Initial Commit - Copy from Altus Metrum AltOS
This commit is contained in:
12
ao-tools/ao-send-telem/Makefile.am
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12
ao-tools/ao-send-telem/Makefile.am
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bin_PROGRAMS=ao-send-telem
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AM_CFLAGS=$(WARN_CFLAGS) -I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
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AO_POSTFLIGHT_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a
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ao_send_telem_DEPENDENCIES = $(AO_POSTFLIGHT_LIBS)
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ao_send_telem_LDADD=$(AO_POSTFLIGHT_LIBS) $(LIBUSB_LIBS)
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ao_send_telem_SOURCES = ao-send-telem.c
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man_MANS = ao-send-telem.1
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64
ao-tools/ao-send-telem/ao-send-telem.1
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64
ao-tools/ao-send-telem/ao-send-telem.1
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.\"
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.\" Copyright © 2009 Keith Packard <keithp@keithp.com>
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.\"
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.\" This program is free software; you can redistribute it and/or modify
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.\" it under the terms of the GNU General Public License as published by
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.\" the Free Software Foundation; either version 2 of the License, or
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.\" (at your option) any later version.
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.\"
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.\" This program is distributed in the hope that it will be useful, but
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.\" WITHOUT ANY WARRANTY; without even the implied warranty of
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.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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.\" General Public License for more details.
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.\"
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.\" You should have received a copy of the GNU General Public License along
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.\" with this program; if not, write to the Free Software Foundation, Inc.,
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.\" 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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.\"
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.\"
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.TH AO-SEND-TELEM 1 "ao-send-telem" ""
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.SH NAME
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ao-send-telem \- Re-transmit stored telemetry file
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.SH SYNOPSIS
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.B "ao-send-telem"
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[\-T \fItty-device\fP]
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[\--tty \fItty-device\fP]
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[\-D \fIaltos-device\fP]
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[\--device \fIaltos-device\fP]
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[\-F \fIfrequency (kHz)\fP]
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[\--frequency \fIfrequency (kHz)\fP]
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[\-R]
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[\--realtime]
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<flight.telem>
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.SH OPTIONS
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.TP
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\-T tty-device | --tty tty-device
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This selects which tty device ao-dumplog uses to communicate with
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the target device.
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.TP
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\-D AltOS-device | --device AltOS-device
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Search for a connected device. This requires an argument of one of the
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following forms:
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.IP
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TeleDongle:2
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.br
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TeleDongle
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.br
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2
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.IP
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Leaving out the product name will cause the tool to select a suitable
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product, leaving out the serial number will cause the tool to match
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one of the available devices.
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.TP
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\-F kHz | --frequency kHz
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This selects which frequency to send the specified packets on.
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.TP
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\-R | --realtime
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This makes the program delay between packets in pad mode. Normally,
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pad mode packets are sent as quickly as possible.
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.SH DESCRIPTION
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.I ao-send-telem
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reads the specified flight telemetry log and re-transmits it via the
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specified ground station device
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.SH AUTHOR
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Keith Packard
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295
ao-tools/ao-send-telem/ao-send-telem.c
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295
ao-tools/ao-send-telem/ao-send-telem.c
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/*
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* Copyright © 2011 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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#define _GNU_SOURCE
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <getopt.h>
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#include "cc.h"
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#include "cc-usb.h"
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static const struct option options[] = {
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{ .name = "tty", .has_arg = 1, .val = 'T' },
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{ .name = "device", .has_arg = 1, .val = 'D' },
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{ .name = "frequency", .has_arg = 1, .val = 'F' },
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{ .name = "realtime", .has_arg = 0, .val = 'R' },
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{ .name = "verbose", .has_arg = 0, .val = 'v' },
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{ .name = "fake", .has_arg = 0, .val = 'f' },
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{ 0, 0, 0, 0},
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};
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static void usage(char *program)
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{
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fprintf(stderr, "usage: %s [--tty <tty-name>] [--device <device-name>] [--frequency <kHz>] [--realtime] [--verbose] [--fake] file.telem ...\n", program);
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exit(1);
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}
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#define bool(b) ((b) ? "true" : "false")
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struct ao_telem_list {
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struct ao_telem_list *next;
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union ao_telemetry_all telem;
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};
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static struct ao_telem_list *telem_list, **telem_last;
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static void
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trim_telem(uint16_t time)
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{
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while (telem_list && (int16_t) (time - telem_list->telem.generic.tick) > 0) {
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struct ao_telem_list *next = telem_list->next;
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free(telem_list);
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telem_list = next;
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}
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if (!telem_list)
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telem_last = &telem_list;
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}
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static void
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add_telem(union ao_telemetry_all *telem)
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{
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struct ao_telem_list *new = malloc (sizeof (struct ao_telem_list));
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trim_telem((uint16_t) (telem->generic.tick - 20 * 100));
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new->telem = *telem;
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new->next = 0;
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*telem_last = new;
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telem_last = &new->next;
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}
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static enum ao_flight_state cur_state = ao_flight_invalid;
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static enum ao_flight_state last_state = ao_flight_invalid;
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static enum ao_flight_state
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packet_state(union ao_telemetry_all *telem)
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{
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switch (telem->generic.type) {
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case AO_TELEMETRY_SENSOR_TELEMETRUM:
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case AO_TELEMETRY_SENSOR_TELEMINI:
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case AO_TELEMETRY_SENSOR_TELENANO:
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cur_state = telem->sensor.state;
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break;
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case AO_TELEMETRY_MEGA_DATA:
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cur_state = telem->mega_data.state;
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break;
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case AO_TELEMETRY_METRUM_SENSOR:
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cur_state = telem->metrum_sensor.state;
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break;
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case AO_TELEMETRY_MINI:
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cur_state = telem->mini.state;
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break;
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}
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return cur_state;
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}
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static const char *state_names[] = {
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"startup",
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"idle",
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"pad",
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"boost",
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"fast",
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"coast",
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"drogue",
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"main",
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"landed",
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"invalid"
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};
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static void
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send_telem(struct cc_usb *cc, union ao_telemetry_all *telem)
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{
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int i;
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uint8_t *b;
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packet_state(telem);
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if (cur_state != last_state) {
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if (0 <= cur_state && cur_state < sizeof(state_names) / sizeof (state_names[0]))
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printf ("%s\n", state_names[cur_state]);
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last_state = cur_state;
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}
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cc_usb_printf(cc, "S 20\n");
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b = (uint8_t *) telem;
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for (i = 0; i < 0x20; i++)
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cc_usb_printf(cc, "%02x", b[i]);
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cc_usb_sync(cc);
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}
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static void
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do_delay(uint16_t now, uint16_t then)
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{
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int16_t delay = (int16_t) (now - then);
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if (delay > 0 && delay < 1000)
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usleep(delay * 10 * 1000);
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}
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static uint16_t
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send_queued(struct cc_usb *cc, int pause)
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{
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struct ao_telem_list *next;
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uint16_t tick = 0;
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int started = 0;
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while (telem_list) {
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if (started && pause)
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do_delay(telem_list->telem.generic.tick, tick);
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tick = telem_list->telem.generic.tick;
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started = 1;
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send_telem(cc, &telem_list->telem);
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next = telem_list->next;
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free(telem_list);
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telem_list = next;
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}
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return tick;
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}
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int
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main (int argc, char **argv)
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{
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struct cc_usb *cc;
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char *tty = NULL;
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char *device = NULL;
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char line[80];
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int c, i, ret = 0;
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int freq = 434550;
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FILE *file;
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uint16_t last_tick;
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int started;
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int realtime = 0;
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int verbose = 0;
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int fake = 0;
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int rate = 0;
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while ((c = getopt_long(argc, argv, "vRfT:D:F:r:", options, NULL)) != -1) {
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switch (c) {
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case 'T':
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tty = optarg;
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break;
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case 'D':
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device = optarg;
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break;
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case 'F':
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freq = atoi(optarg);
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break;
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case 'R':
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realtime = 1;
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break;
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case 'v':
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verbose++;
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break;
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case 'f':
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fake++;
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break;
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case 'r':
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rate = atoi(optarg);
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switch (rate) {
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case 38400:
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rate = 0;
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break;
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case 9600:
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rate = 1;
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break;
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case 2400:
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rate = 2;
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break;
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default:
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fprintf(stderr, "Rate %d isn't 38400, 9600 or 2400\n", rate);
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usage(argv[0]);
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break;
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}
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break;
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default:
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usage(argv[0]);
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break;
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}
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}
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if (!tty)
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tty = cc_usbdevs_find_by_arg(device, "TeleDongle");
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if (!tty)
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tty = getenv("ALTOS_TTY");
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if (!tty)
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tty="/dev/ttyACM0";
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cc = cc_usb_open(tty);
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if (!cc)
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exit (1);
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cc_usb_printf(cc, "m 0\n");
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cc_usb_printf(cc, "c F %d\n", freq);
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cc_usb_printf(cc, "c T %d\n", rate);
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if (fake) {
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union ao_telemetry_all telem;
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int i;
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memset(&telem, '\0', sizeof (telem));
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telem.generic.serial = 1;
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telem.generic.type = 0;
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for (i = 0; i < sizeof (telem.generic.payload); i++)
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telem.generic.payload[i] = i & 7;
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for (;;) {
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telem.generic.tick += 50;
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send_telem(cc, &telem);
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do_delay(50, 0);
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}
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} else {
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for (i = optind; i < argc; i++) {
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file = fopen(argv[i], "r");
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if (!file) {
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perror(argv[i]);
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ret++;
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continue;
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}
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started = 0;
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last_tick = 0;
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while (fgets(line, sizeof (line), file)) {
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union ao_telemetry_all telem;
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if (cc_telemetry_parse(line, &telem)) {
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/*
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* Skip packets with CRC errors.
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*/
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if ((telem.generic.status & (1 << 7)) == 0)
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continue;
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if (verbose)
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printf ("type %4d\n", telem.generic.type);
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if (started || realtime) {
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do_delay(telem.generic.tick, last_tick);
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last_tick = telem.generic.tick;
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send_telem(cc, &telem);
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} else {
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enum ao_flight_state state = packet_state(&telem);
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printf ("\tstate %4d\n", state);
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add_telem(&telem);
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if (ao_flight_pad < state && state < ao_flight_landed) {
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printf ("started\n");
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started = 1;
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last_tick = send_queued(cc, realtime);
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}
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}
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}
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}
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fclose (file);
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}
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}
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return ret;
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}
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