2 * Copyright © 2011 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.
19 #include "ao_product.h"
21 static __pdata uint16_t ao_telemetry_interval;
22 static __pdata uint8_t ao_rdf = 0;
23 static __pdata uint16_t ao_rdf_time;
25 #if defined(MEGAMETRUM)
26 #define AO_SEND_MEGA 1
29 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
30 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
33 #if defined(TELEMINI_V_1_0)
34 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
37 #if defined(TELENANO_V_0_1)
38 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
41 static __xdata union ao_telemetry_all telemetry;
43 #if defined AO_TELEMETRY_SENSOR
44 /* Send sensor packet */
48 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
50 telemetry.generic.tick = packet->tick;
51 telemetry.generic.type = AO_TELEMETRY_SENSOR;
53 telemetry.sensor.state = ao_flight_state;
55 telemetry.sensor.accel = packet->adc.accel;
57 telemetry.sensor.accel = 0;
59 telemetry.sensor.pres = ao_data_pres(packet);
60 telemetry.sensor.temp = packet->adc.temp;
61 telemetry.sensor.v_batt = packet->adc.v_batt;
63 telemetry.sensor.sense_d = packet->adc.sense_d;
64 telemetry.sensor.sense_m = packet->adc.sense_m;
66 telemetry.sensor.sense_d = 0;
67 telemetry.sensor.sense_m = 0;
70 telemetry.sensor.acceleration = ao_accel;
71 telemetry.sensor.speed = ao_speed;
72 telemetry.sensor.height = ao_height;
74 telemetry.sensor.ground_pres = ao_ground_pres;
76 telemetry.sensor.ground_accel = ao_ground_accel;
77 telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
78 telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
80 telemetry.sensor.ground_accel = 0;
81 telemetry.sensor.accel_plus_g = 0;
82 telemetry.sensor.accel_minus_g = 0;
85 ao_radio_send(&telemetry, sizeof (telemetry));
91 /* Send mega sensor packet */
93 ao_send_mega_sensor(void)
95 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
97 telemetry.generic.tick = packet->tick;
98 telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
100 telemetry.mega_sensor.accel = ao_data_accel(packet);
101 telemetry.mega_sensor.pres = ao_data_pres(packet);
102 telemetry.mega_sensor.temp = ao_data_temp(packet);
105 telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
106 telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
107 telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
109 telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
110 telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
111 telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
115 telemetry.mega_sensor.mag_x = packet->hmc5883.x;
116 telemetry.mega_sensor.mag_y = packet->hmc5883.y;
117 telemetry.mega_sensor.mag_z = packet->hmc5883.z;
120 ao_radio_send(&telemetry, sizeof (telemetry));
123 static __pdata int8_t ao_telemetry_mega_data_max;
124 static __pdata int8_t ao_telemetry_mega_data_cur;
126 /* Send mega data packet */
128 ao_send_mega_data(void)
130 if (--ao_telemetry_mega_data_cur <= 0) {
131 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
134 telemetry.generic.tick = packet->tick;
135 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
137 telemetry.mega_data.state = ao_flight_state;
138 telemetry.mega_data.v_batt = packet->adc.v_batt;
139 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
141 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
142 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
143 telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
145 telemetry.mega_data.ground_pres = ao_ground_pres;
146 telemetry.mega_data.ground_accel = ao_ground_accel;
147 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
148 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
150 telemetry.mega_data.acceleration = ao_accel;
151 telemetry.mega_data.speed = ao_speed;
152 telemetry.mega_data.height = ao_height;
154 ao_radio_send(&telemetry, sizeof (telemetry));
155 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
158 #endif /* AO_SEND_MEGA */
160 #ifdef AO_SEND_ALL_BARO
161 static uint8_t ao_baro_sample;
166 uint8_t sample = ao_sample_data;
167 uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
170 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
173 telemetry.generic.tick = ao_data_ring[sample].tick;
174 telemetry.generic.type = AO_TELEMETRY_BARO;
175 telemetry.baro.samples = samples;
176 for (sample = 0; sample < samples; sample++) {
177 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
178 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
180 ao_radio_send(&telemetry, sizeof (telemetry));
184 static __pdata int8_t ao_telemetry_config_max;
185 static __pdata int8_t ao_telemetry_config_cur;
188 ao_send_configuration(void)
190 if (--ao_telemetry_config_cur <= 0)
192 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
193 telemetry.configuration.device = AO_idProduct_NUMBER;
194 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
195 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
196 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
197 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
198 telemetry.configuration.main_deploy = ao_config.main_deploy;
199 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
200 ao_xmemcpy (telemetry.configuration.callsign,
203 ao_xmemcpy (telemetry.configuration.version,
204 CODE_TO_XDATA(ao_version),
206 ao_radio_send(&telemetry, sizeof (telemetry));
207 ao_telemetry_config_cur = ao_telemetry_config_max;
213 static __pdata int8_t ao_telemetry_loc_cur;
214 static __pdata int8_t ao_telemetry_sat_cur;
217 ao_send_location(void)
219 if (--ao_telemetry_loc_cur <= 0)
221 telemetry.generic.type = AO_TELEMETRY_LOCATION;
222 ao_mutex_get(&ao_gps_mutex);
223 ao_xmemcpy(&telemetry.location.flags,
226 ao_mutex_put(&ao_gps_mutex);
227 ao_radio_send(&telemetry, sizeof (telemetry));
228 ao_telemetry_loc_cur = ao_telemetry_config_max;
233 ao_send_satellite(void)
235 if (--ao_telemetry_sat_cur <= 0)
237 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
238 ao_mutex_get(&ao_gps_mutex);
239 telemetry.satellite.channels = ao_gps_tracking_data.channels;
240 ao_xmemcpy(&telemetry.satellite.sats,
241 &ao_gps_tracking_data.sats,
242 AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
243 ao_mutex_put(&ao_gps_mutex);
244 ao_radio_send(&telemetry, sizeof (telemetry));
245 ao_telemetry_sat_cur = ao_telemetry_config_max;
252 static __pdata int8_t ao_telemetry_companion_max;
253 static __pdata int8_t ao_telemetry_companion_cur;
256 ao_send_companion(void)
258 if (--ao_telemetry_companion_cur <= 0) {
259 telemetry.generic.type = AO_TELEMETRY_COMPANION;
260 telemetry.companion.board_id = ao_companion_setup.board_id;
261 telemetry.companion.update_period = ao_companion_setup.update_period;
262 telemetry.companion.channels = ao_companion_setup.channels;
263 ao_mutex_get(&ao_companion_mutex);
264 ao_xmemcpy(&telemetry.companion.companion_data,
266 ao_companion_setup.channels * 2);
267 ao_mutex_put(&ao_companion_mutex);
268 ao_radio_send(&telemetry, sizeof (telemetry));
269 ao_telemetry_companion_cur = ao_telemetry_companion_max;
281 if (!ao_config.radio_enable)
283 while (!ao_flight_number)
284 ao_sleep(&ao_flight_number);
286 telemetry.generic.serial = ao_serial_number;
288 while (ao_telemetry_interval == 0)
289 ao_sleep(&telemetry);
290 time = ao_rdf_time = ao_time();
291 while (ao_telemetry_interval) {
294 #ifdef AO_SEND_ALL_BARO
298 ao_send_mega_sensor();
305 if (ao_companion_running)
308 ao_send_configuration();
313 #ifndef AO_SEND_ALL_BARO
315 (int16_t) (ao_time() - ao_rdf_time) >= 0)
317 #if HAS_IGNITE_REPORT
320 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
321 #if HAS_IGNITE_REPORT
322 if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
323 ao_radio_continuity(c);
329 time += ao_telemetry_interval;
330 delay = time - ao_time();
333 ao_sleep(&telemetry);
344 ao_telemetry_set_interval(uint16_t interval)
347 ao_telemetry_interval = interval;
351 ao_telemetry_mega_data_max = 1;
353 ao_telemetry_mega_data_max = 2;
354 if (ao_telemetry_mega_data_max > cur)
356 ao_telemetry_mega_data_cur = cur;
360 if (!ao_companion_setup.update_period)
361 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
362 ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
363 if (ao_telemetry_companion_max > cur)
365 ao_telemetry_companion_cur = cur;
368 ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
370 if (ao_telemetry_config_max > cur)
372 ao_telemetry_config_cur = cur;
376 if (ao_telemetry_config_max > cur)
378 ao_telemetry_loc_cur = cur;
379 if (ao_telemetry_config_max > cur)
381 ao_telemetry_sat_cur = cur;
383 ao_wakeup(&telemetry);
387 ao_rdf_set(uint8_t rdf)
391 ao_radio_rdf_abort();
393 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
396 __xdata struct ao_task ao_telemetry_task;
401 ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");