git.gag.com Git - fw/altos/blob - src/ao_monitor.c

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