--- /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"
+#include "ao_flight.h"
+
+#if !HAS_MONITOR
+#error Must define HAS_MONITOR to 1
+#endif
+
+#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)
+{
+ uint8_t size;
+
+ for (;;) {
+ switch (ao_monitoring) {
+ case 0:
+ ao_sleep(DATA_TO_XDATA(&ao_monitoring));
+ continue;
+#if LEGACY_MONITOR
+ case AO_MONITORING_ORIG:
+ size = sizeof (struct ao_telemetry_orig_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, 0))
+ continue;
+ ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
+ ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+ }
+}
+
+#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;
+ __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_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;
+
+ 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) {
+
+ /* 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');
+#if HAS_RSSI
+ ao_rssi_set(rssi);
+#endif
+ } else {
+ printf("CRC INVALID RSSI %3d\n", rssi);
+ }
+ break;
+#endif /* LEGACY_MONITOR */
+ default:
+#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;
+ hex(byte);
+ }
+ 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_put_task;
+#endif
+
+__xdata struct ao_task ao_monitor_get_task;
+
+void
+ao_monitor_set(uint8_t 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_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 old, 20 std>\0Set radio monitoring" },
+ { 0, NULL },
+};
+#endif
+
+void
+ao_monitor_init(void) __reentrant
+{
+#if HAS_MONITOR_PUT
+ ao_cmd_register(&ao_monitor_cmds[0]);
+ 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