X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao.h;h=0f878df5be68f4aff61ba9c39247f333e6e5e243;hp=9169bd8428fc6a9c55ee20345b5f8abf3dffb60f;hb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;hpb=027b1470c7a2d007eaab5c8d49f772b0c7559b80 diff --git a/src/kernel/ao.h b/src/kernel/ao.h index 9169bd84..0f878df5 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -3,7 +3,8 @@ * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -43,10 +44,6 @@ #define HAS_TASK 1 #endif -#ifndef AO_PORT_TYPE -#define AO_PORT_TYPE uint8_t -#endif - typedef AO_PORT_TYPE ao_port_t; #if HAS_TASK @@ -76,6 +73,8 @@ typedef AO_PORT_TYPE ao_port_t; #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */ #define AO_PANIC_EXTI 16 /* Mis-using exti API */ #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */ +#define AO_PANIC_ADC 18 /* Mis-using ADC interface */ +#define AO_PANIC_IRQ 19 /* interrupts not blocked */ #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 */ @@ -127,11 +126,24 @@ ao_timer_init(void); void ao_clock_init(void); +#if AO_POWER_MANAGEMENT +/* Go to low power clock */ +void +ao_clock_suspend(void); + +/* Restart full-speed clock */ +void +ao_clock_resume(void); +#endif + /* * ao_mutex.c */ #ifndef ao_mutex_get +uint8_t +ao_mutex_try(__xdata uint8_t *ao_mutex, uint8_t task_id) __reentrant; + void ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; @@ -275,15 +287,17 @@ ao_report_init(void); * Given raw data, convert to SI units */ +#if HAS_BARO /* pressure from the sensor to altitude in meters */ -int16_t -ao_pres_to_altitude(int16_t pres) __reentrant; +alt_t +ao_pres_to_altitude(pres_t pres) __reentrant; -int16_t -ao_altitude_to_pres(int16_t alt) __reentrant; +pres_t +ao_altitude_to_pres(alt_t alt) __reentrant; int16_t ao_temp_to_dC(int16_t temp) __reentrant; +#endif /* * ao_convert_pa.c @@ -293,11 +307,13 @@ ao_temp_to_dC(int16_t temp) __reentrant; #include +#if HAS_BARO alt_t -ao_pa_to_altitude(int32_t pa); +ao_pa_to_altitude(pres_t pa); int32_t ao_altitude_to_pa(alt_t alt); +#endif #if HAS_DBG #include @@ -393,6 +409,9 @@ struct ao_gps_tracking_orig { struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; }; +void +ao_gps_set_rate(uint8_t rate); + void ao_gps(void); @@ -508,15 +527,12 @@ 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_reset_interval(void); void ao_telemetry_set_interval(uint16_t interval); @@ -555,6 +571,15 @@ extern __xdata int8_t ao_radio_rssi; #define HAS_RADIO_XMIT HAS_RADIO #endif +#define AO_RADIO_RATE_38400 0 +#define AO_RADIO_RATE_9600 1 +#define AO_RADIO_RATE_2400 2 +#define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400 + +#if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE) +#define HAS_RADIO_RATE HAS_RADIO +#endif + void ao_radio_general_isr(void) ao_arch_interrupt(16); @@ -640,6 +665,7 @@ union ao_monitor { extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) +#define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1)) extern __data uint8_t ao_monitoring; extern __data uint8_t ao_monitor_head; @@ -737,6 +763,7 @@ ao_igniter_init(void); /* * ao_config.c */ +#include #if AO_PYRO_NUM #include @@ -749,93 +776,17 @@ ao_igniter_init(void); extern __xdata uint8_t ao_force_freq; #endif -#define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 16 - -#define AO_AES_LEN 16 - -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 _legacy_radio_channel; - char callsign[AO_MAX_CALLSIGN + 1]; - uint8_t apogee_delay; /* minor version 1 */ - int16_t accel_minus_g; /* minor version 2 */ - uint32_t radio_cal; /* minor version 3 */ - uint32_t flight_log_max; /* minor version 4 */ - uint8_t ignite_mode; /* minor version 5 */ - 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 */ - 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 */ -#if HAS_RADIO_POWER - uint8_t radio_power; /* minor version 14 */ -#endif -#if HAS_RADIO_AMP - uint8_t radio_amp; /* minor version 14 */ -#endif -#if HAS_GYRO - int16_t accel_zero_along; /* minor version 15 */ - int16_t accel_zero_across; /* minor version 15 */ - int16_t accel_zero_through; /* minor version 15 */ -#endif -#if HAS_BEEP - uint8_t mid_beep; /* minor version 16 */ -#endif -}; - -#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 - -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); - /* * ao_rssi.c */ +#ifdef AO_LED_TYPE void -ao_rssi_set(int rssi_value); +ao_rssi_set(int16_t rssi_value); void -ao_rssi_init(uint8_t rssi_led); +ao_rssi_init(AO_LED_TYPE rssi_led); +#endif /* * ao_product.c @@ -871,6 +822,8 @@ struct ao_fifo { } while(0) #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) +#define ao_fifo_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4)) +#define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4)) #define ao_fifo_empty(f) ((f).insert == (f).remove) #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE