X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=e0f4d8c22aea4f6399cf03c4b46ad3915b63b335;hb=c1708f3fa4ff412da8817ba0fa58d05fe7ef44f5;hp=61156c0d2f41558ae2136af423690477c09642da;hpb=a2505dc4be4a368911533d42d6344ad03b220468;p=fw%2Faltos diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index 61156c0d..e0f4d8c2 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -58,7 +58,7 @@ static AO_TICK_TYPE ao_aprs_time; #define AO_SEND_MEGA 1 #endif -#if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0) +#if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0) || defined (TELEMETRUM_V_4_0) #define AO_SEND_METRUM 1 #endif @@ -138,7 +138,7 @@ ao_send_mega_sensor(void) { 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; #if AO_LOG_NORMALIZED #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5 telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983; @@ -147,7 +147,7 @@ ao_send_mega_sensor(void) #endif #if HAS_GYRO - telemetry.mega_norm.orient = ao_sample_orient; + 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); @@ -182,7 +182,7 @@ ao_send_mega_sensor(void) #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); @@ -243,10 +243,10 @@ 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; @@ -255,16 +255,16 @@ ao_send_mega_data(void) /* 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(); @@ -277,9 +277,9 @@ ao_send_mega_data(void) 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; @@ -289,9 +289,9 @@ ao_send_metrum_sensor(void) 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; @@ -308,9 +308,9 @@ 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; @@ -335,9 +335,9 @@ ao_send_metrum_data(void) 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; @@ -349,9 +349,9 @@ ao_send_mini(void) 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; @@ -380,13 +380,13 @@ ao_send_configuration(void) 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); @@ -410,7 +410,7 @@ 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); @@ -426,7 +426,7 @@ ao_send_location(void) 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(); @@ -461,7 +461,7 @@ 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); @@ -490,7 +490,10 @@ ao_set_aprs_time(void) } else { delta = second - ao_gps_data.second; } - ao_aprs_time = ao_gps_tick + AO_SEC_TO_TICKS(delta); + if (delta < (interval >> 1)) + delta += interval; + + ao_aprs_time = ao_gps_utc_tick + AO_SEC_TO_TICKS(delta); } else { ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval); } @@ -636,45 +639,47 @@ ao_telemetry_set_interval(uint16_t interval) interval = min_interval[ao_config.radio_rate]; #endif ao_telemetry_interval = interval; + if (interval) { #if AO_SEND_MEGA - if (interval > 1) - ao_telemetry_mega_data_max = 1; - else - ao_telemetry_mega_data_max = 2; - if (ao_telemetry_mega_data_max > cur) - cur++; - ao_telemetry_mega_data_cur = cur; + if (interval > 1) + ao_telemetry_mega_data_max = 1; + else + ao_telemetry_mega_data_max = 2; + if (ao_telemetry_mega_data_max > cur) + cur++; + ao_telemetry_mega_data_cur = cur; #endif #if AO_SEND_METRUM - 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; + 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; #endif #if HAS_COMPANION - if (!ao_companion_setup.update_period) - ao_companion_setup.update_period = AO_SEC_TO_TICKS(1); - ao_telemetry_companion_max = (int16_t) (ao_companion_setup.update_period / interval); - if (ao_telemetry_companion_max > cur) - cur++; - ao_telemetry_companion_cur = cur; + if (!ao_companion_setup.update_period) + ao_companion_setup.update_period = AO_SEC_TO_TICKS(1); + 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 = (int16_t) (AO_SEC_TO_TICKS(1) / interval); - if (ao_telemetry_gps_max > cur) - cur++; - ao_telemetry_loc_cur = cur; - if (ao_telemetry_gps_max > cur) - cur++; - ao_telemetry_sat_cur = cur; -#endif - - ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval); - if (ao_telemetry_config_max > cur) - cur++; - ao_telemetry_config_cur = cur; + ao_telemetry_gps_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval); + if (ao_telemetry_gps_max > cur) + cur++; + ao_telemetry_loc_cur = cur; + if (ao_telemetry_gps_max > cur) + cur++; + ao_telemetry_sat_cur = cur; +#endif + + ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval); + if (ao_telemetry_config_max > cur) + cur++; + ao_telemetry_config_cur = cur; + } #ifndef SIMPLIFY ao_telemetry_time =