2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 /* XXX make serial numbers real */
21 __xdata uint8_t ao_serial_number = 2;
23 __xdata uint16_t ao_telemetry_interval = 0;
24 __xdata uint8_t ao_rdf = 0;
25 __xdata uint16_t ao_rdf_time;
27 #define AO_RDF_INTERVAL AO_SEC_TO_TICKS(3)
32 static __xdata struct ao_telemetry telemetry;
35 memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
36 telemetry.addr = ao_serial_number;
37 ao_rdf_time = ao_time();
39 while (ao_telemetry_interval == 0)
40 ao_sleep(&ao_telemetry_interval);
41 telemetry.flight_state = ao_flight_state;
42 ao_adc_get(&telemetry.adc);
43 ao_mutex_get(&ao_gps_mutex);
44 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
45 ao_mutex_put(&ao_gps_mutex);
46 ao_radio_send(&telemetry);
47 ao_delay(ao_telemetry_interval);
49 (int16_t) (ao_time() - ao_rdf_time) >= 0)
51 ao_rdf_time = ao_time() + AO_RDF_INTERVAL;
53 ao_delay(ao_telemetry_interval);
59 ao_telemetry_set_interval(uint16_t interval)
61 ao_telemetry_interval = interval;
62 ao_wakeup(&ao_telemetry_interval);
66 ao_rdf_set(uint8_t rdf)
73 __xdata struct ao_task ao_telemetry_task;
78 ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");