X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_telemetry.c;h=15ba4302b3fb28b1eb707c68b707d2ba5ba37758;hb=18369c58e62bc64b969a7cf8be3103aa33c6d4aa;hp=94ea0b2235bcffbc8acf79835d60d5112a2c3e63;hpb=ef3ce687d73c1274ce5368432f4d449b063ce5c0;p=fw%2Faltos

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 94ea0b22..15ba4302 100644
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -18,15 +18,19 @@
 #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
@@ -35,7 +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
 
@@ -77,9 +81,15 @@ ao_send_sensor(void)
 	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));
 }
@@ -94,8 +104,9 @@ ao_send_configuration(void)
 		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);
@@ -142,6 +153,26 @@ ao_send_satellite(void)
 }
 #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)
 {
@@ -155,12 +186,16 @@ 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();
@@ -186,17 +221,32 @@ void
 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