X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_telemetry.c;h=d909bea56178d47eb7ce45a5b86d6faa6dea0804;hb=636b7b368e67346b0796cd84fbfd71e10966d61f;hp=c7338a581f64cef7e1dd73ac2c4dd94e274d9209;hpb=9513be7f9d3d0b0ec29f6487fa9dc8f1ac24d0de;p=fw%2Faltos

diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index c7338a58..d909bea5 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -94,6 +94,30 @@ ao_send_sensor(void)
 	ao_radio_send(&telemetry, sizeof (telemetry));
 }
 
+static uint8_t		ao_baro_sample;
+
+#ifdef AO_SEND_ALL_BARO
+static void
+ao_send_baro(void)
+{
+	uint8_t		sample = ao_sample_adc;
+	uint8_t		samples = (sample - ao_baro_sample) & (AO_ADC_RING - 1);
+
+	if (samples > 12) {
+		ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_ADC_RING - 1);
+		samples = 12;
+	}
+	telemetry.generic.tick = ao_adc_ring[sample].tick;
+	telemetry.generic.type = AO_TELEMETRY_BARO;
+	telemetry.baro.samples = samples;
+	for (sample = 0; sample < samples; sample++) {
+		telemetry.baro.baro[sample] = ao_adc_ring[ao_baro_sample].pres;
+		ao_baro_sample = ao_adc_ring_next(ao_baro_sample);
+	}
+	ao_radio_send(&telemetry, sizeof (telemetry));
+}
+#endif
+
 static void
 ao_send_configuration(void)
 {
@@ -107,10 +131,10 @@ ao_send_configuration(void)
 		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 >> 10;
-		memcpy (telemetry.configuration.callsign,
+		ao_xmemcpy (telemetry.configuration.callsign,
 			ao_config.callsign,
 			AO_MAX_CALLSIGN);
-		memcpy (telemetry.configuration.version,
+		ao_xmemcpy (telemetry.configuration.version,
 			ao_version,
 			AO_MAX_VERSION);
 		ao_radio_send(&telemetry, sizeof (telemetry));
@@ -126,7 +150,7 @@ ao_send_location(void)
 	{
 		telemetry.generic.type = AO_TELEMETRY_LOCATION;
 		ao_mutex_get(&ao_gps_mutex);
-		memcpy(&telemetry.location.flags,
+		ao_xmemcpy(&telemetry.location.flags,
 		       &ao_gps_data.flags,
 		       26);
 		ao_mutex_put(&ao_gps_mutex);
@@ -143,7 +167,7 @@ ao_send_satellite(void)
 		telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 		ao_mutex_get(&ao_gps_mutex);
 		telemetry.satellite.channels = ao_gps_tracking_data.channels;
-		memcpy(&telemetry.satellite.sats,
+		ao_xmemcpy(&telemetry.satellite.sats,
 		       &ao_gps_tracking_data.sats,
 		       AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 		ao_mutex_put(&ao_gps_mutex);
@@ -163,7 +187,7 @@ ao_send_companion(void)
 		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_xmemcpy(&telemetry.companion.companion_data,
 		       ao_companion_data,
 		       ao_companion_setup.channels * 2);
 		ao_mutex_put(&ao_companion_mutex);
@@ -193,6 +217,9 @@ ao_telemetry(void)
 		while (ao_telemetry_interval) {
 
 
+#ifdef AO_SEND_ALL_BARO
+			ao_send_baro();
+#endif
 			ao_send_sensor();
 #if HAS_COMPANION
 			if (ao_companion_running)
@@ -203,16 +230,21 @@ ao_telemetry(void)
 			ao_send_location();
 			ao_send_satellite();
 #endif
+#ifndef AO_SEND_ALL_BARO
 			if (ao_rdf &&
 			    (int16_t) (ao_time() - ao_rdf_time) >= 0)
 			{
 				ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
-				ao_radio_rdf(AO_RDF_LENGTH_MS);
+				ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
 			}
+#endif
 			time += ao_telemetry_interval;
 			delay = time - ao_time();
-			if (delay > 0)
-				ao_delay(delay);
+			if (delay > 0) {
+				ao_alarm(delay);
+				ao_sleep(&telemetry);
+				ao_clear_alarm();
+			}
 			else
 				time = ao_time();
 		}
@@ -258,7 +290,7 @@ ao_rdf_set(uint8_t rdf)
 	if (rdf == 0)
 		ao_radio_rdf_abort();
 	else
-		ao_rdf_time = ao_time();
+		ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 }
 
 __xdata struct ao_task	ao_telemetry_task;