#include "ao.h"
-/* XXX make serial numbers real */
+__xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
-uint8_t ao_serial_number = 2;
-
-void
-ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant
-{
- 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);
- }
-}
+#define AO_RDF_INTERVAL AO_SEC_TO_TICKS(3)
void
ao_telemetry(void)
{
static __xdata struct ao_telemetry telemetry;
- 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));
+ ao_config_get();
+ memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+ telemetry.addr = ao_serial_number;
+ ao_rdf_time = ao_time();
for (;;) {
+ while (ao_telemetry_interval == 0)
+ ao_sleep(&ao_telemetry_interval);
+ telemetry.flight_state = ao_flight_state;
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_telemetry_send(&telemetry);
- ao_delay(AO_MS_TO_TICKS(1000));
+ ao_radio_send(&telemetry);
+ ao_delay(ao_telemetry_interval);
+ if (ao_rdf &&
+ (int16_t) (ao_time() - ao_rdf_time) >= 0)
+ {
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL;
+ ao_radio_rdf();
+ ao_delay(ao_telemetry_interval);
+ }
}
}
+void
+ao_telemetry_set_interval(uint16_t interval)
+{
+ ao_telemetry_interval = interval;
+ ao_wakeup(&ao_telemetry_interval);
+}
+
+void
+ao_rdf_set(uint8_t rdf)
+{
+ ao_rdf = rdf;
+ if (rdf == 0)
+ ao_radio_rdf_abort();
+}
+
__xdata struct ao_task ao_telemetry_task;
void