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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include "ao.h"
  19 #include "ao_telem.h"
  20
  21 #if !HAS_MONITOR
  22 #error Must define HAS_MONITOR to 1
  23 #endif
  24
  25 __xdata uint8_t ao_monitoring;
  26 __pdata uint8_t ao_monitor_led;
  27
  28 #define AO_MONITOR_RING 8
  29
  30 __xdata union ao_monitor {
  31                 struct ao_telemetry_raw_recv    raw;
  32                 struct ao_telemetry_orig_recv   orig;
  33                 struct ao_telemetry_tiny_recv   tiny;
  34 } ao_monitor_ring[AO_MONITOR_RING];
  35
  36 #define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
  37
  38 __data uint8_t  ao_monitor_head;
  39
  40 void
  41 ao_monitor_get(void)
  42 {
  43         uint8_t size;
  44
  45         for (;;) {
  46                 switch (ao_monitoring) {
  47                 case 0:
  48                         ao_sleep(&ao_monitoring);
  49                         continue;
  50                 case AO_MONITORING_ORIG:
  51                         size = sizeof (struct ao_telemetry_orig_recv);
  52                         break;
  53                 case AO_MONITORING_TINY:
  54                         size = sizeof (struct ao_telemetry_tiny_recv);
  55                         break;
  56                 default:
  57                         if (ao_monitoring > AO_MAX_TELEMETRY)
  58                                 ao_monitoring = AO_MAX_TELEMETRY;
  59                         size = ao_monitoring;
  60                         break;
  61                 }
  62                 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
  63                         continue;
  64                 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
  65                 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
  66                 ao_led_toggle(ao_monitor_led);
  67         }
  68 }
  69
  70 void
  71 ao_monitor_put(void)
  72 {
  73         __xdata char callsign[AO_MAX_CALLSIGN+1];
  74
  75         uint8_t ao_monitor_tail;
  76         uint8_t state;
  77         uint8_t sum, byte;
  78         int16_t rssi;
  79         __xdata union ao_monitor        *m;
  80
  81 #define recv_raw        ((m->raw))
  82 #define recv_orig       ((m->orig))
  83 #define recv_tiny       ((m->tiny))
  84
  85         ao_monitor_tail = ao_monitor_head;
  86         for (;;) {
  87                 while (ao_monitor_tail == ao_monitor_head)
  88                         ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
  89                 m = &ao_monitor_ring[ao_monitor_tail];
  90                 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
  91                 switch (ao_monitoring) {
  92                 case AO_MONITORING_ORIG:
  93                         state = recv_orig.telemetry_orig.flight_state;
  94
  95                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
  96                         rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
  97                         memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
  98                         if (state > ao_flight_invalid)
  99                                 state = ao_flight_invalid;
 100                         if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
 101
 102                                 /* General header fields */
 103                                 printf(AO_TELEM_VERSION " %d "
 104                                        AO_TELEM_CALL " %s "
 105                                        AO_TELEM_SERIAL " %d "
 106                                        AO_TELEM_FLIGHT " %d "
 107                                        AO_TELEM_RSSI " %d "
 108                                        AO_TELEM_STATE " %s "
 109                                        AO_TELEM_TICK " %d ",
 110                                        AO_TELEMETRY_VERSION,
 111                                        callsign,
 112                                        recv_orig.telemetry_orig.serial,
 113                                        recv_orig.telemetry_orig.flight,
 114                                        rssi,
 115                                        ao_state_names[state],
 116                                        recv_orig.telemetry_orig.adc.tick);
 117
 118                                 /* Raw sensor values */
 119                                 printf(AO_TELEM_RAW_ACCEL " %d "
 120                                        AO_TELEM_RAW_BARO " %d "
 121                                        AO_TELEM_RAW_THERMO " %d "
 122                                        AO_TELEM_RAW_BATT " %d "
 123                                        AO_TELEM_RAW_DROGUE " %d "
 124                                        AO_TELEM_RAW_MAIN " %d ",
 125                                        recv_orig.telemetry_orig.adc.accel,
 126                                        recv_orig.telemetry_orig.adc.pres,
 127                                        recv_orig.telemetry_orig.adc.temp,
 128                                        recv_orig.telemetry_orig.adc.v_batt,
 129                                        recv_orig.telemetry_orig.adc.sense_d,
 130                                        recv_orig.telemetry_orig.adc.sense_m);
 131
 132                                 /* Sensor calibration values */
 133                                 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
 134                                        AO_TELEM_CAL_BARO_GROUND " %d "
 135                                        AO_TELEM_CAL_ACCEL_PLUS " %d "
 136                                        AO_TELEM_CAL_ACCEL_MINUS " %d ",
 137                                        recv_orig.telemetry_orig.ground_accel,
 138                                        recv_orig.telemetry_orig.ground_pres,
 139                                        recv_orig.telemetry_orig.accel_plus_g,
 140                                        recv_orig.telemetry_orig.accel_minus_g);
 141
 142                                 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
 143                                         /* Kalman state values */
 144                                         printf(AO_TELEM_KALMAN_HEIGHT " %d "
 145                                                AO_TELEM_KALMAN_SPEED " %d "
 146                                                AO_TELEM_KALMAN_ACCEL " %d ",
 147                                                recv_orig.telemetry_orig.height,
 148                                                recv_orig.telemetry_orig.u.k.speed,
 149                                                recv_orig.telemetry_orig.accel);
 150                                 } else {
 151                                         /* Ad-hoc flight values */
 152                                         printf(AO_TELEM_ADHOC_ACCEL " %d "
 153                                                AO_TELEM_ADHOC_SPEED " %ld "
 154                                                AO_TELEM_ADHOC_BARO " %d ",
 155                                                recv_orig.telemetry_orig.accel,
 156                                                recv_orig.telemetry_orig.u.flight_vel,
 157                                                recv_orig.telemetry_orig.height);
 158                                 }
 159                                 ao_gps_print(&recv_orig.telemetry_orig.gps);
 160                                 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
 161                                 putchar('\n');
 162                                 ao_rssi_set(rssi);
 163                         } else {
 164                                 printf("CRC INVALID RSSI %3d\n", rssi);
 165                         }
 166                         break;
 167                 case AO_MONITORING_TINY:
 168                         state = recv_tiny.telemetry_tiny.flight_state;
 169
 170                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
 171                         rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
 172                         memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
 173                         if (state > ao_flight_invalid)
 174                                 state = ao_flight_invalid;
 175                         if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
 176                                 /* General header fields */
 177                                 printf(AO_TELEM_VERSION " %d "
 178                                        AO_TELEM_CALL " %s "
 179                                        AO_TELEM_SERIAL " %d "
 180                                        AO_TELEM_FLIGHT " %d "
 181                                        AO_TELEM_RSSI " %d "
 182                                        AO_TELEM_STATE " %s "
 183                                        AO_TELEM_TICK " %d ",
 184                                        AO_TELEMETRY_VERSION,
 185                                        callsign,
 186                                        recv_tiny.telemetry_tiny.serial,
 187                                        recv_tiny.telemetry_tiny.flight,
 188                                        rssi,
 189                                        ao_state_names[state],
 190                                        recv_tiny.telemetry_tiny.adc.tick);
 191
 192                                 /* Raw sensor values */
 193                                 printf(AO_TELEM_RAW_BARO " %d "
 194                                        AO_TELEM_RAW_THERMO " %d "
 195                                        AO_TELEM_RAW_BATT " %d "
 196                                        AO_TELEM_RAW_DROGUE " %d "
 197                                        AO_TELEM_RAW_MAIN " %d ",
 198                                        recv_tiny.telemetry_tiny.adc.pres,
 199                                        recv_tiny.telemetry_tiny.adc.temp,
 200                                        recv_tiny.telemetry_tiny.adc.v_batt,
 201                                        recv_tiny.telemetry_tiny.adc.sense_d,
 202                                        recv_tiny.telemetry_tiny.adc.sense_m);
 203
 204                                 /* Sensor calibration values */
 205                                 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
 206                                        recv_tiny.telemetry_tiny.ground_pres);
 207
 208 #if 1
 209                                 /* Kalman state values */
 210                                 printf(AO_TELEM_KALMAN_HEIGHT " %d "
 211                                        AO_TELEM_KALMAN_SPEED " %d "
 212                                        AO_TELEM_KALMAN_ACCEL " %d\n",
 213                                        recv_tiny.telemetry_tiny.height,
 214                                        recv_tiny.telemetry_tiny.speed,
 215                                        recv_tiny.telemetry_tiny.accel);
 216 #else
 217                                 /* Ad-hoc flight values */
 218                                 printf(AO_TELEM_ADHOC_ACCEL " %d "
 219                                        AO_TELEM_ADHOC_SPEED " %ld "
 220                                        AO_TELEM_ADHOC_BARO " %d\n",
 221                                        recv_tiny.telemetry_tiny.flight_accel,
 222                                        recv_tiny.telemetry_tiny.flight_vel,
 223                                        recv_tiny.telemetry_tiny.flight_pres);
 224 #endif
 225                                 ao_rssi_set(rssi);
 226                         } else {
 227                                 printf("CRC INVALID RSSI %3d\n", rssi);
 228                         }
 229                         break;
 230                 default:
 231                         printf ("TELEM %02x", ao_monitoring + 2);
 232                         sum = 0x5a;
 233                         for (state = 0; state < ao_monitoring + 2; state++) {
 234                                 byte = recv_raw.packet[state];
 235                                 sum += byte;
 236                                 printf("%02x", byte);
 237                         }
 238                         printf("%02x\n", sum);
 239                         break;
 240                 }
 241                 ao_usb_flush();
 242         }
 243 }
 244
 245 __xdata struct ao_task ao_monitor_get_task;
 246 __xdata struct ao_task ao_monitor_put_task;
 247
 248 void
 249 ao_set_monitor(uint8_t monitoring)
 250 {
 251         if (ao_monitoring)
 252                 ao_radio_recv_abort();
 253         ao_monitoring = monitoring;
 254         ao_wakeup(&ao_monitoring);
 255 }
 256
 257 static void
 258 set_monitor(void)
 259 {
 260         ao_cmd_hex();
 261         ao_set_monitor(ao_cmd_lex_i);
 262 }
 263
 264 __code struct ao_cmds ao_monitor_cmds[] = {
 265         { set_monitor,  "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
 266         { 0,    NULL },
 267 };
 268
 269 void
 270 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
 271 {
 272         ao_monitor_led = monitor_led;
 273         ao_monitoring = monitoring;
 274         ao_cmd_register(&ao_monitor_cmds[0]);
 275         ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
 276         ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 277 }