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-rw-r--r--src/core/ao_gps_report_metrum.c110
-rw-r--r--src/core/ao_log.h66
-rw-r--r--src/core/ao_log_metrum.c175
-rw-r--r--src/core/ao_telemetry.c66
-rw-r--r--src/core/ao_telemetry.h44
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;
};
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-16 22:56:19 +0000