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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
  28 #if HAS_RDF
  29 static __pdata uint8_t ao_rdf = 0;
  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_2_0)
  44 #define AO_SEND_METRUM  1
  45 #endif
  46
  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
  49 #endif
  50
  51 #if defined(TELEMINI_V_1_0)
  52 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  53 #endif
  54
  55 #if defined(TELENANO_V_0_1)
  56 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  57 #endif
  58
  59 static __xdata union ao_telemetry_all   telemetry;
  60
  61 #if defined AO_TELEMETRY_SENSOR
  62 /* Send sensor packet */
  63 static void
  64 ao_send_sensor(void)
  65 {
  66         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  67
  68         telemetry.generic.tick = packet->tick;
  69         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  70
  71         telemetry.sensor.state = ao_flight_state;
  72 #if HAS_ACCEL
  73         telemetry.sensor.accel = packet->adc.accel;
  74 #else
  75         telemetry.sensor.accel = 0;
  76 #endif
  77         telemetry.sensor.pres = ao_data_pres(packet);
  78         telemetry.sensor.temp = packet->adc.temp;
  79         telemetry.sensor.v_batt = packet->adc.v_batt;
  80 #if HAS_IGNITE
  81         telemetry.sensor.sense_d = packet->adc.sense_d;
  82         telemetry.sensor.sense_m = packet->adc.sense_m;
  83 #else
  84         telemetry.sensor.sense_d = 0;
  85         telemetry.sensor.sense_m = 0;
  86 #endif
  87
  88         telemetry.sensor.acceleration = ao_accel;
  89         telemetry.sensor.speed = ao_speed;
  90         telemetry.sensor.height = ao_height;
  91
  92         telemetry.sensor.ground_pres = ao_ground_pres;
  93 #if HAS_ACCEL
  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;
  97 #else
  98         telemetry.sensor.ground_accel = 0;
  99         telemetry.sensor.accel_plus_g = 0;
 100         telemetry.sensor.accel_minus_g = 0;
 101 #endif
 102
 103         ao_radio_send(&telemetry, sizeof (telemetry));
 104 }
 105 #endif
 106
 107
 108 #ifdef AO_SEND_MEGA
 109 /* Send mega sensor packet */
 110 static void
 111 ao_send_mega_sensor(void)
 112 {
 113         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 114
 115         telemetry.generic.tick = packet->tick;
 116         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 117
 118         telemetry.mega_sensor.orient = ao_sample_orient;
 119         telemetry.mega_sensor.accel = ao_data_accel(packet);
 120         telemetry.mega_sensor.pres = ao_data_pres(packet);
 121         telemetry.mega_sensor.temp = ao_data_temp(packet);
 122
 123 #if HAS_MPU6000
 124         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 125         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 126         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 127
 128         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 129         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 130         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 131 #endif
 132
 133 #if HAS_HMC5883
 134         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 135         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 136         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 137 #endif
 138
 139         ao_radio_send(&telemetry, sizeof (telemetry));
 140 }
 141
 142 static __pdata int8_t ao_telemetry_mega_data_max;
 143 static __pdata int8_t ao_telemetry_mega_data_cur;
 144
 145 /* Send mega data packet */
 146 static void
 147 ao_send_mega_data(void)
 148 {
 149         if (--ao_telemetry_mega_data_cur <= 0) {
 150                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 151                 uint8_t i;
 152
 153                 telemetry.generic.tick = packet->tick;
 154                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 155
 156                 telemetry.mega_data.state = ao_flight_state;
 157                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 158                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 159
 160                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 161                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 162                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
 163
 164                 telemetry.mega_data.ground_pres = ao_ground_pres;
 165                 telemetry.mega_data.ground_accel = ao_ground_accel;
 166                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 167                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 168
 169                 telemetry.mega_data.acceleration = ao_accel;
 170                 telemetry.mega_data.speed = ao_speed;
 171                 telemetry.mega_data.height = ao_height;
 172
 173                 ao_radio_send(&telemetry, sizeof (telemetry));
 174                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 175         }
 176 }
 177 #endif /* AO_SEND_MEGA */
 178
 179 #ifdef AO_SEND_METRUM
 180 /* Send telemetrum sensor packet */
 181 static void
 182 ao_send_metrum_sensor(void)
 183 {
 184         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 185
 186         telemetry.generic.tick = packet->tick;
 187         telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 188
 189         telemetry.metrum_sensor.state = ao_flight_state;
 190 #if HAS_ACCEL
 191         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 192 #endif
 193         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 194         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 195
 196         telemetry.metrum_sensor.acceleration = ao_accel;
 197         telemetry.metrum_sensor.speed = ao_speed;
 198         telemetry.metrum_sensor.height = ao_height;
 199
 200         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 201         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 202         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 203
 204         ao_radio_send(&telemetry, sizeof (telemetry));
 205 }
 206
 207 static __pdata int8_t ao_telemetry_metrum_data_max;
 208 static __pdata int8_t ao_telemetry_metrum_data_cur;
 209
 210 /* Send telemetrum data packet */
 211 static void
 212 ao_send_metrum_data(void)
 213 {
 214         if (--ao_telemetry_metrum_data_cur <= 0) {
 215                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 216
 217                 telemetry.generic.tick = packet->tick;
 218                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 219
 220                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 221 #if HAS_ACCEL
 222                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 223                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 224                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 225 #else
 226                 telemetry.metrum_data.ground_accel = 1;
 227                 telemetry.metrum_data.accel_plus_g = 0;
 228                 telemetry.metrum_data.accel_minus_g = 2;
 229 #endif
 230
 231                 ao_radio_send(&telemetry, sizeof (telemetry));
 232                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 233         }
 234 }
 235 #endif /* AO_SEND_METRUM */
 236
 237 #ifdef AO_SEND_MINI
 238
 239 static void
 240 ao_send_mini(void)
 241 {
 242         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 243
 244         telemetry.generic.tick = packet->tick;
 245         telemetry.generic.type = AO_TELEMETRY_MINI;
 246
 247         telemetry.mini.state = ao_flight_state;
 248
 249         telemetry.mini.v_batt = packet->adc.v_batt;
 250         telemetry.mini.sense_a = packet->adc.sense_a;
 251         telemetry.mini.sense_m = packet->adc.sense_m;
 252
 253         telemetry.mini.pres = ao_data_pres(packet);
 254         telemetry.mini.temp = ao_data_temp(packet);
 255
 256         telemetry.mini.acceleration = ao_accel;
 257         telemetry.mini.speed = ao_speed;
 258         telemetry.mini.height = ao_height;
 259
 260         telemetry.mini.ground_pres = ao_ground_pres;
 261
 262         ao_radio_send(&telemetry, sizeof (telemetry));
 263 }
 264
 265 #endif /* AO_SEND_MINI */
 266
 267 #ifdef AO_SEND_ALL_BARO
 268 static uint8_t          ao_baro_sample;
 269
 270 static void
 271 ao_send_baro(void)
 272 {
 273         uint8_t         sample = ao_sample_data;
 274         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 275
 276         if (samples > 12) {
 277                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 278                 samples = 12;
 279         }
 280         telemetry.generic.tick = ao_data_ring[sample].tick;
 281         telemetry.generic.type = AO_TELEMETRY_BARO;
 282         telemetry.baro.samples = samples;
 283         for (sample = 0; sample < samples; sample++) {
 284                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 285                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 286         }
 287         ao_radio_send(&telemetry, sizeof (telemetry));
 288 }
 289 #endif
 290
 291 static __pdata int8_t ao_telemetry_config_max;
 292 static __pdata int8_t ao_telemetry_config_cur;
 293
 294 static void
 295 ao_send_configuration(void)
 296 {
 297         if (--ao_telemetry_config_cur <= 0)
 298         {
 299                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 300                 telemetry.configuration.device = AO_idProduct_NUMBER;
 301 #if HAS_LOG
 302                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 303 #else
 304                 telemetry.configuration.flight = ao_flight_number;
 305 #endif
 306                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 307                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 308                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 309                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 310                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 311                 ao_xmemcpy (telemetry.configuration.callsign,
 312                             ao_config.callsign,
 313                             AO_MAX_CALLSIGN);
 314                 ao_xmemcpy (telemetry.configuration.version,
 315                             CODE_TO_XDATA(ao_version),
 316                             AO_MAX_VERSION);
 317                 ao_radio_send(&telemetry, sizeof (telemetry));
 318                 ao_telemetry_config_cur = ao_telemetry_config_max;
 319         }
 320 }
 321
 322 #if HAS_GPS
 323
 324 static __pdata int8_t ao_telemetry_loc_cur;
 325 static __pdata int8_t ao_telemetry_sat_cur;
 326
 327 static void
 328 ao_send_location(void)
 329 {
 330         if (--ao_telemetry_loc_cur <= 0)
 331         {
 332                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 333                 ao_mutex_get(&ao_gps_mutex);
 334                 ao_xmemcpy(&telemetry.location.flags,
 335                        &ao_gps_data.flags,
 336                        26);
 337                 telemetry.location.tick = ao_gps_tick;
 338                 ao_mutex_put(&ao_gps_mutex);
 339                 ao_radio_send(&telemetry, sizeof (telemetry));
 340                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 341         }
 342 }
 343
 344 static void
 345 ao_send_satellite(void)
 346 {
 347         if (--ao_telemetry_sat_cur <= 0)
 348         {
 349                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 350                 ao_mutex_get(&ao_gps_mutex);
 351                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 352                 ao_xmemcpy(&telemetry.satellite.sats,
 353                        &ao_gps_tracking_data.sats,
 354                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 355                 ao_mutex_put(&ao_gps_mutex);
 356                 ao_radio_send(&telemetry, sizeof (telemetry));
 357                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 358         }
 359 }
 360 #endif
 361
 362 #if HAS_COMPANION
 363
 364 static __pdata int8_t ao_telemetry_companion_max;
 365 static __pdata int8_t ao_telemetry_companion_cur;
 366
 367 static void
 368 ao_send_companion(void)
 369 {
 370         if (--ao_telemetry_companion_cur <= 0) {
 371                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 372                 telemetry.companion.board_id = ao_companion_setup.board_id;
 373                 telemetry.companion.update_period = ao_companion_setup.update_period;
 374                 telemetry.companion.channels = ao_companion_setup.channels;
 375                 ao_mutex_get(&ao_companion_mutex);
 376                 ao_xmemcpy(&telemetry.companion.companion_data,
 377                        ao_companion_data,
 378                        ao_companion_setup.channels * 2);
 379                 ao_mutex_put(&ao_companion_mutex);
 380                 ao_radio_send(&telemetry, sizeof (telemetry));
 381                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 382         }
 383 }
 384 #endif
 385
 386 void
 387 ao_telemetry(void)
 388 {
 389         uint16_t        time;
 390         int16_t         delay;
 391
 392         ao_config_get();
 393         if (!ao_config.radio_enable)
 394                 ao_exit();
 395         while (!ao_flight_number)
 396                 ao_sleep(&ao_flight_number);
 397
 398         telemetry.generic.serial = ao_serial_number;
 399         for (;;) {
 400                 while (ao_telemetry_interval == 0)
 401                         ao_sleep(&telemetry);
 402                 time = ao_time();
 403 #if HAS_RDF
 404                 ao_rdf_time = time;
 405 #endif
 406 #if HAS_APRS
 407                 ao_aprs_time = time;
 408 #endif
 409                 while (ao_telemetry_interval) {
 410 #if HAS_APRS
 411                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 412 #endif
 413                         {
 414 #ifdef AO_SEND_ALL_BARO
 415                                 ao_send_baro();
 416 #endif
 417
 418 #if HAS_FLIGHT
 419 # ifdef AO_SEND_MEGA
 420                                 ao_send_mega_sensor();
 421                                 ao_send_mega_data();
 422 # endif
 423 # ifdef AO_SEND_METRUM
 424                                 ao_send_metrum_sensor();
 425                                 ao_send_metrum_data();
 426 # endif
 427 # ifdef AO_SEND_MINI
 428                                 ao_send_mini();
 429 # endif
 430 # ifdef AO_TELEMETRY_SENSOR
 431                                 ao_send_sensor();
 432 # endif
 433 #endif /* HAS_FLIGHT */
 434
 435 #if HAS_COMPANION
 436                                 if (ao_companion_running)
 437                                         ao_send_companion();
 438 #endif
 439                                 ao_send_configuration();
 440 #if HAS_GPS
 441                                 ao_send_location();
 442                                 ao_send_satellite();
 443 #endif
 444                         }
 445 #ifndef AO_SEND_ALL_BARO
 446 #if HAS_RDF
 447                         if (ao_rdf &&
 448 #if HAS_APRS
 449                             !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
 450 #endif /* HAS_APRS */
 451                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 452                         {
 453 #if HAS_IGNITE_REPORT
 454                                 uint8_t c;
 455 #endif /* HAS_IGNITE_REPORT */
 456                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 457 #if HAS_IGNITE_REPORT
 458                                 if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 459                                         ao_radio_continuity(c);
 460                                 else
 461 #endif /* HAS_IGNITE_REPORT*/
 462                                         ao_radio_rdf();
 463                         }
 464 #endif /* HAS_RDF */
 465 #if HAS_APRS
 466                         if (ao_config.aprs_interval != 0 &&
 467                             (int16_t) (ao_time() - ao_aprs_time) >= 0)
 468                         {
 469                                 ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 470                                 ao_aprs_send();
 471                         }
 472 #endif /* HAS_APRS */
 473 #endif /* !AO_SEND_ALL_BARO */
 474                         time += ao_telemetry_interval;
 475                         delay = time - ao_time();
 476                         if (delay > 0) {
 477                                 ao_alarm(delay);
 478                                 ao_sleep(&telemetry);
 479                                 ao_clear_alarm();
 480                         }
 481                         else
 482                                 time = ao_time();
 483                 }
 484         }
 485 }
 486
 487 void
 488 ao_telemetry_set_interval(uint16_t interval)
 489 {
 490         int8_t  cur = 0;
 491         ao_telemetry_interval = interval;
 492
 493 #if AO_SEND_MEGA
 494         if (interval > 1)
 495                 ao_telemetry_mega_data_max = 1;
 496         else
 497                 ao_telemetry_mega_data_max = 2;
 498         if (ao_telemetry_mega_data_max > cur)
 499                 cur++;
 500         ao_telemetry_mega_data_cur = cur;
 501 #endif
 502 #if AO_SEND_METRUM
 503         ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
 504         if (ao_telemetry_metrum_data_max > cur)
 505                 cur++;
 506         ao_telemetry_metrum_data_cur = cur;
 507 #endif
 508
 509 #if HAS_COMPANION
 510         if (!ao_companion_setup.update_period)
 511                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 512         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 513         if (ao_telemetry_companion_max > cur)
 514                 cur++;
 515         ao_telemetry_companion_cur = cur;
 516 #endif
 517
 518         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 519 #if HAS_COMPANION
 520         if (ao_telemetry_config_max > cur)
 521                 cur++;
 522         ao_telemetry_config_cur = cur;
 523 #endif
 524
 525 #if HAS_GPS
 526         if (ao_telemetry_config_max > cur)
 527                 cur++;
 528         ao_telemetry_loc_cur = cur;
 529         if (ao_telemetry_config_max > cur)
 530                 cur++;
 531         ao_telemetry_sat_cur = cur;
 532 #endif
 533         ao_wakeup(&telemetry);
 534 }
 535
 536 #if HAS_RDF
 537 void
 538 ao_rdf_set(uint8_t rdf)
 539 {
 540         ao_rdf = rdf;
 541         if (rdf == 0)
 542                 ao_radio_rdf_abort();
 543         else {
 544                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 545         }
 546 }
 547 #endif
 548
 549 __xdata struct ao_task  ao_telemetry_task;
 550
 551 void
 552 ao_telemetry_init()
 553 {
 554         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 555 }