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 memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
34 telemetry.addr = ao_serial_number;
35 ao_rdf_time = ao_time();
37 while (ao_telemetry_interval == 0)
38 ao_sleep(&ao_telemetry_interval);
39 telemetry.flight_state = ao_flight_state;
40 telemetry.flight_accel = ao_flight_accel;
41 telemetry.ground_accel = ao_ground_accel;
42 telemetry.flight_vel = ao_flight_vel;
43 telemetry.flight_pres = ao_flight_pres;
44 telemetry.ground_pres = ao_ground_pres;
45 ao_adc_get(&telemetry.adc);
46 ao_mutex_get(&ao_gps_mutex);
47 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
48 memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
49 ao_mutex_put(&ao_gps_mutex);
50 ao_radio_send(&telemetry);
51 ao_delay(ao_telemetry_interval);
53 (int16_t) (ao_time() - ao_rdf_time) >= 0)
55 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
56 ao_radio_rdf(AO_RDF_LENGTH_MS);
57 ao_delay(ao_telemetry_interval);
63 ao_telemetry_set_interval(uint16_t interval)
65 ao_telemetry_interval = interval;
66 ao_wakeup(&ao_telemetry_interval);
70 ao_rdf_set(uint8_t rdf)
76 ao_rdf_time = ao_time();
79 __xdata struct ao_task ao_telemetry_task;
84 ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");