X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=5bbe5158e8452707518f88cccf477cc83e960a48;hp=cd4e4814e07a8a27611f9a56c06db47bcc25941f;hb=02611efea0c485d78fad08c696c1f56e868d36b8;hpb=2923cf5057f9cef110dd547d8677ea5b60e00796 diff --git a/src/ao.h b/src/ao.h index cd4e4814..5bbe5158 100644 --- a/src/ao.h +++ b/src/ao.h @@ -69,10 +69,6 @@ ao_sleep(__xdata void *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); @@ -167,6 +163,15 @@ struct ao_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 */ @@ -182,6 +187,9 @@ struct ao_adc { */ 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 @@ -299,7 +307,14 @@ 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 @@ -323,9 +338,11 @@ ao_usb_pollchar(void); void ao_usb_flush(void); +#if HAS_USB /* USB interrupt handler */ void ao_usb_isr(void) __interrupt 6; +#endif /* Enable the USB controller */ void @@ -376,7 +393,6 @@ uint8_t ao_match_word(__code char *word); struct ao_cmds { - char cmd; void (*func)(void); const char *help; }; @@ -391,14 +407,10 @@ ao_cmd_init(void); * ao_dma.c */ -/* 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 +/* Allocate a DMA channel. the 'done' parameter will be set when the + * dma is finished 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); @@ -438,42 +450,67 @@ void ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; /* - * ao_ee.c + * Storage interface, provided by one of the eeprom or flash + * drivers */ -/* - * We reserve the last block on the device for - * configuration space. Writes and reads in this - * area return errors. - */ +/* Total bytes of available storage */ +extern __xdata uint32_t ao_storage_total; + +/* Block size - device is erased in these units. At least 256 bytes */ +extern __xdata uint32_t ao_storage_block; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +extern __xdata uint32_t ao_storage_config; -#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)) +/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ +extern __xdata 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_ee_flush(void) __reentrant; +ao_storage_setup(void); -/* Write to the eeprom */ +/* Write data. Returns 0 on failure, 1 on success */ uint8_t -ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant; +ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; -/* Read from the eeprom */ +/* Read data. Returns 0 on failure, 1 on success */ uint8_t -ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant; +ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; -/* Write the config block (at the end of the eeprom) */ +/* Erase a block of storage. This always clears ao_storage_block bytes */ uint8_t -ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant; +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); -/* Read the config block (at the end of the eeprom) */ +/* + * Low-level functions wrapped by ao_storage.c + */ + +/* Read data within a storage unit */ uint8_t -ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant; +ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; -/* Initialize the EEPROM code */ +/* 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_ee_init(void); +ao_storage_device_info(void) __reentrant; /* * ao_log.c @@ -587,14 +624,6 @@ ao_log_flush(void); */ extern __xdata uint16_t ao_flight_number; -/* 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); @@ -611,6 +640,18 @@ ao_log_stop(void); 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_flight.c */ @@ -628,7 +669,7 @@ enum ao_flight_state { ao_flight_invalid = 9 }; -extern __xdata struct ao_adc ao_flight_data; +extern __data uint8_t ao_flight_adc; extern __pdata enum ao_flight_state ao_flight_state; extern __pdata uint16_t ao_flight_tick; extern __pdata int16_t ao_flight_accel; @@ -744,6 +785,19 @@ void ao_serial_init(void); #endif +/* + * ao_spi.c + */ + +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_gps.c */ @@ -781,9 +835,11 @@ struct ao_gps_sat_data { uint8_t c_n_1; }; +#define AO_MAX_GPS_TRACKING 12 + struct ao_gps_tracking_data { uint8_t channels; - struct ao_gps_sat_data sats[12]; + struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING]; }; extern __xdata uint8_t ao_gps_mutex; @@ -820,7 +876,7 @@ ao_gps_report_init(void); #define AO_TELEMETRY_VERSION 3 struct ao_telemetry { - uint8_t addr; + uint16_t serial; uint16_t flight; uint8_t flight_state; int16_t flight_accel; @@ -836,6 +892,15 @@ struct ao_telemetry { struct ao_gps_tracking_data gps_tracking; }; +/* + * ao_radio_recv tacks on rssi and status bytes + */ +struct ao_telemetry_recv { + struct ao_telemetry telemetry; + int8_t rssi; + uint8_t status; +}; + /* Set delay between telemetry reports (0 to disable) */ #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) @@ -869,31 +934,25 @@ ao_radio_get(void); #define ao_radio_put() ao_mutex_put(&ao_radio_mutex) void -ao_radio_set_telemetry(void); +ao_radio_set_fixed_pkt(size_t size); -void -ao_radio_set_packet(void); +#define ao_radio_set_telemetry() \ + ao_radio_set_fixed_pkt(sizeof (struct ao_telemetry)) -void -ao_radio_set_rdf(void); +#define ao_radio_set_packet() \ + ao_radio_set_fixed_pkt(sizeof (struct ao_packet)) void -ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; - -struct ao_radio_recv { - struct ao_telemetry telemetry; - int8_t rssi; - uint8_t status; -}; +ao_radio_send(__xdata void *data, uint8_t size) __reentrant; uint8_t -ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; +ao_radio_recv(__xdata void *data, uint8_t size) __reentrant; void -ao_radio_rdf(int ms); +ao_radio_recv_abort(void); void -ao_radio_abort(void); +ao_radio_rdf(int ms); void ao_radio_rdf_abort(void); @@ -971,7 +1030,7 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 3 +#define AO_CONFIG_MINOR 4 struct ao_config { uint8_t major; @@ -983,13 +1042,19 @@ struct ao_config { 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 */ }; 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); @@ -1010,7 +1075,6 @@ ao_rssi_init(uint8_t rssi_led); * each instance of a product */ -extern __code __at(0x00aa) uint8_t ao_usb_descriptors []; extern const char ao_version[]; extern const char ao_manufacturer[]; extern const char ao_product[];