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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
21 #include "ao_flight.h"
24 #error Must define HAS_MONITOR to 1
27 #ifndef LEGACY_MONITOR
28 #error Must define LEGACY_MONITOR
31 #ifndef HAS_MONITOR_PUT
32 #define HAS_MONITOR_PUT 1
35 #ifndef AO_MONITOR_LED
36 #error Must define AO_MONITOR_LED
39 __xdata uint8_t ao_monitoring_mutex;
40 __data uint8_t ao_monitoring;
41 static __data uint8_t ao_monitor_disabled;
42 static __data uint8_t ao_internal_monitoring;
43 static __data uint8_t ao_external_monitoring;
45 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
47 __data uint8_t ao_monitor_head;
50 _ao_monitor_adjust(void)
53 ao_radio_recv_abort();
54 if (ao_monitor_disabled)
57 if (ao_external_monitoring)
58 ao_monitoring = ao_external_monitoring;
60 ao_monitoring = ao_internal_monitoring;
62 ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
71 switch (ao_monitoring) {
73 ao_sleep(DATA_TO_XDATA(&ao_monitoring));
76 case AO_MONITORING_ORIG:
77 size = sizeof (struct ao_telemetry_orig_recv);
81 if (ao_monitoring > AO_MAX_TELEMETRY)
82 ao_monitoring = AO_MAX_TELEMETRY;
86 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
88 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
89 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
94 __xdata struct ao_task ao_monitor_blink_task;
97 ao_monitor_blink(void)
103 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
104 #ifdef AO_MONITOR_BAD
105 recv = (uint8_t *) &ao_monitor_ring[ao_monitor_ring_prev(ao_monitor_head)];
106 if (ao_monitoring && !(recv[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK))
107 ao_led_for(AO_MONITOR_BAD, AO_MS_TO_TICKS(100));
110 ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
117 static const char xdigit[16] = {
118 '0', '1', '2', '3', '4', '5', '6', '7',
119 '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
122 #define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
128 __xdata char callsign[AO_MAX_CALLSIGN+1];
130 #if LEGACY_MONITOR || HAS_RSSI
133 uint8_t ao_monitor_tail;
136 __xdata union ao_monitor *m;
138 #define recv_raw ((m->raw))
139 #define recv_orig ((m->orig))
140 #define recv_tiny ((m->tiny))
142 ao_monitor_tail = ao_monitor_head;
144 while (!ao_external_monitoring)
145 ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
146 while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
147 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
148 if (!ao_external_monitoring)
150 m = &ao_monitor_ring[ao_monitor_tail];
151 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
152 switch (ao_monitoring) {
156 case AO_MONITORING_ORIG:
157 state = recv_orig.telemetry_orig.flight_state;
159 rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
160 ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
161 if (state > ao_flight_invalid)
162 state = ao_flight_invalid;
163 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
165 /* General header fields */
166 printf(AO_TELEM_VERSION " %d "
168 AO_TELEM_SERIAL " %d "
169 AO_TELEM_FLIGHT " %d "
171 AO_TELEM_STATE " %s "
172 AO_TELEM_TICK " %d ",
173 AO_TELEMETRY_VERSION,
175 recv_orig.telemetry_orig.serial,
176 recv_orig.telemetry_orig.flight,
178 ao_state_names[state],
179 recv_orig.telemetry_orig.adc.tick);
181 /* Raw sensor values */
182 printf(AO_TELEM_RAW_ACCEL " %d "
183 AO_TELEM_RAW_BARO " %d "
184 AO_TELEM_RAW_THERMO " %d "
185 AO_TELEM_RAW_BATT " %d "
186 AO_TELEM_RAW_DROGUE " %d "
187 AO_TELEM_RAW_MAIN " %d ",
188 recv_orig.telemetry_orig.adc.accel,
189 recv_orig.telemetry_orig.adc.pres,
190 recv_orig.telemetry_orig.adc.temp,
191 recv_orig.telemetry_orig.adc.v_batt,
192 recv_orig.telemetry_orig.adc.sense_d,
193 recv_orig.telemetry_orig.adc.sense_m);
195 /* Sensor calibration values */
196 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
197 AO_TELEM_CAL_BARO_GROUND " %d "
198 AO_TELEM_CAL_ACCEL_PLUS " %d "
199 AO_TELEM_CAL_ACCEL_MINUS " %d ",
200 recv_orig.telemetry_orig.ground_accel,
201 recv_orig.telemetry_orig.ground_pres,
202 recv_orig.telemetry_orig.accel_plus_g,
203 recv_orig.telemetry_orig.accel_minus_g);
205 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
206 /* Kalman state values */
207 printf(AO_TELEM_KALMAN_HEIGHT " %d "
208 AO_TELEM_KALMAN_SPEED " %d "
209 AO_TELEM_KALMAN_ACCEL " %d ",
210 recv_orig.telemetry_orig.height,
211 recv_orig.telemetry_orig.u.k.speed,
212 recv_orig.telemetry_orig.accel);
214 /* Ad-hoc flight values */
215 printf(AO_TELEM_ADHOC_ACCEL " %d "
216 AO_TELEM_ADHOC_SPEED " %ld "
217 AO_TELEM_ADHOC_BARO " %d ",
218 recv_orig.telemetry_orig.accel,
219 recv_orig.telemetry_orig.u.flight_vel,
220 recv_orig.telemetry_orig.height);
222 ao_gps_print(&recv_orig.telemetry_orig.gps);
223 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
229 printf("CRC INVALID RSSI %3d\n", rssi);
232 #endif /* LEGACY_MONITOR */
236 extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
237 extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
239 printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
240 printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
241 printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
242 printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
245 ao_mutex_get(&ao_monitoring_mutex);
247 hex((uint8_t) (ao_monitoring + 2));
249 for (state = 0; state < ao_monitoring + 2; state++) {
250 byte = recv_raw.packet[state];
256 ao_mutex_put(&ao_monitoring_mutex);
258 if (recv_raw.packet[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK) {
259 rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
269 __xdata struct ao_task ao_monitor_put_task;
272 __xdata struct ao_task ao_monitor_get_task;
275 ao_monitor_set(uint8_t monitoring)
277 ao_internal_monitoring = monitoring;
278 _ao_monitor_adjust();
282 ao_monitor_disable(void)
284 ++ao_monitor_disabled;
285 _ao_monitor_adjust();
289 ao_monitor_enable(void)
291 --ao_monitor_disabled;
292 _ao_monitor_adjust();
300 ao_external_monitoring = ao_cmd_lex_i;
301 ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
302 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
303 _ao_monitor_adjust();
306 __code struct ao_cmds ao_monitor_cmds[] = {
307 { set_monitor, "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
313 ao_monitor_init(void) __reentrant
316 ao_cmd_register(&ao_monitor_cmds[0]);
317 ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
319 ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
321 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");