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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 __xdata uint16_t ao_telemetry_interval = 0;
  22 __xdata uint8_t ao_rdf = 0;
  23 __xdata uint16_t ao_rdf_time;
  24
  25 #define AO_RDF_INTERVAL_TICKS   AO_SEC_TO_TICKS(5)
  26 #define AO_RDF_LENGTH_MS        500
  27
  28 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
  29 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  30 #endif
  31
  32 #if defined(TELEMINI_V_0_1)
  33 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  34 #endif
  35
  36 #if defined(TELENANO_V_0_1)
  37 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  38 #endif
  39
  40 void
  41 ao_telemetry(void)
  42 {
  43         uint16_t        time;
  44         int16_t         delay;
  45         static __xdata union ao_telemetry_all   telemetry;
  46         uint8_t         sample;
  47
  48         ao_config_get();
  49         while (!ao_flight_number)
  50                 ao_sleep(&ao_flight_number);
  51
  52         telemetry.generic.serial = ao_serial_number;
  53         for (;;) {
  54                 while (ao_telemetry_interval == 0)
  55                         ao_sleep(&ao_telemetry_interval);
  56                 time = ao_rdf_time = ao_time();
  57                 while (ao_telemetry_interval) {
  58
  59                         /* Send sensor packet */
  60                         sample = ao_sample_adc;
  61
  62                         telemetry.generic.tick = ao_adc_ring[sample].tick;
  63                         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  64
  65                         telemetry.sensor.state = ao_flight_state;
  66 #if HAS_ACCEL
  67                         telemetry.sensor.accel = ao_adc_ring[sample].accel;
  68 #else
  69                         telemetry.sensor.accel = 0;
  70 #endif
  71                         telemetry.sensor.pres = ao_adc_ring[sample].pres;
  72                         telemetry.sensor.temp = ao_adc_ring[sample].temp;
  73                         telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
  74 #if HAS_IGNITE
  75                         telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
  76                         telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
  77 #else
  78                         telemetry.sensor.sense_d = 0;
  79                         telemetry.sensor.sense_m = 0;
  80 #endif
  81
  82                         telemetry.sensor.acceleration = ao_accel;
  83                         telemetry.sensor.speed = ao_speed;
  84                         telemetry.sensor.height = ao_height;
  85
  86                         telemetry.sensor.ground_pres = ao_ground_pres;
  87                         telemetry.sensor.ground_accel = ao_ground_accel;
  88                         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
  89                         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
  90
  91                         ao_radio_send(&telemetry, sizeof (telemetry));
  92
  93                         telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
  94                         telemetry.configuration.device = AO_idProduct_NUMBER;
  95                         telemetry.configuration.flight = ao_flight_number;
  96                         telemetry.configuration.config_major = AO_CONFIG_MAJOR;
  97                         telemetry.configuration.config_minor = AO_CONFIG_MINOR;
  98                         telemetry.configuration.main_deploy = ao_config.main_deploy;
  99                         telemetry.configuration.flight_log_max = ao_config.flight_log_max;
 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
 107                         if (ao_rdf &&
 108                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 109                         {
 110                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 111                                 ao_radio_rdf(AO_RDF_LENGTH_MS);
 112                         }
 113                         time += ao_telemetry_interval;
 114                         delay = time - ao_time();
 115                         if (delay > 0)
 116                                 ao_delay(delay);
 117                         else
 118                                 time = ao_time();
 119                 }
 120         }
 121 }
 122
 123 void
 124 ao_telemetry_set_interval(uint16_t interval)
 125 {
 126         ao_telemetry_interval = interval;
 127         ao_wakeup(&ao_telemetry_interval);
 128 }
 129
 130 void
 131 ao_rdf_set(uint8_t rdf)
 132 {
 133         ao_rdf = rdf;
 134         if (rdf == 0)
 135                 ao_radio_rdf_abort();
 136         else
 137                 ao_rdf_time = ao_time();
 138 }
 139
 140 __xdata struct ao_task  ao_telemetry_task;
 141
 142 void
 143 ao_telemetry_init()
 144 {
 145         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 146 }