X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=79452862e77d16a06f2e942dc673b732a1af67ee;hp=f23e4134ac0e9713208ceed47968fc312cb6399d;hb=7f74761051f2a5ab45b82c4dd79a8569376bbe2e;hpb=e4ba9bf4291bf17c777c8c3ef7c71e4a30b9947a diff --git a/src/ao.h b/src/ao.h index f23e4134..79452862 100644 --- a/src/ao.h +++ b/src/ao.h @@ -34,7 +34,7 @@ /* Stack runs from above the allocated __data space to 0xfe, which avoids * writing to 0xff as that triggers the stack overflow indicator */ -#define AO_STACK_START 0x80 +#define AO_STACK_START 0x90 #define AO_STACK_END 0xfe #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) @@ -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 @@ -163,6 +164,15 @@ 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 +188,9 @@ 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 +308,14 @@ 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 +339,11 @@ 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 @@ -345,10 +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); @@ -372,9 +394,8 @@ uint8_t ao_match_word(__code char *word); struct ao_cmds { - char cmd; void (*func)(void); - const char *help; + __code char *help; }; void @@ -383,6 +404,14 @@ ao_cmd_register(__code struct ao_cmds *cmds); void ao_cmd_init(void); +#if HAS_CMD_FILTER +/* + * Provided by an external module to filter raw command lines + */ +uint8_t +ao_cmd_filter(void); +#endif + /* * ao_dma.c */ @@ -435,23 +464,22 @@ 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 __pdata 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_storage_setup(void); - -/* Flush any pending write data */ -void -ao_storage_flush(void) __reentrant; +ao_storage_setup(void) __reentrant; /* Write data. Returns 0 on failure, 1 on success */ uint8_t @@ -463,16 +491,113 @@ ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; /* Erase a block of storage. This always clears ao_storage_block bytes */ uint8_t -ao_storage_erase(uint32_t pos); +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); +/* + * Low-level functions wrapped by ao_storage.c + */ + +/* Read data within a storage unit */ +uint8_t +ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* 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_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 __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); + +/* 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. @@ -571,40 +696,6 @@ 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; - -/* 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); - -/* 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); - /* * ao_flight.c */ @@ -622,17 +713,10 @@ enum ao_flight_state { ao_flight_invalid = 9 }; -extern __xdata struct ao_adc ao_flight_data; extern __pdata enum ao_flight_state ao_flight_state; -extern __pdata uint16_t ao_flight_tick; -extern __pdata int16_t ao_flight_accel; -extern __pdata int16_t ao_flight_pres; -extern __pdata int32_t ao_flight_vel; -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; +extern __pdata uint8_t ao_flight_force_idle; /* Flight thread */ void @@ -642,6 +726,129 @@ ao_flight(void); void ao_flight_init(void); +/* + * ao_flight_nano.c + */ + +void +ao_flight_nano_init(void); + +/* + * ao_sample.c + */ + +/* + * Barometer calibration + * + * We directly sample the barometer. The specs say: + * + * Pressure range: 15-115 kPa + * Voltage at 115kPa: 2.82 + * Output scale: 27mV/kPa + * + * If we want to detect launch with the barometer, we need + * a large enough bump to not be fooled by noise. At typical + * launch elevations (0-2000m), a 200Pa pressure change cooresponds + * to about a 20m elevation change. This is 5.4mV, or about 3LSB. + * As all of our calculations are done in 16 bits, we'll actually see a change + * of 16 times this though + * + * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa + */ + +/* Accelerometer calibration + * + * We're sampling the accelerometer through a resistor divider which + * consists of 5k and 10k resistors. This multiplies the values by 2/3. + * That goes into the cc1111 A/D converter, which is running at 11 bits + * of precision with the bits in the MSB of the 16 bit value. Only positive + * values are used, so values should range from 0-32752 for 0-3.3V. The + * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what + * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV, + * for a final computation of: + * + * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g + * + * Zero g was measured at 16000 (we would expect 16384). + * Note that this value is only require to tell if the + * rocket is standing upright. Once that is determined, + * the value of the accelerometer is averaged for 100 samples + * to find the resting accelerometer value, which is used + * for all further flight computations + */ + +#define GRAVITY 9.80665 + +/* + * Above this height, the baro sensor doesn't work + */ +#define AO_MAX_BARO_HEIGHT 12000 + +/* + * Above this speed, baro measurements are unreliable + */ +#define AO_MAX_BARO_SPEED 200 + +#define ACCEL_NOSE_UP (ao_accel_2g >> 2) + +/* + * Speed and acceleration are scaled by 16 to provide a bit more + * resolution while still having reasonable range. Note that this + * limits speed to 2047m/s (around mach 6) and acceleration to + * 2047m/s² (over 200g) + */ + +#define AO_M_TO_HEIGHT(m) ((int16_t) (m)) +#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) +#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) + +extern __pdata uint16_t ao_sample_tick; /* time of last data */ +extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */ +extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */ +extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */ +extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ + +#if HAS_ACCEL +extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */ +#endif + +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 __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); + +/* returns FALSE in preflight mode, TRUE in flight mode */ +uint8_t ao_sample(void); + +/* + * ao_kalman.c + */ + +#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define from_fix(x) ((x) >> 16) + +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; + +#if HAS_ACCEL +extern __pdata int16_t ao_error_a; +#endif + +void ao_kalman(void); + /* * ao_report.c */ @@ -715,6 +922,10 @@ ao_dbg_init(void); #endif #if HAS_SERIAL_1 +#ifndef USE_SERIAL_STDIN +#error Please define USE_SERIAL_STDIN +#endif + void ao_serial_rx1_isr(void) __interrupt 3; @@ -724,12 +935,24 @@ ao_serial_tx1_isr(void) __interrupt 14; char ao_serial_getchar(void) __critical; +#if USE_SERIAL_STDIN +char +ao_serial_pollchar(void) __critical; + +void +ao_serial_set_stdin(uint8_t stdin); +#endif + void ao_serial_putchar(char c) __critical; +void +ao_serial_drain(void) __critical; + #define AO_SERIAL_SPEED_4800 0 #define AO_SERIAL_SPEED_9600 1 -#define AO_SERIAL_SPEED_57600 2 +#define AO_SERIAL_SPEED_19200 2 +#define AO_SERIAL_SPEED_57600 3 void ao_serial_set_speed(uint8_t speed); @@ -742,6 +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; @@ -751,6 +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 */ @@ -761,10 +1152,14 @@ ao_spi_init(void); #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) #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; @@ -783,30 +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); @@ -822,42 +1213,68 @@ void ao_gps_report_init(void); /* - * ao_telemetry.c + * ao_telemetry_orig.c */ -#define AO_MAX_CALLSIGN 8 -#define AO_TELEMETRY_VERSION 3 - -struct ao_telemetry { - uint8_t addr; +struct ao_telemetry_orig { + uint16_t serial; uint16_t flight; uint8_t flight_state; - int16_t flight_accel; + int16_t accel; int16_t ground_accel; - int32_t flight_vel; - int16_t flight_pres; + union { + struct { + int16_t speed; + int16_t unused; + } k; + int32_t flight_vel; + } u; + int16_t height; int16_t ground_pres; 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_orig gps_tracking; +}; + +struct ao_telemetry_tiny { + uint16_t serial; + uint16_t flight; + uint8_t flight_state; + int16_t height; /* AGL in meters */ + int16_t speed; /* in m/s * 16 */ + int16_t accel; /* in m/s² * 16 */ + int16_t ground_pres; /* sensor units */ + struct ao_adc adc; /* raw ADC readings */ char callsign[AO_MAX_CALLSIGN]; - 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; + +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 { + struct ao_telemetry_tiny telemetry_tiny; + int8_t rssi; + uint8_t status; }; /* Set delay between telemetry reports (0 to disable) */ #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) -#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50) +#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) void @@ -869,6 +1286,12 @@ ao_rdf_set(uint8_t rdf); void ao_telemetry_init(void); +void +ao_telemetry_orig_init(void); + +void +ao_telemetry_tiny_init(void); + /* * ao_radio.c */ @@ -882,19 +1305,13 @@ void ao_radio_general_isr(void) __interrupt 16; void -ao_radio_get(void); +ao_radio_get(uint8_t len); #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 void *data, uint8_t size) __reentrant; @@ -925,6 +1342,10 @@ extern const char const * const ao_state_names[]; void ao_monitor(void); +#define AO_MONITORING_OFF 0 +#define AO_MONITORING_ORIG 1 +#define AO_MONITORING_TINY 2 + void ao_set_monitor(uint8_t monitoring); @@ -941,17 +1362,25 @@ struct ao_stdio { char (*pollchar)(void); void (*putchar)(char c) __reentrant; void (*flush)(void); + uint8_t echo; }; +extern __xdata struct ao_stdio ao_stdios[]; +extern __pdata int8_t ao_cur_stdio; +extern __pdata int8_t ao_num_stdios; + void flush(void); extern __xdata uint8_t ao_stdin_ready; -void +uint8_t +ao_echo(void); + +int8_t ao_add_stdio(char (*pollchar)(void), void (*putchar)(char) __reentrant, - void (*flush)(void)); + void (*flush)(void)) __reentrant; /* * ao_ignite.c @@ -975,6 +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); @@ -983,7 +1415,7 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 3 +#define AO_CONFIG_MINOR 7 struct ao_config { uint8_t major; @@ -995,8 +1427,19 @@ 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 */ + 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 @@ -1027,7 +1470,6 @@ 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[]; @@ -1117,6 +1559,51 @@ void ao_packet_slave_stop(void); void -ao_packet_slave_init(void); +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_ */