#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)
{
+ uint16_t time;
+ int16_t delay;
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.serial = ao_serial_number;
+ telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
+ telemetry.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.accel_minus_g = ao_config.accel_minus_g;
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));
- memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
- ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry);
- ao_delay(ao_telemetry_interval);
+ time = ao_rdf_time = ao_time();
+ while (ao_telemetry_interval) {
+ telemetry.flight_state = ao_flight_state;
+ telemetry.height = ao_height;
+ telemetry.u.k.speed = ao_speed;
+ telemetry.accel = ao_accel;
+ telemetry.u.k.unused = 0x8000;
+#if HAS_ACCEL
+ telemetry.ground_accel = ao_ground_accel;
+#endif
+ telemetry.ground_pres = ao_ground_pres;
+#if HAS_ADC
+ ao_adc_get(&telemetry.adc);
+#endif
+#if HAS_GPS
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+ memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
+ ao_mutex_put(&ao_gps_mutex);
+#endif
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ 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);
+ }
+ time += ao_telemetry_interval;
+ delay = time - ao_time();
+ if (delay > 0)
+ ao_delay(delay);
+ else
+ time = ao_time();
+ }
}
}
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