Use autotools, move altos to src subdir

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 926 insertions, 0 deletions

diff --git a/src/ao.h b/src/ao.h
new file mode 100644
index 00000000..c4cb5bf7
--- /dev/null
+++ b/src/ao.h
@@ -0,0 +1,926 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_H_
+#define _AO_H_
+
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include "cc1111.h"
+
+#define TRUE 1
+#define FALSE 0
+
+/* Convert a __data pointer into an __xdata pointer */
+#define DATA_TO_XDATA(a)	((void __xdata *) ((uint8_t) (a) | 0xff00))
+
+/* Stack runs from above the allocated __data space to 0xfe, which avoids
+ * writing to 0xff as that triggers the stack overflow indicator
+ */
+#define AO_STACK_START	0x80
+#define AO_STACK_END	0xfe
+#define AO_STACK_SIZE	(AO_STACK_END - AO_STACK_START + 1)
+
+/* An AltOS task */
+struct ao_task {
+	__xdata void *wchan;		/* current wait channel (NULL if running) */
+	uint8_t	stack_count;		/* amount of saved stack */
+	uint8_t task_id;		/* index in the task array */
+	__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 */
+void
+ao_sleep(__xdata void *wchan);
+
+/* Wake all tasks sleeping on wchan */
+void
+ao_wakeup(__xdata void *wchan);
+
+/* Yield the processor to another task */
+void
+ao_yield(void) _naked;
+
+/* Add a task to the run queue */
+void
+ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+
+/* Dump task info to console */
+void
+ao_task_info(void);
+
+/* Start the scheduler. This will not return */
+void
+ao_start_scheduler(void);
+
+/*
+ * ao_panic.c
+ */
+
+#define AO_PANIC_NO_TASK	1	/* AO_NUM_TASKS is not large enough */
+#define AO_PANIC_DMA		2	/* Attempt to start DMA while active */
+#define AO_PANIC_MUTEX		3	/* Mis-using mutex API */
+#define AO_PANIC_EE		4	/* Mis-using eeprom API */
+#define AO_PANIC_LOG		5	/* Failing to read/write log data */
+#define AO_PANIC_CMD		6	/* Too many command sets registered */
+
+/* Stop the operating system, beeping and blinking the reason */
+void
+ao_panic(uint8_t reason);
+
+/*
+ * ao_timer.c
+ */
+
+/* Our timer runs at 100Hz */
+#define AO_MS_TO_TICKS(ms)	((ms) / 10)
+#define AO_SEC_TO_TICKS(s)	((s) * 100)
+
+/* Returns the current time in ticks */
+uint16_t
+ao_time(void);
+
+/* Suspend the current task until ticks time has passed */
+void
+ao_delay(uint16_t ticks);
+
+/* Set the ADC interval */
+void
+ao_timer_set_adc_interval(uint8_t interval) __critical;
+
+/* Timer interrupt */
+void
+ao_timer_isr(void) interrupt 9;
+
+/* Initialize the timer */
+void
+ao_timer_init(void);
+
+/*
+ * ao_adc.c
+ */
+
+#define AO_ADC_RING	64
+#define ao_adc_ring_next(n)	(((n) + 1) & (AO_ADC_RING - 1))
+#define ao_adc_ring_prev(n)	(((n) - 1) & (AO_ADC_RING - 1))
+
+/*
+ * One set of samples read from the A/D converter
+ */
+struct ao_adc {
+	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 */
+};
+
+/*
+ * 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;
+
+/* 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 */
+#if !AO_NO_ADC_ISR
+void
+ao_adc_isr(void) interrupt 1;
+#endif
+
+/* Initialize the A/D converter */
+void
+ao_adc_init(void);
+
+/*
+ * 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
+#define AO_LED_GREEN	1
+#define AO_LED_RED	2
+
+/* Turn on the specified LEDs */
+void
+ao_led_on(uint8_t colors);
+
+/* Turn off the specified LEDs */
+void
+ao_led_off(uint8_t colors);
+
+/* Set all of the LEDs to the specified state */
+void
+ao_led_set(uint8_t colors);
+
+/* Toggle the specified LEDs */
+void
+ao_led_toggle(uint8_t colors);
+
+/* Turn on the specified LEDs for the indicated interval */
+void
+ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
+
+/* Initialize the LEDs */
+void
+ao_led_init(uint8_t 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);
+
+/* Flush the USB output queue */
+void
+ao_usb_flush(void);
+
+/* USB interrupt handler */
+void
+ao_usb_isr(void) interrupt 6;
+
+/* Enable the USB controller */
+void
+ao_usb_enable(void);
+
+/* Disable the USB controller */
+void
+ao_usb_disable(void);
+
+/* Initialize the USB system */
+void
+ao_usb_init(void);
+
+/*
+ * ao_cmd.c
+ */
+
+enum ao_cmd_status {
+	ao_cmd_success = 0,
+	ao_cmd_lex_error = 1,
+	ao_cmd_syntax_error = 2,
+};
+
+extern __xdata uint16_t ao_cmd_lex_i;
+extern __xdata char	ao_cmd_lex_c;
+extern __xdata enum ao_cmd_status ao_cmd_status;
+
+void
+ao_cmd_lex(void);
+
+void
+ao_cmd_put8(uint8_t v);
+
+void
+ao_cmd_put16(uint16_t v);
+
+void
+ao_cmd_white(void);
+
+void
+ao_cmd_hex(void);
+
+void
+ao_cmd_decimal(void);
+
+struct ao_cmds {
+	char		cmd;
+	void		(*func)(void);
+	const char	*help;
+};
+
+void
+ao_cmd_register(__code struct ao_cmds *cmds);
+
+void
+ao_cmd_init(void);
+
+/*
+ * ao_dma.c
+ */
+
+/* Allocate a DMA channel. the 'done' parameter will be set to 1
+ * 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) interrupt 8;
+
+/*
+ * ao_mutex.c
+ */
+
+void
+ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
+
+void
+ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
+
+/*
+ * ao_ee.c
+ */
+
+/*
+ * We reserve the last block on the device for
+ * configuration space. Writes and reads in this
+ * area return errors.
+ */
+
+#define AO_EE_BLOCK_SIZE	((uint16_t) (256))
+#define AO_EE_DEVICE_SIZE	((uint32_t) 128 * (uint32_t) 1024)
+#define AO_EE_DATA_SIZE		(AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE)
+#define AO_EE_CONFIG_BLOCK	((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE))
+
+void
+ao_ee_flush(void) __reentrant;
+
+/* Write to the eeprom */
+uint8_t
+ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
+
+/* Read from the eeprom */
+uint8_t
+ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant;
+
+/* Write the config block (at the end of the eeprom) */
+uint8_t
+ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant;
+
+/* Read the config block (at the end of the eeprom) */
+uint8_t
+ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant;
+
+/* Initialize the EEPROM code */
+void
+ao_ee_init(void);
+
+/*
+ * ao_log.c
+ */
+
+/* Structure containing GPS position, either lat or lon */
+
+struct ao_gps_pos {
+	uint8_t	degrees;
+	uint8_t	minutes;
+	uint16_t minutes_fraction;	/* in units of 1/10000 minutes */
+};
+
+/*
+ * 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_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;
+		struct ao_gps_pos gps_latitude;
+		struct ao_gps_pos gps_longitude;
+		struct {
+			int16_t		altitude;
+			uint16_t	unused;
+		} gps_altitude;
+		struct {
+			uint16_t	d0;
+			uint16_t	d1;
+		} anon;
+	} u;
+};
+
+/* Write a record to the eeprom log */
+void
+ao_log_data(struct ao_log_record *log);
+
+/* Flush the log */
+void
+ao_log_flush(void);
+
+/* Log dumping API:
+ * ao_log_dump_first() - get first log record
+ * ao_log_dump_next()  - get next log record
+ */
+extern __xdata struct ao_log_record ao_log_dump;
+
+/* Retrieve first log record for the current flight */
+uint8_t
+ao_log_dump_first(void);
+
+/* return next log record for the current flight */
+uint8_t
+ao_log_dump_next(void);
+
+/* Logging thread main routine */
+void
+ao_log(void);
+
+/* 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);
+
+/*
+ * ao_flight.c
+ */
+
+enum ao_flight_state {
+	ao_flight_startup = 0,
+	ao_flight_idle = 1,
+	ao_flight_launchpad = 2,
+	ao_flight_boost = 3,
+	ao_flight_coast = 4,
+	ao_flight_apogee = 5,
+	ao_flight_drogue = 6,
+	ao_flight_main = 7,
+	ao_flight_landed = 8,
+	ao_flight_invalid = 9
+};
+
+extern __xdata struct ao_adc		ao_flight_data;
+extern __pdata enum ao_flight_state	ao_flight_state;
+extern __pdata uint16_t			ao_flight_tick;
+extern __pdata int16_t			ao_flight_accel;
+extern __pdata int16_t			ao_flight_pres;
+extern __pdata int32_t			ao_flight_vel;
+extern __pdata int16_t			ao_ground_pres;
+extern __pdata int16_t			ao_ground_accel;
+extern __pdata int16_t			ao_min_pres;
+extern __pdata uint16_t			ao_launch_time;
+
+/* Flight thread */
+void
+ao_flight(void);
+
+/* Initialize flight thread */
+void
+ao_flight_init(void);
+
+/*
+ * ao_report.c
+ */
+
+void
+ao_report_init(void);
+
+/*
+ * ao_convert.c
+ *
+ * Given raw data, convert to SI units
+ */
+
+/* pressure from the sensor to altitude in meters */
+int16_t
+ao_pres_to_altitude(int16_t pres) __reentrant;
+
+int16_t
+ao_altitude_to_pres(int16_t alt) __reentrant;
+
+int16_t
+ao_temp_to_dC(int16_t temp) __reentrant;
+
+/*
+ * ao_dbg.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
+ */
+
+#if !AO_NO_SERIAL_ISR
+void
+ao_serial_rx1_isr(void) interrupt 3;
+
+void
+ao_serial_tx1_isr(void) interrupt 14;
+#endif
+
+char
+ao_serial_getchar(void) __critical;
+
+void
+ao_serial_putchar(char c) __critical;
+
+void
+ao_serial_init(void);
+
+/*
+ * ao_gps.c
+ */
+
+#define AO_GPS_NUM_SAT_MASK	(0xf << 0)
+#define AO_GPS_NUM_SAT_SHIFT	(0)
+
+#define AO_GPS_VALID		(1 << 4)
+#define AO_GPS_LONGITUDE_MASK	(1 << 5)
+#define AO_GPS_LONGITUDE_EAST	(0 << 5)
+#define AO_GPS_LONGITUDE_WEST	(1 << 5)
+
+#define AO_GPS_LATITUDE_MASK	(1 << 6)
+#define AO_GPS_LATITUDE_NORTH	(0 << 6)
+#define AO_GPS_LATITUDE_SOUTH	(1 << 6)
+
+struct ao_gps_data {
+	uint8_t			hour;
+	uint8_t			minute;
+	uint8_t			second;
+	uint8_t			flags;
+	struct ao_gps_pos	latitude;
+	struct ao_gps_pos	longitude;
+	int16_t			altitude;
+};
+
+extern __xdata uint8_t ao_gps_mutex;
+extern __xdata struct ao_gps_data ao_gps_data;
+
+void
+ao_gps(void);
+
+void
+ao_gps_print(__xdata struct ao_gps_data *gps_data);
+
+void
+ao_gps_init(void);
+
+/*
+ * ao_gps_report.c
+ */
+
+void
+ao_gps_report(void);
+
+void
+ao_gps_report_init(void);
+
+/*
+ * ao_telemetry.c
+ */
+
+#define AO_MAX_CALLSIGN		8
+
+struct ao_telemetry {
+	uint8_t			addr;
+	uint8_t			flight_state;
+	int16_t			flight_accel;
+	int16_t			ground_accel;
+	int32_t			flight_vel;
+	int16_t			flight_pres;
+	int16_t			ground_pres;
+	struct ao_adc		adc;
+	struct ao_gps_data	gps;
+	char			callsign[AO_MAX_CALLSIGN];
+};
+
+/* Set delay between telemetry reports (0 to disable) */
+
+#define AO_TELEMETRY_INTERVAL_PAD	AO_MS_TO_TICKS(1000)
+#define AO_TELEMETRY_INTERVAL_FLIGHT	AO_MS_TO_TICKS(50)
+#define AO_TELEMETRY_INTERVAL_RECOVER	AO_MS_TO_TICKS(1000)
+
+void
+ao_telemetry_set_interval(uint16_t interval);
+
+void
+ao_telemetry_init(void);
+
+/*
+ * ao_radio.c
+ */
+
+void
+ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
+
+struct ao_radio_recv {
+	struct ao_telemetry	telemetry;
+	int8_t			rssi;
+	uint8_t			status;
+};
+
+void
+ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
+
+void
+ao_radio_init(void);
+
+/*
+ * ao_monitor.c
+ */
+
+extern const char const * const ao_state_names[];
+
+void
+ao_monitor(void);
+
+void
+ao_set_monitor(uint8_t monitoring);
+
+void
+ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
+
+/*
+ * ao_stdio.c
+ */
+
+void
+flush(void);
+
+/*
+ * ao_ignite.c
+ */
+
+enum ao_igniter {
+	ao_igniter_drogue = 0,
+	ao_igniter_main = 1
+};
+
+void
+ao_ignite(enum ao_igniter igniter);
+
+enum ao_igniter_status {
+	ao_igniter_unknown,	/* unknown status (ambiguous voltage) */
+	ao_igniter_ready,	/* continuity detected */
+	ao_igniter_active,	/* igniter firing */
+	ao_igniter_open,	/* open circuit detected */
+};
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter);
+
+void
+ao_igniter_init(void);
+
+/*
+ * ao_config.c
+ */
+
+#define AO_CONFIG_MAJOR	1
+#define AO_CONFIG_MINOR	0
+
+struct ao_config {
+	uint8_t		major;
+	uint8_t		minor;
+	uint16_t	main_deploy;
+	int16_t		accel_zero_g;
+	uint8_t		radio_channel;
+	char		callsign[AO_MAX_CALLSIGN + 1];
+};
+
+extern __xdata struct ao_config ao_config;
+
+void
+ao_config_get(void);
+
+void
+ao_config_init(void);
+
+/*
+ * ao_rssi.c
+ */
+
+void
+ao_rssi_set(int rssi_value);
+
+void
+ao_rssi_init(uint8_t rssi_led);
+
+/*
+ * ao_product.c
+ *
+ * values which need to be defined for
+ * each instance of a product
+ */
+
+extern const uint8_t ao_usb_descriptors [];
+extern const uint16_t ao_serial_number;
+extern const char ao_version[];
+extern const char ao_manufacturer[];
+extern const char ao_product[];
+
+/*
+ * Fifos
+ */
+
+#define AO_FIFO_SIZE	32
+
+struct ao_fifo {
+	uint8_t	insert;
+	uint8_t	remove;
+	char	fifo[AO_FIFO_SIZE];
+};
+
+#define ao_fifo_insert(f,c) do { \
+	(f).fifo[(f).insert] = (c); \
+	(f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
+} while(0)
+
+#define ao_fifo_remove(f,c) do {\
+	c = (f).fifo[(f).remove]; \
+	(f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
+} while(0)
+
+#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	32
+#define AO_PACKET_WIN	256
+
+#define AO_PACKET_FIN	(1 << 0)
+#define AO_PACKET_SYN	(1 << 1)
+#define AO_PACKET_RST	(1 << 2)
+#define AO_PACKET_ACK	(1 << 3)
+
+struct ao_packet {
+	uint8_t		addr;
+	uint8_t		flags;
+	uint16_t	seq;
+	uint16_t	ack;
+	uint16_t	window;
+	uint8_t		len;
+	uint8_t		d[AO_PACKET_MAX];
+};
+
+uint8_t
+ao_packet_connect(uint8_t dest);
+
+uint8_t
+ao_packet_accept(void);
+
+int
+ao_packet_send(uint8_t *data, int len);
+
+int
+ao_packet_recv(uint8_t *data, int len);
+
+void
+ao_packet_init(void);
+
+#endif /* _AO_H_ */