X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao.h;h=67efa437f843fbe91143041ae7623c8bc8b49da8;hp=0275cad1e9536278aa7e06ad15303f190e20f311;hb=9b12bc445fe482306e4587ad60c6d2daf65a60f3;hpb=a731d240f802d37524ce84c3c6acf22bcda4d522 diff --git a/src/core/ao.h b/src/core/ao.h index 0275cad1..67efa437 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -32,6 +32,12 @@ #ifndef DATA_TO_XDATA #define DATA_TO_XDATA(a) (a) #endif +#ifndef PDATA_TO_XDATA +#define PDATA_TO_XDATA(a) (a) +#endif +#ifndef CODE_TO_XDATA +#define CODE_TO_XDATA(a) (a) +#endif /* An AltOS task */ struct ao_task { @@ -68,6 +74,10 @@ 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; @@ -103,6 +113,8 @@ ao_start_scheduler(void); #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */ #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */ #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 */ /* Stop the operating system, beeping and blinking the reason */ void @@ -247,29 +259,33 @@ ao_beep_init(void); #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(uint8_t colors); +ao_led_on(AO_LED_TYPE colors); /* Turn off the specified LEDs */ void -ao_led_off(uint8_t colors); +ao_led_off(AO_LED_TYPE colors); /* Set all of the LEDs to the specified state */ void -ao_led_set(uint8_t colors); +ao_led_set(AO_LED_TYPE colors); /* Toggle the specified LEDs */ void -ao_led_toggle(uint8_t colors); +ao_led_toggle(AO_LED_TYPE colors); /* Turn on the specified LEDs for the indicated interval */ void -ao_led_for(uint8_t colors, uint16_t ticks) __reentrant; +ao_led_for(AO_LED_TYPE colors, uint16_t ticks) __reentrant; /* Initialize the LEDs */ void -ao_led_init(uint8_t enable); +ao_led_init(AO_LED_TYPE enable); /* * ao_usb.c @@ -339,9 +355,18 @@ ao_cmd_put8(uint8_t v); void ao_cmd_put16(uint16_t v); +uint8_t +ao_cmd_is_white(void); + void ao_cmd_white(void); +int8_t +ao_cmd_hexchar(char c); + +void +ao_cmd_hexbyte(void); + void ao_cmd_hex(void); @@ -357,7 +382,7 @@ struct ao_cmds { }; void -ao_cmd_register(__code struct ao_cmds *cmds); +ao_cmd_register(const __code struct ao_cmds *cmds); void ao_cmd_init(void); @@ -370,42 +395,6 @@ uint8_t ao_cmd_filter(void); #endif -/* - * ao_dma.c - */ - -/* Allocate a DMA channel. the 'done' parameter will be set when the - * dma is finished and will be used to wakeup any waiters - */ - -uint8_t -ao_dma_alloc(__xdata uint8_t * done); - -/* Setup a DMA channel */ -void -ao_dma_set_transfer(uint8_t id, - void __xdata *srcaddr, - void __xdata *dstaddr, - uint16_t count, - uint8_t cfg0, - uint8_t cfg1); - -/* Start a DMA channel */ -void -ao_dma_start(uint8_t id); - -/* Manually trigger a DMA channel */ -void -ao_dma_trigger(uint8_t id); - -/* Abort a running DMA transfer */ -void -ao_dma_abort(uint8_t id); - -/* DMA interrupt routine */ -void -ao_dma_isr(void) ao_arch_interrupt(8); - /* * ao_mutex.c */ @@ -495,23 +484,6 @@ 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 */ @@ -896,7 +868,7 @@ ao_dbg_init(void); #error Please define HAS_SERIAL_1 #endif -#if HAS_SERIAL_1 +#if HAS_SERIAL_1 | HAS_SERIAL_2 | HAS_SERIAL_3 #ifndef USE_SERIAL_STDIN #error Please define USE_SERIAL_STDIN #endif @@ -915,7 +887,7 @@ char ao_serial_pollchar(void) __critical; void -ao_serial_set_stdin(uint8_t stdin); +ao_serial_set_stdin(uint8_t in); #endif void @@ -936,63 +908,70 @@ void ao_serial_init(void); #endif -/* - * ao_spi.c - */ +#ifndef HAS_SERIAL_0 +#define HAS_SERIAL_0 0 +#endif -extern __xdata uint8_t ao_spi_mutex; +#if HAS_SERIAL_0 -#define ao_spi_get_mask(reg,mask) do {\ - ao_mutex_get(&ao_spi_mutex); \ - (reg) &= ~(mask); \ - } while (0) +extern volatile __xdata struct ao_fifo ao_usart0_rx_fifo; +extern volatile __xdata struct ao_fifo ao_usart0_tx_fifo; -#define ao_spi_put_mask(reg,mask) do { \ - (reg) |= (mask); \ - ao_mutex_put(&ao_spi_mutex); \ - } while (0) +void +ao_serial0_rx0_isr(void) ao_arch_interrupt(2); -#define ao_spi_get_bit(bit) do {\ - ao_mutex_get(&ao_spi_mutex); \ - (bit) = 0; \ - } while (0) +void +ao_serial0_tx0_isr(void) ao_arch_interrupt(7); -#define ao_spi_put_bit(bit) do { \ - (bit) = 1; \ - ao_mutex_put(&ao_spi_mutex); \ - } while (0) +char +ao_serial0_getchar(void) __critical; -/* - * The SPI mutex must be held to call either of these - * functions -- this mutex covers the entire SPI operation, - * from chip select low to chip select high - */ +void +ao_serial0_putchar(char c) __critical; void -ao_spi_send(void __xdata *block, uint16_t len) __reentrant; +ao_serial0_drain(void) __critical; void -ao_spi_recv(void __xdata *block, uint16_t len) __reentrant; +ao_serial0_set_speed(uint8_t speed); void -ao_spi_init(void); +ao_serial0_init(void); + +#endif + /* * ao_spi_slave.c */ +uint8_t +ao_spi_slave_recv(uint8_t *buf, uint8_t len); + void -ao_spi_slave_debug(void); +ao_spi_slave_send(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 */ #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 */ @@ -1152,6 +1131,12 @@ union ao_telemetry_all { struct ao_telemetry_baro baro; }; +struct ao_telemetry_all_recv { + union ao_telemetry_all telemetry; + int8_t rssi; + uint8_t status; +}; + /* * ao_gps.c */ @@ -1329,16 +1314,26 @@ void ao_radio_set_packet(void); void -ao_radio_send(__xdata void *data, uint8_t size) __reentrant; +ao_radio_send(__xdata void *d, uint8_t size) __reentrant; uint8_t -ao_radio_recv(__xdata void *data, uint8_t size) __reentrant; +ao_radio_recv(__xdata void *d, 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); @@ -1355,18 +1350,39 @@ 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_all_recv all; + 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); #define AO_MONITORING_OFF 0 #define AO_MONITORING_ORIG 1 -#define AO_MONITORING_TINY 2 void -ao_set_monitor(uint8_t monitoring); +ao_monitor_set(uint8_t monitoring); void -ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant; +ao_monitor_disable(void); + +void +ao_monitor_enable(void); + +void +ao_monitor_init(void) __reentrant; /* * ao_stdio.c @@ -1417,9 +1433,19 @@ 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); @@ -1431,7 +1457,19 @@ ao_igniter_init(void); */ #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 8 +#define AO_CONFIG_MINOR 10 +#define AO_AES_LEN 16 + +#if HAS_RADIO_CHANNELS +#define AO_CHANNEL_NAME_LEN 10 + +#define AO_NUM_CHANNELS 10 + +struct ao_radio_channel { + char name[AO_CHANNEL_NAME_LEN]; + uint32_t kHz; +}; +#endif struct ao_config { uint8_t major; @@ -1448,6 +1486,11 @@ 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 */ + uint32_t frequency; /* minor version 10 */ +#if HAS_RADIO_CHANNELS + struct ao_radio_channel radio_channels[AO_NUM_CHANNELS]; /* minor version 10 */ +#endif }; #define AO_IGNITE_MODE_DUAL 0 @@ -1626,12 +1669,48 @@ 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 */ -__xdata uint8_t ao_aes_mutex; +extern __xdata uint8_t ao_aes_mutex; + +/* AES keys and blocks are 128 bits */ enum ao_aes_mode { ao_aes_mode_cbc_mac @@ -1648,6 +1727,9 @@ 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); @@ -1655,4 +1737,169 @@ ao_aes_run(__xdata uint8_t *in, 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 + +#ifndef ao_xmemcpy +#define ao_xmemcpy(d,s,c) memcpy(d,s,c) +#define ao_xmemset(d,v,c) memset(d,v,c) +#define ao_xmemcmp(d,s,c) memcmp(d,s,c) +#endif + +/* + * ao_terraui.c + */ + +void +ao_terraui_init(void); + +/* + * ao_battery.c + */ + +#ifdef BATTERY_PIN +void +ao_battery_isr(void) ao_arch_interrupt(1); + +uint16_t +ao_battery_get(void); + +void +ao_battery_init(void); +#endif /* BATTERY_PIN */ + +/* + * ao_sqrt.c + */ + +uint32_t +ao_sqrt(uint32_t op); + +/* + * ao_freq.c + */ + +int32_t ao_freq_to_set(int32_t freq, int32_t cal); + +#include + +/* + * ao_ms5607.c + */ + +void ao_ms5607_init(void); + #endif /* _AO_H_ */