diff options
Diffstat (limited to 'src/core/ao.h')
| -rw-r--r-- | src/core/ao.h | 704 |
1 files changed, 27 insertions, 677 deletions
diff --git a/src/core/ao.h b/src/core/ao.h index 9a3b5829..28d0ba87 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -154,182 +154,14 @@ void ao_clock_init(void); /* - * One set of samples read from the A/D converter or telemetry - */ - -#if HAS_ADC - -/* - * ao_adc.c - */ - -#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) ao_arch_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 - -#ifndef AO_LED_TYPE -#define AO_LED_TYPE uint8_t -#endif - -/* Turn on the specified LEDs */ -void -ao_led_on(AO_LED_TYPE colors); - -/* Turn off the specified LEDs */ -void -ao_led_off(AO_LED_TYPE colors); - -/* Set all of the LEDs to the specified state */ -void -ao_led_set(AO_LED_TYPE colors); - -/* Toggle the specified LEDs */ -void -ao_led_toggle(AO_LED_TYPE colors); - -/* Turn on the specified LEDs for the indicated interval */ -void -ao_led_for(AO_LED_TYPE colors, uint16_t ticks) __reentrant; - -/* Initialize the LEDs */ -void -ao_led_init(AO_LED_TYPE 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); - -/* Poll for a charcter on the USB input queue. - * returns AO_READ_AGAIN if none are available + * ao_mutex.c */ -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) ao_arch_interrupt(6); -#endif -/* Enable the USB controller */ void -ao_usb_enable(void); - -/* Disable the USB controller */ -void -ao_usb_disable(void); +ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; -/* Initialize the USB system */ void -ao_usb_init(void); - -#if HAS_USB -extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; -#endif +ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; /* * ao_cmd.c @@ -396,405 +228,36 @@ ao_cmd_filter(void); #endif /* - * 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 + * Various drivers */ - -/* - * 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 */ +#if HAS_ADC +#include <ao_adc.h> #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 */ +#if HAS_BEEP +#include <ao_beep.h> #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) +#if LEDS_AVAILABLE +#include <ao_led.h> +#endif -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 */ +#if HAS_USB +#include <ao_usb.h> +#endif -extern __pdata int16_t ao_error_h; -extern __pdata int16_t ao_error_h_sq_avg; +#if HAS_EEPROM +#include <ao_storage.h> +#endif -#if HAS_ACCEL -extern __pdata int16_t ao_error_a; +#if HAS_LOG +#include <ao_log.h> #endif -void ao_kalman(void); +#if HAS_FLIGHT +#include <ao_flight.h> +#include <ao_sample.h> +#endif /* * ao_report.c @@ -819,125 +282,12 @@ 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 +#if HAS_DBG +#include <ao_dbg.h> #endif -#if HAS_SERIAL_1 | HAS_SERIAL_2 | HAS_SERIAL_3 -#ifndef USE_SERIAL_STDIN -#error Please define USE_SERIAL_STDIN -#endif - -void -ao_serial_rx1_isr(void) ao_arch_interrupt(3); - -void -ao_serial_tx1_isr(void) ao_arch_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 in); -#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 - -#ifndef HAS_SERIAL_0 -#define HAS_SERIAL_0 0 -#endif - -#if HAS_SERIAL_0 - -extern volatile __xdata struct ao_fifo ao_usart0_rx_fifo; -extern volatile __xdata struct ao_fifo ao_usart0_tx_fifo; - -void -ao_serial0_rx0_isr(void) ao_arch_interrupt(2); - -void -ao_serial0_tx0_isr(void) ao_arch_interrupt(7); - -char -ao_serial0_getchar(void) __critical; - -void -ao_serial0_putchar(char c) __critical; - -void -ao_serial0_drain(void) __critical; - -void -ao_serial0_set_speed(uint8_t speed); - -void -ao_serial0_init(void); - +#if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3 +#include <ao_serial.h> #endif |