changes in preparation for upload to Debian

[fw/altos] / src / ao_telemetry.c

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index dcd0ff625926a376fd62ab2f96f6d5e9200e8d28..c7338a581f64cef7e1dd73ac2c4dd94e274d9209 100644 (file)
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -25,6 +25,10 @@ static __pdata int8_t ao_telemetry_config_cur;
 static __pdata int8_t ao_telemetry_loc_cur;
 static __pdata int8_t ao_telemetry_sat_cur;
 #endif
+#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;
 
@@ -35,7 +39,7 @@ static __pdata 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));
 }
@@ -91,7 +101,7 @@ ao_send_configuration(void)
        {
                telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
                telemetry.configuration.device = AO_idProduct_NUMBER;
-               telemetry.configuration.flight = ao_flight_number;
+               telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
                telemetry.configuration.config_major = AO_CONFIG_MAJOR;
                telemetry.configuration.config_minor = AO_CONFIG_MINOR;
                telemetry.configuration.apogee_delay = ao_config.apogee_delay;
@@ -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)
 {
@@ -150,6 +180,8 @@ ao_telemetry(void)
        int16_t         delay;
 
        ao_config_get();
+       if (!ao_config.radio_enable)
+               ao_exit();
        while (!ao_flight_number)
                ao_sleep(&ao_flight_number);
 
@@ -162,6 +194,10 @@ ao_telemetry(void)
 
 
                        ao_send_sensor();
+#if HAS_COMPANION
+                       if (ao_companion_running)
+                               ao_send_companion();
+#endif
                        ao_send_configuration();
 #if HAS_GPS
                        ao_send_location();
@@ -187,14 +223,29 @@ 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(&telemetry);