X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_telemetry.c;h=c7338a581f64cef7e1dd73ac2c4dd94e274d9209;hp=172b6f1756f47654ba5602d67d0990f6112f7258;hb=6823ad5e48fc0a19791d96f886b5689f88c4311b;hpb=81cf2e833bedbc1ace8fd310e9e94bfb7673d428

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 172b6f17..c7338a58 100644
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -25,6 +25,10 @@ static __pdata int8_t ao_telemetry_config_cur;
 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;
 
@@ -35,7 +39,7 @@ static __pdata uint16_t ao_rdf_time;
 #define AO_TELEMETRY_SENSOR	AO_TELEMETRY_SENSOR_TELEMETRUM
 #endif
 
-#if defined(TELEMINI_V_0_1)
+#if defined(TELEMINI_V_1_0)
 #define AO_TELEMETRY_SENSOR	AO_TELEMETRY_SENSOR_TELEMINI
 #endif
 
@@ -97,7 +101,7 @@ ao_send_configuration(void)
 	{
 		telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 		telemetry.configuration.device = AO_idProduct_NUMBER;
-		telemetry.configuration.flight = ao_flight_number;
+		telemetry.configuration.flight = ao_log_full() ? 0 : 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;
@@ -149,6 +153,26 @@ ao_send_satellite(void)
 }
 #endif
 
+#if HAS_COMPANION
+static void
+ao_send_companion(void)
+{
+	if (--ao_telemetry_companion_cur <= 0) {
+		telemetry.generic.type = AO_TELEMETRY_COMPANION;
+		telemetry.companion.board_id = ao_companion_setup.board_id;
+		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_companion_data,
+		       ao_companion_setup.channels * 2);
+		ao_mutex_put(&ao_companion_mutex);
+		ao_radio_send(&telemetry, sizeof (telemetry));
+		ao_telemetry_companion_cur = ao_telemetry_companion_max;
+	}
+}
+#endif
+
 void
 ao_telemetry(void)
 {
@@ -156,6 +180,8 @@ ao_telemetry(void)
 	int16_t		delay;
 
 	ao_config_get();
+	if (!ao_config.radio_enable)
+		ao_exit();
 	while (!ao_flight_number)
 		ao_sleep(&ao_flight_number);
 
@@ -168,6 +194,10 @@ ao_telemetry(void)
 
 
 			ao_send_sensor();
+#if HAS_COMPANION
+			if (ao_companion_running)
+				ao_send_companion();
+#endif
 			ao_send_configuration();
 #if HAS_GPS
 			ao_send_location();
@@ -193,10 +223,25 @@ void
 ao_telemetry_set_interval(uint16_t interval)
 {
 	ao_telemetry_interval = interval;
+
+#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;
+#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;
+#endif
+
 #if HAS_GPS
-	ao_telemetry_loc_cur = 1;
+	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;