/* * 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; either version 2 of the License, or * (at your option) any later version. * * 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 #include #include /* replace stdio macros with direct calls to our functions */ #undef putchar #undef getchar #define putchar(c) ao_putchar(c) #define getchar ao_getchar extern int ao_putchar(char c); extern char ao_getchar(void); #ifndef HAS_TASK #define HAS_TASK 1 #endif typedef AO_PORT_TYPE ao_port_t; #if HAS_TASK #include #else #include #endif /* * 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_CRASH 14 /* Processor crashed */ #define AO_PANIC_BUFIO 15 /* Mis-using bufio API */ #define AO_PANIC_EXTI 16 /* Mis-using exti API */ #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */ #define AO_PANIC_ADC 18 /* Mis-using ADC interface */ #define AO_PANIC_IRQ 19 /* interrupts not blocked */ #define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */ #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */ #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */ #define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */ #define AO_PANIC_SELF_TEST_BMX160 0x40 | 3 /* Self test failure */ #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */ #define AO_PANIC_SELF_TEST_ADS124S0X 0x40 | 5 /* Self test failure */ /* Stop the operating system, beeping and blinking the reason */ void ao_panic(uint8_t reason); /* * ao_romconfig.c */ #define AO_ROMCONFIG_VERSION 2 extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_version; extern AO_ROMCONFIG_SYMBOL uint16_t ao_romconfig_check; extern AO_ROMCONFIG_SYMBOL uint16_t ao_serial_number; #if HAS_RADIO extern AO_ROMCONFIG_SYMBOL uint32_t ao_radio_cal; #endif /* * ao_timer.c */ #ifndef AO_TICK_TYPE #define AO_TICK_TYPE uint32_t #define AO_TICK_SIGNED int32_t #endif extern volatile AO_TICK_TYPE ao_tick_count; /* Our timer runs at 100Hz */ #ifndef AO_HERTZ #define AO_HERTZ 100 #endif #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 */ AO_TICK_TYPE ao_time(void); /* Returns the current time in ns */ uint64_t ao_time_ns(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); /* Initialize the timer */ void ao_timer_init(void); /* Initialize the hardware clock. Must be called first */ void ao_clock_init(void); #if AO_POWER_MANAGEMENT /* Go to low power clock */ void ao_clock_suspend(void); /* Restart full-speed clock */ void ao_clock_resume(void); #endif /* * ao_mutex.c */ #ifndef ao_mutex_get uint8_t ao_mutex_try(uint8_t *ao_mutex, uint8_t task_id); void ao_mutex_get(uint8_t *ao_mutex); void ao_mutex_put(uint8_t *ao_mutex); #endif /* * ao_cmd.c */ enum ao_cmd_status { ao_cmd_success = 0, ao_cmd_lex_error = 1, ao_cmd_syntax_error = 2, }; extern char ao_cmd_lex_c; extern enum ao_cmd_status ao_cmd_status; void ao_put_string(const char *s); void ao_cmd_readline(const char *prompt); char 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); uint8_t ao_cmd_hexbyte(void); uint32_t ao_cmd_hex(void); uint32_t ao_cmd_decimal(void); /* Read a single hex nibble off stdin. */ uint8_t ao_getnibble(void); uint8_t ao_match_word(const char *word); struct ao_cmds { void (*func)(void); const char *help; }; void ao_cmd_register(const struct ao_cmds *cmds); void ao_cmd_init(void); void ao_cmd(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 || HAS_LED #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 */ #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5) #define AO_RDF_LENGTH_MS 500 #define AO_RDF_CONTINUITY_MS 32 #define AO_RDF_CONTINUITY_PAUSE 96 #define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE) /* This assumes that we're generating a 1kHz tone, which * modulates the carrier at 2kbps, or 250kBps */ #define AO_MS_TO_RDF_LEN(ms) ((ms) / 4) #define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS) #define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS) #define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE) #define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL) /* returns a value 0-3 to indicate igniter continuity */ uint8_t ao_report_igniter(void); void ao_report_init(void); /* * ao_convert.c * * Given raw data, convert to SI units */ #if HAS_BARO /* pressure from the sensor to altitude in meters */ alt_t ao_pres_to_altitude(pres_t pres); pres_t ao_altitude_to_pres(alt_t alt); int16_t ao_temp_to_dC(int16_t temp); #endif /* * ao_convert_pa.c * * Convert between pressure in Pa and altitude in meters */ #include #if HAS_BARO alt_t ao_pa_to_altitude(pres_t pa); int32_t ao_altitude_to_pa(alt_t alt); #endif #if HAS_DBG #include #endif #if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3 #include #endif /* * ao_convert_volt.c * * Convert ADC readings to decivolts */ int16_t ao_battery_decivolt(int16_t adc); int16_t ao_ignite_decivolt(int16_t adc); /* * ao_spi_slave.c */ uint8_t ao_spi_slave_recv(void *buf, uint16_t len); void ao_spi_slave_send(void *buf, uint16_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) #define AO_GPS_NEW_DATA 1 #define AO_GPS_NEW_TRACKING 2 extern uint8_t ao_gps_new; extern uint16_t ao_gps_tick; extern uint8_t ao_gps_mutex; extern struct ao_telemetry_location ao_gps_data; extern 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_set_rate(uint8_t rate); void ao_gps(void); void ao_gps_print(struct ao_gps_orig *gps_data); void ao_gps_tracking_print(struct ao_gps_tracking_orig *gps_tracking_data); void ao_gps_show(void); void ao_gps_init(void); /* * ao_gps_report.c */ void ao_gps_report(void); void ao_gps_report_init(void); /* * ao_gps_report_mega.c */ void ao_gps_report_mega(void); void 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 */ 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; }; #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 */ #define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74) #define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1) /* * 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) */ #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) void ao_telemetry_reset_interval(void); 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 uint8_t ao_radio_dma; extern int8_t ao_radio_rssi; #ifdef PKT_APPEND_STATUS_1_CRC_OK #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK #else #include #define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK #endif #ifndef HAS_RADIO_RECV #define HAS_RADIO_RECV HAS_RADIO #endif #ifndef HAS_RADIO_XMIT #define HAS_RADIO_XMIT HAS_RADIO #endif #define AO_RADIO_RATE_38400 0 #define AO_RADIO_RATE_9600 1 #define AO_RADIO_RATE_2400 2 #define AO_RADIO_RATE_MAX AO_RADIO_RATE_2400 #if defined(HAS_RADIO) && !defined(HAS_RADIO_RATE) #define HAS_RADIO_RATE HAS_RADIO #endif #if HAS_RADIO_XMIT void ao_radio_send(const void *d, uint8_t size); #endif #if HAS_RADIO_RECV uint8_t ao_radio_recv(void *d, uint8_t size, uint8_t timeout); void ao_radio_recv_abort(void); #endif void ao_radio_test(uint8_t on); typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len); void ao_radio_send_aprs(ao_radio_fill_func fill); /* * ao_radio_pa */ #if HAS_RADIO_AMP void ao_radio_pa_on(void); void ao_radio_pa_off(void); void ao_radio_pa_init(void); #else #define ao_radio_pa_on() #define ao_radio_pa_off() #define ao_radio_pa_init() #endif /* * 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 */ void ao_radio_rdf(void); void ao_radio_continuity(uint8_t c); void ao_radio_rdf_abort(void); void ao_radio_test_on(void); void ao_radio_test_off(void); void ao_radio_init(void); /* * ao_monitor.c */ #if HAS_MONITOR extern const char * const ao_state_names[]; #define AO_MONITOR_RING 8 union ao_monitor { struct ao_telemetry_raw_recv raw; struct ao_telemetry_all_recv all; #if LEGACY_MONITOR struct ao_telemetry_orig_recv orig; struct ao_telemetry_tiny_recv tiny; #endif }; extern union ao_monitor ao_monitor_ring[AO_MONITOR_RING]; #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) #define ao_monitor_ring_prev(n) (((n) - 1) & (AO_MONITOR_RING - 1)) extern uint8_t ao_monitoring_mutex; extern uint8_t ao_monitoring; extern 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); #endif /* * ao_stdio.c */ #define AO_READ_AGAIN (-1) struct ao_stdio { int (*_pollchar)(void); /* Called with interrupts blocked */ void (*putchar)(char c); void (*flush)(void); uint8_t echo; }; extern struct ao_stdio ao_stdios[]; extern int8_t ao_cur_stdio; extern int8_t ao_num_stdios; void flush(void); extern uint8_t ao_stdin_ready; uint8_t ao_echo(void); int8_t ao_add_stdio(int (*pollchar)(void), void (*putchar)(char) , 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 */ }; struct ao_ignition { uint8_t request; uint8_t fired; uint8_t firing; }; extern const char * const ao_igniter_status_names[]; extern struct ao_ignition ao_ignition[2]; enum ao_igniter_status ao_igniter_status(enum ao_igniter igniter); extern uint8_t ao_igniter_present; void ao_ignite_set_pins(void); void ao_igniter_init(void); /* * ao_config.c */ #include #if AO_PYRO_NUM #include #endif #if HAS_FORCE_FREQ /* * Set this to force the frequency to 434.550MHz */ extern uint8_t ao_force_freq; #endif /* * ao_rssi.c */ #ifdef AO_LED_TYPE void ao_rssi_set(int16_t rssi_value); void ao_rssi_init(AO_LED_TYPE rssi_led); #endif /* * 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_mostly(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 3 / 4)) #define ao_fifo_barely(f) ((((f).insert - (f).remove) & (AO_FIFO_SIZE-1)) >= (AO_FIFO_SIZE * 1 / 4)) #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_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 union ao_log_single ao_log_single_write_data; extern 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 /* * ao_terraui.c */ void ao_terraui_init(void); /* * ao_battery.c */ #ifdef BATTERY_PIN 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); /* * ao_ms5607.c */ void ao_ms5607_init(void); #include #endif /* _AO_H_ */