From 5972c642f0de0789e90268bfa19ef8b51c06eebc Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 12 Nov 2011 18:44:36 -0800 Subject: [PATCH] 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 --- src/ao_radio_cmac.c | 4 +- src/cc1111/ao_packet_master.c | 5 +- src/cc1111/ao_pins.h | 5 ++ src/cc1111/ao_radio.c | 5 +- src/core/ao.h | 11 ++- src/core/ao_log_telem.c | 2 + src/core/ao_monitor.c | 151 ++++++++++++++------------------- src/product/ao_telebt.c | 2 +- src/product/ao_teledongle.c | 2 +- src/product/ao_teleterra_0_2.c | 2 +- src/product/ao_tidongle.c | 2 +- src/teleterra-v0.2/ao_pins.h | 3 +- 12 files changed, 96 insertions(+), 98 deletions(-) diff --git a/src/ao_radio_cmac.c b/src/ao_radio_cmac.c index 41fbbe1f..e263f0db 100644 --- 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 ab19f979..66f94288 100644 --- 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 7c5b4574..2b6232a4 100644 --- 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 75f241d4..ee506f89 100644 --- 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 cbe2f8dc..f57398ce 100644 --- 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 096ad919..9e1b06d3 100644 --- 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 f7795fe4..7960208e 100644 --- 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 c4b40dfc..97c9d792 100644 --- 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 b8be9f45..49b80500 100644 --- 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 6ce29894..1a268c99 100644 --- 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 5adbb05c..a504a747 100644 --- 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 9c35b06a..72ded004 100644 --- 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 -- 2.30.2