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