From: Keith Packard Date: Wed, 22 Jun 2011 19:26:45 +0000 (-0700) Subject: altos: Rename telemetry to telemetry_orig X-Git-Tag: 0.9.4.3~51 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=0e67b6890dd3a06665239f8dfd2e69266d055e46 altos: Rename telemetry to telemetry_orig This makes room to create a new multi-packet telemetry format without changing anything yet. Signed-off-by: Keith Packard --- diff --git a/src/Makefile.proto b/src/Makefile.proto index c86de823..bc7b3a7f 100644 --- a/src/Makefile.proto +++ b/src/Makefile.proto @@ -160,7 +160,7 @@ TM_TASK_SRC = \ ao_log.c \ ao_log_big.c \ ao_report.c \ - ao_telemetry.c + ao_telemetry_orig.c TM_MAIN_SRC = \ ao_telemetrum.c diff --git a/src/ao.h b/src/ao.h index 600c488a..b6a987e3 100644 --- a/src/ao.h +++ b/src/ao.h @@ -1079,10 +1079,11 @@ struct ao_telemetry_tiny { /* * 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 { @@ -1104,7 +1105,7 @@ void ao_rdf_set(uint8_t rdf); void -ao_telemetry_init(void); +ao_telemetry_orig_init(void); void ao_telemetry_tiny_init(void); @@ -1160,7 +1161,7 @@ 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 diff --git a/src/ao_monitor.c b/src/ao_monitor.c index 8f290071..248857de 100644 --- a/src/ao_monitor.c +++ b/src/ao_monitor.c @@ -26,11 +26,12 @@ ao_monitor(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; @@ -39,18 +40,19 @@ ao_monitor(void) 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 " @@ -62,11 +64,11 @@ ao_monitor(void) 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 " @@ -75,48 +77,49 @@ ao_monitor(void) 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; @@ -181,6 +184,7 @@ ao_monitor(void) } else { printf("CRC INVALID RSSI %3d\n", rssi); } + break; } ao_usb_flush(); ao_led_toggle(ao_monitor_led); diff --git a/src/ao_radio.c b/src/ao_radio.c index b5a67b99..01974ba1 100644 --- a/src/ao_radio.c +++ b/src/ao_radio.c @@ -161,8 +161,6 @@ static __code uint8_t radio_setup[] = { 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), @@ -233,7 +231,6 @@ static __code uint8_t fixed_pkt_setup[] = { (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), diff --git a/src/ao_telemetrum.c b/src/ao_telemetrum.c index 4ace415c..bede5868 100644 --- a/src/ao_telemetrum.c +++ b/src/ao_telemetrum.c @@ -57,7 +57,7 @@ main(void) 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(); diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c deleted file mode 100644 index 9a86882f..00000000 --- a/src/ao_telemetry.c +++ /dev/null @@ -1,105 +0,0 @@ -/* - * Copyright © 2009 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 - * 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"); -} diff --git a/src/ao_telemetry_orig.c b/src/ao_telemetry_orig.c new file mode 100644 index 00000000..9a86882f --- /dev/null +++ b/src/ao_telemetry_orig.c @@ -0,0 +1,105 @@ +/* + * Copyright © 2009 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 + * 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"); +}