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/*
* 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.
*/
#include "ao.h"
#include "ao_product.h"
static __pdata uint16_t ao_telemetry_interval;
static __pdata int8_t ao_telemetry_config_max;
static __pdata int8_t ao_telemetry_config_cur;
#if HAS_GPS
static __pdata int8_t ao_telemetry_loc_cur;
static __pdata int8_t ao_telemetry_sat_cur;
#endif
#if HAS_COMPANION
static __pdata int8_t ao_telemetry_companion_max;
static __pdata int8_t ao_telemetry_companion_cur;
#endif
static __pdata uint8_t ao_rdf = 0;
static __pdata uint16_t ao_rdf_time;
#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
#define AO_RDF_LENGTH_MS 500
#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
#endif
#if defined(TELEMINI_V_1_0)
#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
#endif
#if defined(TELENANO_V_0_1)
#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
#endif
static __xdata union ao_telemetry_all telemetry;
/* Send sensor packet */
static void
ao_send_sensor(void)
{
uint8_t sample;
sample = ao_sample_adc;
telemetry.generic.tick = ao_adc_ring[sample].tick;
telemetry.generic.type = AO_TELEMETRY_SENSOR;
telemetry.sensor.state = ao_flight_state;
#if HAS_ACCEL
telemetry.sensor.accel = ao_adc_ring[sample].accel;
#else
telemetry.sensor.accel = 0;
#endif
telemetry.sensor.pres = ao_adc_ring[sample].pres;
telemetry.sensor.temp = ao_adc_ring[sample].temp;
telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
#if HAS_IGNITE
telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
#else
telemetry.sensor.sense_d = 0;
telemetry.sensor.sense_m = 0;
#endif
telemetry.sensor.acceleration = ao_accel;
telemetry.sensor.speed = ao_speed;
telemetry.sensor.height = ao_height;
telemetry.sensor.ground_pres = ao_ground_pres;
#if HAS_ACCEL
telemetry.sensor.ground_accel = ao_ground_accel;
telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
#else
telemetry.sensor.ground_accel = 0;
telemetry.sensor.accel_plus_g = 0;
telemetry.sensor.accel_minus_g = 0;
#endif
ao_radio_send(&telemetry, sizeof (telemetry));
}
static void
ao_send_configuration(void)
{
if (--ao_telemetry_config_cur <= 0)
{
telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
telemetry.configuration.device = AO_idProduct_NUMBER;
telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
telemetry.configuration.config_major = AO_CONFIG_MAJOR;
telemetry.configuration.config_minor = AO_CONFIG_MINOR;
telemetry.configuration.apogee_delay = ao_config.apogee_delay;
telemetry.configuration.main_deploy = ao_config.main_deploy;
telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
memcpy (telemetry.configuration.callsign,
ao_config.callsign,
AO_MAX_CALLSIGN);
memcpy (telemetry.configuration.version,
ao_version,
AO_MAX_VERSION);
ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_config_cur = ao_telemetry_config_max;
}
}
#if HAS_GPS
static void
ao_send_location(void)
{
if (--ao_telemetry_loc_cur <= 0)
{
telemetry.generic.type = AO_TELEMETRY_LOCATION;
ao_mutex_get(&ao_gps_mutex);
memcpy(&telemetry.location.flags,
&ao_gps_data.flags,
26);
ao_mutex_put(&ao_gps_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_loc_cur = ao_telemetry_config_max;
}
}
static void
ao_send_satellite(void)
{
if (--ao_telemetry_sat_cur <= 0)
{
telemetry.generic.type = AO_TELEMETRY_SATELLITE;
ao_mutex_get(&ao_gps_mutex);
telemetry.satellite.channels = ao_gps_tracking_data.channels;
memcpy(&telemetry.satellite.sats,
&ao_gps_tracking_data.sats,
AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
ao_mutex_put(&ao_gps_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_sat_cur = ao_telemetry_config_max;
}
}
#endif
#if HAS_COMPANION
static void
ao_send_companion(void)
{
if (--ao_telemetry_companion_cur <= 0) {
telemetry.generic.type = AO_TELEMETRY_COMPANION;
telemetry.companion.board_id = ao_companion_setup.board_id;
telemetry.companion.update_period = ao_companion_setup.update_period;
telemetry.companion.channels = ao_companion_setup.channels;
ao_mutex_get(&ao_companion_mutex);
memcpy(&telemetry.companion.companion_data,
ao_companion_data,
ao_companion_setup.channels * 2);
ao_mutex_put(&ao_companion_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_companion_cur = ao_telemetry_companion_max;
}
}
#endif
void
ao_telemetry(void)
{
uint16_t time;
int16_t delay;
ao_config_get();
while (!ao_flight_number)
ao_sleep(&ao_flight_number);
telemetry.generic.serial = ao_serial_number;
for (;;) {
while (ao_telemetry_interval == 0)
ao_sleep(&telemetry);
time = ao_rdf_time = ao_time();
while (ao_telemetry_interval) {
ao_send_sensor();
#if HAS_COMPANION
if (ao_companion_running)
ao_send_companion();
#endif
ao_send_configuration();
#if HAS_GPS
ao_send_location();
ao_send_satellite();
#endif
if (ao_rdf &&
(int16_t) (ao_time() - ao_rdf_time) >= 0)
{
ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
ao_radio_rdf(AO_RDF_LENGTH_MS);
}
time += ao_telemetry_interval;
delay = time - ao_time();
if (delay > 0)
ao_delay(delay);
else
time = ao_time();
}
}
}
void
ao_telemetry_set_interval(uint16_t interval)
{
ao_telemetry_interval = interval;
#if HAS_COMPANION
if (!ao_companion_setup.update_period)
ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
ao_telemetry_companion_cur = 1;
#endif
ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
#if HAS_COMPANION
ao_telemetry_config_cur = ao_telemetry_companion_cur;
if (ao_telemetry_config_max > ao_telemetry_config_cur)
ao_telemetry_config_cur++;
#else
ao_telemetry_config_cur = 1;
#endif
#if HAS_GPS
ao_telemetry_loc_cur = ao_telemetry_config_cur;
if (ao_telemetry_config_max > ao_telemetry_loc_cur)
ao_telemetry_loc_cur++;
ao_telemetry_sat_cur = ao_telemetry_loc_cur;
if (ao_telemetry_config_max > ao_telemetry_sat_cur)
ao_telemetry_sat_cur++;
#endif
ao_wakeup(&telemetry);
}
void
ao_rdf_set(uint8_t rdf)
{
ao_rdf = rdf;
if (rdf == 0)
ao_radio_rdf_abort();
else
ao_rdf_time = ao_time();
}
__xdata struct ao_task ao_telemetry_task;
void
ao_telemetry_init()
{
ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
}
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