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altos: Add pyro code testing to ao_flight_test for TeleMega
[fw/altos]
/
src
/
core
/
ao_telemetry.c
diff --git
a/src/core/ao_telemetry.c
b/src/core/ao_telemetry.c
index b3ce8ba9325a3573ed93c3b641a6f7c317d5249d..c3bbfec5aa7d40468f903ab53919985979020636 100644
(file)
--- a/
src/core/ao_telemetry.c
+++ b/
src/core/ao_telemetry.c
@@
-16,16
+16,20
@@
*/
#include "ao.h"
*/
#include "ao.h"
+#include "ao_log.h"
#include "ao_product.h"
static __pdata uint16_t ao_telemetry_interval;
static __pdata uint8_t ao_rdf = 0;
static __pdata uint16_t ao_rdf_time;
#include "ao_product.h"
static __pdata uint16_t ao_telemetry_interval;
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 HAS_APRS
+static __pdata uint16_t ao_aprs_time;
-#if defined(MEGAMETRUM)
+#include <ao_aprs.h>
+#endif
+
+#if defined(TELEMEGA)
#define AO_SEND_MEGA 1
#endif
#define AO_SEND_MEGA 1
#endif
@@
-104,6
+108,7
@@
ao_send_mega_sensor(void)
telemetry.mega_sensor.pres = ao_data_pres(packet);
telemetry.mega_sensor.temp = ao_data_temp(packet);
telemetry.mega_sensor.pres = ao_data_pres(packet);
telemetry.mega_sensor.temp = ao_data_temp(packet);
+#if HAS_MPU6000
telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
@@
-111,10
+116,13
@@
ao_send_mega_sensor(void)
telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
+#endif
+#if HAS_HMC5883
telemetry.mega_sensor.mag_x = packet->hmc5883.x;
telemetry.mega_sensor.mag_y = packet->hmc5883.y;
telemetry.mega_sensor.mag_z = packet->hmc5883.z;
telemetry.mega_sensor.mag_x = packet->hmc5883.x;
telemetry.mega_sensor.mag_y = packet->hmc5883.y;
telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+#endif
ao_radio_send(&telemetry, sizeof (telemetry));
}
ao_radio_send(&telemetry, sizeof (telemetry));
}
@@
-137,9
+145,9
@@
ao_send_mega_data(void)
telemetry.mega_data.v_batt = packet->adc.v_batt;
telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
telemetry.mega_data.v_batt = packet->adc.v_batt;
telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
- /*
XXX figure out right shift value; 4 might suffice
*/
+ /*
ADC range is 0-4095, so shift by four to save the high 8 bits
*/
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
- telemetry.mega_data.sense[i] = packet->adc.sense[i] >>
8
;
+ telemetry.mega_data.sense[i] = packet->adc.sense[i] >>
4
;
telemetry.mega_data.ground_pres = ao_ground_pres;
telemetry.mega_data.ground_accel = ao_ground_accel;
telemetry.mega_data.ground_pres = ao_ground_pres;
telemetry.mega_data.ground_accel = ao_ground_accel;
@@
-222,6
+230,7
@@
ao_send_location(void)
ao_xmemcpy(&telemetry.location.flags,
&ao_gps_data.flags,
26);
ao_xmemcpy(&telemetry.location.flags,
&ao_gps_data.flags,
26);
+ telemetry.location.tick = ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_loc_cur = ao_telemetry_config_max;
ao_mutex_put(&ao_gps_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_loc_cur = ao_telemetry_config_max;
@@
-287,35
+296,63
@@
ao_telemetry(void)
while (ao_telemetry_interval == 0)
ao_sleep(&telemetry);
time = ao_rdf_time = ao_time();
while (ao_telemetry_interval == 0)
ao_sleep(&telemetry);
time = ao_rdf_time = ao_time();
+#if HAS_APRS
+ ao_aprs_time = time;
+#endif
while (ao_telemetry_interval) {
while (ao_telemetry_interval) {
-
+#if HAS_APRS
+ if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
+#endif
+ {
#ifdef AO_SEND_ALL_BARO
#ifdef AO_SEND_ALL_BARO
- ao_send_baro();
+
ao_send_baro();
#endif
#endif
+#if HAS_FLIGHT
#ifdef AO_SEND_MEGA
#ifdef AO_SEND_MEGA
- ao_send_mega_sensor();
- ao_send_mega_data();
+
ao_send_mega_sensor();
+
ao_send_mega_data();
#else
#else
- ao_send_sensor();
+ ao_send_sensor();
+#endif
#endif
#if HAS_COMPANION
#endif
#if HAS_COMPANION
- if (ao_companion_running)
- ao_send_companion();
+
if (ao_companion_running)
+
ao_send_companion();
#endif
#endif
- ao_send_configuration();
+
ao_send_configuration();
#if HAS_GPS
#if HAS_GPS
- ao_send_location();
- ao_send_satellite();
+
ao_send_location();
+
ao_send_satellite();
#endif
#endif
+ }
#ifndef AO_SEND_ALL_BARO
if (ao_rdf &&
#ifndef AO_SEND_ALL_BARO
if (ao_rdf &&
+#if HAS_APRS
+ !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
+#endif
(int16_t) (ao_time() - ao_rdf_time) >= 0)
{
(int16_t) (ao_time() - ao_rdf_time) >= 0)
{
+#if HAS_IGNITE_REPORT
+ uint8_t c;
+#endif
ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
- ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
+#if HAS_IGNITE_REPORT
+ if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
+ ao_radio_continuity(c);
+ else
+#endif
+ ao_radio_rdf();
}
}
+#if HAS_APRS
+ if (ao_config.aprs_interval != 0 &&
+ (int16_t) (ao_time() - ao_aprs_time) >= 0)
+ {
+ ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
+ ao_aprs_send();
+ }
+#endif
#endif
time += ao_telemetry_interval;
delay = time - ao_time();
#endif
time += ao_telemetry_interval;
delay = time - ao_time();
@@
-326,6
+363,7
@@
ao_telemetry(void)
}
else
time = ao_time();
}
else
time = ao_time();
+ bottom: ;
}
}
}
}
}
}
@@
-379,8
+417,9
@@
ao_rdf_set(uint8_t rdf)
ao_rdf = rdf;
if (rdf == 0)
ao_radio_rdf_abort();
ao_rdf = rdf;
if (rdf == 0)
ao_radio_rdf_abort();
- else
+ else
{
ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ }
}
__xdata struct ao_task ao_telemetry_task;
}
__xdata struct ao_task ao_telemetry_task;