#include "ao.h"
-/* XXX make serial numbers real */
-
-uint8_t ao_serial_number = 2;
+__xdata uint16_t ao_telemetry_interval = 0;
void
-ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant
+ao_telemetry(void)
{
- if (ao_flight_state != ao_flight_idle && ao_flight_state != ao_flight_startup) {
- telemetry->addr = ao_serial_number;
- telemetry->flight_state = ao_flight_state;
- ao_radio_send(telemetry);
+ static __xdata struct ao_telemetry telemetry;
+
+ ao_config_get();
+ memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+ telemetry.addr = ao_serial_number;
+ for (;;) {
+ while (ao_telemetry_interval == 0)
+ ao_sleep(&ao_telemetry_interval);
+ telemetry.flight_state = ao_flight_state;
+ telemetry.flight_accel = ao_flight_accel;
+ telemetry.ground_accel = ao_ground_accel;
+ telemetry.flight_vel = ao_flight_vel;
+ telemetry.flight_pres = ao_flight_pres;
+ telemetry.ground_pres = ao_ground_pres;
+ ao_adc_get(&telemetry.adc);
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+ ao_mutex_put(&ao_gps_mutex);
+ ao_radio_send(&telemetry);
+ ao_delay(ao_telemetry_interval);
}
}
void
-ao_telemetry(void)
+ao_telemetry_set_interval(uint16_t interval)
{
- static __xdata struct ao_radio_recv recv;
- static uint8_t state;
-
- while (ao_flight_state == ao_flight_startup || ao_flight_state == ao_flight_idle)
- ao_sleep(DATA_TO_XDATA(&ao_flight_state));
-
- recv.telemetry.type = AO_TELEMETRY_SENSOR;
- for (;;) {
- ao_adc_get(&recv.telemetry.u.adc);
- ao_telemetry_send(&recv.telemetry);
- ao_delay(AO_MS_TO_TICKS(1000));
- }
+ ao_telemetry_interval = interval;
+ ao_wakeup(&ao_telemetry_interval);
}
__xdata struct ao_task ao_telemetry_task;