X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=1fd4037f540b8d0d01618b6a22672cd613bb187b;hp=e70791792d5644c30ab5745ee2d8a7966648beda;hb=HEAD;hpb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index e7079179..8586efd5 100644
--- 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
@@ -37,19 +37,19 @@ 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 AO_TICK_TYPE	ao_telemetry_time;
 #endif
 
 #if HAS_RDF
 static RDF_SPACE uint8_t ao_rdf = 0;
-static RDF_SPACE uint16_t ao_rdf_time;
+static RDF_SPACE AO_TICK_TYPE	ao_rdf_time;
 #endif
 
 #if HAS_APRS
-static __pdata uint16_t ao_aprs_time;
+static AO_TICK_TYPE 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) || defined (TELEMETRUM_V_4_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;
@@ -136,13 +136,55 @@ 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 = (uint16_t) packet->tick;
+#if AO_LOG_NORMALIZED
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
+	telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983;
+#elif AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6
+	telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_BMI088_MMC5983;
+#else
+#error unknown normalized log type
+#endif
 
-	telemetry.generic.tick = packet->tick;
-	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
+#if HAS_GYRO
+	telemetry.mega_norm.orient = (uint8_t) ao_sample_orient;
+#endif
+	telemetry.mega_norm.accel = ao_data_accel(packet);
+	telemetry.mega_norm.pres = ao_data_pres(packet);
+	telemetry.mega_norm.temp = ao_data_temp(packet);
 
-#if HAS_MPU6000
-	telemetry.mega_sensor.orient = ao_sample_orient;
+#ifdef ao_data_along
+	telemetry.mega_norm.accel_along = ao_data_along(packet);
+	telemetry.mega_norm.accel_across = ao_data_across(packet);
+	telemetry.mega_norm.accel_through = ao_data_through(packet);
+
+	telemetry.mega_norm.gyro_roll = ao_data_roll(packet);
+	telemetry.mega_norm.gyro_pitch = ao_data_pitch(packet);
+	telemetry.mega_norm.gyro_yaw = ao_data_yaw(packet);
+#endif
+
+#ifdef ao_data_mag_along
+	telemetry.mega_norm.mag_along = ao_data_mag_along(packet);
+	telemetry.mega_norm.mag_across = ao_data_mag_across(packet);
+	telemetry.mega_norm.mag_through = ao_data_mag_through(packet);
+#endif
+
+#else
+
+#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 = (uint8_t) ao_sample_orient;
 #endif
 	telemetry.mega_sensor.accel = ao_data_accel(packet);
 	telemetry.mega_sensor.pres = ao_data_pres(packet);
@@ -160,25 +202,53 @@ ao_send_mega_sensor(void)
 
 #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;
+	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
+#endif
+
+#if HAS_MPU9250
+	telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
+	telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
+	telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
+
+	telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
+	telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
+	telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
+
+	telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
+	telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
+	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
+#endif
 	ao_telemetry_send();
 }
 
-static __pdata int8_t ao_telemetry_mega_data_max;
-static __pdata int8_t ao_telemetry_mega_data_cur;
+static int16_t ao_telemetry_mega_data_max;
+static int16_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;
+		telemetry.generic.tick = (uint16_t) packet->tick;
 		telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 
 		telemetry.mega_data.state = ao_flight_state;
@@ -187,16 +257,16 @@ ao_send_mega_data(void)
 
 		/* 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.sense[i] = (int8_t) (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;
+		telemetry.mega_data.acceleration = (int16_t) ao_accel;
+		telemetry.mega_data.speed = (int16_t) ao_speed;
+		telemetry.mega_data.height = (int16_t) ao_height;
 
 		ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 		ao_telemetry_send();
@@ -209,9 +279,9 @@ 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.tick = (uint16_t) packet->tick;
 	telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 
 	telemetry.metrum_sensor.state = ao_flight_state;
@@ -221,9 +291,9 @@ ao_send_metrum_sensor(void)
 	telemetry.metrum_sensor.pres = ao_data_pres(packet);
 	telemetry.metrum_sensor.temp = ao_data_temp(packet);
 
-	telemetry.metrum_sensor.acceleration = ao_accel;
-	telemetry.metrum_sensor.speed = ao_speed;
-	telemetry.metrum_sensor.height = ao_height;
+	telemetry.metrum_sensor.acceleration = (int16_t) ao_accel;
+	telemetry.metrum_sensor.speed = (int16_t) ao_speed;
+	telemetry.metrum_sensor.height = (int16_t) ao_height;
 
 	telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 	telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
@@ -232,17 +302,17 @@ 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 int16_t ao_telemetry_metrum_data_max;
+static int16_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.tick = (uint16_t) packet->tick;
 		telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 
 		telemetry.metrum_data.ground_pres = ao_ground_pres;
@@ -267,10 +337,10 @@ 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_TELEMETRY_MINI;
+	telemetry.generic.tick = (uint16_t) packet->tick;
+	telemetry.generic.type = AO_SEND_MINI;
 
 	telemetry.mini.state = ao_flight_state;
 
@@ -281,9 +351,9 @@ ao_send_mini(void)
 	telemetry.mini.pres = ao_data_pres(packet);
 	telemetry.mini.temp = ao_data_temp(packet);
 
-	telemetry.mini.acceleration = ao_accel;
-	telemetry.mini.speed = ao_speed;
-	telemetry.mini.height = ao_height;
+	telemetry.mini.acceleration = (int16_t) ao_accel;
+	telemetry.mini.speed = (int16_t) ao_speed;
+	telemetry.mini.height = (int16_t) ao_height;
 
 	telemetry.mini.ground_pres = ao_ground_pres;
 
@@ -292,8 +362,13 @@ 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 int16_t ao_telemetry_config_max;
+static int16_t ao_telemetry_config_cur;
+static uint16_t ao_telemetry_flight_number;
+
+#ifndef ao_telemetry_battery_convert
+#define ao_telemetry_battery_convert(a) (a)
+#endif
 
 static void
 ao_send_configuration(void)
@@ -302,28 +377,24 @@ ao_send_configuration(void)
 	{
 		telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 		telemetry.configuration.device = AO_idProduct_NUMBER;
-#if HAS_LOG
-		telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
-#else
-		telemetry.configuration.flight = ao_flight_number;
-#endif
+		telemetry.configuration.flight = ao_telemetry_flight_number;
 		telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 		telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
 		/* TeleGPS gets battery voltage instead of apogee delay */
-		telemetry.configuration.apogee_delay = ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt;
+		telemetry.configuration.apogee_delay = (uint16_t) ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
 #else
 		telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 		telemetry.configuration.main_deploy = ao_config.main_deploy;
 #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,
-			    CODE_TO_XDATA(ao_version),
-			    AO_MAX_VERSION);
+		telemetry.configuration.flight_log_max = (uint16_t) (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_telemetry_config_cur = ao_telemetry_config_max;
 		ao_telemetry_send();
 	}
@@ -331,9 +402,21 @@ 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 int16_t ao_telemetry_gps_max;
+static int16_t ao_telemetry_loc_cur;
+static int16_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 size_t
+telemetry_size(void)
+{
+	return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
+}
 
 static void
 ao_send_location(void)
@@ -342,10 +425,10 @@ 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);
-		telemetry.location.tick = ao_gps_tick;
+		memcpy(telemetry_bits(&telemetry.location),
+		       telemetry_bits(&ao_gps_data),
+		       telemetry_size());
+		telemetry.location.tick = (uint16_t) ao_gps_tick;
 		ao_mutex_put(&ao_gps_mutex);
 		ao_telemetry_loc_cur = ao_telemetry_gps_max;
 		ao_telemetry_send();
@@ -360,7 +443,7 @@ 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);
@@ -372,19 +455,19 @@ ao_send_satellite(void)
 
 #if HAS_COMPANION
 
-static __pdata int8_t ao_telemetry_companion_max;
-static __pdata int8_t ao_telemetry_companion_cur;
+static int16_t ao_telemetry_companion_max;
+static int16_t ao_telemetry_companion_cur;
 
 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.board_id = (uint8_t) 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);
-		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);
@@ -394,11 +477,36 @@ 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;
+		}
+		if (delta < (interval >> 1))
+			delta += interval;
+
+		ao_aprs_time = ao_gps_utc_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;
-	int16_t		delay;
+	AO_TICK_TYPE	time;
+	AO_TICK_SIGNED	delay;
 
 	ao_config_get();
 	if (!ao_config.radio_enable)
@@ -406,6 +514,11 @@ ao_telemetry(void)
 	while (!ao_flight_number)
 		ao_sleep(&ao_flight_number);
 
+	ao_telemetry_flight_number = ao_flight_number;
+#if HAS_LOG
+	if (ao_log_full())
+		ao_telemetry_flight_number = 0;
+#endif
 	telemetry.generic.serial = ao_serial_number;
 	for (;;) {
 		while (ao_telemetry_interval == 0)
@@ -417,6 +530,7 @@ 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);
@@ -485,16 +599,16 @@ 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)
 					time = ao_aprs_time;
 			}
 #endif /* HAS_APRS */
-			delay = time - ao_time();
+			delay = (AO_TICK_SIGNED) (time - ao_time());
 			if (delay > 0) {
-				ao_sleep_for(&telemetry, delay);
+				ao_sleep_for(&telemetry, (AO_TICK_TYPE) delay);
 			}
 		}
 	}
@@ -511,12 +625,12 @@ ao_telemetry_reset_interval(void)
 void
 ao_telemetry_set_interval(uint16_t interval)
 {
-	int8_t	cur = 0;
+	int16_t	cur = 0;
 
 #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)
@@ -527,45 +641,47 @@ ao_telemetry_set_interval(uint16_t interval)
 		interval = min_interval[ao_config.radio_rate];
 #endif
 	ao_telemetry_interval = interval;
+	if (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;
+		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 AO_SEND_METRUM
-	ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
-	if (ao_telemetry_metrum_data_max > cur)
-		cur++;
-	ao_telemetry_metrum_data_cur = cur;
+		ao_telemetry_metrum_data_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
+		if (ao_telemetry_metrum_data_max > cur)
+			cur++;
+		ao_telemetry_metrum_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;
-	if (ao_telemetry_companion_max > cur)
-		cur++;
-	ao_telemetry_companion_cur = cur;
+		if (!ao_companion_setup.update_period)
+			ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
+		ao_telemetry_companion_max = (int16_t) (ao_companion_setup.update_period / interval);
+		if (ao_telemetry_companion_max > cur)
+			cur++;
+		ao_telemetry_companion_cur = cur;
 #endif
 
 #if HAS_GPS
-	ao_telemetry_gps_max = AO_SEC_TO_TICKS(1) / interval;
-	if (ao_telemetry_gps_max > cur)
-		cur++;
-	ao_telemetry_loc_cur = cur;
-	if (ao_telemetry_gps_max > cur)
-		cur++;
-	ao_telemetry_sat_cur = cur;
-#endif
-
-	ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval;
-	if (ao_telemetry_config_max > cur)
-		cur++;
-	ao_telemetry_config_cur = cur;
+		ao_telemetry_gps_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
+		if (ao_telemetry_gps_max > cur)
+			cur++;
+		ao_telemetry_loc_cur = cur;
+		if (ao_telemetry_gps_max > cur)
+			cur++;
+		ao_telemetry_sat_cur = cur;
+#endif
+
+		ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval);
+		if (ao_telemetry_config_max > cur)
+			cur++;
+		ao_telemetry_config_cur = cur;
+	}
 
 #ifndef SIMPLIFY
 	ao_telemetry_time = 
@@ -593,7 +709,7 @@ ao_rdf_set(uint8_t rdf)
 }
 #endif
 
-__xdata struct ao_task	ao_telemetry_task;
+struct ao_task	ao_telemetry_task;
 
 void
 ao_telemetry_init()