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_raw_recv raw;
30 struct ao_telemetry_orig_recv orig;
31 struct ao_telemetry_tiny_recv tiny;
34 #define recv_raw (u.raw)
35 #define recv_orig (u.orig)
36 #define recv_tiny (u.tiny)
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)))
49 state = recv_orig.telemetry_orig.flight_state;
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) {
58 /* General header fields */
59 printf(AO_TELEM_VERSION " %d "
61 AO_TELEM_SERIAL " %d "
62 AO_TELEM_FLIGHT " %d "
68 recv_orig.telemetry_orig.serial,
69 recv_orig.telemetry_orig.flight,
71 ao_state_names[state],
72 recv_orig.telemetry_orig.adc.tick);
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);
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);
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);
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);
115 ao_gps_print(&recv_orig.telemetry_orig.gps);
116 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
120 printf("CRC INVALID RSSI %3d\n", rssi);
123 case AO_MONITORING_TINY:
124 if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
127 state = recv_tiny.telemetry_tiny.flight_state;
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 "
138 AO_TELEM_SERIAL " %d "
139 AO_TELEM_FLIGHT " %d "
141 AO_TELEM_STATE " %s "
142 AO_TELEM_TICK " %d ",
143 AO_TELEMETRY_VERSION,
145 recv_tiny.telemetry_tiny.serial,
146 recv_tiny.telemetry_tiny.flight,
148 ao_state_names[state],
149 recv_tiny.telemetry_tiny.adc.tick);
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);
163 /* Sensor calibration values */
164 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
165 recv_tiny.telemetry_tiny.ground_pres);
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);
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);
186 printf("CRC INVALID RSSI %3d\n", rssi);
190 if (ao_monitoring > AO_MAX_TELEMETRY)
191 ao_monitoring = AO_MAX_TELEMETRY;
192 if (!ao_radio_recv(&recv_raw, ao_monitoring))
194 for (state = 0; state < ao_monitoring + 1; state++)
195 printf("%02x ", recv_raw.packet[state]);
196 printf("%02x\n", recv_raw.packet[state]);
200 ao_led_toggle(ao_monitor_led);
204 __xdata struct ao_task ao_monitor_task;
207 ao_set_monitor(uint8_t monitoring)
210 ao_radio_recv_abort();
211 ao_monitoring = monitoring;
212 ao_wakeup(&ao_monitoring);
219 ao_set_monitor(ao_cmd_lex_i);
222 __code struct ao_cmds ao_monitor_cmds[] = {
223 { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
228 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
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");