X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=b88bef1f0adc5707de57ab47c2167236b08576c6;hp=63f806788cc1f7ad7a4ef6fc5c0d4fe4424da327;hb=f3e68341f6f5daaf26dd162e4f9a06c29988986a;hpb=7a4f6d5ad55637cde97a1e2f247f92df59bc2e14

diff --git a/src/ao.h b/src/ao.h
index 63f80678..b88bef1f 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)
 
@@ -470,7 +470,7 @@ 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
@@ -698,21 +698,19 @@ enum ao_flight_state {
 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 __xdata 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;
-#ifdef USE_KALMAN
 extern __pdata int16_t			ao_ground_height;
-extern __pdata int32_t			ao_k_max_height;
-extern __pdata int32_t			ao_k_height;
-extern __pdata int32_t			ao_k_speed;
-extern __pdata int32_t			ao_k_accel;
-#endif
+extern __pdata int16_t			ao_max_height;
+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 */
+
+#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))
 
 /* Flight thread */
 void
@@ -841,6 +839,7 @@ 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;
 
@@ -905,17 +904,22 @@ 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;
@@ -925,6 +929,18 @@ 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
  */
@@ -934,10 +950,16 @@ 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
@@ -949,6 +971,9 @@ ao_rdf_set(uint8_t rdf);
 void
 ao_telemetry_init(void);
 
+void
+ao_telemetry_tiny_init(void);
+
 /*
  * ao_radio.c
  */
@@ -962,18 +987,12 @@ 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;
@@ -1005,6 +1024,10 @@ 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);
 
@@ -1197,6 +1220,6 @@ void
 ao_packet_slave_stop(void);
 
 void
-ao_packet_slave_init(void);
+ao_packet_slave_init(uint8_t enable);
 
 #endif /* _AO_H_ */