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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_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         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 191         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 192         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 193
 194         telemetry.metrum_sensor.acceleration = ao_accel;
 195         telemetry.metrum_sensor.speed = ao_speed;
 196         telemetry.metrum_sensor.height = ao_height;
 197
 198         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 199         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 200         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 201
 202         ao_radio_send(&telemetry, sizeof (telemetry));
 203 }
 204
 205 static __pdata int8_t ao_telemetry_metrum_data_max;
 206 static __pdata int8_t ao_telemetry_metrum_data_cur;
 207
 208 /* Send telemetrum data packet */
 209 static void
 210 ao_send_metrum_data(void)
 211 {
 212         if (--ao_telemetry_metrum_data_cur <= 0) {
 213                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 214                 uint8_t i;
 215
 216                 telemetry.generic.tick = packet->tick;
 217                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 218
 219                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 220                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 221                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 222                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 223
 224                 ao_radio_send(&telemetry, sizeof (telemetry));
 225                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 226         }
 227 }
 228 #endif /* AO_SEND_METRUM */
 229
 230 #ifdef AO_SEND_MINI
 231
 232 static void
 233 ao_send_mini(void)
 234 {
 235         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 236
 237         telemetry.generic.tick = packet->tick;
 238         telemetry.generic.type = AO_TELEMETRY_MINI;
 239
 240         telemetry.mini.state = ao_flight_state;
 241
 242         telemetry.mini.v_batt = packet->adc.v_batt;
 243         telemetry.mini.sense_a = packet->adc.sense_a;
 244         telemetry.mini.sense_m = packet->adc.sense_m;
 245
 246         telemetry.mini.pres = ao_data_pres(packet);
 247         telemetry.mini.temp = ao_data_temp(packet);
 248
 249         telemetry.mini.acceleration = ao_accel;
 250         telemetry.mini.speed = ao_speed;
 251         telemetry.mini.height = ao_height;
 252
 253         telemetry.mini.ground_pres = ao_ground_pres;
 254
 255         ao_radio_send(&telemetry, sizeof (telemetry));
 256 }
 257
 258 #endif /* AO_SEND_MINI */
 259
 260 #ifdef AO_SEND_ALL_BARO
 261 static uint8_t          ao_baro_sample;
 262
 263 static void
 264 ao_send_baro(void)
 265 {
 266         uint8_t         sample = ao_sample_data;
 267         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 268
 269         if (samples > 12) {
 270                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 271                 samples = 12;
 272         }
 273         telemetry.generic.tick = ao_data_ring[sample].tick;
 274         telemetry.generic.type = AO_TELEMETRY_BARO;
 275         telemetry.baro.samples = samples;
 276         for (sample = 0; sample < samples; sample++) {
 277                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 278                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 279         }
 280         ao_radio_send(&telemetry, sizeof (telemetry));
 281 }
 282 #endif
 283
 284 static __pdata int8_t ao_telemetry_config_max;
 285 static __pdata int8_t ao_telemetry_config_cur;
 286
 287 static void
 288 ao_send_configuration(void)
 289 {
 290         if (--ao_telemetry_config_cur <= 0)
 291         {
 292                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 293                 telemetry.configuration.device = AO_idProduct_NUMBER;
 294 #if HAS_LOG
 295                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 296 #else
 297                 telemetry.configuration.flight = ao_flight_number;
 298 #endif
 299                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 300                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 301                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 302                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 303                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 304                 ao_xmemcpy (telemetry.configuration.callsign,
 305                             ao_config.callsign,
 306                             AO_MAX_CALLSIGN);
 307                 ao_xmemcpy (telemetry.configuration.version,
 308                             CODE_TO_XDATA(ao_version),
 309                             AO_MAX_VERSION);
 310                 ao_radio_send(&telemetry, sizeof (telemetry));
 311                 ao_telemetry_config_cur = ao_telemetry_config_max;
 312         }
 313 }
 314
 315 #if HAS_GPS
 316
 317 static __pdata int8_t ao_telemetry_loc_cur;
 318 static __pdata int8_t ao_telemetry_sat_cur;
 319
 320 static void
 321 ao_send_location(void)
 322 {
 323         if (--ao_telemetry_loc_cur <= 0)
 324         {
 325                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 326                 ao_mutex_get(&ao_gps_mutex);
 327                 ao_xmemcpy(&telemetry.location.flags,
 328                        &ao_gps_data.flags,
 329                        26);
 330                 telemetry.location.tick = ao_gps_tick;
 331                 ao_mutex_put(&ao_gps_mutex);
 332                 ao_radio_send(&telemetry, sizeof (telemetry));
 333                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 334         }
 335 }
 336
 337 static void
 338 ao_send_satellite(void)
 339 {
 340         if (--ao_telemetry_sat_cur <= 0)
 341         {
 342                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 343                 ao_mutex_get(&ao_gps_mutex);
 344                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 345                 ao_xmemcpy(&telemetry.satellite.sats,
 346                        &ao_gps_tracking_data.sats,
 347                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 348                 ao_mutex_put(&ao_gps_mutex);
 349                 ao_radio_send(&telemetry, sizeof (telemetry));
 350                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 351         }
 352 }
 353 #endif
 354
 355 #if HAS_COMPANION
 356
 357 static __pdata int8_t ao_telemetry_companion_max;
 358 static __pdata int8_t ao_telemetry_companion_cur;
 359
 360 static void
 361 ao_send_companion(void)
 362 {
 363         if (--ao_telemetry_companion_cur <= 0) {
 364                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 365                 telemetry.companion.board_id = ao_companion_setup.board_id;
 366                 telemetry.companion.update_period = ao_companion_setup.update_period;
 367                 telemetry.companion.channels = ao_companion_setup.channels;
 368                 ao_mutex_get(&ao_companion_mutex);
 369                 ao_xmemcpy(&telemetry.companion.companion_data,
 370                        ao_companion_data,
 371                        ao_companion_setup.channels * 2);
 372                 ao_mutex_put(&ao_companion_mutex);
 373                 ao_radio_send(&telemetry, sizeof (telemetry));
 374                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 375         }
 376 }
 377 #endif
 378
 379 void
 380 ao_telemetry(void)
 381 {
 382         uint16_t        time;
 383         int16_t         delay;
 384
 385         ao_config_get();
 386         if (!ao_config.radio_enable)
 387                 ao_exit();
 388         while (!ao_flight_number)
 389                 ao_sleep(&ao_flight_number);
 390
 391         telemetry.generic.serial = ao_serial_number;
 392         for (;;) {
 393                 while (ao_telemetry_interval == 0)
 394                         ao_sleep(&telemetry);
 395                 time = ao_time();
 396 #if HAS_RDF
 397                 ao_rdf_time = time;
 398 #endif
 399 #if HAS_APRS
 400                 ao_aprs_time = time;
 401 #endif
 402                 while (ao_telemetry_interval) {
 403 #if HAS_APRS
 404                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 405 #endif
 406                         {
 407 #ifdef AO_SEND_ALL_BARO
 408                                 ao_send_baro();
 409 #endif
 410
 411 #if HAS_FLIGHT
 412 # ifdef AO_SEND_MEGA
 413                                 ao_send_mega_sensor();
 414                                 ao_send_mega_data();
 415 # endif
 416 # ifdef AO_SEND_METRUM
 417                                 ao_send_metrum_sensor();
 418                                 ao_send_metrum_data();
 419 # endif
 420 # ifdef AO_SEND_MINI
 421                                 ao_send_mini();
 422 # endif
 423 # ifdef AO_TELEMETRY_SENSOR
 424                                 ao_send_sensor();
 425 # endif
 426 #endif /* HAS_FLIGHT */
 427
 428 #if HAS_COMPANION
 429                                 if (ao_companion_running)
 430                                         ao_send_companion();
 431 #endif
 432                                 ao_send_configuration();
 433 #if HAS_GPS
 434                                 ao_send_location();
 435                                 ao_send_satellite();
 436 #endif
 437                         }
 438 #ifndef AO_SEND_ALL_BARO
 439 #if HAS_RDF
 440                         if (ao_rdf &&
 441 #if HAS_APRS
 442                             !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
 443 #endif /* HAS_APRS */
 444                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 445                         {
 446 #if HAS_IGNITE_REPORT
 447                                 uint8_t c;
 448 #endif /* HAS_IGNITE_REPORT */
 449                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 450 #if HAS_IGNITE_REPORT
 451                                 if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 452                                         ao_radio_continuity(c);
 453                                 else
 454 #endif /* HAS_IGNITE_REPORT*/
 455                                         ao_radio_rdf();
 456                         }
 457 #endif /* HAS_RDF */
 458 #if HAS_APRS
 459                         if (ao_config.aprs_interval != 0 &&
 460                             (int16_t) (ao_time() - ao_aprs_time) >= 0)
 461                         {
 462                                 ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 463                                 ao_aprs_send();
 464                         }
 465 #endif /* HAS_APRS */
 466 #endif /* !AO_SEND_ALL_BARO */
 467                         time += ao_telemetry_interval;
 468                         delay = time - ao_time();
 469                         if (delay > 0) {
 470                                 ao_alarm(delay);
 471                                 ao_sleep(&telemetry);
 472                                 ao_clear_alarm();
 473                         }
 474                         else
 475                                 time = ao_time();
 476                 }
 477         }
 478 }
 479
 480 void
 481 ao_telemetry_set_interval(uint16_t interval)
 482 {
 483         int8_t  cur = 0;
 484         ao_telemetry_interval = interval;
 485
 486 #if AO_SEND_MEGA
 487         if (interval > 1)
 488                 ao_telemetry_mega_data_max = 1;
 489         else
 490                 ao_telemetry_mega_data_max = 2;
 491         if (ao_telemetry_mega_data_max > cur)
 492                 cur++;
 493         ao_telemetry_mega_data_cur = cur;
 494 #endif
 495 #if AO_SEND_METRUM
 496         ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
 497         if (ao_telemetry_metrum_data_max > cur)
 498                 cur++;
 499         ao_telemetry_metrum_data_cur = cur;
 500 #endif
 501
 502 #if HAS_COMPANION
 503         if (!ao_companion_setup.update_period)
 504                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 505         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 506         if (ao_telemetry_companion_max > cur)
 507                 cur++;
 508         ao_telemetry_companion_cur = cur;
 509 #endif
 510
 511         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 512 #if HAS_COMPANION
 513         if (ao_telemetry_config_max > cur)
 514                 cur++;
 515         ao_telemetry_config_cur = cur;
 516 #endif
 517
 518 #if HAS_GPS
 519         if (ao_telemetry_config_max > cur)
 520                 cur++;
 521         ao_telemetry_loc_cur = cur;
 522         if (ao_telemetry_config_max > cur)
 523                 cur++;
 524         ao_telemetry_sat_cur = cur;
 525 #endif
 526         ao_wakeup(&telemetry);
 527 }
 528
 529 #if HAS_RDF
 530 void
 531 ao_rdf_set(uint8_t rdf)
 532 {
 533         ao_rdf = rdf;
 534         if (rdf == 0)
 535                 ao_radio_rdf_abort();
 536         else {
 537                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 538         }
 539 }
 540 #endif
 541
 542 __xdata struct ao_task  ao_telemetry_task;
 543
 544 void
 545 ao_telemetry_init()
 546 {
 547         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 548 }