X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao.h;h=133d91184bf0b34e05b2dfc8cd1a528624864cdd;hp=150c08171f1593f8c08fcbe15fc9bfc2c10192fe;hb=4889b33af9700b9d872364f0cadaf9425cf84a7d;hpb=c7119405a3dd7128120374a2a001bc98ef523619 diff --git a/src/core/ao.h b/src/core/ao.h index 150c0817..133d9118 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -22,7 +22,7 @@ #include #include #include -#include "ao_pins.h" +#include #include #define TRUE 1 @@ -39,64 +39,13 @@ #define CODE_TO_XDATA(a) (a) #endif -/* An AltOS task */ -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 */ - uint8_t stack[AO_STACK_SIZE]; /* saved stack */ -}; - -extern __xdata struct ao_task *__data ao_cur_task; - -#define AO_NUM_TASKS 16 /* maximum number of tasks */ -#define AO_NO_TASK 0 /* no task id */ - -/* - ao_task.c - */ - -/* Suspend the current task until wchan is awoken. - * returns: - * 0 on normal wake - * 1 on alarm - */ -uint8_t -ao_sleep(__xdata void *wchan); - -/* Wake all tasks sleeping on wchan */ -void -ao_wakeup(__xdata void *wchan); - -/* set an alarm to go off in 'delay' ticks */ -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; - -/* Add a task to the run queue */ -void -ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant; - -/* Terminate the current task */ -void -ao_exit(void); - -/* Dump task info to console */ -void -ao_task_info(void); +#ifndef HAS_TASK +#define HAS_TASK 1 +#endif -/* Start the scheduler. This will not return */ -void -ao_start_scheduler(void); +#if HAS_TASK +#include +#endif /* * ao_panic.c @@ -115,6 +64,11 @@ ao_start_scheduler(void); #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */ #define AO_PANIC_STACK 12 /* Stack overflow */ #define AO_PANIC_SPI 13 /* SPI communication failure */ +#define AO_PANIC_CRASH 14 /* Processor crashed */ +#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */ +#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */ +#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */ +#define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */ /* Stop the operating system, beeping and blinking the reason */ void @@ -124,8 +78,17 @@ ao_panic(uint8_t reason); * ao_timer.c */ +#ifndef AO_TICK_TYPE +#define AO_TICK_TYPE uint16_t +#define AO_TICK_SIGNED int16_t +#endif + +extern volatile __data AO_TICK_TYPE ao_tick_count; + /* Our timer runs at 100Hz */ +#ifndef AO_HERTZ #define AO_HERTZ 100 +#endif #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ)) #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ) @@ -139,7 +102,7 @@ ao_delay(uint16_t ticks); /* Set the ADC interval */ void -ao_timer_set_adc_interval(uint8_t interval) __critical; +ao_timer_set_adc_interval(uint8_t interval); /* Timer interrupt */ void @@ -154,181 +117,15 @@ void ao_clock_init(void); /* - * One set of samples read from the A/D converter or telemetry - */ - -#if HAS_ADC - -/* - * ao_adc.c - */ - -#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 - */ -extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; -extern volatile __data uint8_t ao_adc_head; -#if HAS_ACCEL_REF -extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING]; -#endif - -/* Trigger a conversion sequence (called from the timer interrupt) */ -void -ao_adc_poll(void); - -/* Suspend the current task until another A/D sample is converted */ -void -ao_adc_sleep(void); - -/* Get a copy of the last complete A/D sample set */ -void -ao_adc_get(__xdata struct ao_adc *packet); - -/* The A/D interrupt handler */ - -void -ao_adc_isr(void) ao_arch_interrupt(1); - -/* Initialize the A/D converter */ -void -ao_adc_init(void); - -#endif /* HAS_ADC */ - -/* - * ao_beep.c - */ - -/* - * Various pre-defined beep frequencies - * - * frequency = 1/2 (24e6/32) / beep - */ - -#define AO_BEEP_LOW 150 /* 2500Hz */ -#define AO_BEEP_MID 94 /* 3989Hz */ -#define AO_BEEP_HIGH 75 /* 5000Hz */ -#define AO_BEEP_OFF 0 /* off */ - -#define AO_BEEP_g 240 /* 1562.5Hz */ -#define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */ -#define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */ -#define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */ -#define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */ -#define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */ -#define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */ -#define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */ -#define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */ -#define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */ -#define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */ -#define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */ -#define AO_BEEP_gg 120 /* 3125Hz */ -#define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */ -#define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */ -#define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */ -#define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */ -#define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */ -#define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */ -#define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */ -#define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */ -#define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */ -#define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */ -#define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */ -#define AO_BEEP_ggg 60 /* 6250Hz */ - -/* Set the beeper to the specified tone */ -void -ao_beep(uint8_t beep); - -/* Turn on the beeper for the specified time */ -void -ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant; - -/* Initialize the beeper */ -void -ao_beep_init(void); - -/* - * ao_led.c - */ - -#define AO_LED_NONE 0 - -#ifndef AO_LED_TYPE -#define AO_LED_TYPE uint8_t -#endif - -/* Turn on the specified LEDs */ -void -ao_led_on(AO_LED_TYPE colors); - -/* Turn off the specified LEDs */ -void -ao_led_off(AO_LED_TYPE colors); - -/* Set all of the LEDs to the specified state */ -void -ao_led_set(AO_LED_TYPE colors); - -/* Toggle the specified LEDs */ -void -ao_led_toggle(AO_LED_TYPE colors); - -/* Turn on the specified LEDs for the indicated interval */ -void -ao_led_for(AO_LED_TYPE colors, uint16_t ticks) __reentrant; - -/* Initialize the LEDs */ -void -ao_led_init(AO_LED_TYPE enable); - -/* - * ao_usb.c - */ - -/* Put one character to the USB output queue */ -void -ao_usb_putchar(char c); - -/* Get one character from the USB input queue */ -char -ao_usb_getchar(void); - -/* Poll for a charcter on the USB input queue. - * returns AO_READ_AGAIN if none are available + * ao_mutex.c */ -char -ao_usb_pollchar(void); - -/* Flush the USB output queue */ -void -ao_usb_flush(void); - -#if HAS_USB -/* USB interrupt handler */ -void -ao_usb_isr(void) ao_arch_interrupt(6); -#endif - -/* Enable the USB controller */ -void -ao_usb_enable(void); -/* Disable the USB controller */ +#ifndef ao_mutex_get void -ao_usb_disable(void); +ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; -/* Initialize the USB system */ void -ao_usb_init(void); - -#if HAS_USB -extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; +ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; #endif /* @@ -373,6 +170,10 @@ ao_cmd_hex(void); void ao_cmd_decimal(void); +/* Read a single hex nibble off stdin. */ +uint8_t +ao_getnibble(void); + uint8_t ao_match_word(__code char *word); @@ -396,409 +197,60 @@ ao_cmd_filter(void); #endif /* - * ao_mutex.c - */ - -void -ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; - -void -ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; - -/* - * Storage interface, provided by one of the eeprom or flash - * drivers + * Various drivers */ +#if HAS_ADC +#include +#endif -/* Total bytes of available storage */ -extern __pdata uint32_t ao_storage_total; - -/* Block size - device is erased in these units. At least 256 bytes */ -extern __pdata uint32_t ao_storage_block; - -/* Byte offset of config block. Will be ao_storage_block bytes long */ -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 __pdata uint16_t ao_storage_unit; - -#define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE) - -/* Initialize above values. Can only be called once the OS is running */ -void -ao_storage_setup(void) __reentrant; - -/* Write data. Returns 0 on failure, 1 on success */ -uint8_t -ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; - -/* Read data. Returns 0 on failure, 1 on success */ -uint8_t -ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; - -/* Erase a block of storage. This always clears ao_storage_block bytes */ -uint8_t -ao_storage_erase(uint32_t pos) __reentrant; - -/* Flush any pending writes to stable storage */ -void -ao_storage_flush(void) __reentrant; - -/* Initialize the storage code */ -void -ao_storage_init(void); - -/* - * Low-level functions wrapped by ao_storage.c - */ - -/* Read data within a storage unit */ -uint8_t -ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; - -/* Write data within a storage unit */ -uint8_t -ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; - -/* Initialize low-level device bits */ -void -ao_storage_device_init(void); - -/* Print out information about flash chips */ -void -ao_storage_device_info(void) __reentrant; - -/* - * ao_log.c - */ - -/* 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 uint16_t ao_flight_number; - -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 __pdata enum flight_state ao_log_state; - -/* required functions from the underlying log system */ - -#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ -#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */ -#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */ -#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ -#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ -#define AO_LOG_FORMAT_NONE 127 /* No log at all */ - -extern __code uint8_t ao_log_format; - -/* Return the flight number from the given log slot, 0 if none */ -uint16_t -ao_log_flight(uint8_t slot); - -/* Flush the log */ -void -ao_log_flush(void); - -/* Logging thread main routine */ -void -ao_log(void); - -/* functions provided in ao_log.c */ - -/* Figure out the current flight number */ -void -ao_log_scan(void) __reentrant; - -/* Return the position of the start of the given log slot */ -uint32_t -ao_log_pos(uint8_t slot); - -/* Start logging to eeprom */ -void -ao_log_start(void); - -/* Stop logging */ -void -ao_log_stop(void); - -/* Initialize the logging system */ -void -ao_log_init(void); - -/* Write out the current flight number to the erase log */ -void -ao_log_write_erase(uint8_t pos); - -/* Returns true if there are any logs stored in eeprom */ -uint8_t -ao_log_present(void); - -/* Returns true if there is no more storage space available */ -uint8_t -ao_log_full(void); - -/* - * ao_log_big.c - */ - -/* - * The data log is recorded in the eeprom as a sequence - * of data packets. - * - * Each packet starts with a 4-byte header that has the - * packet type, the packet checksum and the tick count. Then - * they all contain 2 16 bit values which hold packet-specific - * data. - * - * For each flight, the first packet - * is FLIGHT packet, indicating the serial number of the - * device and a unique number marking the number of flights - * recorded by this device. - * - * During flight, data from the accelerometer and barometer - * are recorded in SENSOR packets, using the raw 16-bit values - * read from the A/D converter. - * - * Also during flight, but at a lower rate, the deployment - * sensors are recorded in DEPLOY packets. The goal here is to - * detect failure in the deployment circuits. - * - * STATE packets hold state transitions as the flight computer - * transitions through different stages of the flight. - */ -#define AO_LOG_FLIGHT 'F' -#define AO_LOG_SENSOR 'A' -#define AO_LOG_TEMP_VOLT 'T' -#define AO_LOG_DEPLOY 'D' -#define AO_LOG_STATE 'S' -#define AO_LOG_GPS_TIME 'G' -#define AO_LOG_GPS_LAT 'N' -#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) - -struct ao_log_record { - char type; - uint8_t csum; - uint16_t tick; - union { - struct { - int16_t ground_accel; - uint16_t flight; - } flight; - struct { - int16_t accel; - int16_t pres; - } sensor; - struct { - int16_t temp; - int16_t v_batt; - } temp_volt; - struct { - int16_t drogue; - int16_t main; - } deploy; - struct { - uint16_t state; - uint16_t reason; - } state; - struct { - uint8_t hour; - uint8_t minute; - uint8_t second; - uint8_t flags; - } gps_time; - int32_t gps_latitude; - int32_t gps_longitude; - struct { - int16_t altitude; - uint16_t unused; - } gps_altitude; - struct { - uint16_t svid; - uint8_t unused; - uint8_t c_n; - } gps_sat; - struct { - uint8_t year; - uint8_t month; - uint8_t day; - uint8_t extra; - } gps_date; - struct { - uint16_t d0; - uint16_t d1; - } anon; - } u; -}; - -/* Write a record to the eeprom log */ -uint8_t -ao_log_data(__xdata struct ao_log_record *log) __reentrant; - -/* - * ao_flight.c - */ - -enum ao_flight_state { - ao_flight_startup = 0, - ao_flight_idle = 1, - ao_flight_pad = 2, - ao_flight_boost = 3, - ao_flight_fast = 4, - ao_flight_coast = 5, - ao_flight_drogue = 6, - ao_flight_main = 7, - ao_flight_landed = 8, - ao_flight_invalid = 9 -}; - -extern __pdata enum ao_flight_state ao_flight_state; - -extern __pdata uint16_t ao_launch_time; -extern __pdata uint8_t ao_flight_force_idle; - -/* Flight thread */ -void -ao_flight(void); - -/* Initialize flight thread */ -void -ao_flight_init(void); - -/* - * ao_flight_nano.c - */ - -void -ao_flight_nano_init(void); - -/* - * ao_sample.c - */ - -/* - * Barometer calibration - * - * We directly sample the barometer. The specs say: - * - * Pressure range: 15-115 kPa - * Voltage at 115kPa: 2.82 - * Output scale: 27mV/kPa - * - * If we want to detect launch with the barometer, we need - * a large enough bump to not be fooled by noise. At typical - * launch elevations (0-2000m), a 200Pa pressure change cooresponds - * to about a 20m elevation change. This is 5.4mV, or about 3LSB. - * As all of our calculations are done in 16 bits, we'll actually see a change - * of 16 times this though - * - * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa - */ - -/* Accelerometer calibration - * - * We're sampling the accelerometer through a resistor divider which - * consists of 5k and 10k resistors. This multiplies the values by 2/3. - * That goes into the cc1111 A/D converter, which is running at 11 bits - * of precision with the bits in the MSB of the 16 bit value. Only positive - * values are used, so values should range from 0-32752 for 0-3.3V. The - * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what - * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV, - * for a final computation of: - * - * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g - * - * Zero g was measured at 16000 (we would expect 16384). - * Note that this value is only require to tell if the - * rocket is standing upright. Once that is determined, - * the value of the accelerometer is averaged for 100 samples - * to find the resting accelerometer value, which is used - * for all further flight computations - */ - -#define GRAVITY 9.80665 - -/* - * Above this height, the baro sensor doesn't work - */ -#define AO_MAX_BARO_HEIGHT 12000 - -/* - * Above this speed, baro measurements are unreliable - */ -#define AO_MAX_BARO_SPEED 200 - -#define ACCEL_NOSE_UP (ao_accel_2g >> 2) - -/* - * Speed and acceleration are scaled by 16 to provide a bit more - * resolution while still having reasonable range. Note that this - * limits speed to 2047m/s (around mach 6) and acceleration to - * 2047m/s² (over 200g) - */ - -#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)) - -extern __pdata uint16_t ao_sample_tick; /* time of last data */ -extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */ -extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */ -extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */ -extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ +#if HAS_BEEP +#include +#endif -#if HAS_ACCEL -extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */ +#if LEDS_AVAILABLE +#include #endif -extern __pdata int16_t ao_ground_pres; /* startup pressure */ -extern __pdata int16_t ao_ground_height; /* MSL of ao_ground_pres */ +#if HAS_USB +#include +#endif -#if HAS_ACCEL -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 */ +#if HAS_EEPROM +#include #endif -void ao_sample_init(void); +#if HAS_LOG +#include +#endif -/* returns FALSE in preflight mode, TRUE in flight mode */ -uint8_t ao_sample(void); +#if HAS_FLIGHT +#include +#include +#endif /* - * ao_kalman.c + * ao_report.c */ -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) -#define from_fix(x) ((x) >> 16) - -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 */ +#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5) +#define AO_RDF_LENGTH_MS 500 +#define AO_RDF_CONTINUITY_MS 32 +#define AO_RDF_CONTINUITY_PAUSE 96 +#define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE) -extern __pdata int16_t ao_error_h; -extern __pdata int16_t ao_error_h_sq_avg; - -#if HAS_ACCEL -extern __pdata int16_t ao_error_a; -#endif +/* This assumes that we're generating a 1kHz tone, which + * modulates the carrier at 2kbps, or 250kBps + */ +#define AO_MS_TO_RDF_LEN(ms) ((ms) / 4) -void ao_kalman(void); +#define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS) +#define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS) +#define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE) +#define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL) -/* - * ao_report.c - */ +/* returns a value 0-3 to indicate igniter continuity */ +uint8_t +ao_report_igniter(void); void ao_report_init(void); @@ -820,124 +272,25 @@ int16_t ao_temp_to_dC(int16_t temp) __reentrant; /* - * ao_dbg.c + * ao_convert_pa.c * - * debug another telemetrum board - */ - -/* Send a byte to the dbg target */ -void -ao_dbg_send_byte(uint8_t byte); - -/* Receive a byte from the dbg target */ -uint8_t -ao_dbg_recv_byte(void); - -/* Start a bulk transfer to/from dbg target memory */ -void -ao_dbg_start_transfer(uint16_t addr); - -/* End a bulk transfer to/from dbg target memory */ -void -ao_dbg_end_transfer(void); - -/* Write a byte to dbg target memory */ -void -ao_dbg_write_byte(uint8_t byte); - -/* Read a byte from dbg target memory */ -uint8_t -ao_dbg_read_byte(void); - -/* Enable dbg mode, switching use of the pins */ -void -ao_dbg_debug_mode(void); - -/* Reset the dbg target */ -void -ao_dbg_reset(void); - -void -ao_dbg_init(void); - -/* - * ao_serial.c + * Convert between pressure in Pa and altitude in meters */ -#ifndef HAS_SERIAL_1 -#error Please define HAS_SERIAL_1 -#endif - -#if HAS_SERIAL_1 | HAS_SERIAL_2 | HAS_SERIAL_3 -#ifndef USE_SERIAL_STDIN -#error Please define USE_SERIAL_STDIN -#endif - -void -ao_serial_rx1_isr(void) ao_arch_interrupt(3); - -void -ao_serial_tx1_isr(void) ao_arch_interrupt(14); - -char -ao_serial_getchar(void) __critical; - -#if USE_SERIAL_STDIN -char -ao_serial_pollchar(void) __critical; +#include -void -ao_serial_set_stdin(uint8_t in); -#endif - -void -ao_serial_putchar(char c) __critical; - -void -ao_serial_drain(void) __critical; - -#define AO_SERIAL_SPEED_4800 0 -#define AO_SERIAL_SPEED_9600 1 -#define AO_SERIAL_SPEED_19200 2 -#define AO_SERIAL_SPEED_57600 3 - -void -ao_serial_set_speed(uint8_t speed); +alt_t +ao_pa_to_altitude(int32_t pa); -void -ao_serial_init(void); -#endif +int32_t +ao_altitude_to_pa(alt_t alt); -#ifndef HAS_SERIAL_0 -#define HAS_SERIAL_0 0 +#if HAS_DBG +#include #endif -#if HAS_SERIAL_0 - -extern volatile __xdata struct ao_fifo ao_usart0_rx_fifo; -extern volatile __xdata struct ao_fifo ao_usart0_tx_fifo; - -void -ao_serial0_rx0_isr(void) ao_arch_interrupt(2); - -void -ao_serial0_tx0_isr(void) ao_arch_interrupt(7); - -char -ao_serial0_getchar(void) __critical; - -void -ao_serial0_putchar(char c) __critical; - -void -ao_serial0_drain(void) __critical; - -void -ao_serial0_set_speed(uint8_t speed); - -void -ao_serial0_init(void); - +#if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3 +#include #endif @@ -946,10 +299,10 @@ ao_serial0_init(void); */ uint8_t -ao_spi_slave_recv(uint8_t *buf, uint8_t len); +ao_spi_slave_recv(void *buf, uint16_t len); void -ao_spi_slave_send(uint8_t *buf, uint8_t len); +ao_spi_slave_send(void *buf, uint16_t len); void ao_spi_slave_init(void); @@ -962,181 +315,7 @@ ao_spi_slave_init(void); void ao_spi_slave(void); -/* - * ao_telemetry.c - */ -#define AO_MAX_CALLSIGN 8 -#define AO_MAX_VERSION 8 -#if LEGACY_MONITOR -#define AO_MAX_TELEMETRY 128 -#else -#define AO_MAX_TELEMETRY 32 -#endif - -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 */ -}; - -#define AO_TELEMETRY_COMPANION 0x07 - -#define AO_COMPANION_MAX_CHANNELS 12 - -struct ao_telemetry_companion { - uint16_t serial; /* 0 */ - uint16_t tick; /* 2 */ - uint8_t type; /* 4 */ - uint8_t board_id; /* 5 */ - - uint8_t update_period; /* 6 */ - uint8_t channels; /* 7 */ - uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */ - /* 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; - struct ao_telemetry_configuration configuration; - struct ao_telemetry_location location; - struct ao_telemetry_satellite satellite; - struct ao_telemetry_companion companion; - struct ao_telemetry_baro baro; -}; - -struct ao_telemetry_all_recv { - union ao_telemetry_all telemetry; - int8_t rssi; - uint8_t status; -}; - +#include /* * ao_gps.c */ @@ -1207,10 +386,31 @@ ao_gps_report(void); void ao_gps_report_init(void); +/* + * ao_gps_report_mega.c + */ + +void +ao_gps_report_mega(void); + +void +ao_gps_report_mega_init(void); + /* * ao_telemetry_orig.c */ +#if LEGACY_MONITOR +struct ao_adc_orig { + uint16_t tick; /* tick when the sample was read */ + int16_t accel; /* accelerometer */ + int16_t pres; /* pressure sensor */ + int16_t temp; /* temperature sensor */ + int16_t v_batt; /* battery voltage */ + int16_t sense_d; /* drogue continuity sense */ + int16_t sense_m; /* main continuity sense */ +}; + struct ao_telemetry_orig { uint16_t serial; uint16_t flight; @@ -1228,7 +428,7 @@ struct ao_telemetry_orig { int16_t ground_pres; int16_t accel_plus_g; int16_t accel_minus_g; - struct ao_adc adc; + struct ao_adc_orig adc; struct ao_gps_orig gps; char callsign[AO_MAX_CALLSIGN]; struct ao_gps_tracking_orig gps_tracking; @@ -1258,6 +458,14 @@ struct ao_telemetry_tiny_recv { uint8_t status; }; +#endif /* LEGACY_MONITOR */ + +/* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method + * for reporting RSSI. So, now we use these values everywhere + */ +#define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74) +#define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1) + /* * ao_radio_recv tacks on rssi and status bytes */ @@ -1298,29 +506,52 @@ ao_telemetry_tiny_init(void); */ extern __xdata uint8_t ao_radio_dma; -extern __xdata uint8_t ao_radio_dma_done; -extern __xdata uint8_t ao_radio_done; -extern __xdata uint8_t ao_radio_mutex; + +#ifdef PKT_APPEND_STATUS_1_CRC_OK +#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK +#else +#include +#define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK +#endif void ao_radio_general_isr(void) ao_arch_interrupt(16); void -ao_radio_get(uint8_t len); +ao_radio_send(const __xdata void *d, uint8_t size) __reentrant; -#define ao_radio_put() ao_mutex_put(&ao_radio_mutex) +uint8_t +ao_radio_recv(__xdata void *d, uint8_t size) __reentrant; void -ao_radio_set_packet(void); +ao_radio_recv_abort(void); void -ao_radio_send(__xdata void *d, uint8_t size) __reentrant; +ao_radio_test(uint8_t on); -uint8_t -ao_radio_recv(__xdata void *d, uint8_t size) __reentrant; +typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len); void -ao_radio_recv_abort(void); +ao_radio_send_lots(ao_radio_fill_func fill); + +/* + * ao_radio_pa + */ + +#if AO_RADIO_HAS_PA +void +ao_radio_pa_on(void); + +void +ao_radio_pa_off(void); + +void +ao_radio_pa_init(void); +#else +#define ao_radio_pa_on() +#define ao_radio_pa_off() +#define ao_radio_pa_init() +#endif /* * Compute the packet length as follows: @@ -1330,16 +561,14 @@ ao_radio_recv_abort(void); * 2 * ms bits, or ms / 4 bytes */ -#define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2)) - void -ao_radio_rdf(uint8_t pkt_len); +ao_radio_rdf(void); void -ao_radio_rdf_abort(void); +ao_radio_continuity(uint8_t c); void -ao_radio_idle(void); +ao_radio_rdf_abort(void); void ao_radio_init(void); @@ -1348,6 +577,8 @@ ao_radio_init(void); * ao_monitor.c */ +#if HAS_MONITOR + extern const char const * const ao_state_names[]; #define AO_MONITOR_RING 8 @@ -1355,8 +586,10 @@ extern const char const * const ao_state_names[]; union ao_monitor { struct ao_telemetry_raw_recv raw; struct ao_telemetry_all_recv all; +#if LEGACY_MONITOR struct ao_telemetry_orig_recv orig; struct ao_telemetry_tiny_recv tiny; +#endif }; extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; @@ -1384,14 +617,16 @@ ao_monitor_enable(void); void ao_monitor_init(void) __reentrant; +#endif + /* * ao_stdio.c */ -#define AO_READ_AGAIN ((char) -1) +#define AO_READ_AGAIN (-1) struct ao_stdio { - char (*pollchar)(void); + int (*pollchar)(void); void (*putchar)(char c) __reentrant; void (*flush)(void); uint8_t echo; @@ -1410,7 +645,7 @@ uint8_t ao_echo(void); int8_t -ao_add_stdio(char (*pollchar)(void), +ao_add_stdio(int (*pollchar)(void), void (*putchar)(char) __reentrant, void (*flush)(void)) __reentrant; @@ -1456,27 +691,30 @@ ao_igniter_init(void); * ao_config.c */ -#define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 10 -#define AO_AES_LEN 16 +#if AO_PYRO_NUM +#include +#endif + +#if HAS_FORCE_FREQ +/* + * Set this to force the frequency to 434.550MHz + */ +extern __xdata uint8_t ao_force_freq; +#endif -#if HAS_RADIO_CHANNELS -#define AO_CHANNEL_NAME_LEN 10 +#define AO_CONFIG_MAJOR 1 +#define AO_CONFIG_MINOR 13 -#define AO_NUM_CHANNELS 10 +#define AO_AES_LEN 16 -struct ao_radio_channel { - char name[AO_CHANNEL_NAME_LEN]; - uint32_t kHz; -}; -#endif +extern __xdata uint8_t ao_config_aes_seq; struct ao_config { uint8_t major; uint8_t minor; uint16_t main_deploy; int16_t accel_plus_g; /* changed for minor version 2 */ - uint8_t radio_channel; + uint8_t _legacy_radio_channel; char callsign[AO_MAX_CALLSIGN + 1]; uint8_t apogee_delay; /* minor version 1 */ int16_t accel_minus_g; /* minor version 2 */ @@ -1488,15 +726,21 @@ struct ao_config { uint8_t radio_enable; /* minor version 8 */ uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */ uint32_t frequency; /* minor version 10 */ -#if HAS_RADIO_CHANNELS - struct ao_radio_channel radio_channels[AO_NUM_CHANNELS]; /* minor version 10 */ + uint16_t apogee_lockout; /* minor version 11 */ +#if AO_PYRO_NUM + struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ #endif + uint16_t aprs_interval; /* minor version 13 */ }; #define AO_IGNITE_MODE_DUAL 0 #define AO_IGNITE_MODE_APOGEE 1 #define AO_IGNITE_MODE_MAIN 2 +#define AO_RADIO_ENABLE_CORE 1 +#define AO_RADIO_DISABLE_TELEMETRY 2 +#define AO_RADIO_DISABLE_RDF 4 + #define AO_PAD_ORIENTATION_ANTENNA_UP 0 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 @@ -1504,12 +748,21 @@ extern __xdata struct ao_config ao_config; #define AO_CONFIG_MAX_SIZE 128 +void +_ao_config_edit_start(void); + +void +_ao_config_edit_finish(void); + void ao_config_get(void); void ao_config_put(void); +void +ao_config_set_radio(void); + void ao_config_init(void); @@ -1559,201 +812,26 @@ struct ao_fifo { #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) #define ao_fifo_empty(f) ((f).insert == (f).remove) -/* - * ao_packet.c - * - * Packet-based command interface - */ - -#define AO_PACKET_MAX 64 -#define AO_PACKET_SYN (uint8_t) 0xff - -struct ao_packet { - uint8_t addr; - uint8_t len; - uint8_t seq; - uint8_t ack; - uint8_t d[AO_PACKET_MAX]; - uint8_t callsign[AO_MAX_CALLSIGN]; -}; - -struct ao_packet_recv { - struct ao_packet packet; - int8_t rssi; - 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_slave_init(uint8_t enable); - -/* ao_btm.c */ - -/* If bt_link is on P2, this interrupt is shared by USB, so the USB - * code calls this function. Otherwise, it's a regular ISR. - */ - -void -ao_btm_isr(void) -#if BT_LINK_ON_P1 - __interrupt 15 +#if PACKET_HAS_MASTER || PACKET_HAS_SLAVE +#include #endif - ; - -void -ao_btm_init(void); -/* ao_companion.c */ - -#define AO_COMPANION_SETUP 1 -#define AO_COMPANION_FETCH 2 -#define AO_COMPANION_NOTIFY 3 - -struct ao_companion_command { - uint8_t command; - uint8_t flight_state; - uint16_t tick; - uint16_t serial; - uint16_t flight; -}; - -struct ao_companion_setup { - uint16_t board_id; - uint16_t board_id_inverse; - uint8_t update_period; - uint8_t channels; -}; - -extern __pdata uint8_t ao_companion_running; -extern __xdata uint8_t ao_companion_mutex; -extern __xdata struct ao_companion_command ao_companion_command; -extern __xdata struct ao_companion_setup ao_companion_setup; -extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; - -void -ao_companion_init(void); - -/* ao_lcd.c */ - -void -ao_lcd_putchar(uint8_t d); - -void -ao_lcd_putstring(char *string); - -void -ao_lcd_contrast_set(uint8_t contrast); - -void -ao_lcd_clear(void); - -void -ao_lcd_cursor_on(void); - -void -ao_lcd_cursor_off(void); - -#define AO_LCD_ADDR(row,col) ((row << 6) | (col)) - -void -ao_lcd_goto(uint8_t addr); - -void -ao_lcd_start(void); - -void -ao_lcd_init(void); - -/* ao_lcd_port.c */ - -void -ao_lcd_port_put_nibble(uint8_t rs, uint8_t d); - -void -ao_lcd_port_init(void); - -/* ao_aes.c */ - -extern __xdata uint8_t ao_aes_mutex; +#if HAS_BTM +#include +#endif -/* AES keys and blocks are 128 bits */ +#if HAS_COMPANION +#include +#endif -enum ao_aes_mode { - ao_aes_mode_cbc_mac -}; +#if HAS_LCD +#include +#endif #if HAS_AES -void -ao_aes_isr(void) __interrupt 4; +#include #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 { @@ -1894,12 +972,12 @@ ao_sqrt(uint32_t op); int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant; -#include - /* * ao_ms5607.c */ void ao_ms5607_init(void); +#include + #endif /* _AO_H_ */