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 __xdata uint16_t ao_telemetry_interval = 0;
21 __xdata uint8_t ao_rdf = 0;
22 __xdata uint16_t ao_rdf_time;
24 #define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
25 #define AO_RDF_LENGTH_MS 500
30 static __xdata struct ao_telemetry telemetry;
33 while (!ao_flight_number)
34 ao_sleep(&ao_flight_number);
35 memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
36 telemetry.addr = ao_serial_number;
37 telemetry.flight = ao_flight_number;
38 telemetry.accel_plus_g = ao_config.accel_plus_g;
39 telemetry.accel_minus_g = ao_config.accel_minus_g;
40 ao_rdf_time = ao_time();
42 while (ao_telemetry_interval == 0)
43 ao_sleep(&ao_telemetry_interval);
44 telemetry.flight_state = ao_flight_state;
45 telemetry.flight_accel = ao_flight_accel;
46 telemetry.ground_accel = ao_ground_accel;
47 telemetry.flight_vel = ao_flight_vel;
48 telemetry.flight_pres = ao_flight_pres;
49 telemetry.ground_pres = ao_ground_pres;
50 ao_adc_get(&telemetry.adc);
51 ao_mutex_get(&ao_gps_mutex);
52 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
53 memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
54 ao_mutex_put(&ao_gps_mutex);
55 ao_radio_send(&telemetry);
56 ao_delay(ao_telemetry_interval);
58 (int16_t) (ao_time() - ao_rdf_time) >= 0)
60 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
61 ao_radio_rdf(AO_RDF_LENGTH_MS);
62 ao_delay(ao_telemetry_interval);
68 ao_telemetry_set_interval(uint16_t interval)
70 ao_telemetry_interval = interval;
71 ao_wakeup(&ao_telemetry_interval);
75 ao_rdf_set(uint8_t rdf)
81 ao_rdf_time = ao_time();
84 __xdata struct ao_task ao_telemetry_task;
89 ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");