X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=b72cac5c4aac6ddbe524cff75d41b7d2f8344a2a;hp=b90befe56e8921cc986176bce114bb104f5661bb;hb=b0d7e3f9c9322542e9b649bb6ad7f7e5bb99dffa;hpb=73db30b2f9128c37dc7fa075793a8862814ce044 diff --git a/src/ao.h b/src/ao.h index b90befe5..b72cac5c 100644 --- a/src/ao.h +++ b/src/ao.h @@ -106,6 +106,8 @@ ao_start_scheduler(void); #define AO_PANIC_EE 4 /* Mis-using eeprom API */ #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 */ /* Stop the operating system, beeping and blinking the reason */ void @@ -116,8 +118,9 @@ 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 @@ -290,6 +293,12 @@ 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); @@ -342,6 +351,9 @@ 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); @@ -365,7 +377,6 @@ ao_cmd_init(void); #define AO_DMA_DONE 1 #define AO_DMA_ABORTED 2 -#define AO_DMA_TIMEOUT 4 uint8_t ao_dma_alloc(__xdata uint8_t * done); @@ -389,7 +400,7 @@ ao_dma_trigger(uint8_t id); /* Abort a running DMA transfer */ void -ao_dma_abort(uint8_t id, uint8_t reason); +ao_dma_abort(uint8_t id); /* DMA interrupt routine */ void @@ -482,6 +493,7 @@ 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 +536,14 @@ 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 +559,11 @@ 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 @@ -709,8 +726,12 @@ ao_serial_init(void); #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) struct ao_gps_data { + uint8_t year; + uint8_t month; + uint8_t day; uint8_t hour; uint8_t minute; uint8_t second; @@ -726,18 +747,8 @@ 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 +788,19 @@ 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]; @@ -844,7 +859,7 @@ void ao_radio_rdf(int ms); void -ao_radio_abort(uint8_t reason); +ao_radio_abort(void); void ao_radio_rdf_abort(void); @@ -874,9 +889,24 @@ ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant; * ao_stdio.c */ +#define AO_READ_AGAIN ((char) -1) + +struct ao_stdio { + char (*pollchar)(void); + void (*putchar)(char c) __reentrant; + void (*flush)(void); +}; + void flush(void); +extern __xdata uint8_t ao_stdin_ready; + +void +ao_add_stdio(char (*pollchar)(void), + void (*putchar)(char) __reentrant, + void (*flush)(void)); + /* * ao_ignite.c */ @@ -907,16 +937,17 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 1 +#define AO_CONFIG_MINOR 2 struct ao_config { uint8_t major; uint8_t minor; uint16_t main_deploy; - int16_t accel_zero_g; + int16_t accel_plus_g; uint8_t radio_channel; char callsign[AO_MAX_CALLSIGN + 1]; uint8_t apogee_delay; + int16_t accel_minus_g; }; extern __xdata struct ao_config ao_config; @@ -982,6 +1013,7 @@ struct ao_fifo { */ #define AO_PACKET_MAX 8 +#define AO_PACKET_SYN (uint8_t) 0xff struct ao_packet { uint8_t addr; @@ -997,7 +1029,42 @@ struct ao_packet_recv { uint8_t status; }; +extern __xdata struct ao_packet_recv ao_rx_packet; +extern __xdata struct ao_packet ao_tx_packet; +extern __xdata struct ao_task ao_packet_task; +extern __xdata uint8_t ao_packet_enable; +extern __xdata uint8_t ao_packet_master_sleeping; +extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; + +void +ao_packet_send(void); + +uint8_t +ao_packet_recv(void); + +void +ao_packet_flush(void); + +void +ao_packet_putchar(char c) __reentrant; + +char +ao_packet_pollchar(void) __critical; + +/* ao_packet_master.c */ + +void +ao_packet_master_init(void); + +/* ao_packet_slave.c */ + +void +ao_packet_slave_start(void); + +void +ao_packet_slave_stop(void); + void -ao_packet_init(void); +ao_packet_slave_init(void); #endif /* _AO_H_ */