*/
#include "ao.h"
+#include "ao_telem.h"
__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(void)
+ao_monitor_get(void)
{
- __xdata struct ao_radio_recv recv;
- __xdata char callsign[AO_MAX_CALLSIGN+1];
- uint8_t state;
+ uint8_t size;
for (;;) {
- __critical while (!ao_monitoring)
+ switch (ao_monitoring) {
+ case 0:
ao_sleep(&ao_monitoring);
- if (!ao_radio_recv(&recv))
continue;
- state = recv.telemetry.flight_state;
- memcpy(callsign, recv.telemetry.callsign, AO_MAX_CALLSIGN);
- if (state > ao_flight_invalid)
- state = ao_flight_invalid;
- if (recv.status & PKT_APPEND_STATUS_1_CRC_OK) {
- printf("VERSION %d CALL %s SERIAL %3d FLIGHT %5u RSSI %4d STATUS %02x STATE %7s ",
- AO_TELEMETRY_VERSION,
- callsign,
- recv.telemetry.addr,
- recv.telemetry.flight,
- (int) recv.rssi - 74, recv.status,
- ao_state_names[state]);
- printf("%5u a: %5d p: %5d t: %5d v: %5d d: %5d m: %5d "
- "fa: %5d ga: %d fv: %7ld fp: %5d gp: %5d a+: %5d a-: %5d ",
- recv.telemetry.adc.tick,
- recv.telemetry.adc.accel,
- recv.telemetry.adc.pres,
- recv.telemetry.adc.temp,
- recv.telemetry.adc.v_batt,
- recv.telemetry.adc.sense_d,
- recv.telemetry.adc.sense_m,
- recv.telemetry.flight_accel,
- recv.telemetry.ground_accel,
- recv.telemetry.flight_vel,
- recv.telemetry.flight_pres,
- recv.telemetry.ground_pres,
- recv.telemetry.accel_plus_g,
- recv.telemetry.accel_minus_g);
- ao_gps_print(&recv.telemetry.gps);
- putchar(' ');
- ao_gps_tracking_print(&recv.telemetry.gps_tracking);
- putchar('\n');
- ao_rssi_set((int) recv.rssi - 74);
- } else {
- printf("CRC INVALID RSSI %3d\n", (int) recv.rssi - 74);
+ 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;
}
- ao_usb_flush();
+ 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);
}
}
-__xdata struct ao_task ao_monitor_task;
+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);
- if (!ao_monitoring)
- ao_radio_abort();
}
static void
set_monitor(void)
{
ao_cmd_hex();
- ao_set_monitor(ao_cmd_lex_i != 0);
+ ao_set_monitor(ao_cmd_lex_i);
}
__code struct ao_cmds ao_monitor_cmds[] = {
- { 'm', set_monitor, "m <0 off, 1 on> Enable/disable radio monitoring" },
- { 0, set_monitor, NULL },
+ { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
+ { 0, NULL },
};
void
ao_monitor_led = monitor_led;
ao_monitoring = monitoring;
ao_cmd_register(&ao_monitor_cmds[0]);
- ao_add_task(&ao_monitor_task, ao_monitor, "monitor");
+ 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