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