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Diffstat (limited to 'src/core/ao.h')
| -rw-r--r-- | src/core/ao.h | 1610 |
1 files changed, 1610 insertions, 0 deletions
diff --git a/src/core/ao.h b/src/core/ao.h new file mode 100644 index 00000000..8ac9ac3d --- /dev/null +++ b/src/core/ao.h @@ -0,0 +1,1610 @@ +/* + * 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 <stddef.h> +#include "cc1111.h" +#include "ao_pins.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 0x90 +#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) */ + uint16_t alarm; /* abort ao_sleep time */ + uint8_t stack_count; /* amount of saved stack */ + uint8_t task_id; /* unique id */ + __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. + * 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); + +/* 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; + +/* Add a task to the run queue */ +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); + +/* 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 */ +#define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */ +#define AO_PANIC_REBOOT 8 /* Reboot failed */ +#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 */ + +/* 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_HERTZ 100 +#define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ)) +#define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ) + +/* 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); + +/* Initialize the hardware clock. Must be called first */ +void +ao_clock_init(void); + +/* + * One set of samples read from the A/D converter or telemetry + */ +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 */ +}; + +#ifndef HAS_ADC +#error Please define HAS_ADC +#endif + +#if HAS_ADC + +#if HAS_ACCEL +#ifndef HAS_ACCEL_REF +#error Please define HAS_ACCEL_REF +#endif +#else +#define HAS_ACCEL_REF 0 +#endif + +/* + * ao_adc.c + */ + +#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)) + + +/* + * 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; +#if HAS_ACCEL_REF +extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING]; +#endif + +/* 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 */ + +void +ao_adc_isr(void) __interrupt 1; + +/* Initialize the A/D converter */ +void +ao_adc_init(void); + +#endif /* HAS_ADC */ + +/* + * 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 + +/* 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_romconfig.c + */ + +#define AO_ROMCONFIG_VERSION 2 + +extern __code __at (0x00a0) uint16_t ao_romconfig_version; +extern __code __at (0x00a2) uint16_t ao_romconfig_check; +extern __code __at (0x00a4) uint16_t ao_serial_number; +extern __code __at (0x00a6) uint32_t ao_radio_cal; + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +#if HAS_USB +extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; +#endif + +/* + * 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); + +/* 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); + +#if HAS_USB +/* USB interrupt handler */ +void +ao_usb_isr(void) __interrupt 6; +#endif + +/* 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 __pdata uint16_t ao_cmd_lex_i; +extern __pdata uint32_t ao_cmd_lex_u32; +extern __pdata char ao_cmd_lex_c; +extern __pdata 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); + +uint8_t +ao_match_word(__code char *word); + +struct ao_cmds { + void (*func)(void); + __code char *help; +}; + +void +ao_cmd_register(__code struct ao_cmds *cmds); + +void +ao_cmd_init(void); + +#if HAS_CMD_FILTER +/* + * Provided by an external module to filter raw command lines + */ +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) __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; + +/* + * Storage interface, provided by one of the eeprom or flash + * drivers + */ + +/* Total bytes of available storage */ +extern __pdata uint32_t ao_storage_total; + +/* Block size - device is erased in these units. At least 256 bytes */ +extern __pdata uint32_t ao_storage_block; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +extern __pdata uint32_t ao_storage_config; + +/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ +extern __pdata uint16_t ao_storage_unit; + +#define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE) + +/* Initialize above values. Can only be called once the OS is running */ +void +ao_storage_setup(void) __reentrant; + +/* Write data. Returns 0 on failure, 1 on success */ +uint8_t +ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* Read data. Returns 0 on failure, 1 on success */ +uint8_t +ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* Erase a block of storage. This always clears ao_storage_block bytes */ +uint8_t +ao_storage_erase(uint32_t pos) __reentrant; + +/* Flush any pending writes to stable storage */ +void +ao_storage_flush(void) __reentrant; + +/* Initialize the storage code */ +void +ao_storage_init(void); + +/* + * Low-level functions wrapped by ao_storage.c + */ + +/* Read data within a storage unit */ +uint8_t +ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* Write data within a storage unit */ +uint8_t +ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; + +/* Initialize low-level device bits */ +void +ao_storage_device_init(void); + +/* Print out information about flash chips */ +void +ao_storage_device_info(void) __reentrant; + +/* + * ao_log.c + */ + +/* We record flight numbers in the first record of + * the log. Tasks may wait for this to be initialized + * by sleeping on this variable. + */ +extern __xdata uint16_t ao_flight_number; + +extern __pdata uint32_t ao_log_current_pos; +extern __pdata uint32_t ao_log_end_pos; +extern __pdata uint32_t ao_log_start_pos; +extern __xdata uint8_t ao_log_running; +extern __pdata enum flight_state ao_log_state; + +/* required functions from the underlying log system */ + +#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ +#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */ +#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */ +#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ +#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ +#define AO_LOG_FORMAT_NONE 127 /* No log at all */ + +extern __code uint8_t ao_log_format; + +/* Return the flight number from the given log slot, 0 if none */ +uint16_t +ao_log_flight(uint8_t slot); + +/* Flush the log */ +void +ao_log_flush(void); + +/* Logging thread main routine */ +void +ao_log(void); + +/* functions provided in ao_log.c */ + +/* Figure out the current flight number */ +void +ao_log_scan(void) __reentrant; + +/* Return the position of the start of the given log slot */ +uint32_t +ao_log_pos(uint8_t slot); + +/* 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); + +/* Write out the current flight number to the erase log */ +void +ao_log_write_erase(uint8_t pos); + +/* Returns true if there are any logs stored in eeprom */ +uint8_t +ao_log_present(void); + +/* Returns true if there is no more storage space available */ +uint8_t +ao_log_full(void); + +/* + * ao_log_big.c + */ + +/* + * 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_GPS_SAT 'V' +#define AO_LOG_GPS_DATE 'Y' + +#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; + int32_t gps_latitude; + int32_t gps_longitude; + struct { + int16_t altitude; + uint16_t unused; + } gps_altitude; + struct { + uint16_t svid; + uint8_t unused; + uint8_t c_n; + } gps_sat; + struct { + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t extra; + } gps_date; + struct { + uint16_t d0; + uint16_t d1; + } anon; + } u; +}; + +/* Write a record to the eeprom log */ +uint8_t +ao_log_data(__xdata struct ao_log_record *log) __reentrant; + +/* + * ao_flight.c + */ + +enum ao_flight_state { + ao_flight_startup = 0, + ao_flight_idle = 1, + ao_flight_pad = 2, + ao_flight_boost = 3, + ao_flight_fast = 4, + ao_flight_coast = 5, + ao_flight_drogue = 6, + ao_flight_main = 7, + ao_flight_landed = 8, + ao_flight_invalid = 9 +}; + +extern __pdata enum ao_flight_state ao_flight_state; + +extern __pdata uint16_t ao_launch_time; +extern __pdata uint8_t ao_flight_force_idle; + +/* Flight thread */ +void +ao_flight(void); + +/* Initialize flight thread */ +void +ao_flight_init(void); + +/* + * ao_flight_nano.c + */ + +void +ao_flight_nano_init(void); + +/* + * ao_sample.c + */ + +/* + * Barometer calibration + * + * We directly sample the barometer. The specs say: + * + * Pressure range: 15-115 kPa + * Voltage at 115kPa: 2.82 + * Output scale: 27mV/kPa + * + * If we want to detect launch with the barometer, we need + * a large enough bump to not be fooled by noise. At typical + * launch elevations (0-2000m), a 200Pa pressure change cooresponds + * to about a 20m elevation change. This is 5.4mV, or about 3LSB. + * As all of our calculations are done in 16 bits, we'll actually see a change + * of 16 times this though + * + * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa + */ + +/* Accelerometer calibration + * + * We're sampling the accelerometer through a resistor divider which + * consists of 5k and 10k resistors. This multiplies the values by 2/3. + * That goes into the cc1111 A/D converter, which is running at 11 bits + * of precision with the bits in the MSB of the 16 bit value. Only positive + * values are used, so values should range from 0-32752 for 0-3.3V. The + * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what + * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV, + * for a final computation of: + * + * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g + * + * Zero g was measured at 16000 (we would expect 16384). + * Note that this value is only require to tell if the + * rocket is standing upright. Once that is determined, + * the value of the accelerometer is averaged for 100 samples + * to find the resting accelerometer value, which is used + * for all further flight computations + */ + +#define GRAVITY 9.80665 + +/* + * Above this height, the baro sensor doesn't work + */ +#define AO_MAX_BARO_HEIGHT 12000 + +/* + * Above this speed, baro measurements are unreliable + */ +#define AO_MAX_BARO_SPEED 200 + +#define ACCEL_NOSE_UP (ao_accel_2g >> 2) + +/* + * Speed and acceleration are scaled by 16 to provide a bit more + * resolution while still having reasonable range. Note that this + * limits speed to 2047m/s (around mach 6) and acceleration to + * 2047m/s² (over 200g) + */ + +#define AO_M_TO_HEIGHT(m) ((int16_t) (m)) +#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) +#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) + +extern __pdata uint16_t ao_sample_tick; /* time of last data */ +extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */ +extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */ +extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */ +extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ + +#if HAS_ACCEL +extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */ +#endif + +extern __pdata int16_t ao_ground_pres; /* startup pressure */ +extern __pdata int16_t ao_ground_height; /* MSL of ao_ground_pres */ + +#if HAS_ACCEL +extern __pdata int16_t ao_ground_accel; /* startup acceleration */ +extern __pdata int16_t ao_accel_2g; /* factory accel calibration */ +extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ +#endif + +void ao_sample_init(void); + +/* returns FALSE in preflight mode, TRUE in flight mode */ +uint8_t ao_sample(void); + +/* + * ao_kalman.c + */ + +#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define from_fix(x) ((x) >> 16) + +extern __pdata int16_t ao_height; /* meters */ +extern __pdata int16_t ao_speed; /* m/s * 16 */ +extern __pdata int16_t ao_accel; /* m/s² * 16 */ +extern __pdata int16_t ao_max_height; /* max of ao_height */ +extern __pdata int16_t ao_avg_height; /* running average of height */ + +extern __pdata int16_t ao_error_h; +extern __pdata int16_t ao_error_h_sq_avg; + +#if HAS_ACCEL +extern __pdata int16_t ao_error_a; +#endif + +void ao_kalman(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 + */ + +#ifndef HAS_SERIAL_1 +#error Please define HAS_SERIAL_1 +#endif + +#if HAS_SERIAL_1 +#ifndef USE_SERIAL_STDIN +#error Please define USE_SERIAL_STDIN +#endif + +void +ao_serial_rx1_isr(void) __interrupt 3; + +void +ao_serial_tx1_isr(void) __interrupt 14; + +char +ao_serial_getchar(void) __critical; + +#if USE_SERIAL_STDIN +char +ao_serial_pollchar(void) __critical; + +void +ao_serial_set_stdin(uint8_t stdin); +#endif + +void +ao_serial_putchar(char c) __critical; + +void +ao_serial_drain(void) __critical; + +#define AO_SERIAL_SPEED_4800 0 +#define AO_SERIAL_SPEED_9600 1 +#define AO_SERIAL_SPEED_19200 2 +#define AO_SERIAL_SPEED_57600 3 + +void +ao_serial_set_speed(uint8_t speed); + +void +ao_serial_init(void); +#endif + +/* + * ao_spi.c + */ + +extern __xdata uint8_t ao_spi_mutex; + +#define ao_spi_get_mask(reg,mask) do {\ + ao_mutex_get(&ao_spi_mutex); \ + (reg) &= ~(mask); \ + } while (0) + +#define ao_spi_put_mask(reg,mask) do { \ + (reg) |= (mask); \ + ao_mutex_put(&ao_spi_mutex); \ + } while (0) + +#define ao_spi_get_bit(bit) do {\ + ao_mutex_get(&ao_spi_mutex); \ + (bit) = 0; \ + } while (0) + +#define ao_spi_put_bit(bit) do { \ + (bit) = 1; \ + ao_mutex_put(&ao_spi_mutex); \ + } while (0) + +/* + * 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_spi_send(void __xdata *block, uint16_t len) __reentrant; + +void +ao_spi_recv(void __xdata *block, uint16_t len) __reentrant; + +void +ao_spi_init(void); + +/* + * ao_telemetry.c + */ +#define AO_MAX_CALLSIGN 8 +#define AO_MAX_VERSION 8 +#define AO_MAX_TELEMETRY 128 + +struct ao_telemetry_generic { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t payload[27]; /* 5 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01 +#define AO_TELEMETRY_SENSOR_TELEMINI 0x02 +#define AO_TELEMETRY_SENSOR_TELENANO 0x03 + +struct ao_telemetry_sensor { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + int16_t accel; /* 6 accelerometer (TM only) */ + int16_t pres; /* 8 pressure sensor */ + int16_t temp; /* 10 temperature sensor */ + int16_t v_batt; /* 12 battery voltage */ + int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */ + int16_t sense_m; /* 16 main continuity sense (TM/Tm) */ + + int16_t acceleration; /* 18 m/s² * 16 */ + int16_t speed; /* 20 m/s * 16 */ + int16_t height; /* 22 m */ + + int16_t ground_pres; /* 24 average pres on pad */ + int16_t ground_accel; /* 26 average accel on pad */ + int16_t accel_plus_g; /* 28 accel calibration at +1g */ + int16_t accel_minus_g; /* 30 accel calibration at -1g */ + /* 32 */ +}; + +#define AO_TELEMETRY_CONFIGURATION 0x04 + +struct ao_telemetry_configuration { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t device; /* 5 device type */ + uint16_t flight; /* 6 flight number */ + uint8_t config_major; /* 8 Config major version */ + uint8_t config_minor; /* 9 Config minor version */ + uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */ + uint16_t main_deploy; /* 12 Main deploy alt in meters */ + uint16_t flight_log_max; /* 14 Maximum flight log size in kB */ + char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */ + char version[AO_MAX_VERSION]; /* 24 Software version */ + /* 32 */ +}; + +#define AO_TELEMETRY_LOCATION 0x05 + +#define AO_GPS_MODE_NOT_VALID 'N' +#define AO_GPS_MODE_AUTONOMOUS 'A' +#define AO_GPS_MODE_DIFFERENTIAL 'D' +#define AO_GPS_MODE_ESTIMATED 'E' +#define AO_GPS_MODE_MANUAL 'M' +#define AO_GPS_MODE_SIMULATED 'S' + +struct ao_telemetry_location { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t flags; /* 5 Number of sats and other flags */ + int16_t altitude; /* 6 GPS reported altitude (m) */ + int32_t latitude; /* 8 latitude (degrees * 10⁷) */ + int32_t longitude; /* 12 longitude (degrees * 10⁷) */ + uint8_t year; /* 16 (- 2000) */ + uint8_t month; /* 17 (1-12) */ + uint8_t day; /* 18 (1-31) */ + uint8_t hour; /* 19 (0-23) */ + uint8_t minute; /* 20 (0-59) */ + uint8_t second; /* 21 (0-59) */ + uint8_t pdop; /* 22 (m * 5) */ + uint8_t hdop; /* 23 (m * 5) */ + uint8_t vdop; /* 24 (m * 5) */ + uint8_t mode; /* 25 */ + uint16_t ground_speed; /* 26 cm/s */ + int16_t climb_rate; /* 28 cm/s */ + uint8_t course; /* 30 degrees / 2 */ + uint8_t unused[1]; /* 31 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SATELLITE 0x06 + +struct ao_telemetry_satellite_info { + uint8_t svid; + uint8_t c_n_1; +}; + +struct ao_telemetry_satellite { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t channels; /* 5 number of reported sats */ + + struct ao_telemetry_satellite_info sats[12]; /* 6 */ + uint8_t unused[2]; /* 30 */ + /* 32 */ +}; + +#define AO_TELEMETRY_COMPANION 0x07 + +#define AO_COMPANION_MAX_CHANNELS 12 + +struct ao_telemetry_companion { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t board_id; /* 5 */ + + uint8_t update_period; /* 6 */ + uint8_t channels; /* 7 */ + uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */ + /* 32 */ +}; + +union ao_telemetry_all { + struct ao_telemetry_generic generic; + struct ao_telemetry_sensor sensor; + struct ao_telemetry_configuration configuration; + struct ao_telemetry_location location; + struct ao_telemetry_satellite satellite; + struct ao_telemetry_companion companion; +}; + +/* + * 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_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) + +extern __pdata uint16_t ao_gps_tick; +extern __xdata uint8_t ao_gps_mutex; +extern __xdata struct ao_telemetry_location ao_gps_data; +extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data; + +struct ao_gps_orig { + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t minute; + uint8_t second; + uint8_t flags; + int32_t latitude; /* degrees * 10⁷ */ + int32_t longitude; /* degrees * 10⁷ */ + int16_t altitude; /* m */ + uint16_t ground_speed; /* cm/s */ + uint8_t course; /* degrees / 2 */ + uint8_t hdop; /* * 5 */ + int16_t climb_rate; /* cm/s */ + uint16_t h_error; /* m */ + uint16_t v_error; /* m */ +}; + +struct ao_gps_sat_orig { + uint8_t svid; + uint8_t c_n_1; +}; + +#define AO_MAX_GPS_TRACKING 12 + +struct ao_gps_tracking_orig { + uint8_t channels; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; +}; + +void +ao_gps(void); + +void +ao_gps_print(__xdata struct ao_gps_orig *gps_data); + +void +ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data); + +void +ao_gps_init(void); + +/* + * ao_gps_report.c + */ + +void +ao_gps_report(void); + +void +ao_gps_report_init(void); + +/* + * ao_telemetry_orig.c + */ + +struct ao_telemetry_orig { + uint16_t serial; + uint16_t flight; + uint8_t flight_state; + int16_t accel; + int16_t ground_accel; + union { + struct { + int16_t speed; + int16_t unused; + } k; + int32_t flight_vel; + } u; + int16_t height; + int16_t ground_pres; + int16_t accel_plus_g; + int16_t accel_minus_g; + struct ao_adc adc; + struct ao_gps_orig gps; + char callsign[AO_MAX_CALLSIGN]; + struct ao_gps_tracking_orig gps_tracking; +}; + +struct ao_telemetry_tiny { + uint16_t serial; + uint16_t flight; + uint8_t flight_state; + int16_t height; /* AGL in meters */ + int16_t speed; /* in m/s * 16 */ + int16_t accel; /* in m/s² * 16 */ + int16_t ground_pres; /* sensor units */ + struct ao_adc adc; /* raw ADC readings */ + char callsign[AO_MAX_CALLSIGN]; +}; + +/* + * ao_radio_recv tacks on rssi and status bytes + */ + +struct ao_telemetry_raw_recv { + uint8_t packet[AO_MAX_TELEMETRY + 2]; +}; + +struct ao_telemetry_orig_recv { + struct ao_telemetry_orig telemetry_orig; + int8_t rssi; + uint8_t status; +}; + +struct ao_telemetry_tiny_recv { + struct ao_telemetry_tiny telemetry_tiny; + int8_t rssi; + uint8_t status; +}; + +/* 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(100) +#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) + +void +ao_telemetry_set_interval(uint16_t interval); + +void +ao_rdf_set(uint8_t rdf); + +void +ao_telemetry_init(void); + +void +ao_telemetry_orig_init(void); + +void +ao_telemetry_tiny_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_get(uint8_t len); + +#define ao_radio_put() ao_mutex_put(&ao_radio_mutex) + +void +ao_radio_set_packet(void); + +void +ao_radio_send(__xdata void *data, uint8_t size) __reentrant; + +uint8_t +ao_radio_recv(__xdata void *data, uint8_t size) __reentrant; + +void +ao_radio_recv_abort(void); + +void +ao_radio_rdf(int ms); + +void +ao_radio_rdf_abort(void); + +void +ao_radio_idle(void); + +void +ao_radio_init(void); + +/* + * ao_monitor.c + */ + +extern const char const * const ao_state_names[]; + +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); + +void +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); + uint8_t echo; +}; + +extern __xdata struct ao_stdio ao_stdios[]; +extern __pdata int8_t ao_cur_stdio; +extern __pdata int8_t ao_num_stdios; + +void +flush(void); + +extern __xdata uint8_t ao_stdin_ready; + +uint8_t +ao_echo(void); + +int8_t +ao_add_stdio(char (*pollchar)(void), + void (*putchar)(char) __reentrant, + void (*flush)(void)) __reentrant; + +/* + * 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_ignite_set_pins(void); + +void +ao_igniter_init(void); + +/* + * ao_config.c + */ + +#define AO_CONFIG_MAJOR 1 +#define AO_CONFIG_MINOR 8 + +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 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 */ +}; + +#define AO_IGNITE_MODE_DUAL 0 +#define AO_IGNITE_MODE_APOGEE 1 +#define AO_IGNITE_MODE_MAIN 2 + +#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_get(void); + +void +ao_config_put(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 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 64 +#define AO_PACKET_SYN (uint8_t) 0xff + +struct ao_packet { + uint8_t addr; + uint8_t len; + uint8_t seq; + uint8_t ack; + uint8_t d[AO_PACKET_MAX]; + uint8_t callsign[AO_MAX_CALLSIGN]; +}; + +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_recv(void); + +void +ao_packet_flush(void); + +void +ao_packet_putchar(char c) __reentrant; + +char +ao_packet_pollchar(void) __critical; + +/* ao_packet_master.c */ + +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_slave_init(uint8_t enable); + +/* ao_btm.c */ + +/* If bt_link is on P2, this interrupt is shared by USB, so the USB + * code calls this function. Otherwise, it's a regular ISR. + */ + +void +ao_btm_isr(void) +#if BT_LINK_ON_P1 + __interrupt 15 +#endif + ; + +void +ao_btm_init(void); + +/* ao_companion.c */ + +#define AO_COMPANION_SETUP 1 +#define AO_COMPANION_FETCH 2 +#define AO_COMPANION_NOTIFY 3 + +struct ao_companion_command { + uint8_t command; + uint8_t flight_state; + uint16_t tick; + uint16_t serial; + uint16_t flight; +}; + +struct ao_companion_setup { + uint16_t board_id; + uint16_t board_id_inverse; + uint8_t update_period; + uint8_t channels; +}; + +extern __pdata uint8_t ao_companion_running; +extern __xdata struct ao_companion_setup ao_companion_setup; +extern __xdata uint8_t ao_companion_mutex; +extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; + +void +ao_companion_init(void); + +#endif /* _AO_H_ */ |