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