diff options
| -rw-r--r-- | src/Makefile.proto | 23 | ||||
| -rw-r--r-- | src/ao.h | 14 | ||||
| -rw-r--r-- | src/ao_flight.c | 114 | ||||
| -rw-r--r-- | src/ao_flight_test.c | 9 | ||||
| -rw-r--r-- | src/ao_log.c | 2 | ||||
| -rw-r--r-- | src/ao_panic.c | 8 | ||||
| -rw-r--r-- | src/ao_pins.h | 18 | ||||
| -rw-r--r-- | src/ao_product.c | 4 | ||||
| -rw-r--r-- | src/ao_report.c | 34 | ||||
| -rw-r--r-- | src/ao_telemetry.c | 6 |
10 files changed, 189 insertions, 43 deletions
diff --git a/src/Makefile.proto b/src/Makefile.proto index 709cbca7..30cd5798 100644 --- a/src/Makefile.proto +++ b/src/Makefile.proto @@ -42,11 +42,15 @@ ALTOS_SRC = \ # Shared AltOS drivers # ALTOS_DRIVER_SRC = \ - ao_beep.c \ ao_config.c \ ao_led.c \ ao_radio.c \ - ao_stdio.c \ + ao_stdio.c + +BEEP_DRIVER_SRC = \ + ao_beep.c + +USB_DRIVER_SRC = \ ao_usb.c TELE_COMMON_SRC = \ @@ -68,7 +72,12 @@ TELE_RECEIVER_SRC =\ # TELE_DRIVER_SRC = \ - ao_convert.c \ + ao_convert.c + +# +# Serial port driver +# +SERIAL_DRIVER_SRC = \ ao_serial.c # @@ -89,7 +98,9 @@ DBG_SRC = \ TM_DRIVER_SRC = \ ao_adc.c \ ao_gps_report.c \ - ao_ignite.c + ao_ignite.c \ + $(BEEP_DRIVER_SRC) \ + $(USB_DRIVER_SRC) # # 25LC1024 driver source @@ -142,6 +153,7 @@ TM_BASE_SRC = \ $(ALTOS_SRC) \ $(ALTOS_DRIVER_SRC) \ $(TELE_DRIVER_SRC) \ + $(SERIAL_DRIVER_SRC) \ $(TELE_COMMON_SRC) \ $(TM_DRIVER_SRC) \ $(TM_TASK_SRC) \ @@ -158,6 +170,7 @@ TI_SRC = \ $(ALTOS_DRIVER_SRC) \ $(TELE_RECEIVER_SRC) \ $(TELE_COMMON_SRC) \ + $(USB_DRIVER_SRC) \ $(TI_MAIN_SRC) \ $(DBG_SRC) @@ -172,6 +185,7 @@ TT_SRC = \ $(TELE_RECEIVER_SRC) \ $(TELE_DRIVER_SRC) \ $(TELE_COMMON_SRC) \ + $(USB_DRIVER_SRC) \ $(TT_MAIN_SRC) @@ -187,6 +201,7 @@ TD_SRC = \ $(ALTOS_DRIVER_SRC) \ $(TELE_RECEIVER_SRC) \ $(TELE_COMMON_SRC) \ + $(USB_DRIVER_SRC) \ $(TD_MAIN_SRC) include Makefile.defs @@ -164,9 +164,13 @@ struct ao_adc { #if HAS_ADC +#if HAS_ACCEL #ifndef HAS_ACCEL_REF #error Please define HAS_ACCEL_REF #endif +#else +#define HAS_ACCEL_REF 0 +#endif /* * ao_adc.c @@ -303,7 +307,14 @@ extern __code __at (0x00a0) uint16_t ao_romconfig_version; extern __code __at (0x00a2) uint16_t ao_romconfig_check; extern __code __at (0x00a4) uint16_t ao_serial_number; extern __code __at (0x00a6) uint32_t ao_radio_cal; + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +#if HAS_USB extern __code __at (0x00aa) uint8_t ao_usb_descriptors []; +#endif /* * ao_usb.c @@ -327,9 +338,11 @@ ao_usb_pollchar(void); void ao_usb_flush(void); +#if HAS_USB /* USB interrupt handler */ void ao_usb_isr(void) __interrupt 6; +#endif /* Enable the USB controller */ void @@ -1062,7 +1075,6 @@ ao_rssi_init(uint8_t rssi_led); * each instance of a product */ -extern __code __at(0x00aa) uint8_t ao_usb_descriptors []; extern const char ao_version[]; extern const char ao_manufacturer[]; extern const char ao_product[]; diff --git a/src/ao_flight.c b/src/ao_flight.c index 81aecad3..843865e8 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -19,39 +19,57 @@ #include "ao.h" #endif +#ifndef HAS_ACCEL +#error Please define HAS_ACCEL +#endif + +#ifndef HAS_GPS +#error Please define HAS_GPS +#endif + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + /* Main flight thread. */ __pdata enum ao_flight_state ao_flight_state; /* current flight state */ __pdata uint16_t ao_flight_tick; /* time of last data */ __pdata uint16_t ao_flight_prev_tick; /* time of previous data */ -__pdata int16_t ao_flight_accel; /* filtered acceleration */ __pdata int16_t ao_flight_pres; /* filtered pressure */ __pdata int16_t ao_ground_pres; /* startup pressure */ -__pdata int16_t ao_ground_accel; /* startup acceleration */ __pdata int16_t ao_min_pres; /* minimum recorded pressure */ __pdata uint16_t ao_launch_tick; /* time of launch detect */ __pdata int16_t ao_main_pres; /* pressure to eject main */ +#if HAS_ACCEL +__pdata int16_t ao_flight_accel; /* filtered acceleration */ +__pdata int16_t ao_ground_accel; /* startup acceleration */ +#endif /* * track min/max data over a long interval to detect * resting */ __pdata uint16_t ao_interval_end; -__pdata int16_t ao_interval_cur_min_accel; -__pdata int16_t ao_interval_cur_max_accel; __pdata int16_t ao_interval_cur_min_pres; __pdata int16_t ao_interval_cur_max_pres; -__pdata int16_t ao_interval_min_accel; -__pdata int16_t ao_interval_max_accel; __pdata int16_t ao_interval_min_pres; __pdata int16_t ao_interval_max_pres; +#if HAS_ACCEL +__pdata int16_t ao_interval_cur_min_accel; +__pdata int16_t ao_interval_cur_max_accel; +__pdata int16_t ao_interval_min_accel; +__pdata int16_t ao_interval_max_accel; +#endif __data uint8_t ao_flight_adc; -__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; -__pdata int16_t ao_accel_2g; - +__pdata int16_t ao_raw_pres; __xdata uint8_t ao_flight_force_idle; +#if HAS_ACCEL +__pdata int16_t ao_raw_accel, ao_raw_accel_prev; +__pdata int16_t ao_accel_2g; + /* Accelerometer calibration * * We're sampling the accelerometer through a resistor divider which @@ -84,6 +102,8 @@ __xdata uint8_t ao_flight_force_idle; #define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200) #define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5) +#endif + /* * Barometer calibration * @@ -117,6 +137,7 @@ __xdata uint8_t ao_flight_force_idle; #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15) +#if HAS_ACCEL /* This value is scaled in a weird way. It's a running total of accelerometer * readings minus the ground accelerometer reading. That means it measures * velocity, and quite accurately too. As it gets updated 100 times a second, @@ -126,7 +147,10 @@ __pdata int32_t ao_flight_vel; __pdata int32_t ao_min_vel; __pdata int32_t ao_old_vel; __pdata int16_t ao_old_vel_tick; -__xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum; +__xdata int32_t ao_raw_accel_sum; +#endif + +__xdata int32_t ao_raw_pres_sum; /* Landing is detected by getting constant readings from both pressure and accelerometer * for a fairly long time (AO_INTERVAL_TICKS) @@ -141,22 +165,31 @@ ao_flight(void) __pdata static uint16_t nsamples = 0; ao_flight_adc = ao_adc_head; + ao_raw_pres = 0; +#if HAS_ACCEL ao_raw_accel_prev = 0; ao_raw_accel = 0; - ao_raw_pres = 0; +#endif ao_flight_tick = 0; for (;;) { ao_wakeup(DATA_TO_XDATA(&ao_flight_adc)); ao_sleep(DATA_TO_XDATA(&ao_adc_head)); while (ao_flight_adc != ao_adc_head) { +#if HAS_ACCEL __pdata uint8_t ticks; __pdata int16_t ao_vel_change; +#endif __xdata struct ao_adc *ao_adc; ao_flight_prev_tick = ao_flight_tick; /* Capture a sample */ ao_adc = &ao_adc_ring[ao_flight_adc]; ao_flight_tick = ao_adc->tick; + ao_raw_pres = ao_adc->pres; + ao_flight_pres -= ao_flight_pres >> 4; + ao_flight_pres += ao_raw_pres >> 4; + +#if HAS_ACCEL ao_raw_accel = ao_adc->accel; #if HAS_ACCEL_REF /* @@ -242,12 +275,9 @@ ao_flight(void) ao_raw_accel = (uint16_t) ((((uint32_t) ao_raw_accel << 16) / (ao_accel_ref[ao_flight_adc] << 1))) >> 1; ao_adc->accel = ao_raw_accel; #endif - ao_raw_pres = ao_adc->pres; ao_flight_accel -= ao_flight_accel >> 4; ao_flight_accel += ao_raw_accel >> 4; - ao_flight_pres -= ao_flight_pres >> 4; - ao_flight_pres += ao_raw_pres >> 4; /* Update velocity * * The accelerometer is mounted so that @@ -264,12 +294,14 @@ ao_flight(void) ao_flight_vel += (int32_t) ao_vel_change; else ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks; +#endif ao_flight_adc = ao_adc_ring_next(ao_flight_adc); } if (ao_flight_pres < ao_min_pres) ao_min_pres = ao_flight_pres; +#if HAS_ACCEL if (ao_flight_vel >= 0) { if (ao_flight_vel < ao_min_vel) ao_min_vel = ao_flight_vel; @@ -277,6 +309,7 @@ ao_flight(void) if (-ao_flight_vel < ao_min_vel) ao_min_vel = -ao_flight_vel; } +#endif switch (ao_flight_state) { case ao_flight_startup: @@ -287,21 +320,27 @@ ao_flight(void) * data and average them to find the resting values */ if (nsamples < 512) { +#if HAS_ACCEL ao_raw_accel_sum += ao_raw_accel; +#endif ao_raw_pres_sum += ao_raw_pres; ++nsamples; continue; } +#if HAS_ACCEL ao_ground_accel = ao_raw_accel_sum >> 9; +#endif ao_ground_pres = ao_raw_pres_sum >> 9; ao_min_pres = ao_ground_pres; ao_config_get(); ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy); +#if HAS_ACCEL ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g; ao_flight_vel = 0; ao_min_vel = 0; ao_old_vel = ao_flight_vel; ao_old_vel_tick = ao_flight_tick; +#endif /* Check to see what mode we should go to. * - Invalid mode if accel cal appears to be out @@ -309,6 +348,7 @@ ao_flight(void) * - idle mode otherwise */ ao_config_get(); +#if HAS_ACCEL if (ao_config.accel_plus_g == 0 || ao_config.accel_minus_g == 0 || ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || @@ -323,17 +363,23 @@ ao_flight(void) */ ao_packet_slave_start(); - } else if (ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP && - !ao_flight_force_idle) + } else +#endif + if (!ao_flight_force_idle +#if HAS_ACCEL + && ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP +#endif + ) { /* Set pad mode - we can fly! */ ao_flight_state = ao_flight_pad; +#if HAS_USB /* Disable the USB controller in flight mode * to save power */ ao_usb_disable(); - +#endif /* Turn on telemetry system */ ao_rdf_set(1); ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); @@ -356,6 +402,7 @@ ao_flight(void) break; case ao_flight_pad: +#if HAS_ACCEL /* Trim velocity * * Once a second, remove any velocity from @@ -366,6 +413,7 @@ ao_flight(void) ao_flight_vel -= ao_old_vel; ao_old_vel = ao_flight_vel; } +#endif /* pad to boost: * * accelerometer: > 2g AND velocity > 5m/s @@ -376,11 +424,18 @@ ao_flight(void) * the barometer, but we use both to make sure this * transition is detected */ - if ((ao_flight_accel < ao_ground_accel - ACCEL_BOOST && - ao_flight_vel > ACCEL_VEL_BOOST) || + if ( +#if HAS_ACCEL + (ao_flight_accel < ao_ground_accel - ACCEL_BOOST && + ao_flight_vel > ACCEL_VEL_BOOST) || +#endif ao_flight_pres < ao_ground_pres - BARO_LAUNCH) { +#if HAS_ACCEL ao_flight_state = ao_flight_boost; +#else + ao_flight_state = ao_flight_coast; +#endif ao_launch_tick = ao_flight_tick; /* start logging data */ @@ -392,14 +447,17 @@ ao_flight(void) /* disable RDF beacon */ ao_rdf_set(0); +#if HAS_GPS /* Record current GPS position by waking up GPS log tasks */ ao_wakeup(&ao_gps_data); ao_wakeup(&ao_gps_tracking_data); +#endif ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); break; } break; +#if HAS_ACCEL case ao_flight_boost: /* boost to fast: @@ -448,6 +506,7 @@ ao_flight(void) ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } break; +#endif case ao_flight_coast: /* apogee detect: coast to drogue deploy: @@ -478,8 +537,10 @@ ao_flight(void) /* Set the 'last' limits to max range to prevent * early resting detection */ +#if HAS_ACCEL ao_interval_min_accel = 0; ao_interval_max_accel = 0x7fff; +#endif ao_interval_min_pres = 0; ao_interval_max_pres = 0x7fff; @@ -487,7 +548,9 @@ ao_flight(void) ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; +#if HAS_ACCEL ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; +#endif /* and enter drogue state */ ao_flight_state = ao_flight_drogue; @@ -530,21 +593,28 @@ ao_flight(void) ao_interval_cur_min_pres = ao_flight_pres; if (ao_flight_pres > ao_interval_cur_max_pres) ao_interval_cur_max_pres = ao_flight_pres; +#if HAS_ACCEL if (ao_flight_accel < ao_interval_cur_min_accel) ao_interval_cur_min_accel = ao_flight_accel; if (ao_flight_accel > ao_interval_cur_max_accel) ao_interval_cur_max_accel = ao_flight_accel; +#endif if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) { ao_interval_max_pres = ao_interval_cur_max_pres; ao_interval_min_pres = ao_interval_cur_min_pres; + ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; +#if HAS_ACCEL ao_interval_max_accel = ao_interval_cur_max_accel; ao_interval_min_accel = ao_interval_cur_min_accel; - ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; - ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; +#endif + ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; - if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND && + if ( +#if HAS_ACCEL + (uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND && +#endif ao_flight_pres > ao_ground_pres - BARO_LAND && (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND) { diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c index 0c2006d5..e75bc8df 100644 --- a/src/ao_flight_test.c +++ b/src/ao_flight_test.c @@ -155,6 +155,15 @@ struct ao_config ao_config; #define DATA_TO_XDATA(x) (x) +#define HAS_FLIGHT 1 +#define HAS_ADC 1 +#define HAS_USB 1 +#define HAS_GPS 1 +#ifndef HAS_ACCEL +#define HAS_ACCEL 1 +#endif +#define HAS_ACCEL_REF 0 + #include "ao_flight.c" void diff --git a/src/ao_log.c b/src/ao_log.c index 1b10961d..817d3e6f 100644 --- a/src/ao_log.c +++ b/src/ao_log.c @@ -92,7 +92,9 @@ ao_log(void) log.type = AO_LOG_FLIGHT; log.tick = ao_flight_tick; +#if HAS_ACCEL log.u.flight.ground_accel = ao_ground_accel; +#endif log.u.flight.flight = ao_flight_number; ao_log_data(&log); diff --git a/src/ao_panic.c b/src/ao_panic.c index e996371e..fdada201 100644 --- a/src/ao_panic.c +++ b/src/ao_panic.c @@ -17,6 +17,14 @@ #include "ao.h" +#ifndef HAS_BEEP +#error Please define HAS_BEEP +#endif + +#if !HAS_BEEP +#define ao_beep(x) +#endif + static void ao_panic_delay(uint8_t n) { diff --git a/src/ao_pins.h b/src/ao_pins.h index 2c5b9db5..59604588 100644 --- a/src/ao_pins.h +++ b/src/ao_pins.h @@ -19,6 +19,9 @@ #define _AO_PINS_H_ #if defined(TELEMETRUM_V_1_0) + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 #define HAS_SERIAL_1 1 #define HAS_ADC 1 #define HAS_EEPROM 1 @@ -32,9 +35,13 @@ #define LEDS_AVAILABLE (AO_LED_RED) #define HAS_EXTERNAL_TEMP 0 #define HAS_ACCEL_REF 0 + #define HAS_ACCEL 1 #endif #if defined(TELEMETRUM_V_1_1) + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 #define HAS_SERIAL_1 1 #define HAS_ADC 1 #define HAS_EEPROM 1 @@ -52,9 +59,12 @@ #define SPI_CS_ON_P0 0 #define M25_CS_MASK 0x02 /* CS0 is P1_1 */ #define M25_MAX_CHIPS 1 + #define HAS_ACCEL 1 #endif #if defined(TELEDONGLE_V_0_2) + #define HAS_USB 1 + #define HAS_BEEP 0 #define HAS_SERIAL_1 0 #define HAS_ADC 0 #define HAS_DBG 1 @@ -71,6 +81,9 @@ #endif #if defined(TELEMETRUM_V_0_1) + #define HAS_USB 1 + #define HAS_BEEP 1 + #define HAS_GPS 1 #define HAS_SERIAL_1 1 #define HAS_ADC 1 #define HAS_DBG 0 @@ -86,9 +99,12 @@ #define HAS_ACCEL_REF 0 #define SPI_CS_ON_P1 1 #define SPI_CS_ON_P0 0 + #define HAS_ACCEL 1 #endif #if defined(TELEDONGLE_V_0_1) + #define HAS_USB 1 + #define HAS_BEEP 0 #define HAS_SERIAL_1 0 #define HAS_ADC 0 #define HAS_DBG 0 @@ -105,6 +121,8 @@ #endif #if defined(TIDONGLE) + #define HAS_USB 1 + #define HAS_BEEP 0 #define HAS_SERIAL_1 0 #define HAS_ADC 0 #define HAS_DBG 1 diff --git a/src/ao_product.c b/src/ao_product.c index 82d6298f..54ba2a14 100644 --- a/src/ao_product.c +++ b/src/ao_product.c @@ -16,7 +16,6 @@ */ #include "ao.h" -#include "ao_usb.h" #include PRODUCT_DEFS /* Defines which mark this particular AltOS product */ @@ -27,6 +26,8 @@ const char ao_product[] = AO_iProduct_STRING; #define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8)) +#if HAS_USB +#include "ao_usb.h" /* USB descriptors in one giant block of bytes */ __code __at(0x00aa) uint8_t ao_usb_descriptors [] = { @@ -151,3 +152,4 @@ __code __at(0x00aa) uint8_t ao_usb_descriptors [] = /* Terminating zero */ 0 }; +#endif diff --git a/src/ao_report.c b/src/ao_report.c index cc8b512b..c9ee7cae 100644 --- a/src/ao_report.c +++ b/src/ao_report.c @@ -37,10 +37,14 @@ static const uint8_t flight_reports[] = { MORSE4(1,0,0,1), /* invalid 'X' */ }; -#if 1 -#define signal(time) ao_beep_for(AO_BEEP_MID, time) +#if HAS_BEEP +#define low(time) ao_beep_for(AO_BEEP_LOW, time) +#define mid(time) ao_beep_for(AO_BEEP_MID, time) +#define high(time) ao_beep_for(AO_BEEP_HIGH, time) #else -#define signal(time) ao_led_for(AO_LED_RED, time) +#define low(time) ao_led_for(AO_LED_RED, time) +#define mid(time) ao_led_for(AO_LED_RED|AO_LED_GREEN, time) +#define high(time) ao_led_for(AO_LED_GREEN, time) #endif #define pause(time) ao_delay(time) @@ -56,9 +60,9 @@ ao_report_beep(void) __reentrant return; while (l--) { if (r & 8) - signal(AO_MS_TO_TICKS(600)); + mid(AO_MS_TO_TICKS(600)); else - signal(AO_MS_TO_TICKS(200)); + mid(AO_MS_TO_TICKS(200)); pause(AO_MS_TO_TICKS(200)); r >>= 1; } @@ -69,12 +73,12 @@ static void ao_report_digit(uint8_t digit) __reentrant { if (!digit) { - signal(AO_MS_TO_TICKS(500)); + mid(AO_MS_TO_TICKS(500)); pause(AO_MS_TO_TICKS(200)); } else { while (digit--) { - signal(AO_MS_TO_TICKS(200)); - pause(AO_MS_TO_TICKS(200)); + mid(AO_MS_TO_TICKS(200)); + mid(AO_MS_TO_TICKS(200)); } } pause(AO_MS_TO_TICKS(300)); @@ -118,24 +122,24 @@ ao_report_continuity(void) __reentrant (ao_report_igniter_ready(ao_igniter_main) << 1)); if (c) { while (c--) { - ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(25)); + high(AO_MS_TO_TICKS(25)); pause(AO_MS_TO_TICKS(100)); } } else { c = 10; while (c--) { - ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(20)); - ao_beep_for(AO_BEEP_LOW, AO_MS_TO_TICKS(20)); + high(AO_MS_TO_TICKS(20)); + low(AO_MS_TO_TICKS(20)); } } if (ao_log_full()) { pause(AO_MS_TO_TICKS(100)); c = 2; while (c--) { - ao_beep_for(AO_BEEP_LOW, AO_MS_TO_TICKS(100)); - ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(100)); - ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(100)); - ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(100)); + low(AO_MS_TO_TICKS(100)); + mid(AO_MS_TO_TICKS(100)); + high(AO_MS_TO_TICKS(100)); + mid(AO_MS_TO_TICKS(100)); } } c = 50; diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c index 7aad929f..dd79f3fc 100644 --- a/src/ao_telemetry.c +++ b/src/ao_telemetry.c @@ -42,16 +42,22 @@ ao_telemetry(void) while (ao_telemetry_interval == 0) ao_sleep(&ao_telemetry_interval); telemetry.flight_state = ao_flight_state; +#if HAS_ACCEL telemetry.flight_accel = ao_flight_accel; telemetry.ground_accel = ao_ground_accel; telemetry.flight_vel = ao_flight_vel; +#endif telemetry.flight_pres = ao_flight_pres; telemetry.ground_pres = ao_ground_pres; +#if HAS_ADC ao_adc_get(&telemetry.adc); +#endif +#if HAS_GPS ao_mutex_get(&ao_gps_mutex); memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data)); memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data)); ao_mutex_put(&ao_gps_mutex); +#endif ao_radio_send(&telemetry, sizeof (telemetry)); ao_delay(ao_telemetry_interval); if (ao_rdf && |