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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; either version 2 of the License, or
* (at your option) any later version.
*
* 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
__xdata uint8_t ao_monitoring_mutex;
__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)
{
#ifdef AO_MONITOR_BAD
uint8_t *recv;
#endif
for (;;) {
ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
#ifdef AO_MONITOR_BAD
recv = (uint8_t *) &ao_monitor_ring[ao_monitor_ring_prev(ao_monitor_head)];
if (ao_monitoring && !(recv[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK))
ao_led_for(AO_MONITOR_BAD, AO_MS_TO_TICKS(100));
else
#endif
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];
#endif
#if LEGACY_MONITOR || HAS_RSSI
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
ao_mutex_get(&ao_monitoring_mutex);
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');
ao_mutex_put(&ao_monitoring_mutex);
#if HAS_RSSI
if (recv_raw.packet[ao_monitoring + 1] & AO_RADIO_STATUS_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
}
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