diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/ao.h | 8 | ||||
| -rw-r--r-- | src/ao_gps_print.c | 145 | ||||
| -rw-r--r-- | src/ao_gps_sirf.c | 1 | ||||
| -rw-r--r-- | src/ao_gps_test.c | 1 | ||||
| -rw-r--r-- | src/ao_gps_test_skytraq.c | 1 | ||||
| -rw-r--r-- | src/ao_monitor.c | 198 | ||||
| -rw-r--r-- | src/ao_telem.h | 172 |
7 files changed, 398 insertions, 128 deletions
@@ -841,6 +841,7 @@ ao_spi_init(void); #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) #define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) extern __xdata uint16_t ao_gps_tick; @@ -905,8 +906,7 @@ ao_gps_report_init(void); * ao_telemetry.c */ -#define AO_MAX_CALLSIGN 8 -#define AO_TELEMETRY_VERSION 3 +#define AO_MAX_CALLSIGN 8 struct ao_telemetry { uint16_t serial; @@ -1020,6 +1020,10 @@ extern const char const * const ao_state_names[]; void ao_monitor(void); +#define AO_MONITORING_OFF 0 +#define AO_MONITORING_FULL 1 +#define AO_MONITORING_TINY 2 + void ao_set_monitor(uint8_t monitoring); diff --git a/src/ao_gps_print.c b/src/ao_gps_print.c index 11213174..ca071b42 100644 --- a/src/ao_gps_print.c +++ b/src/ao_gps_print.c @@ -18,86 +18,61 @@ #ifndef AO_GPS_TEST #include "ao.h" #endif - -struct ao_gps_split { - uint8_t positive; - uint8_t degrees; - uint8_t minutes; - uint16_t minutes_fraction; -}; - -static void -ao_gps_split(int32_t v, __xdata struct ao_gps_split *split) __reentrant -{ - uint32_t minutes_e7; - - split->positive = 1; - if (v < 0) { - v = -v; - split->positive = 0; - } - split->degrees = v / 10000000; - minutes_e7 = (v % 10000000) * 60; - split->minutes = minutes_e7 / 10000000; - split->minutes_fraction = (minutes_e7 % 10000000) / 1000; -} +#include "ao_telem.h" void ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant { - printf("GPS %2d sat", + char state; + + if (gps_data->flags & AO_GPS_VALID) + state = AO_TELEM_GPS_STATE_LOCKED; + else if (gps_data->flags & AO_GPS_RUNNING) + state = AO_TELEM_GPS_STATE_UNLOCKED; + else + state = AO_TELEM_GPS_STATE_ERROR; + printf(AO_TELEM_GPS_STATE " %c " + AO_TELEM_GPS_NUM_SAT " %d ", + state, (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT); - if (gps_data->flags & AO_GPS_VALID) { - static __xdata struct ao_gps_split lat, lon; - int16_t climb, climb_int, climb_frac; + if (!(gps_data->flags & AO_GPS_VALID)) + return; + printf(AO_TELEM_GPS_LATITUDE " %ld " + AO_TELEM_GPS_LONGITUDE " %ld " + AO_TELEM_GPS_ALTITUDE " %d ", + gps_data->latitude, + gps_data->longitude, + gps_data->altitude); - ao_gps_split(gps_data->latitude, &lat); - ao_gps_split(gps_data->longitude, &lon); - if (gps_data->flags & AO_GPS_DATE_VALID) - printf(" 20%02d-%02d-%02d", - gps_data->year, - gps_data->month, - gps_data->day); - else - printf (" 0000-00-00"); - printf(" %2d:%02d:%02d", - gps_data->hour, - gps_data->minute, - gps_data->second); - printf(" %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm", - lat.degrees, - lat.minutes, - lat.minutes_fraction, - lat.positive ? 'N' : 'S', - lon.degrees, - lon.minutes, - lon.minutes_fraction, - lon.positive ? 'E' : 'W', - gps_data->altitude); - climb = gps_data->climb_rate; - if (climb >= 0) { - climb_int = climb / 100; - climb_frac = climb % 100; - } else { - climb = -climb; - climb_int = -(climb / 100); - climb_frac = climb % 100; - } - printf(" %5u.%02dm/s(H) %d° %5d.%02dm/s(V)", - gps_data->ground_speed / 100, - gps_data->ground_speed % 100, - gps_data->course * 2, - climb / 100, - climb % 100); - printf(" %d.%d(hdop) %5u(herr) %5u(verr)", - gps_data->hdop / 5, - (gps_data->hdop * 2) % 10, + if (gps_data->flags & AO_GPS_DATE_VALID) + printf(AO_TELEM_GPS_YEAR " %d " + AO_TELEM_GPS_MONTH " %d " + AO_TELEM_GPS_DAY " %d ", + gps_data->year, + gps_data->month, + gps_data->day); + + printf(AO_TELEM_GPS_HOUR " %d " + AO_TELEM_GPS_MINUTE " %d " + AO_TELEM_GPS_SECOND " %d ", + gps_data->hour, + gps_data->minute, + gps_data->second); + + printf(AO_TELEM_GPS_HDOP " %d ", + gps_data->hdop * 2); + + if (gps_data->flags & AO_GPS_COURSE_VALID) { + printf(AO_TELEM_GPS_HERROR " %d " + AO_TELEM_GPS_VERROR " %d " + AO_TELEM_GPS_VERTICAL_SPEED " %d " + AO_TELEM_GPS_HORIZONTAL_SPEED " %d " + AO_TELEM_GPS_COURSE " %d ", gps_data->h_error, - gps_data->v_error); - } else if (gps_data->flags & AO_GPS_RUNNING) { - printf(" unlocked"); - } else { - printf (" not-connected"); + gps_data->v_error, + gps_data->climb_rate, + gps_data->ground_speed, + (int) gps_data->course * 2); } } @@ -106,12 +81,11 @@ ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data) __ { uint8_t c, n, v; __xdata struct ao_gps_sat_data *sat; - printf("SAT "); + n = gps_tracking_data->channels; - if (n == 0) { - printf("not-connected"); + if (n == 0) return; - } + sat = gps_tracking_data->sats; v = 0; for (c = 0; c < n; c++) { @@ -119,13 +93,20 @@ ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data) __ v++; sat++; } - printf("%d ", v); + + printf (AO_TELEM_SAT_NUM " %d ", + v); + sat = gps_tracking_data->sats; + v = 0; for (c = 0; c < n; c++) { - if (sat->svid) - printf (" %3d %3d", - sat->svid, - sat->c_n_1); + if (sat->svid) { + printf (AO_TELEM_SAT_SVID "%d %d " + AO_TELEM_SAT_C_N_0 "%d %d ", + v, sat->svid, + v, sat->c_n_1); + v++; + } sat++; } } diff --git a/src/ao_gps_sirf.c b/src/ao_gps_sirf.c index a6167e6b..87b1d69c 100644 --- a/src/ao_gps_sirf.c +++ b/src/ao_gps_sirf.c @@ -405,6 +405,7 @@ ao_gps(void) __reentrant ao_gps_data.course = ao_sirf_data.course / 200; ao_gps_data.hdop = ao_sirf_data.hdop; ao_gps_data.climb_rate = ao_sirf_data.climb_rate; + ao_gps_data.flags |= AO_GPS_COURSE_VALID; if (ao_sirf_data.h_error > 6553500) ao_gps_data.h_error = 65535; else diff --git a/src/ao_gps_test.c b/src/ao_gps_test.c index edb51304..44efb50c 100644 --- a/src/ao_gps_test.c +++ b/src/ao_gps_test.c @@ -28,6 +28,7 @@ #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) #define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) struct ao_gps_data { uint8_t year; diff --git a/src/ao_gps_test_skytraq.c b/src/ao_gps_test_skytraq.c index 4010e09c..b94e9bd2 100644 --- a/src/ao_gps_test_skytraq.c +++ b/src/ao_gps_test_skytraq.c @@ -28,6 +28,7 @@ #define AO_GPS_VALID (1 << 4) #define AO_GPS_RUNNING (1 << 5) #define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) struct ao_gps_data { uint8_t year; diff --git a/src/ao_monitor.c b/src/ao_monitor.c index 9c4be6fb..d6fd8305 100644 --- a/src/ao_monitor.c +++ b/src/ao_monitor.c @@ -16,6 +16,7 @@ */ #include "ao.h" +#include "ao_telem.h" __xdata uint8_t ao_monitoring; __pdata uint8_t ao_monitor_led; @@ -23,54 +24,163 @@ __pdata uint8_t ao_monitor_led; void ao_monitor(void) { - __xdata struct ao_telemetry_recv recv; __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_radio_recv(&recv, sizeof (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) { - printf("VERSION %d CALL %s SERIAL %d FLIGHT %5u RSSI %4d STATUS %02x STATE %7s ", - AO_TELEMETRY_VERSION, - callsign, - recv.telemetry.serial, - recv.telemetry.flight, - rssi, recv.status, - ao_state_names[state]); - printf("%5u a: %5d p: %5d t: %5d v: %5d d: %5d m: %5d " - "fa: %5d ga: %d fv: %7ld fp: %5d gp: %5d a+: %5d a-: %5d ", - recv.telemetry.adc.tick, - 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, - recv.telemetry.flight_accel, - recv.telemetry.ground_accel, - recv.telemetry.flight_vel, - recv.telemetry.flight_pres, - recv.telemetry.ground_pres, - recv.telemetry.accel_plus_g, - recv.telemetry.accel_minus_g); - ao_gps_print(&recv.telemetry.gps); - putchar(' '); - ao_gps_tracking_print(&recv.telemetry.gps_tracking); - putchar('\n'); - ao_rssi_set(rssi); + 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 0 + /* Kalman state values */ + printf(AO_TELEM_KALMAN_HEIGHT " %d " + AO_TELEM_KALMAN_SPEED " %d " + AO_TELEM_KALMAN_ACCEL " %d ", + recv.telemetry.height, + recv.telemetry.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.flight_accel, + recv.telemetry.flight_vel, + recv.telemetry.flight_pres); +#endif + 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 { - printf("CRC INVALID RSSI %3d\n", rssi); + 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); @@ -82,21 +192,21 @@ __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); - if (!ao_monitoring) - ao_radio_recv_abort(); } static void set_monitor(void) { ao_cmd_hex(); - ao_set_monitor(ao_cmd_lex_i != 0); + ao_set_monitor(ao_cmd_lex_i); } __code struct ao_cmds ao_monitor_cmds[] = { - { set_monitor, "m <0 off, 1 on>\0Enable/disable radio monitoring" }, + { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" }, { 0, NULL }, }; diff --git a/src/ao_telem.h b/src/ao_telem.h new file mode 100644 index 00000000..b1624fe0 --- /dev/null +++ b/src/ao_telem.h @@ -0,0 +1,172 @@ +/* + * 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. + */ + +#ifndef _AO_TELEM_H_ +#define _AO_TELEM_H_ + +#define AO_TELEMETRY_VERSION 4 + +/* + * Telemetry version 4 and higher format: + * + * General header fields + * + * Name Value + * + * VERSION Telemetry version number (4 or more). Must be first. + * c Callsign (string, no spaces allowed) + * n Flight unit serial number (integer) + * f Flight number (integer) + * r Packet RSSI value (integer) + * s Flight computer state (string, no spaces allowed) + * t Flight computer clock (integer in centiseconds) + */ + +#define AO_TELEM_VERSION "VERSION" +#define AO_TELEM_CALL "c" +#define AO_TELEM_SERIAL "n" +#define AO_TELEM_FLIGHT "f" +#define AO_TELEM_RSSI "r" +#define AO_TELEM_STATE "s" +#define AO_TELEM_TICK "t" + +/* + * Raw sensor values + * + * Name Value + * r_a Accelerometer reading (integer) + * r_b Barometer reading (integer) + * r_t Thermometer reading (integer) + * r_v Battery reading (integer) + * r_d Drogue continuity (integer) + * r_m Main continuity (integer) + */ + +#define AO_TELEM_RAW_ACCEL "r_a" +#define AO_TELEM_RAW_BARO "r_b" +#define AO_TELEM_RAW_THERMO "r_t" +#define AO_TELEM_RAW_BATT "r_v" +#define AO_TELEM_RAW_DROGUE "r_d" +#define AO_TELEM_RAW_MAIN "r_m" + +/* + * Sensor calibration values + * + * Name Value + * c_a Ground accelerometer reading (integer) + * c_b Ground barometer reading (integer) + * c_p Accelerometer reading for +1g + * c_m Accelerometer reading for -1g + */ + +#define AO_TELEM_CAL_ACCEL_GROUND "c_a" +#define AO_TELEM_CAL_BARO_GROUND "c_b" +#define AO_TELEM_CAL_ACCEL_PLUS "c_p" +#define AO_TELEM_CAL_ACCEL_MINUS "c_m" + +/* + * Kalman state values + * + * Name Value + * k_h Height above pad (integer, meters) + * k_s Vertical speeed (integer, m/s * 16) + * k_a Vertical acceleration (integer, m/s² * 16) + */ + +#define AO_TELEM_KALMAN_HEIGHT "k_h" +#define AO_TELEM_KALMAN_SPEED "k_s" +#define AO_TELEM_KALMAN_ACCEL "k_a" + +/* + * Ad-hoc flight values + * + * Name Value + * a_a Acceleration (integer, sensor units) + * a_s Speed (integer, integrated acceleration value) + * a_b Barometer reading (integer, sensor units) + */ + +#define AO_TELEM_ADHOC_ACCEL "a_a" +#define AO_TELEM_ADHOC_SPEED "a_s" +#define AO_TELEM_ADHOC_BARO "a_b" + +/* + * GPS values + * + * Name Value + * g_s GPS state (string): + * l locked + * u unlocked + * e error (missing or broken) + * g_n Number of sats used in solution + * g_ns Latitude (degrees * 10e7) + * g_ew Longitude (degrees * 10e7) + * g_a Altitude (integer meters) + * g_Y GPS year (integer) + * g_M GPS month (integer - 1-12) + * g_D GPS day (integer - 1-31) + * g_h GPS hour (integer - 0-23) + * g_m GPS minute (integer - 0-59) + * g_s GPS second (integer - 0-59) + * g_v GPS vertical speed (integer, cm/sec) + * g_s GPS horizontal speed (integer, cm/sec) + * g_c GPS course (integer, 0-359) + * g_hd GPS hdop (integer * 10) + * g_vd GPS vdop (integer * 10) + * g_he GPS h error (integer) + * g_ve GPS v error (integer) + */ + +#define AO_TELEM_GPS_STATE "g_s" +#define AO_TELEM_GPS_STATE_LOCKED 'l' +#define AO_TELEM_GPS_STATE_UNLOCKED 'u' +#define AO_TELEM_GPS_STATE_ERROR 'e' +#define AO_TELEM_GPS_NUM_SAT "g_n" +#define AO_TELEM_GPS_LATITUDE "g_ns" +#define AO_TELEM_GPS_LONGITUDE "g_ew" +#define AO_TELEM_GPS_ALTITUDE "g_a" +#define AO_TELEM_GPS_YEAR "g_Y" +#define AO_TELEM_GPS_MONTH "g_M" +#define AO_TELEM_GPS_DAY "g_D" +#define AO_TELEM_GPS_HOUR "g_h" +#define AO_TELEM_GPS_MINUTE "g_m" +#define AO_TELEM_GPS_SECOND "g_s" +#define AO_TELEM_GPS_VERTICAL_SPEED "g_v" +#define AO_TELEM_GPS_HORIZONTAL_SPEED "g_s" +#define AO_TELEM_GPS_COURSE "g_c" +#define AO_TELEM_GPS_HDOP "g_hd" +#define AO_TELEM_GPS_VDOP "g_vd" +#define AO_TELEM_GPS_HERROR "g_he" +#define AO_TELEM_GPS_VERROR "g_ve" + +/* + * GPS satellite values + * + * Name Value + * s_n Number of satellites reported (integer) + * s_v0 Space vehicle ID (integer) for report 0 + * s_c0 C/N0 number (integer) for report 0 + * s_v1 Space vehicle ID (integer) for report 1 + * s_c1 C/N0 number (integer) for report 1 + * ... + */ + +#define AO_TELEM_SAT_NUM "s_n" +#define AO_TELEM_SAT_SVID "s_v" +#define AO_TELEM_SAT_C_N_0 "s_c" + +#endif /* _AO_TELEM_H_ */ |