diff options
Diffstat (limited to 'ao.h')
| -rw-r--r-- | ao.h | 169 |
1 files changed, 143 insertions, 26 deletions
@@ -29,7 +29,7 @@ /* 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 0x62 +#define AO_STACK_START 0x68 #define AO_STACK_END 0xfe #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) @@ -52,11 +52,11 @@ extern __xdata struct ao_task *__data ao_cur_task; */ /* Suspend the current task until wchan is awoken */ -int +void ao_sleep(__xdata void *wchan); /* Wake all tasks sleeping on wchan */ -int +void ao_wakeup(__xdata void *wchan); /* Yield the processor to another task */ @@ -84,6 +84,7 @@ ao_start_scheduler(void); #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 @@ -105,6 +106,10 @@ ao_time(void); 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; @@ -152,8 +157,10 @@ 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 @@ -267,6 +274,41 @@ 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 uint8_t 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); + +struct ao_cmds { + uint8_t cmd; + void (*func)(void); + const char *help; +}; + +void +ao_cmd_register(__code struct ao_cmds *cmds); + void ao_cmd_init(void); @@ -357,6 +399,14 @@ 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. @@ -387,6 +437,10 @@ ao_ee_init(void); #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) @@ -416,6 +470,18 @@ struct ao_log_record { 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; @@ -465,16 +531,16 @@ ao_log_init(void); */ enum ao_flight_state { - ao_flight_startup, - ao_flight_idle, - ao_flight_launchpad, - ao_flight_boost, - ao_flight_coast, - ao_flight_apogee, - ao_flight_drogue, - ao_flight_main, - ao_flight_landed, - ao_flight_invalid + 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; @@ -500,9 +566,6 @@ ao_flight_init(void); */ void -ao_report_notify(void); - -void ao_report_init(void); /* @@ -519,10 +582,7 @@ int16_t ao_temp_to_dC(int16_t temp) __reentrant; int16_t -ao_accel_to_dm_per_s2(int16_t accel) -{ - return (998 - (accel >> 4)) * 3300 / 2047; -} +ao_accel_to_cm_per_s2(int16_t accel) __reentrant; /* * ao_dbg.c @@ -566,11 +626,13 @@ ao_dbg_reset(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 uint8_t ao_serial_getchar(void) __critical; @@ -585,12 +647,6 @@ ao_serial_init(void); * ao_gps.c */ -struct ao_gps_pos { - uint8_t degrees; - uint8_t minutes; - uint16_t minutes_fraction; /* in units of 1/10000 minutes */ -}; - #define AO_GPS_NUM_SAT_MASK (0xf << 0) #define AO_GPS_NUM_SAT_SHIFT (0) @@ -620,8 +676,69 @@ void ao_gps(void); void +ao_gps_print(__xdata struct ao_gps_data *gps_data); + +void ao_gps_init(void); +/* + * ao_telemetry.c + */ + +#define AO_TELEMETRY_SENSOR 1 +#define AO_TELEMETRY_GPS 2 + +struct ao_telemetry { + uint8_t addr; + uint8_t type; + uint8_t flight_state; + union { + struct ao_adc adc; + struct ao_gps_data gps; + } u; +}; + +void +ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant; + +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; + uint8_t rssi; + uint8_t status; +}; + +void +ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; + +void +ao_radio_init(void); + +/* + * ao_monitor.c + */ + +void +ao_monitor(void); + +void +ao_monitor_init(void); + +/* + * ao_stdio.c + */ + +void +flush(void); #endif /* _AO_H_ */ |