/* * 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 #include "cc1111.h" #include "ao_pins.h" #define TRUE 1 #define FALSE 0 /* Convert a __data pointer into an __xdata pointer */ #define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00)) /* Stack runs from above the allocated __data space to 0xfe, which avoids * writing to 0xff as that triggers the stack overflow indicator */ #define AO_STACK_START 0x80 #define AO_STACK_END 0xfe #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) /* An AltOS task */ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ uint16_t alarm; /* abort ao_sleep time */ uint8_t stack_count; /* amount of saved stack */ uint8_t task_id; /* index in the task array */ __code char *name; /* task name */ uint8_t stack[AO_STACK_SIZE]; /* saved stack */ }; extern __xdata struct ao_task *__data ao_cur_task; #define AO_NUM_TASKS 16 /* maximum number of tasks */ #define AO_NO_TASK 0 /* no task id */ /* ao_task.c */ /* Suspend the current task until wchan is awoken. * returns: * 0 on normal wake * 1 on alarm */ uint8_t ao_sleep(__xdata void *wchan); /* Wake all tasks sleeping on wchan */ void ao_wakeup(__xdata void *wchan); /* Wake up a specific task */ void ao_wake_task(__xdata struct ao_task *task); /* set an alarm to go off in 'delay' ticks */ void ao_alarm(uint16_t delay); /* Yield the processor to another task */ void ao_yield(void) _naked; /* Add a task to the run queue */ void ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant; /* Terminate the current task */ void ao_exit(void); /* Dump task info to console */ void ao_task_info(void); /* Start the scheduler. This will not return */ void ao_start_scheduler(void); /* * ao_panic.c */ #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */ #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */ #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */ #define AO_PANIC_EE 4 /* Mis-using eeprom API */ #define AO_PANIC_LOG 5 /* Failing to read/write log data */ #define AO_PANIC_CMD 6 /* Too many command sets registered */ #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */ #define AO_PANIC_REBOOT 8 /* Reboot failed */ #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */ /* Stop the operating system, beeping and blinking the reason */ void ao_panic(uint8_t reason); /* * ao_timer.c */ /* Our timer runs at 100Hz */ #define AO_HERTZ 100 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ)) #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ) /* Returns the current time in ticks */ uint16_t ao_time(void); /* Suspend the current task until ticks time has passed */ void ao_delay(uint16_t ticks); /* Set the ADC interval */ void ao_timer_set_adc_interval(uint8_t interval) __critical; /* Timer interrupt */ void ao_timer_isr(void) interrupt 9; /* Initialize the timer */ void ao_timer_init(void); /* Initialize the hardware clock. Must be called first */ void ao_clock_init(void); /* * One set of samples read from the A/D converter or telemetry */ struct ao_adc { uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ int16_t pres; /* pressure sensor */ int16_t temp; /* temperature sensor */ int16_t v_batt; /* battery voltage */ int16_t sense_d; /* drogue continuity sense */ int16_t sense_m; /* main continuity sense */ }; #ifndef HAS_ADC #error Please define HAS_ADC #endif #if HAS_ADC /* * ao_adc.c */ #define AO_ADC_RING 32 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1)) #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1)) /* * A/D data is stored in a ring, with the next sample to be written * at ao_adc_head */ extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING]; extern volatile __data uint8_t ao_adc_head; /* Trigger a conversion sequence (called from the timer interrupt) */ void ao_adc_poll(void); /* Suspend the current task until another A/D sample is converted */ void ao_adc_sleep(void); /* Get a copy of the last complete A/D sample set */ void ao_adc_get(__xdata struct ao_adc *packet); /* The A/D interrupt handler */ void ao_adc_isr(void) interrupt 1; /* Initialize the A/D converter */ void ao_adc_init(void); #endif /* HAS_ADC */ /* * ao_beep.c */ /* * Various pre-defined beep frequencies * * frequency = 1/2 (24e6/32) / beep */ #define AO_BEEP_LOW 150 /* 2500Hz */ #define AO_BEEP_MID 94 /* 3989Hz */ #define AO_BEEP_HIGH 75 /* 5000Hz */ #define AO_BEEP_OFF 0 /* off */ #define AO_BEEP_g 240 /* 1562.5Hz */ #define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */ #define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */ #define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */ #define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */ #define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */ #define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */ #define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */ #define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */ #define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */ #define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */ #define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */ #define AO_BEEP_gg 120 /* 3125Hz */ #define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */ #define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */ #define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */ #define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */ #define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */ #define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */ #define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */ #define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */ #define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */ #define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */ #define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */ #define AO_BEEP_ggg 60 /* 6250Hz */ /* Set the beeper to the specified tone */ void ao_beep(uint8_t beep); /* Turn on the beeper for the specified time */ void ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant; /* Initialize the beeper */ void ao_beep_init(void); /* * ao_led.c */ #define AO_LED_NONE 0 #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); /* Toggle the specified LEDs */ void ao_led_toggle(uint8_t colors); /* Turn on the specified LEDs for the indicated interval */ void ao_led_for(uint8_t colors, uint16_t ticks) __reentrant; /* Initialize the LEDs */ void ao_led_init(uint8_t enable); /* * ao_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); /* USB interrupt handler */ void ao_usb_isr(void) interrupt 6; /* Enable the USB controller */ void ao_usb_enable(void); /* Disable the USB controller */ void ao_usb_disable(void); /* Initialize the USB system */ void ao_usb_init(void); /* * ao_cmd.c */ enum ao_cmd_status { ao_cmd_success = 0, ao_cmd_lex_error = 1, ao_cmd_syntax_error = 2, }; extern __xdata uint16_t ao_cmd_lex_i; extern __xdata uint32_t ao_cmd_lex_u32; extern __xdata char ao_cmd_lex_c; extern __xdata enum ao_cmd_status ao_cmd_status; void ao_cmd_lex(void); void ao_cmd_put8(uint8_t v); void ao_cmd_put16(uint16_t v); void ao_cmd_white(void); void ao_cmd_hex(void); void ao_cmd_decimal(void); uint8_t ao_match_word(__code char *word); struct ao_cmds { char cmd; void (*func)(void); const char *help; }; void ao_cmd_register(__code struct ao_cmds *cmds); void ao_cmd_init(void); /* * ao_dma.c */ /* Allocate a DMA channel. the 'done' parameter will be set * when the dma is finished or aborted and will be used to * wakeup any waiters */ #define AO_DMA_DONE 1 #define AO_DMA_ABORTED 2 uint8_t ao_dma_alloc(__xdata uint8_t * done); /* Setup a DMA channel */ void ao_dma_set_transfer(uint8_t id, void __xdata *srcaddr, void __xdata *dstaddr, uint16_t count, uint8_t cfg0, uint8_t cfg1); /* Start a DMA channel */ void ao_dma_start(uint8_t id); /* Manually trigger a DMA channel */ void ao_dma_trigger(uint8_t id); /* Abort a running DMA transfer */ void ao_dma_abort(uint8_t id); /* DMA interrupt routine */ void ao_dma_isr(void) interrupt 8; /* * ao_mutex.c */ void ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; void ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; /* * 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_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; } gps_date; 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); /* 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; /* 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); /* Stop logging */ void ao_log_stop(void); /* Initialize the logging system */ void ao_log_init(void); /* * 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 __xdata struct ao_adc ao_flight_data; extern __pdata enum ao_flight_state ao_flight_state; extern __pdata uint16_t ao_flight_tick; extern __pdata int16_t ao_flight_accel; extern __pdata int16_t ao_flight_pres; extern __pdata int32_t ao_flight_vel; extern __pdata int16_t ao_ground_pres; extern __pdata int16_t ao_ground_accel; extern __pdata int16_t ao_min_pres; extern __pdata uint16_t ao_launch_time; extern __xdata uint8_t ao_flight_force_idle; /* Flight thread */ void ao_flight(void); /* Initialize flight thread */ void ao_flight_init(void); /* * ao_report.c */ void ao_report_init(void); /* * ao_convert.c * * Given raw data, convert to SI units */ /* pressure from the sensor to altitude in meters */ int16_t ao_pres_to_altitude(int16_t pres) __reentrant; int16_t ao_altitude_to_pres(int16_t alt) __reentrant; int16_t ao_temp_to_dC(int16_t temp) __reentrant; /* * ao_dbg.c * * debug another telemetrum board */ /* Send a byte to the dbg target */ void ao_dbg_send_byte(uint8_t byte); /* Receive a byte from the dbg target */ uint8_t ao_dbg_recv_byte(void); /* Start a bulk transfer to/from dbg target memory */ void ao_dbg_start_transfer(uint16_t addr); /* End a bulk transfer to/from dbg target memory */ void ao_dbg_end_transfer(void); /* Write a byte to dbg target memory */ void ao_dbg_write_byte(uint8_t byte); /* Read a byte from dbg target memory */ uint8_t ao_dbg_read_byte(void); /* Enable dbg mode, switching use of the pins */ void ao_dbg_debug_mode(void); /* Reset the dbg target */ void ao_dbg_reset(void); void ao_dbg_init(void); /* * ao_serial.c */ #ifndef HAS_SERIAL_1 #error Please define HAS_SERIAL_1 #endif #if HAS_SERIAL_1 void ao_serial_rx1_isr(void) interrupt 3; void ao_serial_tx1_isr(void) interrupt 14; char ao_serial_getchar(void) __critical; void ao_serial_putchar(char c) __critical; #define AO_SERIAL_SPEED_4800 0 #define AO_SERIAL_SPEED_9600 1 #define AO_SERIAL_SPEED_57600 2 void ao_serial_set_speed(uint8_t speed); void ao_serial_init(void); #endif /* * ao_gps.c */ #define AO_GPS_NUM_SAT_MASK (0xf << 0) #define AO_GPS_NUM_SAT_SHIFT (0) #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) #define AO_GPS_DATE_VALID (1 << 6) extern __xdata uint16_t ao_gps_tick; struct ao_gps_data { uint8_t year; uint8_t month; uint8_t day; uint8_t hour; uint8_t minute; uint8_t second; uint8_t flags; int32_t latitude; /* degrees * 10⁷ */ int32_t longitude; /* degrees * 10⁷ */ int16_t altitude; /* m */ uint16_t ground_speed; /* cm/s */ uint8_t course; /* degrees / 2 */ uint8_t hdop; /* * 5 */ int16_t climb_rate; /* cm/s */ uint16_t h_error; /* m */ uint16_t v_error; /* m */ }; struct ao_gps_sat_data { uint8_t svid; uint8_t c_n_1; }; struct ao_gps_tracking_data { uint8_t channels; struct ao_gps_sat_data sats[12]; }; extern __xdata uint8_t ao_gps_mutex; extern __xdata struct ao_gps_data ao_gps_data; extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data; void ao_gps(void); void ao_gps_print(__xdata struct ao_gps_data *gps_data); void ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data); void ao_gps_init(void); /* * ao_gps_report.c */ void ao_gps_report(void); void ao_gps_report_init(void); /* * ao_telemetry.c */ #define AO_MAX_CALLSIGN 8 #define AO_TELEMETRY_VERSION 2 struct ao_telemetry { uint8_t addr; uint16_t flight; uint8_t flight_state; int16_t flight_accel; int16_t ground_accel; int32_t flight_vel; int16_t flight_pres; int16_t ground_pres; int16_t accel_plus_g; int16_t accel_minus_g; struct ao_adc adc; struct ao_gps_data gps; char callsign[AO_MAX_CALLSIGN]; struct ao_gps_tracking_data gps_tracking; }; /* Set delay between telemetry reports (0 to disable) */ #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50) #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) void ao_telemetry_set_interval(uint16_t interval); void ao_rdf_set(uint8_t rdf); void ao_telemetry_init(void); /* * ao_radio.c */ extern __xdata uint8_t ao_radio_dma; extern __xdata uint8_t ao_radio_dma_done; extern __xdata uint8_t ao_radio_done; extern __xdata uint8_t ao_radio_mutex; void ao_radio_general_isr(void) interrupt 16; void ao_radio_get(void); #define ao_radio_put() ao_mutex_put(&ao_radio_mutex) void ao_radio_set_telemetry(void); void ao_radio_set_packet(void); void ao_radio_set_rdf(void); void ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; struct ao_radio_recv { struct ao_telemetry telemetry; int8_t rssi; uint8_t status; }; uint8_t ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; void ao_radio_rdf(int ms); void ao_radio_abort(void); void ao_radio_rdf_abort(void); void ao_radio_idle(void); void ao_radio_init(void); /* * ao_monitor.c */ extern const char const * const ao_state_names[]; void ao_monitor(void); void ao_set_monitor(uint8_t monitoring); void ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant; /* * ao_stdio.c */ #define AO_READ_AGAIN ((char) -1) struct ao_stdio { char (*pollchar)(void); void (*putchar)(char c) __reentrant; void (*flush)(void); }; void flush(void); extern __xdata uint8_t ao_stdin_ready; void ao_add_stdio(char (*pollchar)(void), void (*putchar)(char) __reentrant, void (*flush)(void)); /* * ao_ignite.c */ enum ao_igniter { ao_igniter_drogue = 0, ao_igniter_main = 1 }; void ao_ignite(enum ao_igniter igniter); enum ao_igniter_status { ao_igniter_unknown, /* unknown status (ambiguous voltage) */ ao_igniter_ready, /* continuity detected */ ao_igniter_active, /* igniter firing */ ao_igniter_open, /* open circuit detected */ }; enum ao_igniter_status ao_igniter_status(enum ao_igniter igniter); void ao_igniter_init(void); /* * ao_config.c */ #define AO_CONFIG_MAJOR 1 #define AO_CONFIG_MINOR 3 struct ao_config { uint8_t major; uint8_t minor; uint16_t main_deploy; int16_t accel_plus_g; /* changed for minor version 2 */ uint8_t radio_channel; char callsign[AO_MAX_CALLSIGN + 1]; uint8_t apogee_delay; /* minor version 1 */ int16_t accel_minus_g; /* minor version 2 */ uint32_t radio_cal; /* minor version 3 */ }; extern __xdata struct ao_config ao_config; void ao_config_get(void); void ao_config_init(void); /* * ao_rssi.c */ void ao_rssi_set(int rssi_value); void ao_rssi_init(uint8_t rssi_led); /* * ao_product.c * * values which need to be defined for * each instance of a product */ extern const uint8_t ao_usb_descriptors []; extern const uint16_t ao_serial_number; extern const char ao_version[]; extern const char ao_manufacturer[]; extern const char ao_product[]; /* * Fifos */ #define AO_FIFO_SIZE 32 struct ao_fifo { uint8_t insert; uint8_t remove; char fifo[AO_FIFO_SIZE]; }; #define ao_fifo_insert(f,c) do { \ (f).fifo[(f).insert] = (c); \ (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \ } while(0) #define ao_fifo_remove(f,c) do {\ c = (f).fifo[(f).remove]; \ (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \ } while(0) #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) #define ao_fifo_empty(f) ((f).insert == (f).remove) /* * ao_packet.c * * Packet-based command interface */ #define AO_PACKET_MAX 8 #define AO_PACKET_SYN (uint8_t) 0xff struct ao_packet { uint8_t addr; uint8_t len; uint8_t seq; uint8_t ack; uint8_t d[AO_PACKET_MAX]; }; struct ao_packet_recv { struct ao_packet packet; int8_t rssi; uint8_t status; }; extern __xdata struct ao_packet_recv ao_rx_packet; extern __xdata struct ao_packet ao_tx_packet; extern __xdata struct ao_task ao_packet_task; extern __xdata uint8_t ao_packet_enable; extern __xdata uint8_t ao_packet_master_sleeping; extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; void ao_packet_send(void); uint8_t ao_packet_recv(void); void ao_packet_flush(void); void ao_packet_putchar(char c) __reentrant; char ao_packet_pollchar(void) __critical; /* ao_packet_master.c */ void ao_packet_master_init(void); /* ao_packet_slave.c */ void ao_packet_slave_start(void); void ao_packet_slave_stop(void); void ao_packet_slave_init(void); #endif /* _AO_H_ */