,6 +353,9 @@ ao_cmd_hex(void); void ao_cmd_decimal(void); +uint8_t +ao_match_word(__code char *word); + struct ao_cmds { char cmd; void (*func)(void); @@ -341,9 +372,14 @@ 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 +/* Allocate a DMA channel. the 'done' parameter will be set + * when the dma is finished or aborted and will be used to + * wakeup any waiters */ + +#define AO_DMA_DONE 1 +#define AO_DMA_ABORTED 2 + uint8_t ao_dma_alloc(__xdata uint8_t * done); @@ -459,6 +495,7 @@ ao_ee_init(void); #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) @@ -501,9 +538,14 @@ struct ao_log_record { } gps_altitude; struct { uint16_t svid; - uint8_t state; + uint8_t unused; uint8_t c_n; } gps_sat; + struct { + uint8_t year; + uint8_t month; + uint8_t day; + } gps_date; struct { uint16_t d0; uint16_t d1; @@ -519,11 +561,11 @@ ao_log_data(struct ao_log_record *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 +/* 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 struct ao_log_record ao_log_dump; +extern __xdata uint16_t ao_flight_number; /* Retrieve first log record for the current flight */ uint8_t @@ -576,6 +618,7 @@ 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; +extern __xdata uint8_t ao_flight_force_idle; /* Flight thread */ void @@ -668,7 +711,8 @@ void ao_serial_putchar(char c) __critical; #define AO_SERIAL_SPEED_4800 0 -#define AO_SERIAL_SPEED_57600 1 +#define AO_SERIAL_SPEED_9600 1 +#define AO_SERIAL_SPEED_57600 2 void ao_serial_set_speed(uint8_t speed); @@ -685,8 +729,12 @@ ao_serial_init(void); #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) struct ao_gps_data { + uint8_t year; + uint8_t month; + uint8_t day; uint8_t hour; uint8_t minute; uint8_t second; @@ -702,18 +750,8 @@ struct ao_gps_data { uint16_t v_error; /* m */ }; -#define SIRF_SAT_STATE_ACQUIRED (1 << 0) -#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) -#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) -#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3) -#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4) -#define SIRF_SAT_CODE_LOCKED (1 << 5) -#define SIRF_SAT_ACQUISITION_FAILED (1 << 6) -#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7) - struct ao_gps_sat_data { uint8_t svid; - uint8_t state; uint8_t c_n_1; }; @@ -753,15 +791,19 @@ ao_gps_report_init(void); */ #define AO_MAX_CALLSIGN 8 +#define AO_TELEMETRY_VERSION 2 struct ao_telemetry { uint8_t addr; + uint16_t flight; uint8_t flight_state; int16_t flight_accel; int16_t ground_accel; int32_t flight_vel; int16_t flight_pres; int16_t ground_pres; + int16_t accel_plus_g; + int16_t accel_minus_g; struct ao_adc adc; struct ao_gps_data gps; char callsign[AO_MAX_CALLSIGN]; @@ -787,6 +829,28 @@ ao_telemetry_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(void); + +#define ao_radio_put() ao_mutex_put(&ao_radio_mutex) + +void +ao_radio_set_telemetry(void); + +void +ao_radio_set_packet(void); + +void +ao_radio_set_rdf(void); + void ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; @@ -796,15 +860,21 @@ struct ao_radio_recv { uint8_t status; }; -void +uint8_t ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; void ao_radio_rdf(int ms); +void +ao_radio_abort(void); + void ao_radio_rdf_abort(void); +void +ao_radio_idle(void); + void ao_radio_init(void); @@ -827,9 +897,24 @@ 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); +}; + void flush(void); +extern __xdata uint8_t ao_stdin_ready; + +void +ao_add_stdio(char (*pollchar)(void), + void (*putchar)(char) __reentrant, + void (*flush)(void)); + /* * ao_ignite.c */ @@ -860,16 +945,18 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 1 +#define AO_CONFIG_MINOR 3 struct ao_config { uint8_t major; uint8_t minor; uint16_t main_deploy; - int16_t accel_zero_g; + int16_t accel_plus_g; /* changed for minor version 2 */ uint8_t radio_channel; char callsign[AO_MAX_CALLSIGN + 1]; - uint8_t apogee_delay; + uint8_t apogee_delay; /* minor version 1 */ + int16_t accel_minus_g; /* minor version 2 */ + uint32_t radio_cal; /* minor version 3 */ }; extern __xdata struct ao_config ao_config; @@ -934,37 +1021,59 @@ struct ao_fifo { * Packet-based command interface */ -#define AO_PACKET_MAX 32 -#define AO_PACKET_WIN 256 - -#define AO_PACKET_FIN (1 << 0) -#define AO_PACKET_SYN (1 << 1) -#define AO_PACKET_RST (1 << 2) -#define AO_PACKET_ACK (1 << 3) +#define AO_PACKET_MAX 8 +#define AO_PACKET_SYN (uint8_t) 0xff struct ao_packet { uint8_t addr; - uint8_t flags; - uint16_t seq; - uint16_t ack; - uint16_t window; uint8_t len; + uint8_t seq; + uint8_t ack; uint8_t d[AO_PACKET_MAX]; }; -uint8_t -ao_packet_connect(uint8_t dest); +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_accept(void); +ao_packet_recv(void); + +void +ao_packet_flush(void); + +void +ao_packet_putchar(char c) __reentrant; -int -ao_packet_send(uint8_t *data, int len); +char +ao_packet_pollchar(void) __critical; -int -ao_packet_recv(uint8_t *data, int len); +/* 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_init(void); +ao_packet_slave_init(void); #endif /* _AO_H_ */