diff options
Diffstat (limited to 'src/ao.h')
| -rw-r--r-- | src/ao.h | 142 |
1 files changed, 116 insertions, 26 deletions
@@ -40,6 +40,7 @@ /* An AltOS task */ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ + uint16_t alarm; /* abort ao_sleep time */ uint8_t stack_count; /* amount of saved stack */ uint8_t task_id; /* index in the task array */ __code char *name; /* task name */ @@ -55,14 +56,26 @@ extern __xdata struct ao_task *__data ao_cur_task; ao_task.c */ -/* Suspend the current task until wchan is awoken */ -void +/* 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); +/* Wake up a specific task */ +void +ao_wake_task(__xdata struct ao_task *task); + +/* set an alarm to go off in 'delay' ticks */ +void +ao_alarm(uint16_t delay); + /* Yield the processor to another task */ void ao_yield(void) _naked; @@ -71,6 +84,10 @@ ao_yield(void) _naked; 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); @@ -89,6 +106,7 @@ ao_start_scheduler(void); #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 */ +#define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */ /* Stop the operating system, beeping and blinking the reason */ void @@ -130,7 +148,7 @@ ao_clock_init(void); * ao_adc.c */ -#define AO_ADC_RING 64 +#define AO_ADC_RING 32 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) @@ -273,6 +291,12 @@ ao_usb_putchar(char c); char ao_usb_getchar(void); +/* Poll for a charcter on the USB input queue. + * returns AO_READ_AGAIN if none are available + */ +char +ao_usb_pollchar(void); + /* Flush the USB output queue */ void ao_usb_flush(void); @@ -341,9 +365,14 @@ 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 +/* Allocate a DMA channel. the 'done' parameter will be set + * when the dma is finished or aborted and will be used to + * wakeup any waiters */ + +#define AO_DMA_DONE 1 +#define AO_DMA_ABORTED 2 + uint8_t ao_dma_alloc(__xdata uint8_t * done); @@ -668,7 +697,8 @@ void ao_serial_putchar(char c) __critical; #define AO_SERIAL_SPEED_4800 0 -#define AO_SERIAL_SPEED_57600 1 +#define AO_SERIAL_SPEED_9600 1 +#define AO_SERIAL_SPEED_57600 2 void ao_serial_set_speed(uint8_t speed); @@ -787,6 +817,23 @@ ao_telemetry_init(void); * ao_radio.c */ +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; + +void +ao_radio_general_isr(void) interrupt 16; + +void +ao_radio_set_telemetry(void); + +void +ao_radio_set_packet(void); + +void +ao_radio_set_rdf(void); + void ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; @@ -796,16 +843,22 @@ struct ao_radio_recv { uint8_t status; }; -void +uint8_t ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; void ao_radio_rdf(int ms); void +ao_radio_abort(void); + +void ao_radio_rdf_abort(void); void +ao_radio_idle(void); + +void ao_radio_init(void); /* @@ -827,9 +880,24 @@ ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant; * ao_stdio.c */ +#define AO_READ_AGAIN ((char) -1) + +struct ao_stdio { + char (*pollchar)(void); + void (*putchar)(char c) __reentrant; + void (*flush)(void); +}; + void flush(void); +extern __xdata uint8_t ao_stdin_ready; + +void +ao_add_stdio(char (*pollchar)(void), + void (*putchar)(char) __reentrant, + void (*flush)(void)); + /* * ao_ignite.c */ @@ -934,37 +1002,59 @@ struct ao_fifo { * 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) +#define AO_PACKET_MAX 8 +#define AO_PACKET_SYN (uint8_t) 0xff struct ao_packet { uint8_t addr; - uint8_t flags; - uint16_t seq; - uint16_t ack; - uint16_t window; uint8_t len; + uint8_t seq; + uint8_t ack; uint8_t d[AO_PACKET_MAX]; }; -uint8_t -ao_packet_connect(uint8_t dest); +struct ao_packet_recv { + struct ao_packet packet; + int8_t rssi; + uint8_t status; +}; + +extern __xdata struct ao_packet_recv ao_rx_packet; +extern __xdata struct ao_packet ao_tx_packet; +extern __xdata struct ao_task ao_packet_task; +extern __xdata uint8_t ao_packet_enable; +extern __xdata uint8_t ao_packet_master_sleeping; +extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; + +void +ao_packet_send(void); uint8_t -ao_packet_accept(void); +ao_packet_recv(void); + +void +ao_packet_flush(void); + +void +ao_packet_putchar(char c) __reentrant; + +char +ao_packet_pollchar(void) __critical; -int -ao_packet_send(uint8_t *data, int len); +/* ao_packet_master.c */ -int -ao_packet_recv(uint8_t *data, int len); +void +ao_packet_master_init(void); + +/* ao_packet_slave.c */ + +void +ao_packet_slave_start(void); + +void +ao_packet_slave_stop(void); void -ao_packet_init(void); +ao_packet_slave_init(void); #endif /* _AO_H_ */ |