X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=97cb75ae59ca016f7f0c953c094827c134690360;hp=65a594c0529ebd8413d1fd6592f3c878673cf6f2;hb=9e10e43eff9de3f034da49c4f88728fb933f5035;hpb=0b483233118673cbc2cda1be6acd379df82bc95a diff --git a/src/ao.h b/src/ao.h index 65a594c0..97cb75ae 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 +108,8 @@ 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) */ /* Stop the operating system, beeping and blinking the reason */ void @@ -117,8 +120,9 @@ ao_panic(uint8_t reason); */ /* Our timer runs at 100Hz */ -#define AO_MS_TO_TICKS(ms) ((ms) / 10) -#define AO_SEC_TO_TICKS(s) ((s) * 100) +#define AO_HERTZ 100 +#define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ)) +#define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ) /* Returns the current time in ticks */ uint16_t @@ -145,15 +149,7 @@ 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 */ @@ -165,6 +161,20 @@ 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 @@ -185,15 +195,16 @@ 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 */ @@ -252,8 +263,6 @@ 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 @@ -291,6 +300,12 @@ ao_usb_putchar(char c); char ao_usb_getchar(void); +/* Poll for a charcter on the USB input queue. + * returns AO_READ_AGAIN if none are available + */ +char +ao_usb_pollchar(void); + /* Flush the USB output queue */ void ao_usb_flush(void); @@ -322,6 +337,7 @@ 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; @@ -343,6 +359,9 @@ 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); @@ -482,6 +501,7 @@ 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) @@ -524,9 +544,14 @@ 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; + } gps_date; struct { uint16_t d0; uint16_t d1; @@ -542,11 +567,11 @@ ao_log_data(struct ao_log_record *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 @@ -599,6 +624,7 @@ 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 @@ -676,13 +702,16 @@ 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; @@ -699,6 +728,7 @@ ao_serial_set_speed(uint8_t speed); void ao_serial_init(void); +#endif /* * ao_gps.c @@ -709,8 +739,14 @@ 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; @@ -726,18 +762,8 @@ 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; }; @@ -777,15 +803,19 @@ ao_gps_report_init(void); */ #define AO_MAX_CALLSIGN 8 +#define AO_TELEMETRY_VERSION 2 struct ao_telemetry { uint8_t addr; + uint16_t flight; uint8_t flight_state; int16_t flight_accel; int16_t ground_accel; int32_t flight_vel; int16_t flight_pres; int16_t ground_pres; + int16_t accel_plus_g; + int16_t accel_minus_g; struct ao_adc adc; struct ao_gps_data gps; char callsign[AO_MAX_CALLSIGN]; @@ -819,6 +849,11 @@ 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); @@ -922,16 +957,18 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 1 +#define AO_CONFIG_MINOR 3 struct ao_config { uint8_t major; uint8_t minor; uint16_t main_deploy; - int16_t accel_zero_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; + 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;