+++ /dev/null
-/*
- * Copyright © 2011 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_product.h"
-
-static __pdata uint16_t ao_telemetry_interval;
-static __pdata int8_t ao_telemetry_config_max;
-static __pdata int8_t ao_telemetry_config_cur;
-#if HAS_GPS
-static __pdata int8_t ao_telemetry_loc_cur;
-static __pdata int8_t ao_telemetry_sat_cur;
-#endif
-#if HAS_COMPANION
-static __pdata int8_t ao_telemetry_companion_max;
-static __pdata int8_t ao_telemetry_companion_cur;
-#endif
-static __pdata uint8_t ao_rdf = 0;
-static __pdata uint16_t ao_rdf_time;
-
-#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
-#define AO_RDF_LENGTH_MS 500
-
-#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
-#endif
-
-#if defined(TELEMINI_V_1_0)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
-#endif
-
-#if defined(TELENANO_V_0_1)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
-#endif
-
-static __xdata union ao_telemetry_all telemetry;
-
-/* Send sensor packet */
-static void
-ao_send_sensor(void)
-{
- uint8_t sample;
- sample = ao_sample_adc;
-
- telemetry.generic.tick = ao_adc_ring[sample].tick;
- telemetry.generic.type = AO_TELEMETRY_SENSOR;
-
- telemetry.sensor.state = ao_flight_state;
-#if HAS_ACCEL
- telemetry.sensor.accel = ao_adc_ring[sample].accel;
-#else
- telemetry.sensor.accel = 0;
-#endif
- telemetry.sensor.pres = ao_adc_ring[sample].pres;
- telemetry.sensor.temp = ao_adc_ring[sample].temp;
- telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
-#if HAS_IGNITE
- telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
- telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
-#else
- telemetry.sensor.sense_d = 0;
- telemetry.sensor.sense_m = 0;
-#endif
-
- telemetry.sensor.acceleration = ao_accel;
- telemetry.sensor.speed = ao_speed;
- telemetry.sensor.height = ao_height;
-
- telemetry.sensor.ground_pres = ao_ground_pres;
-#if HAS_ACCEL
- telemetry.sensor.ground_accel = ao_ground_accel;
- telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
- telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
-#else
- telemetry.sensor.ground_accel = 0;
- telemetry.sensor.accel_plus_g = 0;
- telemetry.sensor.accel_minus_g = 0;
-#endif
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-
-static void
-ao_send_configuration(void)
-{
- if (--ao_telemetry_config_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
- telemetry.configuration.device = AO_idProduct_NUMBER;
- telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
- telemetry.configuration.config_major = AO_CONFIG_MAJOR;
- telemetry.configuration.config_minor = AO_CONFIG_MINOR;
- telemetry.configuration.apogee_delay = ao_config.apogee_delay;
- telemetry.configuration.main_deploy = ao_config.main_deploy;
- telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
- memcpy (telemetry.configuration.callsign,
- ao_config.callsign,
- AO_MAX_CALLSIGN);
- memcpy (telemetry.configuration.version,
- ao_version,
- AO_MAX_VERSION);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_config_cur = ao_telemetry_config_max;
- }
-}
-
-#if HAS_GPS
-static void
-ao_send_location(void)
-{
- if (--ao_telemetry_loc_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_LOCATION;
- ao_mutex_get(&ao_gps_mutex);
- memcpy(&telemetry.location.flags,
- &ao_gps_data.flags,
- 26);
- ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_loc_cur = ao_telemetry_config_max;
- }
-}
-
-static void
-ao_send_satellite(void)
-{
- if (--ao_telemetry_sat_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_SATELLITE;
- ao_mutex_get(&ao_gps_mutex);
- telemetry.satellite.channels = ao_gps_tracking_data.channels;
- memcpy(&telemetry.satellite.sats,
- &ao_gps_tracking_data.sats,
- AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
- ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_sat_cur = ao_telemetry_config_max;
- }
-}
-#endif
-
-#if HAS_COMPANION
-static void
-ao_send_companion(void)
-{
- if (--ao_telemetry_companion_cur <= 0) {
- telemetry.generic.type = AO_TELEMETRY_COMPANION;
- telemetry.companion.board_id = ao_companion_setup.board_id;
- telemetry.companion.update_period = ao_companion_setup.update_period;
- telemetry.companion.channels = ao_companion_setup.channels;
- ao_mutex_get(&ao_companion_mutex);
- memcpy(&telemetry.companion.companion_data,
- ao_companion_data,
- ao_companion_setup.channels * 2);
- ao_mutex_put(&ao_companion_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_companion_cur = ao_telemetry_companion_max;
- }
-}
-#endif
-
-void
-ao_telemetry(void)
-{
- uint16_t time;
- int16_t delay;
-
- ao_config_get();
- if (!ao_config.radio_enable)
- ao_exit();
- while (!ao_flight_number)
- ao_sleep(&ao_flight_number);
-
- telemetry.generic.serial = ao_serial_number;
- for (;;) {
- while (ao_telemetry_interval == 0)
- ao_sleep(&telemetry);
- time = ao_rdf_time = ao_time();
- while (ao_telemetry_interval) {
-
-
- ao_send_sensor();
-#if HAS_COMPANION
- if (ao_companion_running)
- ao_send_companion();
-#endif
- ao_send_configuration();
-#if HAS_GPS
- ao_send_location();
- ao_send_satellite();
-#endif
- if (ao_rdf &&
- (int16_t) (ao_time() - ao_rdf_time) >= 0)
- {
- ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
- ao_radio_rdf(AO_RDF_LENGTH_MS);
- }
- time += ao_telemetry_interval;
- delay = time - ao_time();
- if (delay > 0)
- ao_delay(delay);
- else
- time = ao_time();
- }
- }
-}
-
-void
-ao_telemetry_set_interval(uint16_t interval)
-{
- ao_telemetry_interval = interval;
-
-#if HAS_COMPANION
- if (!ao_companion_setup.update_period)
- ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
- ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
- ao_telemetry_companion_cur = 1;
-#endif
-
- ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
-#if HAS_COMPANION
- ao_telemetry_config_cur = ao_telemetry_companion_cur;
- if (ao_telemetry_config_max > ao_telemetry_config_cur)
- ao_telemetry_config_cur++;
-#else
- ao_telemetry_config_cur = 1;
-#endif
-
-#if HAS_GPS
- ao_telemetry_loc_cur = ao_telemetry_config_cur;
- if (ao_telemetry_config_max > ao_telemetry_loc_cur)
- ao_telemetry_loc_cur++;
- ao_telemetry_sat_cur = ao_telemetry_loc_cur;
- if (ao_telemetry_config_max > ao_telemetry_sat_cur)
- ao_telemetry_sat_cur++;
-#endif
- ao_wakeup(&telemetry);
-}
-
-void
-ao_rdf_set(uint8_t rdf)
-{
- ao_rdf = rdf;
- if (rdf == 0)
- ao_radio_rdf_abort();
- else
- ao_rdf_time = ao_time();
-}
-
-__xdata struct ao_task ao_telemetry_task;
-
-void
-ao_telemetry_init()
-{
- ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
-}
projects / fw / altos / blobdiff