altos: Initial TeleMetrum v2.0 bits

Adds new telemetry and logging formats along with code for TeleMetrum
v2.0 design.

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

5 files changed, 461 insertions, 0 deletions

diff --git a/src/core/ao_gps_report_metrum.c b/src/core/ao_gps_report_metrum.c
new file mode 100644
index 00000000..4fefe223
--- /dev/null
+++ b/src/core/ao_gps_report_metrum.c
@@ -0,0 +1,110 @@
+/*
+ * 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_log.h"
+
+void
+ao_gps_report_metrum(void)
+{
+	static __xdata struct ao_log_metrum		gps_log;
+	static __xdata struct ao_telemetry_location	gps_data;
+	uint8_t	date_reported = 0;
+
+	for (;;) {
+		ao_sleep(&ao_gps_data);
+		ao_mutex_get(&ao_gps_mutex);
+		ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+		ao_mutex_put(&ao_gps_mutex);
+
+		if (!(gps_data.flags & AO_GPS_VALID))
+			continue;
+
+		gps_log.tick = ao_gps_tick;
+		gps_log.type = AO_LOG_GPS_POS;
+		gps_log.u.gps.latitude = gps_data.latitude;
+		gps_log.u.gps.longitude = gps_data.longitude;
+		gps_log.u.gps.altitude = gps_data.altitude;
+		ao_log_metrum(&gps_log);
+
+		gps_log.type = AO_LOG_GPS_TIME;
+		gps_log.u.gps_time.hour = gps_data.hour;
+		gps_log.u.gps_time.minute = gps_data.minute;
+		gps_log.u.gps_time.second = gps_data.second;
+		gps_log.u.gps_time.flags = gps_data.flags;
+		gps_log.u.gps_time.year = gps_data.year;
+		gps_log.u.gps_time.month = gps_data.month;
+		gps_log.u.gps_time.day = gps_data.day;
+		ao_log_metrum(&gps_log);
+	}
+}
+
+void
+ao_gps_tracking_report_metrum(void)
+{
+	static __xdata struct ao_log_metrum		gps_log;
+	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
+	uint8_t	c, n, i, p, valid, packets;
+	uint8_t svid;
+
+	for (;;) {
+		ao_sleep(&ao_gps_tracking_data);
+		ao_mutex_get(&ao_gps_mutex);
+		ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+		ao_mutex_put(&ao_gps_mutex);
+
+		if (!(n = gps_tracking_data.channels))
+			continue;
+
+		gps_log.type = AO_LOG_GPS_SAT;
+		gps_log.tick = ao_gps_tick;
+		i = 0;
+		for (c = 0; c < n; c++) {
+			svid = gps_tracking_data.sats[c].svid;
+			if (svid != 0) {
+				if (i == 4) {
+					gps_log.u.gps_sat.channels = i;
+					gps_log.u.gps_sat.more = 1;
+					ao_log_metrum(&gps_log);
+					i = 0;
+				}
+				gps_log.u.gps_sat.sats[i].svid = svid;
+				gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+				i++;
+			}
+		}
+		if (i) {
+			gps_log.u.gps_sat.channels = i;
+			gps_log.u.gps_sat.more = 0;
+			ao_log_metrum(&gps_log);
+		}
+	}
+}
+
+__xdata struct ao_task ao_gps_report_metrum_task;
+__xdata struct ao_task ao_gps_tracking_report_metrum_task;
+
+void
+ao_gps_report_metrum_init(void)
+{
+	ao_add_task(&ao_gps_report_metrum_task,
+		    ao_gps_report_metrum,
+		    "gps_report");
+	ao_add_task(&ao_gps_tracking_report_metrum_task,
+		    ao_gps_tracking_report_metrum,
+		    "gps_tracking_report");
+}
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index dce12f02..f6ab4520 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -45,6 +45,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TELESCIENCE	4	/* 32 byte typed telescience records */
 #define AO_LOG_FORMAT_TELEMEGA		5	/* 32 byte typed telemega records */
 #define AO_LOG_FORMAT_MINI		6	/* 16-byte MS5607 baro only */
+#define AO_LOG_FORMAT_TELEMETRUM	7	/* 16-byte typed telemetrum records */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -135,6 +136,7 @@ ao_log_full(void);
 #define AO_LOG_GPS_ALT		'H'
 #define AO_LOG_GPS_SAT		'V'
 #define AO_LOG_GPS_DATE		'Y'
+#define AO_LOG_GPS_POS		'P'
 
 #define AO_LOG_POS_NONE		(~0UL)
 
@@ -263,6 +265,64 @@ struct ao_log_mega {
 	} u;
 };
 
+struct ao_log_metrum {
+	char			type;			/* 0 */
+	uint8_t			csum;			/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+			int16_t		ground_accel;	/* 6 */
+			uint32_t	ground_pres;	/* 8 */
+		} flight;	/* 12 */
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;		/* 4 */
+			uint16_t	reason;		/* 6 */
+		} state;	/* 8 */
+		/* AO_LOG_SENSOR */
+		struct {
+			uint32_t	pres;		/* 4 */
+			uint32_t	temp;		/* 8 */
+			int16_t		accel;		/* 12 */
+		} sensor;	/* 14 */
+		/* AO_LOG_TEMP_VOLT */
+		struct {
+			int16_t		v_batt;		/* 4 */
+			int16_t		sense_a;	/* 6 */
+			int16_t		sense_m;	/* 8 */
+		} volt;		/* 10 */
+		/* AO_LOG_GPS_POS */
+		struct {
+			int32_t		latitude;	/* 4 */
+			int32_t		longitude;	/* 8 */
+			int16_t		altitude;	/* 12 */
+		} gps;		/* 14 */
+		/* AO_LOG_GPS_TIME */
+		struct {
+			uint8_t		hour;		/* 4 */
+			uint8_t		minute;		/* 5 */
+			uint8_t		second;		/* 6 */
+			uint8_t		flags;		/* 7 */
+			uint8_t		year;		/* 8 */
+			uint8_t		month;		/* 9 */
+			uint8_t		day;		/* 10 */
+			uint8_t		pad;		/* 11 */
+		} gps_time;	/* 12 */
+		/* AO_LOG_GPS_SAT (up to three packets) */
+		struct {
+			uint8_t	channels;		/* 4 */
+			uint8_t	more;			/* 5 */
+			struct {
+				uint8_t	svid;
+				uint8_t c_n;
+			} sats[4];			/* 6 */
+		} gps_sat;				/* 14 */
+		uint8_t		raw[12];		/* 4 */
+	} u;	/* 16 */
+};
+
 struct ao_log_mini {
 	char		type;				/* 0 */
 	uint8_t		csum;				/* 1 */
@@ -304,9 +364,15 @@ uint8_t
 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 
 uint8_t
+ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
+
+uint8_t
 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 
 void
 ao_log_flush(void);
 
+void
+ao_gps_report_metrum_init(void);
+
 #endif /* _AO_LOG_H_ */
diff --git a/src/core/ao_log_metrum.c b/src/core/ao_log_metrum.c
new file mode 100644
index 00000000..9c17eeed
--- /dev/null
+++ b/src/core/ao_log_metrum.c
@@ -0,0 +1,175 @@
+/*
+ * Copyright © 2012 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_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata uint8_t	ao_log_mutex;
+static __xdata struct ao_log_metrum log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+	uint8_t	sum = 0x5a;
+	uint8_t	i;
+
+	for (i = 0; i < sizeof (struct ao_log_metrum); i++)
+		sum += *b++;
+	return -sum;
+}
+
+uint8_t
+ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant
+{
+	uint8_t wrote = 0;
+	/* set checksum */
+	log->csum = 0;
+	log->csum = ao_log_csum((__xdata uint8_t *) log);
+	ao_mutex_get(&ao_log_mutex); {
+		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+			ao_log_stop();
+		if (ao_log_running) {
+			wrote = 1;
+			ao_storage_write(ao_log_current_pos,
+					 log,
+					 sizeof (struct ao_log_metrum));
+			ao_log_current_pos += sizeof (struct ao_log_metrum);
+		}
+	} ao_mutex_put(&ao_log_mutex);
+	return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+	if (ao_log_csum((uint8_t *) &log) != 0)
+		return 0;
+	return 1;
+}
+
+#if HAS_ADC
+static __data uint8_t	ao_log_data_pos;
+
+/* a hack to make sure that ao_log_metrums fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_metrum))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT	1
+#define AO_SENSOR_INTERVAL_DESCENT	10
+#define AO_OTHER_INTERVAL		32
+#endif
+
+void
+ao_log(void)
+{
+	__pdata uint16_t	next_sensor, next_other;
+	uint8_t			i;
+
+	ao_storage_setup();
+
+	ao_log_scan();
+
+	while (!ao_log_running)
+		ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+	log.type = AO_LOG_FLIGHT;
+	log.tick = ao_sample_tick;
+#if HAS_ACCEL
+	log.u.flight.ground_accel = ao_ground_accel;
+#endif
+	log.u.flight.ground_pres = ao_ground_pres;
+	log.u.flight.flight = ao_flight_number;
+	ao_log_metrum(&log);
+#endif
+
+	/* Write the whole contents of the ring to the log
+	 * when starting up.
+	 */
+	ao_log_data_pos = ao_data_ring_next(ao_data_head);
+	next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
+	ao_log_state = ao_flight_startup;
+	for (;;) {
+		/* Write samples to EEPROM */
+		while (ao_log_data_pos != ao_data_head) {
+			log.tick = ao_data_ring[ao_log_data_pos].tick;
+			if ((int16_t) (log.tick - next_sensor) >= 0) {
+				log.type = AO_LOG_SENSOR;
+#if HAS_MS5607
+				log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
+				log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
+#endif
+				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
+				ao_log_metrum(&log);
+				if (ao_log_state <= ao_flight_coast)
+					next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+				else
+					next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+			}
+			if ((int16_t) (log.tick - next_other) >= 0) {
+				log.type = AO_LOG_TEMP_VOLT;
+				log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+				log.u.volt.sense_a = ao_data_ring[ao_log_data_pos].adc.sense[0];
+				log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense[1];
+				ao_log_metrum(&log);
+				next_other = log.tick + AO_OTHER_INTERVAL;
+			}
+			ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+		}
+#if HAS_FLIGHT
+		/* Write state change to EEPROM */
+		if (ao_flight_state != ao_log_state) {
+			ao_log_state = ao_flight_state;
+			log.type = AO_LOG_STATE;
+			log.tick = ao_time();
+			log.u.state.state = ao_log_state;
+			log.u.state.reason = 0;
+			ao_log_metrum(&log);
+
+			if (ao_log_state == ao_flight_landed)
+				ao_log_stop();
+		}
+#endif
+
+		ao_log_flush();
+
+		/* Wait for a while */
+		ao_delay(AO_MS_TO_TICKS(100));
+
+		/* Stop logging when told to */
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
+	}
+}
+#endif
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+	if (!ao_storage_read(ao_log_pos(slot),
+			     &log,
+			     sizeof (struct ao_log_metrum)))
+		return 0;
+
+	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+		return log.u.flight.flight;
+	return 0;
+}
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 03a8a273..fb40451c 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -40,6 +40,10 @@ static __pdata uint16_t ao_aprs_time;
 #define AO_SEND_MEGA	1
 #endif
 
+#if defined (TELEMETRUM_V_2_0)
+#define AO_SEND_METRUM	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
@@ -171,6 +175,57 @@ ao_send_mega_data(void)
 }
 #endif /* AO_SEND_MEGA */
 
+#ifdef AO_SEND_METRUM
+/* Send telemetrum sensor packet */
+static void
+ao_send_metrum_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_METRUM_SENSOR;
+
+	telemetry.metrum_sensor.state = ao_flight_state;
+	telemetry.metrum_sensor.accel = ao_data_accel(packet);
+	telemetry.metrum_sensor.pres = ao_data_pres(packet);
+	telemetry.metrum_sensor.temp = ao_data_temp(packet);
+
+	telemetry.metrum_sensor.acceleration = ao_accel;
+	telemetry.metrum_sensor.speed = ao_speed;
+	telemetry.metrum_sensor.height = ao_height;
+
+	telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
+	telemetry.metrum_sensor.sense_a = packet->adc.sense[0];
+	telemetry.metrum_sensor.sense_m = packet->adc.sense[1];
+
+	ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+static __pdata int8_t ao_telemetry_metrum_data_max;
+static __pdata int8_t ao_telemetry_metrum_data_cur;
+
+/* Send telemetrum data packet */
+static void
+ao_send_metrum_data(void)
+{
+	if (--ao_telemetry_metrum_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.metrum_data.ground_pres = ao_ground_pres;
+		telemetry.metrum_data.ground_accel = ao_ground_accel;
+		telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
+		telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
+
+		ao_radio_send(&telemetry, sizeof (telemetry));
+		ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
+	}
+}
+#endif /* AO_SEND_MEGA */
+
 #ifdef AO_SEND_ALL_BARO
 static uint8_t		ao_baro_sample;
 
@@ -327,9 +382,14 @@ ao_telemetry(void)
 				ao_send_mega_sensor();
 				ao_send_mega_data();
 #else
+#ifdef AO_SEND_METRUM
+				ao_send_metrum_sensor();
+				ao_send_metrum_data();
+#else
 				ao_send_sensor();
 #endif
 #endif
+#endif
 
 #if HAS_COMPANION
 				if (ao_companion_running)
@@ -399,6 +459,12 @@ ao_telemetry_set_interval(uint16_t interval)
 		cur++;
 	ao_telemetry_mega_data_cur = cur;
 #endif
+#if AO_SEND_METRUM
+	ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
+	if (ao_telemetry_metrum_data_max > cur)
+		cur++;
+	ao_telemetry_metrum_data_cur = cur;
+#endif
 
 #if HAS_COMPANION
 	if (!ao_companion_setup.update_period)
diff --git a/src/core/ao_telemetry.h b/src/core/ao_telemetry.h
index f2d201de..17dc3e93 100644
--- a/src/core/ao_telemetry.h
+++ b/src/core/ao_telemetry.h
@@ -207,6 +207,48 @@ struct ao_telemetry_mega_data {
 };
 
 
+#define AO_TELEMETRY_METRUM_SENSOR	0x0A
+
+struct ao_telemetry_metrum_sensor {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	uint8_t         state;          /*  5 flight state */
+	int16_t		accel;		/*  6 Z axis */
+
+	int32_t		pres;		/*  8 Pa * 10 */
+	int16_t		temp;		/* 12 °C * 100 */
+
+	int16_t         acceleration;   /* 14 m/s² * 16 */
+	int16_t         speed;          /* 16 m/s * 16 */
+	int16_t         height;         /* 18 m */
+
+	int16_t		v_batt;		/* 20 battery voltage */
+	int16_t		sense_a;	/* 22 apogee continuity sense */
+	int16_t		sense_m;	/* 24 main continuity sense */
+
+	uint8_t		pad[6];		/* 26 */
+	/* 32 */
+};
+	
+#define AO_TELEMETRY_METRUM_DATA	0x0B
+
+struct ao_telemetry_metrum_data {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	int32_t		ground_pres;	/* 8 average pres on pad */
+	int16_t		ground_accel;	/* 12 average accel on pad */
+	int16_t		accel_plus_g;	/* 14 accel calibration at +1g */
+	int16_t		accel_minus_g;	/* 16 accel calibration at -1g */
+
+	uint8_t		pad[14];	/* 18 */
+	/* 32 */
+};
+
+
 /* #define AO_SEND_ALL_BARO */
 
 #define AO_TELEMETRY_BARO		0x80
@@ -240,6 +282,8 @@ union ao_telemetry_all {
 	struct ao_telemetry_companion		companion;
 	struct ao_telemetry_mega_sensor		mega_sensor;
 	struct ao_telemetry_mega_data		mega_data;
+	struct ao_telemetry_metrum_sensor	metrum_sensor;
+	struct ao_telemetry_metrum_data		metrum_data;
 	struct ao_telemetry_baro		baro;
 };