summary |
shortlog |
log |
commit | commitdiff |
tree
raw |
patch |
inline | side by side (from parent 1:
c831f1f)
With RDF, APRS and telemetry all being sent at varying rates,
computing when to send the next radio data is not as simple as sending
telemetry and then figuring out whether to send RDF and/or APRS.
Fix this by computing times for the next telemetry/rdf/aprs packet,
and only sending each when that time has passed. Compute the delay
until the next radio activity as the minimum time to any transmission.
This also adds code to the config bits to reset the radio times
whenever something changes that might affect which radio data to send
next.
Signed-off-by: Keith Packard <keithp@keithp.com>
}
_ao_config_edit_start();
ao_config.radio_rate = ao_cmd_lex_i;
}
_ao_config_edit_start();
ao_config.radio_rate = ao_cmd_lex_i;
+ _ao_config_edit_finish();
#if HAS_TELEMETRY
ao_telemetry_reset_interval();
#endif
#if HAS_TELEMETRY
ao_telemetry_reset_interval();
#endif
- _ao_config_edit_finish();
#if HAS_RADIO_RECV
ao_radio_recv_abort();
#endif
#if HAS_RADIO_RECV
ao_radio_recv_abort();
#endif
_ao_config_edit_start();
ao_config.radio_enable = ao_cmd_lex_i;
_ao_config_edit_finish();
_ao_config_edit_start();
ao_config.radio_enable = ao_cmd_lex_i;
_ao_config_edit_finish();
+#if HAS_TELEMETRY && HAS_RADIO_RATE
+ ao_telemetry_reset_interval();
+#endif
_ao_config_edit_start();
ao_config.aprs_interval = ao_cmd_lex_i;
_ao_config_edit_finish();
_ao_config_edit_start();
ao_config.aprs_interval = ao_cmd_lex_i;
_ao_config_edit_finish();
+ ao_telemetry_reset_interval();
ao_config.tracker_motion = m;
ao_config.tracker_interval = i;
_ao_config_edit_finish();
ao_config.tracker_motion = m;
ao_config.tracker_interval = i;
_ao_config_edit_finish();
+#if HAS_TELEMETRY
+ ao_telemetry_reset_interval();
+#endif
}
#endif /* HAS_TRACKER */
}
#endif /* HAS_TRACKER */
#include "ao_log.h"
#include "ao_product.h"
#include "ao_log.h"
#include "ao_product.h"
-#ifndef HAS_RDF
-#define HAS_RDF 1
-#endif
-
static __pdata uint16_t ao_telemetry_interval;
#if HAS_RADIO_RATE
static __xdata uint16_t ao_telemetry_desired_interval;
#endif
static __pdata uint16_t ao_telemetry_interval;
#if HAS_RADIO_RATE
static __xdata uint16_t ao_telemetry_desired_interval;
#endif
+/* TeleMetrum v1.0 just doesn't have enough space to
+ * manage the more complicated telemetry scheduling, so
+ * it loses the ability to disable telem/rdf separately
+ */
+
+#if defined(TELEMETRUM_V_1_0)
+#define SIMPLIFY
+#endif
+
+#ifdef SIMPLIFY
+#define ao_telemetry_time time
+#define RDF_SPACE __pdata
+#else
+#define RDF_SPACE __xdata
+static __pdata uint16_t ao_telemetry_time;
+#endif
+
-static __pdata uint8_t ao_rdf = 0;
-static __pdata uint16_t ao_rdf_time;
+static RDF_SPACE uint8_t ao_rdf = 0;
+static RDF_SPACE uint16_t ao_rdf_time;
+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 __pdata int8_t ao_telemetry_loc_cur;
static __pdata int8_t ao_telemetry_sat_cur;
telemetry.location.tick = ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
telemetry.location.tick = ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_loc_cur = ao_telemetry_config_max;
+ ao_telemetry_loc_cur = ao_telemetry_gps_max;
AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
ao_mutex_put(&ao_gps_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
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_config_max;
+ ao_telemetry_sat_cur = ao_telemetry_gps_max;
while (ao_telemetry_interval == 0)
ao_sleep(&telemetry);
time = ao_time();
while (ao_telemetry_interval == 0)
ao_sleep(&telemetry);
time = ao_time();
+ ao_telemetry_time = time;
#if HAS_RDF
ao_rdf_time = time;
#endif
#if HAS_RDF
ao_rdf_time = time;
#endif
ao_aprs_time = time;
#endif
while (ao_telemetry_interval) {
ao_aprs_time = time;
#endif
while (ao_telemetry_interval) {
+ time = ao_time() + AO_SEC_TO_TICKS(100);
+#ifndef SIMPLIFY
if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
#endif
{
if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
#endif
{
+#ifndef SIMPLIFY
+ if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
+#endif
+ {
+ ao_telemetry_time = ao_time() + ao_telemetry_interval;
- ao_send_mega_sensor();
- ao_send_mega_data();
+ ao_send_mega_sensor();
+ ao_send_mega_data();
# endif
# ifdef AO_SEND_METRUM
# endif
# ifdef AO_SEND_METRUM
- ao_send_metrum_sensor();
- ao_send_metrum_data();
+ ao_send_metrum_sensor();
+ ao_send_metrum_data();
# endif
# ifdef AO_SEND_MINI
# endif
# ifdef AO_SEND_MINI
# endif
# ifdef AO_TELEMETRY_SENSOR
# endif
# ifdef AO_TELEMETRY_SENSOR
-#endif /* HAS_FLIGHT */
-
- if (ao_companion_running)
- ao_send_companion();
+ if (ao_companion_running)
+ ao_send_companion();
- ao_send_configuration();
- ao_send_location();
- ao_send_satellite();
+ ao_send_location();
+ ao_send_satellite();
+#endif
+ ao_send_configuration();
+ }
+#ifndef SIMPLIFY
+ time = ao_telemetry_time;
- if (ao_rdf &&
-#if HAS_APRS
- !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
-#endif /* HAS_APRS */
- (int16_t) (ao_time() - ao_rdf_time) >= 0)
+ if (ao_rdf
+#ifndef SIMPLIFY
+ && !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF)
+#endif
+ )
+ if ((int16_t) (ao_time() - ao_rdf_time) >= 0) {
- uint8_t c;
-#endif /* HAS_IGNITE_REPORT */
- ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ uint8_t c;
+#endif
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
- if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
- ao_radio_continuity(c);
- else
-#endif /* HAS_IGNITE_REPORT*/
- ao_radio_rdf();
+ if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
+ ao_radio_continuity(c);
+ else
+#endif
+ ao_radio_rdf();
+ }
+#ifndef SIMPLIFY
+ if ((int16_t) (time - ao_rdf_time) > 0)
+ time = ao_rdf_time;
+#endif
}
#endif /* HAS_RDF */
#if HAS_APRS
}
#endif /* HAS_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();
+ 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_aprs_send();
+ }
+ if ((int16_t) (time - ao_aprs_time) > 0)
+ time = ao_aprs_time;
- time += ao_telemetry_interval;
delay = time - ao_time();
if (delay > 0) {
ao_alarm(delay);
ao_sleep(&telemetry);
ao_clear_alarm();
}
delay = time - ao_time();
if (delay > 0) {
ao_alarm(delay);
ao_sleep(&telemetry);
ao_clear_alarm();
}
- else
- time = ao_time();
ao_telemetry_companion_cur = cur;
#endif
ao_telemetry_companion_cur = cur;
#endif
- ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval;
-#if HAS_COMPANION
- if (ao_telemetry_config_max > cur)
- cur++;
- ao_telemetry_config_cur = cur;
-#endif
-
- if (ao_telemetry_config_max > cur)
+ ao_telemetry_gps_max = AO_SEC_TO_TICKS(1) / interval;
+ if (ao_telemetry_gps_max > cur)
cur++;
ao_telemetry_loc_cur = cur;
cur++;
ao_telemetry_loc_cur = cur;
- if (ao_telemetry_config_max > cur)
+ if (ao_telemetry_gps_max > cur)
cur++;
ao_telemetry_sat_cur = cur;
#endif
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;
+
+#ifndef SIMPLIFY
+ ao_telemetry_time =
+#if HAS_RDF
+ ao_rdf_time =
+#endif
+#if HAS_APRS
+ ao_aprs_time =
+#endif
+ ao_time();
+#endif
#define HAS_WIDE_GPS 1
#endif
#define HAS_WIDE_GPS 1
#endif
+#ifdef HAS_TELEMETRY
+#ifndef HAS_RDF
+#define HAS_RDF 1
+#endif
+#endif
+
#if HAS_WIDE_GPS
typedef int32_t gps_alt_t;
#define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
#if HAS_WIDE_GPS
typedef int32_t gps_alt_t;
#define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))