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 int8_t ao_telemetry_config_max;
23 static __pdata int8_t ao_telemetry_config_cur;
25 static __pdata int8_t ao_telemetry_loc_cur;
26 static __pdata int8_t ao_telemetry_sat_cur;
29 static __pdata int8_t ao_telemetry_companion_max;
30 static __pdata int8_t ao_telemetry_companion_cur;
32 static __pdata uint8_t ao_rdf = 0;
33 static __pdata uint16_t ao_rdf_time;
35 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
36 #define AO_RDF_LENGTH_MS 500
38 #if defined(MEGAMETRUM)
39 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_MEGAMETRUM
42 #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)
43 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
46 #if defined(TELEMINI_V_1_0)
47 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
50 #if defined(TELENANO_V_0_1)
51 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
54 static __xdata union ao_telemetry_all telemetry;
56 /* Send sensor packet */
60 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
62 telemetry.generic.tick = packet->tick;
63 telemetry.generic.type = AO_TELEMETRY_SENSOR;
65 telemetry.sensor.state = ao_flight_state;
67 telemetry.sensor.accel = packet->adc.accel;
69 telemetry.sensor.accel = 0;
71 telemetry.sensor.pres = ao_data_pres(packet);
72 telemetry.sensor.temp = packet->adc.temp;
73 telemetry.sensor.v_batt = packet->adc.v_batt;
75 telemetry.sensor.sense_d = packet->adc.sense_d;
76 telemetry.sensor.sense_m = packet->adc.sense_m;
78 telemetry.sensor.sense_d = 0;
79 telemetry.sensor.sense_m = 0;
82 telemetry.sensor.acceleration = ao_accel;
83 telemetry.sensor.speed = ao_speed;
84 telemetry.sensor.height = ao_height;
86 telemetry.sensor.ground_pres = ao_ground_pres;
88 telemetry.sensor.ground_accel = ao_ground_accel;
89 telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
90 telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
92 telemetry.sensor.ground_accel = 0;
93 telemetry.sensor.accel_plus_g = 0;
94 telemetry.sensor.accel_minus_g = 0;
97 ao_radio_send(&telemetry, sizeof (telemetry));
100 static uint8_t ao_baro_sample;
102 #ifdef AO_SEND_ALL_BARO
106 uint8_t sample = ao_sample_data;
107 uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
110 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
113 telemetry.generic.tick = ao_data_ring[sample].tick;
114 telemetry.generic.type = AO_TELEMETRY_BARO;
115 telemetry.baro.samples = samples;
116 for (sample = 0; sample < samples; sample++) {
117 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
118 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
120 ao_radio_send(&telemetry, sizeof (telemetry));
125 ao_send_configuration(void)
127 if (--ao_telemetry_config_cur <= 0)
129 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
130 telemetry.configuration.device = AO_idProduct_NUMBER;
131 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
132 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
133 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
134 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
135 telemetry.configuration.main_deploy = ao_config.main_deploy;
136 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
137 ao_xmemcpy (telemetry.configuration.callsign,
140 ao_xmemcpy (telemetry.configuration.version,
141 CODE_TO_XDATA(ao_version),
143 ao_radio_send(&telemetry, sizeof (telemetry));
144 ao_telemetry_config_cur = ao_telemetry_config_max;
150 ao_send_location(void)
152 if (--ao_telemetry_loc_cur <= 0)
154 telemetry.generic.type = AO_TELEMETRY_LOCATION;
155 ao_mutex_get(&ao_gps_mutex);
156 ao_xmemcpy(&telemetry.location.flags,
159 ao_mutex_put(&ao_gps_mutex);
160 ao_radio_send(&telemetry, sizeof (telemetry));
161 ao_telemetry_loc_cur = ao_telemetry_config_max;
166 ao_send_satellite(void)
168 if (--ao_telemetry_sat_cur <= 0)
170 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
171 ao_mutex_get(&ao_gps_mutex);
172 telemetry.satellite.channels = ao_gps_tracking_data.channels;
173 ao_xmemcpy(&telemetry.satellite.sats,
174 &ao_gps_tracking_data.sats,
175 AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
176 ao_mutex_put(&ao_gps_mutex);
177 ao_radio_send(&telemetry, sizeof (telemetry));
178 ao_telemetry_sat_cur = ao_telemetry_config_max;
185 ao_send_companion(void)
187 if (--ao_telemetry_companion_cur <= 0) {
188 telemetry.generic.type = AO_TELEMETRY_COMPANION;
189 telemetry.companion.board_id = ao_companion_setup.board_id;
190 telemetry.companion.update_period = ao_companion_setup.update_period;
191 telemetry.companion.channels = ao_companion_setup.channels;
192 ao_mutex_get(&ao_companion_mutex);
193 ao_xmemcpy(&telemetry.companion.companion_data,
195 ao_companion_setup.channels * 2);
196 ao_mutex_put(&ao_companion_mutex);
197 ao_radio_send(&telemetry, sizeof (telemetry));
198 ao_telemetry_companion_cur = ao_telemetry_companion_max;
210 if (!ao_config.radio_enable)
212 while (!ao_flight_number)
213 ao_sleep(&ao_flight_number);
215 telemetry.generic.serial = ao_serial_number;
217 while (ao_telemetry_interval == 0)
218 ao_sleep(&telemetry);
219 time = ao_rdf_time = ao_time();
220 while (ao_telemetry_interval) {
223 #ifdef AO_SEND_ALL_BARO
228 if (ao_companion_running)
231 ao_send_configuration();
236 #ifndef AO_SEND_ALL_BARO
238 (int16_t) (ao_time() - ao_rdf_time) >= 0)
240 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
241 ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
244 time += ao_telemetry_interval;
245 delay = time - ao_time();
248 ao_sleep(&telemetry);
258 ao_telemetry_set_interval(uint16_t interval)
260 ao_telemetry_interval = interval;
263 if (!ao_companion_setup.update_period)
264 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
265 ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
266 ao_telemetry_companion_cur = 1;
269 ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
271 ao_telemetry_config_cur = ao_telemetry_companion_cur;
272 if (ao_telemetry_config_max > ao_telemetry_config_cur)
273 ao_telemetry_config_cur++;
275 ao_telemetry_config_cur = 1;
279 ao_telemetry_loc_cur = ao_telemetry_config_cur;
280 if (ao_telemetry_config_max > ao_telemetry_loc_cur)
281 ao_telemetry_loc_cur++;
282 ao_telemetry_sat_cur = ao_telemetry_loc_cur;
283 if (ao_telemetry_config_max > ao_telemetry_sat_cur)
284 ao_telemetry_sat_cur++;
286 ao_wakeup(&telemetry);
290 ao_rdf_set(uint8_t rdf)
294 ao_radio_rdf_abort();
296 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
299 __xdata struct ao_task ao_telemetry_task;
304 ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");