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   1 /*
   2  * Copyright © 2011 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_log.h"
  20 #include "ao_product.h"
  21
  22 #ifndef HAS_RDF
  23 #define HAS_RDF 1
  24 #endif
  25
  26 static __pdata uint16_t ao_telemetry_interval;
  27 static __pdata uint8_t ao_rdf = 0;
  28
  29 #if HAS_RDF
  30 static __pdata uint16_t ao_rdf_time;
  31 #endif
  32
  33 #if HAS_APRS
  34 static __pdata uint16_t ao_aprs_time;
  35
  36 #include <ao_aprs.h>
  37 #endif
  38
  39 #if defined(TELEMEGA)
  40 #define AO_SEND_MEGA    1
  41 #endif
  42
  43 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
  44 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  45 #endif
  46
  47 #if defined(TELEMINI_V_1_0)
  48 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  49 #endif
  50
  51 #if defined(TELENANO_V_0_1)
  52 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  53 #endif
  54
  55 static __xdata union ao_telemetry_all   telemetry;
  56
  57 #if defined AO_TELEMETRY_SENSOR
  58 /* Send sensor packet */
  59 static void
  60 ao_send_sensor(void)
  61 {
  62         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  63
  64         telemetry.generic.tick = packet->tick;
  65         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  66
  67         telemetry.sensor.state = ao_flight_state;
  68 #if HAS_ACCEL
  69         telemetry.sensor.accel = packet->adc.accel;
  70 #else
  71         telemetry.sensor.accel = 0;
  72 #endif
  73         telemetry.sensor.pres = ao_data_pres(packet);
  74         telemetry.sensor.temp = packet->adc.temp;
  75         telemetry.sensor.v_batt = packet->adc.v_batt;
  76 #if HAS_IGNITE
  77         telemetry.sensor.sense_d = packet->adc.sense_d;
  78         telemetry.sensor.sense_m = packet->adc.sense_m;
  79 #else
  80         telemetry.sensor.sense_d = 0;
  81         telemetry.sensor.sense_m = 0;
  82 #endif
  83
  84         telemetry.sensor.acceleration = ao_accel;
  85         telemetry.sensor.speed = ao_speed;
  86         telemetry.sensor.height = ao_height;
  87
  88         telemetry.sensor.ground_pres = ao_ground_pres;
  89 #if HAS_ACCEL
  90         telemetry.sensor.ground_accel = ao_ground_accel;
  91         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
  92         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
  93 #else
  94         telemetry.sensor.ground_accel = 0;
  95         telemetry.sensor.accel_plus_g = 0;
  96         telemetry.sensor.accel_minus_g = 0;
  97 #endif
  98
  99         ao_radio_send(&telemetry, sizeof (telemetry));
 100 }
 101 #endif
 102
 103
 104 #ifdef AO_SEND_MEGA
 105 /* Send mega sensor packet */
 106 static void
 107 ao_send_mega_sensor(void)
 108 {
 109         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 110
 111         telemetry.generic.tick = packet->tick;
 112         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 113
 114         telemetry.mega_sensor.accel = ao_data_accel(packet);
 115         telemetry.mega_sensor.pres = ao_data_pres(packet);
 116         telemetry.mega_sensor.temp = ao_data_temp(packet);
 117
 118 #if HAS_MPU6000
 119         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 120         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 121         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 122
 123         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 124         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 125         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 126 #endif
 127
 128 #if HAS_HMC5883
 129         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 130         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 131         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 132 #endif
 133
 134         ao_radio_send(&telemetry, sizeof (telemetry));
 135 }
 136
 137 static __pdata int8_t ao_telemetry_mega_data_max;
 138 static __pdata int8_t ao_telemetry_mega_data_cur;
 139
 140 /* Send mega data packet */
 141 static void
 142 ao_send_mega_data(void)
 143 {
 144         if (--ao_telemetry_mega_data_cur <= 0) {
 145                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 146                 uint8_t i;
 147
 148                 telemetry.generic.tick = packet->tick;
 149                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 150
 151                 telemetry.mega_data.state = ao_flight_state;
 152                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 153                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 154
 155                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 156                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 157                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
 158
 159                 telemetry.mega_data.ground_pres = ao_ground_pres;
 160                 telemetry.mega_data.ground_accel = ao_ground_accel;
 161                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 162                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 163
 164                 telemetry.mega_data.acceleration = ao_accel;
 165                 telemetry.mega_data.speed = ao_speed;
 166                 telemetry.mega_data.height = ao_height;
 167
 168                 ao_radio_send(&telemetry, sizeof (telemetry));
 169                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 170         }
 171 }
 172 #endif /* AO_SEND_MEGA */
 173
 174 #ifdef AO_SEND_ALL_BARO
 175 static uint8_t          ao_baro_sample;
 176
 177 static void
 178 ao_send_baro(void)
 179 {
 180         uint8_t         sample = ao_sample_data;
 181         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 182
 183         if (samples > 12) {
 184                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 185                 samples = 12;
 186         }
 187         telemetry.generic.tick = ao_data_ring[sample].tick;
 188         telemetry.generic.type = AO_TELEMETRY_BARO;
 189         telemetry.baro.samples = samples;
 190         for (sample = 0; sample < samples; sample++) {
 191                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 192                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 193         }
 194         ao_radio_send(&telemetry, sizeof (telemetry));
 195 }
 196 #endif
 197
 198 static __pdata int8_t ao_telemetry_config_max;
 199 static __pdata int8_t ao_telemetry_config_cur;
 200
 201 static void
 202 ao_send_configuration(void)
 203 {
 204         if (--ao_telemetry_config_cur <= 0)
 205         {
 206                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 207                 telemetry.configuration.device = AO_idProduct_NUMBER;
 208 #if HAS_LOG
 209                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 210 #else
 211                 telemetry.configuration.flight = ao_flight_number;
 212 #endif
 213                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 214                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 215                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 216                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 217                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 218                 ao_xmemcpy (telemetry.configuration.callsign,
 219                             ao_config.callsign,
 220                             AO_MAX_CALLSIGN);
 221                 ao_xmemcpy (telemetry.configuration.version,
 222                             CODE_TO_XDATA(ao_version),
 223                             AO_MAX_VERSION);
 224                 ao_radio_send(&telemetry, sizeof (telemetry));
 225                 ao_telemetry_config_cur = ao_telemetry_config_max;
 226         }
 227 }
 228
 229 #if HAS_GPS
 230
 231 static __pdata int8_t ao_telemetry_loc_cur;
 232 static __pdata int8_t ao_telemetry_sat_cur;
 233
 234 static void
 235 ao_send_location(void)
 236 {
 237         if (--ao_telemetry_loc_cur <= 0)
 238         {
 239                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 240                 ao_mutex_get(&ao_gps_mutex);
 241                 ao_xmemcpy(&telemetry.location.flags,
 242                        &ao_gps_data.flags,
 243                        26);
 244                 telemetry.location.tick = ao_gps_tick;
 245                 ao_mutex_put(&ao_gps_mutex);
 246                 ao_radio_send(&telemetry, sizeof (telemetry));
 247                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 248         }
 249 }
 250
 251 static void
 252 ao_send_satellite(void)
 253 {
 254         if (--ao_telemetry_sat_cur <= 0)
 255         {
 256                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 257                 ao_mutex_get(&ao_gps_mutex);
 258                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 259                 ao_xmemcpy(&telemetry.satellite.sats,
 260                        &ao_gps_tracking_data.sats,
 261                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 262                 ao_mutex_put(&ao_gps_mutex);
 263                 ao_radio_send(&telemetry, sizeof (telemetry));
 264                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 265         }
 266 }
 267 #endif
 268
 269 #if HAS_COMPANION
 270
 271 static __pdata int8_t ao_telemetry_companion_max;
 272 static __pdata int8_t ao_telemetry_companion_cur;
 273
 274 static void
 275 ao_send_companion(void)
 276 {
 277         if (--ao_telemetry_companion_cur <= 0) {
 278                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 279                 telemetry.companion.board_id = ao_companion_setup.board_id;
 280                 telemetry.companion.update_period = ao_companion_setup.update_period;
 281                 telemetry.companion.channels = ao_companion_setup.channels;
 282                 ao_mutex_get(&ao_companion_mutex);
 283                 ao_xmemcpy(&telemetry.companion.companion_data,
 284                        ao_companion_data,
 285                        ao_companion_setup.channels * 2);
 286                 ao_mutex_put(&ao_companion_mutex);
 287                 ao_radio_send(&telemetry, sizeof (telemetry));
 288                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 289         }
 290 }
 291 #endif
 292
 293 void
 294 ao_telemetry(void)
 295 {
 296         uint16_t        time;
 297         int16_t         delay;
 298
 299         ao_config_get();
 300         if (!ao_config.radio_enable)
 301                 ao_exit();
 302         while (!ao_flight_number)
 303                 ao_sleep(&ao_flight_number);
 304
 305         telemetry.generic.serial = ao_serial_number;
 306         for (;;) {
 307                 while (ao_telemetry_interval == 0)
 308                         ao_sleep(&telemetry);
 309                 time = ao_time();
 310 #if HAS_RDF
 311                 ao_rdf_time = time;
 312 #endif
 313 #if HAS_APRS
 314                 ao_aprs_time = time;
 315 #endif
 316                 while (ao_telemetry_interval) {
 317
 318 #if HAS_APRS
 319                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 320 #endif
 321                         {
 322 #ifdef AO_SEND_ALL_BARO
 323                                 ao_send_baro();
 324 #endif
 325 #if HAS_FLIGHT
 326 #ifdef AO_SEND_MEGA
 327                                 ao_send_mega_sensor();
 328                                 ao_send_mega_data();
 329 #else
 330                                 ao_send_sensor();
 331 #endif
 332 #endif
 333
 334 #if HAS_COMPANION
 335                                 if (ao_companion_running)
 336                                         ao_send_companion();
 337 #endif
 338                                 ao_send_configuration();
 339 #if HAS_GPS
 340                                 ao_send_location();
 341                                 ao_send_satellite();
 342 #endif
 343                         }
 344 #ifndef AO_SEND_ALL_BARO
 345 #if HAS_RDF
 346                         if (ao_rdf &&
 347 #if HAS_APRS
 348                             !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
 349 #endif
 350                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 351                         {
 352 #if HAS_IGNITE_REPORT
 353                                 uint8_t c;
 354 #endif
 355                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 356 #if HAS_IGNITE_REPORT
 357                                 if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 358                                         ao_radio_continuity(c);
 359                                 else
 360 #endif
 361                                         ao_radio_rdf();
 362                         }
 363 #endif /* HAS_RDF */
 364 #if HAS_APRS
 365                         if (ao_config.aprs_interval != 0 &&
 366                             (int16_t) (ao_time() - ao_aprs_time) >= 0)
 367                         {
 368                                 ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 369                                 ao_aprs_send();
 370                         }
 371 #endif
 372 #endif
 373                         time += ao_telemetry_interval;
 374                         delay = time - ao_time();
 375                         if (delay > 0) {
 376                                 ao_alarm(delay);
 377                                 ao_sleep(&telemetry);
 378                                 ao_clear_alarm();
 379                         }
 380                         else
 381                                 time = ao_time();
 382                 bottom: ;
 383                 }
 384         }
 385 }
 386
 387 void
 388 ao_telemetry_set_interval(uint16_t interval)
 389 {
 390         int8_t  cur = 0;
 391         ao_telemetry_interval = interval;
 392
 393 #if AO_SEND_MEGA
 394         if (interval > 1)
 395                 ao_telemetry_mega_data_max = 1;
 396         else
 397                 ao_telemetry_mega_data_max = 2;
 398         if (ao_telemetry_mega_data_max > cur)
 399                 cur++;
 400         ao_telemetry_mega_data_cur = cur;
 401 #endif
 402
 403 #if HAS_COMPANION
 404         if (!ao_companion_setup.update_period)
 405                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 406         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 407         if (ao_telemetry_companion_max > cur)
 408                 cur++;
 409         ao_telemetry_companion_cur = cur;
 410 #endif
 411
 412         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 413 #if HAS_COMPANION
 414         if (ao_telemetry_config_max > cur)
 415                 cur++;
 416         ao_telemetry_config_cur = cur;
 417 #endif
 418
 419 #if HAS_GPS
 420         if (ao_telemetry_config_max > cur)
 421                 cur++;
 422         ao_telemetry_loc_cur = cur;
 423         if (ao_telemetry_config_max > cur)
 424                 cur++;
 425         ao_telemetry_sat_cur = cur;
 426 #endif
 427         ao_wakeup(&telemetry);
 428 }
 429
 430 #if HAS_RDF
 431 void
 432 ao_rdf_set(uint8_t rdf)
 433 {
 434         ao_rdf = rdf;
 435         if (rdf == 0)
 436                 ao_radio_rdf_abort();
 437         else {
 438                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 439         }
 440 }
 441 #endif
 442
 443 __xdata struct ao_task  ao_telemetry_task;
 444
 445 void
 446 ao_telemetry_init()
 447 {
 448         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 449 }