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   1 /*
   2  * Copyright © 2011 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_product.h"
  20
  21 static __pdata uint16_t ao_telemetry_interval;
  22 static __pdata int8_t ao_telemetry_config_max;
  23 static __pdata int8_t ao_telemetry_config_cur;
  24 #if HAS_GPS
  25 static __pdata int8_t ao_telemetry_loc_cur;
  26 static __pdata int8_t ao_telemetry_sat_cur;
  27 #endif
  28 #if HAS_COMPANION
  29 static __pdata int8_t ao_telemetry_companion_max;
  30 static __pdata int8_t ao_telemetry_companion_cur;
  31 #endif
  32 static __pdata uint8_t ao_rdf = 0;
  33 static __pdata uint16_t ao_rdf_time;
  34
  35 #define AO_RDF_INTERVAL_TICKS   AO_SEC_TO_TICKS(5)
  36 #define AO_RDF_LENGTH_MS        500
  37
  38 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
  39 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  40 #endif
  41
  42 #if defined(TELEMINI_V_1_0)
  43 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  44 #endif
  45
  46 #if defined(TELENANO_V_0_1)
  47 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  48 #endif
  49
  50 static __xdata union ao_telemetry_all   telemetry;
  51
  52 /* Send sensor packet */
  53 static void
  54 ao_send_sensor(void)
  55 {
  56         uint8_t         sample;
  57         sample = ao_sample_adc;
  58
  59         telemetry.generic.tick = ao_adc_ring[sample].tick;
  60         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  61
  62         telemetry.sensor.state = ao_flight_state;
  63 #if HAS_ACCEL
  64         telemetry.sensor.accel = ao_adc_ring[sample].accel;
  65 #else
  66         telemetry.sensor.accel = 0;
  67 #endif
  68         telemetry.sensor.pres = ao_adc_ring[sample].pres;
  69         telemetry.sensor.temp = ao_adc_ring[sample].temp;
  70         telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
  71 #if HAS_IGNITE
  72         telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
  73         telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
  74 #else
  75         telemetry.sensor.sense_d = 0;
  76         telemetry.sensor.sense_m = 0;
  77 #endif
  78
  79         telemetry.sensor.acceleration = ao_accel;
  80         telemetry.sensor.speed = ao_speed;
  81         telemetry.sensor.height = ao_height;
  82
  83         telemetry.sensor.ground_pres = ao_ground_pres;
  84 #if HAS_ACCEL
  85         telemetry.sensor.ground_accel = ao_ground_accel;
  86         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
  87         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
  88 #else
  89         telemetry.sensor.ground_accel = 0;
  90         telemetry.sensor.accel_plus_g = 0;
  91         telemetry.sensor.accel_minus_g = 0;
  92 #endif
  93
  94         ao_radio_send(&telemetry, sizeof (telemetry));
  95 }
  96
  97 static void
  98 ao_send_configuration(void)
  99 {
 100         if (--ao_telemetry_config_cur <= 0)
 101         {
 102                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 103                 telemetry.configuration.device = AO_idProduct_NUMBER;
 104                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 105                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 106                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 107                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 108                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 109                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 110                 memcpy (telemetry.configuration.callsign,
 111                         ao_config.callsign,
 112                         AO_MAX_CALLSIGN);
 113                 memcpy (telemetry.configuration.version,
 114                         ao_version,
 115                         AO_MAX_VERSION);
 116                 ao_radio_send(&telemetry, sizeof (telemetry));
 117                 ao_telemetry_config_cur = ao_telemetry_config_max;
 118         }
 119 }
 120
 121 #if HAS_GPS
 122 static void
 123 ao_send_location(void)
 124 {
 125         if (--ao_telemetry_loc_cur <= 0)
 126         {
 127                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 128                 ao_mutex_get(&ao_gps_mutex);
 129                 memcpy(&telemetry.location.flags,
 130                        &ao_gps_data.flags,
 131                        26);
 132                 ao_mutex_put(&ao_gps_mutex);
 133                 ao_radio_send(&telemetry, sizeof (telemetry));
 134                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 135         }
 136 }
 137
 138 static void
 139 ao_send_satellite(void)
 140 {
 141         if (--ao_telemetry_sat_cur <= 0)
 142         {
 143                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 144                 ao_mutex_get(&ao_gps_mutex);
 145                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 146                 memcpy(&telemetry.satellite.sats,
 147                        &ao_gps_tracking_data.sats,
 148                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 149                 ao_mutex_put(&ao_gps_mutex);
 150                 ao_radio_send(&telemetry, sizeof (telemetry));
 151                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 152         }
 153 }
 154 #endif
 155
 156 #if HAS_COMPANION
 157 static void
 158 ao_send_companion(void)
 159 {
 160         if (--ao_telemetry_companion_cur <= 0) {
 161                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 162                 telemetry.companion.board_id = ao_companion_setup.board_id;
 163                 telemetry.companion.update_period = ao_companion_setup.update_period;
 164                 telemetry.companion.channels = ao_companion_setup.channels;
 165                 ao_mutex_get(&ao_companion_mutex);
 166                 memcpy(&telemetry.companion.companion_data,
 167                        ao_companion_data,
 168                        ao_companion_setup.channels * 2);
 169                 ao_mutex_put(&ao_companion_mutex);
 170                 ao_radio_send(&telemetry, sizeof (telemetry));
 171                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 172         }
 173 }
 174 #endif
 175
 176 void
 177 ao_telemetry(void)
 178 {
 179         uint16_t        time;
 180         int16_t         delay;
 181
 182         ao_config_get();
 183         if (!ao_config.radio_enable)
 184                 ao_exit();
 185         while (!ao_flight_number)
 186                 ao_sleep(&ao_flight_number);
 187
 188         telemetry.generic.serial = ao_serial_number;
 189         for (;;) {
 190                 while (ao_telemetry_interval == 0)
 191                         ao_sleep(&telemetry);
 192                 time = ao_rdf_time = ao_time();
 193                 while (ao_telemetry_interval) {
 194
 195
 196                         ao_send_sensor();
 197 #if HAS_COMPANION
 198                         if (ao_companion_running)
 199                                 ao_send_companion();
 200 #endif
 201                         ao_send_configuration();
 202 #if HAS_GPS
 203                         ao_send_location();
 204                         ao_send_satellite();
 205 #endif
 206                         if (ao_rdf &&
 207                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 208                         {
 209                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 210                                 ao_radio_rdf(AO_RDF_LENGTH_MS);
 211                         }
 212                         time += ao_telemetry_interval;
 213                         delay = time - ao_time();
 214                         if (delay > 0)
 215                                 ao_delay(delay);
 216                         else
 217                                 time = ao_time();
 218                 }
 219         }
 220 }
 221
 222 void
 223 ao_telemetry_set_interval(uint16_t interval)
 224 {
 225         ao_telemetry_interval = interval;
 226
 227 #if HAS_COMPANION
 228         if (!ao_companion_setup.update_period)
 229                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 230         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 231         ao_telemetry_companion_cur = 1;
 232 #endif
 233
 234         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 235 #if HAS_COMPANION
 236         ao_telemetry_config_cur = ao_telemetry_companion_cur;
 237         if (ao_telemetry_config_max > ao_telemetry_config_cur)
 238                 ao_telemetry_config_cur++;
 239 #else
 240         ao_telemetry_config_cur = 1;
 241 #endif
 242
 243 #if HAS_GPS
 244         ao_telemetry_loc_cur = ao_telemetry_config_cur;
 245         if (ao_telemetry_config_max > ao_telemetry_loc_cur)
 246                 ao_telemetry_loc_cur++;
 247         ao_telemetry_sat_cur = ao_telemetry_loc_cur;
 248         if (ao_telemetry_config_max > ao_telemetry_sat_cur)
 249                 ao_telemetry_sat_cur++;
 250 #endif
 251         ao_wakeup(&telemetry);
 252 }
 253
 254 void
 255 ao_rdf_set(uint8_t rdf)
 256 {
 257         ao_rdf = rdf;
 258         if (rdf == 0)
 259                 ao_radio_rdf_abort();
 260         else
 261                 ao_rdf_time = ao_time();
 262 }
 263
 264 __xdata struct ao_task  ao_telemetry_task;
 265
 266 void
 267 ao_telemetry_init()
 268 {
 269         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 270 }