+++ /dev/null
-/*
- * Copyright © 2011 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_log.h"
-#include "ao_product.h"
-
-#ifndef HAS_RDF
-#define HAS_RDF 1
-#endif
-
-static __pdata uint16_t ao_telemetry_interval;
-
-#if HAS_RDF
-static __pdata uint8_t ao_rdf = 0;
-static __pdata uint16_t ao_rdf_time;
-#endif
-
-#if HAS_APRS
-static __pdata uint16_t ao_aprs_time;
-
-#include <ao_aprs.h>
-#endif
-
-#if defined(TELEMEGA)
-#define AO_SEND_MEGA 1
-#endif
-
-#if defined (TELEMETRUM_V_2_0)
-#define AO_SEND_METRUM 1
-#endif
-
-#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
-#endif
-
-#if defined(TELEMINI_V_1_0)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
-#endif
-
-#if defined(TELENANO_V_0_1)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
-#endif
-
-static __xdata union ao_telemetry_all telemetry;
-
-#if defined AO_TELEMETRY_SENSOR
-/* Send sensor packet */
-static void
-ao_send_sensor(void)
-{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_SENSOR;
-
- telemetry.sensor.state = ao_flight_state;
-#if HAS_ACCEL
- telemetry.sensor.accel = packet->adc.accel;
-#else
- telemetry.sensor.accel = 0;
-#endif
- telemetry.sensor.pres = ao_data_pres(packet);
- telemetry.sensor.temp = packet->adc.temp;
- telemetry.sensor.v_batt = packet->adc.v_batt;
-#if HAS_IGNITE
- telemetry.sensor.sense_d = packet->adc.sense_d;
- telemetry.sensor.sense_m = packet->adc.sense_m;
-#else
- telemetry.sensor.sense_d = 0;
- telemetry.sensor.sense_m = 0;
-#endif
-
- telemetry.sensor.acceleration = ao_accel;
- telemetry.sensor.speed = ao_speed;
- telemetry.sensor.height = ao_height;
-
- telemetry.sensor.ground_pres = ao_ground_pres;
-#if HAS_ACCEL
- telemetry.sensor.ground_accel = ao_ground_accel;
- telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
- telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
-#else
- telemetry.sensor.ground_accel = 0;
- telemetry.sensor.accel_plus_g = 0;
- telemetry.sensor.accel_minus_g = 0;
-#endif
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-#endif
-
-
-#ifdef AO_SEND_MEGA
-/* Send mega sensor packet */
-static void
-ao_send_mega_sensor(void)
-{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
-
- telemetry.mega_sensor.orient = ao_sample_orient;
- telemetry.mega_sensor.accel = ao_data_accel(packet);
- telemetry.mega_sensor.pres = ao_data_pres(packet);
- telemetry.mega_sensor.temp = ao_data_temp(packet);
-
-#if HAS_MPU6000
- telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
- telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
- telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
-
- telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
- telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
- telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
-#endif
-
-#if HAS_HMC5883
- telemetry.mega_sensor.mag_x = packet->hmc5883.x;
- telemetry.mega_sensor.mag_y = packet->hmc5883.y;
- telemetry.mega_sensor.mag_z = packet->hmc5883.z;
-#endif
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-
-static __pdata int8_t ao_telemetry_mega_data_max;
-static __pdata int8_t ao_telemetry_mega_data_cur;
-
-/* Send mega data packet */
-static void
-ao_send_mega_data(void)
-{
- if (--ao_telemetry_mega_data_cur <= 0) {
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- uint8_t i;
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
-
- telemetry.mega_data.state = ao_flight_state;
- telemetry.mega_data.v_batt = packet->adc.v_batt;
- telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
-
- /* ADC range is 0-4095, so shift by four to save the high 8 bits */
- for (i = 0; i < AO_ADC_NUM_SENSE; i++)
- telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
-
- telemetry.mega_data.ground_pres = ao_ground_pres;
- telemetry.mega_data.ground_accel = ao_ground_accel;
- telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
- telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
-
- telemetry.mega_data.acceleration = ao_accel;
- telemetry.mega_data.speed = ao_speed;
- telemetry.mega_data.height = ao_height;
-
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
- }
-}
-#endif /* AO_SEND_MEGA */
-
-#ifdef AO_SEND_METRUM
-/* Send telemetrum sensor packet */
-static void
-ao_send_metrum_sensor(void)
-{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
-
- telemetry.metrum_sensor.state = ao_flight_state;
-#if HAS_ACCEL
- telemetry.metrum_sensor.accel = ao_data_accel(packet);
-#endif
- telemetry.metrum_sensor.pres = ao_data_pres(packet);
- telemetry.metrum_sensor.temp = ao_data_temp(packet);
-
- telemetry.metrum_sensor.acceleration = ao_accel;
- telemetry.metrum_sensor.speed = ao_speed;
- telemetry.metrum_sensor.height = ao_height;
-
- telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
- telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
- telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-
-static __pdata int8_t ao_telemetry_metrum_data_max;
-static __pdata int8_t ao_telemetry_metrum_data_cur;
-
-/* Send telemetrum data packet */
-static void
-ao_send_metrum_data(void)
-{
- if (--ao_telemetry_metrum_data_cur <= 0) {
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
-
- telemetry.metrum_data.ground_pres = ao_ground_pres;
-#if HAS_ACCEL
- telemetry.metrum_data.ground_accel = ao_ground_accel;
- telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
- telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
-#else
- telemetry.metrum_data.ground_accel = 1;
- telemetry.metrum_data.accel_plus_g = 0;
- telemetry.metrum_data.accel_minus_g = 2;
-#endif
-
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
- }
-}
-#endif /* AO_SEND_METRUM */
-
-#ifdef AO_SEND_MINI
-
-static void
-ao_send_mini(void)
-{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_MINI;
-
- telemetry.mini.state = ao_flight_state;
-
- telemetry.mini.v_batt = packet->adc.v_batt;
- telemetry.mini.sense_a = packet->adc.sense_a;
- telemetry.mini.sense_m = packet->adc.sense_m;
-
- telemetry.mini.pres = ao_data_pres(packet);
- telemetry.mini.temp = ao_data_temp(packet);
-
- telemetry.mini.acceleration = ao_accel;
- telemetry.mini.speed = ao_speed;
- telemetry.mini.height = ao_height;
-
- telemetry.mini.ground_pres = ao_ground_pres;
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-
-#endif /* AO_SEND_MINI */
-
-#ifdef AO_SEND_ALL_BARO
-static uint8_t ao_baro_sample;
-
-static void
-ao_send_baro(void)
-{
- uint8_t sample = ao_sample_data;
- uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
-
- if (samples > 12) {
- ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
- samples = 12;
- }
- telemetry.generic.tick = ao_data_ring[sample].tick;
- telemetry.generic.type = AO_TELEMETRY_BARO;
- telemetry.baro.samples = samples;
- for (sample = 0; sample < samples; sample++) {
- telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
- ao_baro_sample = ao_data_ring_next(ao_baro_sample);
- }
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-#endif
-
-static __pdata int8_t ao_telemetry_config_max;
-static __pdata int8_t ao_telemetry_config_cur;
-
-static void
-ao_send_configuration(void)
-{
- if (--ao_telemetry_config_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
- telemetry.configuration.device = AO_idProduct_NUMBER;
-#if HAS_LOG
- telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
-#else
- telemetry.configuration.flight = ao_flight_number;
-#endif
- telemetry.configuration.config_major = AO_CONFIG_MAJOR;
- telemetry.configuration.config_minor = AO_CONFIG_MINOR;
- telemetry.configuration.apogee_delay = ao_config.apogee_delay;
- telemetry.configuration.main_deploy = ao_config.main_deploy;
- telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
- ao_xmemcpy (telemetry.configuration.callsign,
- ao_config.callsign,
- AO_MAX_CALLSIGN);
- ao_xmemcpy (telemetry.configuration.version,
- CODE_TO_XDATA(ao_version),
- AO_MAX_VERSION);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_config_cur = ao_telemetry_config_max;
- }
-}
-
-#if HAS_GPS
-
-static __pdata int8_t ao_telemetry_loc_cur;
-static __pdata int8_t ao_telemetry_sat_cur;
-
-static void
-ao_send_location(void)
-{
- if (--ao_telemetry_loc_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_LOCATION;
- ao_mutex_get(&ao_gps_mutex);
- ao_xmemcpy(&telemetry.location.flags,
- &ao_gps_data.flags,
- 26);
- telemetry.location.tick = ao_gps_tick;
- ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_loc_cur = ao_telemetry_config_max;
- }
-}
-
-static void
-ao_send_satellite(void)
-{
- if (--ao_telemetry_sat_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_SATELLITE;
- ao_mutex_get(&ao_gps_mutex);
- telemetry.satellite.channels = ao_gps_tracking_data.channels;
- ao_xmemcpy(&telemetry.satellite.sats,
- &ao_gps_tracking_data.sats,
- AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
- ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_sat_cur = ao_telemetry_config_max;
- }
-}
-#endif
-
-#if HAS_COMPANION
-
-static __pdata int8_t ao_telemetry_companion_max;
-static __pdata int8_t ao_telemetry_companion_cur;
-
-static void
-ao_send_companion(void)
-{
- if (--ao_telemetry_companion_cur <= 0) {
- telemetry.generic.type = AO_TELEMETRY_COMPANION;
- telemetry.companion.board_id = ao_companion_setup.board_id;
- telemetry.companion.update_period = ao_companion_setup.update_period;
- telemetry.companion.channels = ao_companion_setup.channels;
- ao_mutex_get(&ao_companion_mutex);
- ao_xmemcpy(&telemetry.companion.companion_data,
- ao_companion_data,
- ao_companion_setup.channels * 2);
- ao_mutex_put(&ao_companion_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_companion_cur = ao_telemetry_companion_max;
- }
-}
-#endif
-
-void
-ao_telemetry(void)
-{
- uint16_t time;
- int16_t delay;
-
- ao_config_get();
- if (!ao_config.radio_enable)
- ao_exit();
- while (!ao_flight_number)
- ao_sleep(&ao_flight_number);
-
- telemetry.generic.serial = ao_serial_number;
- for (;;) {
- while (ao_telemetry_interval == 0)
- ao_sleep(&telemetry);
- time = ao_time();
-#if HAS_RDF
- ao_rdf_time = time;
-#endif
-#if HAS_APRS
- ao_aprs_time = time;
-#endif
- while (ao_telemetry_interval) {
-#if HAS_APRS
- if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
-#endif
- {
-#ifdef AO_SEND_ALL_BARO
- ao_send_baro();
-#endif
-
-#if HAS_FLIGHT
-# ifdef AO_SEND_MEGA
- ao_send_mega_sensor();
- ao_send_mega_data();
-# endif
-# ifdef AO_SEND_METRUM
- ao_send_metrum_sensor();
- ao_send_metrum_data();
-# endif
-# ifdef AO_SEND_MINI
- ao_send_mini();
-# endif
-# ifdef AO_TELEMETRY_SENSOR
- ao_send_sensor();
-# endif
-#endif /* HAS_FLIGHT */
-
-#if HAS_COMPANION
- if (ao_companion_running)
- ao_send_companion();
-#endif
- ao_send_configuration();
-#if HAS_GPS
- ao_send_location();
- ao_send_satellite();
-#endif
- }
-#ifndef AO_SEND_ALL_BARO
-#if HAS_RDF
- if (ao_rdf &&
-#if HAS_APRS
- !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
-#endif /* HAS_APRS */
- (int16_t) (ao_time() - ao_rdf_time) >= 0)
- {
-#if HAS_IGNITE_REPORT
- uint8_t c;
-#endif /* HAS_IGNITE_REPORT */
- ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
-#if HAS_IGNITE_REPORT
- if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
- ao_radio_continuity(c);
- else
-#endif /* HAS_IGNITE_REPORT*/
- ao_radio_rdf();
- }
-#endif /* HAS_RDF */
-#if HAS_APRS
- if (ao_config.aprs_interval != 0 &&
- (int16_t) (ao_time() - ao_aprs_time) >= 0)
- {
- ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
- ao_aprs_send();
- }
-#endif /* HAS_APRS */
-#endif /* !AO_SEND_ALL_BARO */
- time += ao_telemetry_interval;
- delay = time - ao_time();
- if (delay > 0) {
- ao_alarm(delay);
- ao_sleep(&telemetry);
- ao_clear_alarm();
- }
- else
- time = ao_time();
- }
- }
-}
-
-void
-ao_telemetry_set_interval(uint16_t interval)
-{
- int8_t cur = 0;
- ao_telemetry_interval = interval;
-
-#if AO_SEND_MEGA
- if (interval > 1)
- ao_telemetry_mega_data_max = 1;
- else
- ao_telemetry_mega_data_max = 2;
- if (ao_telemetry_mega_data_max > cur)
- cur++;
- ao_telemetry_mega_data_cur = cur;
-#endif
-#if AO_SEND_METRUM
- ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
- if (ao_telemetry_metrum_data_max > cur)
- cur++;
- ao_telemetry_metrum_data_cur = cur;
-#endif
-
-#if HAS_COMPANION
- if (!ao_companion_setup.update_period)
- ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
- ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
- if (ao_telemetry_companion_max > cur)
- cur++;
- ao_telemetry_companion_cur = cur;
-#endif
-
- ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
-#if HAS_COMPANION
- if (ao_telemetry_config_max > cur)
- cur++;
- ao_telemetry_config_cur = cur;
-#endif
-
-#if HAS_GPS
- if (ao_telemetry_config_max > cur)
- cur++;
- ao_telemetry_loc_cur = cur;
- if (ao_telemetry_config_max > cur)
- cur++;
- ao_telemetry_sat_cur = cur;
-#endif
- ao_wakeup(&telemetry);
-}
-
-#if HAS_RDF
-void
-ao_rdf_set(uint8_t rdf)
-{
- ao_rdf = rdf;
- if (rdf == 0)
- ao_radio_rdf_abort();
- else {
- ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
- }
-}
-#endif
-
-__xdata struct ao_task ao_telemetry_task;
-
-void
-ao_telemetry_init()
-{
- ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
-}
projects / fw / altos / blobdiff