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.
21 static __xdata struct ao_telemetry_sensor ao_tel_sensor;
22 static __xdata struct ao_telemetry_location ao_tel_location;
23 static __xdata struct ao_telemetry_configuration ao_tel_config;
24 static __xdata int16_t ao_tel_max_speed;
25 static __xdata int16_t ao_tel_max_height;
26 static int8_t ao_tel_rssi;
28 static __xdata char ao_lcd_line[17];
29 static __xdata char ao_state_name[] = "SIPBFCDMLI";
32 ao_terraui_line(uint8_t addr)
35 ao_lcd_putstring(ao_lcd_line);
38 #define ao_terraui_state() (ao_state_name[ao_tel_sensor.state])
41 ao_terraui_igniter(int16_t sense)
43 if (sense < AO_IGNITER_OPEN)
45 if (sense > AO_IGNITER_CLOSED)
51 ao_terraui_battery(void)
53 if (ao_tel_sensor.v_batt > 25558)
61 if (ao_tel_location.flags & (1 << 4)) {
62 if ((ao_tel_location.flags & 0xf) >= 4)
69 ao_terraui_local_gps(void)
71 if (ao_gps_data.flags & (1 << 4)) {
72 if ((ao_gps_data.flags & 0xf) >= 4)
79 ao_terraui_logging(void)
81 if (ao_tel_config.flight != 0)
86 static __code char ao_progress[4] = { '\011', '\012', '\014', '\013' };
88 static uint8_t ao_telem_progress;
89 static uint8_t ao_gps_progress;
92 ao_terraui_startup(void)
94 sprintf(ao_lcd_line, "%-16.16s", ao_product);
95 ao_terraui_line(AO_LCD_ADDR(0,0));
96 sprintf(ao_lcd_line, "%-8.8s %5u ", ao_version, ao_serial_number);
97 ao_terraui_line(AO_LCD_ADDR(1,0));
101 ao_terraui_info(void)
103 sprintf(ao_lcd_line, "S %4d %7.7s %c",
104 ao_tel_sensor.serial,
105 ao_tel_config.callsign,
107 ao_terraui_line(AO_LCD_ADDR(0,0));
108 sprintf(ao_lcd_line, "F %4d RSSI%4d%c",
109 ao_tel_config.flight,
111 ao_progress[ao_telem_progress]);
112 ao_terraui_line(AO_LCD_ADDR(1,0));
118 sprintf(ao_lcd_line, "B%c A%c M%c L%c G%c %c",
119 ao_terraui_battery(),
120 ao_terraui_igniter(ao_tel_sensor.sense_d),
121 ao_terraui_igniter(ao_tel_sensor.sense_m),
122 ao_terraui_logging(),
125 ao_terraui_line(AO_LCD_ADDR(0,0));
126 sprintf(ao_lcd_line, "SAT %2d RSSI%4d%c",
127 ao_tel_location.flags & 0xf,
129 ao_progress[ao_telem_progress]);
130 ao_terraui_line(AO_LCD_ADDR(1,0));
134 ao_terraui_ascent(void)
136 sprintf(ao_lcd_line, "S %5d S\011%5d%c",
137 ao_tel_sensor.speed >> 4,
138 ao_tel_max_speed >> 4,
140 ao_terraui_line(AO_LCD_ADDR(0,0));
141 sprintf(ao_lcd_line, "H %5d H\011%5d%c",
142 ao_tel_sensor.height >> 4,
143 ao_tel_max_height >> 4,
144 ao_progress[ao_telem_progress]);
145 ao_terraui_line(AO_LCD_ADDR(1,0));
148 static int16_t mag(int32_t d)
169 while (d >= (2147483647 / 111198)) {
173 d = (d * 111198) / m;
179 static __code uint8_t cos_table[] = {
237 static __code uint8_t tan_table[] = {
285 int16_t ao_atan2(int32_t dy, int32_t dx) __reentrant
315 t = dy; dy = dx; dx = t;
321 dy = (dy + (dx >> 1)) / dx;
323 for (t = 0; t < 44; t++)
324 if (tan_table[t] >= r)
329 static __pdata int32_t lon_dist, lat_dist;
330 static __pdata uint32_t ground_dist, range;
331 static __pdata uint8_t dist_in_km;
332 static __pdata int16_t bearing, elevation;
335 ao_terraui_lat_dist(void)
337 lat_dist = dist (ao_tel_location.latitude - ao_gps_data.latitude);
341 ao_terraui_lon_dist(void) __reentrant
343 uint8_t c = cos_table[ao_gps_data.latitude >> 24];
344 lon_dist = ao_tel_location.longitude;
346 /* check if it's shorter to go the other way around */
347 if ((int16_t) (lon_dist >> 24) < (int16_t) (ao_gps_data.longitude >> 24) - (int16_t) (1800000000 >> 24))
348 lon_dist += 3600000000ul;
349 lon_dist = dist(lon_dist - ao_gps_data.longitude);
351 if (lon_dist & 0x7f800000)
352 lon_dist = (lon_dist >> 8) * c;
354 lon_dist = (lon_dist * (int16_t) c) >> 8;
358 static int32_t sqr(int32_t x) { return x * x; }
361 ao_terraui_compute(void)
363 uint16_t h = ao_tel_sensor.height;
365 ao_terraui_lat_dist();
366 ao_terraui_lon_dist();
367 if (lat_dist > 32767 || lon_dist > 32767) {
369 ground_dist = sqr(lat_dist/1000) + sqr(lon_dist/1000);
373 ground_dist = sqr(lat_dist) + sqr(lon_dist);
375 ground_dist = ao_sqrt (ground_dist);
376 range = ao_sqrt(ground_dist * ground_dist + ao_tel_sensor.height * ao_tel_sensor.height);
377 bearing = ao_atan2(lon_dist, lat_dist);
380 elevation = ao_atan2(ao_tel_sensor.height, ground_dist);
384 ao_terraui_descent(void)
386 ao_terraui_compute();
387 sprintf(ao_lcd_line, "\007 %4d \005 %3d %c",
390 ao_terraui_line(AO_LCD_ADDR(0,0));
391 sprintf(ao_lcd_line, "H:%5d S:%5d%c",
392 ao_tel_sensor.height, ao_tel_sensor.speed >> 4,
393 ao_progress[ao_telem_progress]);
394 ao_terraui_line(AO_LCD_ADDR(1,0));
398 ao_terraui_recover(void)
400 ao_terraui_compute();
401 sprintf(ao_lcd_line, "\007 %4d \005 %3d %c",
404 ao_terraui_line(AO_LCD_ADDR(0,0));
405 sprintf(ao_lcd_line, "R%5ld%cRSSI%4d%c",
406 ground_dist, dist_in_km ? 'k' : ' ',
408 ao_progress[ao_telem_progress]);
409 ao_terraui_line(AO_LCD_ADDR(1,0));
413 ao_terraui_coord(int32_t c, char plus, char minus, char extra) __reentrant
428 f = (c + 500) / 1000;
429 sprintf(ao_lcd_line, "%c %3d\362 %2d.%04d\"%c",
430 plus, d, m, f, extra);
434 ao_terraui_remote(void)
436 ao_terraui_coord(ao_tel_location.latitude, 'N', 'S', ao_terraui_state());
437 ao_terraui_line(AO_LCD_ADDR(0,0));
438 ao_terraui_coord(ao_tel_location.longitude, 'E', 'W', ao_progress[ao_telem_progress]);
439 ao_terraui_line(AO_LCD_ADDR(1,0));
443 ao_terraui_local(void) __reentrant
445 ao_terraui_coord(ao_gps_data.latitude, 'n', 's',
446 ao_terraui_local_gps());
447 ao_terraui_line(AO_LCD_ADDR(0,0));
448 ao_terraui_coord(ao_gps_data.longitude, 'e', 'w', ao_progress[ao_gps_progress]);
449 ao_terraui_line(AO_LCD_ADDR(1,0));
453 ao_terraui_config(void) __reentrant
461 for (chan = 0; chan < AO_NUM_CHANNELS; chan++)
462 if (ao_config.radio_channels[chan].radio_setting == ao_config.radio_setting)
464 if (chan == AO_NUM_CHANNELS)
466 kHz = ao_config.radio_channels[chan].kHz;
469 sprintf(ao_lcd_line, "%2d: %-10.10s ", chan, ao_config.radio_channels[chan].name);
470 ao_terraui_line(AO_LCD_ADDR(0,0));
471 sprintf(ao_lcd_line, "%-8.8s %3d.%03d", ao_config.callsign, MHz, frac);
472 ao_terraui_line(AO_LCD_ADDR(1,0));
473 ao_lcd_goto(AO_LCD_ADDR(0,1));
477 static __code void (*__code ao_terraui_page[])(void) = {
489 #define NUM_PAGE (sizeof (ao_terraui_page)/sizeof (ao_terraui_page[0]))
491 __pdata uint8_t ao_current_page = 0;
492 __pdata uint8_t ao_shown_about = 3;
499 ao_delay(AO_MS_TO_TICKS(100));
504 ao_terraui_page[ao_current_page]();
505 ao_alarm(AO_SEC_TO_TICKS(1));
510 ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(10));
516 if (ao_shown_about) {
517 if (--ao_shown_about == 0)
523 if (ao_current_page >= NUM_PAGE)
529 if (ao_current_page == 0)
530 ao_current_page = NUM_PAGE;
537 __xdata static struct ao_task ao_terraui_task;
540 ao_terramonitor(void)
544 monitor = ao_monitor_head;
545 ao_monitor_set(sizeof (struct ao_telemetry_generic));
546 for (monitor = ao_monitor_head;;
547 monitor = ao_monitor_ring_next(monitor))
549 while (monitor == ao_monitor_head)
550 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
551 if (ao_monitoring != sizeof (union ao_telemetry_all))
553 if (!(ao_monitor_ring[monitor].all.status & PKT_APPEND_STATUS_1_CRC_OK))
555 ao_tel_rssi = (ao_monitor_ring[monitor].all.rssi >> 1) - 74;
556 switch (ao_monitor_ring[monitor].all.telemetry.generic.type) {
557 case AO_TELEMETRY_SENSOR_TELEMETRUM:
558 case AO_TELEMETRY_SENSOR_TELEMINI:
559 case AO_TELEMETRY_SENSOR_TELENANO:
560 ao_xmemcpy(&ao_tel_sensor, &ao_monitor_ring[monitor], sizeof (ao_tel_sensor));
561 if (ao_tel_sensor.state < ao_flight_boost) {
562 ao_tel_max_speed = 0;
563 ao_tel_max_height = 0;
565 if (ao_tel_sensor.speed > ao_tel_max_speed)
566 ao_tel_max_speed = ao_tel_sensor.speed;
567 if (ao_tel_sensor.height > ao_tel_max_height)
568 ao_tel_max_height = ao_tel_sensor.height;
570 ao_telem_progress = (ao_telem_progress + 1) & 0x3;
572 case AO_TELEMETRY_LOCATION:
573 ao_xmemcpy(&ao_tel_location, &ao_monitor_ring[monitor], sizeof (ao_tel_location));
575 case AO_TELEMETRY_CONFIGURATION:
576 ao_xmemcpy(&ao_tel_config, &ao_monitor_ring[monitor], sizeof (ao_tel_config));
581 __xdata static struct ao_task ao_terramonitor_task;
586 uint16_t gps_tick = ao_gps_progress;
589 while (ao_gps_tick == gps_tick)
590 ao_sleep(&ao_gps_data);
591 gps_tick = ao_gps_tick;
592 ao_gps_progress = (ao_gps_progress + 1) & 3;
596 __xdata static struct ao_task ao_terragps_task;
599 ao_terraui_init(void)
601 ao_add_task(&ao_terraui_task, ao_terraui, "ui");
602 ao_add_task(&ao_terramonitor_task, ao_terramonitor, "monitor");
603 ao_add_task(&ao_terragps_task, ao_terragps, "gps");