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