X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=79452862e77d16a06f2e942dc673b732a1af67ee;hp=9b375894e0f20cd4c41aeaf110b88bbaed52324e;hb=7f74761051f2a5ab45b82c4dd79a8569376bbe2e;hpb=a5d60fdb9c969c1516feb76a16001c9688112c4c diff --git a/src/ao.h b/src/ao.h index 9b375894..79452862 100644 --- a/src/ao.h +++ b/src/ao.h @@ -107,6 +107,7 @@ ao_start_scheduler(void); #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 @@ -366,10 +367,10 @@ enum ao_cmd_status { ao_cmd_syntax_error = 2, }; -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; +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); @@ -394,7 +395,7 @@ ao_match_word(__code char *word); struct ao_cmds { void (*func)(void); - const char *help; + __code char *help; }; void @@ -463,16 +464,16 @@ ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; */ /* Total bytes of available storage */ -extern __xdata uint32_t ao_storage_total; +extern __pdata uint32_t ao_storage_total; /* Block size - device is erased in these units. At least 256 bytes */ -extern __xdata uint32_t ao_storage_block; +extern __pdata uint32_t ao_storage_block; /* Byte offset of config block. Will be ao_storage_block bytes long */ -extern __xdata uint32_t ao_storage_config; +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 __xdata uint16_t ao_storage_unit; +extern __pdata uint16_t ao_storage_unit; #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE) @@ -534,10 +535,19 @@ 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; +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); @@ -706,7 +716,7 @@ enum ao_flight_state { extern __pdata enum ao_flight_state ao_flight_state; extern __pdata uint16_t ao_launch_time; -extern __xdata uint8_t ao_flight_force_idle; +extern __pdata uint8_t ao_flight_force_idle; /* Flight thread */ void @@ -802,13 +812,13 @@ extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */ #endif -extern __xdata int16_t ao_ground_pres; /* startup pressure */ -extern __xdata int16_t ao_ground_height; /* MSL of ao_ground_pres */ +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 __xdata int16_t ao_ground_accel; /* startup acceleration */ -extern __xdata int16_t ao_accel_2g; /* factory accel calibration */ -extern __xdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ +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); @@ -828,6 +838,7 @@ 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; @@ -954,6 +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; @@ -963,6 +1002,146 @@ 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 */ @@ -975,9 +1154,12 @@ ao_spi_init(void); #define AO_GPS_DATE_VALID (1 << 6) #define AO_GPS_COURSE_VALID (1 << 7) -extern __xdata uint16_t ao_gps_tick; +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_data { +struct ao_gps_orig { uint8_t year; uint8_t month; uint8_t day; @@ -996,30 +1178,26 @@ struct ao_gps_data { uint16_t v_error; /* m */ }; -struct ao_gps_sat_data { +struct ao_gps_sat_orig { uint8_t svid; uint8_t c_n_1; }; #define AO_MAX_GPS_TRACKING 12 -struct ao_gps_tracking_data { +struct ao_gps_tracking_orig { uint8_t channels; - struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING]; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; }; -extern __xdata uint8_t ao_gps_mutex; -extern __xdata struct ao_gps_data ao_gps_data; -extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data; - void ao_gps(void); void -ao_gps_print(__xdata struct ao_gps_data *gps_data); +ao_gps_print(__xdata struct ao_gps_orig *gps_data); void -ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data); +ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data); void ao_gps_init(void); @@ -1035,12 +1213,10 @@ void ao_gps_report_init(void); /* - * ao_telemetry.c + * ao_telemetry_orig.c */ -#define AO_MAX_CALLSIGN 8 - -struct ao_telemetry { +struct ao_telemetry_orig { uint16_t serial; uint16_t flight; uint8_t flight_state; @@ -1058,9 +1234,9 @@ struct ao_telemetry { int16_t accel_plus_g; int16_t accel_minus_g; struct ao_adc adc; - struct ao_gps_data gps; + struct ao_gps_orig gps; char callsign[AO_MAX_CALLSIGN]; - struct ao_gps_tracking_data gps_tracking; + struct ao_gps_tracking_orig gps_tracking; }; struct ao_telemetry_tiny { @@ -1078,10 +1254,15 @@ struct ao_telemetry_tiny { /* * ao_radio_recv tacks on rssi and status bytes */ -struct ao_telemetry_recv { - struct ao_telemetry telemetry; - int8_t rssi; - uint8_t status; + +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 { @@ -1105,6 +1286,9 @@ ao_rdf_set(uint8_t rdf); void ao_telemetry_init(void); +void +ao_telemetry_orig_init(void); + void ao_telemetry_tiny_init(void); @@ -1159,7 +1343,7 @@ void ao_monitor(void); #define AO_MONITORING_OFF 0 -#define AO_MONITORING_FULL 1 +#define AO_MONITORING_ORIG 1 #define AO_MONITORING_TINY 2 void @@ -1182,8 +1366,8 @@ struct ao_stdio { }; extern __xdata struct ao_stdio ao_stdios[]; -extern __data int8_t ao_cur_stdio; -extern __data int8_t ao_num_stdios; +extern __pdata int8_t ao_cur_stdio; +extern __pdata int8_t ao_num_stdios; void flush(void); @@ -1193,7 +1377,7 @@ extern __xdata uint8_t ao_stdin_ready; uint8_t ao_echo(void); -void +int8_t ao_add_stdio(char (*pollchar)(void), void (*putchar)(char) __reentrant, void (*flush)(void)) __reentrant; @@ -1220,6 +1404,9 @@ enum ao_igniter_status { enum ao_igniter_status ao_igniter_status(enum ao_igniter igniter); +void +ao_ignite_set_pins(void); + void ao_igniter_init(void); @@ -1228,7 +1415,7 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 4 +#define AO_CONFIG_MINOR 7 struct ao_config { uint8_t major; @@ -1241,8 +1428,18 @@ struct ao_config { 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 */ }; +#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 @@ -1366,7 +1563,47 @@ 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_ */