*/
#include "ao.h"
+#include "ao_telem.h"
__xdata uint8_t ao_monitoring;
__pdata uint8_t ao_monitor_led;
void
ao_monitor(void)
{
- __xdata struct ao_telemetry_recv recv;
__xdata char callsign[AO_MAX_CALLSIGN+1];
+ __xdata union {
+ struct ao_telemetry_recv full;
+ struct ao_telemetry_tiny_recv tiny;
+ } u;
+
+#define recv (u.full)
+#define recv_tiny (u.tiny)
+
uint8_t state;
int16_t rssi;
for (;;) {
__critical while (!ao_monitoring)
ao_sleep(&ao_monitoring);
- if (!ao_radio_recv(&recv, sizeof (recv)))
- continue;
- state = recv.telemetry.flight_state;
-
- /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
- rssi = (int16_t) (recv.rssi >> 1) - 74;
- 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 %d FLIGHT %5u RSSI %4d STATUS %02x STATE %7s ",
- AO_TELEMETRY_VERSION,
- callsign,
- recv.telemetry.serial,
- recv.telemetry.flight,
- rssi, 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(rssi);
+ if (ao_monitoring == AO_MONITORING_FULL) {
+ if (!ao_radio_recv(&recv, sizeof (struct ao_telemetry_recv)))
+ continue;
+
+ state = recv.telemetry.flight_state;
+
+ /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
+ rssi = (int16_t) (recv.rssi >> 1) - 74;
+ 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) {
+
+ /* 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.telemetry.serial,
+ recv.telemetry.flight,
+ rssi,
+ ao_state_names[state],
+ recv.telemetry.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.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);
+
+ /* 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.telemetry.ground_accel,
+ recv.telemetry.ground_pres,
+ recv.telemetry.accel_plus_g,
+ recv.telemetry.accel_minus_g);
+
+#if 0
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d ",
+ recv.telemetry.height,
+ recv.telemetry.speed,
+ recv.telemetry.accel);
+#else
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d ",
+ recv.telemetry.flight_accel,
+ recv.telemetry.flight_vel,
+ recv.telemetry.flight_pres);
+#endif
+ ao_gps_print(&recv.telemetry.gps);
+ ao_gps_tracking_print(&recv.telemetry.gps_tracking);
+ putchar('\n');
+ ao_rssi_set(rssi);
+ } else {
+ printf("CRC INVALID RSSI %3d\n", rssi);
+ }
} else {
- printf("CRC INVALID RSSI %3d\n", rssi);
+ if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
+ continue;
+
+ 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);
+ }
}
ao_usb_flush();
ao_led_toggle(ao_monitor_led);
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_recv_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[] = {
- { set_monitor, "m <0 off, 1 on>\0Enable/disable radio monitoring" },
+ { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
{ 0, NULL },
};
projects / fw / altos / blobdiff