X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=84e92f35e77ced7eb5c581c6c43230f9eabc110f;hp=30511c8c2f7c49326e73bb9c02412ccb4bf237dc;hb=251b0971f049cbf2f8db79a32729d47441ce65f3;hpb=527d7c803ed9597b210634018cb2eb9d048d9846 diff --git a/src/ao.h b/src/ao.h index 30511c8c..84e92f35 100644 --- a/src/ao.h +++ b/src/ao.h @@ -63,6 +63,10 @@ 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); + /* Yield the processor to another task */ void ao_yield(void) _naked; @@ -71,6 +75,10 @@ ao_yield(void) _naked; void ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant; +/* Terminate the current task */ +void +ao_exit(void); + /* Dump task info to console */ void ao_task_info(void); @@ -130,7 +138,7 @@ ao_clock_init(void); * ao_adc.c */ -#define AO_ADC_RING 64 +#define AO_ADC_RING 32 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) @@ -341,9 +349,15 @@ ao_cmd_init(void); * ao_dma.c */ -/* Allocate a DMA channel. the 'done' parameter will be set to 1 - * when the dma is finished and will be used to wakeup any waiters +/* 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 */ + +#define AO_DMA_DONE 1 +#define AO_DMA_ABORTED 2 +#define AO_DMA_TIMEOUT 4 + uint8_t ao_dma_alloc(__xdata uint8_t * done); @@ -366,7 +380,7 @@ ao_dma_trigger(uint8_t id); /* Abort a running DMA transfer */ void -ao_dma_abort(uint8_t id); +ao_dma_abort(uint8_t id, uint8_t reason); /* DMA interrupt routine */ void @@ -458,6 +472,7 @@ ao_ee_init(void); #define AO_LOG_GPS_LAT 'N' #define AO_LOG_GPS_LON 'W' #define AO_LOG_GPS_ALT 'H' +#define AO_LOG_GPS_SAT 'V' #define AO_LOG_POS_NONE (~0UL) @@ -498,6 +513,11 @@ struct ao_log_record { int16_t altitude; uint16_t unused; } gps_altitude; + struct { + uint16_t svid; + uint8_t state; + uint8_t c_n; + } gps_sat; struct { uint16_t d0; uint16_t d1; @@ -661,6 +681,13 @@ ao_serial_getchar(void) __critical; void ao_serial_putchar(char c) __critical; +#define AO_SERIAL_SPEED_4800 0 +#define AO_SERIAL_SPEED_9600 1 +#define AO_SERIAL_SPEED_57600 2 + +void +ao_serial_set_speed(uint8_t speed); + void ao_serial_init(void); @@ -672,6 +699,7 @@ ao_serial_init(void); #define AO_GPS_NUM_SAT_SHIFT (0) #define AO_GPS_VALID (1 << 4) +#define AO_GPS_RUNNING (1 << 5) struct ao_gps_data { uint8_t hour; @@ -689,8 +717,29 @@ struct ao_gps_data { uint16_t v_error; /* m */ }; +#define SIRF_SAT_STATE_ACQUIRED (1 << 0) +#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) +#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) +#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3) +#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4) +#define SIRF_SAT_CODE_LOCKED (1 << 5) +#define SIRF_SAT_ACQUISITION_FAILED (1 << 6) +#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7) + +struct ao_gps_sat_data { + uint8_t svid; + uint8_t state; + uint8_t c_n_1; +}; + +struct ao_gps_tracking_data { + uint8_t channels; + struct ao_gps_sat_data sats[12]; +}; + 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); @@ -698,6 +747,9 @@ ao_gps(void); void ao_gps_print(__xdata struct ao_gps_data *gps_data); +void +ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data); + void ao_gps_init(void); @@ -728,6 +780,7 @@ struct ao_telemetry { struct ao_adc adc; struct ao_gps_data gps; char callsign[AO_MAX_CALLSIGN]; + struct ao_gps_tracking_data gps_tracking; }; /* Set delay between telemetry reports (0 to disable) */ @@ -739,6 +792,9 @@ struct ao_telemetry { void ao_telemetry_set_interval(uint16_t interval); +void +ao_rdf_set(uint8_t rdf); + void ao_telemetry_init(void); @@ -746,6 +802,23 @@ ao_telemetry_init(void); * ao_radio.c */ +extern __xdata uint8_t ao_radio_dma; +extern __xdata uint8_t ao_radio_dma_done; +extern __xdata uint8_t ao_radio_done; +extern __xdata uint8_t ao_radio_mutex; + +void +ao_radio_general_isr(void) interrupt 16; + +void +ao_radio_set_telemetry(void); + +void +ao_radio_set_packet(void); + +void +ao_radio_set_rdf(void); + void ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; @@ -755,9 +828,21 @@ struct ao_radio_recv { uint8_t status; }; -void +uint8_t ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; +void +ao_radio_rdf(int ms); + +void +ao_radio_abort(uint8_t reason); + +void +ao_radio_rdf_abort(void); + +void +ao_radio_idle(void); + void ao_radio_init(void); @@ -813,7 +898,7 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 0 +#define AO_CONFIG_MINOR 1 struct ao_config { uint8_t major; @@ -822,6 +907,7 @@ struct ao_config { int16_t accel_zero_g; uint8_t radio_channel; char callsign[AO_MAX_CALLSIGN + 1]; + uint8_t apogee_delay; }; extern __xdata struct ao_config ao_config; @@ -886,35 +972,21 @@ struct ao_fifo { * Packet-based command interface */ -#define AO_PACKET_MAX 32 -#define AO_PACKET_WIN 256 - -#define AO_PACKET_FIN (1 << 0) -#define AO_PACKET_SYN (1 << 1) -#define AO_PACKET_RST (1 << 2) -#define AO_PACKET_ACK (1 << 3) +#define AO_PACKET_MAX 8 struct ao_packet { uint8_t addr; - uint8_t flags; - uint16_t seq; - uint16_t ack; - uint16_t window; uint8_t len; + uint8_t seq; + uint8_t ack; uint8_t d[AO_PACKET_MAX]; }; -uint8_t -ao_packet_connect(uint8_t dest); - -uint8_t -ao_packet_accept(void); - -int -ao_packet_send(uint8_t *data, int len); - -int -ao_packet_recv(uint8_t *data, int len); +struct ao_packet_recv { + struct ao_packet packet; + int8_t rssi; + uint8_t status; +}; void ao_packet_init(void);