X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=9b375894e0f20cd4c41aeaf110b88bbaed52324e;hp=791064e8d25c7b6c3e5e52c2e3d0c7beaf56cdb4;hb=a5d60fdb9c969c1516feb76a16001c9688112c4c;hpb=8cdf4fb051c22b35c251d90bc288551f7c2898bf diff --git a/src/ao.h b/src/ao.h index 791064e8..9b375894 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) @@ -164,9 +164,13 @@ struct ao_adc { #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 @@ -303,7 +307,14 @@ 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 @@ -327,9 +338,11 @@ 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 @@ -390,6 +403,14 @@ 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 */ @@ -457,7 +478,7 @@ extern __xdata uint16_t ao_storage_unit; /* Initialize above values. Can only be called once the OS is running */ void -ao_storage_setup(void); +ao_storage_setup(void) __reentrant; /* Write data. Returns 0 on failure, 1 on success */ uint8_t @@ -503,6 +524,70 @@ 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 __xdata enum flight_state ao_log_state; + +/* required functions from the underlying log system */ + +/* 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. @@ -601,44 +686,6 @@ 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; - -/* 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); - -/* 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_flight.c */ @@ -656,15 +703,8 @@ enum ao_flight_state { ao_flight_invalid = 9 }; -extern __data uint8_t ao_flight_adc; 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; @@ -676,6 +716,128 @@ 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 __xdata int16_t ao_ground_pres; /* startup pressure */ +extern __xdata int16_t ao_ground_height; /* MSL of ao_ground_pres */ + +#if HAS_ACCEL +extern __xdata int16_t ao_ground_accel; /* startup acceleration */ +extern __xdata int16_t ao_accel_2g; /* factory accel calibration */ +extern __xdata 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_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 */ @@ -749,6 +911,10 @@ 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; @@ -758,12 +924,24 @@ 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); @@ -795,6 +973,7 @@ 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; @@ -859,17 +1038,22 @@ ao_gps_report_init(void); * ao_telemetry.c */ -#define AO_MAX_CALLSIGN 8 -#define AO_TELEMETRY_VERSION 3 +#define AO_MAX_CALLSIGN 8 struct ao_telemetry { 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; @@ -879,6 +1063,18 @@ struct ao_telemetry { struct ao_gps_tracking_data 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]; +}; + /* * ao_radio_recv tacks on rssi and status bytes */ @@ -888,10 +1084,16 @@ struct ao_telemetry_recv { 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 @@ -903,6 +1105,9 @@ ao_rdf_set(uint8_t rdf); void ao_telemetry_init(void); +void +ao_telemetry_tiny_init(void); + /* * ao_radio.c */ @@ -916,18 +1121,12 @@ 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_fixed_pkt(size_t size); - -#define ao_radio_set_telemetry() \ - ao_radio_set_fixed_pkt(sizeof (struct ao_telemetry)) - -#define ao_radio_set_packet() \ - ao_radio_set_fixed_pkt(sizeof (struct ao_packet)) +ao_radio_set_packet(void); void ao_radio_send(__xdata void *data, uint8_t size) __reentrant; @@ -959,6 +1158,10 @@ extern const char const * const ao_state_names[]; void ao_monitor(void); +#define AO_MONITORING_OFF 0 +#define AO_MONITORING_FULL 1 +#define AO_MONITORING_TINY 2 + void ao_set_monitor(uint8_t monitoring); @@ -975,17 +1178,25 @@ 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 __data int8_t ao_cur_stdio; +extern __data int8_t ao_num_stdios; + void flush(void); extern __xdata uint8_t ao_stdin_ready; +uint8_t +ao_echo(void); + void ao_add_stdio(char (*pollchar)(void), void (*putchar)(char) __reentrant, - void (*flush)(void)); + void (*flush)(void)) __reentrant; /* * ao_ignite.c @@ -1062,7 +1273,6 @@ 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[]; @@ -1152,6 +1362,11 @@ void ao_packet_slave_stop(void); void -ao_packet_slave_init(void); +ao_packet_slave_init(uint8_t enable); + +/* ao_btm.c */ + +void +ao_btm_init(void); #endif /* _AO_H_ */