X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=dfff8a8dc253f5d531466480c112140bd160de7b;hp=1f27fe9247b290ccc9e2814229563c8f19c8152c;hb=a9ec6be0e92dee01f7aac006ef6f7779c1da1b36;hpb=dc8d18736239b14c2ec48a40a01515912c5c25e6

diff --git a/src/ao.h b/src/ao.h
index 1f27fe92..dfff8a8d 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -23,6 +23,7 @@
 #include <string.h>
 #include <stddef.h>
 #include "cc1111.h"
+#include "ao_pins.h"
 
 #define TRUE 1
 #define FALSE 0
@@ -42,7 +43,7 @@ struct ao_task {
 	__xdata void *wchan;		/* current wait channel (NULL if running) */
 	uint16_t alarm;			/* abort ao_sleep time */
 	uint8_t	stack_count;		/* amount of saved stack */
-	uint8_t task_id;		/* index in the task array */
+	uint8_t task_id;		/* unique id */
 	__code char *name;		/* task name */
 	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
 };
@@ -109,6 +110,7 @@ ao_start_scheduler(void);
 #define AO_PANIC_STDIO		7	/* Too many stdio handlers registered */
 #define AO_PANIC_REBOOT		8	/* Reboot failed */
 #define AO_PANIC_FLASH		9	/* Invalid flash part (or wrong blocksize) */
+#define AO_PANIC_USB		10	/* Trying to send USB packet while busy */
 
 /* Stop the operating system, beeping and blinking the reason */
 void
@@ -148,15 +150,7 @@ void
 ao_clock_init(void);
 
 /*
- * ao_adc.c
- */
-
-#define AO_ADC_RING	32
-#define ao_adc_ring_next(n)	(((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n)	(((n) - 1) & (AO_ADC_RING - 1))
-
-/*
- * One set of samples read from the A/D converter
+ * One set of samples read from the A/D converter or telemetry
  */
 struct ao_adc {
 	uint16_t	tick;		/* tick when the sample was read */
@@ -168,6 +162,20 @@ struct ao_adc {
 	int16_t		sense_m;	/* main continuity sense */
 };
 
+#ifndef HAS_ADC
+#error Please define HAS_ADC
+#endif
+
+#if HAS_ADC
+/*
+ * ao_adc.c
+ */
+
+#define AO_ADC_RING	32
+#define ao_adc_ring_next(n)	(((n) + 1) & (AO_ADC_RING - 1))
+#define ao_adc_ring_prev(n)	(((n) - 1) & (AO_ADC_RING - 1))
+
+
 /*
  * A/D data is stored in a ring, with the next sample to be written
  * at ao_adc_head
@@ -188,15 +196,16 @@ void
 ao_adc_get(__xdata struct ao_adc *packet);
 
 /* The A/D interrupt handler */
-#if !AO_NO_ADC_ISR
+
 void
 ao_adc_isr(void) interrupt 1;
-#endif
 
 /* Initialize the A/D converter */
 void
 ao_adc_init(void);
 
+#endif /* HAS_ADC */
+
 /*
  * ao_beep.c
  */
@@ -255,8 +264,6 @@ ao_beep_init(void);
  */
 
 #define AO_LED_NONE	0
-#define AO_LED_GREEN	1
-#define AO_LED_RED	2
 
 /* Turn on the specified LEDs */
 void
@@ -618,6 +625,7 @@ 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;
 
 /* Flight thread */
 void
@@ -695,13 +703,16 @@ ao_dbg_init(void);
  * ao_serial.c
  */
 
-#if !AO_NO_SERIAL_ISR
+#ifndef HAS_SERIAL_1
+#error Please define HAS_SERIAL_1
+#endif
+
+#if HAS_SERIAL_1
 void
 ao_serial_rx1_isr(void) interrupt 3;
 
 void
 ao_serial_tx1_isr(void) interrupt 14;
-#endif
 
 char
 ao_serial_getchar(void) __critical;
@@ -718,6 +729,7 @@ ao_serial_set_speed(uint8_t speed);
 
 void
 ao_serial_init(void);
+#endif
 
 /*
  * ao_gps.c
@@ -730,6 +742,8 @@ ao_serial_init(void);
 #define AO_GPS_RUNNING		(1 << 5)
 #define AO_GPS_DATE_VALID	(1 << 6)
 
+extern __xdata uint16_t ao_gps_tick;
+
 struct ao_gps_data {
 	uint8_t			year;
 	uint8_t			month;
@@ -790,7 +804,7 @@ ao_gps_report_init(void);
  */
 
 #define AO_MAX_CALLSIGN		8
-#define AO_TELEMETRY_VERSION	2
+#define AO_TELEMETRY_VERSION	3
 
 struct ao_telemetry {
 	uint8_t			addr;