#include "ao.h"
#include "ao_telem.h"
+#include "ao_flight.h"
#if !HAS_MONITOR
#error Must define HAS_MONITOR to 1
#endif
-__xdata uint8_t ao_monitoring;
-__pdata uint8_t ao_monitor_led;
+#ifndef LEGACY_MONITOR
+#error Must define LEGACY_MONITOR
+#endif
+
+#ifndef HAS_MONITOR_PUT
+#define HAS_MONITOR_PUT 1
+#endif
+
+#ifndef AO_MONITOR_LED
+#error Must define AO_MONITOR_LED
+#endif
+
+__data uint8_t ao_monitoring;
+static __data uint8_t ao_monitor_disabled;
+static __data uint8_t ao_internal_monitoring;
+static __data uint8_t ao_external_monitoring;
__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
__data uint8_t ao_monitor_head;
+static void
+_ao_monitor_adjust(void)
+{
+ if (ao_monitoring)
+ ao_radio_recv_abort();
+ if (ao_monitor_disabled)
+ ao_monitoring = 0;
+ else {
+ if (ao_external_monitoring)
+ ao_monitoring = ao_external_monitoring;
+ else
+ ao_monitoring = ao_internal_monitoring;
+ }
+ ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
+}
+
void
ao_monitor_get(void)
{
for (;;) {
switch (ao_monitoring) {
case 0:
- ao_sleep(&ao_monitoring);
+ ao_sleep(DATA_TO_XDATA(&ao_monitoring));
continue;
+#if LEGACY_MONITOR
case AO_MONITORING_ORIG:
size = sizeof (struct ao_telemetry_orig_recv);
break;
- case AO_MONITORING_TINY:
- size = sizeof (struct ao_telemetry_tiny_recv);
- break;
+#endif
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))
+ if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
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);
}
}
+#if AO_MONITOR_LED
+__xdata struct ao_task ao_monitor_blink_task;
+
+void
+ao_monitor_blink(void)
+{
+ for (;;) {
+ ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+ ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
+ }
+}
+#endif
+
+#if HAS_MONITOR_PUT
+
+static const char xdigit[16] = {
+ '0', '1', '2', '3', '4', '5', '6', '7',
+ '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
+};
+
+#define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
+
void
ao_monitor_put(void)
{
+#if LEGACY_MONITOR
__xdata char callsign[AO_MAX_CALLSIGN+1];
-
+ int16_t rssi;
+#endif
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))
ao_monitor_tail = ao_monitor_head;
for (;;) {
- while (ao_monitor_tail == ao_monitor_head)
+ while (!ao_external_monitoring)
+ ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
+ while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+ if (!ao_external_monitoring)
+ continue;
m = &ao_monitor_ring[ao_monitor_tail];
ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
switch (ao_monitoring) {
+ case 0:
+ break;
+#if LEGACY_MONITOR
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);
+ rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
+ ao_xmemcpy(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) {
ao_gps_print(&recv_orig.telemetry_orig.gps);
ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
putchar('\n');
+#if HAS_RSSI
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;
+#endif /* LEGACY_MONITOR */
default:
- printf ("TELEM %02x", ao_monitoring + 2);
+#if AO_PROFILE
+ {
+ extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
+ extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
+
+ printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
+ printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
+ printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
+ printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
+ }
+#endif
+ printf("TELEM ");
+ hex((uint8_t) (ao_monitoring + 2));
sum = 0x5a;
for (state = 0; state < ao_monitoring + 2; state++) {
byte = recv_raw.packet[state];
sum += byte;
- printf("%02x", byte);
+ hex(byte);
}
- printf("%02x\n", sum);
+ hex(sum);
+ putchar ('\n');
+#if HAS_RSSI
+ if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
+ rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
+ ao_rssi_set(rssi);
+ }
+#endif
break;
}
ao_usb_flush();
}
}
-__xdata struct ao_task ao_monitor_get_task;
__xdata struct ao_task ao_monitor_put_task;
+#endif
+
+__xdata struct ao_task ao_monitor_get_task;
void
-ao_set_monitor(uint8_t monitoring)
+ao_monitor_set(uint8_t monitoring)
{
- if (ao_monitoring)
- ao_radio_recv_abort();
- ao_monitoring = monitoring;
- ao_wakeup(&ao_monitoring);
+ ao_internal_monitoring = monitoring;
+ _ao_monitor_adjust();
}
+void
+ao_monitor_disable(void)
+{
+ ++ao_monitor_disabled;
+ _ao_monitor_adjust();
+}
+
+void
+ao_monitor_enable(void)
+{
+ --ao_monitor_disabled;
+ _ao_monitor_adjust();
+}
+
+#if HAS_MONITOR_PUT
static void
set_monitor(void)
{
ao_cmd_hex();
- ao_set_monitor(ao_cmd_lex_i);
+ ao_external_monitoring = ao_cmd_lex_i;
+ ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
+ ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+ _ao_monitor_adjust();
}
__code struct ao_cmds ao_monitor_cmds[] = {
- { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
+ { set_monitor, "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
{ 0, NULL },
};
+#endif
void
-ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
+ao_monitor_init(void) __reentrant
{
- ao_monitor_led = monitor_led;
- ao_monitoring = monitoring;
+#if HAS_MONITOR_PUT
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");
+#endif
+ ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
+#if AO_MONITOR_LED
+ ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
+#endif
}
projects / fw / altos / blobdiff