--- /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"
+
+__xdata struct ao_ignition ao_ignition[2];
+
+void
+ao_ignite(enum ao_igniter igniter) __critical
+{
+ ao_ignition[igniter].request = 1;
+ ao_wakeup(&ao_ignition);
+}
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter)
+{
+ __xdata struct ao_adc adc;
+ __pdata int16_t value;
+ __pdata uint8_t request, firing, fired;
+
+ __critical {
+ ao_adc_get(&adc);
+ request = ao_ignition[igniter].request;
+ fired = ao_ignition[igniter].fired;
+ firing = ao_ignition[igniter].firing;
+ }
+ if (firing || (request && !fired))
+ return ao_igniter_active;
+
+ value = (AO_IGNITER_CLOSED>>1);
+ switch (igniter) {
+ case ao_igniter_drogue:
+ value = adc.sense_d;
+ break;
+ case ao_igniter_main:
+ value = adc.sense_m;
+ break;
+ }
+ if (value < AO_IGNITER_OPEN)
+ return ao_igniter_open;
+ else if (value > AO_IGNITER_CLOSED)
+ return ao_igniter_ready;
+ else
+ return ao_igniter_unknown;
+}
+
+void
+ao_igniter_fire(enum ao_igniter igniter) __critical
+{
++ ao_mutex_get(&ao_radio_mutex);
+ ao_ignition[igniter].firing = 1;
+ switch(ao_config.ignite_mode) {
+ case AO_IGNITE_MODE_DUAL:
+ switch (igniter) {
+ case ao_igniter_drogue:
+ AO_IGNITER_DROGUE = 1;
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_DROGUE = 0;
+ break;
+ case ao_igniter_main:
+ AO_IGNITER_MAIN = 1;
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_MAIN = 0;
+ break;
+ }
+ break;
+ case AO_IGNITE_MODE_APOGEE:
+ switch (igniter) {
+ case ao_igniter_drogue:
+ AO_IGNITER_DROGUE = 1;
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_DROGUE = 0;
+ ao_delay(AO_IGNITER_CHARGE_TIME);
+ AO_IGNITER_MAIN = 1;
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_MAIN = 0;
+ break;
+ }
+ break;
+ case AO_IGNITE_MODE_MAIN:
+ switch (igniter) {
+ case ao_igniter_main:
+ AO_IGNITER_DROGUE = 1;
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_DROGUE = 0;
+ ao_delay(AO_IGNITER_CHARGE_TIME);
+ AO_IGNITER_MAIN = 1;
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_MAIN = 0;
+ break;
+ }
+ break;
+ }
+ ao_ignition[igniter].firing = 0;
++ ao_mutex_put(&ao_radio_mutex);
+}
+
+void
+ao_igniter(void)
+{
+ __xdata enum ao_ignter igniter;
+
+ ao_config_get();
+ for (;;) {
+ ao_sleep(&ao_ignition);
+ for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
+ if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
+ if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
+ ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
+
+ ao_igniter_fire(igniter);
+ ao_delay(AO_IGNITER_CHARGE_TIME);
+ ao_ignition[igniter].fired = 1;
+ }
+ }
+ }
+}
+
+void
+ao_ignite_manual(void)
+{
+ ao_cmd_white();
+ if (!ao_match_word("DoIt"))
+ return;
+ ao_cmd_white();
+ if (ao_cmd_lex_c == 'm') {
+ if(ao_match_word("main"))
+ ao_igniter_fire(ao_igniter_main);
+ } else {
+ if(ao_match_word("drogue"))
+ ao_igniter_fire(ao_igniter_drogue);
+ }
+}
+
+static __code char * __code igniter_status_names[] = {
+ "unknown", "ready", "active", "open"
+};
+
+void
+ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
+{
+ enum ao_igniter_status status = ao_igniter_status(igniter);
+ printf("Igniter: %6s Status: %s\n",
+ name,
+ igniter_status_names[status]);
+}
+
+void
+ao_ignite_test(void)
+{
+ ao_ignite_print_status(ao_igniter_drogue, "drogue");
+ ao_ignite_print_status(ao_igniter_main, "main");
+}
+
+__code struct ao_cmds ao_ignite_cmds[] = {
+ { ao_ignite_manual, "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
+ { ao_ignite_test, "t\0Test igniter" },
+ { 0, NULL },
+};
+
+__xdata struct ao_task ao_igniter_task;
+
+void
+ao_ignite_set_pins(void)
+{
+ AO_IGNITER_DROGUE = 0;
+ AO_IGNITER_MAIN = 0;
+ AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
+}
+
+void
+ao_igniter_init(void)
+{
+ ao_ignite_set_pins();
+ ao_cmd_register(&ao_ignite_cmds[0]);
+ ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
+}
--- /dev/null
- ao_rdf_time = ao_time();
+/*
+ * 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_product.h"
+
+static __pdata uint16_t ao_telemetry_interval;
+static __pdata int8_t ao_telemetry_config_max;
+static __pdata int8_t ao_telemetry_config_cur;
+#if HAS_GPS
+static __pdata int8_t ao_telemetry_loc_cur;
+static __pdata int8_t ao_telemetry_sat_cur;
+#endif
+#if HAS_COMPANION
+static __pdata int8_t ao_telemetry_companion_max;
+static __pdata int8_t ao_telemetry_companion_cur;
+#endif
+static __pdata uint8_t ao_rdf = 0;
+static __pdata uint16_t ao_rdf_time;
+
+#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS 500
+
+#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
+#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;
+
+/* Send sensor packet */
+static void
+ao_send_sensor(void)
+{
+ uint8_t sample;
+ sample = ao_sample_adc;
+
+ telemetry.generic.tick = ao_adc_ring[sample].tick;
+ telemetry.generic.type = AO_TELEMETRY_SENSOR;
+
+ telemetry.sensor.state = ao_flight_state;
+#if HAS_ACCEL
+ telemetry.sensor.accel = ao_adc_ring[sample].accel;
+#else
+ telemetry.sensor.accel = 0;
+#endif
+ telemetry.sensor.pres = ao_adc_ring[sample].pres;
+ telemetry.sensor.temp = ao_adc_ring[sample].temp;
+ telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
+#if HAS_IGNITE
+ telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
+ telemetry.sensor.sense_m = ao_adc_ring[sample].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));
+}
+
+static uint8_t ao_baro_sample;
+
+#ifdef AO_SEND_ALL_BARO
+static void
+ao_send_baro(void)
+{
+ uint8_t sample = ao_sample_adc;
+ uint8_t samples = (sample - ao_baro_sample) & (AO_ADC_RING - 1);
+
+ if (samples > 12) {
+ ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_ADC_RING - 1);
+ samples = 12;
+ }
+ telemetry.generic.tick = ao_adc_ring[sample].tick;
+ telemetry.generic.type = AO_TELEMETRY_BARO;
+ telemetry.baro.samples = samples;
+ for (sample = 0; sample < samples; sample++) {
+ telemetry.baro.baro[sample] = ao_adc_ring[ao_baro_sample].pres;
+ ao_baro_sample = ao_adc_ring_next(ao_baro_sample);
+ }
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+#endif
+
+static void
+ao_send_configuration(void)
+{
+ if (--ao_telemetry_config_cur <= 0)
+ {
+ telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
+ telemetry.configuration.device = AO_idProduct_NUMBER;
+ telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
+ 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;
+ memcpy (telemetry.configuration.callsign,
+ ao_config.callsign,
+ AO_MAX_CALLSIGN);
+ memcpy (telemetry.configuration.version,
+ ao_version,
+ AO_MAX_VERSION);
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_config_cur = ao_telemetry_config_max;
+ }
+}
+
+#if HAS_GPS
+static void
+ao_send_location(void)
+{
+ if (--ao_telemetry_loc_cur <= 0)
+ {
+ telemetry.generic.type = AO_TELEMETRY_LOCATION;
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&telemetry.location.flags,
+ &ao_gps_data.flags,
+ 26);
+ 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;
+ memcpy(&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 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);
+ memcpy(&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_rdf_time = ao_time();
+ while (ao_telemetry_interval) {
+
+
+#ifdef AO_SEND_ALL_BARO
+ ao_send_baro();
+#endif
+ ao_send_sensor();
+#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 (ao_rdf &&
+ (int16_t) (ao_time() - ao_rdf_time) >= 0)
+ {
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
+ }
+#endif
+ time += ao_telemetry_interval;
+ delay = time - ao_time();
+ if (delay > 0)
+ ao_delay(delay);
+ else
+ time = ao_time();
+ }
+ }
+}
+
+void
+ao_telemetry_set_interval(uint16_t interval)
+{
+ ao_telemetry_interval = interval;
+
+#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;
+ ao_telemetry_companion_cur = 1;
+#endif
+
+ ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
+#if HAS_COMPANION
+ ao_telemetry_config_cur = ao_telemetry_companion_cur;
+ if (ao_telemetry_config_max > ao_telemetry_config_cur)
+ ao_telemetry_config_cur++;
+#else
+ ao_telemetry_config_cur = 1;
+#endif
+
+#if HAS_GPS
+ ao_telemetry_loc_cur = ao_telemetry_config_cur;
+ if (ao_telemetry_config_max > ao_telemetry_loc_cur)
+ ao_telemetry_loc_cur++;
+ ao_telemetry_sat_cur = ao_telemetry_loc_cur;
+ if (ao_telemetry_config_max > ao_telemetry_sat_cur)
+ ao_telemetry_sat_cur++;
+#endif
+ ao_wakeup(&telemetry);
+}
+
+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;
+}
+
+__xdata struct ao_task ao_telemetry_task;
+
+void
+ao_telemetry_init()
+{
+ ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
+}
projects / fw / altos / commitdiff