X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=b315af7a9672208d57d7bbc8fd062762260f5e7e;hp=600c488a00f98aed631f5a717429690e162e4c57;hb=6492218fc316f8cf6214a577807a8dd0a80a9b6a;hpb=8be559baa979c15e78f8dba7879b383dbe3936d3

diff --git a/src/ao.h b/src/ao.h
index 600c488a..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);
@@ -1036,12 +1159,10 @@ 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;
@@ -1059,9 +1180,9 @@ 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 {
@@ -1079,10 +1200,15 @@ 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 {
@@ -1106,6 +1232,9 @@ ao_rdf_set(uint8_t rdf);
 void
 ao_telemetry_init(void);
 
+void
+ao_telemetry_orig_init(void);
+
 void
 ao_telemetry_tiny_init(void);
 
@@ -1160,7 +1289,7 @@ 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
@@ -1183,8 +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);
@@ -1229,7 +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;
@@ -1242,8 +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