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/*
* 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"
#if !HAS_MONITOR
#error Must define HAS_MONITOR to 1
#endif
__xdata uint8_t ao_monitoring;
__pdata uint8_t ao_monitor_led;
#define AO_MONITOR_RING 8
__xdata union ao_monitor {
struct ao_telemetry_raw_recv raw;
struct ao_telemetry_orig_recv orig;
struct ao_telemetry_tiny_recv tiny;
} ao_monitor_ring[AO_MONITOR_RING];
#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
__data uint8_t ao_monitor_head;
void
ao_monitor_get(void)
{
uint8_t size;
for (;;) {
switch (ao_monitoring) {
case 0:
ao_sleep(&ao_monitoring);
continue;
case AO_MONITORING_ORIG:
size = sizeof (struct ao_telemetry_orig_recv);
break;
case AO_MONITORING_TINY:
size = sizeof (struct ao_telemetry_tiny_recv);
break;
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))
continue;
ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
ao_led_toggle(ao_monitor_led);
}
}
void
ao_monitor_put(void)
{
__xdata char callsign[AO_MAX_CALLSIGN+1];
uint8_t ao_monitor_tail;
uint8_t state;
uint8_t sum, byte;
int16_t rssi;
__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_monitor_tail == ao_monitor_head)
ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
m = &ao_monitor_ring[ao_monitor_tail];
ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
switch (ao_monitoring) {
case AO_MONITORING_ORIG:
state = recv_orig.telemetry_orig.flight_state;
/* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
memcpy(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');
ao_rssi_set(rssi);
} else {
printf("CRC INVALID RSSI %3d\n", rssi);
}
break;
case AO_MONITORING_TINY:
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);
}
break;
default:
printf ("TELEM %02x", ao_monitoring + 2);
sum = 0x5a;
for (state = 0; state < ao_monitoring + 2; state++) {
byte = recv_raw.packet[state];
sum += byte;
printf("%02x", byte);
}
printf("%02x\n", sum);
break;
}
ao_usb_flush();
}
}
__xdata struct ao_task ao_monitor_get_task;
__xdata struct ao_task ao_monitor_put_task;
void
ao_set_monitor(uint8_t monitoring)
{
if (ao_monitoring)
ao_radio_recv_abort();
ao_monitoring = monitoring;
ao_wakeup(&ao_monitoring);
}
static void
set_monitor(void)
{
ao_cmd_hex();
ao_set_monitor(ao_cmd_lex_i);
}
__code struct ao_cmds ao_monitor_cmds[] = {
{ set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
{ 0, NULL },
};
void
ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
{
ao_monitor_led = monitor_led;
ao_monitoring = monitoring;
ao_cmd_register(&ao_monitor_cmds[0]);
ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
}
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