#define RDF_SPACE
#else
#define RDF_SPACE
-static uint16_t ao_telemetry_time;
+static AO_TICK_TYPE ao_telemetry_time;
#endif
#if HAS_RDF
static RDF_SPACE uint8_t ao_rdf = 0;
-static RDF_SPACE uint16_t ao_rdf_time;
+static RDF_SPACE AO_TICK_TYPE ao_rdf_time;
#endif
#if HAS_APRS
-static uint16_t ao_aprs_time;
+static AO_TICK_TYPE ao_aprs_time;
#include <ao_aprs.h>
#endif
static void
ao_send_mega_sensor(void)
{
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = (uint16_t) packet->tick;
+#if AO_LOG_NORMALIZED
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
+ telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983;
+#else
+#error unknown normalized log type
+#endif
+
+#if HAS_GYRO
+ telemetry.mega_norm.orient = (uint8_t) ao_sample_orient;
+#endif
+ telemetry.mega_norm.accel = ao_data_accel(packet);
+ telemetry.mega_norm.pres = ao_data_pres(packet);
+ telemetry.mega_norm.temp = ao_data_temp(packet);
+
+#if HAS_MPU6000
+ telemetry.mega_norm.accel_along = ao_data_along(packet);
+ telemetry.mega_norm.accel_across = ao_data_across(packet);
+ telemetry.mega_norm.accel_through = ao_data_through(packet);
+
+ telemetry.mega_norm.gyro_roll = ao_data_roll(packet);
+ telemetry.mega_norm.gyro_pitch = ao_data_pitch(packet);
+ telemetry.mega_norm.gyro_yaw = ao_data_yaw(packet);
+#endif
+
+#if HAS_MMC5983
+ telemetry.mega_norm.mag_along = ao_data_mag_along(packet);
+ telemetry.mega_norm.mag_across = ao_data_mag_across(packet);
+ telemetry.mega_norm.mag_through = ao_data_mag_through(packet);
+#endif
+
+#else
- telemetry.generic.tick = packet->tick;
#if HAS_BMX160
telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
#else
#endif
#if HAS_GYRO
- telemetry.mega_sensor.orient = ao_sample_orient;
+ telemetry.mega_sensor.orient = (uint8_t) ao_sample_orient;
#endif
telemetry.mega_sensor.accel = ao_data_accel(packet);
telemetry.mega_sensor.pres = ao_data_pres(packet);
telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
#endif
-
+#endif
ao_telemetry_send();
}
-static int8_t ao_telemetry_mega_data_max;
-static int8_t ao_telemetry_mega_data_cur;
+static int16_t ao_telemetry_mega_data_max;
+static int16_t ao_telemetry_mega_data_cur;
/* Send mega data packet */
static void
ao_send_mega_data(void)
{
if (--ao_telemetry_mega_data_cur <= 0) {
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
uint8_t i;
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
telemetry.mega_data.state = ao_flight_state;
/* 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] >> 4;
+ telemetry.mega_data.sense[i] = (int8_t) (packet->adc.sense[i] >> 4);
telemetry.mega_data.ground_pres = ao_ground_pres;
telemetry.mega_data.ground_accel = ao_ground_accel;
telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
- telemetry.mega_data.acceleration = ao_accel;
- telemetry.mega_data.speed = ao_speed;
- telemetry.mega_data.height = ao_height;
+ telemetry.mega_data.acceleration = (int16_t) ao_accel;
+ telemetry.mega_data.speed = (int16_t) ao_speed;
+ telemetry.mega_data.height = (int16_t) ao_height;
ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
ao_telemetry_send();
static void
ao_send_metrum_sensor(void)
{
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
telemetry.metrum_sensor.state = ao_flight_state;
telemetry.metrum_sensor.pres = ao_data_pres(packet);
telemetry.metrum_sensor.temp = ao_data_temp(packet);
- telemetry.metrum_sensor.acceleration = ao_accel;
- telemetry.metrum_sensor.speed = ao_speed;
- telemetry.metrum_sensor.height = ao_height;
+ telemetry.metrum_sensor.acceleration = (int16_t) ao_accel;
+ telemetry.metrum_sensor.speed = (int16_t) ao_speed;
+ telemetry.metrum_sensor.height = (int16_t) ao_height;
telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
ao_telemetry_send();
}
-static int8_t ao_telemetry_metrum_data_max;
-static int8_t ao_telemetry_metrum_data_cur;
+static int16_t ao_telemetry_metrum_data_max;
+static int16_t ao_telemetry_metrum_data_cur;
/* Send telemetrum data packet */
static void
ao_send_metrum_data(void)
{
if (--ao_telemetry_metrum_data_cur <= 0) {
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
telemetry.metrum_data.ground_pres = ao_ground_pres;
static void
ao_send_mini(void)
{
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
telemetry.generic.type = AO_SEND_MINI;
telemetry.mini.state = ao_flight_state;
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.acceleration = (int16_t) ao_accel;
+ telemetry.mini.speed = (int16_t) ao_speed;
+ telemetry.mini.height = (int16_t) ao_height;
telemetry.mini.ground_pres = ao_ground_pres;
#endif /* AO_SEND_MINI */
-static int8_t ao_telemetry_config_max;
-static int8_t ao_telemetry_config_cur;
+static int16_t ao_telemetry_config_max;
+static int16_t ao_telemetry_config_cur;
static uint16_t ao_telemetry_flight_number;
#ifndef ao_telemetry_battery_convert
telemetry.configuration.config_minor = AO_CONFIG_MINOR;
#if AO_idProduct_NUMBER == 0x25 && HAS_ADC
/* TeleGPS gets battery voltage instead of apogee delay */
- telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
+ telemetry.configuration.apogee_delay = (uint16_t) ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
#else
telemetry.configuration.apogee_delay = ao_config.apogee_delay;
telemetry.configuration.main_deploy = ao_config.main_deploy;
#endif
- telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
+ telemetry.configuration.flight_log_max = (uint16_t) (ao_config.flight_log_max >> 10);
memcpy (telemetry.configuration.callsign,
ao_config.callsign,
AO_MAX_CALLSIGN);
#if HAS_GPS
-static int8_t ao_telemetry_gps_max;
-static int8_t ao_telemetry_loc_cur;
-static int8_t ao_telemetry_sat_cur;
+static int16_t ao_telemetry_gps_max;
+static int16_t ao_telemetry_loc_cur;
+static int16_t ao_telemetry_sat_cur;
static inline void *
telemetry_bits(struct ao_telemetry_location *l)
return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
}
-static inline int
+static inline size_t
telemetry_size(void)
{
return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
memcpy(telemetry_bits(&telemetry.location),
telemetry_bits(&ao_gps_data),
telemetry_size());
- telemetry.location.tick = ao_gps_tick;
+ telemetry.location.tick = (uint16_t) ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
ao_telemetry_loc_cur = ao_telemetry_gps_max;
ao_telemetry_send();
#if HAS_COMPANION
-static int8_t ao_telemetry_companion_max;
-static int8_t ao_telemetry_companion_cur;
+static int16_t ao_telemetry_companion_max;
+static int16_t ao_telemetry_companion_cur;
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.board_id = (uint8_t) 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);
static void
ao_telemetry(void)
{
- uint16_t time;
- int16_t delay;
+ AO_TICK_TYPE time;
+ AO_TICK_SIGNED delay;
ao_config_get();
if (!ao_config.radio_enable)
time = ao_aprs_time;
}
#endif /* HAS_APRS */
- delay = time - ao_time();
+ delay = (AO_TICK_SIGNED) (time - ao_time());
if (delay > 0) {
- ao_sleep_for(&telemetry, delay);
+ ao_sleep_for(&telemetry, (AO_TICK_TYPE) delay);
}
}
}
void
ao_telemetry_set_interval(uint16_t interval)
{
- int8_t cur = 0;
+ int16_t cur = 0;
#if HAS_RADIO_RATE
/* Limit max telemetry rate based on available radio bandwidth.
ao_telemetry_mega_data_cur = cur;
#endif
#if AO_SEND_METRUM
- ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
+ ao_telemetry_metrum_data_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
if (ao_telemetry_metrum_data_max > cur)
cur++;
ao_telemetry_metrum_data_cur = cur;
#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_max = (int16_t) (ao_companion_setup.update_period / interval);
if (ao_telemetry_companion_max > cur)
cur++;
ao_telemetry_companion_cur = cur;
#endif
#if HAS_GPS
- ao_telemetry_gps_max = AO_SEC_TO_TICKS(1) / interval;
+ ao_telemetry_gps_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
if (ao_telemetry_gps_max > cur)
cur++;
ao_telemetry_loc_cur = cur;
ao_telemetry_sat_cur = cur;
#endif
- ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval;
+ ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval);
if (ao_telemetry_config_max > cur)
cur++;
ao_telemetry_config_cur = cur;