#include "ao.h"
#include "ao_product.h"
-__xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint16_t ao_telemetry_interval;
+__xdata int8_t ao_telemetry_config_max;
+__xdata int8_t ao_telemetry_config_cur;
+#if HAS_GPS
+__xdata int8_t ao_telemetry_loc_cur;
+__xdata int8_t ao_telemetry_sat_cur;
+#endif
__xdata uint8_t ao_rdf = 0;
__xdata uint16_t ao_rdf_time;
#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
#endif
+static __xdata union ao_telemetry_all telemetry;
+
+/* Send sensor packet */
+static void
+ao_send_sensor(void)
+{
+ uint8_t sample;
+ sample = ao_sample_adc;
+
+ telemetry.generic.tick = ao_adc_ring[sample].tick;
+ telemetry.generic.type = AO_TELEMETRY_SENSOR;
+
+ telemetry.sensor.state = ao_flight_state;
+#if HAS_ACCEL
+ telemetry.sensor.accel = ao_adc_ring[sample].accel;
+#else
+ telemetry.sensor.accel = 0;
+#endif
+ telemetry.sensor.pres = ao_adc_ring[sample].pres;
+ telemetry.sensor.temp = ao_adc_ring[sample].temp;
+ telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
+#if HAS_IGNITE
+ telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
+ telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
+#else
+ telemetry.sensor.sense_d = 0;
+ telemetry.sensor.sense_m = 0;
+#endif
+
+ telemetry.sensor.acceleration = ao_accel;
+ telemetry.sensor.speed = ao_speed;
+ telemetry.sensor.height = ao_height;
+
+ telemetry.sensor.ground_pres = ao_ground_pres;
+ 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;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+static void
+ao_send_configuration(void)
+{
+ if (--ao_telemetry_config_cur <= 0)
+ {
+ telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
+ telemetry.configuration.device = AO_idProduct_NUMBER;
+ telemetry.configuration.flight = 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;
+ telemetry.configuration.main_deploy = ao_config.main_deploy;
+ telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
+ memcpy (telemetry.configuration.callsign,
+ ao_config.callsign,
+ AO_MAX_CALLSIGN);
+ memcpy (telemetry.configuration.version,
+ ao_version,
+ AO_MAX_VERSION);
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_config_cur = ao_telemetry_config_max;
+ }
+}
+
+#if HAS_GPS
+static void
+ao_send_location(void)
+{
+ if (--ao_telemetry_loc_cur <= 0)
+ {
+ telemetry.generic.type = AO_TELEMETRY_LOCATION;
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&telemetry.location.flags,
+ &ao_gps_data.flags,
+ 26);
+ ao_mutex_put(&ao_gps_mutex);
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_loc_cur = ao_telemetry_config_max;
+ }
+}
+
+static void
+ao_send_satellite(void)
+{
+ if (--ao_telemetry_sat_cur <= 0)
+ {
+ telemetry.generic.type = AO_TELEMETRY_SATELLITE;
+ ao_mutex_get(&ao_gps_mutex);
+ telemetry.satellite.channels = ao_gps_tracking_data.channels;
+ memcpy(&telemetry.satellite.sats,
+ &ao_gps_tracking_data.sats,
+ AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
+ ao_mutex_put(&ao_gps_mutex);
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_sat_cur = ao_telemetry_config_max;
+ }
+}
+#endif
+
void
ao_telemetry(void)
{
uint16_t time;
int16_t delay;
- static __xdata union ao_telemetry_all telemetry;
- uint8_t sample;
ao_config_get();
while (!ao_flight_number)
time = ao_rdf_time = ao_time();
while (ao_telemetry_interval) {
- /* Send sensor packet */
- sample = ao_sample_adc;
-
- telemetry.generic.tick = ao_adc_ring[sample].tick;
- telemetry.generic.type = AO_TELEMETRY_SENSOR;
- telemetry.sensor.state = ao_flight_state;
-#if HAS_ACCEL
- telemetry.sensor.accel = ao_adc_ring[sample].accel;
-#else
- telemetry.sensor.accel = 0;
-#endif
- telemetry.sensor.pres = ao_adc_ring[sample].pres;
- telemetry.sensor.temp = ao_adc_ring[sample].temp;
- telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
-#if HAS_IGNITE
- telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
- telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
-#else
- telemetry.sensor.sense_d = 0;
- telemetry.sensor.sense_m = 0;
+ ao_send_sensor();
+ ao_send_configuration();
+#if HAS_GPS
+ ao_send_location();
+ ao_send_satellite();
#endif
-
- telemetry.sensor.acceleration = ao_accel;
- telemetry.sensor.speed = ao_speed;
- telemetry.sensor.height = ao_height;
-
- telemetry.sensor.ground_pres = ao_ground_pres;
- 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;
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-
- telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
- telemetry.configuration.device = AO_idProduct_NUMBER;
- telemetry.configuration.flight = ao_flight_number;
- telemetry.configuration.config_major = AO_CONFIG_MAJOR;
- telemetry.configuration.config_minor = AO_CONFIG_MINOR;
- telemetry.configuration.main_deploy = ao_config.main_deploy;
- telemetry.configuration.flight_log_max = ao_config.flight_log_max;
- memcpy (telemetry.configuration.callsign,
- ao_config.callsign,
- AO_MAX_CALLSIGN);
- memcpy (telemetry.configuration.version,
- ao_version,
- AO_MAX_VERSION);
-
if (ao_rdf &&
(int16_t) (ao_time() - ao_rdf_time) >= 0)
{
ao_telemetry_set_interval(uint16_t interval)
{
ao_telemetry_interval = interval;
+ ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
+ ao_telemetry_config_cur = 0;
+#if HAS_GPS
+ ao_telemetry_loc_cur = 0;
+ if (ao_telemetry_config_max - 1 > 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)
+ ao_telemetry_sat_cur++;
+#endif
ao_wakeup(&ao_telemetry_interval);
}
projects / fw / altos / blobdiff