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 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
30 __data uint8_t ao_monitor_head;
38 switch (ao_monitoring) {
40 ao_sleep(&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));
58 ao_led_toggle(ao_monitor_led);
65 __xdata char callsign[AO_MAX_CALLSIGN+1];
67 uint8_t ao_monitor_tail;
71 __xdata union ao_monitor *m;
73 #define recv_raw ((m->raw))
74 #define recv_orig ((m->orig))
75 #define recv_tiny ((m->tiny))
77 ao_monitor_tail = ao_monitor_head;
79 while (ao_monitor_tail == ao_monitor_head)
80 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
81 m = &ao_monitor_ring[ao_monitor_tail];
82 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
83 switch (ao_monitoring) {
84 case AO_MONITORING_ORIG:
85 state = recv_orig.telemetry_orig.flight_state;
87 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
88 rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
89 memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
90 if (state > ao_flight_invalid)
91 state = ao_flight_invalid;
92 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
94 /* General header fields */
95 printf(AO_TELEM_VERSION " %d "
97 AO_TELEM_SERIAL " %d "
98 AO_TELEM_FLIGHT " %d "
100 AO_TELEM_STATE " %s "
101 AO_TELEM_TICK " %d ",
102 AO_TELEMETRY_VERSION,
104 recv_orig.telemetry_orig.serial,
105 recv_orig.telemetry_orig.flight,
107 ao_state_names[state],
108 recv_orig.telemetry_orig.adc.tick);
110 /* Raw sensor values */
111 printf(AO_TELEM_RAW_ACCEL " %d "
112 AO_TELEM_RAW_BARO " %d "
113 AO_TELEM_RAW_THERMO " %d "
114 AO_TELEM_RAW_BATT " %d "
115 AO_TELEM_RAW_DROGUE " %d "
116 AO_TELEM_RAW_MAIN " %d ",
117 recv_orig.telemetry_orig.adc.accel,
118 recv_orig.telemetry_orig.adc.pres,
119 recv_orig.telemetry_orig.adc.temp,
120 recv_orig.telemetry_orig.adc.v_batt,
121 recv_orig.telemetry_orig.adc.sense_d,
122 recv_orig.telemetry_orig.adc.sense_m);
124 /* Sensor calibration values */
125 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
126 AO_TELEM_CAL_BARO_GROUND " %d "
127 AO_TELEM_CAL_ACCEL_PLUS " %d "
128 AO_TELEM_CAL_ACCEL_MINUS " %d ",
129 recv_orig.telemetry_orig.ground_accel,
130 recv_orig.telemetry_orig.ground_pres,
131 recv_orig.telemetry_orig.accel_plus_g,
132 recv_orig.telemetry_orig.accel_minus_g);
134 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
135 /* Kalman state values */
136 printf(AO_TELEM_KALMAN_HEIGHT " %d "
137 AO_TELEM_KALMAN_SPEED " %d "
138 AO_TELEM_KALMAN_ACCEL " %d ",
139 recv_orig.telemetry_orig.height,
140 recv_orig.telemetry_orig.u.k.speed,
141 recv_orig.telemetry_orig.accel);
143 /* Ad-hoc flight values */
144 printf(AO_TELEM_ADHOC_ACCEL " %d "
145 AO_TELEM_ADHOC_SPEED " %ld "
146 AO_TELEM_ADHOC_BARO " %d ",
147 recv_orig.telemetry_orig.accel,
148 recv_orig.telemetry_orig.u.flight_vel,
149 recv_orig.telemetry_orig.height);
151 ao_gps_print(&recv_orig.telemetry_orig.gps);
152 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
156 printf("CRC INVALID RSSI %3d\n", rssi);
159 case AO_MONITORING_TINY:
160 state = recv_tiny.telemetry_tiny.flight_state;
162 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
163 rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
164 memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
165 if (state > ao_flight_invalid)
166 state = ao_flight_invalid;
167 if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
168 /* General header fields */
169 printf(AO_TELEM_VERSION " %d "
171 AO_TELEM_SERIAL " %d "
172 AO_TELEM_FLIGHT " %d "
174 AO_TELEM_STATE " %s "
175 AO_TELEM_TICK " %d ",
176 AO_TELEMETRY_VERSION,
178 recv_tiny.telemetry_tiny.serial,
179 recv_tiny.telemetry_tiny.flight,
181 ao_state_names[state],
182 recv_tiny.telemetry_tiny.adc.tick);
184 /* Raw sensor values */
185 printf(AO_TELEM_RAW_BARO " %d "
186 AO_TELEM_RAW_THERMO " %d "
187 AO_TELEM_RAW_BATT " %d "
188 AO_TELEM_RAW_DROGUE " %d "
189 AO_TELEM_RAW_MAIN " %d ",
190 recv_tiny.telemetry_tiny.adc.pres,
191 recv_tiny.telemetry_tiny.adc.temp,
192 recv_tiny.telemetry_tiny.adc.v_batt,
193 recv_tiny.telemetry_tiny.adc.sense_d,
194 recv_tiny.telemetry_tiny.adc.sense_m);
196 /* Sensor calibration values */
197 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
198 recv_tiny.telemetry_tiny.ground_pres);
201 /* Kalman state values */
202 printf(AO_TELEM_KALMAN_HEIGHT " %d "
203 AO_TELEM_KALMAN_SPEED " %d "
204 AO_TELEM_KALMAN_ACCEL " %d\n",
205 recv_tiny.telemetry_tiny.height,
206 recv_tiny.telemetry_tiny.speed,
207 recv_tiny.telemetry_tiny.accel);
209 /* Ad-hoc flight values */
210 printf(AO_TELEM_ADHOC_ACCEL " %d "
211 AO_TELEM_ADHOC_SPEED " %ld "
212 AO_TELEM_ADHOC_BARO " %d\n",
213 recv_tiny.telemetry_tiny.flight_accel,
214 recv_tiny.telemetry_tiny.flight_vel,
215 recv_tiny.telemetry_tiny.flight_pres);
219 printf("CRC INVALID RSSI %3d\n", rssi);
223 printf ("TELEM %02x", ao_monitoring + 2);
225 for (state = 0; state < ao_monitoring + 2; state++) {
226 byte = recv_raw.packet[state];
228 printf("%02x", byte);
230 printf("%02x\n", sum);
237 __xdata struct ao_task ao_monitor_get_task;
238 __xdata struct ao_task ao_monitor_put_task;
241 ao_set_monitor(uint8_t monitoring)
244 ao_radio_recv_abort();
245 ao_monitoring = monitoring;
246 ao_wakeup(&ao_monitoring);
253 ao_set_monitor(ao_cmd_lex_i);
256 __code struct ao_cmds ao_monitor_cmds[] = {
257 { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
262 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
264 ao_monitor_led = monitor_led;
265 ao_monitoring = monitoring;
266 ao_cmd_register(&ao_monitor_cmds[0]);
267 ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
268 ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");