*/
#include "ao.h"
+#include "ao_log.h"
#include "ao_product.h"
+#ifndef HAS_RDF
+#define HAS_RDF 1
+#endif
+
static __pdata uint16_t ao_telemetry_interval;
static __pdata uint8_t ao_rdf = 0;
+
+#if HAS_RDF
static __pdata uint16_t ao_rdf_time;
+#endif
+
+#if HAS_APRS
+static __pdata uint16_t ao_aprs_time;
-#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
-#define AO_RDF_LENGTH_MS 500
+#include <ao_aprs.h>
+#endif
-#if defined(MEGAMETRUM)
+#if defined(TELEMEGA)
#define AO_SEND_MEGA 1
#endif
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.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;
+#endif
ao_radio_send(&telemetry, sizeof (telemetry));
}
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++)
- 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;
}
#endif /* AO_SEND_MEGA */
+#ifdef AO_SEND_MINI
+
+static void
+ao_send_mini(void)
+{
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_MINI;
+
+ telemetry.mini.state = ao_flight_state;
+
+ telemetry.mini.v_batt = packet->adc.v_batt;
+ telemetry.mini.sense_a = packet->adc.sense_a;
+ telemetry.mini.sense_m = packet->adc.sense_m;
+
+ telemetry.mini.pres = ao_data_pres(packet);
+ telemetry.mini.temp = ao_data_temp(packet);
+
+ telemetry.mini.acceleration = ao_accel;
+ telemetry.mini.speed = ao_speed;
+ telemetry.mini.height = ao_height;
+
+ telemetry.mini.ground_pres = ao_ground_pres;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+#endif
+
#ifdef AO_SEND_ALL_BARO
static uint8_t ao_baro_sample;
{
telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
telemetry.configuration.device = AO_idProduct_NUMBER;
+#if HAS_LOG
telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
+#else
+ telemetry.configuration.flight = ao_flight_number;
+#endif
telemetry.configuration.config_major = AO_CONFIG_MAJOR;
telemetry.configuration.config_minor = AO_CONFIG_MINOR;
telemetry.configuration.apogee_delay = ao_config.apogee_delay;
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;
for (;;) {
while (ao_telemetry_interval == 0)
ao_sleep(&telemetry);
- time = ao_rdf_time = ao_time();
+ time = ao_time();
+#if HAS_RDF
+ ao_rdf_time = time;
+#endif
+#if HAS_APRS
+ ao_aprs_time = time;
+#endif
while (ao_telemetry_interval) {
-
+#if HAS_APRS
+ if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
+#endif
+ {
#ifdef AO_SEND_ALL_BARO
- ao_send_baro();
+ ao_send_baro();
#endif
-#ifdef AO_SEND_MEGA
- ao_send_mega_sensor();
- ao_send_mega_data();
-#else
- ao_send_sensor();
+#if HAS_FLIGHT
+# ifdef AO_SEND_MEGA
+ ao_send_mega_sensor();
+ ao_send_mega_data();
+# else
+# ifdef AO_SEND_MINI
+ ao_send_mini();
+# else
+ ao_send_sensor();
+# endif
+# endif
#endif
#if HAS_COMPANION
- if (ao_companion_running)
- ao_send_companion();
+ if (ao_companion_running)
+ ao_send_companion();
#endif
- ao_send_configuration();
+ ao_send_configuration();
#if HAS_GPS
- ao_send_location();
- ao_send_satellite();
+ ao_send_location();
+ ao_send_satellite();
#endif
+ }
#ifndef AO_SEND_ALL_BARO
+#if HAS_RDF
if (ao_rdf &&
+#if HAS_APRS
+ !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
+#endif
(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_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();
}
+#endif /* HAS_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();
}
else
time = ao_time();
+ bottom: ;
}
}
}
void
ao_telemetry_set_interval(uint16_t interval)
{
- uint8_t cur = 0;
+ int8_t cur = 0;
ao_telemetry_interval = interval;
#if AO_SEND_MEGA
ao_wakeup(&telemetry);
}
+#if HAS_RDF
void
ao_rdf_set(uint8_t rdf)
{
ao_rdf = rdf;
if (rdf == 0)
ao_radio_rdf_abort();
- else
+ else {
ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ }
}
+#endif
__xdata struct ao_task ao_telemetry_task;