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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 #if !HAS_MONITOR
  22 #error Must define HAS_MONITOR to 1
  23 #endif
  24
  25 __data uint8_t ao_monitoring;
  26 __pdata uint8_t ao_monitor_led;
  27
  28 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
  29
  30 __data uint8_t  ao_monitor_head;
  31
  32 void
  33 ao_monitor_get(void)
  34 {
  35         uint8_t size;
  36
  37         for (;;) {
  38                 switch (ao_monitoring) {
  39                 case 0:
  40                         ao_sleep(DATA_TO_XDATA(&ao_monitoring));
  41                         continue;
  42                 case AO_MONITORING_ORIG:
  43                         size = sizeof (struct ao_telemetry_orig_recv);
  44                         break;
  45                 case AO_MONITORING_TINY:
  46                         size = sizeof (struct ao_telemetry_tiny_recv);
  47                         break;
  48                 default:
  49                         if (ao_monitoring > AO_MAX_TELEMETRY)
  50                                 ao_monitoring = AO_MAX_TELEMETRY;
  51                         size = ao_monitoring;
  52                         break;
  53                 }
  54                 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
  55                         continue;
  56                 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
  57                 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
  58         }
  59 }
  60
  61 void
  62 ao_monitor_blink(void)
  63 {
  64         for (;;) {
  65                 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
  66                 ao_led_for(ao_monitor_led, AO_MS_TO_TICKS(100));
  67         }
  68 }
  69
  70 void
  71 ao_monitor_put(void)
  72 {
  73         __xdata char callsign[AO_MAX_CALLSIGN+1];
  74
  75         uint8_t ao_monitor_tail;
  76         uint8_t state;
  77         uint8_t sum, byte;
  78         int16_t rssi;
  79         __xdata union ao_monitor        *m;
  80
  81 #define recv_raw        ((m->raw))
  82 #define recv_orig       ((m->orig))
  83 #define recv_tiny       ((m->tiny))
  84
  85         ao_monitor_tail = ao_monitor_head;
  86         for (;;) {
  87                 while (ao_monitor_tail == ao_monitor_head)
  88                         ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
  89                 m = &ao_monitor_ring[ao_monitor_tail];
  90                 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
  91                 switch (ao_monitoring) {
  92                 case AO_MONITORING_ORIG:
  93                         state = recv_orig.telemetry_orig.flight_state;
  94
  95                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
  96                         rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
  97                         memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
  98                         if (state > ao_flight_invalid)
  99                                 state = ao_flight_invalid;
 100                         if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
 101
 102                                 /* General header fields */
 103                                 printf(AO_TELEM_VERSION " %d "
 104                                        AO_TELEM_CALL " %s "
 105                                        AO_TELEM_SERIAL " %d "
 106                                        AO_TELEM_FLIGHT " %d "
 107                                        AO_TELEM_RSSI " %d "
 108                                        AO_TELEM_STATE " %s "
 109                                        AO_TELEM_TICK " %d ",
 110                                        AO_TELEMETRY_VERSION,
 111                                        callsign,
 112                                        recv_orig.telemetry_orig.serial,
 113                                        recv_orig.telemetry_orig.flight,
 114                                        rssi,
 115                                        ao_state_names[state],
 116                                        recv_orig.telemetry_orig.adc.tick);
 117
 118                                 /* Raw sensor values */
 119                                 printf(AO_TELEM_RAW_ACCEL " %d "
 120                                        AO_TELEM_RAW_BARO " %d "
 121                                        AO_TELEM_RAW_THERMO " %d "
 122                                        AO_TELEM_RAW_BATT " %d "
 123                                        AO_TELEM_RAW_DROGUE " %d "
 124                                        AO_TELEM_RAW_MAIN " %d ",
 125                                        recv_orig.telemetry_orig.adc.accel,
 126                                        recv_orig.telemetry_orig.adc.pres,
 127                                        recv_orig.telemetry_orig.adc.temp,
 128                                        recv_orig.telemetry_orig.adc.v_batt,
 129                                        recv_orig.telemetry_orig.adc.sense_d,
 130                                        recv_orig.telemetry_orig.adc.sense_m);
 131
 132                                 /* Sensor calibration values */
 133                                 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
 134                                        AO_TELEM_CAL_BARO_GROUND " %d "
 135                                        AO_TELEM_CAL_ACCEL_PLUS " %d "
 136                                        AO_TELEM_CAL_ACCEL_MINUS " %d ",
 137                                        recv_orig.telemetry_orig.ground_accel,
 138                                        recv_orig.telemetry_orig.ground_pres,
 139                                        recv_orig.telemetry_orig.accel_plus_g,
 140                                        recv_orig.telemetry_orig.accel_minus_g);
 141
 142                                 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
 143                                         /* Kalman state values */
 144                                         printf(AO_TELEM_KALMAN_HEIGHT " %d "
 145                                                AO_TELEM_KALMAN_SPEED " %d "
 146                                                AO_TELEM_KALMAN_ACCEL " %d ",
 147                                                recv_orig.telemetry_orig.height,
 148                                                recv_orig.telemetry_orig.u.k.speed,
 149                                                recv_orig.telemetry_orig.accel);
 150                                 } else {
 151                                         /* Ad-hoc flight values */
 152                                         printf(AO_TELEM_ADHOC_ACCEL " %d "
 153                                                AO_TELEM_ADHOC_SPEED " %ld "
 154                                                AO_TELEM_ADHOC_BARO " %d ",
 155                                                recv_orig.telemetry_orig.accel,
 156                                                recv_orig.telemetry_orig.u.flight_vel,
 157                                                recv_orig.telemetry_orig.height);
 158                                 }
 159                                 ao_gps_print(&recv_orig.telemetry_orig.gps);
 160                                 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
 161                                 putchar('\n');
 162 #if HAS_RSSI
 163                                 ao_rssi_set(rssi);
 164 #endif
 165                         } else {
 166                                 printf("CRC INVALID RSSI %3d\n", rssi);
 167                         }
 168                         break;
 169                 case AO_MONITORING_TINY:
 170                         state = recv_tiny.telemetry_tiny.flight_state;
 171
 172                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
 173                         rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
 174                         memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
 175                         if (state > ao_flight_invalid)
 176                                 state = ao_flight_invalid;
 177                         if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
 178                                 /* General header fields */
 179                                 printf(AO_TELEM_VERSION " %d "
 180                                        AO_TELEM_CALL " %s "
 181                                        AO_TELEM_SERIAL " %d "
 182                                        AO_TELEM_FLIGHT " %d "
 183                                        AO_TELEM_RSSI " %d "
 184                                        AO_TELEM_STATE " %s "
 185                                        AO_TELEM_TICK " %d ",
 186                                        AO_TELEMETRY_VERSION,
 187                                        callsign,
 188                                        recv_tiny.telemetry_tiny.serial,
 189                                        recv_tiny.telemetry_tiny.flight,
 190                                        rssi,
 191                                        ao_state_names[state],
 192                                        recv_tiny.telemetry_tiny.adc.tick);
 193
 194                                 /* Raw sensor values */
 195                                 printf(AO_TELEM_RAW_BARO " %d "
 196                                        AO_TELEM_RAW_THERMO " %d "
 197                                        AO_TELEM_RAW_BATT " %d "
 198                                        AO_TELEM_RAW_DROGUE " %d "
 199                                        AO_TELEM_RAW_MAIN " %d ",
 200                                        recv_tiny.telemetry_tiny.adc.pres,
 201                                        recv_tiny.telemetry_tiny.adc.temp,
 202                                        recv_tiny.telemetry_tiny.adc.v_batt,
 203                                        recv_tiny.telemetry_tiny.adc.sense_d,
 204                                        recv_tiny.telemetry_tiny.adc.sense_m);
 205
 206                                 /* Sensor calibration values */
 207                                 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
 208                                        recv_tiny.telemetry_tiny.ground_pres);
 209
 210 #if 1
 211                                 /* Kalman state values */
 212                                 printf(AO_TELEM_KALMAN_HEIGHT " %d "
 213                                        AO_TELEM_KALMAN_SPEED " %d "
 214                                        AO_TELEM_KALMAN_ACCEL " %d\n",
 215                                        recv_tiny.telemetry_tiny.height,
 216                                        recv_tiny.telemetry_tiny.speed,
 217                                        recv_tiny.telemetry_tiny.accel);
 218 #else
 219                                 /* Ad-hoc flight values */
 220                                 printf(AO_TELEM_ADHOC_ACCEL " %d "
 221                                        AO_TELEM_ADHOC_SPEED " %ld "
 222                                        AO_TELEM_ADHOC_BARO " %d\n",
 223                                        recv_tiny.telemetry_tiny.flight_accel,
 224                                        recv_tiny.telemetry_tiny.flight_vel,
 225                                        recv_tiny.telemetry_tiny.flight_pres);
 226 #endif
 227 #if HAS_RSSI
 228                                 ao_rssi_set(rssi);
 229 #endif
 230                         } else {
 231                                 printf("CRC INVALID RSSI %3d\n", rssi);
 232                         }
 233                         break;
 234                 default:
 235                         printf ("TELEM %02x", ao_monitoring + 2);
 236                         sum = 0x5a;
 237                         for (state = 0; state < ao_monitoring + 2; state++) {
 238                                 byte = recv_raw.packet[state];
 239                                 sum += byte;
 240                                 printf("%02x", byte);
 241                         }
 242                         printf("%02x\n", sum);
 243 #if HAS_RSSI
 244                         if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
 245                                 rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
 246                                 ao_rssi_set(rssi);
 247                         }
 248 #endif
 249                         break;
 250                 }
 251                 ao_usb_flush();
 252         }
 253 }
 254
 255 __xdata struct ao_task ao_monitor_get_task;
 256 __xdata struct ao_task ao_monitor_put_task;
 257 __xdata struct ao_task ao_monitor_blink_task;
 258
 259 void
 260 ao_set_monitor(uint8_t monitoring)
 261 {
 262         if (ao_monitoring)
 263                 ao_radio_recv_abort();
 264         ao_monitoring = monitoring;
 265         ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
 266 }
 267
 268 static void
 269 set_monitor(void)
 270 {
 271         ao_cmd_hex();
 272         ao_set_monitor(ao_cmd_lex_i);
 273 }
 274
 275 __code struct ao_cmds ao_monitor_cmds[] = {
 276         { set_monitor,  "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
 277         { 0,    NULL },
 278 };
 279
 280 void
 281 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
 282 {
 283         ao_monitor_led = monitor_led;
 284         ao_monitoring = monitoring;
 285         ao_cmd_register(&ao_monitor_cmds[0]);
 286         ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
 287         ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 288         if (ao_monitor_led)
 289                 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
 290 }