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