+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-#include "ao_telem.h"
-
-#if !HAS_MONITOR
-#error Must define HAS_MONITOR to 1
-#endif
-
-__xdata uint8_t ao_monitoring;
-__pdata uint8_t ao_monitor_led;
-
-#define AO_MONITOR_RING 8
-
-__xdata union ao_monitor {
- struct ao_telemetry_raw_recv raw;
- struct ao_telemetry_orig_recv orig;
- struct ao_telemetry_tiny_recv tiny;
-} ao_monitor_ring[AO_MONITOR_RING];
-
-#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
-
-__data uint8_t ao_monitor_head;
-
-void
-ao_monitor_get(void)
-{
- uint8_t size;
-
- for (;;) {
- switch (ao_monitoring) {
- case 0:
- ao_sleep(&ao_monitoring);
- continue;
- case AO_MONITORING_ORIG:
- size = sizeof (struct ao_telemetry_orig_recv);
- break;
- case AO_MONITORING_TINY:
- size = sizeof (struct ao_telemetry_tiny_recv);
- break;
- default:
- if (ao_monitoring > AO_MAX_TELEMETRY)
- ao_monitoring = AO_MAX_TELEMETRY;
- size = ao_monitoring;
- break;
- }
- if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
- continue;
- ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
- ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
- ao_led_toggle(ao_monitor_led);
- }
-}
-
-void
-ao_monitor_put(void)
-{
- __xdata char callsign[AO_MAX_CALLSIGN+1];
-
- uint8_t ao_monitor_tail;
- uint8_t state;
- uint8_t sum, byte;
- int16_t rssi;
- __xdata union ao_monitor *m;
-
-#define recv_raw ((m->raw))
-#define recv_orig ((m->orig))
-#define recv_tiny ((m->tiny))
-
- ao_monitor_tail = ao_monitor_head;
- for (;;) {
- while (ao_monitor_tail == ao_monitor_head)
- ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
- m = &ao_monitor_ring[ao_monitor_tail];
- ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
- switch (ao_monitoring) {
- case AO_MONITORING_ORIG:
- state = recv_orig.telemetry_orig.flight_state;
-
- /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
- rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
- memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
- if (state > ao_flight_invalid)
- state = ao_flight_invalid;
- if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
-
- /* General header fields */
- printf(AO_TELEM_VERSION " %d "
- AO_TELEM_CALL " %s "
- AO_TELEM_SERIAL " %d "
- AO_TELEM_FLIGHT " %d "
- AO_TELEM_RSSI " %d "
- AO_TELEM_STATE " %s "
- AO_TELEM_TICK " %d ",
- AO_TELEMETRY_VERSION,
- callsign,
- recv_orig.telemetry_orig.serial,
- recv_orig.telemetry_orig.flight,
- rssi,
- ao_state_names[state],
- recv_orig.telemetry_orig.adc.tick);
-
- /* Raw sensor values */
- printf(AO_TELEM_RAW_ACCEL " %d "
- AO_TELEM_RAW_BARO " %d "
- AO_TELEM_RAW_THERMO " %d "
- AO_TELEM_RAW_BATT " %d "
- AO_TELEM_RAW_DROGUE " %d "
- AO_TELEM_RAW_MAIN " %d ",
- recv_orig.telemetry_orig.adc.accel,
- recv_orig.telemetry_orig.adc.pres,
- recv_orig.telemetry_orig.adc.temp,
- recv_orig.telemetry_orig.adc.v_batt,
- recv_orig.telemetry_orig.adc.sense_d,
- recv_orig.telemetry_orig.adc.sense_m);
-
- /* Sensor calibration values */
- printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
- AO_TELEM_CAL_BARO_GROUND " %d "
- AO_TELEM_CAL_ACCEL_PLUS " %d "
- AO_TELEM_CAL_ACCEL_MINUS " %d ",
- recv_orig.telemetry_orig.ground_accel,
- recv_orig.telemetry_orig.ground_pres,
- recv_orig.telemetry_orig.accel_plus_g,
- recv_orig.telemetry_orig.accel_minus_g);
-
- if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
- /* Kalman state values */
- printf(AO_TELEM_KALMAN_HEIGHT " %d "
- AO_TELEM_KALMAN_SPEED " %d "
- AO_TELEM_KALMAN_ACCEL " %d ",
- recv_orig.telemetry_orig.height,
- recv_orig.telemetry_orig.u.k.speed,
- recv_orig.telemetry_orig.accel);
- } else {
- /* Ad-hoc flight values */
- printf(AO_TELEM_ADHOC_ACCEL " %d "
- AO_TELEM_ADHOC_SPEED " %ld "
- AO_TELEM_ADHOC_BARO " %d ",
- recv_orig.telemetry_orig.accel,
- recv_orig.telemetry_orig.u.flight_vel,
- recv_orig.telemetry_orig.height);
- }
- ao_gps_print(&recv_orig.telemetry_orig.gps);
- ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
- putchar('\n');
- ao_rssi_set(rssi);
- } else {
- printf("CRC INVALID RSSI %3d\n", rssi);
- }
- break;
- case AO_MONITORING_TINY:
- state = recv_tiny.telemetry_tiny.flight_state;
-
- /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
- rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
- memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
- if (state > ao_flight_invalid)
- state = ao_flight_invalid;
- if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
- /* General header fields */
- printf(AO_TELEM_VERSION " %d "
- AO_TELEM_CALL " %s "
- AO_TELEM_SERIAL " %d "
- AO_TELEM_FLIGHT " %d "
- AO_TELEM_RSSI " %d "
- AO_TELEM_STATE " %s "
- AO_TELEM_TICK " %d ",
- AO_TELEMETRY_VERSION,
- callsign,
- recv_tiny.telemetry_tiny.serial,
- recv_tiny.telemetry_tiny.flight,
- rssi,
- ao_state_names[state],
- recv_tiny.telemetry_tiny.adc.tick);
-
- /* Raw sensor values */
- printf(AO_TELEM_RAW_BARO " %d "
- AO_TELEM_RAW_THERMO " %d "
- AO_TELEM_RAW_BATT " %d "
- AO_TELEM_RAW_DROGUE " %d "
- AO_TELEM_RAW_MAIN " %d ",
- recv_tiny.telemetry_tiny.adc.pres,
- recv_tiny.telemetry_tiny.adc.temp,
- recv_tiny.telemetry_tiny.adc.v_batt,
- recv_tiny.telemetry_tiny.adc.sense_d,
- recv_tiny.telemetry_tiny.adc.sense_m);
-
- /* Sensor calibration values */
- printf(AO_TELEM_CAL_BARO_GROUND " %d ",
- recv_tiny.telemetry_tiny.ground_pres);
-
-#if 1
- /* Kalman state values */
- printf(AO_TELEM_KALMAN_HEIGHT " %d "
- AO_TELEM_KALMAN_SPEED " %d "
- AO_TELEM_KALMAN_ACCEL " %d\n",
- recv_tiny.telemetry_tiny.height,
- recv_tiny.telemetry_tiny.speed,
- recv_tiny.telemetry_tiny.accel);
-#else
- /* Ad-hoc flight values */
- printf(AO_TELEM_ADHOC_ACCEL " %d "
- AO_TELEM_ADHOC_SPEED " %ld "
- AO_TELEM_ADHOC_BARO " %d\n",
- recv_tiny.telemetry_tiny.flight_accel,
- recv_tiny.telemetry_tiny.flight_vel,
- recv_tiny.telemetry_tiny.flight_pres);
-#endif
- ao_rssi_set(rssi);
- } else {
- printf("CRC INVALID RSSI %3d\n", rssi);
- }
- break;
- default:
- printf ("TELEM %02x", ao_monitoring + 2);
- sum = 0x5a;
- for (state = 0; state < ao_monitoring + 2; state++) {
- byte = recv_raw.packet[state];
- sum += byte;
- printf("%02x", byte);
- }
- printf("%02x\n", sum);
- break;
- }
- ao_usb_flush();
- }
-}
-
-__xdata struct ao_task ao_monitor_get_task;
-__xdata struct ao_task ao_monitor_put_task;
-
-void
-ao_set_monitor(uint8_t monitoring)
-{
- if (ao_monitoring)
- ao_radio_recv_abort();
- ao_monitoring = monitoring;
- ao_wakeup(&ao_monitoring);
-}
-
-static void
-set_monitor(void)
-{
- ao_cmd_hex();
- ao_set_monitor(ao_cmd_lex_i);
-}
-
-__code struct ao_cmds ao_monitor_cmds[] = {
- { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
- { 0, NULL },
-};
-
-void
-ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
-{
- ao_monitor_led = monitor_led;
- ao_monitoring = monitoring;
- ao_cmd_register(&ao_monitor_cmds[0]);
- ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
- ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
-}
projects / fw / altos / blobdiff