altos: Rename 'core' to 'kernel'

core remains a bad name to use -- dirvish skips files (and
directories, it seems) with that name.

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

1 files changed, 308 insertions, 0 deletions

diff --git a/src/kernel/ao_monitor.c b/src/kernel/ao_monitor.c
new file mode 100644
index 00000000..18f170b4
--- /dev/null
+++ b/src/kernel/ao_monitor.c
@@ -0,0 +1,308 @@
+/*
+ * 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"
+#include "ao_flight.h"
+
+#if !HAS_MONITOR
+#error Must define HAS_MONITOR to 1
+#endif
+
+#ifndef LEGACY_MONITOR
+#error Must define LEGACY_MONITOR
+#endif
+
+#ifndef HAS_MONITOR_PUT
+#define HAS_MONITOR_PUT 1
+#endif
+
+#ifndef AO_MONITOR_LED
+#error Must define AO_MONITOR_LED
+#endif
+
+__data uint8_t ao_monitoring;
+static __data uint8_t ao_monitor_disabled;
+static __data uint8_t ao_internal_monitoring;
+static __data uint8_t ao_external_monitoring;
+
+__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
+
+__data uint8_t	ao_monitor_head;
+
+static void
+_ao_monitor_adjust(void)
+{
+	if (ao_monitoring)
+		ao_radio_recv_abort();
+	if (ao_monitor_disabled)
+		ao_monitoring = 0;
+	else {
+		if (ao_external_monitoring)
+			ao_monitoring = ao_external_monitoring;
+		else
+			ao_monitoring = ao_internal_monitoring;
+	}
+	ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
+}
+
+void
+ao_monitor_get(void)
+{
+	uint8_t	size;
+
+	for (;;) {
+		switch (ao_monitoring) {
+		case 0:
+			ao_sleep(DATA_TO_XDATA(&ao_monitoring));
+			continue;
+#if LEGACY_MONITOR
+		case AO_MONITORING_ORIG:
+			size = sizeof (struct ao_telemetry_orig_recv);
+			break;
+#endif
+		default:
+			if (ao_monitoring > AO_MAX_TELEMETRY)
+				ao_monitoring = AO_MAX_TELEMETRY;
+			size = ao_monitoring;
+			break;
+		}
+		if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
+			continue;
+		ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
+		ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+	}
+}
+
+#if AO_MONITOR_LED
+__xdata struct ao_task ao_monitor_blink_task;
+
+void
+ao_monitor_blink(void)
+{
+	for (;;) {
+		ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+		ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
+	}
+}
+#endif
+
+#if HAS_MONITOR_PUT
+
+static const char xdigit[16] = {
+	'0', '1', '2', '3', '4', '5', '6', '7',
+	'8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
+};
+
+#define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
+
+void
+ao_monitor_put(void)
+{
+#if LEGACY_MONITOR
+	__xdata char callsign[AO_MAX_CALLSIGN+1];
+	int16_t rssi;
+#endif
+	uint8_t ao_monitor_tail;
+	uint8_t state;
+	uint8_t sum, byte;
+	__xdata union ao_monitor	*m;
+
+#define recv_raw	((m->raw))
+#define recv_orig	((m->orig))
+#define recv_tiny	((m->tiny))
+
+	ao_monitor_tail = ao_monitor_head;
+	for (;;) {
+		while (!ao_external_monitoring)
+			ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
+		while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
+			ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+		if (!ao_external_monitoring)
+			continue;
+		m = &ao_monitor_ring[ao_monitor_tail];
+		ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
+		switch (ao_monitoring) {
+		case 0:
+			break;
+#if LEGACY_MONITOR
+		case AO_MONITORING_ORIG:
+			state = recv_orig.telemetry_orig.flight_state;
+
+			rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
+			ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
+			if (state > ao_flight_invalid)
+				state = ao_flight_invalid;
+			if (recv_orig.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_orig.telemetry_orig.serial,
+				       recv_orig.telemetry_orig.flight,
+				       rssi,
+				       ao_state_names[state],
+				       recv_orig.telemetry_orig.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_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_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_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_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_orig.telemetry_orig.accel,
+					       recv_orig.telemetry_orig.u.flight_vel,
+					       recv_orig.telemetry_orig.height);
+				}
+				ao_gps_print(&recv_orig.telemetry_orig.gps);
+				ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
+				putchar('\n');
+#if HAS_RSSI
+				ao_rssi_set(rssi);
+#endif
+			} else {
+				printf("CRC INVALID RSSI %3d\n", rssi);
+			}
+			break;
+#endif /* LEGACY_MONITOR */
+		default:
+#if AO_PROFILE
+		{
+			extern uint32_t	ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
+			extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
+
+			printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
+			printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
+			printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
+			printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
+		}
+#endif
+			printf("TELEM ");
+			hex((uint8_t) (ao_monitoring + 2));
+			sum = 0x5a;
+			for (state = 0; state < ao_monitoring + 2; state++) {
+				byte = recv_raw.packet[state];
+				sum += byte;
+				hex(byte);
+			}
+			hex(sum);
+			putchar ('\n');
+#if HAS_RSSI
+			if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
+				rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
+				ao_rssi_set(rssi);
+			}
+#endif
+			break;
+		}
+		ao_usb_flush();
+	}
+}
+
+__xdata struct ao_task ao_monitor_put_task;
+#endif
+
+__xdata struct ao_task ao_monitor_get_task;
+
+void
+ao_monitor_set(uint8_t monitoring)
+{
+	ao_internal_monitoring = monitoring;
+	_ao_monitor_adjust();
+}
+
+void
+ao_monitor_disable(void)
+{
+	++ao_monitor_disabled;
+	_ao_monitor_adjust();
+}
+
+void
+ao_monitor_enable(void)
+{
+	--ao_monitor_disabled;
+	_ao_monitor_adjust();
+}
+
+#if HAS_MONITOR_PUT
+static void
+set_monitor(void)
+{
+	ao_cmd_hex();
+	ao_external_monitoring = ao_cmd_lex_i;
+	ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
+	ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+	_ao_monitor_adjust();
+}
+
+__code struct ao_cmds ao_monitor_cmds[] = {
+	{ set_monitor,	"m <0 off, 1 old, 20 std>\0Set radio monitoring" },
+	{ 0,	NULL },
+};
+#endif
+
+void
+ao_monitor_init(void) __reentrant
+{
+#if HAS_MONITOR_PUT
+	ao_cmd_register(&ao_monitor_cmds[0]);
+	ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
+#endif
+	ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
+#if AO_MONITOR_LED
+	ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
+#endif
+}