ao_log.c \
ao_log_big.c \
ao_report.c \
- ao_telemetry.c
+ ao_telemetry_orig.c
TM_MAIN_SRC = \
ao_telemetrum.c
/*
* ao_radio_recv tacks on rssi and status bytes
*/
-struct ao_telemetry_recv {
- struct ao_telemetry telemetry;
- int8_t rssi;
- uint8_t status;
+
+struct ao_telemetry_orig_recv {
+ struct ao_telemetry_orig telemetry_orig;
+ int8_t rssi;
+ uint8_t status;
};
struct ao_telemetry_tiny_recv {
ao_rdf_set(uint8_t rdf);
void
-ao_telemetry_init(void);
+ao_telemetry_orig_init(void);
void
ao_telemetry_tiny_init(void);
ao_monitor(void);
#define AO_MONITORING_OFF 0
-#define AO_MONITORING_FULL 1
+#define AO_MONITORING_ORIG 1
#define AO_MONITORING_TINY 2
void
{
__xdata char callsign[AO_MAX_CALLSIGN+1];
__xdata union {
- struct ao_telemetry_recv full;
+ struct ao_telemetry_orig_recv orig;
struct ao_telemetry_tiny_recv tiny;
} u;
-#define recv (u.full)
+#define recv_raw (u.raw)
+#define recv_orig (u.orig)
#define recv_tiny (u.tiny)
uint8_t state;
for (;;) {
__critical while (!ao_monitoring)
ao_sleep(&ao_monitoring);
- if (ao_monitoring == AO_MONITORING_FULL) {
- if (!ao_radio_recv(&recv, sizeof (struct ao_telemetry_recv)))
+ switch (ao_monitoring) {
+ case AO_MONITORING_ORIG:
+ if (!ao_radio_recv(&recv_orig, sizeof (struct ao_telemetry_orig_recv)))
continue;
- state = recv.telemetry.flight_state;
+ state = recv_orig.telemetry_orig.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);
+ 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.status & PKT_APPEND_STATUS_1_CRC_OK) {
+ if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
/* General header fields */
printf(AO_TELEM_VERSION " %d "
AO_TELEM_TICK " %d ",
AO_TELEMETRY_VERSION,
callsign,
- recv.telemetry.serial,
- recv.telemetry.flight,
+ recv_orig.telemetry_orig.serial,
+ recv_orig.telemetry_orig.flight,
rssi,
ao_state_names[state],
- recv.telemetry.adc.tick);
+ recv_orig.telemetry_orig.adc.tick);
/* Raw sensor values */
printf(AO_TELEM_RAW_ACCEL " %d "
AO_TELEM_RAW_BATT " %d "
AO_TELEM_RAW_DROGUE " %d "
AO_TELEM_RAW_MAIN " %d ",
- 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_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.telemetry.ground_accel,
- recv.telemetry.ground_pres,
- recv.telemetry.accel_plus_g,
- recv.telemetry.accel_minus_g);
+ 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.telemetry.u.k.unused == 0x8000) {
+ 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.telemetry.height,
- recv.telemetry.u.k.speed,
- recv.telemetry.accel);
+ 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.telemetry.accel,
- recv.telemetry.u.flight_vel,
- recv.telemetry.height);
+ recv_orig.telemetry_orig.accel,
+ recv_orig.telemetry_orig.u.flight_vel,
+ recv_orig.telemetry_orig.height);
}
- ao_gps_print(&recv.telemetry.gps);
- ao_gps_tracking_print(&recv.telemetry.gps_tracking);
+ 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);
}
- } else {
+ break;
+ case AO_MONITORING_TINY:
if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
continue;
} else {
printf("CRC INVALID RSSI %3d\n", rssi);
}
+ break;
}
ao_usb_flush();
ao_led_toggle(ao_monitor_led);
RF_SYNC0_OFF, 0x91,
/* max packet length */
- RF_PKTLEN_OFF, sizeof (struct ao_telemetry),
-
RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)|
PKTCTRL1_APPEND_STATUS|
PKTCTRL1_ADR_CHK_NONE),
(DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)),
/* max packet length -- now set inline */
- // RF_PKTLEN_OFF, sizeof (struct ao_telemetry),
RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)|
PKTCTRL1_APPEND_STATUS|
PKTCTRL1_ADR_CHK_NONE),
ao_serial_init();
ao_gps_init();
ao_gps_report_init();
- ao_telemetry_init();
+ ao_telemetry_orig_init();
ao_radio_init();
ao_packet_slave_init(TRUE);
ao_igniter_init();
+++ /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"
-
-__xdata uint16_t ao_telemetry_interval = 0;
-__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
-
-void
-ao_telemetry(void)
-{
- uint16_t time;
- int16_t delay;
- static __xdata struct ao_telemetry telemetry;
-
- ao_config_get();
- while (!ao_flight_number)
- ao_sleep(&ao_flight_number);
- memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
- telemetry.serial = ao_serial_number;
- telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
- telemetry.accel_plus_g = ao_config.accel_plus_g;
- telemetry.accel_minus_g = ao_config.accel_minus_g;
- for (;;) {
- while (ao_telemetry_interval == 0)
- ao_sleep(&ao_telemetry_interval);
- time = ao_rdf_time = ao_time();
- while (ao_telemetry_interval) {
- telemetry.flight_state = ao_flight_state;
- telemetry.height = ao_height;
- telemetry.u.k.speed = ao_speed;
- telemetry.accel = ao_accel;
- telemetry.u.k.unused = 0x8000;
-#if HAS_ACCEL
- telemetry.ground_accel = ao_ground_accel;
-#endif
- telemetry.ground_pres = ao_ground_pres;
-#if HAS_ADC
- ao_adc_get(&telemetry.adc);
-#endif
-#if HAS_GPS
- 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);
-#endif
- ao_radio_send(&telemetry, sizeof (telemetry));
- 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;
- ao_wakeup(&ao_telemetry_interval);
-}
-
-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");
-}
--- /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"
+
+__xdata uint16_t ao_telemetry_interval = 0;
+__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
+
+void
+ao_telemetry(void)
+{
+ uint16_t time;
+ int16_t delay;
+ static __xdata struct ao_telemetry telemetry;
+
+ ao_config_get();
+ while (!ao_flight_number)
+ ao_sleep(&ao_flight_number);
+ memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+ telemetry.serial = ao_serial_number;
+ telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
+ telemetry.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.accel_minus_g = ao_config.accel_minus_g;
+ for (;;) {
+ while (ao_telemetry_interval == 0)
+ ao_sleep(&ao_telemetry_interval);
+ time = ao_rdf_time = ao_time();
+ while (ao_telemetry_interval) {
+ telemetry.flight_state = ao_flight_state;
+ telemetry.height = ao_height;
+ telemetry.u.k.speed = ao_speed;
+ telemetry.accel = ao_accel;
+ telemetry.u.k.unused = 0x8000;
+#if HAS_ACCEL
+ telemetry.ground_accel = ao_ground_accel;
+#endif
+ telemetry.ground_pres = ao_ground_pres;
+#if HAS_ADC
+ ao_adc_get(&telemetry.adc);
+#endif
+#if HAS_GPS
+ 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);
+#endif
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ 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;
+ ao_wakeup(&ao_telemetry_interval);
+}
+
+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 / commitdiff