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
32 static __xdata struct ao_telemetry telemetry;
35 while (!ao_flight_number)
36 ao_sleep(&ao_flight_number);
37 memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
38 telemetry.serial = ao_serial_number;
39 telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
40 telemetry.accel_plus_g = ao_config.accel_plus_g;
41 telemetry.accel_minus_g = ao_config.accel_minus_g;
43 while (ao_telemetry_interval == 0)
44 ao_sleep(&ao_telemetry_interval);
45 time = ao_rdf_time = ao_time();
46 while (ao_telemetry_interval) {
47 telemetry.flight_state = ao_flight_state;
48 telemetry.height = ao_height;
49 telemetry.u.k.speed = ao_speed;
50 telemetry.accel = ao_accel;
51 telemetry.u.k.unused = 0x8000;
53 telemetry.ground_accel = ao_ground_accel;
55 telemetry.ground_pres = ao_ground_pres;
57 ao_adc_get(&telemetry.adc);
60 ao_mutex_get(&ao_gps_mutex);
61 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
62 memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
63 ao_mutex_put(&ao_gps_mutex);
65 ao_radio_send(&telemetry, sizeof (telemetry));
67 (int16_t) (ao_time() - ao_rdf_time) >= 0)
69 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
70 ao_radio_rdf(AO_RDF_LENGTH_MS);
72 time += ao_telemetry_interval;
73 delay = time - ao_time();
83 ao_telemetry_set_interval(uint16_t interval)
85 ao_telemetry_interval = interval;
86 ao_wakeup(&ao_telemetry_interval);
90 ao_rdf_set(uint8_t rdf)
96 ao_rdf_time = ao_time();
99 __xdata struct ao_task ao_telemetry_task;
104 ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");