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