/* * 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_H_ #define _AO_H_ #include #include #include #include "cc1111.h" /* Convert a __data pointer into an __xdata pointer */ #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00)) /* Stack runs from above the allocated __data space to 0xfe, which avoids * writing to 0xff as that triggers the stack overflow indicator */ #define AO_STACK_START 0x7f #define AO_STACK_END 0xfe #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) /* An AltOS task */ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ uint8_t stack_count; /* amount of saved stack */ uint8_t task_id; /* index in the task array */ uint8_t stack[AO_STACK_SIZE]; /* saved stack */ }; extern __xdata struct ao_task *__data ao_cur_task; #define AO_NUM_TASKS 10 /* maximum number of tasks */ #define AO_NO_TASK 0 /* no task id */ /* ao_task.c */ /* Suspend the current task until wchan is awoken */ int ao_sleep(__xdata void *wchan); /* Wake all tasks sleeping on wchan */ int ao_wakeup(__xdata void *wchan); /* Yield the processor to another task */ void ao_yield(void) _naked; /* Add a task to the run queue */ void ao_add_task(__xdata struct ao_task * task, void (*start)(void)); /* Start the scheduler. This will not return */ void ao_start_scheduler(void); /* * ao_panic.c */ #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */ #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */ #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */ #define AO_PANIC_EE 4 /* Mis-using eeprom API */ #define AO_PANIC_LOG 5 /* Failing to read/write log data */ /* Stop the operating system, beeping and blinking the reason */ void ao_panic(uint8_t reason); /* * ao_timer.c */ /* Our timer runs at 100Hz */ #define AO_MS_TO_TICKS(ms) ((ms) / 10) #define AO_SEC_TO_TICKS(s) ((s) * 100) /* Returns the current time in ticks */ uint16_t ao_time(void); /* Suspend the current task until ticks time has passed */ void ao_delay(uint16_t ticks); /* Timer interrupt */ void ao_timer_isr(void) interrupt 9; /* Initialize the timer */ void ao_timer_init(void); /* * ao_adc.c */ #define AO_ADC_RING 128 /* * One set of samples read from the A/D converter */ struct ao_adc { uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ int16_t pres; /* pressure sensor */ int16_t temp; /* temperature sensor */ int16_t v_batt; /* battery voltage */ int16_t sense_d; /* drogue continuity sense */ int16_t sense_m; /* main continuity sense */ }; /* * 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; /* Trigger a conversion sequence (called from the timer interrupt) */ void ao_adc_poll(void); /* Suspend the current task until another A/D sample is converted */ void ao_adc_sleep(void); /* Get a copy of the last complete A/D sample set */ void ao_adc_get(__xdata struct ao_adc *packet); /* The A/D interrupt handler */ void ao_adc_isr(void) interrupt 1; /* Initialize the A/D converter */ void ao_adc_init(void); /* * 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); /* Initialize the beeper */ void ao_beep_init(void); /* * ao_led.c */ #define AO_LED_NONE 0 #define AO_LED_GREEN 1 #define AO_LED_RED 2 /* Turn on the specified LEDs */ void ao_led_on(uint8_t colors); /* Turn off the specified LEDs */ void ao_led_off(uint8_t colors); /* Set all of the LEDs to the specified state */ void ao_led_set(uint8_t colors); /* Turn on the specified LEDs for the indicated interval */ void ao_led_for(uint8_t colors, uint16_t ticks); /* Initialize the LEDs */ void ao_led_init(void); /* * ao_usb.c */ /* Put one character to the USB output queue */ void ao_usb_putchar(uint8_t c); /* Get one character from the USB input queue */ uint8_t ao_usb_getchar(void); /* Flush the USB output queue */ void ao_usb_flush(void); /* USB interrupt handler */ void ao_usb_isr(void) interrupt 6; /* Initialize the USB system */ void ao_usb_init(void); /* * ao_cmd.c */ void ao_cmd_init(void); /* * ao_dma.c */ /* Allocate a DMA channel. the 'done' parameter will be set to 1 * when the dma is finished and will be used to wakeup any waiters */ uint8_t ao_dma_alloc(__xdata uint8_t * done); /* Setup a DMA channel */ void ao_dma_set_transfer(uint8_t id, void __xdata *srcaddr, void __xdata *dstaddr, uint16_t count, uint8_t cfg0, uint8_t cfg1); /* Start a DMA channel */ void ao_dma_start(uint8_t id); /* Manually trigger a DMA channel */ void ao_dma_trigger(uint8_t id); /* Abort a running DMA transfer */ void ao_dma_abort(uint8_t id); /* DMA interrupt routine */ void ao_dma_isr(void) interrupt 8; /* * ao_mutex.c */ void ao_mutex_get(__xdata uint8_t *ao_mutex); void ao_mutex_put(__xdata uint8_t *ao_mutex); /* * ao_ee.c */ /* * We reserve the last block on the device for * configuration space. Writes and reads in this * area return errors. */ #define AO_EE_BLOCK_SIZE ((uint16_t) (256)) #define AO_EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024) #define AO_EE_DATA_SIZE (AO_EE_DEVICE_SIZE - (uint32_t) AO_EE_BLOCK_SIZE) #define AO_EE_CONFIG_BLOCK ((uint16_t) (AO_EE_DATA_SIZE / AO_EE_BLOCK_SIZE)) void ao_ee_flush(void) __reentrant; /* Write to the eeprom */ uint8_t ao_ee_write(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant; /* Read from the eeprom */ uint8_t ao_ee_read(uint32_t pos, uint8_t *buf, uint16_t len) __reentrant; /* Write the config block (at the end of the eeprom) */ uint8_t ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant; /* Read the config block (at the end of the eeprom) */ uint8_t ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant; /* Initialize the EEPROM code */ void ao_ee_init(void); /* * ao_log.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_POS_NONE (~0UL) struct ao_log_record { uint8_t type; uint8_t csum; uint16_t tick; union { struct { uint16_t serial; 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 { uint16_t d0; uint16_t d1; } anon; } u; }; /* Write a record to the eeprom log */ void ao_log_data(struct ao_log_record *log); /* Flush the log */ void ao_log_flush(void); /* Log dumping API: * ao_log_dump_first() - get first log record * ao_log_dump_next() - get next log record */ extern __xdata struct ao_log_record ao_log_dump; /* Retrieve first log record for the current flight */ uint8_t ao_log_dump_first(void); /* return next log record for the current flight */ uint8_t ao_log_dump_next(void); /* Logging thread main routine */ void ao_log(void); /* Start logging to eeprom */ void ao_log_start(void); /* Initialize the logging system */ void ao_log_init(void); /* * ao_flight.c */ enum ao_flight_state { ao_flight_startup, ao_flight_idle, ao_flight_launchpad, ao_flight_boost, ao_flight_coast, ao_flight_apogee, ao_flight_drogue, ao_flight_main, ao_flight_landed, ao_flight_invalid }; extern __xdata struct ao_adc ao_flight_data; extern __data enum flight_state ao_flight_state; extern __data uint16_t ao_flight_state_tick; extern __data int16_t ao_flight_accel; extern __data int16_t ao_flight_pres; extern __data int16_t ao_ground_pres; extern __data int16_t ao_ground_accel; extern __data int16_t ao_min_pres; extern __data uint16_t ao_launch_time; /* Flight thread */ void ao_flight(void); /* Initialize flight thread */ void ao_flight_init(void); /* * ao_report.c */ void ao_report_notify(void); void ao_report_init(void); #endif /* _AO_H_ */