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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 #if HAS_MPU6000
 108         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 109         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 110         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 111
 112         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 113         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 114         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 115 #endif
 116
 117 #if HAS_HMC5883
 118         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 119         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 120         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 121 #endif
 122
 123         ao_radio_send(&telemetry, sizeof (telemetry));
 124 }
 125
 126 static __pdata int8_t ao_telemetry_mega_data_max;
 127 static __pdata int8_t ao_telemetry_mega_data_cur;
 128
 129 /* Send mega data packet */
 130 static void
 131 ao_send_mega_data(void)
 132 {
 133         if (--ao_telemetry_mega_data_cur <= 0) {
 134                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 135                 uint8_t i;
 136
 137                 telemetry.generic.tick = packet->tick;
 138                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 139
 140                 telemetry.mega_data.state = ao_flight_state;
 141                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 142                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 143
 144                 /* XXX figure out right shift value; 4 might suffice */
 145                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 146                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 8;
 147
 148                 telemetry.mega_data.ground_pres = ao_ground_pres;
 149                 telemetry.mega_data.ground_accel = ao_ground_accel;
 150                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 151                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 152
 153                 telemetry.mega_data.acceleration = ao_accel;
 154                 telemetry.mega_data.speed = ao_speed;
 155                 telemetry.mega_data.height = ao_height;
 156
 157                 ao_radio_send(&telemetry, sizeof (telemetry));
 158                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 159         }
 160 }
 161 #endif /* AO_SEND_MEGA */
 162
 163 #ifdef AO_SEND_ALL_BARO
 164 static uint8_t          ao_baro_sample;
 165
 166 static void
 167 ao_send_baro(void)
 168 {
 169         uint8_t         sample = ao_sample_data;
 170         uint8_t         samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
 171
 172         if (samples > 12) {
 173                 ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
 174                 samples = 12;
 175         }
 176         telemetry.generic.tick = ao_data_ring[sample].tick;
 177         telemetry.generic.type = AO_TELEMETRY_BARO;
 178         telemetry.baro.samples = samples;
 179         for (sample = 0; sample < samples; sample++) {
 180                 telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
 181                 ao_baro_sample = ao_data_ring_next(ao_baro_sample);
 182         }
 183         ao_radio_send(&telemetry, sizeof (telemetry));
 184 }
 185 #endif
 186
 187 static __pdata int8_t ao_telemetry_config_max;
 188 static __pdata int8_t ao_telemetry_config_cur;
 189
 190 static void
 191 ao_send_configuration(void)
 192 {
 193         if (--ao_telemetry_config_cur <= 0)
 194         {
 195                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 196                 telemetry.configuration.device = AO_idProduct_NUMBER;
 197                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 198                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 199                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 200                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 201                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 202                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 203                 ao_xmemcpy (telemetry.configuration.callsign,
 204                             ao_config.callsign,
 205                             AO_MAX_CALLSIGN);
 206                 ao_xmemcpy (telemetry.configuration.version,
 207                             CODE_TO_XDATA(ao_version),
 208                             AO_MAX_VERSION);
 209                 ao_radio_send(&telemetry, sizeof (telemetry));
 210                 ao_telemetry_config_cur = ao_telemetry_config_max;
 211         }
 212 }
 213
 214 #if HAS_GPS
 215
 216 static __pdata int8_t ao_telemetry_loc_cur;
 217 static __pdata int8_t ao_telemetry_sat_cur;
 218
 219 static void
 220 ao_send_location(void)
 221 {
 222         if (--ao_telemetry_loc_cur <= 0)
 223         {
 224                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 225                 ao_mutex_get(&ao_gps_mutex);
 226                 ao_xmemcpy(&telemetry.location.flags,
 227                        &ao_gps_data.flags,
 228                        26);
 229                 ao_mutex_put(&ao_gps_mutex);
 230                 ao_radio_send(&telemetry, sizeof (telemetry));
 231                 ao_telemetry_loc_cur = ao_telemetry_config_max;
 232         }
 233 }
 234
 235 static void
 236 ao_send_satellite(void)
 237 {
 238         if (--ao_telemetry_sat_cur <= 0)
 239         {
 240                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 241                 ao_mutex_get(&ao_gps_mutex);
 242                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 243                 ao_xmemcpy(&telemetry.satellite.sats,
 244                        &ao_gps_tracking_data.sats,
 245                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 246                 ao_mutex_put(&ao_gps_mutex);
 247                 ao_radio_send(&telemetry, sizeof (telemetry));
 248                 ao_telemetry_sat_cur = ao_telemetry_config_max;
 249         }
 250 }
 251 #endif
 252
 253 #if HAS_COMPANION
 254
 255 static __pdata int8_t ao_telemetry_companion_max;
 256 static __pdata int8_t ao_telemetry_companion_cur;
 257
 258 static void
 259 ao_send_companion(void)
 260 {
 261         if (--ao_telemetry_companion_cur <= 0) {
 262                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 263                 telemetry.companion.board_id = ao_companion_setup.board_id;
 264                 telemetry.companion.update_period = ao_companion_setup.update_period;
 265                 telemetry.companion.channels = ao_companion_setup.channels;
 266                 ao_mutex_get(&ao_companion_mutex);
 267                 ao_xmemcpy(&telemetry.companion.companion_data,
 268                        ao_companion_data,
 269                        ao_companion_setup.channels * 2);
 270                 ao_mutex_put(&ao_companion_mutex);
 271                 ao_radio_send(&telemetry, sizeof (telemetry));
 272                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 273         }
 274 }
 275 #endif
 276
 277 void
 278 ao_telemetry(void)
 279 {
 280         uint16_t        time;
 281         int16_t         delay;
 282
 283         ao_config_get();
 284         if (!ao_config.radio_enable)
 285                 ao_exit();
 286         while (!ao_flight_number)
 287                 ao_sleep(&ao_flight_number);
 288
 289         telemetry.generic.serial = ao_serial_number;
 290         for (;;) {
 291                 while (ao_telemetry_interval == 0)
 292                         ao_sleep(&telemetry);
 293                 time = ao_rdf_time = ao_time();
 294                 while (ao_telemetry_interval) {
 295
 296
 297 #ifdef AO_SEND_ALL_BARO
 298                         ao_send_baro();
 299 #endif
 300 #ifdef AO_SEND_MEGA
 301                         ao_send_mega_sensor();
 302                         ao_send_mega_data();
 303 #else
 304                         ao_send_sensor();
 305 #endif
 306
 307 #if HAS_COMPANION
 308                         if (ao_companion_running)
 309                                 ao_send_companion();
 310 #endif
 311                         ao_send_configuration();
 312 #if HAS_GPS
 313                         ao_send_location();
 314                         ao_send_satellite();
 315 #endif
 316 #ifndef AO_SEND_ALL_BARO
 317                         if (ao_rdf &&
 318                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
 319                         {
 320                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 321                                 ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
 322                         }
 323 #endif
 324                         time += ao_telemetry_interval;
 325                         delay = time - ao_time();
 326                         if (delay > 0) {
 327                                 ao_alarm(delay);
 328                                 ao_sleep(&telemetry);
 329                                 ao_clear_alarm();
 330                         }
 331                         else
 332                                 time = ao_time();
 333                 }
 334         }
 335 }
 336
 337 void
 338 ao_telemetry_set_interval(uint16_t interval)
 339 {
 340         int8_t  cur = 0;
 341         ao_telemetry_interval = interval;
 342
 343 #if AO_SEND_MEGA
 344         if (interval > 1)
 345                 ao_telemetry_mega_data_max = 1;
 346         else
 347                 ao_telemetry_mega_data_max = 2;
 348         if (ao_telemetry_mega_data_max > cur)
 349                 cur++;
 350         ao_telemetry_mega_data_cur = cur;
 351 #endif
 352
 353 #if HAS_COMPANION
 354         if (!ao_companion_setup.update_period)
 355                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 356         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 357         if (ao_telemetry_companion_max > cur)
 358                 cur++;
 359         ao_telemetry_companion_cur = cur;
 360 #endif
 361
 362         ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
 363 #if HAS_COMPANION
 364         if (ao_telemetry_config_max > cur)
 365                 cur++;
 366         ao_telemetry_config_cur = cur;
 367 #endif
 368
 369 #if HAS_GPS
 370         if (ao_telemetry_config_max > cur)
 371                 cur++;
 372         ao_telemetry_loc_cur = cur;
 373         if (ao_telemetry_config_max > cur)
 374                 cur++;
 375         ao_telemetry_sat_cur = cur;
 376 #endif
 377         ao_wakeup(&telemetry);
 378 }
 379
 380 void
 381 ao_rdf_set(uint8_t rdf)
 382 {
 383         ao_rdf = rdf;
 384         if (rdf == 0)
 385                 ao_radio_rdf_abort();
 386         else
 387                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 388 }
 389
 390 __xdata struct ao_task  ao_telemetry_task;
 391
 392 void
 393 ao_telemetry_init()
 394 {
 395         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 396 }