#include "ao.h"
#include "ao_product.h"
-__xdata uint16_t ao_telemetry_interval;
-__xdata int8_t ao_telemetry_config_max;
-__xdata int8_t ao_telemetry_config_cur;
+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
-__xdata int8_t ao_telemetry_loc_cur;
-__xdata int8_t ao_telemetry_sat_cur;
+static __pdata int8_t ao_telemetry_loc_cur;
+static __pdata int8_t ao_telemetry_sat_cur;
#endif
-__xdata uint8_t ao_rdf = 0;
-__xdata uint16_t ao_rdf_time;
+#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
#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
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));
}
telemetry.configuration.flight = 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;
+ telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
memcpy (telemetry.configuration.callsign,
ao_config.callsign,
AO_MAX_CALLSIGN);
}
#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)
{
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) {
ao_send_sensor();
+#if HAS_COMPANION
+ if (ao_companion_running)
+ ao_send_companion();
+#endif
ao_send_configuration();
#if HAS_GPS
ao_send_location();
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;
- ao_telemetry_config_cur = 0;
+#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 = 0;
- if (ao_telemetry_config_max - 1 > ao_telemetry_loc_cur)
+ 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 - 1 > ao_telemetry_sat_cur)
+ if (ao_telemetry_config_max > ao_telemetry_sat_cur)
ao_telemetry_sat_cur++;
#endif
- ao_wakeup(&ao_telemetry_interval);
+ ao_wakeup(&telemetry);
}
void