altos: Split out tiny telemetry from full telemetry

The TeleMini and TeleNano boards do not have either GPS or
accelermeters, and they also run the kalman filter which produces
standard unit measurements for the flight height/speed/accel
values. This makes the telemetry significantly
different. ao_telemetry_tiny.c sends the required data.

Note that TeleNano sends the same telemetry as telemini at this point;
there are a couple of values which are not useful, but the overhead of
sending them is small enough that the hassle of having three telemetry
formats seemed excessive.

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

diff --git a/src/Makefile.proto b/src/Makefile.proto
index df514cfe5950d06724c688e6cf0a8ae04cd60aa7..eabd17b9af698f8edb09fe7fbd2b5a967bdd9f55 100644 (file)
--- a/src/Makefile.proto
+++ b/src/Makefile.proto
@@ -176,7 +176,7 @@ TMINI_TASK_SRC = \
        ao_log.c \
        ao_log_tiny.c \
        ao_report.c \
-       ao_telemetry.c
+       ao_telemetry_tiny.c
 
 TMINI_MAIN_SRC = \
        ao_telemini.c
@@ -204,7 +204,7 @@ TNANO_TASK_SRC = \
        ao_log.c \
        ao_log_tiny.c \
        ao_report.c \
-       ao_telemetry.c
+       ao_telemetry_tiny.c
 
 TNANO_MAIN_SRC = \
        ao_telemini.c

diff --git a/src/ao.h b/src/ao.h
index 075ec63af8bce75ef83774d3d869f775a4c94452..0ba98dbda4fe2ea9c2684fea7e3e3c5f4220c92d 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -925,6 +925,18 @@ struct ao_telemetry {
        struct ao_gps_tracking_data     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];
+};
+
 /*
  * ao_radio_recv tacks on rssi and status bytes
  */
@@ -934,6 +946,12 @@ struct ao_telemetry_recv {
        uint8_t                 status;
 };
 
+struct ao_telemetry_tiny_recv {
+       struct ao_telemetry_tiny        telemetry_tiny;
+       int8_t                          rssi;
+       uint8_t                         status;
+};
+
 /* Set delay between telemetry reports (0 to disable) */
 
 #define AO_TELEMETRY_INTERVAL_PAD      AO_MS_TO_TICKS(1000)
@@ -949,6 +967,9 @@ ao_rdf_set(uint8_t rdf);
 void
 ao_telemetry_init(void);
 
+void
+ao_telemetry_tiny_init(void);
+
 /*
  * ao_radio.c
  */

diff --git a/src/ao_telemetry_tiny.c b/src/ao_telemetry_tiny.c
new file mode 100644 (file)
index 0000000..83ba7fc
--- /dev/null
+++ b/src/ao_telemetry_tiny.c
@@ -0,0 +1,91 @@
+/*
+ * 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 uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
+__xdata uint16_t ao_telemetry_tiny_interval = 0;
+
+#define AO_RDF_INTERVAL_TICKS  AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS       500
+
+void
+ao_telemetry_tiny(void)
+{
+       uint16_t        time;
+       int16_t         delay;
+       static __xdata struct ao_telemetry_tiny telemetry_tiny;
+
+       ao_config_get();
+       while (!ao_flight_number)
+               ao_sleep(&ao_flight_number);
+       memcpy(telemetry_tiny.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+       telemetry_tiny.serial = ao_serial_number;
+       telemetry_tiny.flight = ao_log_full() ? 0 : ao_flight_number;
+       for (;;) {
+               while (ao_telemetry_tiny_interval == 0)
+                       ao_sleep(&ao_telemetry_tiny_interval);
+               time = ao_rdf_time = ao_time();
+               while (ao_telemetry_tiny_interval) {
+                       telemetry_tiny.flight_state = ao_flight_state;
+                       telemetry_tiny.height = ao_k_height >> 16;
+                       telemetry_tiny.speed = ao_k_speed >> 12;
+                       telemetry_tiny.accel = ao_k_accel >> 12;
+                       telemetry_tiny.ground_pres = ao_ground_pres;
+                       ao_adc_get(&telemetry_tiny.adc);
+                       ao_radio_send(&telemetry_tiny, sizeof (telemetry_tiny));
+                       if (ao_rdf &&
+                           (int16_t) (ao_time() - ao_rdf_time) >= 0)
+                       {
+                               ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+                               ao_radio_rdf(AO_RDF_LENGTH_MS);
+                       }
+                       time += ao_telemetry_tiny_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_tiny_interval = interval;
+       ao_wakeup(&ao_telemetry_tiny_interval);
+}
+
+void
+ao_rdf_set(uint8_t rdf)
+{
+       ao_rdf = rdf;
+       if (rdf == 0)
+               ao_radio_rdf_abort();
+       else
+               ao_rdf_time = ao_time();
+}
+
+__xdata struct ao_task ao_telemetry_tiny_task;
+
+void
+ao_telemetry_tiny_init()
+{
+       ao_add_task(&ao_telemetry_tiny_task, ao_telemetry_tiny, "telemetry_tiny");
+}