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   1 /*
   2  * Copyright © 2009 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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include "ao.h"
  20 #include "ao_telem.h"
  21 #include "ao_flight.h"
  22
  23 #if !HAS_MONITOR
  24 #error Must define HAS_MONITOR to 1
  25 #endif
  26
  27 #ifndef LEGACY_MONITOR
  28 #error Must define LEGACY_MONITOR
  29 #endif
  30
  31 #ifndef HAS_MONITOR_PUT
  32 #define HAS_MONITOR_PUT 1
  33 #endif
  34
  35 #ifndef AO_MONITOR_LED
  36 #error Must define AO_MONITOR_LED
  37 #endif
  38
  39 uint8_t ao_monitoring_mutex;
  40 uint8_t ao_monitoring;
  41 static uint8_t ao_monitor_disabled;
  42 static uint8_t ao_internal_monitoring;
  43 static uint8_t ao_external_monitoring;
  44
  45 union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
  46
  47 uint8_t ao_monitor_head;
  48
  49 static void
  50 _ao_monitor_adjust(void)
  51 {
  52         if (ao_monitoring)
  53                 ao_radio_recv_abort();
  54         if (ao_monitor_disabled)
  55                 ao_monitoring = 0;
  56         else {
  57                 if (ao_external_monitoring)
  58                         ao_monitoring = ao_external_monitoring;
  59                 else
  60                         ao_monitoring = ao_internal_monitoring;
  61         }
  62         ao_wakeup(&ao_monitoring);
  63 }
  64
  65 void
  66 ao_monitor_get(void)
  67 {
  68         uint8_t size;
  69
  70         for (;;) {
  71                 switch (ao_monitoring) {
  72                 case 0:
  73                         ao_sleep(&ao_monitoring);
  74                         continue;
  75 #if LEGACY_MONITOR
  76                 case AO_MONITORING_ORIG:
  77                         size = sizeof (struct ao_telemetry_orig_recv);
  78                         break;
  79 #endif
  80                 default:
  81                         if (ao_monitoring > AO_MAX_TELEMETRY)
  82                                 ao_monitoring = AO_MAX_TELEMETRY;
  83                         size = ao_monitoring;
  84                         break;
  85                 }
  86                 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
  87                         continue;
  88                 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
  89                 ao_wakeup(&ao_monitor_head);
  90         }
  91 }
  92
  93 #if AO_MONITOR_LED
  94 struct ao_task ao_monitor_blink_task;
  95
  96 void
  97 ao_monitor_blink(void)
  98 {
  99 #ifdef AO_MONITOR_BAD
 100         uint8_t         *recv;
 101 #endif
 102         for (;;) {
 103                 ao_sleep(&ao_monitor_head);
 104 #ifdef AO_MONITOR_BAD
 105                 recv = (uint8_t *) &ao_monitor_ring[ao_monitor_ring_prev(ao_monitor_head)];
 106                 if (ao_monitoring && !(recv[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK))
 107                         ao_led_for(AO_MONITOR_BAD, AO_MS_TO_TICKS(100));
 108                 else
 109 #endif
 110                         ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
 111         }
 112 }
 113 #endif
 114
 115 #if HAS_MONITOR_PUT
 116
 117 static const char xdigit[16] = {
 118         '0', '1', '2', '3', '4', '5', '6', '7',
 119         '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
 120 };
 121
 122 #define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
 123
 124 void
 125 ao_monitor_put(void)
 126 {
 127 #if LEGACY_MONITOR
 128         char callsign[AO_MAX_CALLSIGN+1];
 129 #endif
 130 #if LEGACY_MONITOR || HAS_RSSI
 131         int16_t rssi;
 132 #endif
 133         uint8_t ao_monitor_tail;
 134         uint8_t state;
 135         uint8_t sum, byte;
 136         union ao_monitor        *m;
 137
 138 #define recv_raw        ((m->raw))
 139 #define recv_orig       ((m->orig))
 140 #define recv_tiny       ((m->tiny))
 141
 142         ao_monitor_tail = ao_monitor_head;
 143         for (;;) {
 144                 while (!ao_external_monitoring)
 145                         ao_sleep(&ao_external_monitoring);
 146                 while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
 147                         ao_sleep(&ao_monitor_head);
 148                 if (!ao_external_monitoring)
 149                         continue;
 150                 m = &ao_monitor_ring[ao_monitor_tail];
 151                 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
 152                 switch (ao_monitoring) {
 153                 case 0:
 154                         break;
 155 #if LEGACY_MONITOR
 156                 case AO_MONITORING_ORIG:
 157                         state = recv_orig.telemetry_orig.flight_state;
 158
 159                         rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
 160                         ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
 161                         if (state > ao_flight_invalid)
 162                                 state = ao_flight_invalid;
 163                         if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
 164
 165                                 /* General header fields */
 166                                 printf(AO_TELEM_VERSION " %d "
 167                                        AO_TELEM_CALL " %s "
 168                                        AO_TELEM_SERIAL " %d "
 169                                        AO_TELEM_FLIGHT " %d "
 170                                        AO_TELEM_RSSI " %d "
 171                                        AO_TELEM_STATE " %s "
 172                                        AO_TELEM_TICK " %d ",
 173                                        AO_TELEMETRY_VERSION,
 174                                        callsign,
 175                                        recv_orig.telemetry_orig.serial,
 176                                        recv_orig.telemetry_orig.flight,
 177                                        rssi,
 178                                        ao_state_names[state],
 179                                        recv_orig.telemetry_orig.adc.tick);
 180
 181                                 /* Raw sensor values */
 182                                 printf(AO_TELEM_RAW_ACCEL " %d "
 183                                        AO_TELEM_RAW_BARO " %d "
 184                                        AO_TELEM_RAW_THERMO " %d "
 185                                        AO_TELEM_RAW_BATT " %d "
 186                                        AO_TELEM_RAW_DROGUE " %d "
 187                                        AO_TELEM_RAW_MAIN " %d ",
 188                                        recv_orig.telemetry_orig.adc.accel,
 189                                        recv_orig.telemetry_orig.adc.pres,
 190                                        recv_orig.telemetry_orig.adc.temp,
 191                                        recv_orig.telemetry_orig.adc.v_batt,
 192                                        recv_orig.telemetry_orig.adc.sense_d,
 193                                        recv_orig.telemetry_orig.adc.sense_m);
 194
 195                                 /* Sensor calibration values */
 196                                 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
 197                                        AO_TELEM_CAL_BARO_GROUND " %d "
 198                                        AO_TELEM_CAL_ACCEL_PLUS " %d "
 199                                        AO_TELEM_CAL_ACCEL_MINUS " %d ",
 200                                        recv_orig.telemetry_orig.ground_accel,
 201                                        recv_orig.telemetry_orig.ground_pres,
 202                                        recv_orig.telemetry_orig.accel_plus_g,
 203                                        recv_orig.telemetry_orig.accel_minus_g);
 204
 205                                 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
 206                                         /* Kalman state values */
 207                                         printf(AO_TELEM_KALMAN_HEIGHT " %d "
 208                                                AO_TELEM_KALMAN_SPEED " %d "
 209                                                AO_TELEM_KALMAN_ACCEL " %d ",
 210                                                recv_orig.telemetry_orig.height,
 211                                                recv_orig.telemetry_orig.u.k.speed,
 212                                                recv_orig.telemetry_orig.accel);
 213                                 } else {
 214                                         /* Ad-hoc flight values */
 215                                         printf(AO_TELEM_ADHOC_ACCEL " %d "
 216                                                AO_TELEM_ADHOC_SPEED " %ld "
 217                                                AO_TELEM_ADHOC_BARO " %d ",
 218                                                recv_orig.telemetry_orig.accel,
 219                                                recv_orig.telemetry_orig.u.flight_vel,
 220                                                recv_orig.telemetry_orig.height);
 221                                 }
 222                                 ao_gps_print(&recv_orig.telemetry_orig.gps);
 223                                 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
 224                                 putchar('\n');
 225 #if HAS_RSSI
 226                                 ao_rssi_set(rssi);
 227 #endif
 228                         } else {
 229                                 printf("CRC INVALID RSSI %3d\n", rssi);
 230                         }
 231                         break;
 232 #endif /* LEGACY_MONITOR */
 233                 default:
 234 #if AO_PROFILE
 235                 {
 236                         extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
 237                         extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
 238
 239                         printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
 240                         printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
 241                         printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
 242                         printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
 243                 }
 244 #endif
 245                         ao_mutex_get(&ao_monitoring_mutex);
 246                         printf("TELEM ");
 247                         hex((uint8_t) (ao_monitoring + 2));
 248                         sum = 0x5a;
 249                         for (state = 0; state < ao_monitoring + 2; state++) {
 250                                 byte = recv_raw.packet[state];
 251                                 sum += byte;
 252                                 hex(byte);
 253                         }
 254                         hex(sum);
 255                         putchar ('\n');
 256                         ao_mutex_put(&ao_monitoring_mutex);
 257 #if HAS_RSSI
 258                         if (recv_raw.packet[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK) {
 259                                 rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
 260                                 ao_rssi_set(rssi);
 261                         }
 262 #endif
 263                         break;
 264                 }
 265                 ao_usb_flush();
 266         }
 267 }
 268
 269 struct ao_task ao_monitor_put_task;
 270 #endif
 271
 272 struct ao_task ao_monitor_get_task;
 273
 274 void
 275 ao_monitor_set(uint8_t monitoring)
 276 {
 277         ao_internal_monitoring = monitoring;
 278         _ao_monitor_adjust();
 279 }
 280
 281 void
 282 ao_monitor_disable(void)
 283 {
 284         ++ao_monitor_disabled;
 285         _ao_monitor_adjust();
 286 }
 287
 288 void
 289 ao_monitor_enable(void)
 290 {
 291         --ao_monitor_disabled;
 292         _ao_monitor_adjust();
 293 }
 294
 295 #if HAS_MONITOR_PUT
 296 static void
 297 set_monitor(void)
 298 {
 299         ao_cmd_hex();
 300         ao_external_monitoring = ao_cmd_lex_i;
 301         ao_wakeup(&ao_external_monitoring);
 302         ao_wakeup(&ao_monitor_head);
 303         _ao_monitor_adjust();
 304 }
 305
 306 const struct ao_cmds ao_monitor_cmds[] = {
 307         { set_monitor,  "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
 308         { 0,    NULL },
 309 };
 310 #endif
 311
 312 void
 313 ao_monitor_init(void)
 314 {
 315 #if HAS_MONITOR_PUT
 316         ao_cmd_register(&ao_monitor_cmds[0]);
 317         ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 318 #endif
 319         ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
 320 #if AO_MONITOR_LED
 321         ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
 322 #endif
 323 }