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   1 /*
   2  * Copyright © 2011 Keth Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include "ao.h"
  20 #include "ao_log.h"
  21 #include "ao_product.h"
  22
  23 static uint16_t ao_telemetry_interval;
  24
  25 #if HAS_RADIO_RATE
  26 static uint16_t ao_telemetry_desired_interval;
  27 #endif
  28
  29 /* TeleMetrum v1.0 just doesn't have enough space to
  30  * manage the more complicated telemetry scheduling, so
  31  * it loses the ability to disable telem/rdf separately
  32  */
  33
  34 #if defined(TELEMETRUM_V_1_0)
  35 #define SIMPLIFY
  36 #endif
  37
  38 #ifdef SIMPLIFY
  39 #define ao_telemetry_time time
  40 #define RDF_SPACE
  41 #else
  42 #define RDF_SPACE
  43 static AO_TICK_TYPE     ao_telemetry_time;
  44 #endif
  45
  46 #if HAS_RDF
  47 static RDF_SPACE uint8_t ao_rdf = 0;
  48 static RDF_SPACE AO_TICK_TYPE   ao_rdf_time;
  49 #endif
  50
  51 #if HAS_APRS
  52 static AO_TICK_TYPE ao_aprs_time;
  53
  54 #include <ao_aprs.h>
  55 #endif
  56
  57 #if defined(TELEMEGA)
  58 #define AO_SEND_MEGA    1
  59 #endif
  60
  61 #if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0)
  62 #define AO_SEND_METRUM  1
  63 #endif
  64
  65 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
  66 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  67 #endif
  68
  69 #if defined(TELEMINI_V_1_0)
  70 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  71 #endif
  72
  73 #if defined(TELENANO_V_0_1)
  74 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  75 #endif
  76
  77 static union ao_telemetry_all   telemetry;
  78
  79 static void
  80 ao_telemetry_send(void)
  81 {
  82         ao_radio_send(&telemetry, sizeof (telemetry));
  83         ao_delay(1);
  84 }
  85
  86 #if defined AO_TELEMETRY_SENSOR
  87 /* Send sensor packet */
  88 static void
  89 ao_send_sensor(void)
  90 {
  91                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  92
  93         telemetry.generic.tick = packet->tick;
  94         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  95
  96         telemetry.sensor.state = ao_flight_state;
  97 #if HAS_ACCEL
  98         telemetry.sensor.accel = packet->adc.accel;
  99 #else
 100         telemetry.sensor.accel = 0;
 101 #endif
 102         telemetry.sensor.pres = ao_data_pres(packet);
 103         telemetry.sensor.temp = packet->adc.temp;
 104         telemetry.sensor.v_batt = packet->adc.v_batt;
 105 #if HAS_IGNITE
 106         telemetry.sensor.sense_d = packet->adc.sense_d;
 107         telemetry.sensor.sense_m = packet->adc.sense_m;
 108 #else
 109         telemetry.sensor.sense_d = 0;
 110         telemetry.sensor.sense_m = 0;
 111 #endif
 112
 113         telemetry.sensor.acceleration = ao_accel;
 114         telemetry.sensor.speed = ao_speed;
 115         telemetry.sensor.height = ao_height;
 116
 117         telemetry.sensor.ground_pres = ao_ground_pres;
 118 #if HAS_ACCEL
 119         telemetry.sensor.ground_accel = ao_ground_accel;
 120         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
 121         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
 122 #else
 123         telemetry.sensor.ground_accel = 0;
 124         telemetry.sensor.accel_plus_g = 0;
 125         telemetry.sensor.accel_minus_g = 0;
 126 #endif
 127
 128         ao_telemetry_send();
 129 }
 130 #endif
 131
 132
 133 #ifdef AO_SEND_MEGA
 134
 135 /* Send mega sensor packet */
 136 static void
 137 ao_send_mega_sensor(void)
 138 {
 139         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 140
 141         telemetry.generic.tick = (uint16_t) packet->tick;
 142 #if AO_LOG_NORMALIZED
 143 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
 144         telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983;
 145 #else
 146 #error unknown normalized log type
 147 #endif
 148
 149 #if HAS_GYRO
 150         telemetry.mega_norm.orient = (uint8_t) ao_sample_orient;
 151 #endif
 152         telemetry.mega_norm.accel = ao_data_accel(packet);
 153         telemetry.mega_norm.pres = ao_data_pres(packet);
 154         telemetry.mega_norm.temp = ao_data_temp(packet);
 155
 156 #if HAS_MPU6000
 157         telemetry.mega_norm.accel_along = ao_data_along(packet);
 158         telemetry.mega_norm.accel_across = ao_data_across(packet);
 159         telemetry.mega_norm.accel_through = ao_data_through(packet);
 160
 161         telemetry.mega_norm.gyro_roll = ao_data_roll(packet);
 162         telemetry.mega_norm.gyro_pitch = ao_data_pitch(packet);
 163         telemetry.mega_norm.gyro_yaw = ao_data_yaw(packet);
 164 #endif
 165
 166 #if HAS_MMC5983
 167         telemetry.mega_norm.mag_along = ao_data_mag_along(packet);
 168         telemetry.mega_norm.mag_across = ao_data_mag_across(packet);
 169         telemetry.mega_norm.mag_through = ao_data_mag_through(packet);
 170 #endif
 171
 172 #else
 173
 174 #if HAS_BMX160
 175         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
 176 #else
 177 #if HAS_MPU6000 || HAS_MPU9250
 178         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_MPU;
 179 #else
 180 #error unknown IMU
 181 #endif
 182 #endif
 183
 184 #if HAS_GYRO
 185         telemetry.mega_sensor.orient = (uint8_t) ao_sample_orient;
 186 #endif
 187         telemetry.mega_sensor.accel = ao_data_accel(packet);
 188         telemetry.mega_sensor.pres = ao_data_pres(packet);
 189         telemetry.mega_sensor.temp = ao_data_temp(packet);
 190
 191 #if HAS_MPU6000
 192         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 193         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 194         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 195
 196         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 197         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 198         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 199 #endif
 200
 201 #if HAS_HMC5883
 202         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 203         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 204         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 205 #endif
 206
 207 #if HAS_MPU9250
 208         telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
 209         telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
 210         telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
 211
 212         telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
 213         telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
 214         telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
 215
 216         telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
 217         telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
 218         telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
 219 #endif
 220
 221 #if HAS_BMX160
 222         telemetry.mega_sensor.accel_x = packet->bmx160.acc_x;
 223         telemetry.mega_sensor.accel_y = packet->bmx160.acc_y;
 224         telemetry.mega_sensor.accel_z = packet->bmx160.acc_z;
 225
 226         telemetry.mega_sensor.gyro_x = packet->bmx160.gyr_x;
 227         telemetry.mega_sensor.gyro_y = packet->bmx160.gyr_y;
 228         telemetry.mega_sensor.gyro_z = packet->bmx160.gyr_z;
 229
 230         telemetry.mega_sensor.mag_x = packet->bmx160.mag_x;
 231         telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
 232         telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
 233 #endif
 234 #endif
 235         ao_telemetry_send();
 236 }
 237
 238 static int16_t ao_telemetry_mega_data_max;
 239 static int16_t ao_telemetry_mega_data_cur;
 240
 241 /* Send mega data packet */
 242 static void
 243 ao_send_mega_data(void)
 244 {
 245         if (--ao_telemetry_mega_data_cur <= 0) {
 246                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 247                 uint8_t i;
 248
 249                 telemetry.generic.tick = (uint16_t) packet->tick;
 250                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 251
 252                 telemetry.mega_data.state = ao_flight_state;
 253                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 254                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 255
 256                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 257                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 258                         telemetry.mega_data.sense[i] = (int8_t) (packet->adc.sense[i] >> 4);
 259
 260                 telemetry.mega_data.ground_pres = ao_ground_pres;
 261                 telemetry.mega_data.ground_accel = ao_ground_accel;
 262                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 263                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 264
 265                 telemetry.mega_data.acceleration = (int16_t) ao_accel;
 266                 telemetry.mega_data.speed = (int16_t) ao_speed;
 267                 telemetry.mega_data.height = (int16_t) ao_height;
 268
 269                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 270                 ao_telemetry_send();
 271         }
 272 }
 273 #endif /* AO_SEND_MEGA */
 274
 275 #ifdef AO_SEND_METRUM
 276 /* Send telemetrum sensor packet */
 277 static void
 278 ao_send_metrum_sensor(void)
 279 {
 280         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 281
 282         telemetry.generic.tick = (uint16_t) packet->tick;
 283         telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 284
 285         telemetry.metrum_sensor.state = ao_flight_state;
 286 #if HAS_ACCEL
 287         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 288 #endif
 289         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 290         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 291
 292         telemetry.metrum_sensor.acceleration = (int16_t) ao_accel;
 293         telemetry.metrum_sensor.speed = (int16_t) ao_speed;
 294         telemetry.metrum_sensor.height = (int16_t) ao_height;
 295
 296         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 297         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 298         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 299
 300         ao_telemetry_send();
 301 }
 302
 303 static int16_t ao_telemetry_metrum_data_max;
 304 static int16_t ao_telemetry_metrum_data_cur;
 305
 306 /* Send telemetrum data packet */
 307 static void
 308 ao_send_metrum_data(void)
 309 {
 310         if (--ao_telemetry_metrum_data_cur <= 0) {
 311                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 312
 313                 telemetry.generic.tick = (uint16_t) packet->tick;
 314                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 315
 316                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 317 #if HAS_ACCEL
 318                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 319                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 320                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 321 #else
 322                 telemetry.metrum_data.ground_accel = 1;
 323                 telemetry.metrum_data.accel_plus_g = 0;
 324                 telemetry.metrum_data.accel_minus_g = 2;
 325 #endif
 326
 327                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 328                 ao_telemetry_send();
 329         }
 330 }
 331 #endif /* AO_SEND_METRUM */
 332
 333 #ifdef AO_SEND_MINI
 334
 335 static void
 336 ao_send_mini(void)
 337 {
 338         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 339
 340         telemetry.generic.tick = (uint16_t) packet->tick;
 341         telemetry.generic.type = AO_SEND_MINI;
 342
 343         telemetry.mini.state = ao_flight_state;
 344
 345         telemetry.mini.v_batt = packet->adc.v_batt;
 346         telemetry.mini.sense_a = packet->adc.sense_a;
 347         telemetry.mini.sense_m = packet->adc.sense_m;
 348
 349         telemetry.mini.pres = ao_data_pres(packet);
 350         telemetry.mini.temp = ao_data_temp(packet);
 351
 352         telemetry.mini.acceleration = (int16_t) ao_accel;
 353         telemetry.mini.speed = (int16_t) ao_speed;
 354         telemetry.mini.height = (int16_t) ao_height;
 355
 356         telemetry.mini.ground_pres = ao_ground_pres;
 357
 358         ao_telemetry_send();
 359 }
 360
 361 #endif /* AO_SEND_MINI */
 362
 363 static int16_t ao_telemetry_config_max;
 364 static int16_t ao_telemetry_config_cur;
 365 static uint16_t ao_telemetry_flight_number;
 366
 367 #ifndef ao_telemetry_battery_convert
 368 #define ao_telemetry_battery_convert(a) (a)
 369 #endif
 370
 371 static void
 372 ao_send_configuration(void)
 373 {
 374         if (--ao_telemetry_config_cur <= 0)
 375         {
 376                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 377                 telemetry.configuration.device = AO_idProduct_NUMBER;
 378                 telemetry.configuration.flight = ao_telemetry_flight_number;
 379                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 380                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 381 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
 382                 /* TeleGPS gets battery voltage instead of apogee delay */
 383                 telemetry.configuration.apogee_delay = (uint16_t) ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
 384 #else
 385                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 386                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 387 #endif
 388
 389                 telemetry.configuration.flight_log_max = (uint16_t) (ao_config.flight_log_max >> 10);
 390                 memcpy (telemetry.configuration.callsign,
 391                         ao_config.callsign,
 392                         AO_MAX_CALLSIGN);
 393                 memcpy (telemetry.configuration.version,
 394                         ao_version,
 395                         AO_MAX_VERSION);
 396                 ao_telemetry_config_cur = ao_telemetry_config_max;
 397                 ao_telemetry_send();
 398         }
 399 }
 400
 401 #if HAS_GPS
 402
 403 static int16_t ao_telemetry_gps_max;
 404 static int16_t ao_telemetry_loc_cur;
 405 static int16_t ao_telemetry_sat_cur;
 406
 407 static inline void *
 408 telemetry_bits(struct ao_telemetry_location *l)
 409 {
 410         return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
 411 }
 412
 413 static inline size_t
 414 telemetry_size(void)
 415 {
 416         return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
 417 }
 418
 419 static void
 420 ao_send_location(void)
 421 {
 422         if (--ao_telemetry_loc_cur <= 0)
 423         {
 424                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 425                 ao_mutex_get(&ao_gps_mutex);
 426                 memcpy(telemetry_bits(&telemetry.location),
 427                        telemetry_bits(&ao_gps_data),
 428                        telemetry_size());
 429                 telemetry.location.tick = (uint16_t) ao_gps_tick;
 430                 ao_mutex_put(&ao_gps_mutex);
 431                 ao_telemetry_loc_cur = ao_telemetry_gps_max;
 432                 ao_telemetry_send();
 433         }
 434 }
 435
 436 static void
 437 ao_send_satellite(void)
 438 {
 439         if (--ao_telemetry_sat_cur <= 0)
 440         {
 441                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 442                 ao_mutex_get(&ao_gps_mutex);
 443                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 444                 memcpy(&telemetry.satellite.sats,
 445                        &ao_gps_tracking_data.sats,
 446                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 447                 ao_mutex_put(&ao_gps_mutex);
 448                 ao_telemetry_sat_cur = ao_telemetry_gps_max;
 449                 ao_telemetry_send();
 450         }
 451 }
 452 #endif
 453
 454 #if HAS_COMPANION
 455
 456 static int16_t ao_telemetry_companion_max;
 457 static int16_t ao_telemetry_companion_cur;
 458
 459 static void
 460 ao_send_companion(void)
 461 {
 462         if (--ao_telemetry_companion_cur <= 0) {
 463                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 464                 telemetry.companion.board_id = (uint8_t) ao_companion_setup.board_id;
 465                 telemetry.companion.update_period = ao_companion_setup.update_period;
 466                 telemetry.companion.channels = ao_companion_setup.channels;
 467                 ao_mutex_get(&ao_companion_mutex);
 468                 memcpy(&telemetry.companion.companion_data,
 469                        ao_companion_data,
 470                        ao_companion_setup.channels * 2);
 471                 ao_mutex_put(&ao_companion_mutex);
 472                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 473                 ao_telemetry_send();
 474         }
 475 }
 476 #endif
 477
 478 #if HAS_APRS
 479 static void
 480 ao_set_aprs_time(void)
 481 {
 482         uint16_t interval = ao_config.aprs_interval;
 483
 484         if ((ao_gps_data.flags & AO_GPS_DATE_VALID) && interval != 0) {
 485                 int second = (ao_gps_data.second / interval + 1) * interval + ao_config.aprs_offset;
 486                 int delta;
 487                 if (second >= 60) {
 488                         second = ao_config.aprs_offset;
 489                         delta = second + 60 - ao_gps_data.second;
 490                 } else {
 491                         delta = second - ao_gps_data.second;
 492                 }
 493                 ao_aprs_time = ao_gps_tick + AO_SEC_TO_TICKS(delta);
 494         } else {
 495                 ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval);
 496         }
 497 }
 498 #endif
 499
 500 static void
 501 ao_telemetry(void)
 502 {
 503         AO_TICK_TYPE    time;
 504         AO_TICK_SIGNED  delay;
 505
 506         ao_config_get();
 507         if (!ao_config.radio_enable)
 508                 ao_exit();
 509         while (!ao_flight_number)
 510                 ao_sleep(&ao_flight_number);
 511
 512         ao_telemetry_flight_number = ao_flight_number;
 513 #if HAS_LOG
 514         if (ao_log_full())
 515                 ao_telemetry_flight_number = 0;
 516 #endif
 517         telemetry.generic.serial = ao_serial_number;
 518         for (;;) {
 519                 while (ao_telemetry_interval == 0)
 520                         ao_sleep(&telemetry);
 521                 time = ao_time();
 522                 ao_telemetry_time = time;
 523 #if HAS_RDF
 524                 ao_rdf_time = time;
 525 #endif
 526 #if HAS_APRS
 527                 ao_aprs_time = time;
 528                 ao_set_aprs_time();
 529 #endif
 530                 while (ao_telemetry_interval) {
 531                         time = ao_time() + AO_SEC_TO_TICKS(100);
 532 #ifndef SIMPLIFY
 533                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 534 #endif
 535                         {
 536 #ifndef SIMPLIFY
 537                                 if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
 538 #endif
 539                                 {
 540                                         ao_telemetry_time = ao_time() + ao_telemetry_interval;
 541 # ifdef AO_SEND_MEGA
 542                                         ao_send_mega_sensor();
 543                                         ao_send_mega_data();
 544 # endif
 545 # ifdef AO_SEND_METRUM
 546                                         ao_send_metrum_sensor();
 547                                         ao_send_metrum_data();
 548 # endif
 549 # ifdef AO_SEND_MINI
 550                                         ao_send_mini();
 551 # endif
 552 # ifdef AO_TELEMETRY_SENSOR
 553                                         ao_send_sensor();
 554 # endif
 555 #if HAS_COMPANION
 556                                         if (ao_companion_running)
 557                                                 ao_send_companion();
 558 #endif
 559 #if HAS_GPS
 560                                         ao_send_location();
 561                                         ao_send_satellite();
 562 #endif
 563                                         ao_send_configuration();
 564                                 }
 565 #ifndef SIMPLIFY
 566                                 time = ao_telemetry_time;
 567 #endif
 568                         }
 569 #if HAS_RDF
 570                         if (ao_rdf
 571 #ifndef SIMPLIFY
 572                             && !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF)
 573 #endif
 574                                 )
 575                         {
 576                                 if ((int16_t) (ao_time() - ao_rdf_time) >= 0) {
 577 #if HAS_IGNITE_REPORT
 578                                         uint8_t c;
 579 #endif
 580                                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 581 #if HAS_IGNITE_REPORT
 582                                         if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 583                                                 ao_radio_continuity(c);
 584                                         else
 585 #endif
 586                                                 ao_radio_rdf();
 587                                 }
 588 #ifndef SIMPLIFY
 589                                 if ((int16_t) (time - ao_rdf_time) > 0)
 590                                         time = ao_rdf_time;
 591 #endif
 592                         }
 593 #endif /* HAS_RDF */
 594 #if HAS_APRS
 595                         if (ao_config.aprs_interval != 0) {
 596                                 if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
 597                                         ao_set_aprs_time();
 598                                         ao_aprs_send();
 599                                 }
 600                                 if ((int16_t) (time - ao_aprs_time) > 0)
 601                                         time = ao_aprs_time;
 602                         }
 603 #endif /* HAS_APRS */
 604                         delay = (AO_TICK_SIGNED) (time - ao_time());
 605                         if (delay > 0) {
 606                                 ao_sleep_for(&telemetry, (AO_TICK_TYPE) delay);
 607                         }
 608                 }
 609         }
 610 }
 611
 612 #if HAS_RADIO_RATE
 613 void
 614 ao_telemetry_reset_interval(void)
 615 {
 616         ao_telemetry_set_interval(ao_telemetry_desired_interval);
 617 }
 618 #endif
 619
 620 void
 621 ao_telemetry_set_interval(uint16_t interval)
 622 {
 623         int16_t cur = 0;
 624
 625 #if HAS_RADIO_RATE
 626         /* Limit max telemetry rate based on available radio bandwidth.
 627          */
 628         static const uint16_t min_interval[] = {
 629                 /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
 630                 /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
 631                 /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
 632         };
 633
 634         ao_telemetry_desired_interval = interval;
 635         if (interval && interval < min_interval[ao_config.radio_rate])
 636                 interval = min_interval[ao_config.radio_rate];
 637 #endif
 638         ao_telemetry_interval = interval;
 639         if (interval) {
 640 #if AO_SEND_MEGA
 641                 if (interval > 1)
 642                         ao_telemetry_mega_data_max = 1;
 643                 else
 644                         ao_telemetry_mega_data_max = 2;
 645                 if (ao_telemetry_mega_data_max > cur)
 646                         cur++;
 647                 ao_telemetry_mega_data_cur = cur;
 648 #endif
 649 #if AO_SEND_METRUM
 650                 ao_telemetry_metrum_data_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
 651                 if (ao_telemetry_metrum_data_max > cur)
 652                         cur++;
 653                 ao_telemetry_metrum_data_cur = cur;
 654 #endif
 655
 656 #if HAS_COMPANION
 657                 if (!ao_companion_setup.update_period)
 658                         ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 659                 ao_telemetry_companion_max = (int16_t) (ao_companion_setup.update_period / interval);
 660                 if (ao_telemetry_companion_max > cur)
 661                         cur++;
 662                 ao_telemetry_companion_cur = cur;
 663 #endif
 664
 665 #if HAS_GPS
 666                 ao_telemetry_gps_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
 667                 if (ao_telemetry_gps_max > cur)
 668                         cur++;
 669                 ao_telemetry_loc_cur = cur;
 670                 if (ao_telemetry_gps_max > cur)
 671                         cur++;
 672                 ao_telemetry_sat_cur = cur;
 673 #endif
 674
 675                 ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval);
 676                 if (ao_telemetry_config_max > cur)
 677                         cur++;
 678                 ao_telemetry_config_cur = cur;
 679         }
 680
 681 #ifndef SIMPLIFY
 682         ao_telemetry_time =
 683 #if HAS_RDF
 684                 ao_rdf_time =
 685 #endif
 686 #if HAS_APRS
 687                 ao_aprs_time =
 688 #endif
 689                 ao_time();
 690 #endif
 691         ao_wakeup(&telemetry);
 692 }
 693
 694 #if HAS_RDF
 695 void
 696 ao_rdf_set(uint8_t rdf)
 697 {
 698         ao_rdf = rdf;
 699         if (rdf == 0)
 700                 ao_radio_rdf_abort();
 701         else {
 702                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 703         }
 704 }
 705 #endif
 706
 707 struct ao_task  ao_telemetry_task;
 708
 709 void
 710 ao_telemetry_init()
 711 {
 712         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 713 }