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.
20 #include "ao_flight.h"
23 #error Must define HAS_MONITOR to 1
26 #ifndef LEGACY_MONITOR
27 #error Must define LEGACY_MONITOR
30 #ifndef HAS_MONITOR_PUT
31 #define HAS_MONITOR_PUT 1
34 #ifndef AO_MONITOR_LED
35 #error Must define AO_MONITOR_LED
38 __data uint8_t ao_monitoring;
39 static __data uint8_t ao_monitor_disabled;
40 static __data uint8_t ao_internal_monitoring;
41 static __data uint8_t ao_external_monitoring;
43 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
45 __data uint8_t ao_monitor_head;
48 _ao_monitor_adjust(void)
51 ao_radio_recv_abort();
52 if (ao_monitor_disabled)
55 if (ao_external_monitoring)
56 ao_monitoring = ao_external_monitoring;
58 ao_monitoring = ao_internal_monitoring;
60 ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
69 switch (ao_monitoring) {
71 ao_sleep(DATA_TO_XDATA(&ao_monitoring));
74 case AO_MONITORING_ORIG:
75 size = sizeof (struct ao_telemetry_orig_recv);
79 if (ao_monitoring > AO_MAX_TELEMETRY)
80 ao_monitoring = AO_MAX_TELEMETRY;
84 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
86 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
87 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
92 __xdata struct ao_task ao_monitor_blink_task;
95 ao_monitor_blink(void)
98 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
99 ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
110 __xdata char callsign[AO_MAX_CALLSIGN+1];
113 uint8_t ao_monitor_tail;
116 __xdata union ao_monitor *m;
118 #define recv_raw ((m->raw))
119 #define recv_orig ((m->orig))
120 #define recv_tiny ((m->tiny))
122 ao_monitor_tail = ao_monitor_head;
124 while (!ao_external_monitoring)
125 ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
126 while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
127 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
128 m = &ao_monitor_ring[ao_monitor_tail];
129 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
130 switch (ao_monitoring) {
134 case AO_MONITORING_ORIG:
135 state = recv_orig.telemetry_orig.flight_state;
137 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
138 rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
139 ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
140 if (state > ao_flight_invalid)
141 state = ao_flight_invalid;
142 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
144 /* General header fields */
145 printf(AO_TELEM_VERSION " %d "
147 AO_TELEM_SERIAL " %d "
148 AO_TELEM_FLIGHT " %d "
150 AO_TELEM_STATE " %s "
151 AO_TELEM_TICK " %d ",
152 AO_TELEMETRY_VERSION,
154 recv_orig.telemetry_orig.serial,
155 recv_orig.telemetry_orig.flight,
157 ao_state_names[state],
158 recv_orig.telemetry_orig.adc.tick);
160 /* Raw sensor values */
161 printf(AO_TELEM_RAW_ACCEL " %d "
162 AO_TELEM_RAW_BARO " %d "
163 AO_TELEM_RAW_THERMO " %d "
164 AO_TELEM_RAW_BATT " %d "
165 AO_TELEM_RAW_DROGUE " %d "
166 AO_TELEM_RAW_MAIN " %d ",
167 recv_orig.telemetry_orig.adc.accel,
168 recv_orig.telemetry_orig.adc.pres,
169 recv_orig.telemetry_orig.adc.temp,
170 recv_orig.telemetry_orig.adc.v_batt,
171 recv_orig.telemetry_orig.adc.sense_d,
172 recv_orig.telemetry_orig.adc.sense_m);
174 /* Sensor calibration values */
175 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
176 AO_TELEM_CAL_BARO_GROUND " %d "
177 AO_TELEM_CAL_ACCEL_PLUS " %d "
178 AO_TELEM_CAL_ACCEL_MINUS " %d ",
179 recv_orig.telemetry_orig.ground_accel,
180 recv_orig.telemetry_orig.ground_pres,
181 recv_orig.telemetry_orig.accel_plus_g,
182 recv_orig.telemetry_orig.accel_minus_g);
184 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
185 /* Kalman state values */
186 printf(AO_TELEM_KALMAN_HEIGHT " %d "
187 AO_TELEM_KALMAN_SPEED " %d "
188 AO_TELEM_KALMAN_ACCEL " %d ",
189 recv_orig.telemetry_orig.height,
190 recv_orig.telemetry_orig.u.k.speed,
191 recv_orig.telemetry_orig.accel);
193 /* Ad-hoc flight values */
194 printf(AO_TELEM_ADHOC_ACCEL " %d "
195 AO_TELEM_ADHOC_SPEED " %ld "
196 AO_TELEM_ADHOC_BARO " %d ",
197 recv_orig.telemetry_orig.accel,
198 recv_orig.telemetry_orig.u.flight_vel,
199 recv_orig.telemetry_orig.height);
201 ao_gps_print(&recv_orig.telemetry_orig.gps);
202 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
208 printf("CRC INVALID RSSI %3d\n", rssi);
211 #endif /* LEGACY_MONITOR */
213 printf ("TELEM %02x", ao_monitoring + 2);
215 for (state = 0; state < ao_monitoring + 2; state++) {
216 byte = recv_raw.packet[state];
218 printf("%02x", byte);
220 printf("%02x\n", sum);
222 if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
223 rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
233 __xdata struct ao_task ao_monitor_put_task;
236 __xdata struct ao_task ao_monitor_get_task;
239 ao_monitor_set(uint8_t monitoring)
241 ao_internal_monitoring = monitoring;
242 _ao_monitor_adjust();
246 ao_monitor_disable(void)
248 ++ao_monitor_disabled;
249 _ao_monitor_adjust();
253 ao_monitor_enable(void)
255 --ao_monitor_disabled;
256 _ao_monitor_adjust();
264 ao_external_monitoring = ao_cmd_lex_i;
265 ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
266 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
267 _ao_monitor_adjust();
270 __code struct ao_cmds ao_monitor_cmds[] = {
271 { set_monitor, "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
277 ao_monitor_init(void) __reentrant
280 ao_cmd_register(&ao_monitor_cmds[0]);
281 ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
283 ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
285 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");