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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) || defined (TELEMETRUM_V_4_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 #elif AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6
 146         telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_BMI088_MMC5983;
 147 #else
 148 #error unknown normalized log type
 149 #endif
 150
 151 #if HAS_GYRO
 152         telemetry.mega_norm.orient = (uint8_t) ao_sample_orient;
 153 #endif
 154         telemetry.mega_norm.accel = ao_data_accel(packet);
 155         telemetry.mega_norm.pres = ao_data_pres(packet);
 156         telemetry.mega_norm.temp = ao_data_temp(packet);
 157
 158 #ifdef ao_data_along
 159         telemetry.mega_norm.accel_along = ao_data_along(packet);
 160         telemetry.mega_norm.accel_across = ao_data_across(packet);
 161         telemetry.mega_norm.accel_through = ao_data_through(packet);
 162
 163         telemetry.mega_norm.gyro_roll = ao_data_roll(packet);
 164         telemetry.mega_norm.gyro_pitch = ao_data_pitch(packet);
 165         telemetry.mega_norm.gyro_yaw = ao_data_yaw(packet);
 166 #endif
 167
 168 #ifdef ao_data_mag_along
 169         telemetry.mega_norm.mag_along = ao_data_mag_along(packet);
 170         telemetry.mega_norm.mag_across = ao_data_mag_across(packet);
 171         telemetry.mega_norm.mag_through = ao_data_mag_through(packet);
 172 #endif
 173
 174 #else
 175
 176 #if HAS_BMX160
 177         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
 178 #else
 179 #if HAS_MPU6000 || HAS_MPU9250
 180         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_MPU;
 181 #else
 182 #error unknown IMU
 183 #endif
 184 #endif
 185
 186 #if HAS_GYRO
 187         telemetry.mega_sensor.orient = (uint8_t) ao_sample_orient;
 188 #endif
 189         telemetry.mega_sensor.accel = ao_data_accel(packet);
 190         telemetry.mega_sensor.pres = ao_data_pres(packet);
 191         telemetry.mega_sensor.temp = ao_data_temp(packet);
 192
 193 #if HAS_MPU6000
 194         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 195         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 196         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 197
 198         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 199         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 200         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 201 #endif
 202
 203 #if HAS_HMC5883
 204         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 205         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 206         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 207 #endif
 208
 209 #if HAS_MPU9250
 210         telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
 211         telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
 212         telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
 213
 214         telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
 215         telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
 216         telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
 217
 218         telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
 219         telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
 220         telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
 221 #endif
 222
 223 #if HAS_BMX160
 224         telemetry.mega_sensor.accel_x = packet->bmx160.acc_x;
 225         telemetry.mega_sensor.accel_y = packet->bmx160.acc_y;
 226         telemetry.mega_sensor.accel_z = packet->bmx160.acc_z;
 227
 228         telemetry.mega_sensor.gyro_x = packet->bmx160.gyr_x;
 229         telemetry.mega_sensor.gyro_y = packet->bmx160.gyr_y;
 230         telemetry.mega_sensor.gyro_z = packet->bmx160.gyr_z;
 231
 232         telemetry.mega_sensor.mag_x = packet->bmx160.mag_x;
 233         telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
 234         telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
 235 #endif
 236 #endif
 237         ao_telemetry_send();
 238 }
 239
 240 static int16_t ao_telemetry_mega_data_max;
 241 static int16_t ao_telemetry_mega_data_cur;
 242
 243 /* Send mega data packet */
 244 static void
 245 ao_send_mega_data(void)
 246 {
 247         if (--ao_telemetry_mega_data_cur <= 0) {
 248                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 249                 uint8_t i;
 250
 251                 telemetry.generic.tick = (uint16_t) packet->tick;
 252                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 253
 254                 telemetry.mega_data.state = ao_flight_state;
 255                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 256                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 257
 258                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 259                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 260                         telemetry.mega_data.sense[i] = (int8_t) (packet->adc.sense[i] >> 4);
 261
 262                 telemetry.mega_data.ground_pres = ao_ground_pres;
 263                 telemetry.mega_data.ground_accel = ao_ground_accel;
 264                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 265                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 266
 267                 telemetry.mega_data.acceleration = (int16_t) ao_accel;
 268                 telemetry.mega_data.speed = (int16_t) ao_speed;
 269                 telemetry.mega_data.height = (int16_t) ao_height;
 270
 271                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 272                 ao_telemetry_send();
 273         }
 274 }
 275 #endif /* AO_SEND_MEGA */
 276
 277 #ifdef AO_SEND_METRUM
 278 /* Send telemetrum sensor packet */
 279 static void
 280 ao_send_metrum_sensor(void)
 281 {
 282         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 283
 284         telemetry.generic.tick = (uint16_t) packet->tick;
 285         telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 286
 287         telemetry.metrum_sensor.state = ao_flight_state;
 288 #if HAS_ACCEL
 289         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 290 #endif
 291         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 292         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 293
 294         telemetry.metrum_sensor.acceleration = (int16_t) ao_accel;
 295         telemetry.metrum_sensor.speed = (int16_t) ao_speed;
 296         telemetry.metrum_sensor.height = (int16_t) ao_height;
 297
 298         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 299         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 300         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 301
 302         ao_telemetry_send();
 303 }
 304
 305 static int16_t ao_telemetry_metrum_data_max;
 306 static int16_t ao_telemetry_metrum_data_cur;
 307
 308 /* Send telemetrum data packet */
 309 static void
 310 ao_send_metrum_data(void)
 311 {
 312         if (--ao_telemetry_metrum_data_cur <= 0) {
 313                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 314
 315                 telemetry.generic.tick = (uint16_t) packet->tick;
 316                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 317
 318                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 319 #if HAS_ACCEL
 320                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 321                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 322                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 323 #else
 324                 telemetry.metrum_data.ground_accel = 1;
 325                 telemetry.metrum_data.accel_plus_g = 0;
 326                 telemetry.metrum_data.accel_minus_g = 2;
 327 #endif
 328
 329                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 330                 ao_telemetry_send();
 331         }
 332 }
 333 #endif /* AO_SEND_METRUM */
 334
 335 #ifdef AO_SEND_MINI
 336
 337 static void
 338 ao_send_mini(void)
 339 {
 340         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 341
 342         telemetry.generic.tick = (uint16_t) packet->tick;
 343         telemetry.generic.type = AO_SEND_MINI;
 344
 345         telemetry.mini.state = ao_flight_state;
 346
 347         telemetry.mini.v_batt = packet->adc.v_batt;
 348         telemetry.mini.sense_a = packet->adc.sense_a;
 349         telemetry.mini.sense_m = packet->adc.sense_m;
 350
 351         telemetry.mini.pres = ao_data_pres(packet);
 352         telemetry.mini.temp = ao_data_temp(packet);
 353
 354         telemetry.mini.acceleration = (int16_t) ao_accel;
 355         telemetry.mini.speed = (int16_t) ao_speed;
 356         telemetry.mini.height = (int16_t) ao_height;
 357
 358         telemetry.mini.ground_pres = ao_ground_pres;
 359
 360         ao_telemetry_send();
 361 }
 362
 363 #endif /* AO_SEND_MINI */
 364
 365 static int16_t ao_telemetry_config_max;
 366 static int16_t ao_telemetry_config_cur;
 367 static uint16_t ao_telemetry_flight_number;
 368
 369 #ifndef ao_telemetry_battery_convert
 370 #define ao_telemetry_battery_convert(a) (a)
 371 #endif
 372
 373 static void
 374 ao_send_configuration(void)
 375 {
 376         if (--ao_telemetry_config_cur <= 0)
 377         {
 378                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 379                 telemetry.configuration.device = AO_idProduct_NUMBER;
 380                 telemetry.configuration.flight = ao_telemetry_flight_number;
 381                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 382                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 383 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
 384                 /* TeleGPS gets battery voltage instead of apogee delay */
 385                 telemetry.configuration.apogee_delay = (uint16_t) ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
 386 #else
 387                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 388                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 389 #endif
 390
 391                 telemetry.configuration.flight_log_max = (uint16_t) (ao_config.flight_log_max >> 10);
 392                 memcpy (telemetry.configuration.callsign,
 393                         ao_config.callsign,
 394                         AO_MAX_CALLSIGN);
 395                 memcpy (telemetry.configuration.version,
 396                         ao_version,
 397                         AO_MAX_VERSION);
 398                 ao_telemetry_config_cur = ao_telemetry_config_max;
 399                 ao_telemetry_send();
 400         }
 401 }
 402
 403 #if HAS_GPS
 404
 405 static int16_t ao_telemetry_gps_max;
 406 static int16_t ao_telemetry_loc_cur;
 407 static int16_t ao_telemetry_sat_cur;
 408
 409 static inline void *
 410 telemetry_bits(struct ao_telemetry_location *l)
 411 {
 412         return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
 413 }
 414
 415 static inline size_t
 416 telemetry_size(void)
 417 {
 418         return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
 419 }
 420
 421 static void
 422 ao_send_location(void)
 423 {
 424         if (--ao_telemetry_loc_cur <= 0)
 425         {
 426                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 427                 ao_mutex_get(&ao_gps_mutex);
 428                 memcpy(telemetry_bits(&telemetry.location),
 429                        telemetry_bits(&ao_gps_data),
 430                        telemetry_size());
 431                 telemetry.location.tick = (uint16_t) ao_gps_tick;
 432                 ao_mutex_put(&ao_gps_mutex);
 433                 ao_telemetry_loc_cur = ao_telemetry_gps_max;
 434                 ao_telemetry_send();
 435         }
 436 }
 437
 438 static void
 439 ao_send_satellite(void)
 440 {
 441         if (--ao_telemetry_sat_cur <= 0)
 442         {
 443                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 444                 ao_mutex_get(&ao_gps_mutex);
 445                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 446                 memcpy(&telemetry.satellite.sats,
 447                        &ao_gps_tracking_data.sats,
 448                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 449                 ao_mutex_put(&ao_gps_mutex);
 450                 ao_telemetry_sat_cur = ao_telemetry_gps_max;
 451                 ao_telemetry_send();
 452         }
 453 }
 454 #endif
 455
 456 #if HAS_COMPANION
 457
 458 static int16_t ao_telemetry_companion_max;
 459 static int16_t ao_telemetry_companion_cur;
 460
 461 static void
 462 ao_send_companion(void)
 463 {
 464         if (--ao_telemetry_companion_cur <= 0) {
 465                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 466                 telemetry.companion.board_id = (uint8_t) ao_companion_setup.board_id;
 467                 telemetry.companion.update_period = ao_companion_setup.update_period;
 468                 telemetry.companion.channels = ao_companion_setup.channels;
 469                 ao_mutex_get(&ao_companion_mutex);
 470                 memcpy(&telemetry.companion.companion_data,
 471                        ao_companion_data,
 472                        ao_companion_setup.channels * 2);
 473                 ao_mutex_put(&ao_companion_mutex);
 474                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 475                 ao_telemetry_send();
 476         }
 477 }
 478 #endif
 479
 480 #if HAS_APRS
 481 static void
 482 ao_set_aprs_time(void)
 483 {
 484         uint16_t interval = ao_config.aprs_interval;
 485
 486         if ((ao_gps_data.flags & AO_GPS_DATE_VALID) && interval != 0) {
 487                 int second = (ao_gps_data.second / interval + 1) * interval + ao_config.aprs_offset;
 488                 int delta;
 489                 if (second >= 60) {
 490                         second = ao_config.aprs_offset;
 491                         delta = second + 60 - ao_gps_data.second;
 492                 } else {
 493                         delta = second - ao_gps_data.second;
 494                 }
 495                 if (delta < (interval >> 1))
 496                         delta += interval;
 497
 498                 ao_aprs_time = ao_gps_utc_tick + AO_SEC_TO_TICKS(delta);
 499         } else {
 500                 ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval);
 501         }
 502 }
 503 #endif
 504
 505 static void
 506 ao_telemetry(void)
 507 {
 508         AO_TICK_TYPE    time;
 509         AO_TICK_SIGNED  delay;
 510
 511         ao_config_get();
 512         if (!ao_config.radio_enable)
 513                 ao_exit();
 514         while (!ao_flight_number)
 515                 ao_sleep(&ao_flight_number);
 516
 517         ao_telemetry_flight_number = ao_flight_number;
 518 #if HAS_LOG
 519         if (ao_log_full())
 520                 ao_telemetry_flight_number = 0;
 521 #endif
 522         telemetry.generic.serial = ao_serial_number;
 523         for (;;) {
 524                 while (ao_telemetry_interval == 0)
 525                         ao_sleep(&telemetry);
 526                 time = ao_time();
 527                 ao_telemetry_time = time;
 528 #if HAS_RDF
 529                 ao_rdf_time = time;
 530 #endif
 531 #if HAS_APRS
 532                 ao_aprs_time = time;
 533                 ao_set_aprs_time();
 534 #endif
 535                 while (ao_telemetry_interval) {
 536                         time = ao_time() + AO_SEC_TO_TICKS(100);
 537 #ifndef SIMPLIFY
 538                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 539 #endif
 540                         {
 541 #ifndef SIMPLIFY
 542                                 if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
 543 #endif
 544                                 {
 545                                         ao_telemetry_time = ao_time() + ao_telemetry_interval;
 546 # ifdef AO_SEND_MEGA
 547                                         ao_send_mega_sensor();
 548                                         ao_send_mega_data();
 549 # endif
 550 # ifdef AO_SEND_METRUM
 551                                         ao_send_metrum_sensor();
 552                                         ao_send_metrum_data();
 553 # endif
 554 # ifdef AO_SEND_MINI
 555                                         ao_send_mini();
 556 # endif
 557 # ifdef AO_TELEMETRY_SENSOR
 558                                         ao_send_sensor();
 559 # endif
 560 #if HAS_COMPANION
 561                                         if (ao_companion_running)
 562                                                 ao_send_companion();
 563 #endif
 564 #if HAS_GPS
 565                                         ao_send_location();
 566                                         ao_send_satellite();
 567 #endif
 568                                         ao_send_configuration();
 569                                 }
 570 #ifndef SIMPLIFY
 571                                 time = ao_telemetry_time;
 572 #endif
 573                         }
 574 #if HAS_RDF
 575                         if (ao_rdf
 576 #ifndef SIMPLIFY
 577                             && !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF)
 578 #endif
 579                                 )
 580                         {
 581                                 if ((int16_t) (ao_time() - ao_rdf_time) >= 0) {
 582 #if HAS_IGNITE_REPORT
 583                                         uint8_t c;
 584 #endif
 585                                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 586 #if HAS_IGNITE_REPORT
 587                                         if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 588                                                 ao_radio_continuity(c);
 589                                         else
 590 #endif
 591                                                 ao_radio_rdf();
 592                                 }
 593 #ifndef SIMPLIFY
 594                                 if ((int16_t) (time - ao_rdf_time) > 0)
 595                                         time = ao_rdf_time;
 596 #endif
 597                         }
 598 #endif /* HAS_RDF */
 599 #if HAS_APRS
 600                         if (ao_config.aprs_interval != 0) {
 601                                 if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
 602                                         ao_set_aprs_time();
 603                                         ao_aprs_send();
 604                                 }
 605                                 if ((int16_t) (time - ao_aprs_time) > 0)
 606                                         time = ao_aprs_time;
 607                         }
 608 #endif /* HAS_APRS */
 609                         delay = (AO_TICK_SIGNED) (time - ao_time());
 610                         if (delay > 0) {
 611                                 ao_sleep_for(&telemetry, (AO_TICK_TYPE) delay);
 612                         }
 613                 }
 614         }
 615 }
 616
 617 #if HAS_RADIO_RATE
 618 void
 619 ao_telemetry_reset_interval(void)
 620 {
 621         ao_telemetry_set_interval(ao_telemetry_desired_interval);
 622 }
 623 #endif
 624
 625 void
 626 ao_telemetry_set_interval(uint16_t interval)
 627 {
 628         int16_t cur = 0;
 629
 630 #if HAS_RADIO_RATE
 631         /* Limit max telemetry rate based on available radio bandwidth.
 632          */
 633         static const uint16_t min_interval[] = {
 634                 /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
 635                 /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
 636                 /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
 637         };
 638
 639         ao_telemetry_desired_interval = interval;
 640         if (interval && interval < min_interval[ao_config.radio_rate])
 641                 interval = min_interval[ao_config.radio_rate];
 642 #endif
 643         ao_telemetry_interval = interval;
 644         if (interval) {
 645 #if AO_SEND_MEGA
 646                 if (interval > 1)
 647                         ao_telemetry_mega_data_max = 1;
 648                 else
 649                         ao_telemetry_mega_data_max = 2;
 650                 if (ao_telemetry_mega_data_max > cur)
 651                         cur++;
 652                 ao_telemetry_mega_data_cur = cur;
 653 #endif
 654 #if AO_SEND_METRUM
 655                 ao_telemetry_metrum_data_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
 656                 if (ao_telemetry_metrum_data_max > cur)
 657                         cur++;
 658                 ao_telemetry_metrum_data_cur = cur;
 659 #endif
 660
 661 #if HAS_COMPANION
 662                 if (!ao_companion_setup.update_period)
 663                         ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 664                 ao_telemetry_companion_max = (int16_t) (ao_companion_setup.update_period / interval);
 665                 if (ao_telemetry_companion_max > cur)
 666                         cur++;
 667                 ao_telemetry_companion_cur = cur;
 668 #endif
 669
 670 #if HAS_GPS
 671                 ao_telemetry_gps_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
 672                 if (ao_telemetry_gps_max > cur)
 673                         cur++;
 674                 ao_telemetry_loc_cur = cur;
 675                 if (ao_telemetry_gps_max > cur)
 676                         cur++;
 677                 ao_telemetry_sat_cur = cur;
 678 #endif
 679
 680                 ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval);
 681                 if (ao_telemetry_config_max > cur)
 682                         cur++;
 683                 ao_telemetry_config_cur = cur;
 684         }
 685
 686 #ifndef SIMPLIFY
 687         ao_telemetry_time =
 688 #if HAS_RDF
 689                 ao_rdf_time =
 690 #endif
 691 #if HAS_APRS
 692                 ao_aprs_time =
 693 #endif
 694                 ao_time();
 695 #endif
 696         ao_wakeup(&telemetry);
 697 }
 698
 699 #if HAS_RDF
 700 void
 701 ao_rdf_set(uint8_t rdf)
 702 {
 703         ao_rdf = rdf;
 704         if (rdf == 0)
 705                 ao_radio_rdf_abort();
 706         else {
 707                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 708         }
 709 }
 710 #endif
 711
 712 struct ao_task  ao_telemetry_task;
 713
 714 void
 715 ao_telemetry_init()
 716 {
 717         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 718 }