X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_telemetry.c;h=f45d2ab41b5cd592b72b95e15635c90773193dd0;hp=9c923984cb200f08bb728ade6b25149bdbe352e3;hb=64860be02b3efa6f784a259249cfa6d14545fbd3;hpb=1de322b960005c9a16051afa1881fadb00f4bcd6 diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c index 9c923984..f45d2ab4 100644 --- a/src/ao_telemetry.c +++ b/src/ao_telemetry.c @@ -1,5 +1,5 @@ /* - * Copyright © 2009 Keith Packard + * Copyright © 2011 Keith Packard * * 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 @@ -16,47 +16,169 @@ */ #include "ao.h" +#include "ao_product.h" -__xdata uint16_t ao_telemetry_interval = 0; +__xdata uint16_t ao_telemetry_interval; +__xdata int8_t ao_telemetry_config_max; +__xdata int8_t ao_telemetry_config_cur; +#if HAS_GPS +__xdata int8_t ao_telemetry_loc_cur; +__xdata int8_t ao_telemetry_sat_cur; +#endif __xdata uint8_t ao_rdf = 0; __xdata 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_0_1) +#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; + 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; + + 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_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 + void ao_telemetry(void) { - static __xdata struct ao_telemetry telemetry; + uint16_t time; + int16_t delay; ao_config_get(); - memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN); - telemetry.addr = ao_serial_number; - telemetry.accel_plus_g = ao_config.accel_plus_g; - telemetry.accel_minus_g = ao_config.accel_minus_g; - ao_rdf_time = ao_time(); + while (!ao_flight_number) + ao_sleep(&ao_flight_number); + + telemetry.generic.serial = ao_serial_number; for (;;) { while (ao_telemetry_interval == 0) ao_sleep(&ao_telemetry_interval); - telemetry.flight_state = ao_flight_state; - telemetry.flight_accel = ao_flight_accel; - telemetry.ground_accel = ao_ground_accel; - telemetry.flight_vel = ao_flight_vel; - telemetry.flight_pres = ao_flight_pres; - telemetry.ground_pres = ao_ground_pres; - ao_adc_get(&telemetry.adc); - ao_mutex_get(&ao_gps_mutex); - memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data)); - memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data)); - ao_mutex_put(&ao_gps_mutex); - ao_radio_send(&telemetry); - ao_delay(ao_telemetry_interval); - 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); - ao_delay(ao_telemetry_interval); + time = ao_rdf_time = ao_time(); + while (ao_telemetry_interval) { + + + ao_send_sensor(); + 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(); } } } @@ -65,6 +187,16 @@ void ao_telemetry_set_interval(uint16_t interval) { ao_telemetry_interval = interval; + ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval; + ao_telemetry_config_cur = 0; +#if HAS_GPS + ao_telemetry_loc_cur = 0; + if (ao_telemetry_config_max - 1 > ao_telemetry_loc_cur) + ao_telemetry_loc_cur++; + ao_telemetry_sat_cur = ao_telemetry_loc_cur; + if (ao_telemetry_config_max - 1 > ao_telemetry_sat_cur) + ao_telemetry_sat_cur++; +#endif ao_wakeup(&ao_telemetry_interval); }