X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao.h;h=04610fea4324de241af45de38527eea21c5e8e87;hp=05f056fd5e8b577091286b1418e5ef73f3b4d905;hb=7a02d4bace05cc829522933b9df6b82a9e17336f;hpb=c32893ce79835a8f861d6ef414644c2ff9769ff6 diff --git a/src/core/ao.h b/src/core/ao.h index 05f056fd..04610fea 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -37,9 +37,9 @@ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ uint16_t alarm; /* abort ao_sleep time */ + ao_arch_task_members /* any architecture-specific fields */ uint8_t task_id; /* unique id */ __code char *name; /* task name */ - ao_arch_task_members /* any architecture-specific fields */ uint8_t stack[AO_STACK_SIZE]; /* saved stack */ }; @@ -68,6 +68,10 @@ ao_wakeup(__xdata void *wchan); void ao_alarm(uint16_t delay); +/* Clear any pending alarm */ +void +ao_clear_alarm(void); + /* Yield the processor to another task */ void ao_yield(void) ao_arch_naked_declare; @@ -342,6 +346,12 @@ ao_cmd_put16(uint16_t v); void ao_cmd_white(void); +int8_t +ao_cmd_hexchar(char c); + +void +ao_cmd_hexbyte(void); + void ao_cmd_hex(void); @@ -495,23 +505,6 @@ extern __pdata uint32_t ao_log_start_pos; extern __xdata uint8_t ao_log_running; extern __pdata enum flight_state ao_log_state; -#define AO_LOG_TELESCIENCE_START ((uint8_t) 's') -#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') - -#define AO_LOG_TELESCIENCE_NUM_ADC 12 - -struct ao_log_telescience { - uint8_t type; - uint8_t csum; - uint16_t tick; - uint16_t tm_tick; - uint8_t tm_state; - uint8_t unused; - uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC]; -}; - -extern struct ao_log_telescience ao_log_store; - /* required functions from the underlying log system */ #define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ @@ -981,12 +974,23 @@ ao_spi_init(void); * ao_spi_slave.c */ +uint8_t +ao_spi_read(uint8_t *buf, uint8_t len); + void -ao_spi_slave_debug(void); +ao_spi_write(uint8_t *buf, uint8_t len); void ao_spi_slave_init(void); +/* This must be defined by the product; it will get called when chip + * select goes low, at which point it should use ao_spi_read and + * ao_spi_write to deal with the request + */ + +void +ao_spi_slave(void); + /* * ao_telemetry.c */ @@ -1118,6 +1122,30 @@ struct ao_telemetry_companion { /* 32 */ }; +/* #define AO_SEND_ALL_BARO */ + +#define AO_TELEMETRY_BARO 0x80 + +/* + * This packet allows the full sampling rate baro + * data to be captured over the RF link so that the + * flight software can be tested using 'real' data. + * + * Along with this telemetry packet, the flight + * code is modified to send full-rate telemetry all the time + * and never send an RDF tone; this ensure that the full radio + * link is available. + */ +struct ao_telemetry_baro { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t samples; /* 5 number samples */ + + int16_t baro[12]; /* 6 samples */ + /* 32 */ +}; + union ao_telemetry_all { struct ao_telemetry_generic generic; struct ao_telemetry_sensor sensor; @@ -1125,6 +1153,7 @@ union ao_telemetry_all { struct ao_telemetry_location location; struct ao_telemetry_satellite satellite; struct ao_telemetry_companion companion; + struct ao_telemetry_baro baro; }; /* @@ -1258,9 +1287,15 @@ struct ao_telemetry_raw_recv { /* Set delay between telemetry reports (0 to disable) */ +#ifdef AO_SEND_ALL_BARO +#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100) +#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) +#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100) +#else #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) +#endif void ao_telemetry_set_interval(uint16_t interval); @@ -1306,8 +1341,18 @@ ao_radio_recv(__xdata void *data, uint8_t size) __reentrant; void ao_radio_recv_abort(void); +/* + * Compute the packet length as follows: + * + * 2000 bps (for a 1kHz tone) + * so, for 'ms' milliseconds, we need + * 2 * ms bits, or ms / 4 bytes + */ + +#define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2)) + void -ao_radio_rdf(int ms); +ao_radio_rdf(uint8_t pkt_len); void ao_radio_rdf_abort(void); @@ -1324,6 +1369,21 @@ ao_radio_init(void); extern const char const * const ao_state_names[]; +#define AO_MONITOR_RING 8 + +union ao_monitor { + struct ao_telemetry_raw_recv raw; + struct ao_telemetry_orig_recv orig; + struct ao_telemetry_tiny_recv tiny; +}; + +extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; + +#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) + +extern __data uint8_t ao_monitoring; +extern __data uint8_t ao_monitor_head; + void ao_monitor(void); @@ -1386,9 +1446,19 @@ enum ao_igniter_status { ao_igniter_open, /* open circuit detected */ }; +struct ao_ignition { + uint8_t request; + uint8_t fired; + uint8_t firing; +}; + +extern __xdata struct ao_ignition ao_ignition[2]; + enum ao_igniter_status ao_igniter_status(enum ao_igniter igniter); +extern __pdata uint8_t ao_igniter_present; + void ao_ignite_set_pins(void); @@ -1400,7 +1470,8 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 8 +#define AO_CONFIG_MINOR 9 +#define AO_AES_LEN 16 struct ao_config { uint8_t major; @@ -1417,6 +1488,7 @@ struct ao_config { uint8_t pad_orientation; /* minor version 6 */ uint32_t radio_setting; /* minor version 7 */ uint8_t radio_enable; /* minor version 8 */ + uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */ }; #define AO_IGNITE_MODE_DUAL 0 @@ -1598,4 +1670,151 @@ ao_companion_init(void); void ao_lcd_init(void); +/* ao_aes.c */ + +__xdata uint8_t ao_aes_mutex; + +/* AES keys and blocks are 128 bits */ + +enum ao_aes_mode { + ao_aes_mode_cbc_mac +}; + +#if HAS_AES +void +ao_aes_isr(void) __interrupt 4; +#endif + +void +ao_aes_set_mode(enum ao_aes_mode mode); + +void +ao_aes_set_key(__xdata uint8_t *in); + +void +ao_aes_zero_iv(void); + +void +ao_aes_run(__xdata uint8_t *in, + __xdata uint8_t *out); + +void +ao_aes_init(void); + +/* ao_radio_cmac.c */ + +int8_t +ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant; + +#define AO_RADIO_CMAC_OK 0 +#define AO_RADIO_CMAC_LEN_ERROR -1 +#define AO_RADIO_CMAC_CRC_ERROR -2 +#define AO_RADIO_CMAC_MAC_ERROR -3 +#define AO_RADIO_CMAC_TIMEOUT -4 + +int8_t +ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant; + +void +ao_radio_cmac_init(void); + +/* ao_launch.c */ + +struct ao_launch_command { + uint16_t tick; + uint16_t serial; + uint8_t cmd; + uint8_t channel; + uint16_t unused; +}; + +#define AO_LAUNCH_QUERY 1 + +struct ao_launch_query { + uint16_t tick; + uint16_t serial; + uint8_t channel; + uint8_t valid; + uint8_t arm_status; + uint8_t igniter_status; +}; + +#define AO_LAUNCH_ARM 2 +#define AO_LAUNCH_FIRE 3 + +void +ao_launch_init(void); + +/* + * ao_log_single.c + */ + +#define AO_LOG_TELESCIENCE_START ((uint8_t) 's') +#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') + +#define AO_LOG_TELESCIENCE_NUM_ADC 12 + +struct ao_log_telescience { + uint8_t type; + uint8_t csum; + uint16_t tick; + uint16_t tm_tick; + uint8_t tm_state; + uint8_t unused; + uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC]; +}; + +#define AO_LOG_SINGLE_SIZE 32 + +union ao_log_single { + struct ao_log_telescience telescience; + union ao_telemetry_all telemetry; + uint8_t bytes[AO_LOG_SINGLE_SIZE]; +}; + +extern __xdata union ao_log_single ao_log_single_write_data; +extern __xdata union ao_log_single ao_log_single_read_data; + +void +ao_log_single_extra_query(void); + +void +ao_log_single_list(void); + +void +ao_log_single_main(void); + +uint8_t +ao_log_single_write(void); + +uint8_t +ao_log_single_read(uint32_t pos); + +void +ao_log_single_start(void); + +void +ao_log_single_stop(void); + +void +ao_log_single_restart(void); + +void +ao_log_single_set(void); + +void +ao_log_single_delete(void); + +void +ao_log_single_init(void); + +void +ao_log_single(void); + +/* + * ao_pyro_slave.c + */ + +#define AO_TELEPYRO_NUM_ADC 9 + #endif /* _AO_H_ */