X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao.h;h=133d91184bf0b34e05b2dfc8cd1a528624864cdd;hp=a2092cfe45ab923a58d551a3c9384125fbaa3c19;hb=4889b33af9700b9d872364f0cadaf9425cf84a7d;hpb=5d8b9d524d6424ff98dcc4155fe8b8bd892b6d8f diff --git a/src/core/ao.h b/src/core/ao.h index a2092cfe..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 @@ -157,11 +120,13 @@ ao_clock_init(void); * ao_mutex.c */ +#ifndef ao_mutex_get void ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; void ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; +#endif /* * ao_cmd.c @@ -205,6 +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); @@ -263,6 +232,26 @@ ao_cmd_filter(void); * ao_report.c */ +#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) + +/* 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) + +#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) + +/* returns a value 0-3 to indicate igniter continuity */ +uint8_t +ao_report_igniter(void); + void ao_report_init(void); @@ -288,11 +277,13 @@ ao_temp_to_dC(int16_t temp) __reentrant; * Convert between pressure in Pa and altitude in meters */ -int32_t +#include + +alt_t ao_pa_to_altitude(int32_t pa); int32_t -ao_altitude_to_pa(int32_t alt); +ao_altitude_to_pa(alt_t alt); #if HAS_DBG #include @@ -308,10 +299,10 @@ ao_altitude_to_pa(int32_t alt); */ 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); @@ -324,181 +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 */ @@ -569,10 +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; @@ -590,7 +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; @@ -620,6 +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 */ @@ -660,29 +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: @@ -692,16 +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); @@ -710,6 +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 @@ -717,8 +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]; @@ -746,14 +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; @@ -772,7 +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; @@ -818,11 +691,24 @@ ao_igniter_init(void); * ao_config.c */ +#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 + #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 11 +#define AO_CONFIG_MINOR 13 #define AO_AES_LEN 16 +extern __xdata uint8_t ao_config_aes_seq; + struct ao_config { uint8_t major; uint8_t minor; @@ -841,12 +727,20 @@ struct ao_config { uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */ uint32_t frequency; /* 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 @@ -854,6 +748,12 @@ 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); @@ -1072,12 +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_ */