altos: Make serial, usb, beeper and accelerometer optional components

[fw/altos] / src / ao_telemetry.c

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 7eefee3c2ea7554a494bdf0c0c29f77c032e7b23..dd79f3fc716825ce6a600dfd7bcb0bc77ec589a5 100644 (file)
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -21,7 +21,8 @@ __xdata uint16_t ao_telemetry_interval = 0;
 __xdata uint8_t ao_rdf = 0;
 __xdata uint16_t ao_rdf_time;
 
-#define AO_RDF_INTERVAL        AO_SEC_TO_TICKS(3)
+#define AO_RDF_INTERVAL_TICKS  AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS       500
 
 void
 ao_telemetry(void)
@@ -29,30 +30,41 @@ ao_telemetry(void)
        static __xdata struct ao_telemetry telemetry;
 
        ao_config_get();
+       while (!ao_flight_number)
+               ao_sleep(&ao_flight_number);
        memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
-       telemetry.addr = ao_serial_number;
+       telemetry.serial = ao_serial_number;
+       telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
+       telemetry.accel_plus_g = ao_config.accel_plus_g;
+       telemetry.accel_minus_g = ao_config.accel_minus_g;
        ao_rdf_time = ao_time();
        for (;;) {
                while (ao_telemetry_interval == 0)
                        ao_sleep(&ao_telemetry_interval);
                telemetry.flight_state = ao_flight_state;
+#if HAS_ACCEL
                telemetry.flight_accel = ao_flight_accel;
                telemetry.ground_accel = ao_ground_accel;
                telemetry.flight_vel = ao_flight_vel;
+#endif
                telemetry.flight_pres = ao_flight_pres;
                telemetry.ground_pres = ao_ground_pres;
+#if HAS_ADC
                ao_adc_get(&telemetry.adc);
+#endif
+#if HAS_GPS
                ao_mutex_get(&ao_gps_mutex);
                memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
                memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
                ao_mutex_put(&ao_gps_mutex);
-               ao_radio_send(&telemetry);
+#endif
+               ao_radio_send(&telemetry, sizeof (telemetry));
                ao_delay(ao_telemetry_interval);
                if (ao_rdf &&
                    (int16_t) (ao_time() - ao_rdf_time) >= 0)
                {
-                       ao_rdf_time = ao_time() + AO_RDF_INTERVAL;
-                       ao_radio_rdf();
+                       ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+                       ao_radio_rdf(AO_RDF_LENGTH_MS);
                        ao_delay(ao_telemetry_interval);
                }
        }
@@ -71,6 +83,8 @@ ao_rdf_set(uint8_t rdf)
        ao_rdf = rdf;
        if (rdf == 0)
                ao_radio_rdf_abort();
+       else
+               ao_rdf_time = ao_time();
 }
 
 __xdata struct ao_task ao_telemetry_task;