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 #ifndef LEGACY_MONITOR
26 #error Must define LEGACY_MONITOR
29 #ifndef HAS_MONITOR_PUT
30 #define HAS_MONIOTOR_PUT 1
33 __data uint8_t ao_monitoring;
34 __pdata uint8_t ao_monitor_led;
36 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
38 __data uint8_t ao_monitor_head;
46 switch (ao_monitoring) {
48 ao_sleep(DATA_TO_XDATA(&ao_monitoring));
51 case AO_MONITORING_ORIG:
52 size = sizeof (struct ao_telemetry_orig_recv);
54 case AO_MONITORING_TINY:
55 size = sizeof (struct ao_telemetry_tiny_recv);
59 if (ao_monitoring > AO_MAX_TELEMETRY)
60 ao_monitoring = AO_MAX_TELEMETRY;
64 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
66 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
67 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
72 ao_monitor_blink(void)
75 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
76 ao_led_for(ao_monitor_led, AO_MS_TO_TICKS(100));
85 __xdata char callsign[AO_MAX_CALLSIGN+1];
88 uint8_t ao_monitor_tail;
91 __xdata union ao_monitor *m;
93 #define recv_raw ((m->raw))
94 #define recv_orig ((m->orig))
95 #define recv_tiny ((m->tiny))
97 ao_monitor_tail = ao_monitor_head;
99 while (ao_monitor_tail == ao_monitor_head)
100 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
101 m = &ao_monitor_ring[ao_monitor_tail];
102 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
103 switch (ao_monitoring) {
105 case AO_MONITORING_ORIG:
106 state = recv_orig.telemetry_orig.flight_state;
108 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
109 rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
110 ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
111 if (state > ao_flight_invalid)
112 state = ao_flight_invalid;
113 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
115 /* General header fields */
116 printf(AO_TELEM_VERSION " %d "
118 AO_TELEM_SERIAL " %d "
119 AO_TELEM_FLIGHT " %d "
121 AO_TELEM_STATE " %s "
122 AO_TELEM_TICK " %d ",
123 AO_TELEMETRY_VERSION,
125 recv_orig.telemetry_orig.serial,
126 recv_orig.telemetry_orig.flight,
128 ao_state_names[state],
129 recv_orig.telemetry_orig.adc.tick);
131 /* Raw sensor values */
132 printf(AO_TELEM_RAW_ACCEL " %d "
133 AO_TELEM_RAW_BARO " %d "
134 AO_TELEM_RAW_THERMO " %d "
135 AO_TELEM_RAW_BATT " %d "
136 AO_TELEM_RAW_DROGUE " %d "
137 AO_TELEM_RAW_MAIN " %d ",
138 recv_orig.telemetry_orig.adc.accel,
139 recv_orig.telemetry_orig.adc.pres,
140 recv_orig.telemetry_orig.adc.temp,
141 recv_orig.telemetry_orig.adc.v_batt,
142 recv_orig.telemetry_orig.adc.sense_d,
143 recv_orig.telemetry_orig.adc.sense_m);
145 /* Sensor calibration values */
146 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
147 AO_TELEM_CAL_BARO_GROUND " %d "
148 AO_TELEM_CAL_ACCEL_PLUS " %d "
149 AO_TELEM_CAL_ACCEL_MINUS " %d ",
150 recv_orig.telemetry_orig.ground_accel,
151 recv_orig.telemetry_orig.ground_pres,
152 recv_orig.telemetry_orig.accel_plus_g,
153 recv_orig.telemetry_orig.accel_minus_g);
155 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
156 /* Kalman state values */
157 printf(AO_TELEM_KALMAN_HEIGHT " %d "
158 AO_TELEM_KALMAN_SPEED " %d "
159 AO_TELEM_KALMAN_ACCEL " %d ",
160 recv_orig.telemetry_orig.height,
161 recv_orig.telemetry_orig.u.k.speed,
162 recv_orig.telemetry_orig.accel);
164 /* Ad-hoc flight values */
165 printf(AO_TELEM_ADHOC_ACCEL " %d "
166 AO_TELEM_ADHOC_SPEED " %ld "
167 AO_TELEM_ADHOC_BARO " %d ",
168 recv_orig.telemetry_orig.accel,
169 recv_orig.telemetry_orig.u.flight_vel,
170 recv_orig.telemetry_orig.height);
172 ao_gps_print(&recv_orig.telemetry_orig.gps);
173 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
179 printf("CRC INVALID RSSI %3d\n", rssi);
182 case AO_MONITORING_TINY:
183 state = recv_tiny.telemetry_tiny.flight_state;
185 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
186 rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
187 ao_xmemcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
188 if (state > ao_flight_invalid)
189 state = ao_flight_invalid;
190 if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
191 /* General header fields */
192 printf(AO_TELEM_VERSION " %d "
194 AO_TELEM_SERIAL " %d "
195 AO_TELEM_FLIGHT " %d "
197 AO_TELEM_STATE " %s "
198 AO_TELEM_TICK " %d ",
199 AO_TELEMETRY_VERSION,
201 recv_tiny.telemetry_tiny.serial,
202 recv_tiny.telemetry_tiny.flight,
204 ao_state_names[state],
205 recv_tiny.telemetry_tiny.adc.tick);
207 /* Raw sensor values */
208 printf(AO_TELEM_RAW_BARO " %d "
209 AO_TELEM_RAW_THERMO " %d "
210 AO_TELEM_RAW_BATT " %d "
211 AO_TELEM_RAW_DROGUE " %d "
212 AO_TELEM_RAW_MAIN " %d ",
213 recv_tiny.telemetry_tiny.adc.pres,
214 recv_tiny.telemetry_tiny.adc.temp,
215 recv_tiny.telemetry_tiny.adc.v_batt,
216 recv_tiny.telemetry_tiny.adc.sense_d,
217 recv_tiny.telemetry_tiny.adc.sense_m);
219 /* Sensor calibration values */
220 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
221 recv_tiny.telemetry_tiny.ground_pres);
224 /* Kalman state values */
225 printf(AO_TELEM_KALMAN_HEIGHT " %d "
226 AO_TELEM_KALMAN_SPEED " %d "
227 AO_TELEM_KALMAN_ACCEL " %d\n",
228 recv_tiny.telemetry_tiny.height,
229 recv_tiny.telemetry_tiny.speed,
230 recv_tiny.telemetry_tiny.accel);
232 /* Ad-hoc flight values */
233 printf(AO_TELEM_ADHOC_ACCEL " %d "
234 AO_TELEM_ADHOC_SPEED " %ld "
235 AO_TELEM_ADHOC_BARO " %d\n",
236 recv_tiny.telemetry_tiny.flight_accel,
237 recv_tiny.telemetry_tiny.flight_vel,
238 recv_tiny.telemetry_tiny.flight_pres);
244 printf("CRC INVALID RSSI %3d\n", rssi);
247 #endif /* LEGACY_MONITOR */
249 printf ("TELEM %02x", ao_monitoring + 2);
251 for (state = 0; state < ao_monitoring + 2; state++) {
252 byte = recv_raw.packet[state];
254 printf("%02x", byte);
256 printf("%02x\n", sum);
258 if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
259 rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
268 __xdata struct ao_task ao_monitor_put_task;
271 __xdata struct ao_task ao_monitor_get_task;
272 __xdata struct ao_task ao_monitor_blink_task;
275 ao_set_monitor(uint8_t monitoring)
278 ao_radio_recv_abort();
279 ao_monitoring = monitoring;
280 ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
287 ao_set_monitor(ao_cmd_lex_i);
290 __code struct ao_cmds ao_monitor_cmds[] = {
291 { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
296 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
298 ao_monitor_led = monitor_led;
299 ao_monitoring = monitoring;
300 ao_cmd_register(&ao_monitor_cmds[0]);
301 ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
303 ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
306 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");