X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=8ff28fdef78eeed8d042f2213db10c3a5c33d8c2;hp=e2197f7a24cb1f9ad735ed49ea0d3c7c99cfb3c3;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=54f7ab842a8cba3003cd5a9deb2515151263ca2e

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index e2197f7a..8ff28fde 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -75,6 +76,13 @@ static __pdata uint16_t ao_aprs_time;
 
 static __xdata union ao_telemetry_all	telemetry;
 
+static void
+ao_telemetry_send(void)
+{
+	ao_radio_send(&telemetry, sizeof (telemetry));
+	ao_delay(1);
+}
+
 #if defined AO_TELEMETRY_SENSOR
 /* Send sensor packet */
 static void
@@ -117,7 +125,7 @@ ao_send_sensor(void)
 	telemetry.sensor.accel_minus_g = 0;
 #endif
 
-	ao_radio_send(&telemetry, sizeof (telemetry));
+	ao_telemetry_send();
 }
 #endif
 
@@ -133,7 +141,7 @@ ao_send_mega_sensor(void)
 	telemetry.generic.tick = packet->tick;
 	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 	telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
 	telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -152,11 +160,25 @@ 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
 
-	ao_radio_send(&telemetry, sizeof (telemetry));
+#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
+
+	ao_telemetry_send();
 }
 
 static __pdata int8_t ao_telemetry_mega_data_max;
@@ -190,8 +212,8 @@ ao_send_mega_data(void)
 		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;
+		ao_telemetry_send();
 	}
 }
 #endif /* AO_SEND_MEGA */
@@ -221,7 +243,7 @@ ao_send_metrum_sensor(void)
 	telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 	telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 
-	ao_radio_send(&telemetry, sizeof (telemetry));
+	ao_telemetry_send();
 }
 
 static __pdata int8_t ao_telemetry_metrum_data_max;
@@ -248,8 +270,8 @@ ao_send_metrum_data(void)
 		telemetry.metrum_data.accel_minus_g = 2;
 #endif
 
-		ao_radio_send(&telemetry, sizeof (telemetry));
 		ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
+		ao_telemetry_send();
 	}
 }
 #endif /* AO_SEND_METRUM */
@@ -262,7 +284,7 @@ ao_send_mini(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_MINI;
+	telemetry.generic.type = AO_SEND_MINI;
 
 	telemetry.mini.state = ao_flight_state;
 
@@ -279,13 +301,18 @@ ao_send_mini(void)
 
 	telemetry.mini.ground_pres = ao_ground_pres;
 
-	ao_radio_send(&telemetry, sizeof (telemetry));
+	ao_telemetry_send();
 }
 
 #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;
+
+#ifndef ao_telemetry_battery_convert
+#define ao_telemetry_battery_convert(a) (a)
+#endif
 
 static void
 ao_send_configuration(void)
@@ -294,16 +321,12 @@ 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 = 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;
@@ -314,10 +337,10 @@ ao_send_configuration(void)
 			    ao_config.callsign,
 			    AO_MAX_CALLSIGN);
 		ao_xmemcpy (telemetry.configuration.version,
-			    CODE_TO_XDATA(ao_version),
+			    ao_version,
 			    AO_MAX_VERSION);
-		ao_radio_send(&telemetry, sizeof (telemetry));
 		ao_telemetry_config_cur = ao_telemetry_config_max;
+		ao_telemetry_send();
 	}
 }
 
@@ -339,8 +362,8 @@ ao_send_location(void)
 		       27);
 		telemetry.location.tick = ao_gps_tick;
 		ao_mutex_put(&ao_gps_mutex);
-		ao_radio_send(&telemetry, sizeof (telemetry));
 		ao_telemetry_loc_cur = ao_telemetry_gps_max;
+		ao_telemetry_send();
 	}
 }
 
@@ -356,8 +379,8 @@ ao_send_satellite(void)
 		       &ao_gps_tracking_data.sats,
 		       AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 		ao_mutex_put(&ao_gps_mutex);
-		ao_radio_send(&telemetry, sizeof (telemetry));
 		ao_telemetry_sat_cur = ao_telemetry_gps_max;
+		ao_telemetry_send();
 	}
 }
 #endif
@@ -380,8 +403,8 @@ ao_send_companion(void)
 		       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;
+		ao_telemetry_send();
 	}
 }
 #endif
@@ -398,6 +421,11 @@ 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)
@@ -486,9 +514,7 @@ ao_telemetry(void)
 #endif /* HAS_APRS */
 			delay = time - ao_time();
 			if (delay > 0) {
-				ao_alarm(delay);
-				ao_sleep(&telemetry);
-				ao_clear_alarm();
+				ao_sleep_for(&telemetry, delay);
 			}
 		}
 	}