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