diff options
Diffstat (limited to 'src/kernel/ao_telemetry.c')
| -rw-r--r-- | src/kernel/ao_telemetry.c | 40 |
1 files changed, 33 insertions, 7 deletions
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index 9f778b09..56bd715e 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -1,5 +1,5 @@ /* - * Copyright © 2011 Keith Packard <keithp@keithp.com> + * Copyright © 2011 Keth Packard <keithp@keithp.com> * * 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 @@ -25,6 +25,10 @@ static __pdata uint16_t ao_telemetry_interval; +#if HAS_RADIO_RATE +static __xdata 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; @@ -339,7 +344,7 @@ ao_send_location(void) ao_mutex_get(&ao_gps_mutex); ao_xmemcpy(&telemetry.location.flags, &ao_gps_data.flags, - 26); + 27); telemetry.location.tick = ao_gps_tick; ao_mutex_put(&ao_gps_mutex); ao_radio_send(&telemetry, sizeof (telemetry)); @@ -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 __xdata 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; @@ -521,7 +547,7 @@ ao_telemetry_set_interval(uint16_t interval) ao_telemetry_companion_cur = cur; #endif - ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval; + ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval; #if HAS_COMPANION if (ao_telemetry_config_max > cur) cur++; |