X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=b315af7a9672208d57d7bbc8fd062762260f5e7e;hp=4895f016d663c8b93749b8600b4a2fa72cbcafd6;hb=6492218fc316f8cf6214a577807a8dd0a80a9b6a;hpb=336224a08327cadc95f6e5b564a4ddc64aaad8f8 diff --git a/src/ao.h b/src/ao.h index 4895f016..b315af7a 100644 --- a/src/ao.h +++ b/src/ao.h @@ -367,10 +367,10 @@ enum ao_cmd_status { ao_cmd_syntax_error = 2, }; -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; +extern __pdata uint16_t ao_cmd_lex_i; +extern __pdata uint32_t ao_cmd_lex_u32; +extern __pdata char ao_cmd_lex_c; +extern __pdata enum ao_cmd_status ao_cmd_status; void ao_cmd_lex(void); @@ -395,7 +395,7 @@ ao_match_word(__code char *word); struct ao_cmds { void (*func)(void); - const char *help; + __code char *help; }; void @@ -464,16 +464,16 @@ ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; */ /* Total bytes of available storage */ -extern __xdata uint32_t ao_storage_total; +extern __pdata uint32_t ao_storage_total; /* Block size - device is erased in these units. At least 256 bytes */ -extern __xdata uint32_t ao_storage_block; +extern __pdata uint32_t ao_storage_block; /* Byte offset of config block. Will be ao_storage_block bytes long */ -extern __xdata uint32_t ao_storage_config; +extern __pdata uint32_t ao_storage_config; /* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ -extern __xdata uint16_t ao_storage_unit; +extern __pdata uint16_t ao_storage_unit; #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE) @@ -535,7 +535,7 @@ 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; +extern __pdata enum flight_state ao_log_state; /* required functions from the underlying log system */ @@ -707,7 +707,7 @@ enum ao_flight_state { extern __pdata enum ao_flight_state ao_flight_state; extern __pdata uint16_t ao_launch_time; -extern __xdata uint8_t ao_flight_force_idle; +extern __pdata uint8_t ao_flight_force_idle; /* Flight thread */ void @@ -803,13 +803,13 @@ extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample 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 */ +extern __pdata int16_t ao_ground_pres; /* startup pressure */ +extern __pdata 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 */ +extern __pdata int16_t ao_ground_accel; /* startup acceleration */ +extern __pdata int16_t ao_accel_2g; /* factory accel calibration */ +extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ #endif void ao_sample_init(void); @@ -829,6 +829,7 @@ 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_avg_height; /* running average of height */ extern __pdata int16_t ao_error_h; extern __pdata int16_t ao_error_h_sq_avg; @@ -964,6 +965,129 @@ 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 */ @@ -976,9 +1100,12 @@ ao_spi_init(void); #define AO_GPS_DATE_VALID (1 << 6) #define AO_GPS_COURSE_VALID (1 << 7) -extern __xdata uint16_t ao_gps_tick; +extern __pdata 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; @@ -997,30 +1124,26 @@ 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); @@ -1039,98 +1162,6 @@ ao_gps_report_init(void); * ao_telemetry_orig.c */ -#define AO_MAX_CALLSIGN 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[19]; /* 5 */ - /* 24 */ -}; - -#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 */ - /* 24 */ -}; - -#define AO_TELEMETRY_CONSTANT 0x10 - -struct ao_telemetry_constant { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t device; /* 5 device type */ - uint16_t flight; /* 6 flight number */ - int16_t ground_accel; /* 8 average ground accelerometer (TM only) */ - int16_t ground_pres; /* 10 average ground barometer */ - int16_t accel_plus_g; /* 12 +1g accelerometer calibration value (TM only) */ - int16_t accel_minus_g; /* 14 -1g accelermeter calibration value (TM only) */ - char callsign[AO_MAX_CALLSIGN]; /* 16 identity */ - /* 24 */ -}; - -#define AO_TELEMETRY_LOCATION 0x11 - -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 hdop; /* 22 (m * 5) */ - uint8_t unused; /* 23 */ - /* 24 */ -}; - -#define AO_TELEMETRY_SATELLITE 0x12 - -struct ao_telemetry_satellite { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t channels; /* 5 number of reported sats */ - uint8_t sats_0_1[3]; /* 6 reported sats 0 and 1 */ - uint8_t sats_2_3[3]; - uint8_t sats_4_5[3]; - uint8_t sats_6_7[3]; - uint8_t sats_8_9[3]; - uint8_t sats_10_11[3]; - /* 24 */ -}; - -#define AO_SAT_0_SSID(s) ((s)[0] & 0x3f) -#define AO_SAT_0_C_N_1(s) ((((s)[0] & 0xc0) >> 2) | ((s)[1] & 0x0f)) -#define AO_SAT_1_SSID(s) ((((s)[1] & 0xf0) >> 2) | ((s)[2] & 0x03)) -#define AO_SAT_1_C_N_1(s) (((s)[2] & 0xfc) >> 2) - struct ao_telemetry_orig { uint16_t serial; uint16_t flight; @@ -1149,9 +1180,9 @@ struct ao_telemetry_orig { 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 { @@ -1198,6 +1229,9 @@ ao_telemetry_set_interval(uint16_t interval); void ao_rdf_set(uint8_t rdf); +void +ao_telemetry_init(void); + void ao_telemetry_orig_init(void); @@ -1278,8 +1312,8 @@ struct ao_stdio { }; extern __xdata struct ao_stdio ao_stdios[]; -extern __data int8_t ao_cur_stdio; -extern __data int8_t ao_num_stdios; +extern __pdata int8_t ao_cur_stdio; +extern __pdata int8_t ao_num_stdios; void flush(void); @@ -1324,7 +1358,7 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 4 +#define AO_CONFIG_MINOR 6 struct ao_config { uint8_t major; @@ -1337,8 +1371,17 @@ struct ao_config { int16_t accel_minus_g; /* minor version 2 */ uint32_t radio_cal; /* minor version 3 */ uint32_t flight_log_max; /* minor version 4 */ + uint8_t ignite_mode; /* minor version 5 */ + uint8_t pad_orientation; /* minor version 6 */ }; +#define AO_IGNITE_MODE_DUAL 0 +#define AO_IGNITE_MODE_APOGEE 1 +#define AO_IGNITE_MODE_MAIN 2 + +#define AO_PAD_ORIENTATION_ANTENNA_UP 0 +#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 + extern __xdata struct ao_config ao_config; #define AO_CONFIG_MAX_SIZE 128