*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#endif
#define pause(time) ao_delay(time)
+static __xdata enum ao_flight_state ao_report_state;
+
static void
-ao_report_state(void)
+ao_report_beep(void) __reentrant
{
char *r = flight_reports[ao_flight_state];
char c;
signal(AO_MS_TO_TICKS(600));
pause(AO_MS_TO_TICKS(200));
}
+ pause(AO_MS_TO_TICKS(400));
}
-static __xdata ao_report_wait;
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+ if (!digit) {
+ signal(AO_MS_TO_TICKS(500));
+ pause(AO_MS_TO_TICKS(200));
+ } else {
+ while (digit--) {
+ signal(AO_MS_TO_TICKS(200));
+ pause(AO_MS_TO_TICKS(200));
+ }
+ }
+ pause(AO_MS_TO_TICKS(300));
+}
-void
-ao_report_notify(void)
+static void
+ao_report_altitude(void)
{
- ao_wakeup(&ao_report_wait);
+ __xdata int16_t agl = ao_pres_to_altitude(ao_min_pres) - ao_pres_to_altitude(ao_ground_pres);
+ __xdata uint8_t digits[10];
+ __xdata uint8_t ndigits, i;
+
+ if (agl < 0)
+ agl = 0;
+ ndigits = 0;
+ do {
+ digits[ndigits++] = agl % 10;
+ agl /= 10;
+ } while (agl);
+
+ for (;;) {
+ ao_report_beep();
+ i = ndigits;
+ do
+ ao_report_digit(digits[--i]);
+ while (i != 0);
+ pause(AO_SEC_TO_TICKS(5));
+ }
}
void
ao_report(void)
{
+ ao_report_state = ao_flight_state;
for(;;) {
- ao_report_state();
- ao_sleep(&ao_report_wait);
+ if (ao_flight_state == ao_flight_landed)
+ ao_report_altitude();
+ ao_report_beep();
+ __critical {
+ while (ao_report_state == ao_flight_state)
+ ao_sleep(DATA_TO_XDATA(&ao_flight_state));
+ ao_report_state = ao_flight_state;
+ }
}
}
void
ao_report_init(void)
{
- ao_add_task(&ao_report_task, ao_report);
+ ao_add_task(&ao_report_task, ao_report, "report");
}