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