#include "ao_product.h"
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
-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;
-#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;
-#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
+#include <ao_aprs.h>
+#endif
+
+#if defined(MEGAMETRUM)
+#define AO_SEND_MEGA 1
+#endif
+
+#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
#endif
static __xdata union ao_telemetry_all telemetry;
+#if defined AO_TELEMETRY_SENSOR
/* Send sensor packet */
static void
ao_send_sensor(void)
{
- uint8_t sample;
- sample = ao_sample_adc;
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- telemetry.generic.tick = ao_adc_ring[sample].tick;
+ telemetry.generic.tick = packet->tick;
telemetry.generic.type = AO_TELEMETRY_SENSOR;
telemetry.sensor.state = ao_flight_state;
#if HAS_ACCEL
- telemetry.sensor.accel = ao_adc_ring[sample].accel;
+ telemetry.sensor.accel = packet->adc.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;
+ telemetry.sensor.pres = ao_data_pres(packet);
+ telemetry.sensor.temp = packet->adc.temp;
+ telemetry.sensor.v_batt = packet->adc.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;
+ telemetry.sensor.sense_d = packet->adc.sense_d;
+ telemetry.sensor.sense_m = packet->adc.sense_m;
#else
telemetry.sensor.sense_d = 0;
telemetry.sensor.sense_m = 0;
ao_radio_send(&telemetry, sizeof (telemetry));
}
+#endif
-static uint8_t ao_baro_sample;
+
+#ifdef AO_SEND_MEGA
+/* Send mega sensor packet */
+static void
+ao_send_mega_sensor(void)
+{
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
+
+ telemetry.mega_sensor.accel = ao_data_accel(packet);
+ 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));
+}
+
+static __pdata int8_t ao_telemetry_mega_data_max;
+static __pdata int8_t ao_telemetry_mega_data_cur;
+
+/* Send mega data packet */
+static void
+ao_send_mega_data(void)
+{
+ if (--ao_telemetry_mega_data_cur <= 0) {
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ uint8_t i;
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
+
+ telemetry.mega_data.state = ao_flight_state;
+ telemetry.mega_data.v_batt = packet->adc.v_batt;
+ telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
+
+ /* 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] >> 4;
+
+ telemetry.mega_data.ground_pres = ao_ground_pres;
+ telemetry.mega_data.ground_accel = ao_ground_accel;
+ telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
+
+ telemetry.mega_data.acceleration = ao_accel;
+ telemetry.mega_data.speed = ao_speed;
+ telemetry.mega_data.height = ao_height;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
+ }
+}
+#endif /* AO_SEND_MEGA */
#ifdef AO_SEND_ALL_BARO
+static uint8_t ao_baro_sample;
+
static void
ao_send_baro(void)
{
- uint8_t sample = ao_sample_adc;
- uint8_t samples = (sample - ao_baro_sample) & (AO_ADC_RING - 1);
+ uint8_t sample = ao_sample_data;
+ uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
if (samples > 12) {
- ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_ADC_RING - 1);
+ ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
samples = 12;
}
- telemetry.generic.tick = ao_adc_ring[sample].tick;
+ telemetry.generic.tick = ao_data_ring[sample].tick;
telemetry.generic.type = AO_TELEMETRY_BARO;
telemetry.baro.samples = samples;
for (sample = 0; sample < samples; sample++) {
- telemetry.baro.baro[sample] = ao_adc_ring[ao_baro_sample].pres;
- ao_baro_sample = ao_adc_ring_next(ao_baro_sample);
+ telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
+ ao_baro_sample = ao_data_ring_next(ao_baro_sample);
}
ao_radio_send(&telemetry, sizeof (telemetry));
}
#endif
+static __pdata int8_t ao_telemetry_config_max;
+static __pdata int8_t ao_telemetry_config_cur;
+
static void
ao_send_configuration(void)
{
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_xmemcpy (telemetry.configuration.callsign,
+ ao_config.callsign,
+ AO_MAX_CALLSIGN);
+ ao_xmemcpy (telemetry.configuration.version,
+ CODE_TO_XDATA(ao_version),
+ AO_MAX_VERSION);
ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_config_cur = ao_telemetry_config_max;
}
}
#if HAS_GPS
+
+static __pdata int8_t ao_telemetry_loc_cur;
+static __pdata int8_t ao_telemetry_sat_cur;
+
static void
ao_send_location(void)
{
{
telemetry.generic.type = AO_TELEMETRY_LOCATION;
ao_mutex_get(&ao_gps_mutex);
- memcpy(&telemetry.location.flags,
+ ao_xmemcpy(&telemetry.location.flags,
&ao_gps_data.flags,
26);
ao_mutex_put(&ao_gps_mutex);
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_xmemcpy(&telemetry.satellite.sats,
&ao_gps_tracking_data.sats,
AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
ao_mutex_put(&ao_gps_mutex);
#endif
#if HAS_COMPANION
+
+static __pdata int8_t ao_telemetry_companion_max;
+static __pdata int8_t ao_telemetry_companion_cur;
+
static void
ao_send_companion(void)
{
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_xmemcpy(&telemetry.companion.companion_data,
ao_companion_data,
ao_companion_setup.channels * 2);
ao_mutex_put(&ao_companion_mutex);
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 HAS_APRS
+ if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
+#endif
+ {
#ifdef AO_SEND_ALL_BARO
- ao_send_baro();
+ ao_send_baro();
#endif
- ao_send_sensor();
+#ifdef AO_SEND_MEGA
+ ao_send_mega_sensor();
+ ao_send_mega_data();
+#else
+ ao_send_sensor();
+#endif
+
#if HAS_COMPANION
- if (ao_companion_running)
- ao_send_companion();
+ if (ao_companion_running)
+ ao_send_companion();
#endif
- ao_send_configuration();
+ ao_send_configuration();
#if HAS_GPS
- ao_send_location();
- ao_send_satellite();
+ ao_send_location();
+ ao_send_satellite();
#endif
+ }
#ifndef AO_SEND_ALL_BARO
if (ao_rdf &&
+#if HAS_APRS
+ !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
+#endif
(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_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_config.aprs_interval != 0 &&
+ (int16_t) (ao_time() - ao_aprs_time) >= 0)
+ {
+ ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
+ ao_aprs_send();
+ }
+#endif
#endif
time += ao_telemetry_interval;
delay = time - ao_time();
- if (delay > 0)
- ao_delay(delay);
+ if (delay > 0) {
+ ao_alarm(delay);
+ ao_sleep(&telemetry);
+ ao_clear_alarm();
+ }
else
time = ao_time();
+ bottom: ;
}
}
}
void
ao_telemetry_set_interval(uint16_t interval)
{
+ int8_t cur = 0;
ao_telemetry_interval = interval;
+
+#if AO_SEND_MEGA
+ if (interval > 1)
+ ao_telemetry_mega_data_max = 1;
+ else
+ ao_telemetry_mega_data_max = 2;
+ if (ao_telemetry_mega_data_max > cur)
+ cur++;
+ ao_telemetry_mega_data_cur = cur;
+#endif
#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;
+ if (ao_telemetry_companion_max > cur)
+ cur++;
+ ao_telemetry_companion_cur = cur;
#endif
ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
#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;
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_config_cur = cur;
#endif
#if HAS_GPS
- 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 > ao_telemetry_sat_cur)
- ao_telemetry_sat_cur++;
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_loc_cur = cur;
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_sat_cur = cur;
#endif
ao_wakeup(&telemetry);
}
ao_rdf = rdf;
if (rdf == 0)
ao_radio_rdf_abort();
- else
- ao_rdf_time = ao_time();
+ else {
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ }
}
__xdata struct ao_task ao_telemetry_task;
projects / fw / altos / blobdiff