X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=79452862e77d16a06f2e942dc673b732a1af67ee;hp=0699fc2ca70f52e73a22a88c687b3dceac05909e;hb=7f74761051f2a5ab45b82c4dd79a8569376bbe2e;hpb=b520c32bcddabd42c07ceafa827694a3ae23a76f

diff --git a/src/ao.h b/src/ao.h
index 0699fc2c..79452862 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -539,6 +539,15 @@ 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);
@@ -956,6 +965,34 @@ ao_serial_init(void);
  * 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;
 
@@ -1080,12 +1117,29 @@ struct ao_telemetry_satellite {
 	/* 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;
 };
 
 /*
@@ -1361,7 +1415,7 @@ ao_igniter_init(void);
  */
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	6
+#define AO_CONFIG_MINOR	7
 
 struct ao_config {
 	uint8_t		major;
@@ -1520,8 +1574,36 @@ ao_btm_isr(void)
 #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_ */