#include "ao.h"
__xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
+
+#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS 500
void
ao_telemetry(void)
static __xdata struct ao_telemetry telemetry;
ao_config_get();
+ while (!ao_flight_number)
+ ao_sleep(&ao_flight_number);
memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
telemetry.addr = ao_serial_number;
+ telemetry.flight = ao_flight_number;
+ telemetry.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.accel_minus_g = ao_config.accel_minus_g;
+ ao_rdf_time = ao_time();
for (;;) {
while (ao_telemetry_interval == 0)
ao_sleep(&ao_telemetry_interval);
ao_mutex_put(&ao_gps_mutex);
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_TICKS;
+ ao_radio_rdf(AO_RDF_LENGTH_MS);
+ ao_delay(ao_telemetry_interval);
+ }
}
}
ao_wakeup(&ao_telemetry_interval);
}
+void
+ao_rdf_set(uint8_t rdf)
+{
+ ao_rdf = rdf;
+ if (rdf == 0)
+ ao_radio_rdf_abort();
+ else
+ ao_rdf_time = ao_time();
+}
+
__xdata struct ao_task ao_telemetry_task;
void