X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=8db22799f24df6fca7ec59fb30cc54416572d504;hp=bc9afcc32ca38430986dce42caefb85c64813f31;hb=68b2b66d7574dfd0bd5e3571b8ffad32ca5d2b73;hpb=1de322b960005c9a16051afa1881fadb00f4bcd6 diff --git a/src/ao.h b/src/ao.h index bc9afcc3..8db22799 100644 --- a/src/ao.h +++ b/src/ao.h @@ -23,6 +23,7 @@ #include #include #include "cc1111.h" +#include "ao_pins.h" #define TRUE 1 #define FALSE 0 @@ -42,7 +43,7 @@ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ uint16_t alarm; /* abort ao_sleep time */ uint8_t stack_count; /* amount of saved stack */ - uint8_t task_id; /* index in the task array */ + uint8_t task_id; /* unique id */ __code char *name; /* task name */ uint8_t stack[AO_STACK_SIZE]; /* saved stack */ }; @@ -107,6 +108,9 @@ ao_start_scheduler(void); #define AO_PANIC_LOG 5 /* Failing to read/write log data */ #define AO_PANIC_CMD 6 /* Too many command sets registered */ #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */ +#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 */ /* Stop the operating system, beeping and blinking the reason */ void @@ -146,15 +150,7 @@ void ao_clock_init(void); /* - * ao_adc.c - */ - -#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)) - -/* - * One set of samples read from the A/D converter + * One set of samples read from the A/D converter or telemetry */ struct ao_adc { uint16_t tick; /* tick when the sample was read */ @@ -166,6 +162,20 @@ struct ao_adc { int16_t sense_m; /* main continuity sense */ }; +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#if HAS_ADC +/* + * ao_adc.c + */ + +#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)) + + /* * A/D data is stored in a ring, with the next sample to be written * at ao_adc_head @@ -186,15 +196,16 @@ void ao_adc_get(__xdata struct ao_adc *packet); /* The A/D interrupt handler */ -#if !AO_NO_ADC_ISR + void ao_adc_isr(void) interrupt 1; -#endif /* Initialize the A/D converter */ void ao_adc_init(void); +#endif /* HAS_ADC */ + /* * ao_beep.c */ @@ -253,8 +264,6 @@ ao_beep_init(void); */ #define AO_LED_NONE 0 -#define AO_LED_GREEN 1 -#define AO_LED_RED 2 /* Turn on the specified LEDs */ void @@ -280,6 +289,18 @@ ao_led_for(uint8_t colors, uint16_t ticks) __reentrant; void ao_led_init(uint8_t enable); +/* + * ao_romconfig.c + */ + +#define AO_ROMCONFIG_VERSION 2 + +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; +extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; + /* * ao_usb.c */ @@ -329,6 +350,7 @@ enum ao_cmd_status { }; 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; @@ -350,6 +372,9 @@ ao_cmd_hex(void); void ao_cmd_decimal(void); +uint8_t +ao_match_word(__code char *word); + struct ao_cmds { char cmd; void (*func)(void); @@ -489,6 +514,7 @@ ao_ee_init(void); #define AO_LOG_GPS_LON 'W' #define AO_LOG_GPS_ALT 'H' #define AO_LOG_GPS_SAT 'V' +#define AO_LOG_GPS_DATE 'Y' #define AO_LOG_POS_NONE (~0UL) @@ -531,9 +557,15 @@ struct ao_log_record { } gps_altitude; struct { uint16_t svid; - uint8_t state; + uint8_t unused; uint8_t c_n; } gps_sat; + struct { + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t extra; + } gps_date; struct { uint16_t d0; uint16_t d1; @@ -542,18 +574,18 @@ struct ao_log_record { }; /* Write a record to the eeprom log */ -void -ao_log_data(struct ao_log_record *log); +uint8_t +ao_log_data(__xdata struct ao_log_record *log) __reentrant; /* Flush the log */ void ao_log_flush(void); -/* Log dumping API: - * ao_log_dump_first() - get first log record - * ao_log_dump_next() - get next log record +/* 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 struct ao_log_record ao_log_dump; +extern __xdata uint16_t ao_flight_number; /* Retrieve first log record for the current flight */ uint8_t @@ -606,6 +638,7 @@ 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; /* Flight thread */ void @@ -683,13 +716,16 @@ ao_dbg_init(void); * ao_serial.c */ -#if !AO_NO_SERIAL_ISR +#ifndef HAS_SERIAL_1 +#error Please define HAS_SERIAL_1 +#endif + +#if HAS_SERIAL_1 void ao_serial_rx1_isr(void) interrupt 3; void ao_serial_tx1_isr(void) interrupt 14; -#endif char ao_serial_getchar(void) __critical; @@ -706,6 +742,7 @@ ao_serial_set_speed(uint8_t speed); void ao_serial_init(void); +#endif /* * ao_gps.c @@ -716,8 +753,14 @@ ao_serial_init(void); #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) + +extern __xdata uint16_t ao_gps_tick; struct ao_gps_data { + uint8_t year; + uint8_t month; + uint8_t day; uint8_t hour; uint8_t minute; uint8_t second; @@ -733,18 +776,8 @@ 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; }; @@ -784,10 +817,11 @@ ao_gps_report_init(void); */ #define AO_MAX_CALLSIGN 8 -#define AO_TELEMETRY_VERSION 1 +#define AO_TELEMETRY_VERSION 3 struct ao_telemetry { uint8_t addr; + uint16_t flight; uint8_t flight_state; int16_t flight_accel; int16_t ground_accel; @@ -829,6 +863,11 @@ extern __xdata uint8_t ao_radio_mutex; void ao_radio_general_isr(void) interrupt 16; +void +ao_radio_get(void); + +#define ao_radio_put() ao_mutex_put(&ao_radio_mutex) + void ao_radio_set_telemetry(void); @@ -932,17 +971,18 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 2 +#define AO_CONFIG_MINOR 3 struct ao_config { uint8_t major; uint8_t minor; uint16_t main_deploy; - int16_t accel_plus_g; + int16_t accel_plus_g; /* changed for minor version 2 */ uint8_t radio_channel; char callsign[AO_MAX_CALLSIGN + 1]; - uint8_t apogee_delay; - int16_t accel_minus_g; + uint8_t apogee_delay; /* minor version 1 */ + int16_t accel_minus_g; /* minor version 2 */ + uint32_t radio_cal; /* minor version 3 */ }; extern __xdata struct ao_config ao_config; @@ -970,8 +1010,7 @@ ao_rssi_init(uint8_t rssi_led); * each instance of a product */ -extern const uint8_t ao_usb_descriptors []; -extern const uint16_t ao_serial_number; +extern __code __at(0x00aa) uint8_t ao_usb_descriptors []; extern const char ao_version[]; extern const char ao_manufacturer[]; extern const char ao_product[]; @@ -1007,7 +1046,7 @@ struct ao_fifo { * Packet-based command interface */ -#define AO_PACKET_MAX 8 +#define AO_PACKET_MAX 64 #define AO_PACKET_SYN (uint8_t) 0xff struct ao_packet { @@ -1016,6 +1055,7 @@ struct ao_packet { uint8_t seq; uint8_t ack; uint8_t d[AO_PACKET_MAX]; + uint8_t callsign[AO_MAX_CALLSIGN]; }; struct ao_packet_recv {