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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 #if HAS_MPU6000
 137         telemetry.mega_sensor.orient = ao_sample_orient;
 138 #endif
 139         telemetry.mega_sensor.accel = ao_data_accel(packet);
 140         telemetry.mega_sensor.pres = ao_data_pres(packet);
 141         telemetry.mega_sensor.temp = ao_data_temp(packet);
 142
 143 #if HAS_MPU6000
 144         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 145         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 146         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 147
 148         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 149         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 150         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 151 #endif
 152
 153 #if HAS_HMC5883
 154         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 155         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 156         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 157 #endif
 158
 159         ao_radio_send(&telemetry, sizeof (telemetry));
 160 }
 161
 162 static __pdata int8_t ao_telemetry_mega_data_max;
 163 static __pdata int8_t ao_telemetry_mega_data_cur;
 164
 165 /* Send mega data packet */
 166 static void
 167 ao_send_mega_data(void)
 168 {
 169         if (--ao_telemetry_mega_data_cur <= 0) {
 170                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 171                 uint8_t i;
 172
 173                 telemetry.generic.tick = packet->tick;
 174                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 175
 176                 telemetry.mega_data.state = ao_flight_state;
 177                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 178                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 179
 180                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 181                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 182                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
 183
 184                 telemetry.mega_data.ground_pres = ao_ground_pres;
 185                 telemetry.mega_data.ground_accel = ao_ground_accel;
 186                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 187                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 188
 189                 telemetry.mega_data.acceleration = ao_accel;
 190                 telemetry.mega_data.speed = ao_speed;
 191                 telemetry.mega_data.height = ao_height;
 192
 193                 ao_radio_send(&telemetry, sizeof (telemetry));
 194                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 195         }
 196 }
 197 #endif /* AO_SEND_MEGA */
 198
 199 #ifdef AO_SEND_METRUM
 200 /* Send telemetrum sensor packet */
 201 static void
 202 ao_send_metrum_sensor(void)
 203 {
 204         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 205
 206         telemetry.generic.tick = packet->tick;
 207         telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 208
 209         telemetry.metrum_sensor.state = ao_flight_state;
 210 #if HAS_ACCEL
 211         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 212 #endif
 213         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 214         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 215
 216         telemetry.metrum_sensor.acceleration = ao_accel;
 217         telemetry.metrum_sensor.speed = ao_speed;
 218         telemetry.metrum_sensor.height = ao_height;
 219
 220         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 221         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 222         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 223
 224         ao_radio_send(&telemetry, sizeof (telemetry));
 225 }
 226
 227 static __pdata int8_t ao_telemetry_metrum_data_max;
 228 static __pdata int8_t ao_telemetry_metrum_data_cur;
 229
 230 /* Send telemetrum data packet */
 231 static void
 232 ao_send_metrum_data(void)
 233 {
 234         if (--ao_telemetry_metrum_data_cur <= 0) {
 235                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 236
 237                 telemetry.generic.tick = packet->tick;
 238                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 239
 240                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 241 #if HAS_ACCEL
 242                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 243                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 244                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 245 #else
 246                 telemetry.metrum_data.ground_accel = 1;
 247                 telemetry.metrum_data.accel_plus_g = 0;
 248                 telemetry.metrum_data.accel_minus_g = 2;
 249 #endif
 250
 251                 ao_radio_send(&telemetry, sizeof (telemetry));
 252                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 253         }
 254 }
 255 #endif /* AO_SEND_METRUM */
 256
 257 #ifdef AO_SEND_MINI
 258
 259 static void
 260 ao_send_mini(void)
 261 {
 262         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 263
 264         telemetry.generic.tick = packet->tick;
 265         telemetry.generic.type = AO_TELEMETRY_MINI;
 266
 267         telemetry.mini.state = ao_flight_state;
 268
 269         telemetry.mini.v_batt = packet->adc.v_batt;
 270         telemetry.mini.sense_a = packet->adc.sense_a;
 271         telemetry.mini.sense_m = packet->adc.sense_m;
 272
 273         telemetry.mini.pres = ao_data_pres(packet);
 274         telemetry.mini.temp = ao_data_temp(packet);
 275
 276         telemetry.mini.acceleration = ao_accel;
 277         telemetry.mini.speed = ao_speed;
 278         telemetry.mini.height = ao_height;
 279
 280         telemetry.mini.ground_pres = ao_ground_pres;
 281
 282         ao_radio_send(&telemetry, sizeof (telemetry));
 283 }
 284
 285 #endif /* AO_SEND_MINI */
 286
 287 static __pdata int8_t ao_telemetry_config_max;
 288 static __pdata int8_t ao_telemetry_config_cur;
 289
 290 static void
 291 ao_send_configuration(void)
 292 {
 293         if (--ao_telemetry_config_cur <= 0)
 294         {
 295                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 296                 telemetry.configuration.device = AO_idProduct_NUMBER;
 297 #if HAS_LOG
 298                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 299 #else
 300                 telemetry.configuration.flight = ao_flight_number;
 301 #endif
 302                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 303                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 304 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
 305                 /* TeleGPS gets battery voltage instead of apogee delay */
 306                 telemetry.configuration.apogee_delay = ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt;
 307 #else
 308                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 309                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 310 #endif
 311
 312                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 313                 ao_xmemcpy (telemetry.configuration.callsign,
 314                             ao_config.callsign,
 315                             AO_MAX_CALLSIGN);
 316                 ao_xmemcpy (telemetry.configuration.version,
 317                             CODE_TO_XDATA(ao_version),
 318                             AO_MAX_VERSION);
 319                 ao_radio_send(&telemetry, sizeof (telemetry));
 320                 ao_telemetry_config_cur = ao_telemetry_config_max;
 321         }
 322 }
 323
 324 #if HAS_GPS
 325
 326 static __pdata int8_t ao_telemetry_gps_max;
 327 static __pdata int8_t ao_telemetry_loc_cur;
 328 static __pdata int8_t ao_telemetry_sat_cur;
 329
 330 static void
 331 ao_send_location(void)
 332 {
 333         if (--ao_telemetry_loc_cur <= 0)
 334         {
 335                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 336                 ao_mutex_get(&ao_gps_mutex);
 337                 ao_xmemcpy(&telemetry.location.flags,
 338                        &ao_gps_data.flags,
 339                        27);
 340                 telemetry.location.tick = ao_gps_tick;
 341                 ao_mutex_put(&ao_gps_mutex);
 342                 ao_radio_send(&telemetry, sizeof (telemetry));
 343                 ao_telemetry_loc_cur = ao_telemetry_gps_max;
 344         }
 345 }
 346
 347 static void
 348 ao_send_satellite(void)
 349 {
 350         if (--ao_telemetry_sat_cur <= 0)
 351         {
 352                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 353                 ao_mutex_get(&ao_gps_mutex);
 354                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 355                 ao_xmemcpy(&telemetry.satellite.sats,
 356                        &ao_gps_tracking_data.sats,
 357                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 358                 ao_mutex_put(&ao_gps_mutex);
 359                 ao_radio_send(&telemetry, sizeof (telemetry));
 360                 ao_telemetry_sat_cur = ao_telemetry_gps_max;
 361         }
 362 }
 363 #endif
 364
 365 #if HAS_COMPANION
 366
 367 static __pdata int8_t ao_telemetry_companion_max;
 368 static __pdata int8_t ao_telemetry_companion_cur;
 369
 370 static void
 371 ao_send_companion(void)
 372 {
 373         if (--ao_telemetry_companion_cur <= 0) {
 374                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 375                 telemetry.companion.board_id = ao_companion_setup.board_id;
 376                 telemetry.companion.update_period = ao_companion_setup.update_period;
 377                 telemetry.companion.channels = ao_companion_setup.channels;
 378                 ao_mutex_get(&ao_companion_mutex);
 379                 ao_xmemcpy(&telemetry.companion.companion_data,
 380                        ao_companion_data,
 381                        ao_companion_setup.channels * 2);
 382                 ao_mutex_put(&ao_companion_mutex);
 383                 ao_radio_send(&telemetry, sizeof (telemetry));
 384                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 385         }
 386 }
 387 #endif
 388
 389 void
 390 ao_telemetry(void)
 391 {
 392         uint16_t        time;
 393         int16_t         delay;
 394
 395         ao_config_get();
 396         if (!ao_config.radio_enable)
 397                 ao_exit();
 398         while (!ao_flight_number)
 399                 ao_sleep(&ao_flight_number);
 400
 401         telemetry.generic.serial = ao_serial_number;
 402         for (;;) {
 403                 while (ao_telemetry_interval == 0)
 404                         ao_sleep(&telemetry);
 405                 time = ao_time();
 406                 ao_telemetry_time = time;
 407 #if HAS_RDF
 408                 ao_rdf_time = time;
 409 #endif
 410 #if HAS_APRS
 411                 ao_aprs_time = time;
 412 #endif
 413                 while (ao_telemetry_interval) {
 414                         time = ao_time() + AO_SEC_TO_TICKS(100);
 415 #ifndef SIMPLIFY
 416                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 417 #endif
 418                         {
 419 #ifndef SIMPLIFY
 420                                 if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
 421 #endif
 422                                 {
 423                                         ao_telemetry_time = ao_time() + ao_telemetry_interval;
 424 # ifdef AO_SEND_MEGA
 425                                         ao_send_mega_sensor();
 426                                         ao_send_mega_data();
 427 # endif
 428 # ifdef AO_SEND_METRUM
 429                                         ao_send_metrum_sensor();
 430                                         ao_send_metrum_data();
 431 # endif
 432 # ifdef AO_SEND_MINI
 433                                         ao_send_mini();
 434 # endif
 435 # ifdef AO_TELEMETRY_SENSOR
 436                                         ao_send_sensor();
 437 # endif
 438 #if HAS_COMPANION
 439                                         if (ao_companion_running)
 440                                                 ao_send_companion();
 441 #endif
 442 #if HAS_GPS
 443                                         ao_send_location();
 444                                         ao_send_satellite();
 445 #endif
 446                                         ao_send_configuration();
 447                                 }
 448 #ifndef SIMPLIFY
 449                                 time = ao_telemetry_time;
 450 #endif
 451                         }
 452 #if HAS_RDF
 453                         if (ao_rdf
 454 #ifndef SIMPLIFY
 455                             && !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF)
 456 #endif
 457                                 )
 458                         {
 459                                 if ((int16_t) (ao_time() - ao_rdf_time) >= 0) {
 460 #if HAS_IGNITE_REPORT
 461                                         uint8_t c;
 462 #endif
 463                                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 464 #if HAS_IGNITE_REPORT
 465                                         if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 466                                                 ao_radio_continuity(c);
 467                                         else
 468 #endif
 469                                                 ao_radio_rdf();
 470                                 }
 471 #ifndef SIMPLIFY
 472                                 if ((int16_t) (time - ao_rdf_time) > 0)
 473                                         time = ao_rdf_time;
 474 #endif
 475                         }
 476 #endif /* HAS_RDF */
 477 #if HAS_APRS
 478                         if (ao_config.aprs_interval != 0) {
 479                                 if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
 480                                         ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 481                                         ao_aprs_send();
 482                                 }
 483                                 if ((int16_t) (time - ao_aprs_time) > 0)
 484                                         time = ao_aprs_time;
 485                         }
 486 #endif /* HAS_APRS */
 487                         delay = time - ao_time();
 488                         if (delay > 0) {
 489                                 ao_sleep_for(&telemetry, delay);
 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 }