X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_monitor.c;h=8f1b9e12cdcc209dae9543c0a41885a68ef3bf4b;hp=f019d3b431a0481af12620280e58b8e87f845624;hb=82e04a0e3a3296288a524ec582785a36fd644331;hpb=a9ec6be0e92dee01f7aac006ef6f7779c1da1b36

diff --git a/src/ao_monitor.c b/src/ao_monitor.c
index f019d3b4..8f1b9e12 100644
--- a/src/ao_monitor.c
+++ b/src/ao_monitor.c
@@ -16,88 +16,250 @@
  */
 
 #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_get(void)
+{
+	uint8_t	size;
+
+	for (;;) {
+		switch (ao_monitoring) {
+		case 0:
+			ao_sleep(&ao_monitoring);
+			continue;
+		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;
+		}
+		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);
+	}
+}
+
 void
-ao_monitor(void)
+ao_monitor_put(void)
 {
-	__xdata struct ao_radio_recv recv;
 	__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 (;;) {
-		__critical while (!ao_monitoring)
-			ao_sleep(&ao_monitoring);
-		if (!ao_radio_recv(&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 %3d FLIGHT %5u RSSI %4d STATUS %02x STATE %7s ",
-			       AO_TELEMETRY_VERSION,
-			       callsign,
-			       recv.telemetry.addr,
-			       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);
-		} else {
-			printf("CRC INVALID RSSI %3d\n", rssi);
+		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();
-		ao_led_toggle(ao_monitor_led);
 	}
 }
 
-__xdata struct ao_task ao_monitor_task;
+__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
@@ -106,5 +268,6 @@ ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
 	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");
 }