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; 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 __xdata uint8_t ao_monitoring;
22 __pdata uint8_t ao_monitor_led;
27 __xdata char callsign[AO_MAX_CALLSIGN+1];
29 struct ao_telemetry_orig_recv orig;
30 struct ao_telemetry_tiny_recv tiny;
33 #define recv_raw (u.raw)
34 #define recv_orig (u.orig)
35 #define recv_tiny (u.tiny)
41 __critical while (!ao_monitoring)
42 ao_sleep(&ao_monitoring);
43 switch (ao_monitoring) {
44 case AO_MONITORING_ORIG:
45 if (!ao_radio_recv(&recv_orig, sizeof (struct ao_telemetry_orig_recv)))
48 state = recv_orig.telemetry_orig.flight_state;
50 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
51 rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
52 memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
53 if (state > ao_flight_invalid)
54 state = ao_flight_invalid;
55 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
57 /* General header fields */
58 printf(AO_TELEM_VERSION " %d "
60 AO_TELEM_SERIAL " %d "
61 AO_TELEM_FLIGHT " %d "
67 recv_orig.telemetry_orig.serial,
68 recv_orig.telemetry_orig.flight,
70 ao_state_names[state],
71 recv_orig.telemetry_orig.adc.tick);
73 /* Raw sensor values */
74 printf(AO_TELEM_RAW_ACCEL " %d "
75 AO_TELEM_RAW_BARO " %d "
76 AO_TELEM_RAW_THERMO " %d "
77 AO_TELEM_RAW_BATT " %d "
78 AO_TELEM_RAW_DROGUE " %d "
79 AO_TELEM_RAW_MAIN " %d ",
80 recv_orig.telemetry_orig.adc.accel,
81 recv_orig.telemetry_orig.adc.pres,
82 recv_orig.telemetry_orig.adc.temp,
83 recv_orig.telemetry_orig.adc.v_batt,
84 recv_orig.telemetry_orig.adc.sense_d,
85 recv_orig.telemetry_orig.adc.sense_m);
87 /* Sensor calibration values */
88 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
89 AO_TELEM_CAL_BARO_GROUND " %d "
90 AO_TELEM_CAL_ACCEL_PLUS " %d "
91 AO_TELEM_CAL_ACCEL_MINUS " %d ",
92 recv_orig.telemetry_orig.ground_accel,
93 recv_orig.telemetry_orig.ground_pres,
94 recv_orig.telemetry_orig.accel_plus_g,
95 recv_orig.telemetry_orig.accel_minus_g);
97 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
98 /* Kalman state values */
99 printf(AO_TELEM_KALMAN_HEIGHT " %d "
100 AO_TELEM_KALMAN_SPEED " %d "
101 AO_TELEM_KALMAN_ACCEL " %d ",
102 recv_orig.telemetry_orig.height,
103 recv_orig.telemetry_orig.u.k.speed,
104 recv_orig.telemetry_orig.accel);
106 /* Ad-hoc flight values */
107 printf(AO_TELEM_ADHOC_ACCEL " %d "
108 AO_TELEM_ADHOC_SPEED " %ld "
109 AO_TELEM_ADHOC_BARO " %d ",
110 recv_orig.telemetry_orig.accel,
111 recv_orig.telemetry_orig.u.flight_vel,
112 recv_orig.telemetry_orig.height);
114 ao_gps_print(&recv_orig.telemetry_orig.gps);
115 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
119 printf("CRC INVALID RSSI %3d\n", rssi);
122 case AO_MONITORING_TINY:
123 if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
126 state = recv_tiny.telemetry_tiny.flight_state;
128 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
129 rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
130 memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
131 if (state > ao_flight_invalid)
132 state = ao_flight_invalid;
133 if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
134 /* General header fields */
135 printf(AO_TELEM_VERSION " %d "
137 AO_TELEM_SERIAL " %d "
138 AO_TELEM_FLIGHT " %d "
140 AO_TELEM_STATE " %s "
141 AO_TELEM_TICK " %d ",
142 AO_TELEMETRY_VERSION,
144 recv_tiny.telemetry_tiny.serial,
145 recv_tiny.telemetry_tiny.flight,
147 ao_state_names[state],
148 recv_tiny.telemetry_tiny.adc.tick);
150 /* Raw sensor values */
151 printf(AO_TELEM_RAW_BARO " %d "
152 AO_TELEM_RAW_THERMO " %d "
153 AO_TELEM_RAW_BATT " %d "
154 AO_TELEM_RAW_DROGUE " %d "
155 AO_TELEM_RAW_MAIN " %d ",
156 recv_tiny.telemetry_tiny.adc.pres,
157 recv_tiny.telemetry_tiny.adc.temp,
158 recv_tiny.telemetry_tiny.adc.v_batt,
159 recv_tiny.telemetry_tiny.adc.sense_d,
160 recv_tiny.telemetry_tiny.adc.sense_m);
162 /* Sensor calibration values */
163 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
164 recv_tiny.telemetry_tiny.ground_pres);
167 /* Kalman state values */
168 printf(AO_TELEM_KALMAN_HEIGHT " %d "
169 AO_TELEM_KALMAN_SPEED " %d "
170 AO_TELEM_KALMAN_ACCEL " %d\n",
171 recv_tiny.telemetry_tiny.height,
172 recv_tiny.telemetry_tiny.speed,
173 recv_tiny.telemetry_tiny.accel);
175 /* Ad-hoc flight values */
176 printf(AO_TELEM_ADHOC_ACCEL " %d "
177 AO_TELEM_ADHOC_SPEED " %ld "
178 AO_TELEM_ADHOC_BARO " %d\n",
179 recv_tiny.telemetry_tiny.flight_accel,
180 recv_tiny.telemetry_tiny.flight_vel,
181 recv_tiny.telemetry_tiny.flight_pres);
185 printf("CRC INVALID RSSI %3d\n", rssi);
190 ao_led_toggle(ao_monitor_led);
194 __xdata struct ao_task ao_monitor_task;
197 ao_set_monitor(uint8_t monitoring)
200 ao_radio_recv_abort();
201 ao_monitoring = monitoring;
202 ao_wakeup(&ao_monitoring);
209 ao_set_monitor(ao_cmd_lex_i);
212 __code struct ao_cmds ao_monitor_cmds[] = {
213 { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
218 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
220 ao_monitor_led = monitor_led;
221 ao_monitoring = monitoring;
222 ao_cmd_register(&ao_monitor_cmds[0]);
223 ao_add_task(&ao_monitor_task, ao_monitor, "monitor");