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-rw-r--r--src/kernel/ao_config.c9
-rw-r--r--src/kernel/ao_telemetry.c143
-rw-r--r--src/kernel/ao_telemetry.h6
3 files changed, 104 insertions, 54 deletions
diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 6b8a1813..8dab7c42 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -557,10 +557,10 @@ ao_config_radio_rate_set(void) __reentrant
}
_ao_config_edit_start();
ao_config.radio_rate = ao_cmd_lex_i;
+ _ao_config_edit_finish();
#if HAS_TELEMETRY
ao_telemetry_reset_interval();
#endif
- _ao_config_edit_finish();
#if HAS_RADIO_RECV
ao_radio_recv_abort();
#endif
@@ -684,6 +684,9 @@ ao_config_radio_enable_set(void) __reentrant
_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
}
#endif /* HAS_RADIO */
@@ -735,6 +738,7 @@ ao_config_aprs_set(void)
_ao_config_edit_start();
ao_config.aprs_interval = ao_cmd_lex_i;
_ao_config_edit_finish();
+ ao_telemetry_reset_interval();
}
#endif /* HAS_APRS */
@@ -825,6 +829,9 @@ ao_config_tracker_set(void)
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 */
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 5b56d025..868b3260 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -19,19 +19,32 @@
#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
+/* 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
+
#if HAS_RDF
-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;
#endif
#if HAS_APRS
@@ -308,6 +321,7 @@ ao_send_configuration(void)
#if HAS_GPS
+static __pdata int8_t ao_telemetry_gps_max;
static __pdata int8_t ao_telemetry_loc_cur;
static __pdata int8_t ao_telemetry_sat_cur;
@@ -324,7 +338,7 @@ ao_send_location(void)
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;
}
}
@@ -341,7 +355,7 @@ ao_send_satellite(void)
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;
}
}
#endif
@@ -387,6 +401,7 @@ ao_telemetry(void)
while (ao_telemetry_interval == 0)
ao_sleep(&telemetry);
time = ao_time();
+ ao_telemetry_time = time;
#if HAS_RDF
ao_rdf_time = time;
#endif
@@ -394,73 +409,85 @@ ao_telemetry(void)
ao_aprs_time = time;
#endif
while (ao_telemetry_interval) {
-#if HAS_APRS
+ time = ao_time() + AO_SEC_TO_TICKS(100);
+#ifndef SIMPLIFY
if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
#endif
{
-#if HAS_FLIGHT
+#ifndef SIMPLIFY
+ if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
+#endif
+ {
+ ao_telemetry_time = ao_time() + ao_telemetry_interval;
# ifdef AO_SEND_MEGA
- ao_send_mega_sensor();
- ao_send_mega_data();
+ ao_send_mega_sensor();
+ ao_send_mega_data();
# 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
- ao_send_mini();
+ ao_send_mini();
# endif
# ifdef AO_TELEMETRY_SENSOR
- ao_send_sensor();
+ ao_send_sensor();
# endif
-#endif /* HAS_FLIGHT */
-
#if HAS_COMPANION
- if (ao_companion_running)
- ao_send_companion();
+ if (ao_companion_running)
+ ao_send_companion();
#endif
- ao_send_configuration();
#if HAS_GPS
- ao_send_location();
- ao_send_satellite();
+ ao_send_location();
+ ao_send_satellite();
+#endif
+ ao_send_configuration();
+ }
+#ifndef SIMPLIFY
+ time = ao_telemetry_time;
#endif
}
#if HAS_RDF
- 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) {
#if HAS_IGNITE_REPORT
- 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 HAS_IGNITE_REPORT
- 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
- 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;
}
#endif /* HAS_APRS */
- time += ao_telemetry_interval;
delay = time - ao_time();
if (delay > 0) {
ao_alarm(delay);
ao_sleep(&telemetry);
ao_clear_alarm();
}
- else
- time = ao_time();
}
}
}
@@ -517,21 +544,31 @@ ao_telemetry_set_interval(uint16_t interval)
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 HAS_GPS
- 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;
- if (ao_telemetry_config_max > cur)
+ if (ao_telemetry_gps_max > cur)
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
ao_wakeup(&telemetry);
}
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 340c388e..711e0d36 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -120,6 +120,12 @@ struct ao_telemetry_location {
#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))
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-26 22:17:46 +0000