git.gag.com Git - fw/altos/blob - src/core/ao_monitor.c

   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 #include "ao_flight.h"
  21
  22 #if !HAS_MONITOR
  23 #error Must define HAS_MONITOR to 1
  24 #endif
  25
  26 #ifndef LEGACY_MONITOR
  27 #error Must define LEGACY_MONITOR
  28 #endif
  29
  30 #ifndef HAS_MONITOR_PUT
  31 #define HAS_MONITOR_PUT 1
  32 #endif
  33
  34 #ifndef AO_MONITOR_LED
  35 #error Must define AO_MONITOR_LED
  36 #endif
  37
  38 __data uint8_t ao_monitoring;
  39 static __data uint8_t ao_monitor_disabled;
  40 static __data uint8_t ao_internal_monitoring;
  41 static __data uint8_t ao_external_monitoring;
  42
  43 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
  44
  45 __data uint8_t  ao_monitor_head;
  46
  47 static void
  48 _ao_monitor_adjust(void)
  49 {
  50         if (ao_monitoring)
  51                 ao_radio_recv_abort();
  52         if (ao_monitor_disabled)
  53                 ao_monitoring = 0;
  54         else {
  55                 if (ao_external_monitoring)
  56                         ao_monitoring = ao_external_monitoring;
  57                 else
  58                         ao_monitoring = ao_internal_monitoring;
  59         }
  60         ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
  61 }
  62
  63 void
  64 ao_monitor_get(void)
  65 {
  66         uint8_t size;
  67
  68         for (;;) {
  69                 switch (ao_monitoring) {
  70                 case 0:
  71                         ao_sleep(DATA_TO_XDATA(&ao_monitoring));
  72                         continue;
  73 #if LEGACY_MONITOR
  74                 case AO_MONITORING_ORIG:
  75                         size = sizeof (struct ao_telemetry_orig_recv);
  76                         break;
  77 #endif
  78                 default:
  79                         if (ao_monitoring > AO_MAX_TELEMETRY)
  80                                 ao_monitoring = AO_MAX_TELEMETRY;
  81                         size = ao_monitoring;
  82                         break;
  83                 }
  84                 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
  85                         continue;
  86                 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
  87                 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
  88         }
  89 }
  90
  91 #if AO_MONITOR_LED
  92 __xdata struct ao_task ao_monitor_blink_task;
  93
  94 void
  95 ao_monitor_blink(void)
  96 {
  97         for (;;) {
  98                 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
  99                 ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
 100         }
 101 }
 102 #endif
 103
 104 #if HAS_MONITOR_PUT
 105
 106 void
 107 ao_monitor_put(void)
 108 {
 109 #if LEGACY_MONITOR
 110         __xdata char callsign[AO_MAX_CALLSIGN+1];
 111         int16_t rssi;
 112 #endif
 113         uint8_t ao_monitor_tail;
 114         uint8_t state;
 115         uint8_t sum, byte;
 116         __xdata union ao_monitor        *m;
 117
 118 #define recv_raw        ((m->raw))
 119 #define recv_orig       ((m->orig))
 120 #define recv_tiny       ((m->tiny))
 121
 122         ao_monitor_tail = ao_monitor_head;
 123         for (;;) {
 124                 while (!ao_external_monitoring)
 125                         ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
 126                 while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
 127                         ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
 128                 m = &ao_monitor_ring[ao_monitor_tail];
 129                 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
 130                 switch (ao_monitoring) {
 131                 case 0:
 132                         break;
 133 #if LEGACY_MONITOR
 134                 case AO_MONITORING_ORIG:
 135                         state = recv_orig.telemetry_orig.flight_state;
 136
 137                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
 138                         rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
 139                         ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
 140                         if (state > ao_flight_invalid)
 141                                 state = ao_flight_invalid;
 142                         if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
 143
 144                                 /* General header fields */
 145                                 printf(AO_TELEM_VERSION " %d "
 146                                        AO_TELEM_CALL " %s "
 147                                        AO_TELEM_SERIAL " %d "
 148                                        AO_TELEM_FLIGHT " %d "
 149                                        AO_TELEM_RSSI " %d "
 150                                        AO_TELEM_STATE " %s "
 151                                        AO_TELEM_TICK " %d ",
 152                                        AO_TELEMETRY_VERSION,
 153                                        callsign,
 154                                        recv_orig.telemetry_orig.serial,
 155                                        recv_orig.telemetry_orig.flight,
 156                                        rssi,
 157                                        ao_state_names[state],
 158                                        recv_orig.telemetry_orig.adc.tick);
 159
 160                                 /* Raw sensor values */
 161                                 printf(AO_TELEM_RAW_ACCEL " %d "
 162                                        AO_TELEM_RAW_BARO " %d "
 163                                        AO_TELEM_RAW_THERMO " %d "
 164                                        AO_TELEM_RAW_BATT " %d "
 165                                        AO_TELEM_RAW_DROGUE " %d "
 166                                        AO_TELEM_RAW_MAIN " %d ",
 167                                        recv_orig.telemetry_orig.adc.accel,
 168                                        recv_orig.telemetry_orig.adc.pres,
 169                                        recv_orig.telemetry_orig.adc.temp,
 170                                        recv_orig.telemetry_orig.adc.v_batt,
 171                                        recv_orig.telemetry_orig.adc.sense_d,
 172                                        recv_orig.telemetry_orig.adc.sense_m);
 173
 174                                 /* Sensor calibration values */
 175                                 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
 176                                        AO_TELEM_CAL_BARO_GROUND " %d "
 177                                        AO_TELEM_CAL_ACCEL_PLUS " %d "
 178                                        AO_TELEM_CAL_ACCEL_MINUS " %d ",
 179                                        recv_orig.telemetry_orig.ground_accel,
 180                                        recv_orig.telemetry_orig.ground_pres,
 181                                        recv_orig.telemetry_orig.accel_plus_g,
 182                                        recv_orig.telemetry_orig.accel_minus_g);
 183
 184                                 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
 185                                         /* Kalman state values */
 186                                         printf(AO_TELEM_KALMAN_HEIGHT " %d "
 187                                                AO_TELEM_KALMAN_SPEED " %d "
 188                                                AO_TELEM_KALMAN_ACCEL " %d ",
 189                                                recv_orig.telemetry_orig.height,
 190                                                recv_orig.telemetry_orig.u.k.speed,
 191                                                recv_orig.telemetry_orig.accel);
 192                                 } else {
 193                                         /* Ad-hoc flight values */
 194                                         printf(AO_TELEM_ADHOC_ACCEL " %d "
 195                                                AO_TELEM_ADHOC_SPEED " %ld "
 196                                                AO_TELEM_ADHOC_BARO " %d ",
 197                                                recv_orig.telemetry_orig.accel,
 198                                                recv_orig.telemetry_orig.u.flight_vel,
 199                                                recv_orig.telemetry_orig.height);
 200                                 }
 201                                 ao_gps_print(&recv_orig.telemetry_orig.gps);
 202                                 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
 203                                 putchar('\n');
 204 #if HAS_RSSI
 205                                 ao_rssi_set(rssi);
 206 #endif
 207                         } else {
 208                                 printf("CRC INVALID RSSI %3d\n", rssi);
 209                         }
 210                         break;
 211 #endif /* LEGACY_MONITOR */
 212                 default:
 213                         printf ("TELEM %02x", ao_monitoring + 2);
 214                         sum = 0x5a;
 215                         for (state = 0; state < ao_monitoring + 2; state++) {
 216                                 byte = recv_raw.packet[state];
 217                                 sum += byte;
 218                                 printf("%02x", byte);
 219                         }
 220                         printf("%02x\n", sum);
 221 #if HAS_RSSI
 222                         if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
 223                                 rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
 224                                 ao_rssi_set(rssi);
 225                         }
 226 #endif
 227                         break;
 228                 }
 229                 ao_usb_flush();
 230         }
 231 }
 232
 233 __xdata struct ao_task ao_monitor_put_task;
 234 #endif
 235
 236 __xdata struct ao_task ao_monitor_get_task;
 237
 238 void
 239 ao_monitor_set(uint8_t monitoring)
 240 {
 241         ao_internal_monitoring = monitoring;
 242         _ao_monitor_adjust();
 243 }
 244
 245 void
 246 ao_monitor_disable(void)
 247 {
 248         ++ao_monitor_disabled;
 249         _ao_monitor_adjust();
 250 }
 251
 252 void
 253 ao_monitor_enable(void)
 254 {
 255         --ao_monitor_disabled;
 256         _ao_monitor_adjust();
 257 }
 258
 259 #if HAS_MONITOR_PUT
 260 static void
 261 set_monitor(void)
 262 {
 263         ao_cmd_hex();
 264         ao_external_monitoring = ao_cmd_lex_i;
 265         ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
 266         ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
 267         _ao_monitor_adjust();
 268 }
 269
 270 __code struct ao_cmds ao_monitor_cmds[] = {
 271         { set_monitor,  "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
 272         { 0,    NULL },
 273 };
 274 #endif
 275
 276 void
 277 ao_monitor_init(void) __reentrant
 278 {
 279 #if HAS_MONITOR_PUT
 280         ao_cmd_register(&ao_monitor_cmds[0]);
 281         ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 282 #endif
 283         ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
 284 #if AO_MONITOR_LED
 285         ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
 286 #endif
 287 }