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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 static __pdata uint16_t ao_telemetry_interval;
  23 static __pdata uint8_t ao_rdf = 0;
  24 static __pdata uint16_t ao_rdf_time;
  25
  26 #if HAS_APRS
  27 static __pdata uint16_t ao_aprs_time;
  28
  29 #include <ao_aprs.h>
  30 #endif
  31
  32 #if defined(TELEMEGA)
  33 #define AO_SEND_MEGA    1
  34 #endif
  35
  36 #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)
  37 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  38 #endif
  39
  40 #if defined(TELEMINI_V_1_0)
  41 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  42 #endif
  43
  44 #if defined(TELENANO_V_0_1)
  45 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  46 #endif
  47
  48 static __xdata union ao_telemetry_all   telemetry;
  49
  50 #if defined AO_TELEMETRY_SENSOR
  51 /* Send sensor packet */
  52 static void
  53 ao_send_sensor(void)
  54 {
  55         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  56
  57         telemetry.generic.tick = packet->tick;
  58         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  59
  60         telemetry.sensor.state = ao_flight_state;
  61 #if HAS_ACCEL
  62         telemetry.sensor.accel = packet->adc.accel;
  63 #else
  64         telemetry.sensor.accel = 0;
  65 #endif
  66         telemetry.sensor.pres = ao_data_pres(packet);
  67         telemetry.sensor.temp = packet->adc.temp;
  68         telemetry.sensor.v_batt = packet->adc.v_batt;
  69 #if HAS_IGNITE
  70         telemetry.sensor.sense_d = packet->adc.sense_d;
  71         telemetry.sensor.sense_m = packet->adc.sense_m;
  72 #else
  73         telemetry.sensor.sense_d = 0;
  74         telemetry.sensor.sense_m = 0;
  75 #endif
  76
  77         telemetry.sensor.acceleration = ao_accel;
  78         telemetry.sensor.speed = ao_speed;
  79         telemetry.sensor.height = ao_height;
  80
  81         telemetry.sensor.ground_pres = ao_ground_pres;
  82 #if HAS_ACCEL
  83         telemetry.sensor.ground_accel = ao_ground_accel;
  84         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
  85         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
  86 #else
  87         telemetry.sensor.ground_accel = 0;
  88         telemetry.sensor.accel_plus_g = 0;
  89         telemetry.sensor.accel_minus_g = 0;
  90 #endif
  91
  92         ao_radio_send(&telemetry, sizeof (telemetry));
  93 }
  94 #endif
  95
  96
  97 #ifdef AO_SEND_MEGA
  98 /* Send mega sensor packet */
  99 static void
 100 ao_send_mega_sensor(void)
 101 {
 102         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 103
 104         telemetry.generic.tick = packet->tick;
 105         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 106
 107         telemetry.mega_sensor.accel = ao_data_accel(packet);
 108         telemetry.mega_sensor.pres = ao_data_pres(packet);
 109         telemetry.mega_sensor.temp = ao_data_temp(packet);
 110
 111 #if HAS_MPU6000
 112         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 113         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 114         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 115
 116         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 117         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 118         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 119 #endif
 120
 121 #if HAS_HMC5883
 122         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 123         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 124         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 125 #endif
 126
 127         ao_radio_send(&telemetry, sizeof (telemetry));
 128 }
 129
 130 static __pdata int8_t ao_telemetry_mega_data_max;
 131 static __pdata int8_t ao_telemetry_mega_data_cur;
 132
 133 /* Send mega data packet */
 134 static void
 135 ao_send_mega_data(void)
 136 {
 137         if (--ao_telemetry_mega_data_cur <= 0) {
 138                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 139                 uint8_t i;
 140
 141                 telemetry.generic.tick = packet->tick;
 142                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 143
 144                 telemetry.mega_data.state = ao_flight_state;
 145                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 146                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 147
 148                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 149                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 150                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
 151
 152                 telemetry.mega_data.ground_pres = ao_ground_pres;
 153                 telemetry.mega_data.ground_accel = ao_ground_accel;
 154                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 155                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 156
 157                 telemetry.mega_data.acceleration = ao_accel;
 158                 telemetry.mega_data.speed = ao_speed;
 159                 telemetry.mega_data.height = ao_height;
 160
 161                 ao_radio_send(&telemetry, sizeof (telemetry));
 162                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 163         }
 164 }
 165 #endif /* AO_SEND_MEGA */
 166
 167 #ifdef AO_SEND_ALL_BARO
 168 static uint8_t          ao_baro_sample;
 169
 170 static void
 171 ao_send_baro(void)
 172 {
 173         uint8_t         sample = ao_sample_data;
 174         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 175
 176         if (samples > 12) {
 177                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 178                 samples = 12;
 179         }
 180         telemetry.generic.tick = ao_data_ring[sample].tick;
 181         telemetry.generic.type = AO_TELEMETRY_BARO;
 182         telemetry.baro.samples = samples;
 183         for (sample = 0; sample < samples; sample++) {
 184                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 185                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 186         }
 187         ao_radio_send(&telemetry, sizeof (telemetry));
 188 }
 189 #endif
 190
 191 static __pdata int8_t ao_telemetry_config_max;
 192 static __pdata int8_t ao_telemetry_config_cur;
 193
 194 static void
 195 ao_send_configuration(void)
 196 {
 197         if (--ao_telemetry_config_cur <= 0)
 198         {
 199                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 200                 telemetry.configuration.device = AO_idProduct_NUMBER;
 201 #if HAS_LOG
 202                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 203 #else
 204                 telemetry.configuration.flight = ao_flight_number;
 205 #endif
 206                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 207                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 208                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 209                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 210                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 211                 ao_xmemcpy (telemetry.configuration.callsign,
 212                             ao_config.callsign,
 213                             AO_MAX_CALLSIGN);
 214                 ao_xmemcpy (telemetry.configuration.version,
 215                             CODE_TO_XDATA(ao_version),
 216                             AO_MAX_VERSION);
 217                 ao_radio_send(&telemetry, sizeof (telemetry));
 218                 ao_telemetry_config_cur = ao_telemetry_config_max;
 219         }
 220 }
 221
 222 #if HAS_GPS
 223
 224 static __pdata int8_t ao_telemetry_loc_cur;
 225 static __pdata int8_t ao_telemetry_sat_cur;
 226
 227 static void
 228 ao_send_location(void)
 229 {
 230         if (--ao_telemetry_loc_cur <= 0)
 231         {
 232                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 233                 ao_mutex_get(&ao_gps_mutex);
 234                 ao_xmemcpy(&telemetry.location.flags,
 235                        &ao_gps_data.flags,
 236                        26);
 237                 telemetry.location.tick = ao_gps_tick;
 238                 ao_mutex_put(&ao_gps_mutex);
 239                 ao_radio_send(&telemetry, sizeof (telemetry));
 240                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 241         }
 242 }
 243
 244 static void
 245 ao_send_satellite(void)
 246 {
 247         if (--ao_telemetry_sat_cur <= 0)
 248         {
 249                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 250                 ao_mutex_get(&ao_gps_mutex);
 251                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 252                 ao_xmemcpy(&telemetry.satellite.sats,
 253                        &ao_gps_tracking_data.sats,
 254                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 255                 ao_mutex_put(&ao_gps_mutex);
 256                 ao_radio_send(&telemetry, sizeof (telemetry));
 257                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 258         }
 259 }
 260 #endif
 261
 262 #if HAS_COMPANION
 263
 264 static __pdata int8_t ao_telemetry_companion_max;
 265 static __pdata int8_t ao_telemetry_companion_cur;
 266
 267 static void
 268 ao_send_companion(void)
 269 {
 270         if (--ao_telemetry_companion_cur <= 0) {
 271                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 272                 telemetry.companion.board_id = ao_companion_setup.board_id;
 273                 telemetry.companion.update_period = ao_companion_setup.update_period;
 274                 telemetry.companion.channels = ao_companion_setup.channels;
 275                 ao_mutex_get(&ao_companion_mutex);
 276                 ao_xmemcpy(&telemetry.companion.companion_data,
 277                        ao_companion_data,
 278                        ao_companion_setup.channels * 2);
 279                 ao_mutex_put(&ao_companion_mutex);
 280                 ao_radio_send(&telemetry, sizeof (telemetry));
 281                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 282         }
 283 }
 284 #endif
 285
 286 void
 287 ao_telemetry(void)
 288 {
 289         uint16_t        time;
 290         int16_t         delay;
 291
 292         ao_config_get();
 293         if (!ao_config.radio_enable)
 294                 ao_exit();
 295         while (!ao_flight_number)
 296                 ao_sleep(&ao_flight_number);
 297
 298         telemetry.generic.serial = ao_serial_number;
 299         for (;;) {
 300                 while (ao_telemetry_interval == 0)
 301                         ao_sleep(&telemetry);
 302                 time = ao_rdf_time = ao_time();
 303 #if HAS_APRS
 304                 ao_aprs_time = time;
 305 #endif
 306                 while (ao_telemetry_interval) {
 307
 308 #if HAS_APRS
 309                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 310 #endif
 311                         {
 312 #ifdef AO_SEND_ALL_BARO
 313                                 ao_send_baro();
 314 #endif
 315 #if HAS_FLIGHT
 316 #ifdef AO_SEND_MEGA
 317                                 ao_send_mega_sensor();
 318                                 ao_send_mega_data();
 319 #else
 320                                 ao_send_sensor();
 321 #endif
 322 #endif
 323
 324 #if HAS_COMPANION
 325                                 if (ao_companion_running)
 326                                         ao_send_companion();
 327 #endif
 328                                 ao_send_configuration();
 329 #if HAS_GPS
 330                                 ao_send_location();
 331                                 ao_send_satellite();
 332 #endif
 333                         }
 334 #ifndef AO_SEND_ALL_BARO
 335                         if (ao_rdf &&
 336 #if HAS_APRS
 337                             !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
 338 #endif
 339                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 340                         {
 341 #if HAS_IGNITE_REPORT
 342                                 uint8_t c;
 343 #endif
 344                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 345 #if HAS_IGNITE_REPORT
 346                                 if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 347                                         ao_radio_continuity(c);
 348                                 else
 349 #endif
 350                                         ao_radio_rdf();
 351                         }
 352 #if HAS_APRS
 353                         if (ao_config.aprs_interval != 0 &&
 354                             (int16_t) (ao_time() - ao_aprs_time) >= 0)
 355                         {
 356                                 ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 357                                 ao_aprs_send();
 358                         }
 359 #endif
 360 #endif
 361                         time += ao_telemetry_interval;
 362                         delay = time - ao_time();
 363                         if (delay > 0) {
 364                                 ao_alarm(delay);
 365                                 ao_sleep(&telemetry);
 366                                 ao_clear_alarm();
 367                         }
 368                         else
 369                                 time = ao_time();
 370                 bottom: ;
 371                 }
 372         }
 373 }
 374
 375 void
 376 ao_telemetry_set_interval(uint16_t interval)
 377 {
 378         int8_t  cur = 0;
 379         ao_telemetry_interval = interval;
 380
 381 #if AO_SEND_MEGA
 382         if (interval > 1)
 383                 ao_telemetry_mega_data_max = 1;
 384         else
 385                 ao_telemetry_mega_data_max = 2;
 386         if (ao_telemetry_mega_data_max > cur)
 387                 cur++;
 388         ao_telemetry_mega_data_cur = cur;
 389 #endif
 390
 391 #if HAS_COMPANION
 392         if (!ao_companion_setup.update_period)
 393                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 394         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 395         if (ao_telemetry_companion_max > cur)
 396                 cur++;
 397         ao_telemetry_companion_cur = cur;
 398 #endif
 399
 400         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 401 #if HAS_COMPANION
 402         if (ao_telemetry_config_max > cur)
 403                 cur++;
 404         ao_telemetry_config_cur = cur;
 405 #endif
 406
 407 #if HAS_GPS
 408         if (ao_telemetry_config_max > cur)
 409                 cur++;
 410         ao_telemetry_loc_cur = cur;
 411         if (ao_telemetry_config_max > cur)
 412                 cur++;
 413         ao_telemetry_sat_cur = cur;
 414 #endif
 415         ao_wakeup(&telemetry);
 416 }
 417
 418 void
 419 ao_rdf_set(uint8_t rdf)
 420 {
 421         ao_rdf = rdf;
 422         if (rdf == 0)
 423                 ao_radio_rdf_abort();
 424         else {
 425                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 426         }
 427 }
 428
 429 __xdata struct ao_task  ao_telemetry_task;
 430
 431 void
 432 ao_telemetry_init()
 433 {
 434         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 435 }