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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include "ao.h"
  19 #include "ao_telem.h"
  20 #include "ao_flight.h"
  21
  22 #if !HAS_MONITOR
  23 #error Must define HAS_MONITOR to 1
  24 #endif
  25
  26 #ifndef LEGACY_MONITOR
  27 #error Must define LEGACY_MONITOR
  28 #endif
  29
  30 #ifndef HAS_MONITOR_PUT
  31 #define HAS_MONITOR_PUT 1
  32 #endif
  33
  34 #ifndef AO_MONITOR_LED
  35 #error Must define AO_MONITOR_LED
  36 #endif
  37
  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;
  42
  43 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
  44
  45 __data uint8_t  ao_monitor_head;
  46
  47 static void
  48 _ao_monitor_adjust(void)
  49 {
  50         if (ao_monitoring)
  51                 ao_radio_recv_abort();
  52         if (ao_monitor_disabled)
  53                 ao_monitoring = 0;
  54         else {
  55                 if (ao_external_monitoring)
  56                         ao_monitoring = ao_external_monitoring;
  57                 else
  58                         ao_monitoring = ao_internal_monitoring;
  59         }
  60         ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
  61 }
  62
  63 void
  64 ao_monitor_get(void)
  65 {
  66         uint8_t size;
  67
  68         for (;;) {
  69                 switch (ao_monitoring) {
  70                 case 0:
  71                         ao_sleep(DATA_TO_XDATA(&ao_monitoring));
  72                         continue;
  73 #if LEGACY_MONITOR
  74                 case AO_MONITORING_ORIG:
  75                         size = sizeof (struct ao_telemetry_orig_recv);
  76                         break;
  77 #endif
  78                 default:
  79                         if (ao_monitoring > AO_MAX_TELEMETRY)
  80                                 ao_monitoring = AO_MAX_TELEMETRY;
  81                         size = ao_monitoring;
  82                         break;
  83                 }
  84                 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
  85                         continue;
  86                 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
  87                 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
  88         }
  89 }
  90
  91 #if AO_MONITOR_LED
  92 __xdata struct ao_task ao_monitor_blink_task;
  93
  94 void
  95 ao_monitor_blink(void)
  96 {
  97         for (;;) {
  98                 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
  99                 ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
 100         }
 101 }
 102 #endif
 103
 104 #if HAS_MONITOR_PUT
 105
 106 static const char xdigit[16] = {
 107         '0', '1', '2', '3', '4', '5', '6', '7',
 108         '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
 109 };
 110
 111 #define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
 112
 113 void
 114 ao_monitor_put(void)
 115 {
 116 #if LEGACY_MONITOR
 117         __xdata char callsign[AO_MAX_CALLSIGN+1];
 118         int16_t rssi;
 119 #endif
 120         uint8_t ao_monitor_tail;
 121         uint8_t state;
 122         uint8_t sum, byte;
 123         __xdata union ao_monitor        *m;
 124
 125 #define recv_raw        ((m->raw))
 126 #define recv_orig       ((m->orig))
 127 #define recv_tiny       ((m->tiny))
 128
 129         ao_monitor_tail = ao_monitor_head;
 130         for (;;) {
 131                 while (!ao_external_monitoring)
 132                         ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
 133                 while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
 134                         ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
 135                 if (!ao_external_monitoring)
 136                         continue;
 137                 m = &ao_monitor_ring[ao_monitor_tail];
 138                 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
 139                 switch (ao_monitoring) {
 140                 case 0:
 141                         break;
 142 #if LEGACY_MONITOR
 143                 case AO_MONITORING_ORIG:
 144                         state = recv_orig.telemetry_orig.flight_state;
 145
 146                         rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
 147                         ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
 148                         if (state > ao_flight_invalid)
 149                                 state = ao_flight_invalid;
 150                         if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
 151
 152                                 /* General header fields */
 153                                 printf(AO_TELEM_VERSION " %d "
 154                                        AO_TELEM_CALL " %s "
 155                                        AO_TELEM_SERIAL " %d "
 156                                        AO_TELEM_FLIGHT " %d "
 157                                        AO_TELEM_RSSI " %d "
 158                                        AO_TELEM_STATE " %s "
 159                                        AO_TELEM_TICK " %d ",
 160                                        AO_TELEMETRY_VERSION,
 161                                        callsign,
 162                                        recv_orig.telemetry_orig.serial,
 163                                        recv_orig.telemetry_orig.flight,
 164                                        rssi,
 165                                        ao_state_names[state],
 166                                        recv_orig.telemetry_orig.adc.tick);
 167
 168                                 /* Raw sensor values */
 169                                 printf(AO_TELEM_RAW_ACCEL " %d "
 170                                        AO_TELEM_RAW_BARO " %d "
 171                                        AO_TELEM_RAW_THERMO " %d "
 172                                        AO_TELEM_RAW_BATT " %d "
 173                                        AO_TELEM_RAW_DROGUE " %d "
 174                                        AO_TELEM_RAW_MAIN " %d ",
 175                                        recv_orig.telemetry_orig.adc.accel,
 176                                        recv_orig.telemetry_orig.adc.pres,
 177                                        recv_orig.telemetry_orig.adc.temp,
 178                                        recv_orig.telemetry_orig.adc.v_batt,
 179                                        recv_orig.telemetry_orig.adc.sense_d,
 180                                        recv_orig.telemetry_orig.adc.sense_m);
 181
 182                                 /* Sensor calibration values */
 183                                 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
 184                                        AO_TELEM_CAL_BARO_GROUND " %d "
 185                                        AO_TELEM_CAL_ACCEL_PLUS " %d "
 186                                        AO_TELEM_CAL_ACCEL_MINUS " %d ",
 187                                        recv_orig.telemetry_orig.ground_accel,
 188                                        recv_orig.telemetry_orig.ground_pres,
 189                                        recv_orig.telemetry_orig.accel_plus_g,
 190                                        recv_orig.telemetry_orig.accel_minus_g);
 191
 192                                 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
 193                                         /* Kalman state values */
 194                                         printf(AO_TELEM_KALMAN_HEIGHT " %d "
 195                                                AO_TELEM_KALMAN_SPEED " %d "
 196                                                AO_TELEM_KALMAN_ACCEL " %d ",
 197                                                recv_orig.telemetry_orig.height,
 198                                                recv_orig.telemetry_orig.u.k.speed,
 199                                                recv_orig.telemetry_orig.accel);
 200                                 } else {
 201                                         /* Ad-hoc flight values */
 202                                         printf(AO_TELEM_ADHOC_ACCEL " %d "
 203                                                AO_TELEM_ADHOC_SPEED " %ld "
 204                                                AO_TELEM_ADHOC_BARO " %d ",
 205                                                recv_orig.telemetry_orig.accel,
 206                                                recv_orig.telemetry_orig.u.flight_vel,
 207                                                recv_orig.telemetry_orig.height);
 208                                 }
 209                                 ao_gps_print(&recv_orig.telemetry_orig.gps);
 210                                 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
 211                                 putchar('\n');
 212 #if HAS_RSSI
 213                                 ao_rssi_set(rssi);
 214 #endif
 215                         } else {
 216                                 printf("CRC INVALID RSSI %3d\n", rssi);
 217                         }
 218                         break;
 219 #endif /* LEGACY_MONITOR */
 220                 default:
 221 #if AO_PROFILE
 222                 {
 223                         extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
 224                         extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
 225
 226                         printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
 227                         printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
 228                         printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
 229                         printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
 230                 }
 231 #endif
 232                         printf("TELEM ");
 233                         hex((uint8_t) (ao_monitoring + 2));
 234                         sum = 0x5a;
 235                         for (state = 0; state < ao_monitoring + 2; state++) {
 236                                 byte = recv_raw.packet[state];
 237                                 sum += byte;
 238                                 hex(byte);
 239                         }
 240                         hex(sum);
 241                         putchar ('\n');
 242 #if HAS_RSSI
 243                         if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
 244                                 rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
 245                                 ao_rssi_set(rssi);
 246                         }
 247 #endif
 248                         break;
 249                 }
 250                 ao_usb_flush();
 251         }
 252 }
 253
 254 __xdata struct ao_task ao_monitor_put_task;
 255 #endif
 256
 257 __xdata struct ao_task ao_monitor_get_task;
 258
 259 void
 260 ao_monitor_set(uint8_t monitoring)
 261 {
 262         ao_internal_monitoring = monitoring;
 263         _ao_monitor_adjust();
 264 }
 265
 266 void
 267 ao_monitor_disable(void)
 268 {
 269         ++ao_monitor_disabled;
 270         _ao_monitor_adjust();
 271 }
 272
 273 void
 274 ao_monitor_enable(void)
 275 {
 276         --ao_monitor_disabled;
 277         _ao_monitor_adjust();
 278 }
 279
 280 #if HAS_MONITOR_PUT
 281 static void
 282 set_monitor(void)
 283 {
 284         ao_cmd_hex();
 285         ao_external_monitoring = ao_cmd_lex_i;
 286         ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
 287         ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
 288         _ao_monitor_adjust();
 289 }
 290
 291 __code struct ao_cmds ao_monitor_cmds[] = {
 292         { set_monitor,  "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
 293         { 0,    NULL },
 294 };
 295 #endif
 296
 297 void
 298 ao_monitor_init(void) __reentrant
 299 {
 300 #if HAS_MONITOR_PUT
 301         ao_cmd_register(&ao_monitor_cmds[0]);
 302         ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 303 #endif
 304         ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
 305 #if AO_MONITOR_LED
 306         ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
 307 #endif
 308 }