/* * 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 #ifndef PDATA_TO_XDATA #define PDATA_TO_XDATA(a) (a) #endif #ifndef CODE_TO_XDATA #define CODE_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 */ #define AO_PANIC_STACK 12 /* Stack overflow */ #define AO_PANIC_SPI 13 /* SPI communication failure */ #define AO_PANIC_SELF_TEST 14 /* Self test failure */ /* 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); /* * ao_mutex.c */ void ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant; void ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant; /* * 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); uint8_t ao_cmd_is_white(void); 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(const __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 /* * Various drivers */ #if HAS_ADC #include #endif #if HAS_BEEP #include #endif #if LEDS_AVAILABLE #include #endif #if HAS_USB #include #endif #if HAS_EEPROM #include #endif #if HAS_LOG #include #endif #if HAS_FLIGHT #include #include #endif /* * 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_convert_pa.c * * Convert between pressure in Pa and altitude in meters */ int32_t ao_pa_to_altitude(int32_t pa); int32_t ao_altitude_to_pa(int32_t alt); #if HAS_DBG #include #endif #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3 #include #endif /* * ao_spi_slave.c */ uint8_t ao_spi_slave_recv(uint8_t *buf, uint8_t len); void ao_spi_slave_send(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); #include /* * 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_adc_orig { 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 */ }; 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_orig 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 *d, uint8_t size) __reentrant; uint8_t ao_radio_recv(__xdata void *d, 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_all_recv all; 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 void ao_monitor_set(uint8_t monitoring); void ao_monitor_disable(void); void ao_monitor_enable(void); void ao_monitor_init(void) __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 11 #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 _legacy_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 */ uint32_t frequency; /* minor version 10 */ uint16_t apogee_lockout; /* minor version 11 */ }; #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_set_radio(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) #if PACKET_HAS_MASTER || PACKET_HAS_SLAVE #include #endif #if HAS_BTM #include #endif #if HAS_COMPANION #include #endif #if HAS_LCD #include #endif #if HAS_AES #include #endif /* 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 /* * ao_terraui.c */ void ao_terraui_init(void); /* * ao_battery.c */ #ifdef BATTERY_PIN void ao_battery_isr(void) ao_arch_interrupt(1); uint16_t ao_battery_get(void); void ao_battery_init(void); #endif /* BATTERY_PIN */ /* * ao_sqrt.c */ uint32_t ao_sqrt(uint32_t op); /* * ao_freq.c */ int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant; #include /* * ao_ms5607.c */ void ao_ms5607_init(void); #endif /* _AO_H_ */