2 * Copyright © 2009 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.
22 #error Must define HAS_MONITOR to 1
25 __xdata uint8_t ao_monitoring;
26 __pdata uint8_t ao_monitor_led;
28 #define AO_MONITOR_RING 8
30 __xdata union ao_monitor {
31 struct ao_telemetry_raw_recv raw;
32 struct ao_telemetry_orig_recv orig;
33 struct ao_telemetry_tiny_recv tiny;
34 } ao_monitor_ring[AO_MONITOR_RING];
36 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
38 __data uint8_t ao_monitor_head;
46 switch (ao_monitoring) {
48 ao_sleep(&ao_monitoring);
50 case AO_MONITORING_ORIG:
51 size = sizeof (struct ao_telemetry_orig_recv);
53 case AO_MONITORING_TINY:
54 size = sizeof (struct ao_telemetry_tiny_recv);
57 if (ao_monitoring > AO_MAX_TELEMETRY)
58 ao_monitoring = AO_MAX_TELEMETRY;
62 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
64 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
65 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
66 ao_led_toggle(ao_monitor_led);
73 __xdata char callsign[AO_MAX_CALLSIGN+1];
75 uint8_t ao_monitor_tail;
79 __xdata union ao_monitor *m;
81 #define recv_raw ((m->raw))
82 #define recv_orig ((m->orig))
83 #define recv_tiny ((m->tiny))
85 ao_monitor_tail = ao_monitor_head;
87 while (ao_monitor_tail == ao_monitor_head)
88 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
89 m = &ao_monitor_ring[ao_monitor_tail];
90 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
91 switch (ao_monitoring) {
92 case AO_MONITORING_ORIG:
93 state = recv_orig.telemetry_orig.flight_state;
95 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
96 rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
97 memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
98 if (state > ao_flight_invalid)
99 state = ao_flight_invalid;
100 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
102 /* General header fields */
103 printf(AO_TELEM_VERSION " %d "
105 AO_TELEM_SERIAL " %d "
106 AO_TELEM_FLIGHT " %d "
108 AO_TELEM_STATE " %s "
109 AO_TELEM_TICK " %d ",
110 AO_TELEMETRY_VERSION,
112 recv_orig.telemetry_orig.serial,
113 recv_orig.telemetry_orig.flight,
115 ao_state_names[state],
116 recv_orig.telemetry_orig.adc.tick);
118 /* Raw sensor values */
119 printf(AO_TELEM_RAW_ACCEL " %d "
120 AO_TELEM_RAW_BARO " %d "
121 AO_TELEM_RAW_THERMO " %d "
122 AO_TELEM_RAW_BATT " %d "
123 AO_TELEM_RAW_DROGUE " %d "
124 AO_TELEM_RAW_MAIN " %d ",
125 recv_orig.telemetry_orig.adc.accel,
126 recv_orig.telemetry_orig.adc.pres,
127 recv_orig.telemetry_orig.adc.temp,
128 recv_orig.telemetry_orig.adc.v_batt,
129 recv_orig.telemetry_orig.adc.sense_d,
130 recv_orig.telemetry_orig.adc.sense_m);
132 /* Sensor calibration values */
133 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
134 AO_TELEM_CAL_BARO_GROUND " %d "
135 AO_TELEM_CAL_ACCEL_PLUS " %d "
136 AO_TELEM_CAL_ACCEL_MINUS " %d ",
137 recv_orig.telemetry_orig.ground_accel,
138 recv_orig.telemetry_orig.ground_pres,
139 recv_orig.telemetry_orig.accel_plus_g,
140 recv_orig.telemetry_orig.accel_minus_g);
142 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
143 /* Kalman state values */
144 printf(AO_TELEM_KALMAN_HEIGHT " %d "
145 AO_TELEM_KALMAN_SPEED " %d "
146 AO_TELEM_KALMAN_ACCEL " %d ",
147 recv_orig.telemetry_orig.height,
148 recv_orig.telemetry_orig.u.k.speed,
149 recv_orig.telemetry_orig.accel);
151 /* Ad-hoc flight values */
152 printf(AO_TELEM_ADHOC_ACCEL " %d "
153 AO_TELEM_ADHOC_SPEED " %ld "
154 AO_TELEM_ADHOC_BARO " %d ",
155 recv_orig.telemetry_orig.accel,
156 recv_orig.telemetry_orig.u.flight_vel,
157 recv_orig.telemetry_orig.height);
159 ao_gps_print(&recv_orig.telemetry_orig.gps);
160 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
164 printf("CRC INVALID RSSI %3d\n", rssi);
167 case AO_MONITORING_TINY:
168 state = recv_tiny.telemetry_tiny.flight_state;
170 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
171 rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
172 memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
173 if (state > ao_flight_invalid)
174 state = ao_flight_invalid;
175 if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
176 /* General header fields */
177 printf(AO_TELEM_VERSION " %d "
179 AO_TELEM_SERIAL " %d "
180 AO_TELEM_FLIGHT " %d "
182 AO_TELEM_STATE " %s "
183 AO_TELEM_TICK " %d ",
184 AO_TELEMETRY_VERSION,
186 recv_tiny.telemetry_tiny.serial,
187 recv_tiny.telemetry_tiny.flight,
189 ao_state_names[state],
190 recv_tiny.telemetry_tiny.adc.tick);
192 /* Raw sensor values */
193 printf(AO_TELEM_RAW_BARO " %d "
194 AO_TELEM_RAW_THERMO " %d "
195 AO_TELEM_RAW_BATT " %d "
196 AO_TELEM_RAW_DROGUE " %d "
197 AO_TELEM_RAW_MAIN " %d ",
198 recv_tiny.telemetry_tiny.adc.pres,
199 recv_tiny.telemetry_tiny.adc.temp,
200 recv_tiny.telemetry_tiny.adc.v_batt,
201 recv_tiny.telemetry_tiny.adc.sense_d,
202 recv_tiny.telemetry_tiny.adc.sense_m);
204 /* Sensor calibration values */
205 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
206 recv_tiny.telemetry_tiny.ground_pres);
209 /* Kalman state values */
210 printf(AO_TELEM_KALMAN_HEIGHT " %d "
211 AO_TELEM_KALMAN_SPEED " %d "
212 AO_TELEM_KALMAN_ACCEL " %d\n",
213 recv_tiny.telemetry_tiny.height,
214 recv_tiny.telemetry_tiny.speed,
215 recv_tiny.telemetry_tiny.accel);
217 /* Ad-hoc flight values */
218 printf(AO_TELEM_ADHOC_ACCEL " %d "
219 AO_TELEM_ADHOC_SPEED " %ld "
220 AO_TELEM_ADHOC_BARO " %d\n",
221 recv_tiny.telemetry_tiny.flight_accel,
222 recv_tiny.telemetry_tiny.flight_vel,
223 recv_tiny.telemetry_tiny.flight_pres);
227 printf("CRC INVALID RSSI %3d\n", rssi);
231 printf ("TELEM %02x", ao_monitoring + 2);
233 for (state = 0; state < ao_monitoring + 2; state++) {
234 byte = recv_raw.packet[state];
236 printf("%02x", byte);
238 printf("%02x\n", sum);
245 __xdata struct ao_task ao_monitor_get_task;
246 __xdata struct ao_task ao_monitor_put_task;
249 ao_set_monitor(uint8_t monitoring)
252 ao_radio_recv_abort();
253 ao_monitoring = monitoring;
254 ao_wakeup(&ao_monitoring);
261 ao_set_monitor(ao_cmd_lex_i);
264 __code struct ao_cmds ao_monitor_cmds[] = {
265 { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
270 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
272 ao_monitor_led = monitor_led;
273 ao_monitoring = monitoring;
274 ao_cmd_register(&ao_monitor_cmds[0]);
275 ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
276 ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");