X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_telemetry.c;h=c7338a581f64cef7e1dd73ac2c4dd94e274d9209;hb=e268798dc260311f5f0167909481b41c9d27fc1c;hp=024ac6f8a4021a68f56de65c38f28366cd9751c3;hpb=359681f23e2f71bc8f4975a4a76ae28c08ecab2e;p=fw%2Faltos

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 024ac6f8..c7338a58 100644
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -18,9 +18,19 @@
 #include "ao.h"
 #include "ao_product.h"
 
-__xdata uint16_t ao_telemetry_interval = 0;
-__xdata uint8_t ao_rdf = 0;
-__xdata uint16_t ao_rdf_time;
+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
@@ -29,7 +39,7 @@ __xdata uint16_t ao_rdf_time;
 #define AO_TELEMETRY_SENSOR	AO_TELEMETRY_SENSOR_TELEMETRUM
 #endif
 
-#if defined(TELEMINI_V_0_1)
+#if defined(TELEMINI_V_1_0)
 #define AO_TELEMETRY_SENSOR	AO_TELEMETRY_SENSOR_TELEMINI
 #endif
 
@@ -37,73 +47,162 @@ __xdata uint16_t ao_rdf_time;
 #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;
-	static __xdata union ao_telemetry_all	telemetry;
-	uint8_t		sample;
 
 	ao_config_get();
+	if (!ao_config.radio_enable)
+		ao_exit();
 	while (!ao_flight_number)
 		ao_sleep(&ao_flight_number);
 
 	telemetry.generic.serial = ao_serial_number;
 	for (;;) {
 		while (ao_telemetry_interval == 0)
-			ao_sleep(&ao_telemetry_interval);
+			ao_sleep(&telemetry);
 		time = ao_rdf_time = ao_time();
 		while (ao_telemetry_interval) {
 
-			/* Send sensor packet */
-			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;
+			ao_send_sensor();
+#if HAS_COMPANION
+			if (ao_companion_running)
+				ao_send_companion();
 #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;
+			ao_send_configuration();
+#if HAS_GPS
+			ao_send_location();
+			ao_send_satellite();
 #endif
-
-			telemetry.sensor.acceleration = ao_accel;
-			telemetry.sensor.speed = ao_speed;
-			telemetry.sensor.height = ao_height;
-
-			telemetry.sensor.ground_pres = ao_ground_pres;
-			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;
-
-			ao_radio_send(&telemetry, sizeof (telemetry));
-
-			telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
-			telemetry.configuration.device = AO_idProduct_NUMBER;
-			telemetry.configuration.flight = ao_flight_number;
-			telemetry.configuration.config_major = AO_CONFIG_MAJOR;
-			telemetry.configuration.config_minor = AO_CONFIG_MINOR;
-			telemetry.configuration.main_deploy = ao_config.main_deploy;
-			telemetry.configuration.flight_log_max = ao_config.flight_log_max;
-			memcpy (telemetry.configuration.callsign,
-				ao_config.callsign,
-				AO_MAX_CALLSIGN);
-			memcpy (telemetry.configuration.version,
-				ao_version,
-				AO_MAX_VERSION);
-
 			if (ao_rdf &&
 			    (int16_t) (ao_time() - ao_rdf_time) >= 0)
 			{
@@ -124,7 +223,32 @@ void
 ao_telemetry_set_interval(uint16_t interval)
 {
 	ao_telemetry_interval = interval;
-	ao_wakeup(&ao_telemetry_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