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altos: Add bit-bang i2c driver
[fw/altos] / src / kernel / ao_telemetry.c
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 8ff28fdef78eeed8d042f2213db10c3a5c33d8c2..c2b2eb5a1bad0569d909481c21caf20773269457 100644 (file)
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -20,10 +20,10 @@
 #include "ao_log.h"
 #include "ao_product.h"
 
-static __pdata uint16_t ao_telemetry_interval;
+static uint16_t ao_telemetry_interval;
 
 #if HAS_RADIO_RATE
-static __xdata uint16_t ao_telemetry_desired_interval;
+static uint16_t ao_telemetry_desired_interval;
 #endif
 
 /* TeleMetrum v1.0 just doesn't have enough space to
@@ -37,10 +37,10 @@ static __xdata uint16_t ao_telemetry_desired_interval;
 
 #ifdef SIMPLIFY
 #define ao_telemetry_time time
-#define RDF_SPACE      __pdata
+#define RDF_SPACE      
 #else
-#define RDF_SPACE      __xdata
-static __pdata uint16_t ao_telemetry_time;
+#define RDF_SPACE      
+static uint16_t ao_telemetry_time;
 #endif
 
 #if HAS_RDF
@@ -49,7 +49,7 @@ static RDF_SPACE uint16_t ao_rdf_time;
 #endif
 
 #if HAS_APRS
-static __pdata uint16_t ao_aprs_time;
+static uint16_t ao_aprs_time;
 
 #include <ao_aprs.h>
 #endif
@@ -58,7 +58,7 @@ static __pdata uint16_t ao_aprs_time;
 #define AO_SEND_MEGA   1
 #endif
 
-#if defined (TELEMETRUM_V_2_0)
+#if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0)
 #define AO_SEND_METRUM 1
 #endif
 
@@ -74,7 +74,7 @@ static __pdata uint16_t ao_aprs_time;
 #define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELENANO
 #endif
 
-static __xdata union ao_telemetry_all  telemetry;
+static union ao_telemetry_all  telemetry;
 
 static void
 ao_telemetry_send(void)
@@ -88,7 +88,7 @@ ao_telemetry_send(void)
 static void
 ao_send_sensor(void)
 {
-       __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+               struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_TELEMETRY_SENSOR;
@@ -136,12 +136,20 @@ ao_send_sensor(void)
 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)];
+               struct ao_data *packet = (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;
-
+#if HAS_BMX160
+       telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
+#else
 #if HAS_MPU6000 || HAS_MPU9250
+       telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_MPU;
+#else
+#error unknown IMU
+#endif
+#endif
+
+#if HAS_GYRO
        telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
        telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -178,18 +186,32 @@ ao_send_mega_sensor(void)
        telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
 #endif
 
+#if HAS_BMX160
+       telemetry.mega_sensor.accel_x = packet->bmx160.acc_x;
+       telemetry.mega_sensor.accel_y = packet->bmx160.acc_y;
+       telemetry.mega_sensor.accel_z = packet->bmx160.acc_z;
+
+       telemetry.mega_sensor.gyro_x = packet->bmx160.gyr_x;
+       telemetry.mega_sensor.gyro_y = packet->bmx160.gyr_y;
+       telemetry.mega_sensor.gyro_z = packet->bmx160.gyr_z;
+
+       telemetry.mega_sensor.mag_x = packet->bmx160.mag_x;
+       telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
+       telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
+#endif
+
        ao_telemetry_send();
 }
 
-static __pdata int8_t ao_telemetry_mega_data_max;
-static __pdata int8_t ao_telemetry_mega_data_cur;
+static int8_t ao_telemetry_mega_data_max;
+static 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)];
+                       struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
                uint8_t i;
 
                telemetry.generic.tick = packet->tick;
@@ -223,7 +245,7 @@ ao_send_mega_data(void)
 static void
 ao_send_metrum_sensor(void)
 {
-       __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+               struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
@@ -246,15 +268,15 @@ ao_send_metrum_sensor(void)
        ao_telemetry_send();
 }
 
-static __pdata int8_t ao_telemetry_metrum_data_max;
-static __pdata int8_t ao_telemetry_metrum_data_cur;
+static int8_t ao_telemetry_metrum_data_max;
+static int8_t ao_telemetry_metrum_data_cur;
 
 /* Send telemetrum data packet */
 static void
 ao_send_metrum_data(void)
 {
        if (--ao_telemetry_metrum_data_cur <= 0) {
-               __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+                       struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
                telemetry.generic.tick = packet->tick;
                telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
@@ -281,7 +303,7 @@ ao_send_metrum_data(void)
 static void
 ao_send_mini(void)
 {
-       __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+               struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_SEND_MINI;
@@ -306,9 +328,9 @@ ao_send_mini(void)
 
 #endif /* AO_SEND_MINI */
 
-static __pdata int8_t ao_telemetry_config_max;
-static __pdata int8_t ao_telemetry_config_cur;
-static __pdata uint16_t ao_telemetry_flight_number;
+static int8_t ao_telemetry_config_max;
+static int8_t ao_telemetry_config_cur;
+static uint16_t ao_telemetry_flight_number;
 
 #ifndef ao_telemetry_battery_convert
 #define ao_telemetry_battery_convert(a) (a)
@@ -333,12 +355,12 @@ ao_send_configuration(void)
 #endif
 
                telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
-               ao_xmemcpy (telemetry.configuration.callsign,
-                           ao_config.callsign,
-                           AO_MAX_CALLSIGN);
-               ao_xmemcpy (telemetry.configuration.version,
-                           ao_version,
-                           AO_MAX_VERSION);
+               memcpy (telemetry.configuration.callsign,
+                       ao_config.callsign,
+                       AO_MAX_CALLSIGN);
+               memcpy (telemetry.configuration.version,
+                       ao_version,
+                       AO_MAX_VERSION);
                ao_telemetry_config_cur = ao_telemetry_config_max;
                ao_telemetry_send();
        }
@@ -346,9 +368,21 @@ ao_send_configuration(void)
 
 #if HAS_GPS
 
-static __pdata int8_t ao_telemetry_gps_max;
-static __pdata int8_t ao_telemetry_loc_cur;
-static __pdata int8_t ao_telemetry_sat_cur;
+static int8_t ao_telemetry_gps_max;
+static int8_t ao_telemetry_loc_cur;
+static int8_t ao_telemetry_sat_cur;
+
+static inline void *
+telemetry_bits(struct ao_telemetry_location *l)
+{
+       return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
+}
+
+static inline int
+telemetry_size(void)
+{
+       return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
+}
 
 static void
 ao_send_location(void)
@@ -357,9 +391,9 @@ ao_send_location(void)
        {
                telemetry.generic.type = AO_TELEMETRY_LOCATION;
                ao_mutex_get(&ao_gps_mutex);
-               ao_xmemcpy(&telemetry.location.flags,
-                      &ao_gps_data.flags,
-                      27);
+               memcpy(telemetry_bits(&telemetry.location),
+                      telemetry_bits(&ao_gps_data),
+                      telemetry_size());
                telemetry.location.tick = ao_gps_tick;
                ao_mutex_put(&ao_gps_mutex);
                ao_telemetry_loc_cur = ao_telemetry_gps_max;
@@ -375,7 +409,7 @@ ao_send_satellite(void)
                telemetry.generic.type = AO_TELEMETRY_SATELLITE;
                ao_mutex_get(&ao_gps_mutex);
                telemetry.satellite.channels = ao_gps_tracking_data.channels;
-               ao_xmemcpy(&telemetry.satellite.sats,
+               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);
@@ -387,8 +421,8 @@ ao_send_satellite(void)
 
 #if HAS_COMPANION
 
-static __pdata int8_t ao_telemetry_companion_max;
-static __pdata int8_t ao_telemetry_companion_cur;
+static int8_t ao_telemetry_companion_max;
+static int8_t ao_telemetry_companion_cur;
 
 static void
 ao_send_companion(void)
@@ -399,7 +433,7 @@ 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);
-               ao_xmemcpy(&telemetry.companion.companion_data,
+               memcpy(&telemetry.companion.companion_data,
                       ao_companion_data,
                       ao_companion_setup.channels * 2);
                ao_mutex_put(&ao_companion_mutex);
@@ -409,7 +443,29 @@ ao_send_companion(void)
 }
 #endif
 
-void
+#if HAS_APRS
+static void
+ao_set_aprs_time(void)
+{
+       uint16_t interval = ao_config.aprs_interval;
+
+       if ((ao_gps_data.flags & AO_GPS_DATE_VALID) && interval != 0) {
+               int second = (ao_gps_data.second / interval + 1) * interval + ao_config.aprs_offset;
+               int delta;
+               if (second >= 60) {
+                       second = ao_config.aprs_offset;
+                       delta = second + 60 - ao_gps_data.second;
+               } else {
+                       delta = second - ao_gps_data.second;
+               }
+               ao_aprs_time = ao_gps_tick + AO_SEC_TO_TICKS(delta);
+       } else {
+               ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval);
+       }
+}
+#endif
+
+static void
 ao_telemetry(void)
 {
        uint16_t        time;
@@ -437,6 +493,7 @@ ao_telemetry(void)
 #endif
 #if HAS_APRS
                ao_aprs_time = time;
+               ao_set_aprs_time();
 #endif
                while (ao_telemetry_interval) {
                        time = ao_time() + AO_SEC_TO_TICKS(100);
@@ -505,7 +562,7 @@ ao_telemetry(void)
 #if HAS_APRS
                        if (ao_config.aprs_interval != 0) {
                                if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
-                                       ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
+                                       ao_set_aprs_time();
                                        ao_aprs_send();
                                }
                                if ((int16_t) (time - ao_aprs_time) > 0)
@@ -536,7 +593,7 @@ ao_telemetry_set_interval(uint16_t interval)
 #if HAS_RADIO_RATE
        /* Limit max telemetry rate based on available radio bandwidth.
         */
-       static __xdata const uint16_t min_interval[] = {
+       static const uint16_t min_interval[] = {
                /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
                /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
                /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
@@ -613,7 +670,7 @@ ao_rdf_set(uint8_t rdf)
 }
 #endif
 
-__xdata struct ao_task ao_telemetry_task;
+struct ao_task ao_telemetry_task;
 
 void
 ao_telemetry_init()
AltOS - the operating system for Altus Metrum products