/* * 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 "ao_pins.h" #include #define TRUE 1 #define FALSE 0 /* Convert a __data pointer into an __xdata pointer */ #ifndef DATA_TO_XDATA #define DATA_TO_XDATA(a) (a) #endif /* An AltOS task */ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ uint16_t alarm; /* abort ao_sleep time */ ao_arch_task_members /* any architecture-specific fields */ uint8_t task_id; /* unique id */ __code char *name; /* task name */ uint8_t stack[AO_STACK_SIZE]; /* saved stack */ }; extern __xdata struct ao_task *__data ao_cur_task; #define AO_NUM_TASKS 16 /* maximum number of tasks */ #define AO_NO_TASK 0 /* no task id */ /* ao_task.c */ /* Suspend the current task until wchan is awoken. * returns: * 0 on normal wake * 1 on alarm */ uint8_t ao_sleep(__xdata void *wchan); /* Wake all tasks sleeping on wchan */ void ao_wakeup(__xdata void *wchan); /* set an alarm to go off in 'delay' ticks */ void ao_alarm(uint16_t delay); /* Clear any pending alarm */ void ao_clear_alarm(void); /* Yield the processor to another task */ void ao_yield(void) ao_arch_naked_declare; /* Add a task to the run queue */ void ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant; /* Terminate the current task */ void ao_exit(void); /* Dump task info to console */ void ao_task_info(void); /* Start the scheduler. This will not return */ void ao_start_scheduler(void); /* * ao_panic.c */ #define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */ #define AO_PANIC_DMA 2 /* Attempt to start DMA while active */ #define AO_PANIC_MUTEX 3 /* Mis-using mutex API */ #define AO_PANIC_EE 4 /* Mis-using eeprom API */ #define AO_PANIC_LOG 5 /* Failing to read/write log data */ #define AO_PANIC_CMD 6 /* Too many command sets registered */ #define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */ #define AO_PANIC_REBOOT 8 /* Reboot failed */ #define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */ #define AO_PANIC_USB 10 /* Trying to send USB packet while busy */ #define AO_PANIC_BT 11 /* Communications with bluetooth device failed */ /* Stop the operating system, beeping and blinking the reason */ void ao_panic(uint8_t reason); /* * ao_timer.c */ /* Our timer runs at 100Hz */ #define AO_HERTZ 100 #define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ)) #define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ) /* Returns the current time in ticks */ uint16_t ao_time(void); /* Suspend the current task until ticks time has passed */ void ao_delay(uint16_t ticks); /* Set the ADC interval */ void ao_timer_set_adc_interval(uint8_t interval) __critical; /* Timer interrupt */ void ao_timer_isr(void) ao_arch_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 */ #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 /* 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); #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); /* Initialize the USB system */ void ao_usb_init(void); #if HAS_USB extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; #endif /* * ao_cmd.c */ enum ao_cmd_status { ao_cmd_success = 0, ao_cmd_lex_error = 1, ao_cmd_syntax_error = 2, }; extern __pdata uint16_t ao_cmd_lex_i; extern __pdata uint32_t ao_cmd_lex_u32; extern __pdata char ao_cmd_lex_c; extern __pdata enum ao_cmd_status ao_cmd_status; void ao_cmd_lex(void); void ao_cmd_put8(uint8_t v); void ao_cmd_put16(uint16_t v); void ao_cmd_white(void); int8_t ao_cmd_hexchar(char c); void ao_cmd_hexbyte(void); void ao_cmd_hex(void); void ao_cmd_decimal(void); uint8_t ao_match_word(__code char *word); struct ao_cmds { void (*func)(void); __code char *help; }; void ao_cmd_register(__code struct ao_cmds *cmds); void ao_cmd_init(void); #if HAS_CMD_FILTER /* * Provided by an external module to filter raw command lines */ uint8_t ao_cmd_filter(void); #endif /* * ao_dma.c */ /* Allocate a DMA channel. the 'done' parameter will be set when the * dma is finished and will be used to wakeup any waiters */ uint8_t ao_dma_alloc(__xdata uint8_t * done); /* Setup a DMA channel */ void ao_dma_set_transfer(uint8_t id, void __xdata *srcaddr, void __xdata *dstaddr, uint16_t count, uint8_t cfg0, uint8_t cfg1); /* Start a DMA channel */ void ao_dma_start(uint8_t id); /* Manually trigger a DMA channel */ void ao_dma_trigger(uint8_t id); /* Abort a running DMA transfer */ void ao_dma_abort(uint8_t id); /* DMA interrupt routine */ void ao_dma_isr(void) ao_arch_interrupt(8); /* * ao_mutex.c */ void ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; void ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; /* * Storage interface, provided by one of the eeprom or flash * drivers */ /* Total bytes of available storage */ extern __pdata uint32_t ao_storage_total; /* Block size - device is erased in these units. At least 256 bytes */ extern __pdata uint32_t ao_storage_block; /* Byte offset of config block. Will be ao_storage_block bytes long */ extern __pdata uint32_t ao_storage_config; /* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */ extern __pdata uint16_t ao_storage_unit; #define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE) /* Initialize above values. Can only be called once the OS is running */ void ao_storage_setup(void) __reentrant; /* Write data. Returns 0 on failure, 1 on success */ uint8_t ao_storage_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; /* Read data. Returns 0 on failure, 1 on success */ uint8_t ao_storage_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; /* Erase a block of storage. This always clears ao_storage_block bytes */ uint8_t ao_storage_erase(uint32_t pos) __reentrant; /* Flush any pending writes to stable storage */ void ao_storage_flush(void) __reentrant; /* Initialize the storage code */ void ao_storage_init(void); /* * Low-level functions wrapped by ao_storage.c */ /* Read data within a storage unit */ uint8_t ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; /* Write data within a storage unit */ uint8_t ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant; /* Initialize low-level device bits */ void ao_storage_device_init(void); /* Print out information about flash chips */ void ao_storage_device_info(void) __reentrant; /* * ao_log.c */ /* We record flight numbers in the first record of * the log. Tasks may wait for this to be initialized * by sleeping on this variable. */ extern __xdata uint16_t ao_flight_number; extern __pdata uint32_t ao_log_current_pos; extern __pdata uint32_t ao_log_end_pos; extern __pdata uint32_t ao_log_start_pos; extern __xdata uint8_t ao_log_running; extern __pdata enum flight_state ao_log_state; /* required functions from the underlying log system */ #define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ #define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */ #define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */ #define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ #define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ #define AO_LOG_FORMAT_NONE 127 /* No log at all */ extern __code uint8_t ao_log_format; /* Return the flight number from the given log slot, 0 if none */ uint16_t ao_log_flight(uint8_t slot); /* Flush the log */ void ao_log_flush(void); /* Logging thread main routine */ void ao_log(void); /* functions provided in ao_log.c */ /* Figure out the current flight number */ void ao_log_scan(void) __reentrant; /* Return the position of the start of the given log slot */ uint32_t ao_log_pos(uint8_t slot); /* Start logging to eeprom */ void ao_log_start(void); /* Stop logging */ void ao_log_stop(void); /* Initialize the logging system */ void ao_log_init(void); /* Write out the current flight number to the erase log */ void ao_log_write_erase(uint8_t pos); /* Returns true if there are any logs stored in eeprom */ uint8_t ao_log_present(void); /* Returns true if there is no more storage space available */ uint8_t ao_log_full(void); /* * ao_log_big.c */ /* * The data log is recorded in the eeprom as a sequence * of data packets. * * Each packet starts with a 4-byte header that has the * packet type, the packet checksum and the tick count. Then * they all contain 2 16 bit values which hold packet-specific * data. * * For each flight, the first packet * is FLIGHT packet, indicating the serial number of the * device and a unique number marking the number of flights * recorded by this device. * * During flight, data from the accelerometer and barometer * are recorded in SENSOR packets, using the raw 16-bit values * read from the A/D converter. * * Also during flight, but at a lower rate, the deployment * sensors are recorded in DEPLOY packets. The goal here is to * detect failure in the deployment circuits. * * STATE packets hold state transitions as the flight computer * transitions through different stages of the flight. */ #define AO_LOG_FLIGHT 'F' #define AO_LOG_SENSOR 'A' #define AO_LOG_TEMP_VOLT 'T' #define AO_LOG_DEPLOY 'D' #define AO_LOG_STATE 'S' #define AO_LOG_GPS_TIME 'G' #define AO_LOG_GPS_LAT 'N' #define AO_LOG_GPS_LON 'W' #define AO_LOG_GPS_ALT 'H' #define AO_LOG_GPS_SAT 'V' #define AO_LOG_GPS_DATE 'Y' #define AO_LOG_POS_NONE (~0UL) struct ao_log_record { char type; uint8_t csum; uint16_t tick; union { struct { int16_t ground_accel; uint16_t flight; } flight; struct { int16_t accel; int16_t pres; } sensor; struct { int16_t temp; int16_t v_batt; } temp_volt; struct { int16_t drogue; int16_t main; } deploy; struct { uint16_t state; uint16_t reason; } state; struct { uint8_t hour; uint8_t minute; uint8_t second; uint8_t flags; } gps_time; int32_t gps_latitude; int32_t gps_longitude; struct { int16_t altitude; uint16_t unused; } gps_altitude; struct { uint16_t svid; uint8_t unused; uint8_t c_n; } gps_sat; struct { uint8_t year; uint8_t month; uint8_t day; uint8_t extra; } gps_date; struct { uint16_t d0; uint16_t d1; } anon; } u; }; /* Write a record to the eeprom log */ uint8_t ao_log_data(__xdata struct ao_log_record *log) __reentrant; /* * ao_flight.c */ enum ao_flight_state { ao_flight_startup = 0, ao_flight_idle = 1, ao_flight_pad = 2, ao_flight_boost = 3, ao_flight_fast = 4, ao_flight_coast = 5, ao_flight_drogue = 6, ao_flight_main = 7, ao_flight_landed = 8, ao_flight_invalid = 9 }; extern __pdata enum ao_flight_state ao_flight_state; extern __pdata uint16_t ao_launch_time; extern __pdata uint8_t ao_flight_force_idle; /* Flight thread */ void ao_flight(void); /* Initialize flight thread */ void ao_flight_init(void); /* * ao_flight_nano.c */ void ao_flight_nano_init(void); /* * ao_sample.c */ /* * Barometer calibration * * We directly sample the barometer. The specs say: * * Pressure range: 15-115 kPa * Voltage at 115kPa: 2.82 * Output scale: 27mV/kPa * * If we want to detect launch with the barometer, we need * a large enough bump to not be fooled by noise. At typical * launch elevations (0-2000m), a 200Pa pressure change cooresponds * to about a 20m elevation change. This is 5.4mV, or about 3LSB. * As all of our calculations are done in 16 bits, we'll actually see a change * of 16 times this though * * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa */ /* Accelerometer calibration * * We're sampling the accelerometer through a resistor divider which * consists of 5k and 10k resistors. This multiplies the values by 2/3. * That goes into the cc1111 A/D converter, which is running at 11 bits * of precision with the bits in the MSB of the 16 bit value. Only positive * values are used, so values should range from 0-32752 for 0-3.3V. The * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV, * for a final computation of: * * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g * * Zero g was measured at 16000 (we would expect 16384). * Note that this value is only require to tell if the * rocket is standing upright. Once that is determined, * the value of the accelerometer is averaged for 100 samples * to find the resting accelerometer value, which is used * for all further flight computations */ #define GRAVITY 9.80665 /* * Above this height, the baro sensor doesn't work */ #define AO_MAX_BARO_HEIGHT 12000 /* * Above this speed, baro measurements are unreliable */ #define AO_MAX_BARO_SPEED 200 #define ACCEL_NOSE_UP (ao_accel_2g >> 2) /* * Speed and acceleration are scaled by 16 to provide a bit more * resolution while still having reasonable range. Note that this * limits speed to 2047m/s (around mach 6) and acceleration to * 2047m/s² (over 200g) */ #define AO_M_TO_HEIGHT(m) ((int16_t) (m)) #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) extern __pdata uint16_t ao_sample_tick; /* time of last data */ extern __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */ extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */ extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */ extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ #if HAS_ACCEL extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */ #endif extern __pdata int16_t ao_ground_pres; /* startup pressure */ extern __pdata int16_t ao_ground_height; /* MSL of ao_ground_pres */ #if HAS_ACCEL extern __pdata int16_t ao_ground_accel; /* startup acceleration */ extern __pdata int16_t ao_accel_2g; /* factory accel calibration */ extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ #endif void ao_sample_init(void); /* returns FALSE in preflight mode, TRUE in flight mode */ uint8_t ao_sample(void); /* * ao_kalman.c */ #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix(x) ((x) >> 16) extern __pdata int16_t ao_height; /* meters */ extern __pdata int16_t ao_speed; /* m/s * 16 */ extern __pdata int16_t ao_accel; /* m/s² * 16 */ extern __pdata int16_t ao_max_height; /* max of ao_height */ extern __pdata int16_t ao_avg_height; /* running average of height */ extern __pdata int16_t ao_error_h; extern __pdata int16_t ao_error_h_sq_avg; #if HAS_ACCEL extern __pdata int16_t ao_error_a; #endif void ao_kalman(void); /* * ao_report.c */ void ao_report_init(void); /* * ao_convert.c * * Given raw data, convert to SI units */ /* pressure from the sensor to altitude in meters */ int16_t ao_pres_to_altitude(int16_t pres) __reentrant; int16_t ao_altitude_to_pres(int16_t alt) __reentrant; int16_t ao_temp_to_dC(int16_t temp) __reentrant; /* * ao_dbg.c * * debug another telemetrum board */ /* Send a byte to the dbg target */ void ao_dbg_send_byte(uint8_t byte); /* Receive a byte from the dbg target */ uint8_t ao_dbg_recv_byte(void); /* Start a bulk transfer to/from dbg target memory */ void ao_dbg_start_transfer(uint16_t addr); /* End a bulk transfer to/from dbg target memory */ void ao_dbg_end_transfer(void); /* Write a byte to dbg target memory */ void ao_dbg_write_byte(uint8_t byte); /* Read a byte from dbg target memory */ uint8_t ao_dbg_read_byte(void); /* Enable dbg mode, switching use of the pins */ void ao_dbg_debug_mode(void); /* Reset the dbg target */ void ao_dbg_reset(void); void ao_dbg_init(void); /* * ao_serial.c */ #ifndef HAS_SERIAL_1 #error Please define HAS_SERIAL_1 #endif #if HAS_SERIAL_1 #ifndef USE_SERIAL_STDIN #error Please define USE_SERIAL_STDIN #endif void ao_serial_rx1_isr(void) 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 stdin); #endif void ao_serial_putchar(char c) __critical; void ao_serial_drain(void) __critical; #define AO_SERIAL_SPEED_4800 0 #define AO_SERIAL_SPEED_9600 1 #define AO_SERIAL_SPEED_19200 2 #define AO_SERIAL_SPEED_57600 3 void ao_serial_set_speed(uint8_t speed); void ao_serial_init(void); #endif /* * ao_spi.c */ extern __xdata uint8_t ao_spi_mutex; #define ao_spi_get_mask(reg,mask) do {\ ao_mutex_get(&ao_spi_mutex); \ (reg) &= ~(mask); \ } while (0) #define ao_spi_put_mask(reg,mask) do { \ (reg) |= (mask); \ ao_mutex_put(&ao_spi_mutex); \ } while (0) #define ao_spi_get_bit(bit) do {\ ao_mutex_get(&ao_spi_mutex); \ (bit) = 0; \ } while (0) #define ao_spi_put_bit(bit) do { \ (bit) = 1; \ ao_mutex_put(&ao_spi_mutex); \ } while (0) /* * The SPI mutex must be held to call either of these * functions -- this mutex covers the entire SPI operation, * from chip select low to chip select high */ void ao_spi_send(void __xdata *block, uint16_t len) __reentrant; void ao_spi_recv(void __xdata *block, uint16_t len) __reentrant; void ao_spi_init(void); /* * ao_spi_slave.c */ uint8_t ao_spi_read(uint8_t *buf, uint8_t len); void ao_spi_write(uint8_t *buf, uint8_t len); void ao_spi_slave_init(void); /* This must be defined by the product; it will get called when chip * select goes low, at which point it should use ao_spi_read and * ao_spi_write to deal with the request */ void ao_spi_slave(void); /* * ao_telemetry.c */ #define AO_MAX_CALLSIGN 8 #define AO_MAX_VERSION 8 #define AO_MAX_TELEMETRY 128 struct ao_telemetry_generic { uint16_t serial; /* 0 */ uint16_t tick; /* 2 */ uint8_t type; /* 4 */ uint8_t payload[27]; /* 5 */ /* 32 */ }; #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02 #define AO_TELEMETRY_SENSOR_TELENANO 0x03 struct ao_telemetry_sensor { uint16_t serial; /* 0 */ uint16_t tick; /* 2 */ uint8_t type; /* 4 */ uint8_t state; /* 5 flight state */ int16_t accel; /* 6 accelerometer (TM only) */ int16_t pres; /* 8 pressure sensor */ int16_t temp; /* 10 temperature sensor */ int16_t v_batt; /* 12 battery voltage */ int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */ int16_t sense_m; /* 16 main continuity sense (TM/Tm) */ int16_t acceleration; /* 18 m/s² * 16 */ int16_t speed; /* 20 m/s * 16 */ int16_t height; /* 22 m */ int16_t ground_pres; /* 24 average pres on pad */ int16_t ground_accel; /* 26 average accel on pad */ int16_t accel_plus_g; /* 28 accel calibration at +1g */ int16_t accel_minus_g; /* 30 accel calibration at -1g */ /* 32 */ }; #define AO_TELEMETRY_CONFIGURATION 0x04 struct ao_telemetry_configuration { uint16_t serial; /* 0 */ uint16_t tick; /* 2 */ uint8_t type; /* 4 */ uint8_t device; /* 5 device type */ uint16_t flight; /* 6 flight number */ uint8_t config_major; /* 8 Config major version */ uint8_t config_minor; /* 9 Config minor version */ uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */ uint16_t main_deploy; /* 12 Main deploy alt in meters */ uint16_t flight_log_max; /* 14 Maximum flight log size in kB */ char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */ char version[AO_MAX_VERSION]; /* 24 Software version */ /* 32 */ }; #define AO_TELEMETRY_LOCATION 0x05 #define AO_GPS_MODE_NOT_VALID 'N' #define AO_GPS_MODE_AUTONOMOUS 'A' #define AO_GPS_MODE_DIFFERENTIAL 'D' #define AO_GPS_MODE_ESTIMATED 'E' #define AO_GPS_MODE_MANUAL 'M' #define AO_GPS_MODE_SIMULATED 'S' struct ao_telemetry_location { uint16_t serial; /* 0 */ uint16_t tick; /* 2 */ uint8_t type; /* 4 */ uint8_t flags; /* 5 Number of sats and other flags */ int16_t altitude; /* 6 GPS reported altitude (m) */ int32_t latitude; /* 8 latitude (degrees * 10⁷) */ int32_t longitude; /* 12 longitude (degrees * 10⁷) */ uint8_t year; /* 16 (- 2000) */ uint8_t month; /* 17 (1-12) */ uint8_t day; /* 18 (1-31) */ uint8_t hour; /* 19 (0-23) */ uint8_t minute; /* 20 (0-59) */ uint8_t second; /* 21 (0-59) */ uint8_t pdop; /* 22 (m * 5) */ uint8_t hdop; /* 23 (m * 5) */ uint8_t vdop; /* 24 (m * 5) */ uint8_t mode; /* 25 */ uint16_t ground_speed; /* 26 cm/s */ int16_t climb_rate; /* 28 cm/s */ uint8_t course; /* 30 degrees / 2 */ uint8_t unused[1]; /* 31 */ /* 32 */ }; #define AO_TELEMETRY_SATELLITE 0x06 struct ao_telemetry_satellite_info { uint8_t svid; uint8_t c_n_1; }; struct ao_telemetry_satellite { uint16_t serial; /* 0 */ uint16_t tick; /* 2 */ uint8_t type; /* 4 */ uint8_t channels; /* 5 number of reported sats */ struct ao_telemetry_satellite_info sats[12]; /* 6 */ uint8_t unused[2]; /* 30 */ /* 32 */ }; #define AO_TELEMETRY_COMPANION 0x07 #define AO_COMPANION_MAX_CHANNELS 12 struct ao_telemetry_companion { uint16_t serial; /* 0 */ uint16_t tick; /* 2 */ uint8_t type; /* 4 */ uint8_t board_id; /* 5 */ uint8_t update_period; /* 6 */ uint8_t channels; /* 7 */ uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */ /* 32 */ }; /* #define AO_SEND_ALL_BARO */ #define AO_TELEMETRY_BARO 0x80 /* * This packet allows the full sampling rate baro * data to be captured over the RF link so that the * flight software can be tested using 'real' data. * * Along with this telemetry packet, the flight * code is modified to send full-rate telemetry all the time * and never send an RDF tone; this ensure that the full radio * link is available. */ struct ao_telemetry_baro { uint16_t serial; /* 0 */ uint16_t tick; /* 2 */ uint8_t type; /* 4 */ uint8_t samples; /* 5 number samples */ int16_t baro[12]; /* 6 samples */ /* 32 */ }; union ao_telemetry_all { struct ao_telemetry_generic generic; struct ao_telemetry_sensor sensor; struct ao_telemetry_configuration configuration; struct ao_telemetry_location location; struct ao_telemetry_satellite satellite; struct ao_telemetry_companion companion; struct ao_telemetry_baro baro; }; /* * ao_gps.c */ #define AO_GPS_NUM_SAT_MASK (0xf << 0) #define AO_GPS_NUM_SAT_SHIFT (0) #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) #define AO_GPS_DATE_VALID (1 << 6) #define AO_GPS_COURSE_VALID (1 << 7) extern __pdata uint16_t ao_gps_tick; extern __xdata uint8_t ao_gps_mutex; extern __xdata struct ao_telemetry_location ao_gps_data; extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data; struct ao_gps_orig { uint8_t year; uint8_t month; uint8_t day; uint8_t hour; uint8_t minute; uint8_t second; uint8_t flags; int32_t latitude; /* degrees * 10⁷ */ int32_t longitude; /* degrees * 10⁷ */ int16_t altitude; /* m */ uint16_t ground_speed; /* cm/s */ uint8_t course; /* degrees / 2 */ uint8_t hdop; /* * 5 */ int16_t climb_rate; /* cm/s */ uint16_t h_error; /* m */ uint16_t v_error; /* m */ }; struct ao_gps_sat_orig { uint8_t svid; uint8_t c_n_1; }; #define AO_MAX_GPS_TRACKING 12 struct ao_gps_tracking_orig { uint8_t channels; struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; }; void ao_gps(void); void ao_gps_print(__xdata struct ao_gps_orig *gps_data); void ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data); void ao_gps_init(void); /* * ao_gps_report.c */ void ao_gps_report(void); void ao_gps_report_init(void); /* * ao_telemetry_orig.c */ struct ao_telemetry_orig { uint16_t serial; uint16_t flight; uint8_t flight_state; int16_t accel; int16_t ground_accel; union { struct { int16_t speed; int16_t unused; } k; int32_t flight_vel; } u; int16_t height; int16_t ground_pres; int16_t accel_plus_g; int16_t accel_minus_g; struct ao_adc adc; struct ao_gps_orig gps; char callsign[AO_MAX_CALLSIGN]; struct ao_gps_tracking_orig gps_tracking; }; struct ao_telemetry_tiny { uint16_t serial; uint16_t flight; uint8_t flight_state; int16_t height; /* AGL in meters */ int16_t speed; /* in m/s * 16 */ int16_t accel; /* in m/s² * 16 */ int16_t ground_pres; /* sensor units */ struct ao_adc adc; /* raw ADC readings */ char callsign[AO_MAX_CALLSIGN]; }; struct ao_telemetry_orig_recv { struct ao_telemetry_orig telemetry_orig; int8_t rssi; uint8_t status; }; struct ao_telemetry_tiny_recv { struct ao_telemetry_tiny telemetry_tiny; int8_t rssi; uint8_t status; }; /* * ao_radio_recv tacks on rssi and status bytes */ struct ao_telemetry_raw_recv { uint8_t packet[AO_MAX_TELEMETRY + 2]; }; /* Set delay between telemetry reports (0 to disable) */ #ifdef AO_SEND_ALL_BARO #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100) #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100) #else #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) #define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) #endif void ao_telemetry_set_interval(uint16_t interval); void ao_rdf_set(uint8_t rdf); void ao_telemetry_init(void); void ao_telemetry_orig_init(void); void ao_telemetry_tiny_init(void); /* * ao_radio.c */ extern __xdata uint8_t ao_radio_dma; extern __xdata uint8_t ao_radio_dma_done; extern __xdata uint8_t ao_radio_done; extern __xdata uint8_t ao_radio_mutex; void ao_radio_general_isr(void) ao_arch_interrupt(16); void ao_radio_get(uint8_t len); #define ao_radio_put() ao_mutex_put(&ao_radio_mutex) void ao_radio_set_packet(void); void ao_radio_send(__xdata void *data, uint8_t size) __reentrant; uint8_t ao_radio_recv(__xdata void *data, uint8_t size) __reentrant; void ao_radio_recv_abort(void); /* * Compute the packet length as follows: * * 2000 bps (for a 1kHz tone) * so, for 'ms' milliseconds, we need * 2 * ms bits, or ms / 4 bytes */ #define AO_MS_TO_RDF_LEN(ms) ((ms) > 255 * 4 ? 255 : ((ms) >> 2)) void ao_radio_rdf(uint8_t pkt_len); 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[]; #define AO_MONITOR_RING 8 union ao_monitor { struct ao_telemetry_raw_recv raw; struct ao_telemetry_orig_recv orig; struct ao_telemetry_tiny_recv tiny; }; extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) extern __data uint8_t ao_monitoring; extern __data uint8_t ao_monitor_head; void ao_monitor(void); #define AO_MONITORING_OFF 0 #define AO_MONITORING_ORIG 1 #define AO_MONITORING_TINY 2 void ao_set_monitor(uint8_t monitoring); void ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant; /* * ao_stdio.c */ #define AO_READ_AGAIN ((char) -1) struct ao_stdio { char (*pollchar)(void); void (*putchar)(char c) __reentrant; void (*flush)(void); uint8_t echo; }; extern __xdata struct ao_stdio ao_stdios[]; extern __pdata int8_t ao_cur_stdio; extern __pdata int8_t ao_num_stdios; void flush(void); extern __xdata uint8_t ao_stdin_ready; uint8_t ao_echo(void); int8_t ao_add_stdio(char (*pollchar)(void), void (*putchar)(char) __reentrant, void (*flush)(void)) __reentrant; /* * ao_ignite.c */ enum ao_igniter { ao_igniter_drogue = 0, ao_igniter_main = 1 }; void ao_ignite(enum ao_igniter igniter); enum ao_igniter_status { ao_igniter_unknown, /* unknown status (ambiguous voltage) */ ao_igniter_ready, /* continuity detected */ ao_igniter_active, /* igniter firing */ ao_igniter_open, /* open circuit detected */ }; struct ao_ignition { uint8_t request; uint8_t fired; uint8_t firing; }; extern __xdata struct ao_ignition ao_ignition[2]; enum ao_igniter_status ao_igniter_status(enum ao_igniter igniter); extern __pdata uint8_t ao_igniter_present; void ao_ignite_set_pins(void); void ao_igniter_init(void); /* * ao_config.c */ #define AO_CONFIG_MAJOR 1 #define AO_CONFIG_MINOR 9 #define AO_AES_LEN 16 struct ao_config { uint8_t major; uint8_t minor; uint16_t main_deploy; int16_t accel_plus_g; /* changed for minor version 2 */ uint8_t radio_channel; char callsign[AO_MAX_CALLSIGN + 1]; uint8_t apogee_delay; /* minor version 1 */ int16_t accel_minus_g; /* minor version 2 */ uint32_t radio_cal; /* minor version 3 */ uint32_t flight_log_max; /* minor version 4 */ uint8_t ignite_mode; /* minor version 5 */ uint8_t pad_orientation; /* minor version 6 */ uint32_t radio_setting; /* minor version 7 */ uint8_t radio_enable; /* minor version 8 */ uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */ }; #define AO_IGNITE_MODE_DUAL 0 #define AO_IGNITE_MODE_APOGEE 1 #define AO_IGNITE_MODE_MAIN 2 #define AO_PAD_ORIENTATION_ANTENNA_UP 0 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 extern __xdata struct ao_config ao_config; #define AO_CONFIG_MAX_SIZE 128 void ao_config_get(void); void ao_config_put(void); void ao_config_init(void); /* * ao_rssi.c */ void ao_rssi_set(int rssi_value); void ao_rssi_init(uint8_t rssi_led); /* * ao_product.c * * values which need to be defined for * each instance of a product */ extern const char ao_version[]; extern const char ao_manufacturer[]; extern const char ao_product[]; /* * Fifos */ #define AO_FIFO_SIZE 32 struct ao_fifo { uint8_t insert; uint8_t remove; char fifo[AO_FIFO_SIZE]; }; #define ao_fifo_insert(f,c) do { \ (f).fifo[(f).insert] = (c); \ (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \ } while(0) #define ao_fifo_remove(f,c) do {\ c = (f).fifo[(f).remove]; \ (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \ } while(0) #define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove) #define ao_fifo_empty(f) ((f).insert == (f).remove) /* * ao_packet.c * * Packet-based command interface */ #define AO_PACKET_MAX 64 #define AO_PACKET_SYN (uint8_t) 0xff struct ao_packet { uint8_t addr; uint8_t len; uint8_t seq; uint8_t ack; uint8_t d[AO_PACKET_MAX]; uint8_t callsign[AO_MAX_CALLSIGN]; }; struct ao_packet_recv { struct ao_packet packet; int8_t rssi; uint8_t status; }; extern __xdata struct ao_packet_recv ao_rx_packet; extern __xdata struct ao_packet ao_tx_packet; extern __xdata struct ao_task ao_packet_task; extern __xdata uint8_t ao_packet_enable; extern __xdata uint8_t ao_packet_master_sleeping; extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used; void ao_packet_send(void); uint8_t ao_packet_recv(void); void ao_packet_flush(void); void ao_packet_putchar(char c) __reentrant; char ao_packet_pollchar(void) __critical; /* ao_packet_master.c */ void ao_packet_master_init(void); /* ao_packet_slave.c */ void ao_packet_slave_start(void); void ao_packet_slave_stop(void); void ao_packet_slave_init(uint8_t enable); /* ao_btm.c */ /* If bt_link is on P2, this interrupt is shared by USB, so the USB * code calls this function. Otherwise, it's a regular ISR. */ void ao_btm_isr(void) #if BT_LINK_ON_P1 __interrupt 15 #endif ; void ao_btm_init(void); /* ao_companion.c */ #define AO_COMPANION_SETUP 1 #define AO_COMPANION_FETCH 2 #define AO_COMPANION_NOTIFY 3 struct ao_companion_command { uint8_t command; uint8_t flight_state; uint16_t tick; uint16_t serial; uint16_t flight; }; struct ao_companion_setup { uint16_t board_id; uint16_t board_id_inverse; uint8_t update_period; uint8_t channels; }; extern __pdata uint8_t ao_companion_running; extern __xdata uint8_t ao_companion_mutex; extern __xdata struct ao_companion_command ao_companion_command; extern __xdata struct ao_companion_setup ao_companion_setup; extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; void ao_companion_init(void); /* ao_lcd.c */ void ao_lcd_init(void); /* ao_aes.c */ __xdata uint8_t ao_aes_mutex; /* AES keys and blocks are 128 bits */ enum ao_aes_mode { ao_aes_mode_cbc_mac }; #if HAS_AES void ao_aes_isr(void) __interrupt 4; #endif void ao_aes_set_mode(enum ao_aes_mode mode); void ao_aes_set_key(__xdata uint8_t *in); void ao_aes_zero_iv(void); void ao_aes_run(__xdata uint8_t *in, __xdata uint8_t *out); void ao_aes_init(void); /* ao_radio_cmac.c */ int8_t ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant; #define AO_RADIO_CMAC_OK 0 #define AO_RADIO_CMAC_LEN_ERROR -1 #define AO_RADIO_CMAC_CRC_ERROR -2 #define AO_RADIO_CMAC_MAC_ERROR -3 #define AO_RADIO_CMAC_TIMEOUT -4 int8_t ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant; void ao_radio_cmac_init(void); /* ao_launch.c */ struct ao_launch_command { uint16_t tick; uint16_t serial; uint8_t cmd; uint8_t channel; uint16_t unused; }; #define AO_LAUNCH_QUERY 1 struct ao_launch_query { uint16_t tick; uint16_t serial; uint8_t channel; uint8_t valid; uint8_t arm_status; uint8_t igniter_status; }; #define AO_LAUNCH_ARM 2 #define AO_LAUNCH_FIRE 3 void ao_launch_init(void); /* * ao_log_single.c */ #define AO_LOG_TELESCIENCE_START ((uint8_t) 's') #define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd') #define AO_LOG_TELESCIENCE_NUM_ADC 12 struct ao_log_telescience { uint8_t type; uint8_t csum; uint16_t tick; uint16_t tm_tick; uint8_t tm_state; uint8_t unused; uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC]; }; #define AO_LOG_SINGLE_SIZE 32 union ao_log_single { struct ao_log_telescience telescience; union ao_telemetry_all telemetry; uint8_t bytes[AO_LOG_SINGLE_SIZE]; }; extern __xdata union ao_log_single ao_log_single_write_data; extern __xdata union ao_log_single ao_log_single_read_data; void ao_log_single_extra_query(void); void ao_log_single_list(void); void ao_log_single_main(void); uint8_t ao_log_single_write(void); uint8_t ao_log_single_read(uint32_t pos); void ao_log_single_start(void); void ao_log_single_stop(void); void ao_log_single_restart(void); void ao_log_single_set(void); void ao_log_single_delete(void); void ao_log_single_init(void); void ao_log_single(void); /* * ao_pyro_slave.c */ #define AO_TELEPYRO_NUM_ADC 9 #ifndef ao_xmemcpy #define ao_xmemcpy(d,s,c) memcpy(d,s,c) #define ao_xmemset(d,v,c) memset(d,v,c) #define ao_xmemcmp(d,s,c) memcmp(d,s,c) #endif #endif /* _AO_H_ */