2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
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.
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.
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.
22 #error Must define HAS_MONITOR to 1
25 #ifndef LEGACY_MONITOR
26 #error Must define LEGACY_MONITOR
29 __data uint8_t ao_monitoring;
30 __pdata uint8_t ao_monitor_led;
32 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
34 __data uint8_t ao_monitor_head;
42 switch (ao_monitoring) {
44 ao_sleep(DATA_TO_XDATA(&ao_monitoring));
47 case AO_MONITORING_ORIG:
48 size = sizeof (struct ao_telemetry_orig_recv);
50 case AO_MONITORING_TINY:
51 size = sizeof (struct ao_telemetry_tiny_recv);
55 if (ao_monitoring > AO_MAX_TELEMETRY)
56 ao_monitoring = AO_MAX_TELEMETRY;
60 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
62 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
63 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
68 ao_monitor_blink(void)
71 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
72 ao_led_for(ao_monitor_led, AO_MS_TO_TICKS(100));
80 __xdata char callsign[AO_MAX_CALLSIGN+1];
83 uint8_t ao_monitor_tail;
86 __xdata union ao_monitor *m;
88 #define recv_raw ((m->raw))
89 #define recv_orig ((m->orig))
90 #define recv_tiny ((m->tiny))
92 ao_monitor_tail = ao_monitor_head;
94 while (ao_monitor_tail == ao_monitor_head)
95 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
96 m = &ao_monitor_ring[ao_monitor_tail];
97 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
98 switch (ao_monitoring) {
100 case AO_MONITORING_ORIG:
101 state = recv_orig.telemetry_orig.flight_state;
103 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
104 rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
105 ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
106 if (state > ao_flight_invalid)
107 state = ao_flight_invalid;
108 if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
110 /* General header fields */
111 printf(AO_TELEM_VERSION " %d "
113 AO_TELEM_SERIAL " %d "
114 AO_TELEM_FLIGHT " %d "
116 AO_TELEM_STATE " %s "
117 AO_TELEM_TICK " %d ",
118 AO_TELEMETRY_VERSION,
120 recv_orig.telemetry_orig.serial,
121 recv_orig.telemetry_orig.flight,
123 ao_state_names[state],
124 recv_orig.telemetry_orig.adc.tick);
126 /* Raw sensor values */
127 printf(AO_TELEM_RAW_ACCEL " %d "
128 AO_TELEM_RAW_BARO " %d "
129 AO_TELEM_RAW_THERMO " %d "
130 AO_TELEM_RAW_BATT " %d "
131 AO_TELEM_RAW_DROGUE " %d "
132 AO_TELEM_RAW_MAIN " %d ",
133 recv_orig.telemetry_orig.adc.accel,
134 recv_orig.telemetry_orig.adc.pres,
135 recv_orig.telemetry_orig.adc.temp,
136 recv_orig.telemetry_orig.adc.v_batt,
137 recv_orig.telemetry_orig.adc.sense_d,
138 recv_orig.telemetry_orig.adc.sense_m);
140 /* Sensor calibration values */
141 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
142 AO_TELEM_CAL_BARO_GROUND " %d "
143 AO_TELEM_CAL_ACCEL_PLUS " %d "
144 AO_TELEM_CAL_ACCEL_MINUS " %d ",
145 recv_orig.telemetry_orig.ground_accel,
146 recv_orig.telemetry_orig.ground_pres,
147 recv_orig.telemetry_orig.accel_plus_g,
148 recv_orig.telemetry_orig.accel_minus_g);
150 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
151 /* Kalman state values */
152 printf(AO_TELEM_KALMAN_HEIGHT " %d "
153 AO_TELEM_KALMAN_SPEED " %d "
154 AO_TELEM_KALMAN_ACCEL " %d ",
155 recv_orig.telemetry_orig.height,
156 recv_orig.telemetry_orig.u.k.speed,
157 recv_orig.telemetry_orig.accel);
159 /* Ad-hoc flight values */
160 printf(AO_TELEM_ADHOC_ACCEL " %d "
161 AO_TELEM_ADHOC_SPEED " %ld "
162 AO_TELEM_ADHOC_BARO " %d ",
163 recv_orig.telemetry_orig.accel,
164 recv_orig.telemetry_orig.u.flight_vel,
165 recv_orig.telemetry_orig.height);
167 ao_gps_print(&recv_orig.telemetry_orig.gps);
168 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
174 printf("CRC INVALID RSSI %3d\n", rssi);
177 case AO_MONITORING_TINY:
178 state = recv_tiny.telemetry_tiny.flight_state;
180 /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
181 rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
182 ao_xmemcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
183 if (state > ao_flight_invalid)
184 state = ao_flight_invalid;
185 if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
186 /* General header fields */
187 printf(AO_TELEM_VERSION " %d "
189 AO_TELEM_SERIAL " %d "
190 AO_TELEM_FLIGHT " %d "
192 AO_TELEM_STATE " %s "
193 AO_TELEM_TICK " %d ",
194 AO_TELEMETRY_VERSION,
196 recv_tiny.telemetry_tiny.serial,
197 recv_tiny.telemetry_tiny.flight,
199 ao_state_names[state],
200 recv_tiny.telemetry_tiny.adc.tick);
202 /* Raw sensor values */
203 printf(AO_TELEM_RAW_BARO " %d "
204 AO_TELEM_RAW_THERMO " %d "
205 AO_TELEM_RAW_BATT " %d "
206 AO_TELEM_RAW_DROGUE " %d "
207 AO_TELEM_RAW_MAIN " %d ",
208 recv_tiny.telemetry_tiny.adc.pres,
209 recv_tiny.telemetry_tiny.adc.temp,
210 recv_tiny.telemetry_tiny.adc.v_batt,
211 recv_tiny.telemetry_tiny.adc.sense_d,
212 recv_tiny.telemetry_tiny.adc.sense_m);
214 /* Sensor calibration values */
215 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
216 recv_tiny.telemetry_tiny.ground_pres);
219 /* Kalman state values */
220 printf(AO_TELEM_KALMAN_HEIGHT " %d "
221 AO_TELEM_KALMAN_SPEED " %d "
222 AO_TELEM_KALMAN_ACCEL " %d\n",
223 recv_tiny.telemetry_tiny.height,
224 recv_tiny.telemetry_tiny.speed,
225 recv_tiny.telemetry_tiny.accel);
227 /* Ad-hoc flight values */
228 printf(AO_TELEM_ADHOC_ACCEL " %d "
229 AO_TELEM_ADHOC_SPEED " %ld "
230 AO_TELEM_ADHOC_BARO " %d\n",
231 recv_tiny.telemetry_tiny.flight_accel,
232 recv_tiny.telemetry_tiny.flight_vel,
233 recv_tiny.telemetry_tiny.flight_pres);
239 printf("CRC INVALID RSSI %3d\n", rssi);
242 #endif /* LEGACY_MONITOR */
244 printf ("TELEM %02x", ao_monitoring + 2);
246 for (state = 0; state < ao_monitoring + 2; state++) {
247 byte = recv_raw.packet[state];
249 printf("%02x", byte);
251 printf("%02x\n", sum);
253 if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
254 rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
264 __xdata struct ao_task ao_monitor_get_task;
265 __xdata struct ao_task ao_monitor_put_task;
266 __xdata struct ao_task ao_monitor_blink_task;
269 ao_set_monitor(uint8_t monitoring)
272 ao_radio_recv_abort();
273 ao_monitoring = monitoring;
274 ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
281 ao_set_monitor(ao_cmd_lex_i);
284 __code struct ao_cmds ao_monitor_cmds[] = {
285 { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
290 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
292 ao_monitor_led = monitor_led;
293 ao_monitoring = monitoring;
294 ao_cmd_register(&ao_monitor_cmds[0]);
295 ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
296 ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
298 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");