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