diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/ao.h | 162 | ||||
| -rw-r--r-- | src/ao_gps_print.c | 6 | ||||
| -rw-r--r-- | src/ao_gps_report.c | 12 | ||||
| -rw-r--r-- | src/ao_gps_sirf.c | 6 | ||||
| -rw-r--r-- | src/ao_gps_skytraq.c | 10 | ||||
| -rw-r--r-- | src/ao_gps_test.c | 12 | ||||
| -rw-r--r-- | src/ao_gps_test_skytraq.c | 13 | ||||
| -rw-r--r-- | src/ao_monitor.c | 81 | ||||
| -rw-r--r-- | src/ao_telemetry.c | 170 |
9 files changed, 292 insertions, 180 deletions
@@ -965,80 +965,8 @@ void ao_spi_init(void); /* - * ao_gps.c + * ao_telemetry.c */ - -#define AO_GPS_NUM_SAT_MASK (0xf << 0) -#define AO_GPS_NUM_SAT_SHIFT (0) - -#define AO_GPS_VALID (1 << 4) -#define AO_GPS_RUNNING (1 << 5) -#define AO_GPS_DATE_VALID (1 << 6) -#define AO_GPS_COURSE_VALID (1 << 7) - -extern __xdata uint16_t ao_gps_tick; - -struct ao_gps_data { - uint8_t year; - uint8_t month; - uint8_t day; - uint8_t hour; - uint8_t minute; - uint8_t second; - uint8_t flags; - int32_t latitude; /* degrees * 10⁷ */ - int32_t longitude; /* degrees * 10⁷ */ - int16_t altitude; /* m */ - uint16_t ground_speed; /* cm/s */ - uint8_t course; /* degrees / 2 */ - uint8_t hdop; /* * 5 */ - int16_t climb_rate; /* cm/s */ - uint16_t h_error; /* m */ - uint16_t v_error; /* m */ -}; - -struct ao_gps_sat_data { - uint8_t svid; - uint8_t c_n_1; -}; - -#define AO_MAX_GPS_TRACKING 12 - -struct ao_gps_tracking_data { - uint8_t channels; - struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING]; -}; - -extern __xdata uint8_t ao_gps_mutex; -extern __xdata struct ao_gps_data ao_gps_data; -extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data; - -void -ao_gps(void); - -void -ao_gps_print(__xdata struct ao_gps_data *gps_data); - -void -ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data); - -void -ao_gps_init(void); - -/* - * ao_gps_report.c - */ - -void -ao_gps_report(void); - -void -ao_gps_report_init(void); - -/* - * ao_telemetry_orig.c - */ - #define AO_MAX_CALLSIGN 8 #define AO_MAX_VERSION 8 #define AO_MAX_TELEMETRY 128 @@ -1126,12 +1054,13 @@ struct ao_telemetry_location { uint8_t vdop; /* 24 (m * 5) */ uint8_t mode; /* 25 */ uint16_t ground_speed; /* 26 cm/s */ - uint8_t course; /* 28 degrees / 2 */ - uint8_t unused[3]; /* 29 */ + int16_t climb_rate; /* 28 cm/s */ + uint8_t course; /* 30 degrees / 2 */ + uint8_t unused[1]; /* 31 */ /* 32 */ }; -#define AO_TELEMETRY_SATELLITE 0x12 +#define AO_TELEMETRY_SATELLITE 0x06 struct ao_telemetry_satellite_info { uint8_t svid; @@ -1157,10 +1086,79 @@ union ao_telemetry_all { struct ao_telemetry_satellite satellite; }; -#define AO_SAT_0_SSID(s) ((s)[0] & 0x3f) -#define AO_SAT_0_C_N_1(s) ((((s)[0] & 0xc0) >> 2) | ((s)[1] & 0x0f)) -#define AO_SAT_1_SSID(s) ((((s)[1] & 0xf0) >> 2) | ((s)[2] & 0x03)) -#define AO_SAT_1_C_N_1(s) (((s)[2] & 0xfc) >> 2) +/* + * ao_gps.c + */ + +#define AO_GPS_NUM_SAT_MASK (0xf << 0) +#define AO_GPS_NUM_SAT_SHIFT (0) + +#define AO_GPS_VALID (1 << 4) +#define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) + +extern __xdata uint16_t ao_gps_tick; +extern __xdata uint8_t ao_gps_mutex; +extern __xdata struct ao_telemetry_location ao_gps_data; +extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data; + +struct ao_gps_orig { + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t minute; + uint8_t second; + uint8_t flags; + int32_t latitude; /* degrees * 10⁷ */ + int32_t longitude; /* degrees * 10⁷ */ + int16_t altitude; /* m */ + uint16_t ground_speed; /* cm/s */ + uint8_t course; /* degrees / 2 */ + uint8_t hdop; /* * 5 */ + int16_t climb_rate; /* cm/s */ + uint16_t h_error; /* m */ + uint16_t v_error; /* m */ +}; + +struct ao_gps_sat_orig { + uint8_t svid; + uint8_t c_n_1; +}; + +#define AO_MAX_GPS_TRACKING 12 + +struct ao_gps_tracking_orig { + uint8_t channels; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; +}; + +void +ao_gps(void); + +void +ao_gps_print(__xdata struct ao_gps_orig *gps_data); + +void +ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data); + +void +ao_gps_init(void); + +/* + * ao_gps_report.c + */ + +void +ao_gps_report(void); + +void +ao_gps_report_init(void); + +/* + * ao_telemetry_orig.c + */ struct ao_telemetry_orig { uint16_t serial; @@ -1180,9 +1178,9 @@ struct ao_telemetry_orig { int16_t accel_plus_g; int16_t accel_minus_g; struct ao_adc adc; - struct ao_gps_data gps; + struct ao_gps_orig gps; char callsign[AO_MAX_CALLSIGN]; - struct ao_gps_tracking_data gps_tracking; + struct ao_gps_tracking_orig gps_tracking; }; struct ao_telemetry_tiny { diff --git a/src/ao_gps_print.c b/src/ao_gps_print.c index ca071b42..fcdedd30 100644 --- a/src/ao_gps_print.c +++ b/src/ao_gps_print.c @@ -21,7 +21,7 @@ #include "ao_telem.h" void -ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant +ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant { char state; @@ -77,10 +77,10 @@ ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant } void -ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data) __reentrant +ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data) __reentrant { uint8_t c, n, v; - __xdata struct ao_gps_sat_data *sat; + __xdata struct ao_gps_sat_orig *sat; n = gps_tracking_data->channels; if (n == 0) diff --git a/src/ao_gps_report.c b/src/ao_gps_report.c index 7abc93f5..e57f8744 100644 --- a/src/ao_gps_report.c +++ b/src/ao_gps_report.c @@ -20,14 +20,14 @@ void ao_gps_report(void) { - static __xdata struct ao_log_record gps_log; - static __xdata struct ao_gps_data gps_data; + static __xdata struct ao_log_record gps_log; + static __xdata struct ao_telemetry_location gps_data; uint8_t date_reported = 0; for (;;) { ao_sleep(&ao_gps_data); ao_mutex_get(&ao_gps_mutex); - memcpy(&gps_data, &ao_gps_data, sizeof (struct ao_gps_data)); + memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data)); ao_mutex_put(&ao_gps_mutex); if (!(gps_data.flags & AO_GPS_VALID)) @@ -64,15 +64,15 @@ ao_gps_report(void) void ao_gps_tracking_report(void) { - static __xdata struct ao_log_record gps_log; - static __xdata struct ao_gps_tracking_data gps_tracking_data; + static __xdata struct ao_log_record gps_log; + static __xdata struct ao_telemetry_satellite gps_tracking_data; uint8_t c, n; for (;;) { ao_sleep(&ao_gps_tracking_data); ao_mutex_get(&ao_gps_mutex); gps_log.tick = ao_gps_tick; - memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data)); + memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data)); ao_mutex_put(&ao_gps_mutex); if (!(n = gps_tracking_data.channels)) diff --git a/src/ao_gps_sirf.c b/src/ao_gps_sirf.c index 87b1d69c..5827c687 100644 --- a/src/ao_gps_sirf.c +++ b/src/ao_gps_sirf.c @@ -21,8 +21,8 @@ __xdata uint8_t ao_gps_mutex; __xdata uint16_t ao_gps_tick; -__xdata struct ao_gps_data ao_gps_data; -__xdata struct ao_gps_tracking_data ao_gps_tracking_data; +__xdata struct ao_telemetry_location ao_gps_data; +__xdata struct ao_telemetry_satellite ao_gps_tracking_data; static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,57600,8,1,0*37\r\n"; @@ -406,6 +406,7 @@ ao_gps(void) __reentrant ao_gps_data.hdop = ao_sirf_data.hdop; ao_gps_data.climb_rate = ao_sirf_data.climb_rate; ao_gps_data.flags |= AO_GPS_COURSE_VALID; +#if 0 if (ao_sirf_data.h_error > 6553500) ao_gps_data.h_error = 65535; else @@ -414,6 +415,7 @@ ao_gps(void) __reentrant ao_gps_data.v_error = 65535; else ao_gps_data.v_error = ao_sirf_data.v_error / 100; +#endif ao_mutex_put(&ao_gps_mutex); ao_wakeup(&ao_gps_data); break; diff --git a/src/ao_gps_skytraq.c b/src/ao_gps_skytraq.c index 6099ca96..84743ff5 100644 --- a/src/ao_gps_skytraq.c +++ b/src/ao_gps_skytraq.c @@ -29,13 +29,13 @@ static __xdata uint8_t ao_gps_cksum; static __xdata uint8_t ao_gps_error; __xdata uint16_t ao_gps_tick; -__xdata struct ao_gps_data ao_gps_data; -__xdata struct ao_gps_tracking_data ao_gps_tracking_data; +__xdata struct ao_telemetry_location ao_gps_data; +__xdata struct ao_telemetry_satellite ao_gps_tracking_data; static __xdata uint16_t ao_gps_next_tick; -static __xdata struct ao_gps_data ao_gps_next; +static __xdata struct ao_telemetry_location ao_gps_next; static __xdata uint8_t ao_gps_date_flags; -static __xdata struct ao_gps_tracking_data ao_gps_tracking_next; +static __xdata struct ao_telemetry_satellite ao_gps_tracking_next; #define STQ_S 0xa0, 0xa1 #define STQ_E 0x0d, 0x0a @@ -265,7 +265,7 @@ ao_nmea_gga() if (!ao_gps_error) { ao_mutex_get(&ao_gps_mutex); ao_gps_tick = ao_gps_next_tick; - memcpy(&ao_gps_data, &ao_gps_next, sizeof (struct ao_gps_data)); + memcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data)); ao_mutex_put(&ao_gps_mutex); ao_wakeup(&ao_gps_data); } diff --git a/src/ao_gps_test.c b/src/ao_gps_test.c index 44efb50c..93d7a9ab 100644 --- a/src/ao_gps_test.c +++ b/src/ao_gps_test.c @@ -30,7 +30,7 @@ #define AO_GPS_DATE_VALID (1 << 6) #define AO_GPS_COURSE_VALID (1 << 7) -struct ao_gps_data { +struct ao_gps_orig { uint8_t year; uint8_t month; uint8_t day; @@ -58,18 +58,22 @@ struct ao_gps_data { #define SIRF_SAT_ACQUISITION_FAILED (1 << 6) #define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7) -struct ao_gps_sat_data { +struct ao_gps_sat_orig { uint8_t svid; uint8_t c_n_1; }; #define AO_MAX_GPS_TRACKING 12 -struct ao_gps_tracking_data { +struct ao_gps_tracking_orig { uint8_t channels; - struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING]; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; }; +#define ao_telemetry_location ao_gps_orig +#define ao_telemetry_satellite ao_gps_tracking_orig +#define ao_telemetry_satellite_info ao_gps_sat_orig + void ao_mutex_get(uint8_t *mutex) { diff --git a/src/ao_gps_test_skytraq.c b/src/ao_gps_test_skytraq.c index b94e9bd2..a78fae0f 100644 --- a/src/ao_gps_test_skytraq.c +++ b/src/ao_gps_test_skytraq.c @@ -30,7 +30,7 @@ #define AO_GPS_DATE_VALID (1 << 6) #define AO_GPS_COURSE_VALID (1 << 7) -struct ao_gps_data { +struct ao_gps_orig { uint8_t year; uint8_t month; uint8_t day; @@ -58,19 +58,22 @@ struct ao_gps_data { #define SIRF_SAT_ACQUISITION_FAILED (1 << 6) #define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7) -struct ao_gps_sat_data { +struct ao_gps_sat_orig { uint8_t svid; - uint8_t state; uint8_t c_n_1; }; #define AO_MAX_GPS_TRACKING 12 -struct ao_gps_tracking_data { +struct ao_gps_tracking_orig { uint8_t channels; - struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING]; + struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING]; }; +#define ao_telemetry_location ao_gps_orig +#define ao_telemetry_satellite ao_gps_tracking_orig +#define ao_telemetry_satellite_info ao_gps_sat_orig + void ao_mutex_get(uint8_t *mutex) { diff --git a/src/ao_monitor.c b/src/ao_monitor.c index e5e9159f..8f1b9e12 100644 --- a/src/ao_monitor.c +++ b/src/ao_monitor.c @@ -21,32 +21,71 @@ __xdata uint8_t ao_monitoring; __pdata uint8_t ao_monitor_led; -void -ao_monitor(void) -{ - __xdata char callsign[AO_MAX_CALLSIGN+1]; - __xdata union { +#define AO_MONITOR_RING 8 + +__xdata union ao_monitor { struct ao_telemetry_raw_recv raw; struct ao_telemetry_orig_recv orig; struct ao_telemetry_tiny_recv tiny; - } u; +} ao_monitor_ring[AO_MONITOR_RING]; + +#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1)) -#define recv_raw (u.raw) -#define recv_orig (u.orig) -#define recv_tiny (u.tiny) +__data uint8_t ao_monitor_head; +void +ao_monitor_get(void) +{ + uint8_t size; + + for (;;) { + switch (ao_monitoring) { + case 0: + ao_sleep(&ao_monitoring); + continue; + case AO_MONITORING_ORIG: + size = sizeof (struct ao_telemetry_orig_recv); + break; + case AO_MONITORING_TINY: + size = sizeof (struct ao_telemetry_tiny_recv); + break; + default: + if (ao_monitoring > AO_MAX_TELEMETRY) + ao_monitoring = AO_MAX_TELEMETRY; + size = ao_monitoring; + break; + } + if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2)) + continue; + ao_monitor_head = ao_monitor_ring_next(ao_monitor_head); + ao_wakeup(DATA_TO_XDATA(&ao_monitor_head)); + ao_led_toggle(ao_monitor_led); + } +} + +void +ao_monitor_put(void) +{ + __xdata char callsign[AO_MAX_CALLSIGN+1]; + + uint8_t ao_monitor_tail; uint8_t state; uint8_t sum, byte; int16_t rssi; + __xdata union ao_monitor *m; + +#define recv_raw ((m->raw)) +#define recv_orig ((m->orig)) +#define recv_tiny ((m->tiny)) + ao_monitor_tail = ao_monitor_head; for (;;) { - __critical while (!ao_monitoring) - ao_sleep(&ao_monitoring); + while (ao_monitor_tail == ao_monitor_head) + ao_sleep(DATA_TO_XDATA(&ao_monitor_head)); + m = &ao_monitor_ring[ao_monitor_tail]; + ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail); switch (ao_monitoring) { case AO_MONITORING_ORIG: - if (!ao_radio_recv(&recv_orig, sizeof (struct ao_telemetry_orig_recv))) - continue; - state = recv_orig.telemetry_orig.flight_state; /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */ @@ -122,9 +161,6 @@ ao_monitor(void) } break; case AO_MONITORING_TINY: - if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv))) - continue; - state = recv_tiny.telemetry_tiny.flight_state; /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */ @@ -188,10 +224,6 @@ ao_monitor(void) } break; default: - if (ao_monitoring > AO_MAX_TELEMETRY) - ao_monitoring = AO_MAX_TELEMETRY; - if (!ao_radio_recv(&recv_raw, ao_monitoring + 2)) - continue; printf ("TELEM %02x", ao_monitoring + 2); sum = 0x5a; for (state = 0; state < ao_monitoring + 2; state++) { @@ -203,11 +235,11 @@ ao_monitor(void) break; } ao_usb_flush(); - ao_led_toggle(ao_monitor_led); } } -__xdata struct ao_task ao_monitor_task; +__xdata struct ao_task ao_monitor_get_task; +__xdata struct ao_task ao_monitor_put_task; void ao_set_monitor(uint8_t monitoring) @@ -236,5 +268,6 @@ ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant ao_monitor_led = monitor_led; ao_monitoring = monitoring; ao_cmd_register(&ao_monitor_cmds[0]); - ao_add_task(&ao_monitor_task, ao_monitor, "monitor"); + ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get"); + ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put"); } diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c index 024ac6f8..94ea0b22 100644 --- a/src/ao_telemetry.c +++ b/src/ao_telemetry.c @@ -18,7 +18,13 @@ #include "ao.h" #include "ao_product.h" -__xdata uint16_t ao_telemetry_interval = 0; +__xdata uint16_t ao_telemetry_interval; +__xdata int8_t ao_telemetry_config_max; +__xdata int8_t ao_telemetry_config_cur; +#if HAS_GPS +__xdata int8_t ao_telemetry_loc_cur; +__xdata int8_t ao_telemetry_sat_cur; +#endif __xdata uint8_t ao_rdf = 0; __xdata uint16_t ao_rdf_time; @@ -37,13 +43,110 @@ __xdata uint16_t ao_rdf_time; #define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO #endif +static __xdata union ao_telemetry_all telemetry; + +/* Send sensor packet */ +static void +ao_send_sensor(void) +{ + uint8_t sample; + sample = ao_sample_adc; + + telemetry.generic.tick = ao_adc_ring[sample].tick; + telemetry.generic.type = AO_TELEMETRY_SENSOR; + + telemetry.sensor.state = ao_flight_state; +#if HAS_ACCEL + telemetry.sensor.accel = ao_adc_ring[sample].accel; +#else + telemetry.sensor.accel = 0; +#endif + telemetry.sensor.pres = ao_adc_ring[sample].pres; + telemetry.sensor.temp = ao_adc_ring[sample].temp; + telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt; +#if HAS_IGNITE + telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d; + telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m; +#else + telemetry.sensor.sense_d = 0; + telemetry.sensor.sense_m = 0; +#endif + + telemetry.sensor.acceleration = ao_accel; + telemetry.sensor.speed = ao_speed; + telemetry.sensor.height = ao_height; + + telemetry.sensor.ground_pres = ao_ground_pres; + telemetry.sensor.ground_accel = ao_ground_accel; + telemetry.sensor.accel_plus_g = ao_config.accel_plus_g; + telemetry.sensor.accel_minus_g = ao_config.accel_minus_g; + + ao_radio_send(&telemetry, sizeof (telemetry)); +} + +static void +ao_send_configuration(void) +{ + if (--ao_telemetry_config_cur <= 0) + { + telemetry.generic.type = AO_TELEMETRY_CONFIGURATION; + telemetry.configuration.device = AO_idProduct_NUMBER; + telemetry.configuration.flight = ao_flight_number; + telemetry.configuration.config_major = AO_CONFIG_MAJOR; + telemetry.configuration.config_minor = AO_CONFIG_MINOR; + telemetry.configuration.main_deploy = ao_config.main_deploy; + telemetry.configuration.flight_log_max = ao_config.flight_log_max; + memcpy (telemetry.configuration.callsign, + ao_config.callsign, + AO_MAX_CALLSIGN); + memcpy (telemetry.configuration.version, + ao_version, + AO_MAX_VERSION); + ao_radio_send(&telemetry, sizeof (telemetry)); + ao_telemetry_config_cur = ao_telemetry_config_max; + } +} + +#if HAS_GPS +static void +ao_send_location(void) +{ + if (--ao_telemetry_loc_cur <= 0) + { + telemetry.generic.type = AO_TELEMETRY_LOCATION; + ao_mutex_get(&ao_gps_mutex); + memcpy(&telemetry.location.flags, + &ao_gps_data.flags, + 26); + ao_mutex_put(&ao_gps_mutex); + ao_radio_send(&telemetry, sizeof (telemetry)); + ao_telemetry_loc_cur = ao_telemetry_config_max; + } +} + +static void +ao_send_satellite(void) +{ + if (--ao_telemetry_sat_cur <= 0) + { + telemetry.generic.type = AO_TELEMETRY_SATELLITE; + ao_mutex_get(&ao_gps_mutex); + telemetry.satellite.channels = ao_gps_tracking_data.channels; + memcpy(&telemetry.satellite.sats, + &ao_gps_tracking_data.sats, + 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; + } +} +#endif + void ao_telemetry(void) { uint16_t time; int16_t delay; - static __xdata union ao_telemetry_all telemetry; - uint8_t sample; ao_config_get(); while (!ao_flight_number) @@ -56,54 +159,13 @@ ao_telemetry(void) time = ao_rdf_time = ao_time(); while (ao_telemetry_interval) { - /* Send sensor packet */ - sample = ao_sample_adc; - - telemetry.generic.tick = ao_adc_ring[sample].tick; - telemetry.generic.type = AO_TELEMETRY_SENSOR; - telemetry.sensor.state = ao_flight_state; -#if HAS_ACCEL - telemetry.sensor.accel = ao_adc_ring[sample].accel; -#else - telemetry.sensor.accel = 0; -#endif - telemetry.sensor.pres = ao_adc_ring[sample].pres; - telemetry.sensor.temp = ao_adc_ring[sample].temp; - telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt; -#if HAS_IGNITE - telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d; - telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m; -#else - telemetry.sensor.sense_d = 0; - telemetry.sensor.sense_m = 0; + ao_send_sensor(); + ao_send_configuration(); +#if HAS_GPS + ao_send_location(); + ao_send_satellite(); #endif - - telemetry.sensor.acceleration = ao_accel; - telemetry.sensor.speed = ao_speed; - telemetry.sensor.height = ao_height; - - telemetry.sensor.ground_pres = ao_ground_pres; - telemetry.sensor.ground_accel = ao_ground_accel; - telemetry.sensor.accel_plus_g = ao_config.accel_plus_g; - telemetry.sensor.accel_minus_g = ao_config.accel_minus_g; - - ao_radio_send(&telemetry, sizeof (telemetry)); - - telemetry.generic.type = AO_TELEMETRY_CONFIGURATION; - telemetry.configuration.device = AO_idProduct_NUMBER; - telemetry.configuration.flight = ao_flight_number; - telemetry.configuration.config_major = AO_CONFIG_MAJOR; - telemetry.configuration.config_minor = AO_CONFIG_MINOR; - telemetry.configuration.main_deploy = ao_config.main_deploy; - telemetry.configuration.flight_log_max = ao_config.flight_log_max; - memcpy (telemetry.configuration.callsign, - ao_config.callsign, - AO_MAX_CALLSIGN); - memcpy (telemetry.configuration.version, - ao_version, - AO_MAX_VERSION); - if (ao_rdf && (int16_t) (ao_time() - ao_rdf_time) >= 0) { @@ -124,6 +186,16 @@ void ao_telemetry_set_interval(uint16_t interval) { ao_telemetry_interval = interval; + ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval; + ao_telemetry_config_cur = 0; +#if HAS_GPS + ao_telemetry_loc_cur = 0; + if (ao_telemetry_config_max - 1 > ao_telemetry_loc_cur) + ao_telemetry_loc_cur++; + ao_telemetry_sat_cur = ao_telemetry_loc_cur; + if (ao_telemetry_config_max - 1 > ao_telemetry_sat_cur) + ao_telemetry_sat_cur++; +#endif ao_wakeup(&ao_telemetry_interval); } |