altos: Add SPI-based companion board support

[fw/altos] / src / ao_telemetry.c

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index f45d2ab41b5cd592b72b95e15635c90773193dd0..15ba4302b3fb28b1eb707c68b707d2ba5ba37758 100644 (file)
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -18,15 +18,19 @@
 #include "ao.h"
 #include "ao_product.h"
 
-__xdata uint16_t ao_telemetry_interval;
-__xdata int8_t ao_telemetry_config_max;
-__xdata int8_t ao_telemetry_config_cur;
+static __pdata uint16_t ao_telemetry_interval;
+static __pdata int8_t ao_telemetry_config_max;
+static __pdata int8_t ao_telemetry_config_cur;
 #if HAS_GPS
-__xdata int8_t ao_telemetry_loc_cur;
-__xdata int8_t ao_telemetry_sat_cur;
+static __pdata int8_t ao_telemetry_loc_cur;
+static __pdata int8_t ao_telemetry_sat_cur;
 #endif
-__xdata uint8_t ao_rdf = 0;
-__xdata uint16_t ao_rdf_time;
+#if HAS_COMPANION
+static __pdata int8_t ao_telemetry_companion_max;
+static __pdata int8_t ao_telemetry_companion_cur;
+#endif
+static __pdata uint8_t ao_rdf = 0;
+static __pdata uint16_t ao_rdf_time;
 
 #define AO_RDF_INTERVAL_TICKS  AO_SEC_TO_TICKS(5)
 #define AO_RDF_LENGTH_MS       500
@@ -35,7 +39,7 @@ __xdata uint16_t ao_rdf_time;
 #define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELEMETRUM
 #endif
 
-#if defined(TELEMINI_V_0_1)
+#if defined(TELEMINI_V_1_0)
 #define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELEMINI
 #endif
 
@@ -77,9 +81,15 @@ ao_send_sensor(void)
        telemetry.sensor.height = ao_height;
 
        telemetry.sensor.ground_pres = ao_ground_pres;
+#if HAS_ACCEL
        telemetry.sensor.ground_accel = ao_ground_accel;
        telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
        telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
+#else
+       telemetry.sensor.ground_accel = 0;
+       telemetry.sensor.accel_plus_g = 0;
+       telemetry.sensor.accel_minus_g = 0;
+#endif
 
        ao_radio_send(&telemetry, sizeof (telemetry));
 }
@@ -143,6 +153,26 @@ ao_send_satellite(void)
 }
 #endif
 
+#if HAS_COMPANION
+static void
+ao_send_companion(void)
+{
+       if (--ao_telemetry_companion_cur <= 0) {
+               telemetry.generic.type = AO_TELEMETRY_COMPANION;
+               telemetry.companion.board_id = ao_companion_setup.board_id;
+               telemetry.companion.update_period = ao_companion_setup.update_period;
+               telemetry.companion.channels = ao_companion_setup.channels;
+               ao_mutex_get(&ao_companion_mutex);
+               memcpy(&telemetry.companion.companion_data,
+                      ao_companion_data,
+                      ao_companion_setup.channels * 2);
+               ao_mutex_put(&ao_companion_mutex);
+               ao_radio_send(&telemetry, sizeof (telemetry));
+               ao_telemetry_companion_cur = ao_telemetry_companion_max;
+       }
+}
+#endif
+
 void
 ao_telemetry(void)
 {
@@ -156,12 +186,16 @@ ao_telemetry(void)
        telemetry.generic.serial = ao_serial_number;
        for (;;) {
                while (ao_telemetry_interval == 0)
-                       ao_sleep(&ao_telemetry_interval);
+                       ao_sleep(&telemetry);
                time = ao_rdf_time = ao_time();
                while (ao_telemetry_interval) {
 
 
                        ao_send_sensor();
+#if HAS_COMPANION
+                       if (ao_companion_running)
+                               ao_send_companion();
+#endif
                        ao_send_configuration();
 #if HAS_GPS
                        ao_send_location();
@@ -187,17 +221,32 @@ void
 ao_telemetry_set_interval(uint16_t interval)
 {
        ao_telemetry_interval = interval;
+
+#if HAS_COMPANION
+       if (!ao_companion_setup.update_period)
+               ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
+       ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
+       ao_telemetry_companion_cur = 1;
+#endif
+
        ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
-       ao_telemetry_config_cur = 0;
+#if HAS_COMPANION
+       ao_telemetry_config_cur = ao_telemetry_companion_cur;
+       if (ao_telemetry_config_max > ao_telemetry_config_cur)
+               ao_telemetry_config_cur++;
+#else
+       ao_telemetry_config_cur = 1;
+#endif
+
 #if HAS_GPS
-       ao_telemetry_loc_cur = 0;
-       if (ao_telemetry_config_max - 1 > ao_telemetry_loc_cur)
+       ao_telemetry_loc_cur = ao_telemetry_config_cur;
+       if (ao_telemetry_config_max > ao_telemetry_loc_cur)
                ao_telemetry_loc_cur++;
        ao_telemetry_sat_cur = ao_telemetry_loc_cur;
-       if (ao_telemetry_config_max - 1 > ao_telemetry_sat_cur)
+       if (ao_telemetry_config_max > ao_telemetry_sat_cur)
                ao_telemetry_sat_cur++;
 #endif
-       ao_wakeup(&ao_telemetry_interval);
+       ao_wakeup(&telemetry);
 }
 
 void