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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 uint8_t ao_rdf = 0;
  23 static __pdata uint16_t ao_rdf_time;
  24
  25 #define AO_RDF_INTERVAL_TICKS   AO_SEC_TO_TICKS(5)
  26 #define AO_RDF_LENGTH_MS        500
  27
  28 #if defined(MEGAMETRUM)
  29 #define AO_SEND_MEGA    1
  30 #endif
  31
  32 #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)
  33 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  34 #endif
  35
  36 #if defined(TELEMINI_V_1_0)
  37 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  38 #endif
  39
  40 #if defined(TELENANO_V_0_1)
  41 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  42 #endif
  43
  44 static __xdata union ao_telemetry_all   telemetry;
  45
  46 #if defined AO_TELEMETRY_SENSOR
  47 /* Send sensor packet */
  48 static void
  49 ao_send_sensor(void)
  50 {
  51         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  52
  53         telemetry.generic.tick = packet->tick;
  54         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  55
  56         telemetry.sensor.state = ao_flight_state;
  57 #if HAS_ACCEL
  58         telemetry.sensor.accel = packet->adc.accel;
  59 #else
  60         telemetry.sensor.accel = 0;
  61 #endif
  62         telemetry.sensor.pres = ao_data_pres(packet);
  63         telemetry.sensor.temp = packet->adc.temp;
  64         telemetry.sensor.v_batt = packet->adc.v_batt;
  65 #if HAS_IGNITE
  66         telemetry.sensor.sense_d = packet->adc.sense_d;
  67         telemetry.sensor.sense_m = packet->adc.sense_m;
  68 #else
  69         telemetry.sensor.sense_d = 0;
  70         telemetry.sensor.sense_m = 0;
  71 #endif
  72
  73         telemetry.sensor.acceleration = ao_accel;
  74         telemetry.sensor.speed = ao_speed;
  75         telemetry.sensor.height = ao_height;
  76
  77         telemetry.sensor.ground_pres = ao_ground_pres;
  78 #if HAS_ACCEL
  79         telemetry.sensor.ground_accel = ao_ground_accel;
  80         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
  81         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
  82 #else
  83         telemetry.sensor.ground_accel = 0;
  84         telemetry.sensor.accel_plus_g = 0;
  85         telemetry.sensor.accel_minus_g = 0;
  86 #endif
  87
  88         ao_radio_send(&telemetry, sizeof (telemetry));
  89 }
  90 #endif
  91
  92
  93 #ifdef AO_SEND_MEGA
  94 /* Send mega sensor packet */
  95 static void
  96 ao_send_mega_sensor(void)
  97 {
  98         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  99
 100         telemetry.generic.tick = packet->tick;
 101         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 102
 103         telemetry.mega_sensor.accel = ao_data_accel(packet);
 104         telemetry.mega_sensor.pres = ao_data_pres(packet);
 105         telemetry.mega_sensor.temp = ao_data_temp(packet);
 106
 107         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 108         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 109         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 110
 111         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 112         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 113         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 114
 115         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 116         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 117         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 118
 119         ao_radio_send(&telemetry, sizeof (telemetry));
 120 }
 121
 122 static __pdata int8_t ao_telemetry_mega_data_max;
 123 static __pdata int8_t ao_telemetry_mega_data_cur;
 124
 125 /* Send mega data packet */
 126 static void
 127 ao_send_mega_data(void)
 128 {
 129         if (--ao_telemetry_mega_data_cur <= 0) {
 130                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 131                 uint8_t i;
 132
 133                 telemetry.generic.tick = packet->tick;
 134                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 135
 136                 telemetry.mega_data.state = ao_flight_state;
 137                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 138                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 139
 140                 /* XXX figure out right shift value; 4 might suffice */
 141                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 142                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 8;
 143
 144                 telemetry.mega_data.ground_pres = ao_ground_pres;
 145                 telemetry.mega_data.ground_accel = ao_ground_accel;
 146                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 147                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 148
 149                 telemetry.mega_data.acceleration = ao_accel;
 150                 telemetry.mega_data.speed = ao_speed;
 151                 telemetry.mega_data.height = ao_height;
 152
 153                 ao_radio_send(&telemetry, sizeof (telemetry));
 154                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 155         }
 156 }
 157 #endif /* AO_SEND_MEGA */
 158
 159 #ifdef AO_SEND_ALL_BARO
 160 static uint8_t          ao_baro_sample;
 161
 162 static void
 163 ao_send_baro(void)
 164 {
 165         uint8_t         sample = ao_sample_data;
 166         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 167
 168         if (samples > 12) {
 169                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 170                 samples = 12;
 171         }
 172         telemetry.generic.tick = ao_data_ring[sample].tick;
 173         telemetry.generic.type = AO_TELEMETRY_BARO;
 174         telemetry.baro.samples = samples;
 175         for (sample = 0; sample < samples; sample++) {
 176                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 177                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 178         }
 179         ao_radio_send(&telemetry, sizeof (telemetry));
 180 }
 181 #endif
 182
 183 static __pdata int8_t ao_telemetry_config_max;
 184 static __pdata int8_t ao_telemetry_config_cur;
 185
 186 static void
 187 ao_send_configuration(void)
 188 {
 189         if (--ao_telemetry_config_cur <= 0)
 190         {
 191                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 192                 telemetry.configuration.device = AO_idProduct_NUMBER;
 193                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 194                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 195                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 196                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 197                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 198                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 199                 ao_xmemcpy (telemetry.configuration.callsign,
 200                             ao_config.callsign,
 201                             AO_MAX_CALLSIGN);
 202                 ao_xmemcpy (telemetry.configuration.version,
 203                             CODE_TO_XDATA(ao_version),
 204                             AO_MAX_VERSION);
 205                 ao_radio_send(&telemetry, sizeof (telemetry));
 206                 ao_telemetry_config_cur = ao_telemetry_config_max;
 207         }
 208 }
 209
 210 #if HAS_GPS
 211
 212 static __pdata int8_t ao_telemetry_loc_cur;
 213 static __pdata int8_t ao_telemetry_sat_cur;
 214
 215 static void
 216 ao_send_location(void)
 217 {
 218         if (--ao_telemetry_loc_cur <= 0)
 219         {
 220                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 221                 ao_mutex_get(&ao_gps_mutex);
 222                 ao_xmemcpy(&telemetry.location.flags,
 223                        &ao_gps_data.flags,
 224                        26);
 225                 ao_mutex_put(&ao_gps_mutex);
 226                 ao_radio_send(&telemetry, sizeof (telemetry));
 227                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 228         }
 229 }
 230
 231 static void
 232 ao_send_satellite(void)
 233 {
 234         if (--ao_telemetry_sat_cur <= 0)
 235         {
 236                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 237                 ao_mutex_get(&ao_gps_mutex);
 238                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 239                 ao_xmemcpy(&telemetry.satellite.sats,
 240                        &ao_gps_tracking_data.sats,
 241                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 242                 ao_mutex_put(&ao_gps_mutex);
 243                 ao_radio_send(&telemetry, sizeof (telemetry));
 244                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 245         }
 246 }
 247 #endif
 248
 249 #if HAS_COMPANION
 250
 251 static __pdata int8_t ao_telemetry_companion_max;
 252 static __pdata int8_t ao_telemetry_companion_cur;
 253
 254 static void
 255 ao_send_companion(void)
 256 {
 257         if (--ao_telemetry_companion_cur <= 0) {
 258                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 259                 telemetry.companion.board_id = ao_companion_setup.board_id;
 260                 telemetry.companion.update_period = ao_companion_setup.update_period;
 261                 telemetry.companion.channels = ao_companion_setup.channels;
 262                 ao_mutex_get(&ao_companion_mutex);
 263                 ao_xmemcpy(&telemetry.companion.companion_data,
 264                        ao_companion_data,
 265                        ao_companion_setup.channels * 2);
 266                 ao_mutex_put(&ao_companion_mutex);
 267                 ao_radio_send(&telemetry, sizeof (telemetry));
 268                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 269         }
 270 }
 271 #endif
 272
 273 void
 274 ao_telemetry(void)
 275 {
 276         uint16_t        time;
 277         int16_t         delay;
 278
 279         ao_config_get();
 280         if (!ao_config.radio_enable)
 281                 ao_exit();
 282         while (!ao_flight_number)
 283                 ao_sleep(&ao_flight_number);
 284
 285         telemetry.generic.serial = ao_serial_number;
 286         for (;;) {
 287                 while (ao_telemetry_interval == 0)
 288                         ao_sleep(&telemetry);
 289                 time = ao_rdf_time = ao_time();
 290                 while (ao_telemetry_interval) {
 291
 292
 293 #ifdef AO_SEND_ALL_BARO
 294                         ao_send_baro();
 295 #endif
 296 #ifdef AO_SEND_MEGA
 297                         ao_send_mega_sensor();
 298                         ao_send_mega_data();
 299 #else
 300                         ao_send_sensor();
 301 #endif
 302
 303 #if HAS_COMPANION
 304                         if (ao_companion_running)
 305                                 ao_send_companion();
 306 #endif
 307                         ao_send_configuration();
 308 #if HAS_GPS
 309                         ao_send_location();
 310                         ao_send_satellite();
 311 #endif
 312 #ifndef AO_SEND_ALL_BARO
 313                         if (ao_rdf &&
 314                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 315                         {
 316                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 317                                 ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
 318                         }
 319 #endif
 320                         time += ao_telemetry_interval;
 321                         delay = time - ao_time();
 322                         if (delay > 0) {
 323                                 ao_alarm(delay);
 324                                 ao_sleep(&telemetry);
 325                                 ao_clear_alarm();
 326                         }
 327                         else
 328                                 time = ao_time();
 329                 }
 330         }
 331 }
 332
 333 void
 334 ao_telemetry_set_interval(uint16_t interval)
 335 {
 336         int8_t  cur = 0;
 337         ao_telemetry_interval = interval;
 338
 339 #if AO_SEND_MEGA
 340         if (interval > 1)
 341                 ao_telemetry_mega_data_max = 1;
 342         else
 343                 ao_telemetry_mega_data_max = 2;
 344         if (ao_telemetry_mega_data_max > cur)
 345                 cur++;
 346         ao_telemetry_mega_data_cur = cur;
 347 #endif
 348
 349 #if HAS_COMPANION
 350         if (!ao_companion_setup.update_period)
 351                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 352         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 353         if (ao_telemetry_companion_max > cur)
 354                 cur++;
 355         ao_telemetry_companion_cur = cur;
 356 #endif
 357
 358         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 359 #if HAS_COMPANION
 360         if (ao_telemetry_config_max > cur)
 361                 cur++;
 362         ao_telemetry_config_cur = cur;
 363 #endif
 364
 365 #if HAS_GPS
 366         if (ao_telemetry_config_max > cur)
 367                 cur++;
 368         ao_telemetry_loc_cur = cur;
 369         if (ao_telemetry_config_max > cur)
 370                 cur++;
 371         ao_telemetry_sat_cur = cur;
 372 #endif
 373         ao_wakeup(&telemetry);
 374 }
 375
 376 void
 377 ao_rdf_set(uint8_t rdf)
 378 {
 379         ao_rdf = rdf;
 380         if (rdf == 0)
 381                 ao_radio_rdf_abort();
 382         else
 383                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 384 }
 385
 386 __xdata struct ao_task  ao_telemetry_task;
 387
 388 void
 389 ao_telemetry_init()
 390 {
 391         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 392 }