+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * 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.
- */
-
-#include "ao.h"
-#include "ao_telem.h"
-#include "ao_flight.h"
-
-#if !HAS_MONITOR
-#error Must define HAS_MONITOR to 1
-#endif
-
-#ifndef LEGACY_MONITOR
-#error Must define LEGACY_MONITOR
-#endif
-
-#ifndef HAS_MONITOR_PUT
-#define HAS_MONITOR_PUT 1
-#endif
-
-#ifndef AO_MONITOR_LED
-#error Must define AO_MONITOR_LED
-#endif
-
-__data uint8_t ao_monitoring;
-static __data uint8_t ao_monitor_disabled;
-static __data uint8_t ao_internal_monitoring;
-static __data uint8_t ao_external_monitoring;
-
-__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
-
-__data uint8_t ao_monitor_head;
-
-static void
-_ao_monitor_adjust(void)
-{
- if (ao_monitoring)
- ao_radio_recv_abort();
- if (ao_monitor_disabled)
- ao_monitoring = 0;
- else {
- if (ao_external_monitoring)
- ao_monitoring = ao_external_monitoring;
- else
- ao_monitoring = ao_internal_monitoring;
- }
- ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
-}
-
-void
-ao_monitor_get(void)
-{
- uint8_t size;
-
- for (;;) {
- switch (ao_monitoring) {
- case 0:
- ao_sleep(DATA_TO_XDATA(&ao_monitoring));
- continue;
-#if LEGACY_MONITOR
- case AO_MONITORING_ORIG:
- size = sizeof (struct ao_telemetry_orig_recv);
- break;
-#endif
- default:
- if (ao_monitoring > AO_MAX_TELEMETRY)
- ao_monitoring = AO_MAX_TELEMETRY;
- size = ao_monitoring;
- break;
- }
- if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
- continue;
- ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
- ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
- }
-}
-
-#if AO_MONITOR_LED
-__xdata struct ao_task ao_monitor_blink_task;
-
-void
-ao_monitor_blink(void)
-{
- for (;;) {
- ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
- ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
- }
-}
-#endif
-
-#if HAS_MONITOR_PUT
-
-static const char xdigit[16] = {
- '0', '1', '2', '3', '4', '5', '6', '7',
- '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
-};
-
-#define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
-
-void
-ao_monitor_put(void)
-{
-#if LEGACY_MONITOR
- __xdata char callsign[AO_MAX_CALLSIGN+1];
- int16_t rssi;
-#endif
- uint8_t ao_monitor_tail;
- uint8_t state;
- uint8_t sum, byte;
- __xdata union ao_monitor *m;
-
-#define recv_raw ((m->raw))
-#define recv_orig ((m->orig))
-#define recv_tiny ((m->tiny))
-
- ao_monitor_tail = ao_monitor_head;
- for (;;) {
- while (!ao_external_monitoring)
- ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
- while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
- ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
- if (!ao_external_monitoring)
- continue;
- m = &ao_monitor_ring[ao_monitor_tail];
- ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
- switch (ao_monitoring) {
- case 0:
- break;
-#if LEGACY_MONITOR
- case AO_MONITORING_ORIG:
- state = recv_orig.telemetry_orig.flight_state;
-
- rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
- ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
- if (state > ao_flight_invalid)
- state = ao_flight_invalid;
- if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
-
- /* General header fields */
- printf(AO_TELEM_VERSION " %d "
- AO_TELEM_CALL " %s "
- AO_TELEM_SERIAL " %d "
- AO_TELEM_FLIGHT " %d "
- AO_TELEM_RSSI " %d "
- AO_TELEM_STATE " %s "
- AO_TELEM_TICK " %d ",
- AO_TELEMETRY_VERSION,
- callsign,
- recv_orig.telemetry_orig.serial,
- recv_orig.telemetry_orig.flight,
- rssi,
- ao_state_names[state],
- recv_orig.telemetry_orig.adc.tick);
-
- /* Raw sensor values */
- printf(AO_TELEM_RAW_ACCEL " %d "
- AO_TELEM_RAW_BARO " %d "
- AO_TELEM_RAW_THERMO " %d "
- AO_TELEM_RAW_BATT " %d "
- AO_TELEM_RAW_DROGUE " %d "
- AO_TELEM_RAW_MAIN " %d ",
- recv_orig.telemetry_orig.adc.accel,
- recv_orig.telemetry_orig.adc.pres,
- recv_orig.telemetry_orig.adc.temp,
- recv_orig.telemetry_orig.adc.v_batt,
- recv_orig.telemetry_orig.adc.sense_d,
- recv_orig.telemetry_orig.adc.sense_m);
-
- /* Sensor calibration values */
- printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
- AO_TELEM_CAL_BARO_GROUND " %d "
- AO_TELEM_CAL_ACCEL_PLUS " %d "
- AO_TELEM_CAL_ACCEL_MINUS " %d ",
- recv_orig.telemetry_orig.ground_accel,
- recv_orig.telemetry_orig.ground_pres,
- recv_orig.telemetry_orig.accel_plus_g,
- recv_orig.telemetry_orig.accel_minus_g);
-
- if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
- /* Kalman state values */
- printf(AO_TELEM_KALMAN_HEIGHT " %d "
- AO_TELEM_KALMAN_SPEED " %d "
- AO_TELEM_KALMAN_ACCEL " %d ",
- recv_orig.telemetry_orig.height,
- recv_orig.telemetry_orig.u.k.speed,
- recv_orig.telemetry_orig.accel);
- } else {
- /* Ad-hoc flight values */
- printf(AO_TELEM_ADHOC_ACCEL " %d "
- AO_TELEM_ADHOC_SPEED " %ld "
- AO_TELEM_ADHOC_BARO " %d ",
- recv_orig.telemetry_orig.accel,
- recv_orig.telemetry_orig.u.flight_vel,
- recv_orig.telemetry_orig.height);
- }
- ao_gps_print(&recv_orig.telemetry_orig.gps);
- ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
- putchar('\n');
-#if HAS_RSSI
- ao_rssi_set(rssi);
-#endif
- } else {
- printf("CRC INVALID RSSI %3d\n", rssi);
- }
- break;
-#endif /* LEGACY_MONITOR */
- default:
-#if AO_PROFILE
- {
- extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
- extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
-
- printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
- printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
- printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
- printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
- }
-#endif
- printf("TELEM ");
- hex((uint8_t) (ao_monitoring + 2));
- sum = 0x5a;
- for (state = 0; state < ao_monitoring + 2; state++) {
- byte = recv_raw.packet[state];
- sum += byte;
- hex(byte);
- }
- hex(sum);
- putchar ('\n');
-#if HAS_RSSI
- if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
- rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
- ao_rssi_set(rssi);
- }
-#endif
- break;
- }
- ao_usb_flush();
- }
-}
-
-__xdata struct ao_task ao_monitor_put_task;
-#endif
-
-__xdata struct ao_task ao_monitor_get_task;
-
-void
-ao_monitor_set(uint8_t monitoring)
-{
- ao_internal_monitoring = monitoring;
- _ao_monitor_adjust();
-}
-
-void
-ao_monitor_disable(void)
-{
- ++ao_monitor_disabled;
- _ao_monitor_adjust();
-}
-
-void
-ao_monitor_enable(void)
-{
- --ao_monitor_disabled;
- _ao_monitor_adjust();
-}
-
-#if HAS_MONITOR_PUT
-static void
-set_monitor(void)
-{
- ao_cmd_hex();
- ao_external_monitoring = ao_cmd_lex_i;
- ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
- ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
- _ao_monitor_adjust();
-}
-
-__code struct ao_cmds ao_monitor_cmds[] = {
- { set_monitor, "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
- { 0, NULL },
-};
-#endif
-
-void
-ao_monitor_init(void) __reentrant
-{
-#if HAS_MONITOR_PUT
- ao_cmd_register(&ao_monitor_cmds[0]);
- ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
-#endif
- ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
-#if AO_MONITOR_LED
- ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
-#endif
-}
projects / fw / altos / blobdiff