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 __data uint8_t ao_monitoring;
26 __pdata uint8_t ao_monitor_led;
28 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
30 __data uint8_t ao_monitor_head;
38 switch (ao_monitoring) {
40 ao_sleep(DATA_TO_XDATA(&ao_monitoring));
42 case AO_MONITORING_ORIG:
43 size = sizeof (struct ao_telemetry_orig_recv);
45 case AO_MONITORING_TINY:
46 size = sizeof (struct ao_telemetry_tiny_recv);
49 if (ao_monitoring > AO_MAX_TELEMETRY)
50 ao_monitoring = AO_MAX_TELEMETRY;
54 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
56 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
57 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
62 ao_monitor_blink(void)
65 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
66 ao_led_for(ao_monitor_led, AO_MS_TO_TICKS(100));
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 ao_xmemcpy(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);
166 printf("CRC INVALID RSSI %3d\n", rssi);
169 case AO_MONITORING_TINY:
170 state = recv_tiny.telemetry_tiny.flight_state;
172 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
173 rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
174 ao_xmemcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
175 if (state > ao_flight_invalid)
176 state = ao_flight_invalid;
177 if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
178 /* General header fields */
179 printf(AO_TELEM_VERSION " %d "
181 AO_TELEM_SERIAL " %d "
182 AO_TELEM_FLIGHT " %d "
184 AO_TELEM_STATE " %s "
185 AO_TELEM_TICK " %d ",
186 AO_TELEMETRY_VERSION,
188 recv_tiny.telemetry_tiny.serial,
189 recv_tiny.telemetry_tiny.flight,
191 ao_state_names[state],
192 recv_tiny.telemetry_tiny.adc.tick);
194 /* Raw sensor values */
195 printf(AO_TELEM_RAW_BARO " %d "
196 AO_TELEM_RAW_THERMO " %d "
197 AO_TELEM_RAW_BATT " %d "
198 AO_TELEM_RAW_DROGUE " %d "
199 AO_TELEM_RAW_MAIN " %d ",
200 recv_tiny.telemetry_tiny.adc.pres,
201 recv_tiny.telemetry_tiny.adc.temp,
202 recv_tiny.telemetry_tiny.adc.v_batt,
203 recv_tiny.telemetry_tiny.adc.sense_d,
204 recv_tiny.telemetry_tiny.adc.sense_m);
206 /* Sensor calibration values */
207 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
208 recv_tiny.telemetry_tiny.ground_pres);
211 /* Kalman state values */
212 printf(AO_TELEM_KALMAN_HEIGHT " %d "
213 AO_TELEM_KALMAN_SPEED " %d "
214 AO_TELEM_KALMAN_ACCEL " %d\n",
215 recv_tiny.telemetry_tiny.height,
216 recv_tiny.telemetry_tiny.speed,
217 recv_tiny.telemetry_tiny.accel);
219 /* Ad-hoc flight values */
220 printf(AO_TELEM_ADHOC_ACCEL " %d "
221 AO_TELEM_ADHOC_SPEED " %ld "
222 AO_TELEM_ADHOC_BARO " %d\n",
223 recv_tiny.telemetry_tiny.flight_accel,
224 recv_tiny.telemetry_tiny.flight_vel,
225 recv_tiny.telemetry_tiny.flight_pres);
231 printf("CRC INVALID RSSI %3d\n", rssi);
235 printf ("TELEM %02x", ao_monitoring + 2);
237 for (state = 0; state < ao_monitoring + 2; state++) {
238 byte = recv_raw.packet[state];
240 printf("%02x", byte);
242 printf("%02x\n", sum);
244 if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
245 rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
255 __xdata struct ao_task ao_monitor_get_task;
256 __xdata struct ao_task ao_monitor_put_task;
257 __xdata struct ao_task ao_monitor_blink_task;
260 ao_set_monitor(uint8_t monitoring)
263 ao_radio_recv_abort();
264 ao_monitoring = monitoring;
265 ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
272 ao_set_monitor(ao_cmd_lex_i);
275 __code struct ao_cmds ao_monitor_cmds[] = {
276 { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
281 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
283 ao_monitor_led = monitor_led;
284 ao_monitoring = monitoring;
285 ao_cmd_register(&ao_monitor_cmds[0]);
286 ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
287 ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
289 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");