Merge branch 'new-debian' into debian

Conflicts:
	ChangeLog
	debian/altos.install
	debian/changelog
	debian/control
	debian/copyright
	debian/dirs
	debian/docs
	debian/menu
	debian/rules
	src/Makefile

1 files changed, 402 insertions, 0 deletions

diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
new file mode 100644
index 00000000..52ac9489
--- /dev/null
+++ b/src/core/ao_telemetry.c
@@ -0,0 +1,402 @@
+/*
+ * Copyright © 2011 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_product.h"
+
+static __pdata uint16_t ao_telemetry_interval;
+static __pdata uint8_t ao_rdf = 0;
+static __pdata uint16_t ao_rdf_time;
+
+#if defined(MEGAMETRUM)
+#define AO_SEND_MEGA	1
+#endif
+
+#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
+#define AO_TELEMETRY_SENSOR	AO_TELEMETRY_SENSOR_TELEMETRUM
+#endif
+
+#if defined(TELEMINI_V_1_0)
+#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;
+
+#if defined AO_TELEMETRY_SENSOR
+/* Send sensor packet */
+static void
+ao_send_sensor(void)
+{
+	__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+			
+	telemetry.generic.tick = packet->tick;
+	telemetry.generic.type = AO_TELEMETRY_SENSOR;
+
+	telemetry.sensor.state = ao_flight_state;
+#if HAS_ACCEL
+	telemetry.sensor.accel = packet->adc.accel;
+#else
+	telemetry.sensor.accel = 0;
+#endif
+	telemetry.sensor.pres = ao_data_pres(packet);
+	telemetry.sensor.temp = packet->adc.temp;
+	telemetry.sensor.v_batt = packet->adc.v_batt;
+#if HAS_IGNITE
+	telemetry.sensor.sense_d = packet->adc.sense_d;
+	telemetry.sensor.sense_m = packet->adc.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;
+#if HAS_ACCEL
+	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;
+#else
+	telemetry.sensor.ground_accel = 0;
+	telemetry.sensor.accel_plus_g = 0;
+	telemetry.sensor.accel_minus_g = 0;
+#endif
+
+	ao_radio_send(&telemetry, sizeof (telemetry));
+}
+#endif
+
+
+#ifdef AO_SEND_MEGA
+/* Send mega sensor packet */
+static void
+ao_send_mega_sensor(void)
+{
+	__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+			
+	telemetry.generic.tick = packet->tick;
+	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
+
+	telemetry.mega_sensor.accel = ao_data_accel(packet);
+	telemetry.mega_sensor.pres = ao_data_pres(packet);
+	telemetry.mega_sensor.temp = ao_data_temp(packet);
+
+#if HAS_MPU6000
+	telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
+	telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
+	telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
+
+	telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
+	telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
+	telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
+#endif
+
+#if HAS_HMC5883
+	telemetry.mega_sensor.mag_x = packet->hmc5883.x;
+	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
+	telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+#endif
+
+	ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+static __pdata int8_t ao_telemetry_mega_data_max;
+static __pdata int8_t ao_telemetry_mega_data_cur;
+
+/* Send mega data packet */
+static void
+ao_send_mega_data(void)
+{
+	if (--ao_telemetry_mega_data_cur <= 0) {
+		__xdata	struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+		uint8_t	i;
+
+		telemetry.generic.tick = packet->tick;
+		telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
+
+		telemetry.mega_data.state = ao_flight_state;
+		telemetry.mega_data.v_batt = packet->adc.v_batt;
+		telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
+
+		/* ADC range is 0-4095, so shift by four to save the high 8 bits */
+		for (i = 0; i < AO_ADC_NUM_SENSE; i++)
+			telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
+
+		telemetry.mega_data.ground_pres = ao_ground_pres;
+		telemetry.mega_data.ground_accel = ao_ground_accel;
+		telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
+		telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
+
+		telemetry.mega_data.acceleration = ao_accel;
+		telemetry.mega_data.speed = ao_speed;
+		telemetry.mega_data.height = ao_height;
+
+		ao_radio_send(&telemetry, sizeof (telemetry));
+		ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
+	}
+}
+#endif /* AO_SEND_MEGA */
+
+#ifdef AO_SEND_ALL_BARO
+static uint8_t		ao_baro_sample;
+
+static void
+ao_send_baro(void)
+{
+	uint8_t		sample = ao_sample_data;
+	uint8_t		samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
+
+	if (samples > 12) {
+		ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
+		samples = 12;
+	}
+	telemetry.generic.tick = ao_data_ring[sample].tick;
+	telemetry.generic.type = AO_TELEMETRY_BARO;
+	telemetry.baro.samples = samples;
+	for (sample = 0; sample < samples; sample++) {
+		telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
+		ao_baro_sample = ao_data_ring_next(ao_baro_sample);
+	}
+	ao_radio_send(&telemetry, sizeof (telemetry));
+}
+#endif
+
+static __pdata int8_t ao_telemetry_config_max;
+static __pdata int8_t ao_telemetry_config_cur;
+
+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_log_full() ? 0 : 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;
+		ao_xmemcpy (telemetry.configuration.callsign,
+			    ao_config.callsign,
+			    AO_MAX_CALLSIGN);
+		ao_xmemcpy (telemetry.configuration.version,
+			    CODE_TO_XDATA(ao_version),
+			    AO_MAX_VERSION);
+		ao_radio_send(&telemetry, sizeof (telemetry));
+		ao_telemetry_config_cur = ao_telemetry_config_max;
+	}
+}
+
+#if HAS_GPS
+
+static __pdata int8_t ao_telemetry_loc_cur;
+static __pdata int8_t ao_telemetry_sat_cur;
+
+static void
+ao_send_location(void)
+{
+	if (--ao_telemetry_loc_cur <= 0)
+	{
+		telemetry.generic.type = AO_TELEMETRY_LOCATION;
+		ao_mutex_get(&ao_gps_mutex);
+		ao_xmemcpy(&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;
+		ao_xmemcpy(&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
+
+#if HAS_COMPANION
+
+static __pdata int8_t ao_telemetry_companion_max;
+static __pdata int8_t ao_telemetry_companion_cur;
+
+static void
+ao_send_companion(void)
+{
+	if (--ao_telemetry_companion_cur <= 0) {
+		telemetry.generic.type = AO_TELEMETRY_COMPANION;
+		telemetry.companion.board_id = ao_companion_setup.board_id;
+		telemetry.companion.update_period = ao_companion_setup.update_period;
+		telemetry.companion.channels = ao_companion_setup.channels;
+		ao_mutex_get(&ao_companion_mutex);
+		ao_xmemcpy(&telemetry.companion.companion_data,
+		       ao_companion_data,
+		       ao_companion_setup.channels * 2);
+		ao_mutex_put(&ao_companion_mutex);
+		ao_radio_send(&telemetry, sizeof (telemetry));
+		ao_telemetry_companion_cur = ao_telemetry_companion_max;
+	}
+}
+#endif
+
+void
+ao_telemetry(void)
+{
+	uint16_t	time;
+	int16_t		delay;
+
+	ao_config_get();
+	if (!ao_config.radio_enable)
+		ao_exit();
+	while (!ao_flight_number)
+		ao_sleep(&ao_flight_number);
+
+	telemetry.generic.serial = ao_serial_number;
+	for (;;) {
+		while (ao_telemetry_interval == 0)
+			ao_sleep(&telemetry);
+		time = ao_rdf_time = ao_time();
+		while (ao_telemetry_interval) {
+
+
+#ifdef AO_SEND_ALL_BARO
+			ao_send_baro();
+#endif
+#ifdef AO_SEND_MEGA
+			ao_send_mega_sensor();
+			ao_send_mega_data();
+#else
+			ao_send_sensor();
+#endif
+
+#if HAS_COMPANION
+			if (ao_companion_running)
+				ao_send_companion();
+#endif
+			ao_send_configuration();
+#if HAS_GPS
+			ao_send_location();
+			ao_send_satellite();
+#endif
+#ifndef AO_SEND_ALL_BARO
+			if (ao_rdf &&
+			    (int16_t) (ao_time() - ao_rdf_time) >= 0)
+			{
+#if HAS_IGNITE_REPORT
+				uint8_t	c;
+#endif
+				ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+#if HAS_IGNITE_REPORT
+				if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
+					ao_radio_continuity(c);
+				else
+#endif
+					ao_radio_rdf();
+			}
+#endif
+			time += ao_telemetry_interval;
+			delay = time - ao_time();
+			if (delay > 0) {
+				ao_alarm(delay);
+				ao_sleep(&telemetry);
+				ao_clear_alarm();
+			}
+			else
+				time = ao_time();
+		bottom:	;
+		}
+	}
+}
+
+void
+ao_telemetry_set_interval(uint16_t interval)
+{
+	int8_t	cur = 0;
+	ao_telemetry_interval = interval;
+	
+#if AO_SEND_MEGA
+	if (interval > 1)
+		ao_telemetry_mega_data_max = 1;
+	else
+		ao_telemetry_mega_data_max = 2;
+	if (ao_telemetry_mega_data_max > cur)
+		cur++;
+	ao_telemetry_mega_data_cur = cur;
+#endif
+
+#if HAS_COMPANION
+	if (!ao_companion_setup.update_period)
+		ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
+	ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
+	if (ao_telemetry_companion_max > cur)
+		cur++;
+	ao_telemetry_companion_cur = cur;
+#endif
+
+	ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
+#if HAS_COMPANION
+	if (ao_telemetry_config_max > cur)
+		cur++;
+	ao_telemetry_config_cur = cur;
+#endif
+
+#if HAS_GPS
+	if (ao_telemetry_config_max > cur)
+		cur++;
+	ao_telemetry_loc_cur = cur;
+	if (ao_telemetry_config_max > cur)
+		cur++;
+	ao_telemetry_sat_cur = cur;
+#endif
+	ao_wakeup(&telemetry);
+}
+
+void
+ao_rdf_set(uint8_t rdf)
+{
+	ao_rdf = rdf;
+	if (rdf == 0)
+		ao_radio_rdf_abort();
+	else
+		ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+}
+
+__xdata struct ao_task	ao_telemetry_task;
+
+void
+ao_telemetry_init()
+{
+	ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
+}