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