git.gag.com Git - fw/altos/blob - src/core/ao_telemetry.c

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