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 <keithp@keithp.com>

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