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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(MEGAMETRUM)
  39 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_MEGAMETRUM
  40 #endif
  41
  42 #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)
  43 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  44 #endif
  45
  46 #if defined(TELEMINI_V_1_0)
  47 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  48 #endif
  49
  50 #if defined(TELENANO_V_0_1)
  51 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  52 #endif
  53
  54 static __xdata union ao_telemetry_all   telemetry;
  55
  56 /* Send sensor packet */
  57 static void
  58 ao_send_sensor(void)
  59 {
  60         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  61
  62         telemetry.generic.tick = packet->tick;
  63         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  64
  65         telemetry.sensor.state = ao_flight_state;
  66 #if HAS_ACCEL
  67         telemetry.sensor.accel = packet->adc.accel;
  68 #else
  69         telemetry.sensor.accel = 0;
  70 #endif
  71         telemetry.sensor.pres = ao_data_pres(packet);
  72         telemetry.sensor.temp = packet->adc.temp;
  73         telemetry.sensor.v_batt = packet->adc.v_batt;
  74 #if HAS_IGNITE
  75         telemetry.sensor.sense_d = packet->adc.sense_d;
  76         telemetry.sensor.sense_m = packet->adc.sense_m;
  77 #else
  78         telemetry.sensor.sense_d = 0;
  79         telemetry.sensor.sense_m = 0;
  80 #endif
  81
  82         telemetry.sensor.acceleration = ao_accel;
  83         telemetry.sensor.speed = ao_speed;
  84         telemetry.sensor.height = ao_height;
  85
  86         telemetry.sensor.ground_pres = ao_ground_pres;
  87 #if HAS_ACCEL
  88         telemetry.sensor.ground_accel = ao_ground_accel;
  89         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
  90         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
  91 #else
  92         telemetry.sensor.ground_accel = 0;
  93         telemetry.sensor.accel_plus_g = 0;
  94         telemetry.sensor.accel_minus_g = 0;
  95 #endif
  96
  97         ao_radio_send(&telemetry, sizeof (telemetry));
  98 }
  99
 100 static uint8_t          ao_baro_sample;
 101
 102 #ifdef AO_SEND_ALL_BARO
 103 static void
 104 ao_send_baro(void)
 105 {
 106         uint8_t         sample = ao_sample_data;
 107         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 108
 109         if (samples > 12) {
 110                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 111                 samples = 12;
 112         }
 113         telemetry.generic.tick = ao_data_ring[sample].tick;
 114         telemetry.generic.type = AO_TELEMETRY_BARO;
 115         telemetry.baro.samples = samples;
 116         for (sample = 0; sample < samples; sample++) {
 117                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 118                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 119         }
 120         ao_radio_send(&telemetry, sizeof (telemetry));
 121 }
 122 #endif
 123
 124 static void
 125 ao_send_configuration(void)
 126 {
 127         if (--ao_telemetry_config_cur <= 0)
 128         {
 129                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 130                 telemetry.configuration.device = AO_idProduct_NUMBER;
 131                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 132                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 133                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 134                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 135                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 136                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 137                 ao_xmemcpy (telemetry.configuration.callsign,
 138                             ao_config.callsign,
 139                             AO_MAX_CALLSIGN);
 140                 ao_xmemcpy (telemetry.configuration.version,
 141                             CODE_TO_XDATA(ao_version),
 142                             AO_MAX_VERSION);
 143                 ao_radio_send(&telemetry, sizeof (telemetry));
 144                 ao_telemetry_config_cur = ao_telemetry_config_max;
 145         }
 146 }
 147
 148 #if HAS_GPS
 149 static void
 150 ao_send_location(void)
 151 {
 152         if (--ao_telemetry_loc_cur <= 0)
 153         {
 154                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 155                 ao_mutex_get(&ao_gps_mutex);
 156                 ao_xmemcpy(&telemetry.location.flags,
 157                        &ao_gps_data.flags,
 158                        26);
 159                 ao_mutex_put(&ao_gps_mutex);
 160                 ao_radio_send(&telemetry, sizeof (telemetry));
 161                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 162         }
 163 }
 164
 165 static void
 166 ao_send_satellite(void)
 167 {
 168         if (--ao_telemetry_sat_cur <= 0)
 169         {
 170                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 171                 ao_mutex_get(&ao_gps_mutex);
 172                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 173                 ao_xmemcpy(&telemetry.satellite.sats,
 174                        &ao_gps_tracking_data.sats,
 175                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 176                 ao_mutex_put(&ao_gps_mutex);
 177                 ao_radio_send(&telemetry, sizeof (telemetry));
 178                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 179         }
 180 }
 181 #endif
 182
 183 #if HAS_COMPANION
 184 static void
 185 ao_send_companion(void)
 186 {
 187         if (--ao_telemetry_companion_cur <= 0) {
 188                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 189                 telemetry.companion.board_id = ao_companion_setup.board_id;
 190                 telemetry.companion.update_period = ao_companion_setup.update_period;
 191                 telemetry.companion.channels = ao_companion_setup.channels;
 192                 ao_mutex_get(&ao_companion_mutex);
 193                 ao_xmemcpy(&telemetry.companion.companion_data,
 194                        ao_companion_data,
 195                        ao_companion_setup.channels * 2);
 196                 ao_mutex_put(&ao_companion_mutex);
 197                 ao_radio_send(&telemetry, sizeof (telemetry));
 198                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 199         }
 200 }
 201 #endif
 202
 203 void
 204 ao_telemetry(void)
 205 {
 206         uint16_t        time;
 207         int16_t         delay;
 208
 209         ao_config_get();
 210         if (!ao_config.radio_enable)
 211                 ao_exit();
 212         while (!ao_flight_number)
 213                 ao_sleep(&ao_flight_number);
 214
 215         telemetry.generic.serial = ao_serial_number;
 216         for (;;) {
 217                 while (ao_telemetry_interval == 0)
 218                         ao_sleep(&telemetry);
 219                 time = ao_rdf_time = ao_time();
 220                 while (ao_telemetry_interval) {
 221
 222
 223 #ifdef AO_SEND_ALL_BARO
 224                         ao_send_baro();
 225 #endif
 226                         ao_send_sensor();
 227 #if HAS_COMPANION
 228                         if (ao_companion_running)
 229                                 ao_send_companion();
 230 #endif
 231                         ao_send_configuration();
 232 #if HAS_GPS
 233                         ao_send_location();
 234                         ao_send_satellite();
 235 #endif
 236 #ifndef AO_SEND_ALL_BARO
 237                         if (ao_rdf &&
 238                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 239                         {
 240                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 241                                 ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
 242                         }
 243 #endif
 244                         time += ao_telemetry_interval;
 245                         delay = time - ao_time();
 246                         if (delay > 0) {
 247                                 ao_alarm(delay);
 248                                 ao_sleep(&telemetry);
 249                                 ao_clear_alarm();
 250                         }
 251                         else
 252                                 time = ao_time();
 253                 }
 254         }
 255 }
 256
 257 void
 258 ao_telemetry_set_interval(uint16_t interval)
 259 {
 260         ao_telemetry_interval = interval;
 261
 262 #if HAS_COMPANION
 263         if (!ao_companion_setup.update_period)
 264                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 265         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 266         ao_telemetry_companion_cur = 1;
 267 #endif
 268
 269         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 270 #if HAS_COMPANION
 271         ao_telemetry_config_cur = ao_telemetry_companion_cur;
 272         if (ao_telemetry_config_max > ao_telemetry_config_cur)
 273                 ao_telemetry_config_cur++;
 274 #else
 275         ao_telemetry_config_cur = 1;
 276 #endif
 277
 278 #if HAS_GPS
 279         ao_telemetry_loc_cur = ao_telemetry_config_cur;
 280         if (ao_telemetry_config_max > ao_telemetry_loc_cur)
 281                 ao_telemetry_loc_cur++;
 282         ao_telemetry_sat_cur = ao_telemetry_loc_cur;
 283         if (ao_telemetry_config_max > ao_telemetry_sat_cur)
 284                 ao_telemetry_sat_cur++;
 285 #endif
 286         ao_wakeup(&telemetry);
 287 }
 288
 289 void
 290 ao_rdf_set(uint8_t rdf)
 291 {
 292         ao_rdf = rdf;
 293         if (rdf == 0)
 294                 ao_radio_rdf_abort();
 295         else
 296                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 297 }
 298
 299 __xdata struct ao_task  ao_telemetry_task;
 300
 301 void
 302 ao_telemetry_init()
 303 {
 304         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 305 }