X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=63f806788cc1f7ad7a4ef6fc5c0d4fe4424da327;hp=5721c34484c319f37f16c178aba1a6131b57298b;hb=e980b251e5a4d25410710a9aa89ef940e06b0d93;hpb=47ee4597e55749e8f66f61a585ea32776979bf80

diff --git a/src/ao.h b/src/ao.h
index 5721c344..63f80678 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -163,6 +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
  */
@@ -178,6 +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
@@ -295,7 +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
@@ -319,9 +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
@@ -372,7 +393,6 @@ uint8_t
 ao_match_word(__code char *word);
 
 struct ao_cmds {
-	char		cmd;
 	void		(*func)(void);
 	const char	*help;
 };
@@ -496,6 +516,70 @@ 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 __xdata enum flight_state ao_log_state;
+
+/* required functions from the underlying log system */
+
+/* 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.
@@ -594,44 +678,6 @@ struct ao_log_record {
 uint8_t
 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 
-/* Flush the log */
-void
-ao_log_flush(void);
-
-/* 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;
-
-/* 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);
-
-/* 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
  */
@@ -649,7 +695,7 @@ 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;
@@ -660,6 +706,13 @@ 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;
+#ifdef USE_KALMAN
+extern __pdata int16_t			ao_ground_height;
+extern __pdata int32_t			ao_k_max_height;
+extern __pdata int32_t			ao_k_height;
+extern __pdata int32_t			ao_k_speed;
+extern __pdata int32_t			ao_k_accel;
+#endif
 
 /* Flight thread */
 void
@@ -914,13 +967,13 @@ 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 void *data, uint8_t size) __reentrant;
@@ -1055,7 +1108,6 @@ 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[];