From ea5887027e7a39da2b7d84a142d74950b7a24703 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 5 Jul 2014 00:09:25 -0700 Subject: [PATCH] altos: Call ao_telemetry_reset_interval when telemetry rate changes This lets the radio code adjust the telemetry packet sending pattern when the data rate changes. Signed-off-by: Keith Packard --- src/cc1111/ao_pins.h | 15 +++++++++++++++ src/kernel/ao.h | 5 ++--- src/kernel/ao_config.c | 7 +++++++ src/kernel/ao_telemetry.c | 34 ++++++++++++++++++++++++++++++---- src/telebt-v1.0/ao_pins.h | 1 + src/telefire-v0.1/ao_pins.h | 3 ++- src/telefire-v0.2/ao_pins.h | 3 ++- src/telemini-v2.0/ao_pins.h | 1 + src/teleshield-v0.1/ao_pins.h | 1 + src/teleterra-v0.2/ao_pins.h | 2 +- 10 files changed, 62 insertions(+), 10 deletions(-) diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index 2b19f1f6..b40acbbd 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -56,6 +56,7 @@ #define HAS_ACCEL 1 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 #endif #if defined(TELEMETRUM_V_1_1) @@ -96,6 +97,7 @@ #define HAS_ACCEL 1 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 #endif #if defined(TELEMETRUM_V_1_2) @@ -136,6 +138,7 @@ #define HAS_ACCEL 1 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 #endif #if defined(TELEDONGLE_V_0_2) @@ -164,6 +167,7 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 1 #define HAS_AES 0 + #define HAS_TELEMETRY 0 #endif #if defined(TELEMINI_V_1_0) @@ -193,6 +197,8 @@ #define HAS_ACCEL 0 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ #endif #if defined(TELENANO_V_0_1) @@ -220,6 +226,8 @@ #define HAS_ACCEL 0 #define HAS_IGNITE 0 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ #endif #if defined(TELEMETRUM_V_0_1) @@ -252,6 +260,8 @@ #define HAS_ACCEL 1 #define HAS_IGNITE 1 #define HAS_MONITOR 0 + #define HAS_TELEMETRY 1 + #define HAS_RADIO_RATE 0 /* not enough space for this */ #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 127 * (uint32_t) 1024) #endif @@ -283,6 +293,7 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 1 #define HAS_AES 0 + #define HAS_TELEMETRY 0 #endif #if defined(TIDONGLE) @@ -312,6 +323,7 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 1 #define HAS_AES 0 + #define HAS_TELEMETRY 0 #endif #if defined(TELEBT_V_0_0) @@ -350,6 +362,7 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 0 #define HAS_AES 0 + #define HAS_TELEMETRY 0 #endif #if defined(TELEBT_V_0_1) @@ -396,6 +409,7 @@ #define LEGACY_MONITOR 1 #define HAS_RSSI 0 #define HAS_AES 0 + #define HAS_TELEMETRY 0 #endif #if defined(TELELAUNCH_V_0_1) @@ -428,6 +442,7 @@ #define HAS_IGNITE 1 #define HAS_MONITOR 0 #define HAS_AES 1 + #define HAS_TELEMETRY 0 #endif #if DBG_ON_P1 diff --git a/src/kernel/ao.h b/src/kernel/ao.h index 6c6abd36..c11aa028 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -521,9 +521,8 @@ struct ao_telemetry_raw_recv { #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) #endif -#define AO_RADIO_RATE_38400 0 -#define AO_RADIO_RATE_9600 1 -#define AO_RADIO_RATE_2400 2 +void +ao_telemetry_reset_interval(void); void ao_telemetry_set_interval(uint16_t interval); diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index 52c0c4f6..32a0967c 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -492,6 +492,10 @@ ao_config_radio_cal_set(void) __reentrant #endif #if HAS_RADIO_RATE +#ifndef HAS_TELEMETRY +#error Please define HAS_TELEMETRY +#endif + void ao_config_radio_rate_show(void) __reentrant { @@ -510,6 +514,9 @@ ao_config_radio_rate_set(void) __reentrant } _ao_config_edit_start(); ao_config.radio_rate = ao_cmd_lex_i; +#if HAS_TELEMETRY + ao_telemetry_reset_interval(); +#endif _ao_config_edit_finish(); } #endif diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index 6fb30069..f4fcf400 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -25,6 +25,10 @@ static __pdata uint16_t ao_telemetry_interval; +#if HAS_RADIO_RATE +static __pdata uint16_t ao_telemetry_desired_interval; +#endif + #if HAS_RDF static __pdata uint8_t ao_rdf = 0; static __pdata uint16_t ao_rdf_time; @@ -64,7 +68,7 @@ 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)]; - + telemetry.generic.tick = packet->tick; telemetry.generic.type = AO_TELEMETRY_SENSOR; @@ -106,12 +110,13 @@ ao_send_sensor(void) #ifdef AO_SEND_MEGA + /* Send mega sensor packet */ 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)]; - + telemetry.generic.tick = packet->tick; telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR; @@ -240,7 +245,7 @@ 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)]; - + telemetry.generic.tick = packet->tick; telemetry.generic.type = AO_TELEMETRY_MINI; @@ -490,12 +495,33 @@ ao_telemetry(void) } } +#if HAS_RADIO_RATE +void +ao_telemetry_reset_interval(void) +{ + ao_telemetry_set_interval(ao_telemetry_desired_interval); +} +#endif + void ao_telemetry_set_interval(uint16_t interval) { int8_t cur = 0; + +#if HAS_RADIO_RATE + /* Limit max telemetry rate based on available radio bandwidth. + */ + 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) + }; + + ao_telemetry_desired_interval = interval; + if (interval < min_interval[ao_config.radio_rate]) + interval = min_interval[ao_config.radio_rate]; +#endif ao_telemetry_interval = interval; - #if AO_SEND_MEGA if (interval > 1) ao_telemetry_mega_data_max = 1; diff --git a/src/telebt-v1.0/ao_pins.h b/src/telebt-v1.0/ao_pins.h index 9e47f3b8..b5562573 100644 --- a/src/telebt-v1.0/ao_pins.h +++ b/src/telebt-v1.0/ao_pins.h @@ -48,6 +48,7 @@ #define BT_LINK_PIN P1_7 #define HAS_MONITOR 1 #define LEGACY_MONITOR 0 +#define HAS_TELEMETRY 0 #define HAS_ADC 1 #define AO_PAD_ADC_BATT 0 diff --git a/src/telefire-v0.1/ao_pins.h b/src/telefire-v0.1/ao_pins.h index f7a3ff2c..47ae663f 100644 --- a/src/telefire-v0.1/ao_pins.h +++ b/src/telefire-v0.1/ao_pins.h @@ -18,7 +18,8 @@ #ifndef _AO_PINS_H_ #define _AO_PINS_H_ -#define HAS_RADIO 1 +#define HAS_RADIO 1 +#define HAS_TELEMETRY 0 #define HAS_FLIGHT 0 #define HAS_USB 1 diff --git a/src/telefire-v0.2/ao_pins.h b/src/telefire-v0.2/ao_pins.h index 96e6b066..9e6631ce 100644 --- a/src/telefire-v0.2/ao_pins.h +++ b/src/telefire-v0.2/ao_pins.h @@ -18,7 +18,8 @@ #ifndef _AO_PINS_H_ #define _AO_PINS_H_ -#define HAS_RADIO 1 +#define HAS_RADIO 1 +#define HAS_TELEMETRY 0 #define HAS_FLIGHT 0 #define HAS_USB 1 diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h index f202ccd1..c9f9de62 100644 --- a/src/telemini-v2.0/ao_pins.h +++ b/src/telemini-v2.0/ao_pins.h @@ -39,6 +39,7 @@ #define USE_INTERNAL_FLASH 0 #define HAS_DBG 0 #define PACKET_HAS_SLAVE 1 +#define HAS_RADIO_RATE 0 /* not enough space for this */ #define AO_LED_RED 2 #define LEDS_AVAILABLE AO_LED_RED diff --git a/src/teleshield-v0.1/ao_pins.h b/src/teleshield-v0.1/ao_pins.h index 30239afc..68bb44ee 100644 --- a/src/teleshield-v0.1/ao_pins.h +++ b/src/teleshield-v0.1/ao_pins.h @@ -62,6 +62,7 @@ #define HAS_RSSI 0 #define HAS_AES 0 #define HAS_RADIO 1 + #define HAS_TELEMETRY 0 #endif #if DBG_ON_P1 diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h index 1c12c437..60d627ad 100644 --- a/src/teleterra-v0.2/ao_pins.h +++ b/src/teleterra-v0.2/ao_pins.h @@ -71,7 +71,7 @@ #define HAS_P2_ISR 1 #define BATTERY_PIN 5 - + #define HAS_TELEMETRY 0 #endif #if DBG_ON_P1 -- 2.30.2