2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
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.
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.
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.
20 #include "ao_product.h"
26 static __pdata uint16_t ao_telemetry_interval;
27 static __pdata uint8_t ao_rdf = 0;
30 static __pdata uint16_t ao_rdf_time;
34 static __pdata uint16_t ao_aprs_time;
40 #define AO_SEND_MEGA 1
43 #if defined (TELEMETRUM_V_2_0)
44 #define AO_SEND_METRUM 1
47 #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)
48 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
51 #if defined(TELEMINI_V_1_0)
52 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
55 #if defined(TELENANO_V_0_1)
56 #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
59 static __xdata union ao_telemetry_all telemetry;
61 #if defined AO_TELEMETRY_SENSOR
62 /* Send sensor packet */
66 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
68 telemetry.generic.tick = packet->tick;
69 telemetry.generic.type = AO_TELEMETRY_SENSOR;
71 telemetry.sensor.state = ao_flight_state;
73 telemetry.sensor.accel = packet->adc.accel;
75 telemetry.sensor.accel = 0;
77 telemetry.sensor.pres = ao_data_pres(packet);
78 telemetry.sensor.temp = packet->adc.temp;
79 telemetry.sensor.v_batt = packet->adc.v_batt;
81 telemetry.sensor.sense_d = packet->adc.sense_d;
82 telemetry.sensor.sense_m = packet->adc.sense_m;
84 telemetry.sensor.sense_d = 0;
85 telemetry.sensor.sense_m = 0;
88 telemetry.sensor.acceleration = ao_accel;
89 telemetry.sensor.speed = ao_speed;
90 telemetry.sensor.height = ao_height;
92 telemetry.sensor.ground_pres = ao_ground_pres;
94 telemetry.sensor.ground_accel = ao_ground_accel;
95 telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
96 telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
98 telemetry.sensor.ground_accel = 0;
99 telemetry.sensor.accel_plus_g = 0;
100 telemetry.sensor.accel_minus_g = 0;
103 ao_radio_send(&telemetry, sizeof (telemetry));
109 /* Send mega sensor packet */
111 ao_send_mega_sensor(void)
113 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
115 telemetry.generic.tick = packet->tick;
116 telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
118 telemetry.mega_sensor.accel = ao_data_accel(packet);
119 telemetry.mega_sensor.pres = ao_data_pres(packet);
120 telemetry.mega_sensor.temp = ao_data_temp(packet);
123 telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
124 telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
125 telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
127 telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
128 telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
129 telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
133 telemetry.mega_sensor.mag_x = packet->hmc5883.x;
134 telemetry.mega_sensor.mag_y = packet->hmc5883.y;
135 telemetry.mega_sensor.mag_z = packet->hmc5883.z;
138 ao_radio_send(&telemetry, sizeof (telemetry));
141 static __pdata int8_t ao_telemetry_mega_data_max;
142 static __pdata int8_t ao_telemetry_mega_data_cur;
144 /* Send mega data packet */
146 ao_send_mega_data(void)
148 if (--ao_telemetry_mega_data_cur <= 0) {
149 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
152 telemetry.generic.tick = packet->tick;
153 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
155 telemetry.mega_data.state = ao_flight_state;
156 telemetry.mega_data.v_batt = packet->adc.v_batt;
157 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
159 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
160 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
161 telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
163 telemetry.mega_data.ground_pres = ao_ground_pres;
164 telemetry.mega_data.ground_accel = ao_ground_accel;
165 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
166 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
168 telemetry.mega_data.acceleration = ao_accel;
169 telemetry.mega_data.speed = ao_speed;
170 telemetry.mega_data.height = ao_height;
172 ao_radio_send(&telemetry, sizeof (telemetry));
173 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
176 #endif /* AO_SEND_MEGA */
178 #ifdef AO_SEND_METRUM
179 /* Send telemetrum sensor packet */
181 ao_send_metrum_sensor(void)
183 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
185 telemetry.generic.tick = packet->tick;
186 telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
188 telemetry.metrum_sensor.state = ao_flight_state;
189 telemetry.metrum_sensor.accel = ao_data_accel(packet);
190 telemetry.metrum_sensor.pres = ao_data_pres(packet);
191 telemetry.metrum_sensor.temp = ao_data_temp(packet);
193 telemetry.metrum_sensor.acceleration = ao_accel;
194 telemetry.metrum_sensor.speed = ao_speed;
195 telemetry.metrum_sensor.height = ao_height;
197 telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
198 telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
199 telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
201 ao_radio_send(&telemetry, sizeof (telemetry));
204 static __pdata int8_t ao_telemetry_metrum_data_max;
205 static __pdata int8_t ao_telemetry_metrum_data_cur;
207 /* Send telemetrum data packet */
209 ao_send_metrum_data(void)
211 if (--ao_telemetry_metrum_data_cur <= 0) {
212 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
215 telemetry.generic.tick = packet->tick;
216 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
218 telemetry.metrum_data.ground_pres = ao_ground_pres;
219 telemetry.metrum_data.ground_accel = ao_ground_accel;
220 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
221 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
223 ao_radio_send(&telemetry, sizeof (telemetry));
224 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
227 #endif /* AO_SEND_MEGA */
229 #ifdef AO_SEND_ALL_BARO
230 static uint8_t ao_baro_sample;
235 uint8_t sample = ao_sample_data;
236 uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
239 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
242 telemetry.generic.tick = ao_data_ring[sample].tick;
243 telemetry.generic.type = AO_TELEMETRY_BARO;
244 telemetry.baro.samples = samples;
245 for (sample = 0; sample < samples; sample++) {
246 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
247 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
249 ao_radio_send(&telemetry, sizeof (telemetry));
253 static __pdata int8_t ao_telemetry_config_max;
254 static __pdata int8_t ao_telemetry_config_cur;
257 ao_send_configuration(void)
259 if (--ao_telemetry_config_cur <= 0)
261 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
262 telemetry.configuration.device = AO_idProduct_NUMBER;
264 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
266 telemetry.configuration.flight = ao_flight_number;
268 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
269 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
270 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
271 telemetry.configuration.main_deploy = ao_config.main_deploy;
272 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
273 ao_xmemcpy (telemetry.configuration.callsign,
276 ao_xmemcpy (telemetry.configuration.version,
277 CODE_TO_XDATA(ao_version),
279 ao_radio_send(&telemetry, sizeof (telemetry));
280 ao_telemetry_config_cur = ao_telemetry_config_max;
286 static __pdata int8_t ao_telemetry_loc_cur;
287 static __pdata int8_t ao_telemetry_sat_cur;
290 ao_send_location(void)
292 if (--ao_telemetry_loc_cur <= 0)
294 telemetry.generic.type = AO_TELEMETRY_LOCATION;
295 ao_mutex_get(&ao_gps_mutex);
296 ao_xmemcpy(&telemetry.location.flags,
299 telemetry.location.tick = ao_gps_tick;
300 ao_mutex_put(&ao_gps_mutex);
301 ao_radio_send(&telemetry, sizeof (telemetry));
302 ao_telemetry_loc_cur = ao_telemetry_config_max;
307 ao_send_satellite(void)
309 if (--ao_telemetry_sat_cur <= 0)
311 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
312 ao_mutex_get(&ao_gps_mutex);
313 telemetry.satellite.channels = ao_gps_tracking_data.channels;
314 ao_xmemcpy(&telemetry.satellite.sats,
315 &ao_gps_tracking_data.sats,
316 AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
317 ao_mutex_put(&ao_gps_mutex);
318 ao_radio_send(&telemetry, sizeof (telemetry));
319 ao_telemetry_sat_cur = ao_telemetry_config_max;
326 static __pdata int8_t ao_telemetry_companion_max;
327 static __pdata int8_t ao_telemetry_companion_cur;
330 ao_send_companion(void)
332 if (--ao_telemetry_companion_cur <= 0) {
333 telemetry.generic.type = AO_TELEMETRY_COMPANION;
334 telemetry.companion.board_id = ao_companion_setup.board_id;
335 telemetry.companion.update_period = ao_companion_setup.update_period;
336 telemetry.companion.channels = ao_companion_setup.channels;
337 ao_mutex_get(&ao_companion_mutex);
338 ao_xmemcpy(&telemetry.companion.companion_data,
340 ao_companion_setup.channels * 2);
341 ao_mutex_put(&ao_companion_mutex);
342 ao_radio_send(&telemetry, sizeof (telemetry));
343 ao_telemetry_companion_cur = ao_telemetry_companion_max;
355 if (!ao_config.radio_enable)
357 while (!ao_flight_number)
358 ao_sleep(&ao_flight_number);
360 telemetry.generic.serial = ao_serial_number;
362 while (ao_telemetry_interval == 0)
363 ao_sleep(&telemetry);
371 while (ao_telemetry_interval) {
374 if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
377 #ifdef AO_SEND_ALL_BARO
382 ao_send_mega_sensor();
385 #ifdef AO_SEND_METRUM
386 ao_send_metrum_sensor();
387 ao_send_metrum_data();
395 if (ao_companion_running)
398 ao_send_configuration();
404 #ifndef AO_SEND_ALL_BARO
408 !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
410 (int16_t) (ao_time() - ao_rdf_time) >= 0)
412 #if HAS_IGNITE_REPORT
415 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
416 #if HAS_IGNITE_REPORT
417 if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
418 ao_radio_continuity(c);
425 if (ao_config.aprs_interval != 0 &&
426 (int16_t) (ao_time() - ao_aprs_time) >= 0)
428 ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
433 time += ao_telemetry_interval;
434 delay = time - ao_time();
437 ao_sleep(&telemetry);
448 ao_telemetry_set_interval(uint16_t interval)
451 ao_telemetry_interval = interval;
455 ao_telemetry_mega_data_max = 1;
457 ao_telemetry_mega_data_max = 2;
458 if (ao_telemetry_mega_data_max > cur)
460 ao_telemetry_mega_data_cur = cur;
463 ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
464 if (ao_telemetry_metrum_data_max > cur)
466 ao_telemetry_metrum_data_cur = cur;
470 if (!ao_companion_setup.update_period)
471 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
472 ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
473 if (ao_telemetry_companion_max > cur)
475 ao_telemetry_companion_cur = cur;
478 ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
480 if (ao_telemetry_config_max > cur)
482 ao_telemetry_config_cur = cur;
486 if (ao_telemetry_config_max > cur)
488 ao_telemetry_loc_cur = cur;
489 if (ao_telemetry_config_max > cur)
491 ao_telemetry_sat_cur = cur;
493 ao_wakeup(&telemetry);
498 ao_rdf_set(uint8_t rdf)
502 ao_radio_rdf_abort();
504 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
509 __xdata struct ao_task ao_telemetry_task;
514 ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");