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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 uint16_t ao_telemetry_time;
  44 #endif
  45
  46 #if HAS_RDF
  47 static RDF_SPACE uint8_t ao_rdf = 0;
  48 static RDF_SPACE uint16_t ao_rdf_time;
  49 #endif
  50
  51 #if HAS_APRS
  52 static uint16_t 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 = packet->tick;
 142 #if HAS_BMX160
 143         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
 144 #else
 145 #if HAS_MPU6000 || HAS_MPU9250
 146         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_MPU;
 147 #else
 148 #error unknown IMU
 149 #endif
 150 #endif
 151
 152 #if HAS_GYRO
 153         telemetry.mega_sensor.orient = ao_sample_orient;
 154 #endif
 155         telemetry.mega_sensor.accel = ao_data_accel(packet);
 156         telemetry.mega_sensor.pres = ao_data_pres(packet);
 157         telemetry.mega_sensor.temp = ao_data_temp(packet);
 158
 159 #if HAS_MPU6000
 160         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 161         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 162         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 163
 164         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 165         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 166         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 167 #endif
 168
 169 #if HAS_HMC5883
 170         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 171         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 172         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 173 #endif
 174
 175 #if HAS_MPU9250
 176         telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
 177         telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
 178         telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
 179
 180         telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
 181         telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
 182         telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
 183
 184         telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
 185         telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
 186         telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
 187 #endif
 188
 189 #if HAS_BMX160
 190         telemetry.mega_sensor.accel_x = packet->bmx160.acc_x;
 191         telemetry.mega_sensor.accel_y = packet->bmx160.acc_y;
 192         telemetry.mega_sensor.accel_z = packet->bmx160.acc_z;
 193
 194         telemetry.mega_sensor.gyro_x = packet->bmx160.gyr_x;
 195         telemetry.mega_sensor.gyro_y = packet->bmx160.gyr_y;
 196         telemetry.mega_sensor.gyro_z = packet->bmx160.gyr_z;
 197
 198         telemetry.mega_sensor.mag_x = packet->bmx160.mag_x;
 199         telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
 200         telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
 201 #endif
 202
 203         ao_telemetry_send();
 204 }
 205
 206 static int8_t ao_telemetry_mega_data_max;
 207 static int8_t ao_telemetry_mega_data_cur;
 208
 209 /* Send mega data packet */
 210 static void
 211 ao_send_mega_data(void)
 212 {
 213         if (--ao_telemetry_mega_data_cur <= 0) {
 214                         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 215                 uint8_t i;
 216
 217                 telemetry.generic.tick = packet->tick;
 218                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 219
 220                 telemetry.mega_data.state = ao_flight_state;
 221                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 222                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 223
 224                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 225                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 226                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
 227
 228                 telemetry.mega_data.ground_pres = ao_ground_pres;
 229                 telemetry.mega_data.ground_accel = ao_ground_accel;
 230                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 231                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 232
 233                 telemetry.mega_data.acceleration = ao_accel;
 234                 telemetry.mega_data.speed = ao_speed;
 235                 telemetry.mega_data.height = ao_height;
 236
 237                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 238                 ao_telemetry_send();
 239         }
 240 }
 241 #endif /* AO_SEND_MEGA */
 242
 243 #ifdef AO_SEND_METRUM
 244 /* Send telemetrum sensor packet */
 245 static void
 246 ao_send_metrum_sensor(void)
 247 {
 248                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 249
 250         telemetry.generic.tick = packet->tick;
 251         telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 252
 253         telemetry.metrum_sensor.state = ao_flight_state;
 254 #if HAS_ACCEL
 255         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 256 #endif
 257         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 258         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 259
 260         telemetry.metrum_sensor.acceleration = ao_accel;
 261         telemetry.metrum_sensor.speed = ao_speed;
 262         telemetry.metrum_sensor.height = ao_height;
 263
 264         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 265         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 266         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 267
 268         ao_telemetry_send();
 269 }
 270
 271 static int8_t ao_telemetry_metrum_data_max;
 272 static int8_t ao_telemetry_metrum_data_cur;
 273
 274 /* Send telemetrum data packet */
 275 static void
 276 ao_send_metrum_data(void)
 277 {
 278         if (--ao_telemetry_metrum_data_cur <= 0) {
 279                         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 280
 281                 telemetry.generic.tick = packet->tick;
 282                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 283
 284                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 285 #if HAS_ACCEL
 286                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 287                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 288                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 289 #else
 290                 telemetry.metrum_data.ground_accel = 1;
 291                 telemetry.metrum_data.accel_plus_g = 0;
 292                 telemetry.metrum_data.accel_minus_g = 2;
 293 #endif
 294
 295                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 296                 ao_telemetry_send();
 297         }
 298 }
 299 #endif /* AO_SEND_METRUM */
 300
 301 #ifdef AO_SEND_MINI
 302
 303 static void
 304 ao_send_mini(void)
 305 {
 306                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 307
 308         telemetry.generic.tick = packet->tick;
 309         telemetry.generic.type = AO_SEND_MINI;
 310
 311         telemetry.mini.state = ao_flight_state;
 312
 313         telemetry.mini.v_batt = packet->adc.v_batt;
 314         telemetry.mini.sense_a = packet->adc.sense_a;
 315         telemetry.mini.sense_m = packet->adc.sense_m;
 316
 317         telemetry.mini.pres = ao_data_pres(packet);
 318         telemetry.mini.temp = ao_data_temp(packet);
 319
 320         telemetry.mini.acceleration = ao_accel;
 321         telemetry.mini.speed = ao_speed;
 322         telemetry.mini.height = ao_height;
 323
 324         telemetry.mini.ground_pres = ao_ground_pres;
 325
 326         ao_telemetry_send();
 327 }
 328
 329 #endif /* AO_SEND_MINI */
 330
 331 static int8_t ao_telemetry_config_max;
 332 static int8_t ao_telemetry_config_cur;
 333 static uint16_t ao_telemetry_flight_number;
 334
 335 #ifndef ao_telemetry_battery_convert
 336 #define ao_telemetry_battery_convert(a) (a)
 337 #endif
 338
 339 static void
 340 ao_send_configuration(void)
 341 {
 342         if (--ao_telemetry_config_cur <= 0)
 343         {
 344                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 345                 telemetry.configuration.device = AO_idProduct_NUMBER;
 346                 telemetry.configuration.flight = ao_telemetry_flight_number;
 347                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 348                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 349 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
 350                 /* TeleGPS gets battery voltage instead of apogee delay */
 351                 telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
 352 #else
 353                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 354                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 355 #endif
 356
 357                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 358                 memcpy (telemetry.configuration.callsign,
 359                         ao_config.callsign,
 360                         AO_MAX_CALLSIGN);
 361                 memcpy (telemetry.configuration.version,
 362                         ao_version,
 363                         AO_MAX_VERSION);
 364                 ao_telemetry_config_cur = ao_telemetry_config_max;
 365                 ao_telemetry_send();
 366         }
 367 }
 368
 369 #if HAS_GPS
 370
 371 static int8_t ao_telemetry_gps_max;
 372 static int8_t ao_telemetry_loc_cur;
 373 static int8_t ao_telemetry_sat_cur;
 374
 375 static inline void *
 376 telemetry_bits(struct ao_telemetry_location *l)
 377 {
 378         return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
 379 }
 380
 381 static inline int
 382 telemetry_size(void)
 383 {
 384         return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
 385 }
 386
 387 static void
 388 ao_send_location(void)
 389 {
 390         if (--ao_telemetry_loc_cur <= 0)
 391         {
 392                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 393                 ao_mutex_get(&ao_gps_mutex);
 394                 memcpy(telemetry_bits(&telemetry.location),
 395                        telemetry_bits(&ao_gps_data),
 396                        telemetry_size());
 397                 telemetry.location.tick = ao_gps_tick;
 398                 ao_mutex_put(&ao_gps_mutex);
 399                 ao_telemetry_loc_cur = ao_telemetry_gps_max;
 400                 ao_telemetry_send();
 401         }
 402 }
 403
 404 static void
 405 ao_send_satellite(void)
 406 {
 407         if (--ao_telemetry_sat_cur <= 0)
 408         {
 409                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 410                 ao_mutex_get(&ao_gps_mutex);
 411                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 412                 memcpy(&telemetry.satellite.sats,
 413                        &ao_gps_tracking_data.sats,
 414                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 415                 ao_mutex_put(&ao_gps_mutex);
 416                 ao_telemetry_sat_cur = ao_telemetry_gps_max;
 417                 ao_telemetry_send();
 418         }
 419 }
 420 #endif
 421
 422 #if HAS_COMPANION
 423
 424 static int8_t ao_telemetry_companion_max;
 425 static int8_t ao_telemetry_companion_cur;
 426
 427 static void
 428 ao_send_companion(void)
 429 {
 430         if (--ao_telemetry_companion_cur <= 0) {
 431                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 432                 telemetry.companion.board_id = ao_companion_setup.board_id;
 433                 telemetry.companion.update_period = ao_companion_setup.update_period;
 434                 telemetry.companion.channels = ao_companion_setup.channels;
 435                 ao_mutex_get(&ao_companion_mutex);
 436                 memcpy(&telemetry.companion.companion_data,
 437                        ao_companion_data,
 438                        ao_companion_setup.channels * 2);
 439                 ao_mutex_put(&ao_companion_mutex);
 440                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 441                 ao_telemetry_send();
 442         }
 443 }
 444 #endif
 445
 446 #if HAS_APRS
 447 static void
 448 ao_set_aprs_time(void)
 449 {
 450         uint16_t interval = ao_config.aprs_interval;
 451
 452         if ((ao_gps_data.flags & AO_GPS_DATE_VALID) && interval != 0) {
 453                 int second = (ao_gps_data.second / interval + 1) * interval + ao_config.aprs_offset;
 454                 int delta;
 455                 if (second >= 60) {
 456                         second = ao_config.aprs_offset;
 457                         delta = second + 60 - ao_gps_data.second;
 458                 } else {
 459                         delta = second - ao_gps_data.second;
 460                 }
 461                 ao_aprs_time = ao_gps_tick + AO_SEC_TO_TICKS(delta);
 462         } else {
 463                 ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval);
 464         }
 465 }
 466 #endif
 467
 468 static void
 469 ao_telemetry(void)
 470 {
 471         uint16_t        time;
 472         int16_t         delay;
 473
 474         ao_config_get();
 475         if (!ao_config.radio_enable)
 476                 ao_exit();
 477         while (!ao_flight_number)
 478                 ao_sleep(&ao_flight_number);
 479
 480         ao_telemetry_flight_number = ao_flight_number;
 481 #if HAS_LOG
 482         if (ao_log_full())
 483                 ao_telemetry_flight_number = 0;
 484 #endif
 485         telemetry.generic.serial = ao_serial_number;
 486         for (;;) {
 487                 while (ao_telemetry_interval == 0)
 488                         ao_sleep(&telemetry);
 489                 time = ao_time();
 490                 ao_telemetry_time = time;
 491 #if HAS_RDF
 492                 ao_rdf_time = time;
 493 #endif
 494 #if HAS_APRS
 495                 ao_aprs_time = time;
 496                 ao_set_aprs_time();
 497 #endif
 498                 while (ao_telemetry_interval) {
 499                         time = ao_time() + AO_SEC_TO_TICKS(100);
 500 #ifndef SIMPLIFY
 501                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 502 #endif
 503                         {
 504 #ifndef SIMPLIFY
 505                                 if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
 506 #endif
 507                                 {
 508                                         ao_telemetry_time = ao_time() + ao_telemetry_interval;
 509 # ifdef AO_SEND_MEGA
 510                                         ao_send_mega_sensor();
 511                                         ao_send_mega_data();
 512 # endif
 513 # ifdef AO_SEND_METRUM
 514                                         ao_send_metrum_sensor();
 515                                         ao_send_metrum_data();
 516 # endif
 517 # ifdef AO_SEND_MINI
 518                                         ao_send_mini();
 519 # endif
 520 # ifdef AO_TELEMETRY_SENSOR
 521                                         ao_send_sensor();
 522 # endif
 523 #if HAS_COMPANION
 524                                         if (ao_companion_running)
 525                                                 ao_send_companion();
 526 #endif
 527 #if HAS_GPS
 528                                         ao_send_location();
 529                                         ao_send_satellite();
 530 #endif
 531                                         ao_send_configuration();
 532                                 }
 533 #ifndef SIMPLIFY
 534                                 time = ao_telemetry_time;
 535 #endif
 536                         }
 537 #if HAS_RDF
 538                         if (ao_rdf
 539 #ifndef SIMPLIFY
 540                             && !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF)
 541 #endif
 542                                 )
 543                         {
 544                                 if ((int16_t) (ao_time() - ao_rdf_time) >= 0) {
 545 #if HAS_IGNITE_REPORT
 546                                         uint8_t c;
 547 #endif
 548                                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 549 #if HAS_IGNITE_REPORT
 550                                         if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 551                                                 ao_radio_continuity(c);
 552                                         else
 553 #endif
 554                                                 ao_radio_rdf();
 555                                 }
 556 #ifndef SIMPLIFY
 557                                 if ((int16_t) (time - ao_rdf_time) > 0)
 558                                         time = ao_rdf_time;
 559 #endif
 560                         }
 561 #endif /* HAS_RDF */
 562 #if HAS_APRS
 563                         if (ao_config.aprs_interval != 0) {
 564                                 if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
 565                                         ao_set_aprs_time();
 566                                         ao_aprs_send();
 567                                 }
 568                                 if ((int16_t) (time - ao_aprs_time) > 0)
 569                                         time = ao_aprs_time;
 570                         }
 571 #endif /* HAS_APRS */
 572                         delay = time - ao_time();
 573                         if (delay > 0) {
 574                                 ao_sleep_for(&telemetry, delay);
 575                         }
 576                 }
 577         }
 578 }
 579
 580 #if HAS_RADIO_RATE
 581 void
 582 ao_telemetry_reset_interval(void)
 583 {
 584         ao_telemetry_set_interval(ao_telemetry_desired_interval);
 585 }
 586 #endif
 587
 588 void
 589 ao_telemetry_set_interval(uint16_t interval)
 590 {
 591         int8_t  cur = 0;
 592
 593 #if HAS_RADIO_RATE
 594         /* Limit max telemetry rate based on available radio bandwidth.
 595          */
 596         static const uint16_t min_interval[] = {
 597                 /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
 598                 /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
 599                 /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
 600         };
 601
 602         ao_telemetry_desired_interval = interval;
 603         if (interval && interval < min_interval[ao_config.radio_rate])
 604                 interval = min_interval[ao_config.radio_rate];
 605 #endif
 606         ao_telemetry_interval = interval;
 607 #if AO_SEND_MEGA
 608         if (interval > 1)
 609                 ao_telemetry_mega_data_max = 1;
 610         else
 611                 ao_telemetry_mega_data_max = 2;
 612         if (ao_telemetry_mega_data_max > cur)
 613                 cur++;
 614         ao_telemetry_mega_data_cur = cur;
 615 #endif
 616 #if AO_SEND_METRUM
 617         ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
 618         if (ao_telemetry_metrum_data_max > cur)
 619                 cur++;
 620         ao_telemetry_metrum_data_cur = cur;
 621 #endif
 622
 623 #if HAS_COMPANION
 624         if (!ao_companion_setup.update_period)
 625                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 626         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 627         if (ao_telemetry_companion_max > cur)
 628                 cur++;
 629         ao_telemetry_companion_cur = cur;
 630 #endif
 631
 632 #if HAS_GPS
 633         ao_telemetry_gps_max = AO_SEC_TO_TICKS(1) / interval;
 634         if (ao_telemetry_gps_max > cur)
 635                 cur++;
 636         ao_telemetry_loc_cur = cur;
 637         if (ao_telemetry_gps_max > cur)
 638                 cur++;
 639         ao_telemetry_sat_cur = cur;
 640 #endif
 641
 642         ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval;
 643         if (ao_telemetry_config_max > cur)
 644                 cur++;
 645         ao_telemetry_config_cur = cur;
 646
 647 #ifndef SIMPLIFY
 648         ao_telemetry_time =
 649 #if HAS_RDF
 650                 ao_rdf_time =
 651 #endif
 652 #if HAS_APRS
 653                 ao_aprs_time =
 654 #endif
 655                 ao_time();
 656 #endif
 657         ao_wakeup(&telemetry);
 658 }
 659
 660 #if HAS_RDF
 661 void
 662 ao_rdf_set(uint8_t rdf)
 663 {
 664         ao_rdf = rdf;
 665         if (rdf == 0)
 666                 ao_radio_rdf_abort();
 667         else {
 668                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 669         }
 670 }
 671 #endif
 672
 673 struct ao_task  ao_telemetry_task;
 674
 675 void
 676 ao_telemetry_init()
 677 {
 678         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 679 }