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 __data uint8_t ao_monitoring;
40 static __data uint8_t ao_monitor_disabled;
41 static __data uint8_t ao_internal_monitoring;
42 static __data uint8_t ao_external_monitoring;
44 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
46 __data uint8_t ao_monitor_head;
49 _ao_monitor_adjust(void)
52 ao_radio_recv_abort();
53 if (ao_monitor_disabled)
56 if (ao_external_monitoring)
57 ao_monitoring = ao_external_monitoring;
59 ao_monitoring = ao_internal_monitoring;
61 ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
70 switch (ao_monitoring) {
72 ao_sleep(DATA_TO_XDATA(&ao_monitoring));
75 case AO_MONITORING_ORIG:
76 size = sizeof (struct ao_telemetry_orig_recv);
80 if (ao_monitoring > AO_MAX_TELEMETRY)
81 ao_monitoring = AO_MAX_TELEMETRY;
85 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
87 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
88 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
93 __xdata struct ao_task ao_monitor_blink_task;
96 ao_monitor_blink(void)
102 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
103 #ifdef AO_MONITOR_BAD
104 recv = (uint8_t *) &ao_monitor_ring[ao_monitor_ring_prev(ao_monitor_head)];
105 if (ao_monitoring && !(recv[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK))
106 ao_led_for(AO_MONITOR_BAD, AO_MS_TO_TICKS(100));
109 ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
116 static const char xdigit[16] = {
117 '0', '1', '2', '3', '4', '5', '6', '7',
118 '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
121 #define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
127 __xdata char callsign[AO_MAX_CALLSIGN+1];
129 #if LEGACY_MONITOR || HAS_RSSI
132 uint8_t ao_monitor_tail;
135 __xdata union ao_monitor *m;
137 #define recv_raw ((m->raw))
138 #define recv_orig ((m->orig))
139 #define recv_tiny ((m->tiny))
141 ao_monitor_tail = ao_monitor_head;
143 while (!ao_external_monitoring)
144 ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
145 while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
146 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
147 if (!ao_external_monitoring)
149 m = &ao_monitor_ring[ao_monitor_tail];
150 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
151 switch (ao_monitoring) {
155 case AO_MONITORING_ORIG:
156 state = recv_orig.telemetry_orig.flight_state;
158 rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
159 ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
160 if (state > ao_flight_invalid)
161 state = ao_flight_invalid;
162 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
164 /* General header fields */
165 printf(AO_TELEM_VERSION " %d "
167 AO_TELEM_SERIAL " %d "
168 AO_TELEM_FLIGHT " %d "
170 AO_TELEM_STATE " %s "
171 AO_TELEM_TICK " %d ",
172 AO_TELEMETRY_VERSION,
174 recv_orig.telemetry_orig.serial,
175 recv_orig.telemetry_orig.flight,
177 ao_state_names[state],
178 recv_orig.telemetry_orig.adc.tick);
180 /* Raw sensor values */
181 printf(AO_TELEM_RAW_ACCEL " %d "
182 AO_TELEM_RAW_BARO " %d "
183 AO_TELEM_RAW_THERMO " %d "
184 AO_TELEM_RAW_BATT " %d "
185 AO_TELEM_RAW_DROGUE " %d "
186 AO_TELEM_RAW_MAIN " %d ",
187 recv_orig.telemetry_orig.adc.accel,
188 recv_orig.telemetry_orig.adc.pres,
189 recv_orig.telemetry_orig.adc.temp,
190 recv_orig.telemetry_orig.adc.v_batt,
191 recv_orig.telemetry_orig.adc.sense_d,
192 recv_orig.telemetry_orig.adc.sense_m);
194 /* Sensor calibration values */
195 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
196 AO_TELEM_CAL_BARO_GROUND " %d "
197 AO_TELEM_CAL_ACCEL_PLUS " %d "
198 AO_TELEM_CAL_ACCEL_MINUS " %d ",
199 recv_orig.telemetry_orig.ground_accel,
200 recv_orig.telemetry_orig.ground_pres,
201 recv_orig.telemetry_orig.accel_plus_g,
202 recv_orig.telemetry_orig.accel_minus_g);
204 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
205 /* Kalman state values */
206 printf(AO_TELEM_KALMAN_HEIGHT " %d "
207 AO_TELEM_KALMAN_SPEED " %d "
208 AO_TELEM_KALMAN_ACCEL " %d ",
209 recv_orig.telemetry_orig.height,
210 recv_orig.telemetry_orig.u.k.speed,
211 recv_orig.telemetry_orig.accel);
213 /* Ad-hoc flight values */
214 printf(AO_TELEM_ADHOC_ACCEL " %d "
215 AO_TELEM_ADHOC_SPEED " %ld "
216 AO_TELEM_ADHOC_BARO " %d ",
217 recv_orig.telemetry_orig.accel,
218 recv_orig.telemetry_orig.u.flight_vel,
219 recv_orig.telemetry_orig.height);
221 ao_gps_print(&recv_orig.telemetry_orig.gps);
222 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
228 printf("CRC INVALID RSSI %3d\n", rssi);
231 #endif /* LEGACY_MONITOR */
235 extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
236 extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
238 printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
239 printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
240 printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
241 printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
245 hex((uint8_t) (ao_monitoring + 2));
247 for (state = 0; state < ao_monitoring + 2; state++) {
248 byte = recv_raw.packet[state];
255 if (recv_raw.packet[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK) {
256 rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
266 __xdata struct ao_task ao_monitor_put_task;
269 __xdata struct ao_task ao_monitor_get_task;
272 ao_monitor_set(uint8_t monitoring)
274 ao_internal_monitoring = monitoring;
275 _ao_monitor_adjust();
279 ao_monitor_disable(void)
281 ++ao_monitor_disabled;
282 _ao_monitor_adjust();
286 ao_monitor_enable(void)
288 --ao_monitor_disabled;
289 _ao_monitor_adjust();
297 ao_external_monitoring = ao_cmd_lex_i;
298 ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
299 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
300 _ao_monitor_adjust();
303 __code struct ao_cmds ao_monitor_cmds[] = {
304 { set_monitor, "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
310 ao_monitor_init(void) __reentrant
313 ao_cmd_register(&ao_monitor_cmds[0]);
314 ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
316 ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
318 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");