X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=9a986479154b83d666cc59a887faa9f05d1e5aec;hp=89109fd964449926bb4141020f61aa90c0982df1;hb=edf6252450e06fd42fa6dde3acd127baa8fa6d36;hpb=c6e7e812d67f91c63ba4982f7a899a72584027de diff --git a/src/ao.h b/src/ao.h index 89109fd9..9a986479 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 @@ -403,6 +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 */ @@ -903,6 +912,10 @@ 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; @@ -912,12 +925,24 @@ 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); @@ -939,6 +964,129 @@ 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 */ +}; + +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; +}; + /* * ao_gps.c */ @@ -952,8 +1100,11 @@ ao_spi_init(void); #define AO_GPS_COURSE_VALID (1 << 7) extern __xdata 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; @@ -972,30 +1123,26 @@ 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); @@ -1011,12 +1158,10 @@ 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; @@ -1034,9 +1179,9 @@ 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 { @@ -1054,10 +1199,15 @@ 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 { @@ -1081,6 +1231,9 @@ ao_rdf_set(uint8_t rdf); void ao_telemetry_init(void); +void +ao_telemetry_orig_init(void); + void ao_telemetry_tiny_init(void); @@ -1135,7 +1288,7 @@ 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 @@ -1154,14 +1307,22 @@ 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 __data int8_t ao_cur_stdio; +extern __data 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)) __reentrant; @@ -1332,4 +1493,21 @@ ao_packet_slave_stop(void); 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); + #endif /* _AO_H_ */