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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 __xdata uint8_t ao_monitoring;
  22 __pdata uint8_t ao_monitor_led;
  23
  24 void
  25 ao_monitor(void)
  26 {
  27         __xdata char callsign[AO_MAX_CALLSIGN+1];
  28         __xdata union {
  29                 struct ao_telemetry_recv        full;
  30                 struct ao_telemetry_tiny_recv   tiny;
  31         } u;
  32
  33 #define recv            (u.full)
  34 #define recv_tiny       (u.tiny)
  35
  36         uint8_t state;
  37         int16_t rssi;
  38
  39         for (;;) {
  40                 __critical while (!ao_monitoring)
  41                         ao_sleep(&ao_monitoring);
  42                 if (ao_monitoring == AO_MONITORING_FULL) {
  43                         if (!ao_radio_recv(&recv, sizeof (struct ao_telemetry_recv)))
  44                                 continue;
  45
  46                         state = recv.telemetry.flight_state;
  47
  48                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
  49                         rssi = (int16_t) (recv.rssi >> 1) - 74;
  50                         memcpy(callsign, recv.telemetry.callsign, AO_MAX_CALLSIGN);
  51                         if (state > ao_flight_invalid)
  52                                 state = ao_flight_invalid;
  53                         if (recv.status & PKT_APPEND_STATUS_1_CRC_OK) {
  54
  55                                 /* General header fields */
  56                                 printf(AO_TELEM_VERSION " %d "
  57                                        AO_TELEM_CALL " %s "
  58                                        AO_TELEM_SERIAL " %d "
  59                                        AO_TELEM_FLIGHT " %d "
  60                                        AO_TELEM_RSSI " %d "
  61                                        AO_TELEM_STATE " %s "
  62                                        AO_TELEM_TICK " %d ",
  63                                        AO_TELEMETRY_VERSION,
  64                                        callsign,
  65                                        recv.telemetry.serial,
  66                                        recv.telemetry.flight,
  67                                        rssi,
  68                                        ao_state_names[state],
  69                                        recv.telemetry.adc.tick);
  70
  71                                 /* Raw sensor values */
  72                                 printf(AO_TELEM_RAW_ACCEL " %d "
  73                                        AO_TELEM_RAW_BARO " %d "
  74                                        AO_TELEM_RAW_THERMO " %d "
  75                                        AO_TELEM_RAW_BATT " %d "
  76                                        AO_TELEM_RAW_DROGUE " %d "
  77                                        AO_TELEM_RAW_MAIN " %d ",
  78                                        recv.telemetry.adc.accel,
  79                                        recv.telemetry.adc.pres,
  80                                        recv.telemetry.adc.temp,
  81                                        recv.telemetry.adc.v_batt,
  82                                        recv.telemetry.adc.sense_d,
  83                                        recv.telemetry.adc.sense_m);
  84
  85                                 /* Sensor calibration values */
  86                                 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
  87                                        AO_TELEM_CAL_BARO_GROUND " %d "
  88                                        AO_TELEM_CAL_ACCEL_PLUS " %d "
  89                                        AO_TELEM_CAL_ACCEL_MINUS " %d ",
  90                                        recv.telemetry.ground_accel,
  91                                        recv.telemetry.ground_pres,
  92                                        recv.telemetry.accel_plus_g,
  93                                        recv.telemetry.accel_minus_g);
  94
  95                                 if (recv.telemetry.u.k.unused == 0x8000) {
  96                                         /* Kalman state values */
  97                                         printf(AO_TELEM_KALMAN_HEIGHT " %d "
  98                                                AO_TELEM_KALMAN_SPEED " %d "
  99                                                AO_TELEM_KALMAN_ACCEL " %d ",
 100                                                recv.telemetry.height,
 101                                                recv.telemetry.u.k.speed,
 102                                                recv.telemetry.accel);
 103                                 } else {
 104                                         /* Ad-hoc flight values */
 105                                         printf(AO_TELEM_ADHOC_ACCEL " %d "
 106                                                AO_TELEM_ADHOC_SPEED " %ld "
 107                                                AO_TELEM_ADHOC_BARO " %d ",
 108                                                recv.telemetry.accel,
 109                                                recv.telemetry.u.flight_vel,
 110                                                recv.telemetry.height);
 111                                 }
 112                                 ao_gps_print(&recv.telemetry.gps);
 113                                 ao_gps_tracking_print(&recv.telemetry.gps_tracking);
 114                                 putchar('\n');
 115                                 ao_rssi_set(rssi);
 116                         } else {
 117                                 printf("CRC INVALID RSSI %3d\n", rssi);
 118                         }
 119                 } else {
 120                         if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
 121                                 continue;
 122
 123                         state = recv_tiny.telemetry_tiny.flight_state;
 124
 125                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
 126                         rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
 127                         memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
 128                         if (state > ao_flight_invalid)
 129                                 state = ao_flight_invalid;
 130                         if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
 131                                 /* General header fields */
 132                                 printf(AO_TELEM_VERSION " %d "
 133                                        AO_TELEM_CALL " %s "
 134                                        AO_TELEM_SERIAL " %d "
 135                                        AO_TELEM_FLIGHT " %d "
 136                                        AO_TELEM_RSSI " %d "
 137                                        AO_TELEM_STATE " %s "
 138                                        AO_TELEM_TICK " %d ",
 139                                        AO_TELEMETRY_VERSION,
 140                                        callsign,
 141                                        recv_tiny.telemetry_tiny.serial,
 142                                        recv_tiny.telemetry_tiny.flight,
 143                                        rssi,
 144                                        ao_state_names[state],
 145                                        recv_tiny.telemetry_tiny.adc.tick);
 146
 147                                 /* Raw sensor values */
 148                                 printf(AO_TELEM_RAW_BARO " %d "
 149                                        AO_TELEM_RAW_THERMO " %d "
 150                                        AO_TELEM_RAW_BATT " %d "
 151                                        AO_TELEM_RAW_DROGUE " %d "
 152                                        AO_TELEM_RAW_MAIN " %d ",
 153                                        recv_tiny.telemetry_tiny.adc.pres,
 154                                        recv_tiny.telemetry_tiny.adc.temp,
 155                                        recv_tiny.telemetry_tiny.adc.v_batt,
 156                                        recv_tiny.telemetry_tiny.adc.sense_d,
 157                                        recv_tiny.telemetry_tiny.adc.sense_m);
 158
 159                                 /* Sensor calibration values */
 160                                 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
 161                                        recv_tiny.telemetry_tiny.ground_pres);
 162
 163 #if 1
 164                                 /* Kalman state values */
 165                                 printf(AO_TELEM_KALMAN_HEIGHT " %d "
 166                                        AO_TELEM_KALMAN_SPEED " %d "
 167                                        AO_TELEM_KALMAN_ACCEL " %d\n",
 168                                        recv_tiny.telemetry_tiny.height,
 169                                        recv_tiny.telemetry_tiny.speed,
 170                                        recv_tiny.telemetry_tiny.accel);
 171 #else
 172                                 /* Ad-hoc flight values */
 173                                 printf(AO_TELEM_ADHOC_ACCEL " %d "
 174                                        AO_TELEM_ADHOC_SPEED " %ld "
 175                                        AO_TELEM_ADHOC_BARO " %d\n",
 176                                        recv_tiny.telemetry_tiny.flight_accel,
 177                                        recv_tiny.telemetry_tiny.flight_vel,
 178                                        recv_tiny.telemetry_tiny.flight_pres);
 179 #endif
 180                                 ao_rssi_set(rssi);
 181                         } else {
 182                                 printf("CRC INVALID RSSI %3d\n", rssi);
 183                         }
 184                 }
 185                 ao_usb_flush();
 186                 ao_led_toggle(ao_monitor_led);
 187         }
 188 }
 189
 190 __xdata struct ao_task ao_monitor_task;
 191
 192 void
 193 ao_set_monitor(uint8_t monitoring)
 194 {
 195         if (ao_monitoring)
 196                 ao_radio_recv_abort();
 197         ao_monitoring = monitoring;
 198         ao_wakeup(&ao_monitoring);
 199 }
 200
 201 static void
 202 set_monitor(void)
 203 {
 204         ao_cmd_hex();
 205         ao_set_monitor(ao_cmd_lex_i);
 206 }
 207
 208 __code struct ao_cmds ao_monitor_cmds[] = {
 209         { set_monitor,  "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
 210         { 0,    NULL },
 211 };
 212
 213 void
 214 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
 215 {
 216         ao_monitor_led = monitor_led;
 217         ao_monitoring = monitoring;
 218         ao_cmd_register(&ao_monitor_cmds[0]);
 219         ao_add_task(&ao_monitor_task, ao_monitor, "monitor");
 220 }