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