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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.type = AO_TELEMETRY_METRUM_SENSOR;
 186
 187         telemetry.metrum_sensor.state = ao_flight_state;
 188         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 189         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 190         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 191
 192         telemetry.metrum_sensor.acceleration = ao_accel;
 193         telemetry.metrum_sensor.speed = ao_speed;
 194         telemetry.metrum_sensor.height = ao_height;
 195
 196         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 197         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 198         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 199
 200         ao_radio_send(&telemetry, sizeof (telemetry));
 201 }
 202
 203 static __pdata int8_t ao_telemetry_metrum_data_max;
 204 static __pdata int8_t ao_telemetry_metrum_data_cur;
 205
 206 /* Send telemetrum data packet */
 207 static void
 208 ao_send_metrum_data(void)
 209 {
 210         if (--ao_telemetry_metrum_data_cur <= 0) {
 211                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 212                 uint8_t i;
 213
 214                 telemetry.generic.tick = packet->tick;
 215                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 216
 217                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 218                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 219                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 220                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 221
 222                 ao_radio_send(&telemetry, sizeof (telemetry));
 223                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 224         }
 225 }
 226 #endif /* AO_SEND_METRUM */
 227
 228 #ifdef AO_SEND_MINI
 229
 230 static void
 231 ao_send_mini(void)
 232 {
 233         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 234
 235         telemetry.generic.tick = packet->tick;
 236         telemetry.generic.type = AO_TELEMETRY_MINI;
 237
 238         telemetry.mini.state = ao_flight_state;
 239
 240         telemetry.mini.v_batt = packet->adc.v_batt;
 241         telemetry.mini.sense_a = packet->adc.sense_a;
 242         telemetry.mini.sense_m = packet->adc.sense_m;
 243
 244         telemetry.mini.pres = ao_data_pres(packet);
 245         telemetry.mini.temp = ao_data_temp(packet);
 246
 247         telemetry.mini.acceleration = ao_accel;
 248         telemetry.mini.speed = ao_speed;
 249         telemetry.mini.height = ao_height;
 250
 251         telemetry.mini.ground_pres = ao_ground_pres;
 252
 253         ao_radio_send(&telemetry, sizeof (telemetry));
 254 }
 255
 256 #endif /* AO_SEND_MINI */
 257
 258 #ifdef AO_SEND_ALL_BARO
 259 static uint8_t          ao_baro_sample;
 260
 261 static void
 262 ao_send_baro(void)
 263 {
 264         uint8_t         sample = ao_sample_data;
 265         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 266
 267         if (samples > 12) {
 268                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 269                 samples = 12;
 270         }
 271         telemetry.generic.tick = ao_data_ring[sample].tick;
 272         telemetry.generic.type = AO_TELEMETRY_BARO;
 273         telemetry.baro.samples = samples;
 274         for (sample = 0; sample < samples; sample++) {
 275                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 276                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 277         }
 278         ao_radio_send(&telemetry, sizeof (telemetry));
 279 }
 280 #endif
 281
 282 static __pdata int8_t ao_telemetry_config_max;
 283 static __pdata int8_t ao_telemetry_config_cur;
 284
 285 static void
 286 ao_send_configuration(void)
 287 {
 288         if (--ao_telemetry_config_cur <= 0)
 289         {
 290                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 291                 telemetry.configuration.device = AO_idProduct_NUMBER;
 292 #if HAS_LOG
 293                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 294 #else
 295                 telemetry.configuration.flight = ao_flight_number;
 296 #endif
 297                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 298                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 299                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 300                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 301                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 302                 ao_xmemcpy (telemetry.configuration.callsign,
 303                             ao_config.callsign,
 304                             AO_MAX_CALLSIGN);
 305                 ao_xmemcpy (telemetry.configuration.version,
 306                             CODE_TO_XDATA(ao_version),
 307                             AO_MAX_VERSION);
 308                 ao_radio_send(&telemetry, sizeof (telemetry));
 309                 ao_telemetry_config_cur = ao_telemetry_config_max;
 310         }
 311 }
 312
 313 #if HAS_GPS
 314
 315 static __pdata int8_t ao_telemetry_loc_cur;
 316 static __pdata int8_t ao_telemetry_sat_cur;
 317
 318 static void
 319 ao_send_location(void)
 320 {
 321         if (--ao_telemetry_loc_cur <= 0)
 322         {
 323                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 324                 ao_mutex_get(&ao_gps_mutex);
 325                 ao_xmemcpy(&telemetry.location.flags,
 326                        &ao_gps_data.flags,
 327                        26);
 328                 telemetry.location.tick = ao_gps_tick;
 329                 ao_mutex_put(&ao_gps_mutex);
 330                 ao_radio_send(&telemetry, sizeof (telemetry));
 331                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 332         }
 333 }
 334
 335 static void
 336 ao_send_satellite(void)
 337 {
 338         if (--ao_telemetry_sat_cur <= 0)
 339         {
 340                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 341                 ao_mutex_get(&ao_gps_mutex);
 342                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 343                 ao_xmemcpy(&telemetry.satellite.sats,
 344                        &ao_gps_tracking_data.sats,
 345                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 346                 ao_mutex_put(&ao_gps_mutex);
 347                 ao_radio_send(&telemetry, sizeof (telemetry));
 348                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 349         }
 350 }
 351 #endif
 352
 353 #if HAS_COMPANION
 354
 355 static __pdata int8_t ao_telemetry_companion_max;
 356 static __pdata int8_t ao_telemetry_companion_cur;
 357
 358 static void
 359 ao_send_companion(void)
 360 {
 361         if (--ao_telemetry_companion_cur <= 0) {
 362                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 363                 telemetry.companion.board_id = ao_companion_setup.board_id;
 364                 telemetry.companion.update_period = ao_companion_setup.update_period;
 365                 telemetry.companion.channels = ao_companion_setup.channels;
 366                 ao_mutex_get(&ao_companion_mutex);
 367                 ao_xmemcpy(&telemetry.companion.companion_data,
 368                        ao_companion_data,
 369                        ao_companion_setup.channels * 2);
 370                 ao_mutex_put(&ao_companion_mutex);
 371                 ao_radio_send(&telemetry, sizeof (telemetry));
 372                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 373         }
 374 }
 375 #endif
 376
 377 void
 378 ao_telemetry(void)
 379 {
 380         uint16_t        time;
 381         int16_t         delay;
 382
 383         ao_config_get();
 384         if (!ao_config.radio_enable)
 385                 ao_exit();
 386         while (!ao_flight_number)
 387                 ao_sleep(&ao_flight_number);
 388
 389         telemetry.generic.serial = ao_serial_number;
 390         for (;;) {
 391                 while (ao_telemetry_interval == 0)
 392                         ao_sleep(&telemetry);
 393                 time = ao_time();
 394 #if HAS_RDF
 395                 ao_rdf_time = time;
 396 #endif
 397 #if HAS_APRS
 398                 ao_aprs_time = time;
 399 #endif
 400                 while (ao_telemetry_interval) {
 401 #if HAS_APRS
 402                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 403 #endif
 404                         {
 405 #ifdef AO_SEND_ALL_BARO
 406                                 ao_send_baro();
 407 #endif
 408
 409 #if HAS_FLIGHT
 410 # ifdef AO_SEND_MEGA
 411                                 ao_send_mega_sensor();
 412                                 ao_send_mega_data();
 413 # endif
 414 # ifdef AO_SEND_METRUM
 415                                 ao_send_metrum_sensor();
 416                                 ao_send_metrum_data();
 417 # endif
 418 # ifdef AO_SEND_MINI
 419                                 ao_send_mini();
 420 # endif
 421 # ifdef AO_TELEMETRY_SENSOR
 422                                 ao_send_sensor();
 423 # endif
 424 #endif /* HAS_FLIGHT */
 425
 426 #if HAS_COMPANION
 427                                 if (ao_companion_running)
 428                                         ao_send_companion();
 429 #endif
 430                                 ao_send_configuration();
 431 #if HAS_GPS
 432                                 ao_send_location();
 433                                 ao_send_satellite();
 434 #endif
 435                         }
 436 #ifndef AO_SEND_ALL_BARO
 437 #if HAS_RDF
 438                         if (ao_rdf &&
 439 #if HAS_APRS
 440                             !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
 441 #endif /* HAS_APRS */
 442                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 443                         {
 444 #if HAS_IGNITE_REPORT
 445                                 uint8_t c;
 446 #endif /* HAS_IGNITE_REPORT */
 447                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 448 #if HAS_IGNITE_REPORT
 449                                 if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 450                                         ao_radio_continuity(c);
 451                                 else
 452 #endif /* HAS_IGNITE_REPORT*/
 453                                         ao_radio_rdf();
 454                         }
 455 #endif /* HAS_RDF */
 456 #if HAS_APRS
 457                         if (ao_config.aprs_interval != 0 &&
 458                             (int16_t) (ao_time() - ao_aprs_time) >= 0)
 459                         {
 460                                 ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 461                                 ao_aprs_send();
 462                         }
 463 #endif /* HAS_APRS */
 464 #endif /* !AO_SEND_ALL_BARO */
 465                         time += ao_telemetry_interval;
 466                         delay = time - ao_time();
 467                         if (delay > 0) {
 468                                 ao_alarm(delay);
 469                                 ao_sleep(&telemetry);
 470                                 ao_clear_alarm();
 471                         }
 472                         else
 473                                 time = ao_time();
 474                 bottom: ;
 475                 }
 476         }
 477 }
 478
 479 void
 480 ao_telemetry_set_interval(uint16_t interval)
 481 {
 482         int8_t  cur = 0;
 483         ao_telemetry_interval = interval;
 484
 485 #if AO_SEND_MEGA
 486         if (interval > 1)
 487                 ao_telemetry_mega_data_max = 1;
 488         else
 489                 ao_telemetry_mega_data_max = 2;
 490         if (ao_telemetry_mega_data_max > cur)
 491                 cur++;
 492         ao_telemetry_mega_data_cur = cur;
 493 #endif
 494 #if AO_SEND_METRUM
 495         ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
 496         if (ao_telemetry_metrum_data_max > cur)
 497                 cur++;
 498         ao_telemetry_metrum_data_cur = cur;
 499 #endif
 500
 501 #if HAS_COMPANION
 502         if (!ao_companion_setup.update_period)
 503                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 504         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 505         if (ao_telemetry_companion_max > cur)
 506                 cur++;
 507         ao_telemetry_companion_cur = cur;
 508 #endif
 509
 510         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 511 #if HAS_COMPANION
 512         if (ao_telemetry_config_max > cur)
 513                 cur++;
 514         ao_telemetry_config_cur = cur;
 515 #endif
 516
 517 #if HAS_GPS
 518         if (ao_telemetry_config_max > cur)
 519                 cur++;
 520         ao_telemetry_loc_cur = cur;
 521         if (ao_telemetry_config_max > cur)
 522                 cur++;
 523         ao_telemetry_sat_cur = cur;
 524 #endif
 525         ao_wakeup(&telemetry);
 526 }
 527
 528 #if HAS_RDF
 529 void
 530 ao_rdf_set(uint8_t rdf)
 531 {
 532         ao_rdf = rdf;
 533         if (rdf == 0)
 534                 ao_radio_rdf_abort();
 535         else {
 536                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 537         }
 538 }
 539 #endif
 540
 541 __xdata struct ao_task  ao_telemetry_task;
 542
 543 void
 544 ao_telemetry_init()
 545 {
 546         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 547 }