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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_MINI
 175
 176 static void
 177 ao_send_mini(void)
 178 {
 179         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 180
 181         telemetry.generic.tick = packet->tick;
 182         telemetry.generic.type = AO_TELEMETRY_MINI;
 183
 184         telemetry.mini.state = ao_flight_state;
 185
 186         telemetry.mini.v_batt = packet->adc.v_batt;
 187         telemetry.mini.sense_a = packet->adc.sense_a;
 188         telemetry.mini.sense_m = packet->adc.sense_m;
 189
 190         telemetry.mini.pres = ao_data_pres(packet);
 191         telemetry.mini.temp = ao_data_temp(packet);
 192
 193         telemetry.mini.acceleration = ao_accel;
 194         telemetry.mini.speed = ao_speed;
 195         telemetry.mini.height = ao_height;
 196
 197         telemetry.mini.ground_pres = ao_ground_pres;
 198
 199         ao_radio_send(&telemetry, sizeof (telemetry));
 200 }
 201
 202 #endif
 203
 204 #ifdef AO_SEND_ALL_BARO
 205 static uint8_t          ao_baro_sample;
 206
 207 static void
 208 ao_send_baro(void)
 209 {
 210         uint8_t         sample = ao_sample_data;
 211         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 212
 213         if (samples > 12) {
 214                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 215                 samples = 12;
 216         }
 217         telemetry.generic.tick = ao_data_ring[sample].tick;
 218         telemetry.generic.type = AO_TELEMETRY_BARO;
 219         telemetry.baro.samples = samples;
 220         for (sample = 0; sample < samples; sample++) {
 221                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 222                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 223         }
 224         ao_radio_send(&telemetry, sizeof (telemetry));
 225 }
 226 #endif
 227
 228 static __pdata int8_t ao_telemetry_config_max;
 229 static __pdata int8_t ao_telemetry_config_cur;
 230
 231 static void
 232 ao_send_configuration(void)
 233 {
 234         if (--ao_telemetry_config_cur <= 0)
 235         {
 236                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 237                 telemetry.configuration.device = AO_idProduct_NUMBER;
 238 #if HAS_LOG
 239                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 240 #else
 241                 telemetry.configuration.flight = ao_flight_number;
 242 #endif
 243                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 244                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 245                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 246                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 247                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 248                 ao_xmemcpy (telemetry.configuration.callsign,
 249                             ao_config.callsign,
 250                             AO_MAX_CALLSIGN);
 251                 ao_xmemcpy (telemetry.configuration.version,
 252                             CODE_TO_XDATA(ao_version),
 253                             AO_MAX_VERSION);
 254                 ao_radio_send(&telemetry, sizeof (telemetry));
 255                 ao_telemetry_config_cur = ao_telemetry_config_max;
 256         }
 257 }
 258
 259 #if HAS_GPS
 260
 261 static __pdata int8_t ao_telemetry_loc_cur;
 262 static __pdata int8_t ao_telemetry_sat_cur;
 263
 264 static void
 265 ao_send_location(void)
 266 {
 267         if (--ao_telemetry_loc_cur <= 0)
 268         {
 269                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 270                 ao_mutex_get(&ao_gps_mutex);
 271                 ao_xmemcpy(&telemetry.location.flags,
 272                        &ao_gps_data.flags,
 273                        26);
 274                 telemetry.location.tick = ao_gps_tick;
 275                 ao_mutex_put(&ao_gps_mutex);
 276                 ao_radio_send(&telemetry, sizeof (telemetry));
 277                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 278         }
 279 }
 280
 281 static void
 282 ao_send_satellite(void)
 283 {
 284         if (--ao_telemetry_sat_cur <= 0)
 285         {
 286                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 287                 ao_mutex_get(&ao_gps_mutex);
 288                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 289                 ao_xmemcpy(&telemetry.satellite.sats,
 290                        &ao_gps_tracking_data.sats,
 291                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 292                 ao_mutex_put(&ao_gps_mutex);
 293                 ao_radio_send(&telemetry, sizeof (telemetry));
 294                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 295         }
 296 }
 297 #endif
 298
 299 #if HAS_COMPANION
 300
 301 static __pdata int8_t ao_telemetry_companion_max;
 302 static __pdata int8_t ao_telemetry_companion_cur;
 303
 304 static void
 305 ao_send_companion(void)
 306 {
 307         if (--ao_telemetry_companion_cur <= 0) {
 308                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 309                 telemetry.companion.board_id = ao_companion_setup.board_id;
 310                 telemetry.companion.update_period = ao_companion_setup.update_period;
 311                 telemetry.companion.channels = ao_companion_setup.channels;
 312                 ao_mutex_get(&ao_companion_mutex);
 313                 ao_xmemcpy(&telemetry.companion.companion_data,
 314                        ao_companion_data,
 315                        ao_companion_setup.channels * 2);
 316                 ao_mutex_put(&ao_companion_mutex);
 317                 ao_radio_send(&telemetry, sizeof (telemetry));
 318                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 319         }
 320 }
 321 #endif
 322
 323 void
 324 ao_telemetry(void)
 325 {
 326         uint16_t        time;
 327         int16_t         delay;
 328
 329         ao_config_get();
 330         if (!ao_config.radio_enable)
 331                 ao_exit();
 332         while (!ao_flight_number)
 333                 ao_sleep(&ao_flight_number);
 334
 335         telemetry.generic.serial = ao_serial_number;
 336         for (;;) {
 337                 while (ao_telemetry_interval == 0)
 338                         ao_sleep(&telemetry);
 339                 time = ao_time();
 340 #if HAS_RDF
 341                 ao_rdf_time = time;
 342 #endif
 343 #if HAS_APRS
 344                 ao_aprs_time = time;
 345 #endif
 346                 while (ao_telemetry_interval) {
 347
 348 #if HAS_APRS
 349                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 350 #endif
 351                         {
 352 #ifdef AO_SEND_ALL_BARO
 353                                 ao_send_baro();
 354 #endif
 355 #if HAS_FLIGHT
 356 # ifdef AO_SEND_MEGA
 357                                 ao_send_mega_sensor();
 358                                 ao_send_mega_data();
 359 # else
 360 #  ifdef AO_SEND_MINI
 361                                 ao_send_mini();
 362 #  else
 363                                 ao_send_sensor();
 364 #  endif
 365 # endif
 366 #endif
 367
 368 #if HAS_COMPANION
 369                                 if (ao_companion_running)
 370                                         ao_send_companion();
 371 #endif
 372                                 ao_send_configuration();
 373 #if HAS_GPS
 374                                 ao_send_location();
 375                                 ao_send_satellite();
 376 #endif
 377                         }
 378 #ifndef AO_SEND_ALL_BARO
 379 #if HAS_RDF
 380                         if (ao_rdf &&
 381 #if HAS_APRS
 382                             !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
 383 #endif
 384                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 385                         {
 386 #if HAS_IGNITE_REPORT
 387                                 uint8_t c;
 388 #endif
 389                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 390 #if HAS_IGNITE_REPORT
 391                                 if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 392                                         ao_radio_continuity(c);
 393                                 else
 394 #endif
 395                                         ao_radio_rdf();
 396                         }
 397 #endif /* HAS_RDF */
 398 #if HAS_APRS
 399                         if (ao_config.aprs_interval != 0 &&
 400                             (int16_t) (ao_time() - ao_aprs_time) >= 0)
 401                         {
 402                                 ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 403                                 ao_aprs_send();
 404                         }
 405 #endif
 406 #endif
 407                         time += ao_telemetry_interval;
 408                         delay = time - ao_time();
 409                         if (delay > 0) {
 410                                 ao_alarm(delay);
 411                                 ao_sleep(&telemetry);
 412                                 ao_clear_alarm();
 413                         }
 414                         else
 415                                 time = ao_time();
 416                 bottom: ;
 417                 }
 418         }
 419 }
 420
 421 void
 422 ao_telemetry_set_interval(uint16_t interval)
 423 {
 424         int8_t  cur = 0;
 425         ao_telemetry_interval = interval;
 426
 427 #if AO_SEND_MEGA
 428         if (interval > 1)
 429                 ao_telemetry_mega_data_max = 1;
 430         else
 431                 ao_telemetry_mega_data_max = 2;
 432         if (ao_telemetry_mega_data_max > cur)
 433                 cur++;
 434         ao_telemetry_mega_data_cur = cur;
 435 #endif
 436
 437 #if HAS_COMPANION
 438         if (!ao_companion_setup.update_period)
 439                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 440         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 441         if (ao_telemetry_companion_max > cur)
 442                 cur++;
 443         ao_telemetry_companion_cur = cur;
 444 #endif
 445
 446         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 447 #if HAS_COMPANION
 448         if (ao_telemetry_config_max > cur)
 449                 cur++;
 450         ao_telemetry_config_cur = cur;
 451 #endif
 452
 453 #if HAS_GPS
 454         if (ao_telemetry_config_max > cur)
 455                 cur++;
 456         ao_telemetry_loc_cur = cur;
 457         if (ao_telemetry_config_max > cur)
 458                 cur++;
 459         ao_telemetry_sat_cur = cur;
 460 #endif
 461         ao_wakeup(&telemetry);
 462 }
 463
 464 #if HAS_RDF
 465 void
 466 ao_rdf_set(uint8_t rdf)
 467 {
 468         ao_rdf = rdf;
 469         if (rdf == 0)
 470                 ao_radio_rdf_abort();
 471         else {
 472                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 473         }
 474 }
 475 #endif
 476
 477 __xdata struct ao_task  ao_telemetry_task;
 478
 479 void
 480 ao_telemetry_init()
 481 {
 482         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 483 }