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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 #ifndef LEGACY_MONITOR
  26 #error Must define LEGACY_MONITOR
  27 #endif
  28
  29 __data uint8_t ao_monitoring;
  30 __pdata uint8_t ao_monitor_led;
  31
  32 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
  33
  34 __data uint8_t  ao_monitor_head;
  35
  36 void
  37 ao_monitor_get(void)
  38 {
  39         uint8_t size;
  40
  41         for (;;) {
  42                 switch (ao_monitoring) {
  43                 case 0:
  44                         ao_sleep(DATA_TO_XDATA(&ao_monitoring));
  45                         continue;
  46 #if LEGACY_MONITOR
  47                 case AO_MONITORING_ORIG:
  48                         size = sizeof (struct ao_telemetry_orig_recv);
  49                         break;
  50                 case AO_MONITORING_TINY:
  51                         size = sizeof (struct ao_telemetry_tiny_recv);
  52                         break;
  53 #endif
  54                 default:
  55                         if (ao_monitoring > AO_MAX_TELEMETRY)
  56                                 ao_monitoring = AO_MAX_TELEMETRY;
  57                         size = ao_monitoring;
  58                         break;
  59                 }
  60                 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
  61                         continue;
  62                 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
  63                 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
  64         }
  65 }
  66
  67 void
  68 ao_monitor_blink(void)
  69 {
  70         for (;;) {
  71                 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
  72                 ao_led_for(ao_monitor_led, AO_MS_TO_TICKS(100));
  73         }
  74 }
  75
  76 void
  77 ao_monitor_put(void)
  78 {
  79 #if LEGACY_MONITOR
  80         __xdata char callsign[AO_MAX_CALLSIGN+1];
  81         int16_t rssi;
  82 #endif
  83         uint8_t ao_monitor_tail;
  84         uint8_t state;
  85         uint8_t sum, byte;
  86         __xdata union ao_monitor        *m;
  87
  88 #define recv_raw        ((m->raw))
  89 #define recv_orig       ((m->orig))
  90 #define recv_tiny       ((m->tiny))
  91
  92         ao_monitor_tail = ao_monitor_head;
  93         for (;;) {
  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) {
  99 #if LEGACY_MONITOR
 100                 case AO_MONITORING_ORIG:
 101                         state = recv_orig.telemetry_orig.flight_state;
 102
 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) {
 109
 110                                 /* General header fields */
 111                                 printf(AO_TELEM_VERSION " %d "
 112                                        AO_TELEM_CALL " %s "
 113                                        AO_TELEM_SERIAL " %d "
 114                                        AO_TELEM_FLIGHT " %d "
 115                                        AO_TELEM_RSSI " %d "
 116                                        AO_TELEM_STATE " %s "
 117                                        AO_TELEM_TICK " %d ",
 118                                        AO_TELEMETRY_VERSION,
 119                                        callsign,
 120                                        recv_orig.telemetry_orig.serial,
 121                                        recv_orig.telemetry_orig.flight,
 122                                        rssi,
 123                                        ao_state_names[state],
 124                                        recv_orig.telemetry_orig.adc.tick);
 125
 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);
 139
 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);
 149
 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);
 158                                 } else {
 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);
 166                                 }
 167                                 ao_gps_print(&recv_orig.telemetry_orig.gps);
 168                                 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
 169                                 putchar('\n');
 170 #if HAS_RSSI
 171                                 ao_rssi_set(rssi);
 172 #endif
 173                         } else {
 174                                 printf("CRC INVALID RSSI %3d\n", rssi);
 175                         }
 176                         break;
 177                 case AO_MONITORING_TINY:
 178                         state = recv_tiny.telemetry_tiny.flight_state;
 179
 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 "
 188                                        AO_TELEM_CALL " %s "
 189                                        AO_TELEM_SERIAL " %d "
 190                                        AO_TELEM_FLIGHT " %d "
 191                                        AO_TELEM_RSSI " %d "
 192                                        AO_TELEM_STATE " %s "
 193                                        AO_TELEM_TICK " %d ",
 194                                        AO_TELEMETRY_VERSION,
 195                                        callsign,
 196                                        recv_tiny.telemetry_tiny.serial,
 197                                        recv_tiny.telemetry_tiny.flight,
 198                                        rssi,
 199                                        ao_state_names[state],
 200                                        recv_tiny.telemetry_tiny.adc.tick);
 201
 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);
 213
 214                                 /* Sensor calibration values */
 215                                 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
 216                                        recv_tiny.telemetry_tiny.ground_pres);
 217
 218 #if 1
 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);
 226 #else
 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);
 234 #endif
 235 #if HAS_RSSI
 236                                 ao_rssi_set(rssi);
 237 #endif
 238                         } else {
 239                                 printf("CRC INVALID RSSI %3d\n", rssi);
 240                         }
 241                         break;
 242 #endif /* LEGACY_MONITOR */
 243                 default:
 244                         printf ("TELEM %02x", ao_monitoring + 2);
 245                         sum = 0x5a;
 246                         for (state = 0; state < ao_monitoring + 2; state++) {
 247                                 byte = recv_raw.packet[state];
 248                                 sum += byte;
 249                                 printf("%02x", byte);
 250                         }
 251                         printf("%02x\n", sum);
 252 #if HAS_RSSI
 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;
 255                                 ao_rssi_set(rssi);
 256                         }
 257 #endif
 258                         break;
 259                 }
 260                 ao_usb_flush();
 261         }
 262 }
 263
 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;
 267
 268 void
 269 ao_set_monitor(uint8_t monitoring)
 270 {
 271         if (ao_monitoring)
 272                 ao_radio_recv_abort();
 273         ao_monitoring = monitoring;
 274         ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
 275 }
 276
 277 static void
 278 set_monitor(void)
 279 {
 280         ao_cmd_hex();
 281         ao_set_monitor(ao_cmd_lex_i);
 282 }
 283
 284 __code struct ao_cmds ao_monitor_cmds[] = {
 285         { set_monitor,  "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
 286         { 0,    NULL },
 287 };
 288
 289 void
 290 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
 291 {
 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");
 297         if (ao_monitor_led)
 298                 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
 299 }