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.
21 __xdata uint8_t ao_monitoring;
22 __pdata uint8_t ao_monitor_led;
27 __xdata char callsign[AO_MAX_CALLSIGN+1];
29 struct ao_telemetry_raw_recv raw;
30 struct ao_telemetry_orig_recv orig;
31 struct ao_telemetry_tiny_recv tiny;
34 #define recv_raw (u.raw)
35 #define recv_orig (u.orig)
36 #define recv_tiny (u.tiny)
43 __critical while (!ao_monitoring)
44 ao_sleep(&ao_monitoring);
45 switch (ao_monitoring) {
46 case AO_MONITORING_ORIG:
47 if (!ao_radio_recv(&recv_orig, sizeof (struct ao_telemetry_orig_recv)))
50 state = recv_orig.telemetry_orig.flight_state;
52 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
53 rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
54 memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
55 if (state > ao_flight_invalid)
56 state = ao_flight_invalid;
57 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
59 /* General header fields */
60 printf(AO_TELEM_VERSION " %d "
62 AO_TELEM_SERIAL " %d "
63 AO_TELEM_FLIGHT " %d "
69 recv_orig.telemetry_orig.serial,
70 recv_orig.telemetry_orig.flight,
72 ao_state_names[state],
73 recv_orig.telemetry_orig.adc.tick);
75 /* Raw sensor values */
76 printf(AO_TELEM_RAW_ACCEL " %d "
77 AO_TELEM_RAW_BARO " %d "
78 AO_TELEM_RAW_THERMO " %d "
79 AO_TELEM_RAW_BATT " %d "
80 AO_TELEM_RAW_DROGUE " %d "
81 AO_TELEM_RAW_MAIN " %d ",
82 recv_orig.telemetry_orig.adc.accel,
83 recv_orig.telemetry_orig.adc.pres,
84 recv_orig.telemetry_orig.adc.temp,
85 recv_orig.telemetry_orig.adc.v_batt,
86 recv_orig.telemetry_orig.adc.sense_d,
87 recv_orig.telemetry_orig.adc.sense_m);
89 /* Sensor calibration values */
90 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
91 AO_TELEM_CAL_BARO_GROUND " %d "
92 AO_TELEM_CAL_ACCEL_PLUS " %d "
93 AO_TELEM_CAL_ACCEL_MINUS " %d ",
94 recv_orig.telemetry_orig.ground_accel,
95 recv_orig.telemetry_orig.ground_pres,
96 recv_orig.telemetry_orig.accel_plus_g,
97 recv_orig.telemetry_orig.accel_minus_g);
99 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
100 /* Kalman state values */
101 printf(AO_TELEM_KALMAN_HEIGHT " %d "
102 AO_TELEM_KALMAN_SPEED " %d "
103 AO_TELEM_KALMAN_ACCEL " %d ",
104 recv_orig.telemetry_orig.height,
105 recv_orig.telemetry_orig.u.k.speed,
106 recv_orig.telemetry_orig.accel);
108 /* Ad-hoc flight values */
109 printf(AO_TELEM_ADHOC_ACCEL " %d "
110 AO_TELEM_ADHOC_SPEED " %ld "
111 AO_TELEM_ADHOC_BARO " %d ",
112 recv_orig.telemetry_orig.accel,
113 recv_orig.telemetry_orig.u.flight_vel,
114 recv_orig.telemetry_orig.height);
116 ao_gps_print(&recv_orig.telemetry_orig.gps);
117 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
121 printf("CRC INVALID RSSI %3d\n", rssi);
124 case AO_MONITORING_TINY:
125 if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
128 state = recv_tiny.telemetry_tiny.flight_state;
130 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
131 rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
132 memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
133 if (state > ao_flight_invalid)
134 state = ao_flight_invalid;
135 if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
136 /* General header fields */
137 printf(AO_TELEM_VERSION " %d "
139 AO_TELEM_SERIAL " %d "
140 AO_TELEM_FLIGHT " %d "
142 AO_TELEM_STATE " %s "
143 AO_TELEM_TICK " %d ",
144 AO_TELEMETRY_VERSION,
146 recv_tiny.telemetry_tiny.serial,
147 recv_tiny.telemetry_tiny.flight,
149 ao_state_names[state],
150 recv_tiny.telemetry_tiny.adc.tick);
152 /* Raw sensor values */
153 printf(AO_TELEM_RAW_BARO " %d "
154 AO_TELEM_RAW_THERMO " %d "
155 AO_TELEM_RAW_BATT " %d "
156 AO_TELEM_RAW_DROGUE " %d "
157 AO_TELEM_RAW_MAIN " %d ",
158 recv_tiny.telemetry_tiny.adc.pres,
159 recv_tiny.telemetry_tiny.adc.temp,
160 recv_tiny.telemetry_tiny.adc.v_batt,
161 recv_tiny.telemetry_tiny.adc.sense_d,
162 recv_tiny.telemetry_tiny.adc.sense_m);
164 /* Sensor calibration values */
165 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
166 recv_tiny.telemetry_tiny.ground_pres);
169 /* Kalman state values */
170 printf(AO_TELEM_KALMAN_HEIGHT " %d "
171 AO_TELEM_KALMAN_SPEED " %d "
172 AO_TELEM_KALMAN_ACCEL " %d\n",
173 recv_tiny.telemetry_tiny.height,
174 recv_tiny.telemetry_tiny.speed,
175 recv_tiny.telemetry_tiny.accel);
177 /* Ad-hoc flight values */
178 printf(AO_TELEM_ADHOC_ACCEL " %d "
179 AO_TELEM_ADHOC_SPEED " %ld "
180 AO_TELEM_ADHOC_BARO " %d\n",
181 recv_tiny.telemetry_tiny.flight_accel,
182 recv_tiny.telemetry_tiny.flight_vel,
183 recv_tiny.telemetry_tiny.flight_pres);
187 printf("CRC INVALID RSSI %3d\n", rssi);
191 if (ao_monitoring > AO_MAX_TELEMETRY)
192 ao_monitoring = AO_MAX_TELEMETRY;
193 if (!ao_radio_recv(&recv_raw, ao_monitoring + 2))
195 printf ("TELEM %02x", ao_monitoring + 2);
197 for (state = 0; state < ao_monitoring + 2; state++) {
198 byte = recv_raw.packet[state];
200 printf("%02x", byte);
202 printf("%02x\n", sum);
206 ao_led_toggle(ao_monitor_led);
210 __xdata struct ao_task ao_monitor_task;
213 ao_set_monitor(uint8_t monitoring)
216 ao_radio_recv_abort();
217 ao_monitoring = monitoring;
218 ao_wakeup(&ao_monitoring);
225 ao_set_monitor(ao_cmd_lex_i);
228 __code struct ao_cmds ao_monitor_cmds[] = {
229 { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
234 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
236 ao_monitor_led = monitor_led;
237 ao_monitoring = monitoring;
238 ao_cmd_register(&ao_monitor_cmds[0]);
239 ao_add_task(&ao_monitor_task, ao_monitor, "monitor");