From 9513be7f9d3d0b0ec29f6487fa9dc8f1ac24d0de Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 25 Aug 2011 20:43:44 -0700 Subject: altos: Restructure altos build to prepare for multi-arch support Split out sources into separate directories: core: architecture and product independent bits cc1111: cc1111-specific code drivers: architecture independent drivers product: product-specific sources and Makefile fragments util: scripts for building stuff This should have no effect on the built products, but testing is encouraged Signed-off-by: Keith Packard --- src/core/ao_storage.c | 184 ++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 184 insertions(+) create mode 100644 src/core/ao_storage.c (limited to 'src/core/ao_storage.c') diff --git a/src/core/ao_storage.c b/src/core/ao_storage.c new file mode 100644 index 00000000..6ffca0e5 --- /dev/null +++ b/src/core/ao_storage.c @@ -0,0 +1,184 @@ +/* + * Copyright © 2011 Keith Packard + * + * 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. + */ + +#include "ao.h" + +uint8_t +ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant +{ + uint16_t this_len; + uint16_t this_off; + + ao_storage_setup(); + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + while (len) { + + /* Compute portion of transfer within + * a single block + */ + this_off = (uint16_t) pos & (ao_storage_unit - 1); + this_len = ao_storage_unit - this_off; + if (this_len > len) + this_len = len; + + if (!ao_storage_device_read(pos, buf, this_len)) + return 0; + + /* See how much is left */ + buf += this_len; + len -= this_len; + pos += this_len; + } + return 1; +} + +uint8_t +ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant +{ + uint16_t this_len; + uint16_t this_off; + + ao_storage_setup(); + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + while (len) { + + /* Compute portion of transfer within + * a single block + */ + this_off = (uint16_t) pos & (ao_storage_unit - 1); + this_len = ao_storage_unit - this_off; + if (this_len > len) + this_len = len; + + if (!ao_storage_device_write(pos, buf, this_len)) + return 0; + + /* See how much is left */ + buf += this_len; + len -= this_len; + pos += this_len; + } + return 1; +} + +static __xdata uint8_t storage_data[8]; + +static void +ao_storage_dump(void) __reentrant +{ + uint8_t i, j; + + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + for (i = 0; ; i += 8) { + if (ao_storage_read(((uint32_t) (ao_cmd_lex_i) << 8) + i, + storage_data, + 8)) { + ao_cmd_put16((uint16_t) i); + for (j = 0; j < 8; j++) { + putchar(' '); + ao_cmd_put8(storage_data[j]); + } + putchar ('\n'); + } + if (i == 248) + break; + } +} + +#if 0 + +/* not enough space for this today + */ +static void +ao_storage_store(void) __reentrant +{ + uint16_t block; + uint8_t i; + uint16_t len; + static __xdata uint8_t b; + uint32_t addr; + + ao_cmd_hex(); + block = ao_cmd_lex_i; + ao_cmd_hex(); + i = ao_cmd_lex_i; + addr = ((uint32_t) block << 8) | i; + ao_cmd_hex(); + len = ao_cmd_lex_i; + if (ao_cmd_status != ao_cmd_success) + return; + while (len--) { + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + b = ao_cmd_lex_i; + ao_storage_write(addr, &b, 1); + addr++; + } +} +#endif + +void +ao_storage_zap(void) __reentrant +{ + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + ao_storage_erase((uint32_t) ao_cmd_lex_i << 8); +} + +void +ao_storage_zapall(void) __reentrant +{ + uint32_t pos; + + ao_cmd_white(); + if (!ao_match_word("DoIt")) + return; + for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) + ao_storage_erase(pos); +} + +void +ao_storage_info(void) __reentrant +{ + printf("Storage size: %ld\n", ao_storage_total); + printf("Storage erase unit: %ld\n", ao_storage_block); + ao_storage_device_info(); +} + +__code struct ao_cmds ao_storage_cmds[] = { + { ao_storage_info, "f\0Show storage" }, + { ao_storage_dump, "e \0Dump flash" }, +#ifdef HAS_STORAGE_DBG + { ao_storage_store, "w ...\0Write data to flash" }, +#endif + { ao_storage_zap, "z \0Erase " }, + { ao_storage_zapall,"Z \0Erase all. is doit with D&I" }, + { 0, NULL }, +}; + +void +ao_storage_init(void) +{ + ao_storage_device_init(); + ao_cmd_register(&ao_storage_cmds[0]); +} -- cgit v1.2.3 From ac0bebc44bc657b303db4c41fa0c9624f3df9f4f Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 11 Oct 2011 18:11:56 -0600 Subject: altos: Make HAS_STORAGE_DEBUG define consistent This allows products to include the 'w' command for testing flash writing as needed. Signed-off-by: Keith Packard --- src/core/ao_storage.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'src/core/ao_storage.c') diff --git a/src/core/ao_storage.c b/src/core/ao_storage.c index 6ffca0e5..ff4747d0 100644 --- a/src/core/ao_storage.c +++ b/src/core/ao_storage.c @@ -103,7 +103,7 @@ ao_storage_dump(void) __reentrant } } -#if 0 +#if HAS_STORAGE_DEBUG /* not enough space for this today */ @@ -160,6 +160,7 @@ ao_storage_zapall(void) __reentrant void ao_storage_info(void) __reentrant { + ao_storage_setup(); printf("Storage size: %ld\n", ao_storage_total); printf("Storage erase unit: %ld\n", ao_storage_block); ao_storage_device_info(); @@ -168,7 +169,7 @@ ao_storage_info(void) __reentrant __code struct ao_cmds ao_storage_cmds[] = { { ao_storage_info, "f\0Show storage" }, { ao_storage_dump, "e \0Dump flash" }, -#ifdef HAS_STORAGE_DBG +#if HAS_STORAGE_DEBUG { ao_storage_store, "w ...\0Write data to flash" }, #endif { ao_storage_zap, "z \0Erase " }, -- cgit v1.2.3 From 040a6eb119451026e1ec7c3a6a8e76b439c632d5 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 12 Apr 2012 14:51:07 -0700 Subject: altos: Massive product config cleanup Support multiple serial ports more cleanly Split out parts of ao.h into separate feature header files Signed-off-by: Keith Packard --- src/avr/ao_arch.h | 7 - src/avr/ao_pins.h | 15 +- src/avr/ao_serial_avr.c | 62 +-- src/avr/ao_usb.h | 100 ----- src/avr/ao_usb_avr.c | 6 +- src/cc1111/ao_arch.h | 30 ++ src/cc1111/ao_pins.h | 24 +- src/cc1111/ao_serial.c | 227 +++++++++-- src/cc1111/ao_serial0.c | 152 -------- src/cc1111/ao_usb.c | 6 +- src/cc1111/ao_usb.h | 100 ----- src/core/ao.h | 704 ++--------------------------------- src/core/ao_adc.h | 62 +++ src/core/ao_beep.h | 74 ++++ src/core/ao_dbg.h | 62 +++ src/core/ao_flight.h | 59 +++ src/core/ao_led.h | 55 +++ src/core/ao_log.h | 196 ++++++++++ src/core/ao_log_telem.c | 4 +- src/core/ao_product.c | 8 +- src/core/ao_report.c | 2 + src/core/ao_sample.h | 137 +++++++ src/core/ao_serial.h | 86 +++++ src/core/ao_stdio.c | 6 + src/core/ao_storage.c | 2 +- src/core/ao_storage.h | 84 +++++ src/core/ao_usb.h | 136 +++++++ src/drivers/ao_btm.c | 30 +- src/drivers/ao_gps_sirf.c | 36 +- src/drivers/ao_gps_skytraq.c | 6 +- src/drivers/ao_science_slave.c | 1 + src/megametrum-v0.1/ao_pins.h | 2 + src/product/ao_telebt.c | 2 + src/product/ao_terraui.c | 1 + src/stm/ao_arch.h | 2 - src/stm/ao_serial_stm.c | 2 +- src/stm/ao_usb.h | 101 ----- src/stm/ao_usb_stm.c | 6 +- src/teleballoon-v1.1/ao_pins.h | 5 - src/telepyro-v0.1/Makefile | 6 +- src/telescience-v0.1/Makefile | 9 +- src/teleshield-v0.1/Makefile | 1 - src/teleshield-v0.1/ao_ardu_serial.c | 3 +- src/teleshield-v0.1/ao_pins.h | 8 +- src/teleshield-v0.1/ao_teleshield.c | 3 + src/teleterra-v0.1/ao_pins.h | 5 - src/teleterra-v0.2/ao_pins.h | 5 - src/test/ao_gps_test.c | 6 +- src/test/ao_gps_test_skytraq.c | 6 +- 49 files changed, 1342 insertions(+), 1310 deletions(-) delete mode 100644 src/avr/ao_usb.h delete mode 100644 src/cc1111/ao_serial0.c delete mode 100644 src/cc1111/ao_usb.h create mode 100644 src/core/ao_adc.h create mode 100644 src/core/ao_beep.h create mode 100644 src/core/ao_dbg.h create mode 100644 src/core/ao_flight.h create mode 100644 src/core/ao_led.h create mode 100644 src/core/ao_log.h create mode 100644 src/core/ao_sample.h create mode 100644 src/core/ao_serial.h create mode 100644 src/core/ao_storage.h create mode 100644 src/core/ao_usb.h delete mode 100644 src/stm/ao_usb.h (limited to 'src/core/ao_storage.c') diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h index b816279e..c775dab6 100644 --- a/src/avr/ao_arch.h +++ b/src/avr/ao_arch.h @@ -146,12 +146,5 @@ extern uint8_t ao_cpu_sleep_disable; #define AO_TELESCIENCE_NUM_ADC 12 -struct ao_adc { - uint16_t tick; /* tick when the sample was read */ - uint16_t adc[AO_TELESCIENCE_NUM_ADC]; /* samples */ -}; - -#define AO_ADC_RING 16 - #endif /* _AO_ARCH_H_ */ diff --git a/src/avr/ao_pins.h b/src/avr/ao_pins.h index 6a63468f..f2b40fb4 100644 --- a/src/avr/ao_pins.h +++ b/src/avr/ao_pins.h @@ -21,7 +21,7 @@ #ifdef AVR_DEMO #define AO_LED_RED (1<<7) #define LEDS_AVAILABLE (AO_LED_RED) - #define USE_SERIAL_STDIN 1 + #define USE_SERIAL_1_STDIN 1 #define HAS_USB 1 #define PACKET_HAS_SLAVE 0 #define HAS_SERIAL_1 1 @@ -37,11 +37,11 @@ #define HAS_USB 1 #define HAS_LOG 1 #define TEENSY 0 - #define USE_SERIAL_STDIN 0 #define HAS_SERIAL_1 0 #define HAS_ADC 1 #define PACKET_HAS_SLAVE 0 #define HAS_BEEP 0 + #define HAS_EEPROM 1 #define HAS_STORAGE_DEBUG 0 #define AVR_VCC_5V 0 @@ -66,7 +66,7 @@ #define HAS_USB 1 #define HAS_LOG 0 #define TEENSY 0 - #define USE_SERIAL_STDIN 1 + #define USE_SERIAL_1_STDIN 1 #define HAS_SERIAL_1 1 #define HAS_USB 1 #define HAS_ADC 1 @@ -88,4 +88,13 @@ #define AO_M25_SPI_CS_PORT SPI_CS_PORT #define AO_M25_SPI_CS_MASK M25_CS_MASK +#define AO_TELESCIENCE_NUM_ADC 12 + +struct ao_adc { + uint16_t tick; /* tick when the sample was read */ + uint16_t adc[AO_TELESCIENCE_NUM_ADC]; /* samples */ +}; + +#define AO_ADC_RING 16 + #endif /* _AO_PINS_H_ */ diff --git a/src/avr/ao_serial_avr.c b/src/avr/ao_serial_avr.c index 6885c339..dcee246c 100644 --- a/src/avr/ao_serial_avr.c +++ b/src/avr/ao_serial_avr.c @@ -17,8 +17,8 @@ #include "ao.h" -__xdata struct ao_fifo ao_usart1_rx_fifo; -__xdata struct ao_fifo ao_usart1_tx_fifo; +__xdata struct ao_fifo ao_serial1_rx_fifo; +__xdata struct ao_fifo ao_serial1_tx_fifo; void ao_debug_out(char c) @@ -31,10 +31,10 @@ ao_debug_out(char c) ISR(USART1_RX_vect) { - if (!ao_fifo_full(ao_usart1_rx_fifo)) - ao_fifo_insert(ao_usart1_rx_fifo, UDR1); - ao_wakeup(&ao_usart1_rx_fifo); -#if USE_SERIAL_STDIN + if (!ao_fifo_full(ao_serial1_rx_fifo)) + ao_fifo_insert(ao_serial1_rx_fifo, UDR1); + ao_wakeup(&ao_serial1_rx_fifo); +#if USE_SERIAL_1_STDIN ao_wakeup(&ao_stdin_ready); #endif } @@ -42,68 +42,68 @@ ISR(USART1_RX_vect) static __xdata uint8_t ao_serial_tx1_started; static void -ao_serial_tx1_start(void) +ao_serial1_tx_start(void) { - if (!ao_fifo_empty(ao_usart1_tx_fifo) && + if (!ao_fifo_empty(ao_serial1_tx_fifo) && !ao_serial_tx1_started) { ao_serial_tx1_started = 1; - ao_fifo_remove(ao_usart1_tx_fifo, UDR1); + ao_fifo_remove(ao_serial1_tx_fifo, UDR1); } } ISR(USART1_UDRE_vect) { - ao_serial_tx1_started = 0; - ao_serial_tx1_start(); - ao_wakeup(&ao_usart1_tx_fifo); + ao_serial1_tx_started = 0; + ao_serial1_tx_start(); + ao_wakeup(&ao_serial1_tx_fifo); } char -ao_serial_getchar(void) __critical +ao_serial1_getchar(void) __critical { char c; cli(); - while (ao_fifo_empty(ao_usart1_rx_fifo)) - ao_sleep(&ao_usart1_rx_fifo); - ao_fifo_remove(ao_usart1_rx_fifo, c); + while (ao_fifo_empty(ao_serial1_rx_fifo)) + ao_sleep(&ao_serial1_rx_fifo); + ao_fifo_remove(ao_serial1_rx_fifo, c); sei(); return c; } -#if USE_SERIAL_STDIN +#if USE_SERIAL_1_STDIN char -ao_serial_pollchar(void) __critical +ao_serial1_pollchar(void) __critical { char c; cli(); - if (ao_fifo_empty(ao_usart1_rx_fifo)) { + if (ao_fifo_empty(ao_serial1_rx_fifo)) { sei(); return AO_READ_AGAIN; } - ao_fifo_remove(ao_usart1_rx_fifo,c); + ao_fifo_remove(ao_serial1_rx_fifo,c); sei(); return c; } #endif void -ao_serial_putchar(char c) __critical +ao_serial1_putchar(char c) __critical { cli(); - while (ao_fifo_full(ao_usart1_tx_fifo)) - ao_sleep(&ao_usart1_tx_fifo); - ao_fifo_insert(ao_usart1_tx_fifo, c); + while (ao_fifo_full(ao_serial1_tx_fifo)) + ao_sleep(&ao_serial1_tx_fifo); + ao_fifo_insert(ao_serial1_tx_fifo, c); ao_serial_tx1_start(); sei(); } void -ao_serial_drain(void) __critical +ao_serial1_drain(void) __critical { cli(); - while (!ao_fifo_empty(ao_usart1_tx_fifo)) - ao_sleep(&ao_usart1_tx_fifo); + while (!ao_fifo_empty(ao_serial1_tx_fifo)) + ao_sleep(&ao_serial1_tx_fifo); sei(); } @@ -125,7 +125,7 @@ static const struct { }; void -ao_serial_set_speed(uint8_t speed) +ao_serial1_set_speed(uint8_t speed) { ao_serial_drain(); if (speed > AO_SERIAL_SPEED_57600) @@ -154,9 +154,9 @@ ao_serial_init(void) (1 << TXEN1) | /* Enable transmitter */ (1 << RXCIE1) | /* Enable receive interrupts */ (1 << UDRIE1)); /* Enable transmit empty interrupts */ -#if USE_SERIAL_STDIN - ao_add_stdio(ao_serial_pollchar, - ao_serial_putchar, +#if USE_SERIAL_1_STDIN + ao_add_stdio(ao_serial1_pollchar, + ao_serial1_putchar, NULL); #endif } diff --git a/src/avr/ao_usb.h b/src/avr/ao_usb.h deleted file mode 100644 index 6633dafc..00000000 --- a/src/avr/ao_usb.h +++ /dev/null @@ -1,100 +0,0 @@ -/* - * Copyright © 2009 Keith Packard - * - * 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_USB_H_ -#define _AO_USB_H_ - -#define AO_USB_SETUP_DIR_MASK (0x01 << 7) -#define AO_USB_SETUP_TYPE_MASK (0x03 << 5) -#define AO_USB_SETUP_RECIP_MASK (0x1f) - -#define AO_USB_DIR_OUT 0 -#define AO_USB_DIR_IN (1 << 7) - -#define AO_USB_TYPE_STANDARD 0 -#define AO_USB_TYPE_CLASS (1 << 5) -#define AO_USB_TYPE_VENDOR (2 << 5) -#define AO_USB_TYPE_RESERVED (3 << 5) - -#define AO_USB_RECIP_DEVICE 0 -#define AO_USB_RECIP_INTERFACE 1 -#define AO_USB_RECIP_ENDPOINT 2 -#define AO_USB_RECIP_OTHER 3 - -/* standard requests */ -#define AO_USB_REQ_GET_STATUS 0x00 -#define AO_USB_REQ_CLEAR_FEATURE 0x01 -#define AO_USB_REQ_SET_FEATURE 0x03 -#define AO_USB_REQ_SET_ADDRESS 0x05 -#define AO_USB_REQ_GET_DESCRIPTOR 0x06 -#define AO_USB_REQ_SET_DESCRIPTOR 0x07 -#define AO_USB_REQ_GET_CONFIGURATION 0x08 -#define AO_USB_REQ_SET_CONFIGURATION 0x09 -#define AO_USB_REQ_GET_INTERFACE 0x0A -#define AO_USB_REQ_SET_INTERFACE 0x0B -#define AO_USB_REQ_SYNCH_FRAME 0x0C - -#define AO_USB_DESC_DEVICE 1 -#define AO_USB_DESC_CONFIGURATION 2 -#define AO_USB_DESC_STRING 3 -#define AO_USB_DESC_INTERFACE 4 -#define AO_USB_DESC_ENDPOINT 5 -#define AO_USB_DESC_DEVICE_QUALIFIER 6 -#define AO_USB_DESC_OTHER_SPEED 7 -#define AO_USB_DESC_INTERFACE_POWER 8 - -#define AO_USB_GET_DESC_TYPE(x) (((x)>>8)&0xFF) -#define AO_USB_GET_DESC_INDEX(x) ((x)&0xFF) - -#define AO_USB_CONTROL_EP 0 -#define AO_USB_INT_EP 1 -#define AO_USB_OUT_EP 4 -#define AO_USB_IN_EP 5 -#define AO_USB_CONTROL_SIZE 32 -/* - * Double buffer IN and OUT EPs, so each - * gets half of the available space - * - * Ah, but USB bulk packets can only come in 8, 16, 32 and 64 - * byte sizes, so we'll use 64 for everything - */ -#define AO_USB_IN_SIZE 64 -#define AO_USB_OUT_SIZE 64 - -#define AO_USB_EP0_IDLE 0 -#define AO_USB_EP0_DATA_IN 1 -#define AO_USB_EP0_DATA_OUT 2 - -#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8)) - -/* CDC definitions */ -#define CS_INTERFACE 0x24 -#define CS_ENDPOINT 0x25 - -#define SET_LINE_CODING 0x20 -#define GET_LINE_CODING 0x21 -#define SET_CONTROL_LINE_STATE 0x22 - -/* Data structure for GET_LINE_CODING / SET_LINE_CODING class requests */ -struct ao_usb_line_coding { - uint32_t rate; - uint8_t char_format; - uint8_t parity; - uint8_t data_bits; -} ; - -#endif /* _AO_USB_H_ */ diff --git a/src/avr/ao_usb_avr.c b/src/avr/ao_usb_avr.c index fc8899d8..23a27c73 100644 --- a/src/avr/ao_usb_avr.c +++ b/src/avr/ao_usb_avr.c @@ -330,17 +330,17 @@ ao_usb_ep0_setup(void) case AO_USB_TYPE_CLASS: debug ("Class setup packet\n"); switch (ao_usb_setup.request) { - case SET_LINE_CODING: + case AO_USB_SET_LINE_CODING: debug ("set line coding\n"); ao_usb_ep0_out_len = 7; ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_line_coding; break; - case GET_LINE_CODING: + case AO_USB_GET_LINE_CODING: debug ("get line coding\n"); ao_usb_ep0_in_len = 7; ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding; break; - case SET_CONTROL_LINE_STATE: + case AO_USB_SET_CONTROL_LINE_STATE: break; } break; diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h index 847ac1a6..9d0643b4 100644 --- a/src/cc1111/ao_arch.h +++ b/src/cc1111/ao_arch.h @@ -294,4 +294,34 @@ ao_dma_abort(uint8_t id); void ao_dma_isr(void) ao_arch_interrupt(8); +/* ao_adc.c */ + +#if HAS_ADC +/* The A/D interrupt handler */ +void +ao_adc_isr(void) ao_arch_interrupt(1); +#endif + +#if HAS_USB +/* USB interrupt handler */ +void +ao_usb_isr(void) ao_arch_interrupt(6); +#endif + +#if HAS_SERIAL_0 +void +ao_serial0_rx_isr(void) ao_arch_interrupt(2); + +void +ao_serial0_tx_isr(void) ao_arch_interrupt(7); +#endif + +#if HAS_SERIAL_1 +void +ao_serial1_rx_isr(void) ao_arch_interrupt(3); + +void +ao_serial1_tx_isr(void) ao_arch_interrupt(14); +#endif + #endif /* _AO_ARCH_H_ */ diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index 5c0cb7df..4f6edd37 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -25,7 +25,6 @@ #define HAS_GPS 1 #define HAS_SERIAL_1 1 #define HAS_ADC 1 - #define USE_SERIAL_STDIN 0 #define HAS_EEPROM 1 #define HAS_LOG 1 #define USE_INTERNAL_FLASH 0 @@ -58,7 +57,6 @@ #define HAS_BEEP 1 #define HAS_GPS 1 #define HAS_SERIAL_1 1 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 1 #define HAS_EEPROM 1 #define HAS_LOG 1 @@ -95,7 +93,6 @@ #define HAS_BEEP 1 #define HAS_GPS 1 #define HAS_SERIAL_1 1 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 1 #define HAS_EEPROM 1 #define HAS_LOG 1 @@ -131,7 +128,6 @@ #define HAS_USB 1 #define HAS_BEEP 0 #define HAS_SERIAL_1 0 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 0 #define HAS_DBG 1 #define HAS_EEPROM 0 @@ -161,7 +157,6 @@ #define HAS_BEEP 0 #define HAS_GPS 0 #define HAS_SERIAL_1 0 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 1 #define HAS_EEPROM 1 #define HAS_LOG 1 @@ -188,7 +183,6 @@ #define HAS_BEEP 0 #define HAS_GPS 0 #define HAS_SERIAL_1 0 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 1 #define HAS_EEPROM 1 #define HAS_LOG 1 @@ -214,7 +208,6 @@ #define HAS_BEEP 1 #define HAS_GPS 1 #define HAS_SERIAL_1 1 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 1 #define HAS_DBG 0 #define HAS_EEPROM 1 @@ -244,7 +237,6 @@ #define HAS_USB 1 #define HAS_BEEP 0 #define HAS_SERIAL_1 0 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 0 #define HAS_DBG 0 #define HAS_EEPROM 0 @@ -273,7 +265,6 @@ #define HAS_USB 1 #define HAS_BEEP 0 #define HAS_SERIAL_1 0 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 0 #define HAS_DBG 1 #define HAS_EEPROM 0 @@ -301,7 +292,8 @@ #define HAS_USB 1 #define HAS_BEEP 0 #define HAS_SERIAL_1 1 - #define USE_SERIAL_STDIN 1 + #define USE_SERIAL_1_STDIN 1 + #define DELAY_SERIAL_1_STDIN 1 #define HAS_ADC 0 #define HAS_DBG 1 #define HAS_EEPROM 0 @@ -339,7 +331,8 @@ #define HAS_SERIAL_1_ALT_1 1 #define HAS_SERIAL_1_ALT_2 0 #define HAS_SERIAL_1_HW_FLOW 1 - #define USE_SERIAL_STDIN 1 + #define USE_SERIAL_1_STDIN 1 + #define DELAY_SERIAL_1_STDIN 1 #define HAS_ADC 0 #define HAS_DBG 1 #define HAS_EEPROM 1 @@ -379,7 +372,6 @@ #define HAS_BEEP 1 #define HAS_GPS 0 #define HAS_SERIAL_1 1 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 1 #define HAS_DBG 0 #define HAS_EEPROM 1 @@ -468,14 +460,6 @@ #error Please define IGNITE_ON_P0 #endif -#ifndef HAS_SERIAL_1 -#error Please define HAS_SERIAL_1 -#endif - -#ifndef USE_SERIAL_STDIN -#error Please define USE_SERIAL_STDIN -#endif - #ifndef HAS_ADC #error Please define HAS_ADC #endif diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c index 4d5b9abd..00c85ff3 100644 --- a/src/cc1111/ao_serial.c +++ b/src/cc1111/ao_serial.c @@ -17,78 +17,168 @@ #include "ao.h" -volatile __xdata struct ao_fifo ao_usart1_rx_fifo; -volatile __xdata struct ao_fifo ao_usart1_tx_fifo; +#if HAS_SERIAL_0 + +volatile __xdata struct ao_fifo ao_serial0_rx_fifo; +volatile __xdata struct ao_fifo ao_serial0_tx_fifo; + +void +ao_serial0_rx_isr(void) __interrupt 2 +{ + if (!ao_fifo_full(ao_serial0_rx_fifo)) + ao_fifo_insert(ao_serial0_rx_fifo, U0DBUF); + ao_wakeup(&ao_serial0_rx_fifo); +#if USE_SERIAL_0_STDIN + ao_wakeup(&ao_stdin_ready); +#endif +} + +static __xdata uint8_t ao_serial0_tx_started; + +static void +ao_serial0_tx_start(void) +{ + if (!ao_fifo_empty(ao_serial0_tx_fifo) && + !ao_serial0_tx_started) + { + ao_serial0_tx_started = 1; + ao_fifo_remove(ao_serial0_tx_fifo, U0DBUF); + } +} + +void +ao_serial0_tx_isr(void) __interrupt 7 +{ + UTX0IF = 0; + ao_serial0_tx_started = 0; + ao_serial0_tx_start(); + ao_wakeup(&ao_serial0_tx_fifo); +} + +char +ao_serial0_getchar(void) __critical +{ + char c; + while (ao_fifo_empty(ao_serial0_rx_fifo)) + ao_sleep(&ao_serial0_rx_fifo); + ao_fifo_remove(ao_serial0_rx_fifo, c); + return c; +} + +#if USE_SERIAL_0_STDIN +char +ao_serial0_pollchar(void) __critical +{ + char c; + if (ao_fifo_empty(ao_serial0_rx_fifo)) + return AO_READ_AGAIN; + ao_fifo_remove(ao_serial0_rx_fifo,c); + return c; +} +#endif + +void +ao_serial0_putchar(char c) __critical +{ + while (ao_fifo_full(ao_serial0_tx_fifo)) + ao_sleep(&ao_serial0_tx_fifo); + ao_fifo_insert(ao_serial0_tx_fifo, c); + ao_serial0_tx_start(); +} + +void +ao_serial0_drain(void) __critical +{ + while (!ao_fifo_empty(ao_serial0_tx_fifo)) + ao_sleep(&ao_serial0_tx_fifo); +} + +void +ao_serial0_set_speed(uint8_t speed) +{ + ao_serial0_drain(); + if (speed > AO_SERIAL_SPEED_57600) + return; + U0UCR |= UxUCR_FLUSH; + U0BAUD = ao_serial_speeds[speed].baud; + U0GCR = ao_serial_speeds[speed].gcr; +} +#endif /* HAS_SERIAL_0 */ + +#if HAS_SERIAL_1 + +volatile __xdata struct ao_fifo ao_serial1_rx_fifo; +volatile __xdata struct ao_fifo ao_serial1_tx_fifo; void -ao_serial_rx1_isr(void) __interrupt 3 +ao_serial1_rx_isr(void) __interrupt 3 { - if (!ao_fifo_full(ao_usart1_rx_fifo)) - ao_fifo_insert(ao_usart1_rx_fifo, U1DBUF); - ao_wakeup(&ao_usart1_rx_fifo); -#if USE_SERIAL_STDIN + if (!ao_fifo_full(ao_serial1_rx_fifo)) + ao_fifo_insert(ao_serial1_rx_fifo, U1DBUF); + ao_wakeup(&ao_serial1_rx_fifo); +#if USE_SERIAL1_STDIN ao_wakeup(&ao_stdin_ready); #endif } -static __xdata uint8_t ao_serial_tx1_started; +static __xdata uint8_t ao_serial1_tx_started; static void -ao_serial_tx1_start(void) +ao_serial1_tx_start(void) { - if (!ao_fifo_empty(ao_usart1_tx_fifo) && - !ao_serial_tx1_started) + if (!ao_fifo_empty(ao_serial1_tx_fifo) && + !ao_serial1_tx_started) { - ao_serial_tx1_started = 1; - ao_fifo_remove(ao_usart1_tx_fifo, U1DBUF); + ao_serial1_tx_started = 1; + ao_fifo_remove(ao_serial1_tx_fifo, U1DBUF); } } void -ao_serial_tx1_isr(void) __interrupt 14 +ao_serial1_tx_isr(void) __interrupt 14 { UTX1IF = 0; - ao_serial_tx1_started = 0; - ao_serial_tx1_start(); - ao_wakeup(&ao_usart1_tx_fifo); + ao_serial1_tx_started = 0; + ao_serial1_tx_start(); + ao_wakeup(&ao_serial1_tx_fifo); } char -ao_serial_getchar(void) __critical +ao_serial1_getchar(void) __critical { char c; - while (ao_fifo_empty(ao_usart1_rx_fifo)) - ao_sleep(&ao_usart1_rx_fifo); - ao_fifo_remove(ao_usart1_rx_fifo, c); + while (ao_fifo_empty(ao_serial1_rx_fifo)) + ao_sleep(&ao_serial1_rx_fifo); + ao_fifo_remove(ao_serial1_rx_fifo, c); return c; } -#if USE_SERIAL_STDIN +#if USE_SERIAL_1_STDIN char -ao_serial_pollchar(void) __critical +ao_serial1_pollchar(void) __critical { char c; - if (ao_fifo_empty(ao_usart1_rx_fifo)) + if (ao_fifo_empty(ao_serial1_rx_fifo)) return AO_READ_AGAIN; - ao_fifo_remove(ao_usart1_rx_fifo,c); + ao_fifo_remove(ao_serial1_rx_fifo,c); return c; } #endif void -ao_serial_putchar(char c) __critical +ao_serial1_putchar(char c) __critical { - while (ao_fifo_full(ao_usart1_tx_fifo)) - ao_sleep(&ao_usart1_tx_fifo); - ao_fifo_insert(ao_usart1_tx_fifo, c); - ao_serial_tx1_start(); + while (ao_fifo_full(ao_serial1_tx_fifo)) + ao_sleep(&ao_serial1_tx_fifo); + ao_fifo_insert(ao_serial1_tx_fifo, c); + ao_serial1_tx_start(); } void -ao_serial_drain(void) __critical +ao_serial1_drain(void) __critical { - while (!ao_fifo_empty(ao_usart1_tx_fifo)) - ao_sleep(&ao_usart1_tx_fifo); + while (!ao_fifo_empty(ao_serial1_tx_fifo)) + ao_sleep(&ao_serial1_tx_fifo); } const __code struct ao_serial_speed ao_serial_speeds[] = { @@ -111,9 +201,9 @@ const __code struct ao_serial_speed ao_serial_speeds[] = { }; void -ao_serial_set_speed(uint8_t speed) +ao_serial1_set_speed(uint8_t speed) { - ao_serial_drain(); + ao_serial1_drain(); if (speed > AO_SERIAL_SPEED_57600) return; U1UCR |= UxUCR_FLUSH; @@ -121,9 +211,67 @@ ao_serial_set_speed(uint8_t speed) U1GCR = ao_serial_speeds[speed].gcr; } +#endif /* HAS_SERIAL_1 */ + void ao_serial_init(void) { +#if HAS_SERIAL_0 +#if HAS_SERIAL_0_ALT_1 + /* Set up the USART pin assignment */ + PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_1; + + P2DIR = (P2DIR & ~P2DIR_PRIP0_MASK) | P2DIR_PRIP0_USART0_USART1; + + /* Make the USART pins be controlled by the USART */ + P0SEL |= (1 << 2) | (1 << 3); +#if HAS_SERIAL_0_HW_FLOW + P0SEL |= (1 << 4) | (1 << 5); +#endif +#else + /* Set up the USART pin assignment */ + PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_2; + + P2SEL = (P2SEL & ~(P2SEL_PRI3P1_MASK | P2SEL_PRI0P1_MASK)) | + (P2SEL_PRI3P1_USART0 | P2SEL_PRI0P1_USART0); + + /* Make the USART pins be controlled by the USART */ + P1SEL |= (1 << 2) | (1 << 3); +#if HAS_SERIAL_0_HW_FLOW + P1SEL |= (1 << 5) | (1 << 4); +#endif +#endif + + /* UART mode with receiver enabled */ + U0CSR = (UxCSR_MODE_UART | UxCSR_RE); + + /* Pick a 9600 baud rate */ + ao_serial0_set_speed(AO_SERIAL_SPEED_9600); + + /* Reasonable serial parameters */ + U0UCR = (UxUCR_FLUSH | +#if HAS_SERIAL_0_HW_FLOW + UxUCR_FLOW_ENABLE | +#else + UxUCR_FLOW_DISABLE | +#endif + UxUCR_D9_EVEN_PARITY | + UxUCR_BIT9_8_BITS | + UxUCR_PARITY_DISABLE | + UxUCR_SPB_1_STOP_BIT | + UxUCR_STOP_HIGH | + UxUCR_START_LOW); + + IEN0 |= IEN0_URX0IE; + IEN2 |= IEN2_UTX0IE; +#if USE_SERIAL_0_STDIN && !DELAY_SERIAL_0_STDIN + ao_add_stdio(ao_serial0_pollchar, + ao_serial0_putchar, + NULL); +#endif +#endif /* HAS_SERIAL_0 */ + +#if HAS_SERIAL_1 #if HAS_SERIAL_1_ALT_1 /* Set up the USART pin assignment */ PERCFG = (PERCFG & ~PERCFG_U1CFG_ALT_MASK) | PERCFG_U1CFG_ALT_1; @@ -151,7 +299,7 @@ ao_serial_init(void) U1CSR = (UxCSR_MODE_UART | UxCSR_RE); /* Pick a 4800 baud rate */ - ao_serial_set_speed(AO_SERIAL_SPEED_4800); + ao_serial1_set_speed(AO_SERIAL_SPEED_4800); /* Reasonable serial parameters */ U1UCR = (UxUCR_FLUSH | @@ -169,4 +317,11 @@ ao_serial_init(void) IEN0 |= IEN0_URX1IE; IEN2 |= IEN2_UTX1IE; + +#if USE_SERIAL_1_STDIN && !DELAY_SERIAL_1_STDIN + ao_add_stdio(ao_serial1_pollchar, + ao_serial1_putchar, + NULL); +#endif +#endif /* HAS_SERIAL_1 */ } diff --git a/src/cc1111/ao_serial0.c b/src/cc1111/ao_serial0.c deleted file mode 100644 index e8c1eb35..00000000 --- a/src/cc1111/ao_serial0.c +++ /dev/null @@ -1,152 +0,0 @@ -/* - * Copyright © 2009 Keith Packard - * - * 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. - */ - -#include "ao.h" - -volatile __xdata struct ao_fifo ao_usart0_rx_fifo; -volatile __xdata struct ao_fifo ao_usart0_tx_fifo; - -void -ao_serial0_rx0_isr(void) __interrupt 2 -{ - if (!ao_fifo_full(ao_usart0_rx_fifo)) - ao_fifo_insert(ao_usart0_rx_fifo, U0DBUF); - ao_wakeup(&ao_usart0_rx_fifo); -} - -static __xdata uint8_t ao_serial0_tx0_started; - -static void -ao_serial0_tx0_start(void) -{ - if (!ao_fifo_empty(ao_usart0_tx_fifo) && - !ao_serial0_tx0_started) - { - ao_serial0_tx0_started = 1; - ao_fifo_remove(ao_usart0_tx_fifo, U0DBUF); - } -} - -void -ao_serial0_tx0_isr(void) __interrupt 7 -{ - UTX0IF = 0; - ao_serial0_tx0_started = 0; - ao_serial0_tx0_start(); - ao_wakeup(&ao_usart0_tx_fifo); -} - -char -ao_serial0_getchar(void) __critical -{ - char c; - while (ao_fifo_empty(ao_usart0_rx_fifo)) - ao_sleep(&ao_usart0_rx_fifo); - ao_fifo_remove(ao_usart0_rx_fifo, c); - return c; -} - -#if USE_SERIAL_STDIN -char -ao_serial0_pollchar(void) __critical -{ - char c; - if (ao_fifo_empty(ao_usart0_rx_fifo)) - return AO_READ_AGAIN; - ao_fifo_remove(ao_usart0_rx_fifo,c); - return c; -} -#endif - -void -ao_serial0_putchar(char c) __critical -{ - while (ao_fifo_full(ao_usart0_tx_fifo)) - ao_sleep(&ao_usart0_tx_fifo); - ao_fifo_insert(ao_usart0_tx_fifo, c); - ao_serial0_tx0_start(); -} - -void -ao_serial0_drain(void) __critical -{ - while (!ao_fifo_empty(ao_usart0_tx_fifo)) - ao_sleep(&ao_usart0_tx_fifo); -} - -void -ao_serial0_set_speed(uint8_t speed) -{ - ao_serial0_drain(); - if (speed > AO_SERIAL_SPEED_57600) - return; - U0UCR |= UxUCR_FLUSH; - U0BAUD = ao_serial_speeds[speed].baud; - U0GCR = ao_serial_speeds[speed].gcr; -} - -void -ao_serial0_init(void) -{ -#if HAS_SERIAL_0_ALT_1 - /* Set up the USART pin assignment */ - PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_1; - - P2DIR = (P2DIR & ~P2DIR_PRIP0_MASK) | P2DIR_PRIP0_USART0_USART1; - - /* Make the USART pins be controlled by the USART */ - P0SEL |= (1 << 2) | (1 << 3); -#if HAS_SERIAL_0_HW_FLOW - P0SEL |= (1 << 4) | (1 << 5); -#endif -#else - /* Set up the USART pin assignment */ - PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_2; - - P2SEL = (P2SEL & ~(P2SEL_PRI3P1_MASK | P2SEL_PRI0P1_MASK)) | - (P2SEL_PRI3P1_USART0 | P2SEL_PRI0P1_USART0); - - /* Make the USART pins be controlled by the USART */ - P1SEL |= (1 << 2) | (1 << 3); -#if HAS_SERIAL_0_HW_FLOW - P1SEL |= (1 << 5) | (1 << 4); -#endif -#endif - - /* UART mode with receiver enabled */ - U0CSR = (UxCSR_MODE_UART | UxCSR_RE); - - /* Pick a 9600 baud rate */ - ao_serial0_set_speed(AO_SERIAL_SPEED_9600); - - /* Reasonable serial parameters */ - U0UCR = (UxUCR_FLUSH | -#if HAS_SERIAL_0_HW_FLOW - UxUCR_FLOW_ENABLE | -#else - UxUCR_FLOW_DISABLE | -#endif - UxUCR_D9_EVEN_PARITY | - UxUCR_BIT9_8_BITS | - UxUCR_PARITY_DISABLE | - UxUCR_SPB_1_STOP_BIT | - UxUCR_STOP_HIGH | - UxUCR_START_LOW); - - IEN0 |= IEN0_URX0IE; - IEN2 |= IEN2_UTX0IE; -} diff --git a/src/cc1111/ao_usb.c b/src/cc1111/ao_usb.c index 35c9ac20..ce26e808 100644 --- a/src/cc1111/ao_usb.c +++ b/src/cc1111/ao_usb.c @@ -261,15 +261,15 @@ ao_usb_ep0_setup(void) break; case AO_USB_TYPE_CLASS: switch (ao_usb_setup.request) { - case SET_LINE_CODING: + case AO_USB_SET_LINE_CODING: ao_usb_ep0_out_len = 7; ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_line_coding; break; - case GET_LINE_CODING: + case AO_USB_GET_LINE_CODING: ao_usb_ep0_in_len = 7; ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding; break; - case SET_CONTROL_LINE_STATE: + case AO_USB_SET_CONTROL_LINE_STATE: break; } break; diff --git a/src/cc1111/ao_usb.h b/src/cc1111/ao_usb.h deleted file mode 100644 index 6633dafc..00000000 --- a/src/cc1111/ao_usb.h +++ /dev/null @@ -1,100 +0,0 @@ -/* - * Copyright © 2009 Keith Packard - * - * 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_USB_H_ -#define _AO_USB_H_ - -#define AO_USB_SETUP_DIR_MASK (0x01 << 7) -#define AO_USB_SETUP_TYPE_MASK (0x03 << 5) -#define AO_USB_SETUP_RECIP_MASK (0x1f) - -#define AO_USB_DIR_OUT 0 -#define AO_USB_DIR_IN (1 << 7) - -#define AO_USB_TYPE_STANDARD 0 -#define AO_USB_TYPE_CLASS (1 << 5) -#define AO_USB_TYPE_VENDOR (2 << 5) -#define AO_USB_TYPE_RESERVED (3 << 5) - -#define AO_USB_RECIP_DEVICE 0 -#define AO_USB_RECIP_INTERFACE 1 -#define AO_USB_RECIP_ENDPOINT 2 -#define AO_USB_RECIP_OTHER 3 - -/* standard requests */ -#define AO_USB_REQ_GET_STATUS 0x00 -#define AO_USB_REQ_CLEAR_FEATURE 0x01 -#define AO_USB_REQ_SET_FEATURE 0x03 -#define AO_USB_REQ_SET_ADDRESS 0x05 -#define AO_USB_REQ_GET_DESCRIPTOR 0x06 -#define AO_USB_REQ_SET_DESCRIPTOR 0x07 -#define AO_USB_REQ_GET_CONFIGURATION 0x08 -#define AO_USB_REQ_SET_CONFIGURATION 0x09 -#define AO_USB_REQ_GET_INTERFACE 0x0A -#define AO_USB_REQ_SET_INTERFACE 0x0B -#define AO_USB_REQ_SYNCH_FRAME 0x0C - -#define AO_USB_DESC_DEVICE 1 -#define AO_USB_DESC_CONFIGURATION 2 -#define AO_USB_DESC_STRING 3 -#define AO_USB_DESC_INTERFACE 4 -#define AO_USB_DESC_ENDPOINT 5 -#define AO_USB_DESC_DEVICE_QUALIFIER 6 -#define AO_USB_DESC_OTHER_SPEED 7 -#define AO_USB_DESC_INTERFACE_POWER 8 - -#define AO_USB_GET_DESC_TYPE(x) (((x)>>8)&0xFF) -#define AO_USB_GET_DESC_INDEX(x) ((x)&0xFF) - -#define AO_USB_CONTROL_EP 0 -#define AO_USB_INT_EP 1 -#define AO_USB_OUT_EP 4 -#define AO_USB_IN_EP 5 -#define AO_USB_CONTROL_SIZE 32 -/* - * Double buffer IN and OUT EPs, so each - * gets half of the available space - * - * Ah, but USB bulk packets can only come in 8, 16, 32 and 64 - * byte sizes, so we'll use 64 for everything - */ -#define AO_USB_IN_SIZE 64 -#define AO_USB_OUT_SIZE 64 - -#define AO_USB_EP0_IDLE 0 -#define AO_USB_EP0_DATA_IN 1 -#define AO_USB_EP0_DATA_OUT 2 - -#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8)) - -/* CDC definitions */ -#define CS_INTERFACE 0x24 -#define CS_ENDPOINT 0x25 - -#define SET_LINE_CODING 0x20 -#define GET_LINE_CODING 0x21 -#define SET_CONTROL_LINE_STATE 0x22 - -/* Data structure for GET_LINE_CODING / SET_LINE_CODING class requests */ -struct ao_usb_line_coding { - uint32_t rate; - uint8_t char_format; - uint8_t parity; - uint8_t data_bits; -} ; - -#endif /* _AO_USB_H_ */ 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 #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 #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 +#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 +#endif -extern __pdata int16_t ao_error_h; -extern __pdata int16_t ao_error_h_sq_avg; +#if HAS_EEPROM +#include +#endif -#if HAS_ACCEL -extern __pdata int16_t ao_error_a; +#if HAS_LOG +#include #endif -void ao_kalman(void); +#if HAS_FLIGHT +#include +#include +#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 #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 #endif diff --git a/src/core/ao_adc.h b/src/core/ao_adc.h new file mode 100644 index 00000000..db5bfab3 --- /dev/null +++ b/src/core/ao_adc.h @@ -0,0 +1,62 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_ADC_H_ +#define _AO_ADC_H_ + + + +/* + * One set of samples read from the A/D converter or telemetry + */ + + +/* + * 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); + +/* Initialize the A/D converter */ +void +ao_adc_init(void); + +#endif /* _AO_ADC_H_ */ diff --git a/src/core/ao_beep.h b/src/core/ao_beep.h new file mode 100644 index 00000000..55f61171 --- /dev/null +++ b/src/core/ao_beep.h @@ -0,0 +1,74 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_BEEP_H_ +#define _AO_BEEP_H_ + +/* + * 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); + +#endif /* _AO_BEEP_H_ */ diff --git a/src/core/ao_dbg.h b/src/core/ao_dbg.h new file mode 100644 index 00000000..181e6ec2 --- /dev/null +++ b/src/core/ao_dbg.h @@ -0,0 +1,62 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_DBG_H_ +#define _AO_DBG_H_ + +/* + * 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); + +#endif /* _AO_DBG_H_ */ diff --git a/src/core/ao_flight.h b/src/core/ao_flight.h new file mode 100644 index 00000000..aa5ab60d --- /dev/null +++ b/src/core/ao_flight.h @@ -0,0 +1,59 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_FLIGHT_H_ +#define _AO_FLIGHT_H_ + + +/* + * 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); + +#endif /* _AO_FLIGHT_H_ */ diff --git a/src/core/ao_led.h b/src/core/ao_led.h new file mode 100644 index 00000000..edc5fd1f --- /dev/null +++ b/src/core/ao_led.h @@ -0,0 +1,55 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_LED_H_ +#define _AO_LED_H_ + +/* + * 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); + +#endif /* _AO_LED_H_ */ diff --git a/src/core/ao_log.h b/src/core/ao_log.h new file mode 100644 index 00000000..611c00d5 --- /dev/null +++ b/src/core/ao_log.h @@ -0,0 +1,196 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_LOG_H_ +#define _AO_LOG_H_ + +/* + * 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; + +#endif /* _AO_LOG_H_ */ diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c index 9e1b06d3..18ab85dd 100644 --- a/src/core/ao_log_telem.c +++ b/src/core/ao_log_telem.c @@ -15,7 +15,9 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -#include "ao.h" +#include +#include +#include __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRY; diff --git a/src/core/ao_product.c b/src/core/ao_product.c index fb59580b..f79922f5 100644 --- a/src/core/ao_product.c +++ b/src/core/ao_product.c @@ -70,26 +70,26 @@ __code __at(0x00aa) uint8_t ao_usb_descriptors [] = /* Header functional descriptor */ 0x05, - CS_INTERFACE, + AO_USB_CS_INTERFACE, 0x00, /* bDescriptor SubType Header */ LE_WORD(0x0110), /* CDC version 1.1 */ /* Call management functional descriptor */ 0x05, - CS_INTERFACE, + AO_USB_CS_INTERFACE, 0x01, /* bDescriptor SubType Call Management */ 0x01, /* bmCapabilities = device handles call management */ 0x01, /* bDataInterface call management interface number */ /* ACM functional descriptor */ 0x04, - CS_INTERFACE, + AO_USB_CS_INTERFACE, 0x02, /* bDescriptor SubType Abstract Control Management */ 0x02, /* bmCapabilities = D1 (Set_line_Coding, Set_Control_Line_State, Get_Line_Coding and Serial_State) */ /* Union functional descriptor */ 0x05, - CS_INTERFACE, + AO_USB_CS_INTERFACE, 0x06, /* bDescriptor SubType Union Functional descriptor */ 0x00, /* bMasterInterface */ 0x01, /* bSlaveInterface0 */ diff --git a/src/core/ao_report.c b/src/core/ao_report.c index 7c928792..eb90a4f8 100644 --- a/src/core/ao_report.c +++ b/src/core/ao_report.c @@ -16,6 +16,8 @@ */ #include "ao.h" +#include +#include #define BIT(i,x) ((x) ? (1 << (i)) : 0) #define MORSE1(a) (1 | BIT(3,a)) diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h new file mode 100644 index 00000000..fb0e69e8 --- /dev/null +++ b/src/core/ao_sample.h @@ -0,0 +1,137 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_SAMPLE_H_ +#define _AO_SAMPLE_H_ + +/* + * 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); + +#endif /* _AO_SAMPLE_H_ */ diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h new file mode 100644 index 00000000..53aa8a89 --- /dev/null +++ b/src/core/ao_serial.h @@ -0,0 +1,86 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_SERIAL_H_ +#define _AO_SERIAL_H_ + +#define AO_SERIAL_SPEED_4800 0 +#define AO_SERIAL_SPEED_9600 1 +#define AO_SERIAL_SPEED_19200 2 +#define AO_SERIAL_SPEED_57600 3 + +#if HAS_SERIAL_0 +extern volatile __xdata struct ao_fifo ao_serial0_rx_fifo; +extern volatile __xdata struct ao_fifo ao_serial0_tx_fifo; + +char +ao_serial0_getchar(void); + +void +ao_serial0_putchar(char c); + +void +ao_serial0_drain(void); + +void +ao_serial0_set_speed(uint8_t speed); +#endif + +#if HAS_SERIAL_1 +extern volatile __xdata struct ao_fifo ao_serial1_rx_fifo; +extern volatile __xdata struct ao_fifo ao_serial1_tx_fifo; + +char +ao_serial1_getchar(void); + +char +ao_serial1_pollchar(void); + +void +ao_serial1_putchar(char c); + +void +ao_serial1_drain(void); + +void +ao_serial1_set_speed(uint8_t speed); +#endif + +#if HAS_SERIAL_2 +extern volatile __xdata struct ao_fifo ao_serial2_rx_fifo; +extern volatile __xdata struct ao_fifo ao_serial2_tx_fifo; + +char +ao_serial2_getchar(void); + +char +ao_serial2_pollchar(void); + +void +ao_serial2_putchar(char c); + +void +ao_serial2_drain(void); + +void +ao_serial2_set_speed(uint8_t speed); +#endif + +void +ao_serial_init(void); + +#endif /* _AO_SERIAL_H_ */ diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c index 2967e705..18fa913e 100644 --- a/src/core/ao_stdio.c +++ b/src/core/ao_stdio.c @@ -21,6 +21,12 @@ * Basic I/O functions to support SDCC stdio package */ +#ifdef SERIAL_STDIN_PORT +#define USE_SERIAL_STDIN 1 +#else +#define USE_SERIAL_STDIN 0 +#endif + #define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN) __xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS]; diff --git a/src/core/ao_storage.c b/src/core/ao_storage.c index ff4747d0..66394e01 100644 --- a/src/core/ao_storage.c +++ b/src/core/ao_storage.c @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -#include "ao.h" +#include uint8_t ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant diff --git a/src/core/ao_storage.h b/src/core/ao_storage.h new file mode 100644 index 00000000..873fe097 --- /dev/null +++ b/src/core/ao_storage.h @@ -0,0 +1,84 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_STORAGE_H_ +#define _AO_STORAGE_H_ + +/* + * 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; + +#endif /* _AO_STORAGE_H_ */ diff --git a/src/core/ao_usb.h b/src/core/ao_usb.h new file mode 100644 index 00000000..e051db93 --- /dev/null +++ b/src/core/ao_usb.h @@ -0,0 +1,136 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_USB_H_ +#define _AO_USB_H_ + +/* + * 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); + +/* 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); + +extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; + +#define AO_USB_SETUP_DIR_MASK (0x01 << 7) +#define AO_USB_SETUP_TYPE_MASK (0x03 << 5) +#define AO_USB_SETUP_RECIP_MASK (0x1f) + +#define AO_USB_DIR_OUT 0 +#define AO_USB_DIR_IN (1 << 7) + +#define AO_USB_TYPE_STANDARD 0 +#define AO_USB_TYPE_CLASS (1 << 5) +#define AO_USB_TYPE_VENDOR (2 << 5) +#define AO_USB_TYPE_RESERVED (3 << 5) + +#define AO_USB_RECIP_DEVICE 0 +#define AO_USB_RECIP_INTERFACE 1 +#define AO_USB_RECIP_ENDPOINT 2 +#define AO_USB_RECIP_OTHER 3 + +/* standard requests */ +#define AO_USB_REQ_GET_STATUS 0x00 +#define AO_USB_REQ_CLEAR_FEATURE 0x01 +#define AO_USB_REQ_SET_FEATURE 0x03 +#define AO_USB_REQ_SET_ADDRESS 0x05 +#define AO_USB_REQ_GET_DESCRIPTOR 0x06 +#define AO_USB_REQ_SET_DESCRIPTOR 0x07 +#define AO_USB_REQ_GET_CONFIGURATION 0x08 +#define AO_USB_REQ_SET_CONFIGURATION 0x09 +#define AO_USB_REQ_GET_INTERFACE 0x0A +#define AO_USB_REQ_SET_INTERFACE 0x0B +#define AO_USB_REQ_SYNCH_FRAME 0x0C + +#define AO_USB_DESC_DEVICE 1 +#define AO_USB_DESC_CONFIGURATION 2 +#define AO_USB_DESC_STRING 3 +#define AO_USB_DESC_INTERFACE 4 +#define AO_USB_DESC_ENDPOINT 5 +#define AO_USB_DESC_DEVICE_QUALIFIER 6 +#define AO_USB_DESC_OTHER_SPEED 7 +#define AO_USB_DESC_INTERFACE_POWER 8 + +#define AO_USB_GET_DESC_TYPE(x) (((x)>>8)&0xFF) +#define AO_USB_GET_DESC_INDEX(x) ((x)&0xFF) + +#define AO_USB_CONTROL_EP 0 +#define AO_USB_CONTROL_SIZE 32 + +#define AO_USB_INT_EP 1 +#define AO_USB_INT_SIZE 8 + +#define AO_USB_OUT_EP 4 +#define AO_USB_IN_EP 5 +/* + * USB bulk packets can only come in 8, 16, 32 and 64 + * byte sizes, so we'll use 64 for everything + */ +#define AO_USB_IN_SIZE 64 +#define AO_USB_OUT_SIZE 64 + +#define AO_USB_EP0_IDLE 0 +#define AO_USB_EP0_DATA_IN 1 +#define AO_USB_EP0_DATA_OUT 2 + +#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8)) + +/* CDC definitions */ +#define AO_USB_CS_INTERFACE 0x24 +#define AO_USB_CS_ENDPOINT 0x25 + +#define AO_USB_SET_LINE_CODING 0x20 +#define AO_USB_GET_LINE_CODING 0x21 +#define AO_USB_SET_CONTROL_LINE_STATE 0x22 + +/* Data structure for GET_LINE_CODING / SET_LINE_CODING class requests */ +struct ao_usb_line_coding { + uint32_t rate; + uint8_t char_format; + uint8_t parity; + uint8_t data_bits; +} ; + +#endif /* _AO_USB_H_ */ diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c index 5eb78815..f193ac8e 100644 --- a/src/drivers/ao_btm.c +++ b/src/drivers/ao_btm.c @@ -17,6 +17,13 @@ #include "ao.h" +#ifndef ao_serial_btm_getchar +#define ao_serial_btm_putchar ao_serial1_putchar +#define ao_serial_btm_pollchar ao_serial1_pollchar +#define ao_serial_btm_set_speed ao_serial1_set_speed +#define ao_serial_btm_drain ao_serial1_drain +#endif + int8_t ao_btm_stdio; __xdata uint8_t ao_btm_connected; @@ -80,9 +87,9 @@ ao_btm_speed(void) { ao_cmd_decimal(); if (ao_cmd_lex_u32 == 57600) - ao_serial_set_speed(AO_SERIAL_SPEED_57600); + ao_serial_btm_set_speed(AO_SERIAL_SPEED_57600); else if (ao_cmd_lex_u32 == 19200) - ao_serial_set_speed(AO_SERIAL_SPEED_19200); + ao_serial_btm_set_speed(AO_SERIAL_SPEED_19200); else ao_cmd_status = ao_cmd_syntax_error; } @@ -104,8 +111,6 @@ __code struct ao_cmds ao_btm_cmds[] = { #define AO_BTM_MAX_REPLY 16 __xdata char ao_btm_reply[AO_BTM_MAX_REPLY]; -extern volatile __xdata struct ao_fifo ao_usart1_rx_fifo; - /* * Read a line of data from the serial port, truncating * it after a few characters. @@ -119,7 +124,7 @@ ao_btm_get_line(void) for (;;) { - while ((c = ao_serial_pollchar()) != AO_READ_AGAIN) { + while ((c = ao_serial_btm_pollchar()) != AO_READ_AGAIN) { ao_btm_log_in_char(c); if (ao_btm_reply_len < sizeof (ao_btm_reply)) ao_btm_reply[ao_btm_reply_len++] = c; @@ -128,7 +133,7 @@ ao_btm_get_line(void) } for (c = 0; c < 10; c++) { ao_delay(AO_MS_TO_TICKS(10)); - if (!ao_fifo_empty(ao_usart1_rx_fifo)) + if (!ao_fifo_empty(ao_serial1_rx_fifo)) break; } if (c == 10) @@ -168,7 +173,7 @@ void ao_btm_putchar(char c) { ao_btm_log_out_char(c); - ao_serial_putchar(c); + ao_serial_btm_putchar(c); ao_delay(1); } @@ -229,8 +234,8 @@ ao_btm_set_name(void) uint8_t ao_btm_try_speed(uint8_t speed) { - ao_serial_set_speed(speed); - ao_btm_drain(); + ao_serial_btm_set_speed(speed); + ao_serial_btm_drain(); (void) ao_btm_cmd("\rATE0\rATQ0\r"); if (ao_btm_cmd("AT\r") == 1) return 1; @@ -274,8 +279,8 @@ ao_btm(void) /* Turn off status reporting */ ao_btm_cmd("ATQ1\r"); - ao_btm_stdio = ao_add_stdio(ao_serial_pollchar, - ao_serial_putchar, + ao_btm_stdio = ao_add_stdio(ao_serial_btm_pollchar, + ao_serial_btm_putchar, NULL); ao_btm_echo(0); @@ -341,7 +346,8 @@ void ao_btm_init (void) { ao_serial_init(); - ao_serial_set_speed(AO_SERIAL_SPEED_19200); + + ao_serial_btm_set_speed(AO_SERIAL_SPEED_19200); #if BT_LINK_ON_P1 /* diff --git a/src/drivers/ao_gps_sirf.c b/src/drivers/ao_gps_sirf.c index f2abbf84..91fc948b 100644 --- a/src/drivers/ao_gps_sirf.c +++ b/src/drivers/ao_gps_sirf.c @@ -124,7 +124,13 @@ static __xdata struct sirf_measured_tracker_data ao_sirf_tracker_data; static __pdata uint16_t ao_sirf_cksum; static __pdata uint16_t ao_sirf_len; -#define ao_sirf_byte() ((uint8_t) ao_serial_getchar()) +#ifndef ao_sirf_getchar +#define ao_sirf_getchar ao_serial1_getchar +#define ao_sirf_putchar ao_serial1_putchar +#define ao_sirf_set_speed ao_serial1_set_speed +#endif + +#define ao_sirf_byte() ((uint8_t) ao_sirf_getchar()) static uint8_t data_byte(void) { @@ -283,15 +289,15 @@ static void ao_gps_setup(void) __reentrant { uint8_t i, k; - ao_serial_set_speed(AO_SERIAL_SPEED_4800); + ao_sirf_set_speed(AO_SERIAL_SPEED_4800); for (i = 0; i < 64; i++) - ao_serial_putchar(0x00); + ao_sirf_putchar(0x00); for (k = 0; k < 3; k++) for (i = 0; i < sizeof (ao_gps_set_nmea); i++) - ao_serial_putchar(ao_gps_set_nmea[i]); - ao_serial_set_speed(AO_SERIAL_SPEED_57600); + ao_sirf_putchar(ao_gps_set_nmea[i]); + ao_sirf_set_speed(AO_SERIAL_SPEED_57600); for (i = 0; i < 64; i++) - ao_serial_putchar(0x00); + ao_sirf_putchar(0x00); } static const char ao_gps_set_message_rate[] = { @@ -307,16 +313,16 @@ ao_sirf_set_message_rate(uint8_t msg, uint8_t rate) __reentrant uint8_t i; for (i = 0; i < sizeof (ao_gps_set_message_rate); i++) - ao_serial_putchar(ao_gps_set_message_rate[i]); - ao_serial_putchar(msg); - ao_serial_putchar(rate); + ao_sirf_putchar(ao_gps_set_message_rate[i]); + ao_sirf_putchar(msg); + ao_sirf_putchar(rate); cksum = 0xa6 + msg + rate; for (i = 0; i < 4; i++) - ao_serial_putchar(0); - ao_serial_putchar((cksum >> 8) & 0x7f); - ao_serial_putchar(cksum & 0xff); - ao_serial_putchar(0xb0); - ao_serial_putchar(0xb3); + ao_sirf_putchar(0); + ao_sirf_putchar((cksum >> 8) & 0x7f); + ao_sirf_putchar(cksum & 0xff); + ao_sirf_putchar(0xb0); + ao_sirf_putchar(0xb3); } static const uint8_t sirf_disable[] = { @@ -338,7 +344,7 @@ ao_gps(void) __reentrant for (k = 0; k < 5; k++) { for (i = 0; i < sizeof (ao_gps_config); i++) - ao_serial_putchar(ao_gps_config[i]); + ao_sirf_putchar(ao_gps_config[i]); for (i = 0; i < sizeof (sirf_disable); i++) ao_sirf_set_message_rate(sirf_disable[i], 0); ao_sirf_set_message_rate(41, 1); diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c index 39e36cc8..84616a05 100644 --- a/src/drivers/ao_gps_skytraq.c +++ b/src/drivers/ao_gps_skytraq.c @@ -20,15 +20,15 @@ #endif #ifndef ao_gps_getchar -#define ao_gps_getchar ao_serial_getchar +#define ao_gps_getchar ao_serial1_getchar #endif #ifndef ao_gps_putchar -#define ao_gps_putchar ao_serial_putchar +#define ao_gps_putchar ao_serial1_putchar #endif #ifndef ao_gps_set_speed -#define ao_gps_set_speed ao_serial_set_speed +#define ao_gps_set_speed ao_serial1_set_speed #endif __xdata uint8_t ao_gps_mutex; diff --git a/src/drivers/ao_science_slave.c b/src/drivers/ao_science_slave.c index 1ebb1480..fa9db98b 100644 --- a/src/drivers/ao_science_slave.c +++ b/src/drivers/ao_science_slave.c @@ -17,6 +17,7 @@ #include "ao.h" #include "ao_product.h" +#include "ao_flight.h" struct ao_companion_command ao_companion_command; diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h index e4e5def6..f761e5c3 100644 --- a/src/megametrum-v0.1/ao_pins.h +++ b/src/megametrum-v0.1/ao_pins.h @@ -61,6 +61,8 @@ #define ao_gps_putchar ao_serial3_putchar #define ao_gps_set_speed ao_serial3_set_speed +#define HAS_EEPROM 1 +#define USE_INTERNAL_FLASH 0 #define HAS_USB 1 #define HAS_BEEP 1 diff --git a/src/product/ao_telebt.c b/src/product/ao_telebt.c index 97c9d792..46c63418 100644 --- a/src/product/ao_telebt.c +++ b/src/product/ao_telebt.c @@ -17,7 +17,9 @@ #include "ao.h" +#if HAS_LOG __code uint8_t ao_log_format = AO_LOG_FORMAT_NONE; /* until we actually log stuff */ +#endif void main(void) diff --git a/src/product/ao_terraui.c b/src/product/ao_terraui.c index 8875ff48..963c7be4 100644 --- a/src/product/ao_terraui.c +++ b/src/product/ao_terraui.c @@ -16,6 +16,7 @@ */ #include "ao.h" +#include #include static __xdata struct ao_telemetry_sensor ao_tel_sensor; diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h index adb6eb94..62af86f7 100644 --- a/src/stm/ao_arch.h +++ b/src/stm/ao_arch.h @@ -181,8 +181,6 @@ void ao_lcd_font_init(void); void ao_lcd_font_string(char *s); -#define USE_SERIAL_STDIN (USE_SERIAL_1_STDIN + USE_SERIAL_2_STDIN + USE_SERIAL_3_STDIN) - char ao_serial1_getchar(void); diff --git a/src/stm/ao_serial_stm.c b/src/stm/ao_serial_stm.c index 3cebc094..406da9fb 100644 --- a/src/stm/ao_serial_stm.c +++ b/src/stm/ao_serial_stm.c @@ -249,7 +249,7 @@ ao_serial2_set_speed(uint8_t speed) struct ao_stm_usart ao_stm_usart3; -void stm_usart3_isr(void) { ao_usart_isr(&ao_stm_usart3, USE_SERIAL_3_STDIN); } +void stm_usart3_isr(void) { ao_usart_isr(&ao_stm_usart3, USE_SERIAL_2_STDIN); } char ao_serial3_getchar(void) diff --git a/src/stm/ao_usb.h b/src/stm/ao_usb.h deleted file mode 100644 index d3129d34..00000000 --- a/src/stm/ao_usb.h +++ /dev/null @@ -1,101 +0,0 @@ -/* - * Copyright © 2009 Keith Packard - * - * 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_USB_H_ -#define _AO_USB_H_ - -#define AO_USB_SETUP_DIR_MASK (0x01 << 7) -#define AO_USB_SETUP_TYPE_MASK (0x03 << 5) -#define AO_USB_SETUP_RECIP_MASK (0x1f) - -#define AO_USB_DIR_OUT 0 -#define AO_USB_DIR_IN (1 << 7) - -#define AO_USB_TYPE_STANDARD 0 -#define AO_USB_TYPE_CLASS (1 << 5) -#define AO_USB_TYPE_VENDOR (2 << 5) -#define AO_USB_TYPE_RESERVED (3 << 5) - -#define AO_USB_RECIP_DEVICE 0 -#define AO_USB_RECIP_INTERFACE 1 -#define AO_USB_RECIP_ENDPOINT 2 -#define AO_USB_RECIP_OTHER 3 - -/* standard requests */ -#define AO_USB_REQ_GET_STATUS 0x00 -#define AO_USB_REQ_CLEAR_FEATURE 0x01 -#define AO_USB_REQ_SET_FEATURE 0x03 -#define AO_USB_REQ_SET_ADDRESS 0x05 -#define AO_USB_REQ_GET_DESCRIPTOR 0x06 -#define AO_USB_REQ_SET_DESCRIPTOR 0x07 -#define AO_USB_REQ_GET_CONFIGURATION 0x08 -#define AO_USB_REQ_SET_CONFIGURATION 0x09 -#define AO_USB_REQ_GET_INTERFACE 0x0A -#define AO_USB_REQ_SET_INTERFACE 0x0B -#define AO_USB_REQ_SYNCH_FRAME 0x0C - -#define AO_USB_DESC_DEVICE 1 -#define AO_USB_DESC_CONFIGURATION 2 -#define AO_USB_DESC_STRING 3 -#define AO_USB_DESC_INTERFACE 4 -#define AO_USB_DESC_ENDPOINT 5 -#define AO_USB_DESC_DEVICE_QUALIFIER 6 -#define AO_USB_DESC_OTHER_SPEED 7 -#define AO_USB_DESC_INTERFACE_POWER 8 - -#define AO_USB_GET_DESC_TYPE(x) (((x)>>8)&0xFF) -#define AO_USB_GET_DESC_INDEX(x) ((x)&0xFF) - -#define AO_USB_CONTROL_EP 0 -#define AO_USB_INT_EP 1 -#define AO_USB_OUT_EP 4 -#define AO_USB_IN_EP 5 -#define AO_USB_CONTROL_SIZE 32 -/* - * Double buffer IN and OUT EPs, so each - * gets half of the available space - * - * Ah, but USB bulk packets can only come in 8, 16, 32 and 64 - * byte sizes, so we'll use 64 for everything - */ -#define AO_USB_INT_SIZE 8 -#define AO_USB_IN_SIZE 64 -#define AO_USB_OUT_SIZE 64 - -#define AO_USB_EP0_IDLE 0 -#define AO_USB_EP0_DATA_IN 1 -#define AO_USB_EP0_DATA_OUT 2 - -#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8)) - -/* CDC definitions */ -#define CS_INTERFACE 0x24 -#define CS_ENDPOINT 0x25 - -#define SET_LINE_CODING 0x20 -#define GET_LINE_CODING 0x21 -#define SET_CONTROL_LINE_STATE 0x22 - -/* Data structure for GET_LINE_CODING / SET_LINE_CODING class requests */ -struct ao_usb_line_coding { - uint32_t rate; - uint8_t char_format; - uint8_t parity; - uint8_t data_bits; -} ; - -#endif /* _AO_USB_H_ */ diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c index 5a447d43..586f1e33 100644 --- a/src/stm/ao_usb_stm.c +++ b/src/stm/ao_usb_stm.c @@ -717,17 +717,17 @@ ao_usb_ep0_setup(void) case AO_USB_TYPE_CLASS: debug ("Class setup packet\n"); switch (ao_usb_setup.request) { - case SET_LINE_CODING: + case AO_USB_SET_LINE_CODING: debug ("set line coding\n"); ao_usb_ep0_out_len = 7; ao_usb_ep0_out_data = (uint8_t *) &ao_usb_line_coding; break; - case GET_LINE_CODING: + case AO_USB_GET_LINE_CODING: debug ("get line coding\n"); ao_usb_ep0_in_len = 7; ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding; break; - case SET_CONTROL_LINE_STATE: + case AO_USB_SET_CONTROL_LINE_STATE: break; } break; diff --git a/src/teleballoon-v1.1/ao_pins.h b/src/teleballoon-v1.1/ao_pins.h index a96c6f2b..3305719a 100644 --- a/src/teleballoon-v1.1/ao_pins.h +++ b/src/teleballoon-v1.1/ao_pins.h @@ -30,7 +30,6 @@ #define HAS_BEEP 1 #define HAS_GPS 1 #define HAS_SERIAL_1 1 - #define USE_SERIAL_STDIN 0 #define HAS_ADC 1 #define HAS_EEPROM 1 #define HAS_LOG 1 @@ -127,10 +126,6 @@ #error Please define HAS_SERIAL_1 #endif -#ifndef USE_SERIAL_STDIN -#error Please define USE_SERIAL_STDIN -#endif - #ifndef HAS_ADC #error Please define HAS_ADC #endif diff --git a/src/telepyro-v0.1/Makefile b/src/telepyro-v0.1/Makefile index 2f664fcb..2ac7e747 100644 --- a/src/telepyro-v0.1/Makefile +++ b/src/telepyro-v0.1/Makefile @@ -85,8 +85,10 @@ load: $(PROG).hex ao_product.h: ao-make-product.5c ../Version $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ -ao_product.rel: ao_product.c ao_product.h - $(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $< +ao_product.o: ao_product.c ao_product.h + +%.o : %.c + $(call quiet,CC) -c $(CFLAGS) $< distclean: clean diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile index be99f10d..10e4a2a3 100644 --- a/src/telescience-v0.1/Makefile +++ b/src/telescience-v0.1/Makefile @@ -22,7 +22,8 @@ INC = \ ao.h \ ao_arch.h \ ao_usb.h \ - ao_pins.h + ao_pins.h \ + ao_product.h # # Common AltOS sources @@ -96,8 +97,10 @@ load: $(PROG).hex ao_product.h: ao-make-product.5c ../Version $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ -ao_product.rel: ao_product.c ao_product.h - $(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $< +ao_product.o: ao_product.c ao_product.h + +%.o : %.c $(INC) + $(call quiet,CC) -c $(CFLAGS) $< distclean: clean diff --git a/src/teleshield-v0.1/Makefile b/src/teleshield-v0.1/Makefile index 44780476..c1f45f37 100644 --- a/src/teleshield-v0.1/Makefile +++ b/src/teleshield-v0.1/Makefile @@ -54,7 +54,6 @@ CC1111_SRC = \ ao_radio.c \ ao_romconfig.c \ ao_serial.c \ - ao_serial0.c \ ao_string.c \ ao_timer.c \ ao_usb.c \ diff --git a/src/teleshield-v0.1/ao_ardu_serial.c b/src/teleshield-v0.1/ao_ardu_serial.c index 7ff859af..e6e19f67 100644 --- a/src/teleshield-v0.1/ao_ardu_serial.c +++ b/src/teleshield-v0.1/ao_ardu_serial.c @@ -23,7 +23,7 @@ ao_ardu_serial_recv(void) char c; for (;;) { - if (ao_fifo_empty(ao_usart0_rx_fifo)) + if (ao_fifo_empty(ao_serial0_rx_fifo)) flush(); c = ao_serial0_getchar(); putchar (c); @@ -35,6 +35,5 @@ static __xdata struct ao_task ao_ardu_serial_recv_task; void ao_ardu_serial_init (void) { - ao_serial0_init(); ao_add_task(&ao_ardu_serial_recv_task, ao_ardu_serial_recv, "recv"); } diff --git a/src/teleshield-v0.1/ao_pins.h b/src/teleshield-v0.1/ao_pins.h index a907e2a5..701e25fc 100644 --- a/src/teleshield-v0.1/ao_pins.h +++ b/src/teleshield-v0.1/ao_pins.h @@ -26,14 +26,14 @@ #define HAS_SERIAL_1_ALT_1 1 #define HAS_SERIAL_1_ALT_2 0 #define HAS_SERIAL_1_HW_FLOW 1 - #define USE_SERIAL_STDIN 1 + #define USE_SERIAL_1_STDIN 1 #define HAS_SERIAL_0 1 #define HAS_SERIAL_0_ALT_1 0 #define HAS_SERIAL_0_ALT_2 1 #define HAS_SERIAL_0_HW_FLOW 0 #define HAS_ADC 0 #define HAS_DBG 1 - #define HAS_EEPROM 0 + #define HAS_EEPROM 1 #define HAS_LOG 0 #define USE_INTERNAL_FLASH 1 #define HAS_BTM 1 @@ -128,10 +128,6 @@ #error Please define HAS_SERIAL_1 #endif -#ifndef USE_SERIAL_STDIN -#error Please define USE_SERIAL_STDIN -#endif - #ifndef HAS_ADC #error Please define HAS_ADC #endif diff --git a/src/teleshield-v0.1/ao_teleshield.c b/src/teleshield-v0.1/ao_teleshield.c index fd12ce7a..4c32817a 100644 --- a/src/teleshield-v0.1/ao_teleshield.c +++ b/src/teleshield-v0.1/ao_teleshield.c @@ -17,7 +17,9 @@ #include "ao.h" +#if 0 __code uint8_t ao_log_format = AO_LOG_FORMAT_NONE; /* until we actually log stuff */ +#endif void main(void) @@ -43,6 +45,7 @@ main(void) ao_aes_init(); ao_radio_cmac_init(); #endif + ao_serial_init(); ao_ardu_serial_init(); ao_config_init(); ao_start_scheduler(); diff --git a/src/teleterra-v0.1/ao_pins.h b/src/teleterra-v0.1/ao_pins.h index 33de055e..ba7177af 100644 --- a/src/teleterra-v0.1/ao_pins.h +++ b/src/teleterra-v0.1/ao_pins.h @@ -25,7 +25,6 @@ #define HAS_GPS 0 #define HAS_SERIAL_1 0 #define HAS_ADC 0 - #define USE_SERIAL_STDIN 0 #define HAS_EEPROM 1 #define HAS_LOG 1 #define USE_INTERNAL_FLASH 0 @@ -124,10 +123,6 @@ #error Please define HAS_SERIAL_1 #endif -#ifndef USE_SERIAL_STDIN -#error Please define USE_SERIAL_STDIN -#endif - #ifndef HAS_ADC #error Please define HAS_ADC #endif diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h index 29b97385..2bea4e04 100644 --- a/src/teleterra-v0.2/ao_pins.h +++ b/src/teleterra-v0.2/ao_pins.h @@ -25,7 +25,6 @@ #define HAS_GPS 1 #define HAS_SERIAL_1 1 #define HAS_ADC 0 - #define USE_SERIAL_STDIN 0 #define HAS_EEPROM 1 #define HAS_LOG 1 #define USE_INTERNAL_FLASH 0 @@ -139,10 +138,6 @@ #error Please define HAS_SERIAL_1 #endif -#ifndef USE_SERIAL_STDIN -#error Please define USE_SERIAL_STDIN -#endif - #ifndef HAS_ADC #error Please define HAS_ADC #endif diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c index 93d7a9ab..4d4012df 100644 --- a/src/test/ao_gps_test.c +++ b/src/test/ao_gps_test.c @@ -317,7 +317,7 @@ static uint8_t sirf_in_message[4096]; static int sirf_in_len; char -ao_serial_getchar(void) +ao_serial1_getchar(void) { char c; uint8_t uc; @@ -351,7 +351,7 @@ ao_serial_getchar(void) void -ao_serial_putchar(char c) +ao_serial1_putchar(char c) { int i; uint8_t uc = (uint8_t) c; @@ -388,7 +388,7 @@ ao_serial_putchar(char c) #define AO_SERIAL_SPEED_57600 1 static void -ao_serial_set_speed(uint8_t speed) +ao_serial1_set_speed(uint8_t speed) { int fd = ao_gps_fd; struct termios termios; diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c index a78fae0f..88bed305 100644 --- a/src/test/ao_gps_test_skytraq.c +++ b/src/test/ao_gps_test_skytraq.c @@ -319,7 +319,7 @@ static uint8_t skytraq_in_message[4096]; static int skytraq_in_len; char -ao_serial_getchar(void) +ao_serial1_getchar(void) { char c; uint8_t uc; @@ -354,7 +354,7 @@ ao_serial_getchar(void) void -ao_serial_putchar(char c) +ao_serial1_putchar(char c) { int i; uint8_t uc = (uint8_t) c; @@ -392,7 +392,7 @@ ao_serial_putchar(char c) #define AO_SERIAL_SPEED_57600 2 static void -ao_serial_set_speed(uint8_t speed) +ao_serial1_set_speed(uint8_t speed) { int fd = ao_gps_fd; struct termios termios; -- cgit v1.2.3 From 4de789331098abc24abcb9390a35aef889a41784 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 16 Jul 2012 14:47:53 -0700 Subject: altos: Make storage addresses datatype configurable No sense using 32 bits for tiny hardware Signed-off-by: Keith Packard --- src/core/ao_storage.c | 8 ++++---- src/core/ao_storage.h | 22 ++++++++++++++-------- 2 files changed, 18 insertions(+), 12 deletions(-) (limited to 'src/core/ao_storage.c') diff --git a/src/core/ao_storage.c b/src/core/ao_storage.c index 66394e01..b2dd435b 100644 --- a/src/core/ao_storage.c +++ b/src/core/ao_storage.c @@ -18,7 +18,7 @@ #include uint8_t -ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant +ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant { uint16_t this_len; uint16_t this_off; @@ -48,7 +48,7 @@ ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant } uint8_t -ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant +ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant { uint16_t this_len; uint16_t this_off; @@ -161,8 +161,8 @@ void ao_storage_info(void) __reentrant { ao_storage_setup(); - printf("Storage size: %ld\n", ao_storage_total); - printf("Storage erase unit: %ld\n", ao_storage_block); + printf("Storage size: %ld\n", (long) ao_storage_total); + printf("Storage erase unit: %ld\n", (long) ao_storage_block); ao_storage_device_info(); } diff --git a/src/core/ao_storage.h b/src/core/ao_storage.h index 873fe097..ea946399 100644 --- a/src/core/ao_storage.h +++ b/src/core/ao_storage.h @@ -23,14 +23,20 @@ * drivers */ +#ifndef ao_storage_pos_t +#define ao_storage_pos_t uint32_t +#endif + +typedef ao_storage_pos_t ao_pos_t; + /* Total bytes of available storage */ -extern __pdata uint32_t ao_storage_total; +extern __pdata ao_pos_t ao_storage_total; /* Block size - device is erased in these units. At least 256 bytes */ -extern __pdata uint32_t ao_storage_block; +extern __pdata ao_pos_t ao_storage_block; /* Byte offset of config block. Will be ao_storage_block bytes long */ -extern __pdata uint32_t ao_storage_config; +extern __pdata ao_pos_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; @@ -43,15 +49,15 @@ 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; +ao_storage_write(ao_pos_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; +ao_storage_read(ao_pos_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; +ao_storage_erase(ao_pos_t pos) __reentrant; /* Flush any pending writes to stable storage */ void @@ -67,11 +73,11 @@ ao_storage_init(void); /* Read data within a storage unit */ uint8_t -ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; +ao_storage_device_read(ao_pos_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; +ao_storage_device_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant; /* Initialize low-level device bits */ void -- cgit v1.2.3 From 843fcab46d633e5bb6959286adeb68e41a4c30a3 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 29 Jul 2012 19:44:56 -0700 Subject: altos: Add telefire-v0.1 Signed-off-by: Keith Packard --- src/Makefile | 3 +- src/cc1111/ao_adc.c | 20 ++++ src/cc1111/ao_arch.h | 12 --- src/cc1111/ao_pins.h | 12 +++ src/core/ao.h | 7 ++ src/core/ao_config.c | 3 + src/core/ao_storage.c | 1 + src/drivers/ao_74hc497.c | 40 +++++++ src/drivers/ao_74hc497.h | 27 +++++ src/drivers/ao_pad.c | 227 ++++++++++++++++++++++++++++++++++++++++ src/drivers/ao_pad.h | 67 ++++++++++++ src/drivers/ao_pca9922.c | 78 ++++++++++++++ src/telefire-v0.1/Makefile | 101 ++++++++++++++++++ src/telefire-v0.1/ao_pins.h | 94 +++++++++++++++++ src/telefire-v0.1/ao_telefire.c | 41 ++++++++ 15 files changed, 720 insertions(+), 13 deletions(-) create mode 100644 src/drivers/ao_74hc497.c create mode 100644 src/drivers/ao_74hc497.h create mode 100644 src/drivers/ao_pad.c create mode 100644 src/drivers/ao_pad.h create mode 100644 src/drivers/ao_pca9922.c create mode 100644 src/telefire-v0.1/Makefile create mode 100644 src/telefire-v0.1/ao_pins.h create mode 100644 src/telefire-v0.1/ao_telefire.c (limited to 'src/core/ao_storage.c') diff --git a/src/Makefile b/src/Makefile index 491618f6..99ea8f85 100644 --- a/src/Makefile +++ b/src/Makefile @@ -21,7 +21,8 @@ ifneq ($(shell which sdcc),) telebt-v0.0 telebt-v0.1 \ telemetrum-v0.1-sky telemetrum-v0.1-sirf \ telelaunch-v0.1 tidongle test \ - teleterra-v0.2 teleshield-v0.1 + teleterra-v0.2 teleshield-v0.1 \ + telefire-v0.1 endif ifneq ($(shell which avr-gcc),) diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c index ce827e25..f7b52281 100644 --- a/src/cc1111/ao_adc.c +++ b/src/cc1111/ao_adc.c @@ -140,6 +140,15 @@ ao_adc_isr(void) __interrupt 1 } #endif /* telemini || telenano */ +#ifdef TELEFIRE_V_0_1 + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.sense[0] + sequence); + a[0] = ADCL; + a[1] = ADCH; + if (sequence < 5) + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | (sequence + 1); +#define GOT_ADC +#endif /* TELEFIRE_V_0_1 */ + #ifndef GOT_ADC #error No known ADC configuration set #endif @@ -157,9 +166,13 @@ ao_adc_dump(void) __reentrant { static __xdata struct ao_data packet; ao_data_get(&packet); +#ifndef AO_ADC_DUMP printf("tick: %5u accel: %5d pres: %5d temp: %5d batt: %5d drogue: %5d main: %5d\n", packet.tick, packet.adc.accel, packet.adc.pres, packet.adc.temp, packet.adc.v_batt, packet.adc.sense_d, packet.adc.sense_m); +#else + AO_ADC_DUMP(&packet); +#endif } __code struct ao_cmds ao_adc_cmds[] = { @@ -170,6 +183,11 @@ __code struct ao_cmds ao_adc_cmds[] = { void ao_adc_init(void) { +#ifdef AO_ADC_PINS + ADCCFG = AO_ADC_PINS; + +#else + #if IGNITE_ON_P2 /* TeleMetrum configuration */ ADCCFG = ((1 << 0) | /* acceleration */ @@ -190,6 +208,8 @@ ao_adc_init(void) (1 << 3)); /* battery voltage */ #endif +#endif /* else AO_ADC_PINS */ + /* enable interrupts */ ADCIF = 0; IEN0 |= IEN0_ADCIE; diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h index 06b04b93..a97515a7 100644 --- a/src/cc1111/ao_arch.h +++ b/src/cc1111/ao_arch.h @@ -200,18 +200,6 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal; #define ao_arch_critical(b) __critical { b } -struct ao_adc { - 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 */ -#if HAS_ACCEL_REF - uint16_t accel_ref; /* acceleration reference */ -#endif -}; - #define AO_DATA_RING 32 /* ao_button.c */ diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index fc6ed3ec..2f0e2884 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -560,4 +560,16 @@ #define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) #define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) +struct ao_adc { + 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 */ +#if HAS_ACCEL_REF + uint16_t accel_ref; /* acceleration reference */ +#endif +}; + #endif /* _AO_PINS_H_ */ diff --git a/src/core/ao.h b/src/core/ao.h index 65b9eb18..1032dd33 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -432,6 +432,7 @@ ao_gps_report_mega_init(void); * ao_telemetry_orig.c */ +#if LEGACY_MONITOR struct ao_adc_orig { uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ @@ -489,6 +490,8 @@ struct ao_telemetry_tiny_recv { uint8_t status; }; +#endif /* LEGACY_MONITOR */ + /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method * for reporting RSSI. So, now we use these values everywhere */ @@ -582,6 +585,8 @@ ao_radio_init(void); * ao_monitor.c */ +#if HAS_MONITOR + extern const char const * const ao_state_names[]; #define AO_MONITOR_RING 8 @@ -618,6 +623,8 @@ ao_monitor_enable(void); void ao_monitor_init(void) __reentrant; +#endif + /* * ao_stdio.c */ diff --git a/src/core/ao_config.c b/src/core/ao_config.c index e2095e65..f19dd9cd 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -17,8 +17,11 @@ #include "ao.h" #include "ao_log.h" +#include +#if HAS_FLIGHT #include #include +#endif __xdata struct ao_config ao_config; __pdata uint8_t ao_config_loaded; diff --git a/src/core/ao_storage.c b/src/core/ao_storage.c index b2dd435b..adf7e4d4 100644 --- a/src/core/ao_storage.c +++ b/src/core/ao_storage.c @@ -16,6 +16,7 @@ */ #include +#include uint8_t ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant diff --git a/src/drivers/ao_74hc497.c b/src/drivers/ao_74hc497.c new file mode 100644 index 00000000..93c544c3 --- /dev/null +++ b/src/drivers/ao_74hc497.c @@ -0,0 +1,40 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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. + */ + +/* + * 74HC597 driver. + * Reads a single byte from the shift register + */ + +#include +#include + +uint8_t +ao_74hc497_read(void) +{ + static __xdata state; + ao_spi_get_bit(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, AO_74HC497_SPI_BUS, AO_SPI_SPEED_FAST); + ao_spi_send(&state, 1, AO_74HC497_SPI_BUS); + ao_spi_put_bit(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, AO_74HC497_SPI_BUS); + return state; +} + +void +ao_74hc497_init(void) +{ + ao_enable_output(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, 1); +} diff --git a/src/drivers/ao_74hc497.h b/src/drivers/ao_74hc497.h new file mode 100644 index 00000000..6df7bcae --- /dev/null +++ b/src/drivers/ao_74hc497.h @@ -0,0 +1,27 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_74HC497_H_ +#define _AO_74HC497_H_ + +uint8_t +ao_74hc497_read(void); + +void +ao_74hc497_init(void); + +#endif /* _AO_74HC497_H_ */ diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c new file mode 100644 index 00000000..21aa788d --- /dev/null +++ b/src/drivers/ao_pad.c @@ -0,0 +1,227 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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. + */ + +#include +#include +#include + +__xdata uint8_t ao_pad_ignite; + +#define ao_pad_igniter_status(c) AO_PAD_IGNITER_STATUS_UNKNOWN +#define ao_pad_arm_status() AO_PAD_ARM_STATUS_UNKNOWN + +#if 0 +#define PRINTD(...) printf(__VA_ARGS__) +#else +#define PRINTD(...) +#endif + +static void +ao_pad_run(void) +{ + for (;;) { + while (!ao_pad_ignite) + ao_sleep(&ao_pad_ignite); + /* + * Actually set the pad bits + */ + AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite; + while (ao_pad_ignite) { + ao_pad_ignite = 0; + ao_delay(AO_PAD_FIRE_TIME); + } + AO_PAD_PORT &= ~(AO_PAD_ALL_PINS); + } +} + +static void +ao_pad_status(void) +{ + for (;;) { + ao_delay(AO_SEC_TO_TICKS(1)); +#if 0 + if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) { + if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) { + for (i = 0; i < 5; i++) { + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50)); + ao_delay(AO_MS_TO_TICKS(100)); + } + } else { + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + } + } +#endif + } +} + +static __pdata uint8_t ao_pad_armed; +static __pdata uint16_t ao_pad_arm_time; +static __pdata uint8_t ao_pad_box; + +static void +ao_pad(void) +{ + static __xdata struct ao_pad_command command; + static __xdata struct ao_pad_query query; + int16_t time_difference; + uint8_t c; + + ao_led_off(AO_LED_RED); + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + ao_pad_box = ao_74hc497_read(); + for (;;) { + flush(); + if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK) + continue; + + PRINTD ("tick %d serial %d cmd %d channel %d\n", + command.tick, command.serial, command.cmd, command.channel); + + switch (command.cmd) { + case AO_LAUNCH_ARM: + if (command.box != ao_pad_box) { + PRINTD ("box number mismatch\n"); + break; + } + + if (command.channels & ~(AO_PAD_ALL_PINS)) + break; + + time_difference = command.tick - ao_time(); + PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time()); + if (time_difference < 0) + time_difference = -time_difference; + if (time_difference > 10) { + PRINTD ("time difference too large %d\n", time_difference); + break; + } + PRINTD ("armed\n"); + ao_pad_armed = command.channels; + ao_pad_arm_time = ao_time(); + + /* fall through ... */ + + case AO_LAUNCH_QUERY: + if (command.box != ao_pad_box) { + PRINTD ("box number mismatch\n"); + break; + } + + query.tick = ao_time(); + query.box = ao_pad_box; + query.channels = AO_PAD_ALL_PINS; + query.armed = ao_pad_armed; + query.arm_status = ao_pad_arm_status(); + for (c = 0; c < AO_PAD_NUM; c++) + query.igniter_status[c] = ao_pad_igniter_status(c); + PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n", + query.tick, query.serial, query.channel, query.valid, query.arm_status, + query.igniter_status); + ao_radio_cmac_send(&query, sizeof (query)); + break; + case AO_LAUNCH_FIRE: + if (!ao_pad_armed) { + PRINTD ("not armed\n"); + break; + } + if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) { + PRINTD ("late pad arm_time %d time %d\n", + ao_pad_arm_time, ao_time()); + break; + } + time_difference = command.tick - ao_time(); + if (time_difference < 0) + time_difference = -time_difference; + if (time_difference > 10) { + PRINTD ("time different too large %d\n", time_difference); + break; + } + PRINTD ("ignite\n"); + ao_pad_ignite = ao_pad_armed; + ao_wakeup(&ao_pad_ignite); + break; + } + } +} + +void +ao_pad_test(void) +{ +#if 0 + switch (ao_igniter_status(ao_igniter_drogue)) { + case ao_igniter_ready: + case ao_igniter_active: + printf ("Armed: "); + switch (ao_igniter_status(ao_igniter_main)) { + default: + printf("unknown status\n"); + break; + case ao_igniter_ready: + printf("igniter good\n"); + break; + case ao_igniter_open: + printf("igniter bad\n"); + break; + } + break; + default: + printf("Disarmed\n"); + } +#endif +} + +void +ao_pad_manual(void) +{ + ao_cmd_white(); + if (!ao_match_word("DoIt")) + return; + ao_cmd_white(); + ao_pad_ignite = 1; + ao_wakeup(&ao_pad_ignite); +} + +static __xdata struct ao_task ao_pad_task; +static __xdata struct ao_task ao_pad_ignite_task; +static __xdata struct ao_task ao_pad_status_task; + +__code struct ao_cmds ao_pad_cmds[] = { + { ao_pad_test, "t\0Test pad continuity" }, + { ao_pad_manual, "i \0Fire igniter. is doit with D&I" }, + { 0, NULL } +}; + +void +ao_pad_init(void) +{ +#if AO_PAD_NUM > 0 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0); +#endif +#if AO_PAD_NUM > 1 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0); +#endif +#if AO_PAD_NUM > 2 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0); +#endif +#if AO_PAD_NUM > 3 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0); +#endif + ao_cmd_register(&ao_pad_cmds[0]); + ao_add_task(&ao_pad_task, ao_pad, "pad listener"); + ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter"); + ao_add_task(&ao_pad_status_task, ao_pad_status, "pad status"); +} diff --git a/src/drivers/ao_pad.h b/src/drivers/ao_pad.h new file mode 100644 index 00000000..9ea016ff --- /dev/null +++ b/src/drivers/ao_pad.h @@ -0,0 +1,67 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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_PAD_H_ +#define _AO_PAD_H_ + +#define AO_PAD_MAX_CHANNELS 8 + +struct ao_pad_command { + uint16_t tick; + uint16_t box; + uint8_t cmd; + uint8_t channels; +}; + +/* Report current telefire status. + */ + +#define AO_PAD_QUERY 1 + +struct ao_pad_query { + uint16_t tick; /* telefire tick */ + uint16_t box; /* telefire box number */ + uint8_t channels; /* which chanels are present */ + uint8_t armed; /* which channels are armed */ + uint8_t arm_status; /* status of arming switch */ + uint8_t igniter_status[AO_PAD_MAX_CHANNELS]; /* status for each igniter */ +}; + +/* Set current armed pads, report back status + */ + +#define AO_PAD_ARM 2 + +/* Fire current armed pads for 200ms, no report + */ +#define AO_PAD_FIRE 3 + +#define AO_PAD_FIRE_TIME AO_MS_TO_TICKS(200) + +#define AO_PAD_ARM_STATUS_DISARMED 0 +#define AO_PAD_ARM_STATUS_ARMED 1 +#define AO_PAD_ARM_STATUS_UNKNOWN 2 + +#define AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN 0 +#define AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN 1 +#define AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED 2 +#define AO_PAD_IGNITER_STATUS_UNKNOWN 3 + +void +ao_pad_init(void); + +#endif /* _AO_PAD_H_ */ diff --git a/src/drivers/ao_pca9922.c b/src/drivers/ao_pca9922.c new file mode 100644 index 00000000..dc006f55 --- /dev/null +++ b/src/drivers/ao_pca9922.c @@ -0,0 +1,78 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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. + */ + +/* + * PCA9922 LED driver. This uses SPI to send a single byte to the device to + * set the current state of the LEDs using the existing LED interface + */ + +#include + +static __xdata uint8_t ao_led_state; + +static void +ao_led_apply(void) +{ + /* Don't try the SPI bus during initialization */ + if (!ao_cur_task) + return; + ao_spi_get_bit(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, AO_PCA9922_SPI_BUS, AO_SPI_SPEED_FAST); + ao_spi_send(&ao_led_state, 1, AO_PCA9922_SPI_BUS); + ao_spi_put_bit(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, AO_PCA9922_SPI_BUS); +} + +void +ao_led_on(uint8_t colors) +{ + ao_led_state |= colors; + ao_led_apply(); +} + +void +ao_led_off(uint8_t colors) +{ + ao_led_state &= ~colors; + ao_led_apply(); +} + +void +ao_led_set(uint8_t colors) +{ + ao_led_state = colors; + ao_led_apply(); +} + +void +ao_led_toggle(uint8_t colors) +{ + ao_led_state ^= colors; + ao_led_apply(); +} + +void +ao_led_for(uint8_t colors, uint16_t ticks) __reentrant +{ + ao_led_on(colors); + ao_delay(ticks); + ao_led_off(colors); +} + +void +ao_led_init(uint8_t enable) +{ + ao_enable_output(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, 1); +} diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile new file mode 100644 index 00000000..09cb88fb --- /dev/null +++ b/src/telefire-v0.1/Makefile @@ -0,0 +1,101 @@ +# +# TeleFire build file +# + +TELEFIRE_VER=0.1 +TELEFIRE_DEF=0_1 + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../cc1111:../drivers:../product +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + cc1111.h \ + ao_product.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_convert.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_adc.c \ + ao_aes.c \ + ao_beep.c \ + ao_dma.c \ + ao_intflash.c \ + ao_radio.c \ + ao_radio_cmac.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_spi.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = \ + ao_pca9922.c \ + ao_74hc497.c \ + ao_pad.c + +PRODUCT_SRC = \ + ao_telefire.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telefire-v$(TELEFIRE_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleFire-v$(TELEFIRE_VER) +PRODUCT_DEF=-DTELEFIRE_V_$(TELEFIRE_DEF) +IDPRODUCT=0x000f +CODESIZE=0x6700 + +include ../cc1111/Makefile.cc1111 + +NICKLE=nickle +CHECK_STACK=sh ../util/check-stack + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: ../$(PROG) + +../$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: clean-cc1111 + +install: + +uninstall: + diff --git a/src/telefire-v0.1/ao_pins.h b/src/telefire-v0.1/ao_pins.h new file mode 100644 index 00000000..4cf523fc --- /dev/null +++ b/src/telefire-v0.1/ao_pins.h @@ -0,0 +1,94 @@ +/* + * Copyright © 2010 Keith Packard + * + * 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_PINS_H_ +#define _AO_PINS_H_ + +#define HAS_RADIO 1 + +#define HAS_FLIGHT 0 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define HAS_GPS 0 +#define HAS_SERIAL_1 0 +#define HAS_ADC 1 +#define HAS_DBG 0 +#define HAS_EEPROM 1 +#define HAS_LOG 0 +#define USE_INTERNAL_FLASH 1 +#define DBG_ON_P1 0 +#define IGNITE_ON_P2 0 +#define IGNITE_ON_P1 1 +#define IGNITE_ON_P0 0 +#define PACKET_HAS_MASTER 0 +#define PACKET_HAS_SLAVE 0 +#define AO_LED_RED 2 +#define AO_LED_GREEN 1 +#define LEDS_AVAILABLE (0xff) +#define HAS_EXTERNAL_TEMP 0 +#define HAS_ACCEL_REF 0 +#define SPI_CS_ON_P1 1 +#define HAS_AES 1 + +#define SPI_CS_PORT P1 +#define SPI_CS_SEL P1SEL +#define SPI_CS_DIR P1DIR + +#define AO_74HC497_CS_PORT P1 +#define AO_74HC497_CS_PIN 4 +#define AO_74HC497_CS P1_4 + +#define AO_PCA9922_CS_PORT P1 +#define AO_PCA9922_CS_PIN 4 +#define AO_PCA9922_CS P1_4 + +#define AO_PAD_NUM 4 +#define AO_PAD_PORT P1 +#define AO_PAD_DIR P1DIR +#define AO_PAD_PIN_0 0 +#define AO_PAD_0 P1_0 +#define AO_PAD_PIN_1 1 +#define AO_PAD_1 P1_1 +#define AO_PAD_PIN_2 2 +#define AO_PAD_2 P1_2 +#define AO_PAD_PIN_3 3 +#define AO_PAD_3 P1_3 +#define AO_PAD_ALL_PINS ((1 << AO_PAD_PIN_0) | (1 << AO_PAD_PIN_1) | (1 << AO_PAD_PIN_2) | (1 << AO_PAD_PIN_3)) + +/* test these values with real igniters */ +#define AO_PAD_RELAY_CLOSED 3524 +#define AO_PAD_NO_IGNITER 16904 +#define AO_PAD_GOOD_IGNITER 22514 + +struct ao_adc { + int16_t sense[4]; + int16_t pyro; + int16_t batt; +}; + +#define AO_ADC_DUMP(p) \ + printf ("tick: %5u 0: %5d 1: %5d 2: %5d 3: %5d pyro: %5d batt %5d\n", \ + (p)->adc.sense[0], \ + (p)->adc.sense[1], \ + (p)->adc.sense[2], \ + (p)->adc.sense[3], \ + (p)->adc.pyro, \ + (p)->adc.batt) + +#define AO_ADC_PINS ((1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5)) + +#endif /* _AO_PINS_H_ */ diff --git a/src/telefire-v0.1/ao_telefire.c b/src/telefire-v0.1/ao_telefire.c new file mode 100644 index 00000000..96413a63 --- /dev/null +++ b/src/telefire-v0.1/ao_telefire.c @@ -0,0 +1,41 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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. + */ + +#include "ao.h" +#include "ao_pins.h" + +void +main(void) +{ + ao_clock_init(); + + ao_led_init(LEDS_AVAILABLE); + + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_storage_init(); + ao_usb_init(); + ao_radio_init(); + ao_aes_init(); + ao_radio_cmac_init(); + ao_pad_init(); + ao_config_init(); + ao_start_scheduler(); +} -- cgit v1.2.3