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
+#if HAS_APRS
+static __pdata uint16_t ao_aprs_time;
+
+#include <ao_aprs.h>
+#endif
#if defined(MEGAMETRUM)
#define AO_SEND_MEGA 1
telemetry.mega_sensor.pres = ao_data_pres(packet);
telemetry.mega_sensor.temp = ao_data_temp(packet);
+#if HAS_MPU6000
telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
+#endif
+#if HAS_HMC5883
telemetry.mega_sensor.mag_x = packet->hmc5883.x;
telemetry.mega_sensor.mag_y = packet->hmc5883.y;
telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+#endif
ao_radio_send(&telemetry, sizeof (telemetry));
}
telemetry.mega_data.v_batt = packet->adc.v_batt;
telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
- /* XXX figure out right shift value; 4 might suffice */
+ /* ADC range is 0-4095, so shift by four to save the high 8 bits */
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
- telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 8;
+ telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
telemetry.mega_data.ground_pres = ao_ground_pres;
telemetry.mega_data.ground_accel = ao_ground_accel;
while (ao_telemetry_interval == 0)
ao_sleep(&telemetry);
time = ao_rdf_time = ao_time();
+#if HAS_APRS
+ ao_aprs_time = time;
+#endif
while (ao_telemetry_interval) {
if (ao_rdf &&
(int16_t) (ao_time() - ao_rdf_time) >= 0)
{
+#if HAS_IGNITE_REPORT
+ uint8_t c;
+#endif
ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
- ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
+#if HAS_IGNITE_REPORT
+ if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
+ ao_radio_continuity(c);
+ else
+#endif
+ ao_radio_rdf();
+ }
+#if HAS_APRS
+ if (ao_rdf && (int16_t) (ao_time() - ao_aprs_time) >= 0) {
+ ao_aprs_time = ao_time() + AO_APRS_INTERVAL_TICKS;
+ ao_aprs_send();
}
+#endif
#endif
time += ao_telemetry_interval;
delay = time - ao_time();
}
else
time = ao_time();
+ bottom: ;
}
}
}
ao_rdf = rdf;
if (rdf == 0)
ao_radio_rdf_abort();
- else
+ else {
ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+#if HAS_APRS
+ ao_aprs_time = ao_time() + AO_APRS_INTERVAL_TICKS;
+#endif
+ }
}
__xdata struct ao_task ao_telemetry_task;