2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
21 static __xdata struct ao_telemetry_sensor ao_tel_sensor;
22 static __xdata struct ao_telemetry_location ao_tel_location;
23 static __xdata struct ao_telemetry_configuration ao_tel_config;
24 static __xdata int16_t ao_tel_max_speed;
25 static __xdata int16_t ao_tel_max_height;
26 static int8_t ao_tel_rssi;
28 static __xdata char ao_lcd_line[17];
29 static __xdata char ao_state_name[] = "SIPBFCDMLI";
32 ao_terraui_line(uint8_t addr)
35 ao_lcd_putstring(ao_lcd_line);
38 #define ao_terraui_state() (ao_state_name[ao_tel_sensor.state])
41 ao_terraui_igniter(int16_t sense)
43 if (sense < AO_IGNITER_OPEN)
45 if (sense > AO_IGNITER_CLOSED)
51 ao_terraui_battery(void)
53 if (ao_tel_sensor.v_batt > 25558)
61 if (ao_tel_location.flags & (1 << 4)) {
62 if ((ao_tel_location.flags & 0xf) >= 4)
69 ao_terraui_local_gps(void)
71 if (ao_gps_data.flags & (1 << 4)) {
72 if ((ao_gps_data.flags & 0xf) >= 4)
79 ao_terraui_logging(void)
81 if (ao_tel_config.flight != 0)
86 static __code char ao_progress[4] = { '\011', '\012', '\014', '\013' };
88 static uint8_t ao_telem_progress;
89 static uint8_t ao_gps_progress;
92 ao_terraui_startup(void)
94 sprintf(ao_lcd_line, "%-16.16s", ao_product);
95 ao_terraui_line(AO_LCD_ADDR(0,0));
96 sprintf(ao_lcd_line, "%-8.8s %5u ", ao_version, ao_serial_number);
97 ao_terraui_line(AO_LCD_ADDR(1,0));
101 ao_terraui_info_firstline(void)
103 sprintf(ao_lcd_line, "S %4d %7.7s %c",
104 ao_tel_sensor.serial,
105 ao_tel_config.callsign,
107 ao_terraui_line(AO_LCD_ADDR(0,0));
111 ao_terraui_info(void)
113 ao_terraui_info_firstline();
114 sprintf(ao_lcd_line, "F %4d RSSI%4d%c",
115 ao_tel_config.flight,
117 ao_progress[ao_telem_progress]);
118 ao_terraui_line(AO_LCD_ADDR(1,0));
124 sprintf(ao_lcd_line, "B%c A%c M%c L%c G%c %c",
125 ao_terraui_battery(),
126 ao_terraui_igniter(ao_tel_sensor.sense_d),
127 ao_terraui_igniter(ao_tel_sensor.sense_m),
128 ao_terraui_logging(),
131 ao_terraui_line(AO_LCD_ADDR(0,0));
132 sprintf(ao_lcd_line, "SAT %2d RSSI%4d%c",
133 ao_tel_location.flags & 0xf,
135 ao_progress[ao_telem_progress]);
136 ao_terraui_line(AO_LCD_ADDR(1,0));
140 ao_terraui_ascent(void)
142 sprintf(ao_lcd_line, "S %5d S\011%5d%c",
143 ao_tel_sensor.speed >> 4,
144 ao_tel_max_speed >> 4,
146 ao_terraui_line(AO_LCD_ADDR(0,0));
147 sprintf(ao_lcd_line, "H %5d H\011%5d%c",
148 ao_tel_sensor.height >> 4,
149 ao_tel_max_height >> 4,
150 ao_progress[ao_telem_progress]);
151 ao_terraui_line(AO_LCD_ADDR(1,0));
154 static int16_t mag(int32_t d)
175 while (d >= (2147483647 / 111198)) {
179 d = (d * 111198) / m;
185 static __code uint8_t cos_table[] = {
243 static __code uint8_t tan_table[] = {
291 int16_t ao_atan2(int32_t dy, int32_t dx) __reentrant
321 t = dy; dy = dx; dx = t;
327 dy = (dy + (dx >> 1)) / dx;
329 for (t = 0; t < 44; t++)
330 if (tan_table[t] >= r)
335 static __pdata int32_t lon_dist, lat_dist;
336 static __pdata uint32_t ground_dist, range;
337 static __pdata uint8_t dist_in_km;
338 static __pdata int16_t bearing, elevation;
341 ao_terraui_lat_dist(void)
343 lat_dist = dist (ao_tel_location.latitude - ao_gps_data.latitude);
347 ao_terraui_lon_dist(void) __reentrant
349 uint8_t c = cos_table[ao_gps_data.latitude >> 24];
350 lon_dist = ao_tel_location.longitude;
352 /* check if it's shorter to go the other way around */
353 if ((int16_t) (lon_dist >> 24) < (int16_t) (ao_gps_data.longitude >> 24) - (int16_t) (1800000000 >> 24))
354 lon_dist += 3600000000ul;
355 lon_dist = dist(lon_dist - ao_gps_data.longitude);
357 if (lon_dist & 0x7f800000)
358 lon_dist = (lon_dist >> 8) * c;
360 lon_dist = (lon_dist * (int16_t) c) >> 8;
364 static int32_t sqr(int32_t x) { return x * x; }
367 ao_terraui_compute(void)
369 uint16_t h = ao_tel_sensor.height;
371 ao_terraui_lat_dist();
372 ao_terraui_lon_dist();
373 if (lat_dist > 32767 || lon_dist > 32767) {
375 ground_dist = sqr(lat_dist/1000) + sqr(lon_dist/1000);
379 ground_dist = sqr(lat_dist) + sqr(lon_dist);
381 ground_dist = ao_sqrt (ground_dist);
382 range = ao_sqrt(ground_dist * ground_dist + ao_tel_sensor.height * ao_tel_sensor.height);
383 bearing = ao_atan2(lon_dist, lat_dist);
386 elevation = ao_atan2(ao_tel_sensor.height, ground_dist);
390 ao_terraui_descent(void)
392 ao_terraui_compute();
393 sprintf(ao_lcd_line, "\007 %4d \005 %3d %c",
396 ao_terraui_line(AO_LCD_ADDR(0,0));
397 sprintf(ao_lcd_line, "H:%5d S:%5d%c",
398 ao_tel_sensor.height, ao_tel_sensor.speed >> 4,
399 ao_progress[ao_telem_progress]);
400 ao_terraui_line(AO_LCD_ADDR(1,0));
404 ao_terraui_recover(void)
406 ao_terraui_compute();
407 sprintf(ao_lcd_line, "\007 %4d \005 %3d %c",
410 ao_terraui_line(AO_LCD_ADDR(0,0));
411 sprintf(ao_lcd_line, "R%5ld%cRSSI%4d%c",
412 ground_dist, dist_in_km ? 'k' : ' ',
414 ao_progress[ao_telem_progress]);
415 ao_terraui_line(AO_LCD_ADDR(1,0));
419 ao_terraui_coord(int32_t c, char plus, char minus, char extra) __reentrant
434 f = (c + 500) / 1000;
435 sprintf(ao_lcd_line, "%c %3d\362 %2d.%04d\"%c",
436 plus, d, m, f, extra);
440 ao_terraui_remote(void)
442 ao_terraui_coord(ao_tel_location.latitude, 'N', 'S', ao_terraui_state());
443 ao_terraui_line(AO_LCD_ADDR(0,0));
444 ao_terraui_coord(ao_tel_location.longitude, 'E', 'W', ao_progress[ao_telem_progress]);
445 ao_terraui_line(AO_LCD_ADDR(1,0));
449 ao_terraui_local(void) __reentrant
451 ao_terraui_coord(ao_gps_data.latitude, 'n', 's',
452 ao_terraui_local_gps());
453 ao_terraui_line(AO_LCD_ADDR(0,0));
454 ao_terraui_coord(ao_gps_data.longitude, 'e', 'w', ao_progress[ao_gps_progress]);
455 ao_terraui_line(AO_LCD_ADDR(1,0));
458 static __pdata uint8_t ao_set_freq;
459 static __pdata uint32_t ao_set_freq_orig;
462 ao_terraui_freq(void) __reentrant
467 MHz = ao_config.frequency / 1000;
468 frac = ao_config.frequency % 1000;
469 ao_terraui_info_firstline();
470 sprintf(ao_lcd_line, "Freq: %3d.%03d MHz", MHz, frac);
471 ao_terraui_line(AO_LCD_ADDR(1,0));
472 ao_lcd_goto(AO_LCD_ADDR(1,11));
476 ao_terraui_freq_start(void)
479 ao_set_freq_orig = ao_config.frequency;
484 ao_terraui_freq_button(char b) {
490 if (ao_config.frequency > 430000)
491 ao_config.frequency -= 100;
496 if (ao_set_freq_orig != ao_config.frequency)
500 if (ao_config.frequency < 438000)
501 ao_config.frequency += 100;
505 ao_config_set_radio();
506 ao_radio_recv_abort();
509 static __code void (*__code ao_terraui_page[])(void) = {
520 #define NUM_PAGE (sizeof (ao_terraui_page)/sizeof (ao_terraui_page[0]))
522 static __pdata uint8_t ao_current_page = 0;
523 static __pdata uint8_t ao_shown_about = 3;
530 ao_delay(AO_MS_TO_TICKS(100));
539 ao_terraui_page[ao_current_page]();
541 ao_alarm(AO_SEC_TO_TICKS(1));
546 ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(10));
551 ao_terraui_freq_button(b);
556 if (ao_shown_about) {
557 if (--ao_shown_about == 0)
563 if (ao_current_page >= NUM_PAGE)
567 ao_terraui_freq_start();
570 if (ao_current_page == 0)
571 ao_current_page = NUM_PAGE;
578 __xdata static struct ao_task ao_terraui_task;
581 ao_terramonitor(void)
585 monitor = ao_monitor_head;
586 ao_monitor_set(sizeof (struct ao_telemetry_generic));
587 for (monitor = ao_monitor_head;;
588 monitor = ao_monitor_ring_next(monitor))
590 while (monitor == ao_monitor_head)
591 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
592 if (ao_monitoring != sizeof (union ao_telemetry_all))
594 if (!(ao_monitor_ring[monitor].all.status & PKT_APPEND_STATUS_1_CRC_OK))
596 ao_tel_rssi = (ao_monitor_ring[monitor].all.rssi >> 1) - 74;
597 switch (ao_monitor_ring[monitor].all.telemetry.generic.type) {
598 case AO_TELEMETRY_SENSOR_TELEMETRUM:
599 case AO_TELEMETRY_SENSOR_TELEMINI:
600 case AO_TELEMETRY_SENSOR_TELENANO:
601 ao_xmemcpy(&ao_tel_sensor, &ao_monitor_ring[monitor], sizeof (ao_tel_sensor));
602 if (ao_tel_sensor.state < ao_flight_boost) {
603 ao_tel_max_speed = 0;
604 ao_tel_max_height = 0;
606 if (ao_tel_sensor.speed > ao_tel_max_speed)
607 ao_tel_max_speed = ao_tel_sensor.speed;
608 if (ao_tel_sensor.height > ao_tel_max_height)
609 ao_tel_max_height = ao_tel_sensor.height;
611 ao_telem_progress = (ao_telem_progress + 1) & 0x3;
613 case AO_TELEMETRY_LOCATION:
614 ao_xmemcpy(&ao_tel_location, &ao_monitor_ring[monitor], sizeof (ao_tel_location));
616 case AO_TELEMETRY_CONFIGURATION:
617 ao_xmemcpy(&ao_tel_config, &ao_monitor_ring[monitor], sizeof (ao_tel_config));
622 __xdata static struct ao_task ao_terramonitor_task;
627 uint16_t gps_tick = ao_gps_progress;
630 while (ao_gps_tick == gps_tick)
631 ao_sleep(&ao_gps_data);
632 gps_tick = ao_gps_tick;
633 ao_gps_progress = (ao_gps_progress + 1) & 3;
637 __xdata static struct ao_task ao_terragps_task;
640 ao_terraui_init(void)
642 ao_add_task(&ao_terraui_task, ao_terraui, "ui");
643 ao_add_task(&ao_terramonitor_task, ao_terramonitor, "monitor");
644 ao_add_task(&ao_terragps_task, ao_terragps, "gps");