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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 int8_t ao_telemetry_config_max;
  23 static __pdata int8_t ao_telemetry_config_cur;
  24 #if HAS_GPS
  25 static __pdata int8_t ao_telemetry_loc_cur;
  26 static __pdata int8_t ao_telemetry_sat_cur;
  27 #endif
  28 #if HAS_COMPANION
  29 static __pdata int8_t ao_telemetry_companion_max;
  30 static __pdata int8_t ao_telemetry_companion_cur;
  31 #endif
  32 static __pdata uint8_t ao_rdf = 0;
  33 static __pdata uint16_t ao_rdf_time;
  34
  35 #define AO_RDF_INTERVAL_TICKS   AO_SEC_TO_TICKS(5)
  36 #define AO_RDF_LENGTH_MS        500
  37
  38 #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)
  39 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  40 #endif
  41
  42 #if defined(TELEMINI_V_1_0)
  43 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  44 #endif
  45
  46 #if defined(TELENANO_V_0_1)
  47 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  48 #endif
  49
  50 static __xdata union ao_telemetry_all   telemetry;
  51
  52 /* Send sensor packet */
  53 static void
  54 ao_send_sensor(void)
  55 {
  56         uint8_t         sample;
  57         sample = ao_sample_adc;
  58
  59         telemetry.generic.tick = ao_adc_ring[sample].tick;
  60         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  61
  62         telemetry.sensor.state = ao_flight_state;
  63 #if HAS_ACCEL
  64         telemetry.sensor.accel = ao_adc_ring[sample].accel;
  65 #else
  66         telemetry.sensor.accel = 0;
  67 #endif
  68         telemetry.sensor.pres = ao_adc_ring[sample].pres;
  69         telemetry.sensor.temp = ao_adc_ring[sample].temp;
  70         telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
  71 #if HAS_IGNITE
  72         telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
  73         telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
  74 #else
  75         telemetry.sensor.sense_d = 0;
  76         telemetry.sensor.sense_m = 0;
  77 #endif
  78
  79         telemetry.sensor.acceleration = ao_accel;
  80         telemetry.sensor.speed = ao_speed;
  81         telemetry.sensor.height = ao_height;
  82
  83         telemetry.sensor.ground_pres = ao_ground_pres;
  84 #if HAS_ACCEL
  85         telemetry.sensor.ground_accel = ao_ground_accel;
  86         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
  87         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
  88 #else
  89         telemetry.sensor.ground_accel = 0;
  90         telemetry.sensor.accel_plus_g = 0;
  91         telemetry.sensor.accel_minus_g = 0;
  92 #endif
  93
  94         ao_radio_send(&telemetry, sizeof (telemetry));
  95 }
  96
  97 static uint8_t          ao_baro_sample;
  98
  99 #ifdef AO_SEND_ALL_BARO
 100 static void
 101 ao_send_baro(void)
 102 {
 103         uint8_t         sample = ao_sample_adc;
 104         uint8_t         samples = (sample - ao_baro_sample) & (AO_ADC_RING - 1);
 105
 106         if (samples > 12) {
 107                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_ADC_RING - 1);
 108                 samples = 12;
 109         }
 110         telemetry.generic.tick = ao_adc_ring[sample].tick;
 111         telemetry.generic.type = AO_TELEMETRY_BARO;
 112         telemetry.baro.samples = samples;
 113         for (sample = 0; sample < samples; sample++) {
 114                 telemetry.baro.baro[sample] = ao_adc_ring[ao_baro_sample].pres;
 115                 ao_baro_sample = ao_adc_ring_next(ao_baro_sample);
 116         }
 117         ao_radio_send(&telemetry, sizeof (telemetry));
 118 }
 119 #endif
 120
 121 static void
 122 ao_send_configuration(void)
 123 {
 124         if (--ao_telemetry_config_cur <= 0)
 125         {
 126                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 127                 telemetry.configuration.device = AO_idProduct_NUMBER;
 128                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 129                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 130                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 131                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 132                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 133                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 134                 ao_xmemcpy (telemetry.configuration.callsign,
 135                             ao_config.callsign,
 136                             AO_MAX_CALLSIGN);
 137                 ao_xmemcpy (telemetry.configuration.version,
 138                             CODE_TO_XDATA(ao_version),
 139                             AO_MAX_VERSION);
 140                 ao_radio_send(&telemetry, sizeof (telemetry));
 141                 ao_telemetry_config_cur = ao_telemetry_config_max;
 142         }
 143 }
 144
 145 #if HAS_GPS
 146 static void
 147 ao_send_location(void)
 148 {
 149         if (--ao_telemetry_loc_cur <= 0)
 150         {
 151                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 152                 ao_mutex_get(&ao_gps_mutex);
 153                 ao_xmemcpy(&telemetry.location.flags,
 154                        &ao_gps_data.flags,
 155                        26);
 156                 ao_mutex_put(&ao_gps_mutex);
 157                 ao_radio_send(&telemetry, sizeof (telemetry));
 158                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 159         }
 160 }
 161
 162 static void
 163 ao_send_satellite(void)
 164 {
 165         if (--ao_telemetry_sat_cur <= 0)
 166         {
 167                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 168                 ao_mutex_get(&ao_gps_mutex);
 169                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 170                 ao_xmemcpy(&telemetry.satellite.sats,
 171                        &ao_gps_tracking_data.sats,
 172                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 173                 ao_mutex_put(&ao_gps_mutex);
 174                 ao_radio_send(&telemetry, sizeof (telemetry));
 175                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 176         }
 177 }
 178 #endif
 179
 180 #if HAS_COMPANION
 181 static void
 182 ao_send_companion(void)
 183 {
 184         if (--ao_telemetry_companion_cur <= 0) {
 185                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 186                 telemetry.companion.board_id = ao_companion_setup.board_id;
 187                 telemetry.companion.update_period = ao_companion_setup.update_period;
 188                 telemetry.companion.channels = ao_companion_setup.channels;
 189                 ao_mutex_get(&ao_companion_mutex);
 190                 ao_xmemcpy(&telemetry.companion.companion_data,
 191                        ao_companion_data,
 192                        ao_companion_setup.channels * 2);
 193                 ao_mutex_put(&ao_companion_mutex);
 194                 ao_radio_send(&telemetry, sizeof (telemetry));
 195                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 196         }
 197 }
 198 #endif
 199
 200 void
 201 ao_telemetry(void)
 202 {
 203         uint16_t        time;
 204         int16_t         delay;
 205
 206         ao_config_get();
 207         if (!ao_config.radio_enable)
 208                 ao_exit();
 209         while (!ao_flight_number)
 210                 ao_sleep(&ao_flight_number);
 211
 212         telemetry.generic.serial = ao_serial_number;
 213         for (;;) {
 214                 while (ao_telemetry_interval == 0)
 215                         ao_sleep(&telemetry);
 216                 time = ao_rdf_time = ao_time();
 217                 while (ao_telemetry_interval) {
 218
 219
 220 #ifdef AO_SEND_ALL_BARO
 221                         ao_send_baro();
 222 #endif
 223                         ao_send_sensor();
 224 #if HAS_COMPANION
 225                         if (ao_companion_running)
 226                                 ao_send_companion();
 227 #endif
 228                         ao_send_configuration();
 229 #if HAS_GPS
 230                         ao_send_location();
 231                         ao_send_satellite();
 232 #endif
 233 #ifndef AO_SEND_ALL_BARO
 234                         if (ao_rdf &&
 235                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 236                         {
 237                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 238                                 ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
 239                         }
 240 #endif
 241                         time += ao_telemetry_interval;
 242                         delay = time - ao_time();
 243                         if (delay > 0) {
 244                                 ao_alarm(delay);
 245                                 ao_sleep(&telemetry);
 246                                 ao_clear_alarm();
 247                         }
 248                         else
 249                                 time = ao_time();
 250                 }
 251         }
 252 }
 253
 254 void
 255 ao_telemetry_set_interval(uint16_t interval)
 256 {
 257         ao_telemetry_interval = interval;
 258
 259 #if HAS_COMPANION
 260         if (!ao_companion_setup.update_period)
 261                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 262         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 263         ao_telemetry_companion_cur = 1;
 264 #endif
 265
 266         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 267 #if HAS_COMPANION
 268         ao_telemetry_config_cur = ao_telemetry_companion_cur;
 269         if (ao_telemetry_config_max > ao_telemetry_config_cur)
 270                 ao_telemetry_config_cur++;
 271 #else
 272         ao_telemetry_config_cur = 1;
 273 #endif
 274
 275 #if HAS_GPS
 276         ao_telemetry_loc_cur = ao_telemetry_config_cur;
 277         if (ao_telemetry_config_max > ao_telemetry_loc_cur)
 278                 ao_telemetry_loc_cur++;
 279         ao_telemetry_sat_cur = ao_telemetry_loc_cur;
 280         if (ao_telemetry_config_max > ao_telemetry_sat_cur)
 281                 ao_telemetry_sat_cur++;
 282 #endif
 283         ao_wakeup(&telemetry);
 284 }
 285
 286 void
 287 ao_rdf_set(uint8_t rdf)
 288 {
 289         ao_rdf = rdf;
 290         if (rdf == 0)
 291                 ao_radio_rdf_abort();
 292         else
 293                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 294 }
 295
 296 __xdata struct ao_task  ao_telemetry_task;
 297
 298 void
 299 ao_telemetry_init()
 300 {
 301         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 302 }