altos: Handle internal and external telem monitoring requests

Record separate internal vs external monitoring state, allowing
both to happen at the same time, and when either is turned off, the
other keeps working.

This also adds disable/enable so that other radio users can
temporarily take over the radio; monitoring will resume when the other
radio user is finished.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/ao_radio_cmac.c b/src/ao_radio_cmac.c
index 41fbbe1fe7a5b7766e938a4876be56fc4844f1fa..e263f0db8289bbe69697016dca4786494fb71bff 100644 (file)
--- a/src/ao_radio_cmac.c
+++ b/src/ao_radio_cmac.c
@@ -78,7 +78,7 @@ radio_cmac_send(uint8_t len) __reentrant
        ao_config_get();
 
 #if HAS_MONITOR
-       ao_set_monitor(0);
+       ao_monitor_set(0);
 #endif
 
        ao_mutex_get(&ao_aes_mutex);
@@ -107,7 +107,7 @@ radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
 
        len = round_len(len);
 #if HAS_MONITOR
-       ao_set_monitor(0);
+       ao_monitor_set(0);
 #endif
        if (timeout)
                ao_alarm(timeout);

diff --git a/src/cc1111/ao_packet_master.c b/src/cc1111/ao_packet_master.c
index ab19f979a3b0e4340783df487da34caad52c3cbc..66f94288fabd5cd6a0888907344f6a58c2ca1bf2 100644 (file)
--- a/src/cc1111/ao_packet_master.c
+++ b/src/cc1111/ao_packet_master.c
@@ -114,7 +114,7 @@ ao_packet_forward(void) __reentrant
 
        flush();
 #if HAS_MONITOR
-       ao_set_monitor(0);
+       ao_monitor_disable();
 #endif
        ao_add_task(&ao_packet_task, ao_packet_master, "master");
        ao_add_task(&ao_packet_echo_task, ao_packet_echo, "echo");
@@ -132,6 +132,9 @@ ao_packet_forward(void) __reentrant
                ao_wakeup(&ao_stdin_ready);
                ao_delay(AO_MS_TO_TICKS(10));
        }
+#if HAS_MONITOR
+       ao_monitor_enable();
+#endif
 }
 
 

diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h
index 7c5b45743c50b4ef0e65e25539345ad04736ce15..2b6232a4bd7527d4f27f1507c8a9f31308b6d682 100644 (file)
--- a/src/cc1111/ao_pins.h
+++ b/src/cc1111/ao_pins.h
@@ -107,6 +107,7 @@
        #define PACKET_HAS_SLAVE        0
        #define AO_LED_RED              1
        #define AO_LED_GREEN            2
+       #define AO_MONITOR_LED          AO_LED_GREEN
        #define LEDS_AVAILABLE          (AO_LED_RED|AO_LED_GREEN)
        #define SPI_CS_ON_P1            1
        #define SPI_CS_ON_P0            0
@@ -218,6 +219,7 @@
        #define PACKET_HAS_SLAVE        0
        #define AO_LED_RED              2
        #define AO_LED_GREEN            1
+       #define AO_MONITOR_LED          AO_LED_GREEN
        #define LEDS_AVAILABLE          (AO_LED_RED|AO_LED_GREEN)
        #define SPI_CS_ON_P1            0
        #define SPI_CS_ON_P0            1
@@ -245,6 +247,7 @@
        #define PACKET_HAS_MASTER       1
        #define PACKET_HAS_SLAVE        0
        #define AO_LED_RED              2
+       #define AO_MONITOR_LED          AO_LED_RED
        #define LEDS_AVAILABLE          (AO_LED_RED)
        #define SPI_CS_ON_P1            0
        #define SPI_CS_ON_P0            1
@@ -274,6 +277,7 @@
        #define PACKET_HAS_SLAVE        0
        #define AO_LED_RED              2
        #define AO_LED_GREEN            1
+       #define AO_MONITOR_LED          AO_LED_RED
        #define LEDS_AVAILABLE          (AO_LED_RED|AO_LED_GREEN)
        #define SPI_CS_ON_P1            1
        #define SPI_CS_ON_P0            0
@@ -312,6 +316,7 @@
        #define PACKET_HAS_SLAVE        0
        #define AO_LED_RED              1
        #define AO_LED_GREEN            2
+       #define AO_MONITOR_LED          AO_LED_RED
        #define LEDS_AVAILABLE          (AO_LED_RED|AO_LED_GREEN)
        #define SPI_CS_ON_P1            1
        #define SPI_CS_ON_P0            0

diff --git a/src/cc1111/ao_radio.c b/src/cc1111/ao_radio.c
index 75f241d4d2391e3664181fc3a0b230919e283e89..ee506f896ce3bd606f5703f2b0a5a95b4c62ade8 100644 (file)
--- a/src/cc1111/ao_radio.c
+++ b/src/cc1111/ao_radio.c
@@ -421,7 +421,7 @@ ao_radio_test(void)
        mode++;
        if ((mode & 2) && !radio_on) {
 #if HAS_MONITOR
-               ao_set_monitor(0);
+               ao_monitor_disable();
 #endif
 #if PACKET_HAS_SLAVE
                ao_packet_slave_stop();
@@ -439,6 +439,9 @@ ao_radio_test(void)
                ao_radio_idle();
                ao_radio_put();
                radio_on = 0;
+#if HAS_MONITOR
+               ao_monitor_enable();
+#endif
        }
 }
 

diff --git a/src/core/ao.h b/src/core/ao.h
index cbe2f8dc34a222c82c668262912794b3f6838eb2..f57398ced86b2d7edc018f8f03c83fd6a0fe0a47 100644 (file)
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -1406,13 +1406,18 @@ ao_monitor(void);
 
 #define AO_MONITORING_OFF      0
 #define AO_MONITORING_ORIG     1
-#define AO_MONITORING_TINY     2
 
 void
-ao_set_monitor(uint8_t monitoring);
+ao_monitor_set(uint8_t monitoring);
 
 void
-ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
+ao_monitor_disable(void);
+
+void
+ao_monitor_enable(void);
+
+void
+ao_monitor_init(void) __reentrant;
 
 /*
  * ao_stdio.c

diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c
index 096ad9191e6255d930bb5596d2ef953d32daa518..9e1b06d31fc658e6fc7a0c6a4a9c375be38c4e4b 100644 (file)
--- a/src/core/ao_log_telem.c
+++ b/src/core/ao_log_telem.c
@@ -90,6 +90,8 @@ ao_log_single(void)
        ao_log_running = 1;
        ao_log_single_restart();
        ao_flight_state = ao_flight_startup;
+       ao_monitor_set(sizeof(struct ao_telemetry_generic));
+
        for (;;) {
                while (!ao_log_running)
                        ao_sleep(&ao_log_running);

diff --git a/src/core/ao_monitor.c b/src/core/ao_monitor.c
index f7795fe41259d6b6b772fbefe5a4352af15a750a..7960208e89a5b6b1d7130eea03ad4635cccb76f2 100644 (file)
--- a/src/core/ao_monitor.c
+++ b/src/core/ao_monitor.c
@@ -30,13 +30,35 @@
 #define HAS_MONIOTOR_PUT 1
 #endif
 
+#ifndef AO_MONITOR_LED
+#error Must define AO_MONITOR_LED
+#endif
+
 __data uint8_t ao_monitoring;
-__pdata uint8_t ao_monitor_led;
+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)
 {
@@ -51,9 +73,6 @@ ao_monitor_get(void)
                case AO_MONITORING_ORIG:
                        size = sizeof (struct ao_telemetry_orig_recv);
                        break;
-               case AO_MONITORING_TINY:
-                       size = sizeof (struct ao_telemetry_tiny_recv);
-                       break;
 #endif
                default:
                        if (ao_monitoring > AO_MAX_TELEMETRY)
@@ -68,16 +87,21 @@ ao_monitor_get(void)
        }
 }
 
+#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));
+               ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
        }
 }
+#endif
 
 #if HAS_MONITOR_PUT
+
 void
 ao_monitor_put(void)
 {
@@ -96,11 +120,15 @@ ao_monitor_put(void)
 
        ao_monitor_tail = ao_monitor_head;
        for (;;) {
-               while (ao_monitor_tail == ao_monitor_head)
+               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));
                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;
@@ -172,71 +200,6 @@ ao_monitor_put(void)
                                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;
-               case AO_MONITORING_TINY:
-                       state = recv_tiny.telemetry_tiny.flight_state;
-
-                       /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
-                       rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
-                       ao_xmemcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
-                       if (state > ao_flight_invalid)
-                               state = ao_flight_invalid;
-                       if (recv_tiny.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_tiny.telemetry_tiny.serial,
-                                      recv_tiny.telemetry_tiny.flight,
-                                      rssi,
-                                      ao_state_names[state],
-                                      recv_tiny.telemetry_tiny.adc.tick);
-
-                               /* Raw sensor values */
-                               printf(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_tiny.telemetry_tiny.adc.pres,
-                                      recv_tiny.telemetry_tiny.adc.temp,
-                                      recv_tiny.telemetry_tiny.adc.v_batt,
-                                      recv_tiny.telemetry_tiny.adc.sense_d,
-                                      recv_tiny.telemetry_tiny.adc.sense_m);
-
-                               /* Sensor calibration values */
-                               printf(AO_TELEM_CAL_BARO_GROUND " %d ",
-                                      recv_tiny.telemetry_tiny.ground_pres);
-
-#if 1
-                               /* Kalman state values */
-                               printf(AO_TELEM_KALMAN_HEIGHT " %d "
-                                      AO_TELEM_KALMAN_SPEED " %d "
-                                      AO_TELEM_KALMAN_ACCEL " %d\n",
-                                      recv_tiny.telemetry_tiny.height,
-                                      recv_tiny.telemetry_tiny.speed,
-                                      recv_tiny.telemetry_tiny.accel);
-#else
-                               /* Ad-hoc flight values */
-                               printf(AO_TELEM_ADHOC_ACCEL " %d "
-                                      AO_TELEM_ADHOC_SPEED " %ld "
-                                      AO_TELEM_ADHOC_BARO " %d\n",
-                                      recv_tiny.telemetry_tiny.flight_accel,
-                                      recv_tiny.telemetry_tiny.flight_vel,
-                                      recv_tiny.telemetry_tiny.flight_pres);
-#endif
 #if HAS_RSSI
                                ao_rssi_set(rssi);
 #endif
@@ -265,43 +228,59 @@ ao_monitor_put(void)
                ao_usb_flush();
        }
 }
+
 __xdata struct ao_task ao_monitor_put_task;
 #endif
 
 __xdata struct ao_task ao_monitor_get_task;
-__xdata struct ao_task ao_monitor_blink_task;
 
 void
-ao_set_monitor(uint8_t monitoring)
+ao_monitor_set(uint8_t monitoring)
 {
-       if (ao_monitoring)
-               ao_radio_recv_abort();
-       ao_monitoring = monitoring;
-       ao_wakeup(DATA_TO_XDATA(&ao_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_set_monitor(ao_cmd_lex_i);
+       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 full, 2 tiny>\0Enable/disable radio monitoring" },
+       { set_monitor,  "m <0 off, 1 old, 20 std>\0Enable/disable radio monitoring" },
        { 0,    NULL },
 };
+#endif
 
 void
-ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
+ao_monitor_init(void) __reentrant
 {
-       ao_monitor_led = monitor_led;
-       ao_monitoring = monitoring;
-       ao_cmd_register(&ao_monitor_cmds[0]);
-       ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
 #if HAS_MONITOR_PUT
+       ao_cmd_register(&ao_monitor_cmds[0]);
        ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 #endif
-       if (ao_monitor_led)
-               ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
+       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
 }

diff --git a/src/product/ao_telebt.c b/src/product/ao_telebt.c
index c4b40dfc3ae71f59a08f538cae4750e4a6100f04..97c9d792b0885b4c5c8f25dca9282c89a49e501f 100644 (file)
--- a/src/product/ao_telebt.c
+++ b/src/product/ao_telebt.c
@@ -37,7 +37,7 @@ main(void)
        ao_storage_init();
 #endif
        ao_usb_init();
-       ao_monitor_init(AO_LED_RED, TRUE);
+       ao_monitor_init();
 #if HAS_LOG
        ao_report_init();
 #endif

diff --git a/src/product/ao_teledongle.c b/src/product/ao_teledongle.c
index b8be9f45a480b4676f7c1524187a271279b4600c..49b805003bd162d8856bf6904695c22870b27840 100644 (file)
--- a/src/product/ao_teledongle.c
+++ b/src/product/ao_teledongle.c
@@ -28,7 +28,7 @@ main(void)
        ao_timer_init();
        ao_cmd_init();
        ao_usb_init();
-       ao_monitor_init(AO_LED_GREEN, TRUE);
+       ao_monitor_init();
        ao_rssi_init(AO_LED_RED);
        ao_radio_init();
        ao_packet_master_init();

diff --git a/src/product/ao_teleterra_0_2.c b/src/product/ao_teleterra_0_2.c
index 6ce298941593276384394d3246335380b28675d9..1a268c997f0f702ad87f54512378c39fd3f8ecd8 100644 (file)
--- a/src/product/ao_teleterra_0_2.c
+++ b/src/product/ao_teleterra_0_2.c
@@ -31,7 +31,7 @@ main(void)
        ao_usb_init();
        ao_serial_init();
        ao_gps_init();
-       ao_monitor_init(0, sizeof (struct ao_telemetry_generic));
+       ao_monitor_init();
        ao_report_init();
        ao_log_single_init();
        ao_radio_init();

diff --git a/src/product/ao_tidongle.c b/src/product/ao_tidongle.c
index 5adbb05c6e5080bf01cf9d37ca5fdd51b0085d3f..a504a7473c85e242b66ea2ee743233712bea6395 100644 (file)
--- a/src/product/ao_tidongle.c
+++ b/src/product/ao_tidongle.c
@@ -30,7 +30,7 @@ main(void)
        ao_timer_init();
        ao_cmd_init();
        ao_usb_init();
-       ao_monitor_init(AO_LED_RED, TRUE);
+       ao_monitor_init();
        ao_rssi_init(AO_LED_RED);
        ao_radio_init();
        ao_dbg_init();

diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h
index 9c35b06aee02866a195eac23f5479d7b16db74cc..72ded004ff317cf96f450a7324290e1e10bb13bd 100644 (file)
--- a/src/teleterra-v0.2/ao_pins.h
+++ b/src/teleterra-v0.2/ao_pins.h
@@ -39,13 +39,14 @@
 
        #define HAS_COMPANION           0
 
+       #define AO_MONITOR_LED          0
        #define LEDS_AVAILABLE          0
        #define HAS_EXTERNAL_TEMP       0
        #define HAS_ACCEL_REF           0
        #define HAS_ACCEL               0
        #define HAS_IGNITE              0
        #define HAS_MONITOR             1
-       #define HAS_MONITOR_PUT         0
+       #define HAS_MONITOR_PUT         1
        #define LEGACY_MONITOR          0
        #define HAS_RSSI                0
        #define HAS_AES                 0