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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 static __pdata uint8_t ao_rdf = 0;
  29 static __pdata uint16_t ao_rdf_time;
  30
  31 #define AO_RDF_INTERVAL_TICKS   AO_SEC_TO_TICKS(5)
  32 #define AO_RDF_LENGTH_MS        500
  33
  34 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
  35 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  36 #endif
  37
  38 #if defined(TELEMINI_V_0_1)
  39 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  40 #endif
  41
  42 #if defined(TELENANO_V_0_1)
  43 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  44 #endif
  45
  46 static __xdata union ao_telemetry_all   telemetry;
  47
  48 /* Send sensor packet */
  49 static void
  50 ao_send_sensor(void)
  51 {
  52         uint8_t         sample;
  53         sample = ao_sample_adc;
  54
  55         telemetry.generic.tick = ao_adc_ring[sample].tick;
  56         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  57
  58         telemetry.sensor.state = ao_flight_state;
  59 #if HAS_ACCEL
  60         telemetry.sensor.accel = ao_adc_ring[sample].accel;
  61 #else
  62         telemetry.sensor.accel = 0;
  63 #endif
  64         telemetry.sensor.pres = ao_adc_ring[sample].pres;
  65         telemetry.sensor.temp = ao_adc_ring[sample].temp;
  66         telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
  67 #if HAS_IGNITE
  68         telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
  69         telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
  70 #else
  71         telemetry.sensor.sense_d = 0;
  72         telemetry.sensor.sense_m = 0;
  73 #endif
  74
  75         telemetry.sensor.acceleration = ao_accel;
  76         telemetry.sensor.speed = ao_speed;
  77         telemetry.sensor.height = ao_height;
  78
  79         telemetry.sensor.ground_pres = ao_ground_pres;
  80         telemetry.sensor.ground_accel = ao_ground_accel;
  81         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
  82         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
  83
  84         ao_radio_send(&telemetry, sizeof (telemetry));
  85 }
  86
  87 static void
  88 ao_send_configuration(void)
  89 {
  90         if (--ao_telemetry_config_cur <= 0)
  91         {
  92                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
  93                 telemetry.configuration.device = AO_idProduct_NUMBER;
  94                 telemetry.configuration.flight = ao_flight_number;
  95                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
  96                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
  97                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
  98                 telemetry.configuration.main_deploy = ao_config.main_deploy;
  99                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 100                 memcpy (telemetry.configuration.callsign,
 101                         ao_config.callsign,
 102                         AO_MAX_CALLSIGN);
 103                 memcpy (telemetry.configuration.version,
 104                         ao_version,
 105                         AO_MAX_VERSION);
 106                 ao_radio_send(&telemetry, sizeof (telemetry));
 107                 ao_telemetry_config_cur = ao_telemetry_config_max;
 108         }
 109 }
 110
 111 #if HAS_GPS
 112 static void
 113 ao_send_location(void)
 114 {
 115         if (--ao_telemetry_loc_cur <= 0)
 116         {
 117                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 118                 ao_mutex_get(&ao_gps_mutex);
 119                 memcpy(&telemetry.location.flags,
 120                        &ao_gps_data.flags,
 121                        26);
 122                 ao_mutex_put(&ao_gps_mutex);
 123                 ao_radio_send(&telemetry, sizeof (telemetry));
 124                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 125         }
 126 }
 127
 128 static void
 129 ao_send_satellite(void)
 130 {
 131         if (--ao_telemetry_sat_cur <= 0)
 132         {
 133                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 134                 ao_mutex_get(&ao_gps_mutex);
 135                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 136                 memcpy(&telemetry.satellite.sats,
 137                        &ao_gps_tracking_data.sats,
 138                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 139                 ao_mutex_put(&ao_gps_mutex);
 140                 ao_radio_send(&telemetry, sizeof (telemetry));
 141                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 142         }
 143 }
 144 #endif
 145
 146 void
 147 ao_telemetry(void)
 148 {
 149         uint16_t        time;
 150         int16_t         delay;
 151
 152         ao_config_get();
 153         while (!ao_flight_number)
 154                 ao_sleep(&ao_flight_number);
 155
 156         telemetry.generic.serial = ao_serial_number;
 157         for (;;) {
 158                 while (ao_telemetry_interval == 0)
 159                         ao_sleep(&telemetry);
 160                 time = ao_rdf_time = ao_time();
 161                 while (ao_telemetry_interval) {
 162
 163
 164                         ao_send_sensor();
 165                         ao_send_configuration();
 166 #if HAS_GPS
 167                         ao_send_location();
 168                         ao_send_satellite();
 169 #endif
 170                         if (ao_rdf &&
 171                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 172                         {
 173                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 174                                 ao_radio_rdf(AO_RDF_LENGTH_MS);
 175                         }
 176                         time += ao_telemetry_interval;
 177                         delay = time - ao_time();
 178                         if (delay > 0)
 179                                 ao_delay(delay);
 180                         else
 181                                 time = ao_time();
 182                 }
 183         }
 184 }
 185
 186 void
 187 ao_telemetry_set_interval(uint16_t interval)
 188 {
 189         ao_telemetry_interval = interval;
 190         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 191         ao_telemetry_config_cur = 0;
 192 #if HAS_GPS
 193         ao_telemetry_loc_cur = 0;
 194         if (ao_telemetry_config_max - 1 > ao_telemetry_loc_cur)
 195                 ao_telemetry_loc_cur++;
 196         ao_telemetry_sat_cur = ao_telemetry_loc_cur;
 197         if (ao_telemetry_config_max - 1 > ao_telemetry_sat_cur)
 198                 ao_telemetry_sat_cur++;
 199 #endif
 200         ao_wakeup(&telemetry);
 201 }
 202
 203 void
 204 ao_rdf_set(uint8_t rdf)
 205 {
 206         ao_rdf = rdf;
 207         if (rdf == 0)
 208                 ao_radio_rdf_abort();
 209         else
 210                 ao_rdf_time = ao_time();
 211 }
 212
 213 __xdata struct ao_task  ao_telemetry_task;
 214
 215 void
 216 ao_telemetry_init()
 217 {
 218         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 219 }