altos-avr: Initial OS port to AVR

This is working with output to the serial line

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 220 insertions, 0 deletions

diff --git a/src-avr/ao_monitor.c b/src-avr/ao_monitor.c
new file mode 100644
index 00000000..8f290071
--- /dev/null
+++ b/src-avr/ao_monitor.c
@@ -0,0 +1,220 @@
+/*
+ * 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"
+
+__xdata uint8_t ao_monitoring;
+__pdata uint8_t ao_monitor_led;
+
+void
+ao_monitor(void)
+{
+	__xdata char callsign[AO_MAX_CALLSIGN+1];
+	__xdata union {
+		struct ao_telemetry_recv	full;
+		struct ao_telemetry_tiny_recv	tiny;
+	} u;
+
+#define recv		(u.full)
+#define recv_tiny	(u.tiny)
+
+	uint8_t state;
+	int16_t rssi;
+
+	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)))
+				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) {
+
+				/* 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.telemetry.serial,
+				       recv.telemetry.flight,
+				       rssi,
+				       ao_state_names[state],
+				       recv.telemetry.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.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);
+
+				/* 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);
+
+				if (recv.telemetry.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);
+				} 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);
+				}
+				ao_gps_print(&recv.telemetry.gps);
+				ao_gps_tracking_print(&recv.telemetry.gps_tracking);
+				putchar('\n');
+				ao_rssi_set(rssi);
+			} else {
+				printf("CRC INVALID RSSI %3d\n", rssi);
+			}
+		} else {
+			if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
+				continue;
+
+			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);
+			}
+		}
+		ao_usb_flush();
+		ao_led_toggle(ao_monitor_led);
+	}
+}
+
+__xdata struct ao_task ao_monitor_task;
+
+void
+ao_set_monitor(uint8_t monitoring)
+{
+	if (ao_monitoring)
+		ao_radio_recv_abort();
+	ao_monitoring = monitoring;
+	ao_wakeup(&ao_monitoring);
+}
+
+static void
+set_monitor(void)
+{
+	ao_cmd_hex();
+	ao_set_monitor(ao_cmd_lex_i);
+}
+
+__code struct ao_cmds ao_monitor_cmds[] = {
+	{ set_monitor,	"m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
+	{ 0,	NULL },
+};
+
+void
+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");
+}