#include "ao.h"
#include "ao_telem.h"
+#if !HAS_MONITOR
+#error Must define HAS_MONITOR to 1
+#endif
+
__xdata uint8_t ao_monitoring;
__pdata uint8_t ao_monitor_led;
+#define AO_MONITOR_RING 8
+
+__xdata union ao_monitor {
+ struct ao_telemetry_raw_recv raw;
+ struct ao_telemetry_orig_recv orig;
+ struct ao_telemetry_tiny_recv tiny;
+} ao_monitor_ring[AO_MONITOR_RING];
+
+#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
+
+__data uint8_t ao_monitor_head;
+
void
-ao_monitor(void)
+ao_monitor_get(void)
{
- __xdata char callsign[AO_MAX_CALLSIGN+1];
- __xdata union {
- struct ao_telemetry_recv full;
- struct ao_telemetry_tiny_recv tiny;
- } u;
+ uint8_t size;
-#define recv (u.full)
-#define recv_tiny (u.tiny)
+ for (;;) {
+ switch (ao_monitoring) {
+ case 0:
+ ao_sleep(&ao_monitoring);
+ continue;
+ case AO_MONITORING_ORIG:
+ size = sizeof (struct ao_telemetry_orig_recv);
+ break;
+ case AO_MONITORING_TINY:
+ size = sizeof (struct ao_telemetry_tiny_recv);
+ break;
+ default:
+ if (ao_monitoring > AO_MAX_TELEMETRY)
+ ao_monitoring = AO_MAX_TELEMETRY;
+ size = ao_monitoring;
+ break;
+ }
+ if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
+ continue;
+ ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
+ ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+ ao_led_toggle(ao_monitor_led);
+ }
+}
+void
+ao_monitor_put(void)
+{
+ __xdata char callsign[AO_MAX_CALLSIGN+1];
+
+ uint8_t ao_monitor_tail;
uint8_t state;
+ uint8_t sum, byte;
int16_t rssi;
+ __xdata union ao_monitor *m;
- for (;;) {
- __critical while (!ao_monitoring)
- ao_sleep(&ao_monitoring);
- if (ao_monitoring == AO_MONITORING_FULL) {
- if (!ao_radio_recv(&recv, sizeof (struct ao_telemetry_recv)))
- continue;
+#define recv_raw ((m->raw))
+#define recv_orig ((m->orig))
+#define recv_tiny ((m->tiny))
- state = recv.telemetry.flight_state;
+ ao_monitor_tail = ao_monitor_head;
+ for (;;) {
+ while (ao_monitor_tail == ao_monitor_head)
+ ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+ m = &ao_monitor_ring[ao_monitor_tail];
+ ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
+ switch (ao_monitoring) {
+ case AO_MONITORING_ORIG:
+ state = recv_orig.telemetry_orig.flight_state;
/* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
- rssi = (int16_t) (recv.rssi >> 1) - 74;
- memcpy(callsign, recv.telemetry.callsign, AO_MAX_CALLSIGN);
+ rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
+ memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
if (state > ao_flight_invalid)
state = ao_flight_invalid;
- if (recv.status & PKT_APPEND_STATUS_1_CRC_OK) {
+ if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
/* General header fields */
printf(AO_TELEM_VERSION " %d "
AO_TELEM_TICK " %d ",
AO_TELEMETRY_VERSION,
callsign,
- recv.telemetry.serial,
- recv.telemetry.flight,
+ recv_orig.telemetry_orig.serial,
+ recv_orig.telemetry_orig.flight,
rssi,
ao_state_names[state],
- recv.telemetry.adc.tick);
+ recv_orig.telemetry_orig.adc.tick);
/* Raw sensor values */
printf(AO_TELEM_RAW_ACCEL " %d "
AO_TELEM_RAW_BATT " %d "
AO_TELEM_RAW_DROGUE " %d "
AO_TELEM_RAW_MAIN " %d ",
- recv.telemetry.adc.accel,
- recv.telemetry.adc.pres,
- recv.telemetry.adc.temp,
- recv.telemetry.adc.v_batt,
- recv.telemetry.adc.sense_d,
- recv.telemetry.adc.sense_m);
+ recv_orig.telemetry_orig.adc.accel,
+ recv_orig.telemetry_orig.adc.pres,
+ recv_orig.telemetry_orig.adc.temp,
+ recv_orig.telemetry_orig.adc.v_batt,
+ recv_orig.telemetry_orig.adc.sense_d,
+ recv_orig.telemetry_orig.adc.sense_m);
/* Sensor calibration values */
printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
AO_TELEM_CAL_BARO_GROUND " %d "
AO_TELEM_CAL_ACCEL_PLUS " %d "
AO_TELEM_CAL_ACCEL_MINUS " %d ",
- recv.telemetry.ground_accel,
- recv.telemetry.ground_pres,
- recv.telemetry.accel_plus_g,
- recv.telemetry.accel_minus_g);
+ recv_orig.telemetry_orig.ground_accel,
+ recv_orig.telemetry_orig.ground_pres,
+ recv_orig.telemetry_orig.accel_plus_g,
+ recv_orig.telemetry_orig.accel_minus_g);
-#if 0
- /* Kalman state values */
- printf(AO_TELEM_KALMAN_HEIGHT " %d "
- AO_TELEM_KALMAN_SPEED " %d "
- AO_TELEM_KALMAN_ACCEL " %d ",
- recv.telemetry.height,
- recv.telemetry.speed,
- recv.telemetry.accel);
-#else
- /* Ad-hoc flight values */
- printf(AO_TELEM_ADHOC_ACCEL " %d "
- AO_TELEM_ADHOC_SPEED " %ld "
- AO_TELEM_ADHOC_BARO " %d ",
- recv.telemetry.flight_accel,
- recv.telemetry.flight_vel,
- recv.telemetry.flight_pres);
-#endif
- ao_gps_print(&recv.telemetry.gps);
- ao_gps_tracking_print(&recv.telemetry.gps_tracking);
+ if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d ",
+ recv_orig.telemetry_orig.height,
+ recv_orig.telemetry_orig.u.k.speed,
+ recv_orig.telemetry_orig.accel);
+ } else {
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d ",
+ recv_orig.telemetry_orig.accel,
+ recv_orig.telemetry_orig.u.flight_vel,
+ recv_orig.telemetry_orig.height);
+ }
+ ao_gps_print(&recv_orig.telemetry_orig.gps);
+ ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
putchar('\n');
ao_rssi_set(rssi);
} else {
printf("CRC INVALID RSSI %3d\n", rssi);
}
- } else {
- if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
- continue;
-
+ break;
+ case AO_MONITORING_TINY:
state = recv_tiny.telemetry_tiny.flight_state;
/* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
} else {
printf("CRC INVALID RSSI %3d\n", rssi);
}
+ break;
+ default:
+ printf ("TELEM %02x", ao_monitoring + 2);
+ sum = 0x5a;
+ for (state = 0; state < ao_monitoring + 2; state++) {
+ byte = recv_raw.packet[state];
+ sum += byte;
+ printf("%02x", byte);
+ }
+ printf("%02x\n", sum);
+ break;
}
ao_usb_flush();
- ao_led_toggle(ao_monitor_led);
}
}
-__xdata struct ao_task ao_monitor_task;
+__xdata struct ao_task ao_monitor_get_task;
+__xdata struct ao_task ao_monitor_put_task;
void
ao_set_monitor(uint8_t monitoring)
ao_monitor_led = monitor_led;
ao_monitoring = monitoring;
ao_cmd_register(&ao_monitor_cmds[0]);
- ao_add_task(&ao_monitor_task, ao_monitor, "monitor");
+ ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
+ ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
}