git.gag.com Git - fw/altos/blob - ao_telemetry.c

   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19
  20 __xdata uint16_t ao_telemetry_interval = 0;
  21 __xdata uint8_t ao_rdf = 0;
  22 __xdata uint16_t ao_rdf_time;
  23
  24 #define AO_RDF_INTERVAL AO_SEC_TO_TICKS(3)
  25
  26 void
  27 ao_telemetry(void)
  28 {
  29         static __xdata struct ao_telemetry telemetry;
  30
  31         ao_config_get();
  32         memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
  33         telemetry.addr = ao_serial_number;
  34         ao_rdf_time = ao_time();
  35         for (;;) {
  36                 while (ao_telemetry_interval == 0)
  37                         ao_sleep(&ao_telemetry_interval);
  38                 telemetry.flight_state = ao_flight_state;
  39                 telemetry.flight_accel = ao_flight_accel;
  40                 telemetry.flight_vel = ao_flight_vel;
  41                 telemetry.flight_pres = ao_flight_pres;
  42                 ao_adc_get(&telemetry.adc);
  43                 ao_mutex_get(&ao_gps_mutex);
  44                 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
  45                 ao_mutex_put(&ao_gps_mutex);
  46                 ao_radio_send(&telemetry);
  47                 ao_delay(ao_telemetry_interval);
  48                 if (ao_rdf &&
  49                     (int16_t) (ao_time() - ao_rdf_time) >= 0)
  50                 {
  51                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL;
  52                         ao_radio_rdf();
  53                         ao_delay(ao_telemetry_interval);
  54                 }
  55         }
  56 }
  57
  58 void
  59 ao_telemetry_set_interval(uint16_t interval)
  60 {
  61         ao_telemetry_interval = interval;
  62         ao_wakeup(&ao_telemetry_interval);
  63 }
  64
  65 void
  66 ao_rdf_set(uint8_t rdf)
  67 {
  68         ao_rdf = rdf;
  69         if (rdf == 0)
  70                 ao_radio_rdf_abort();
  71 }
  72
  73 __xdata struct ao_task  ao_telemetry_task;
  74
  75 void
  76 ao_telemetry_init()
  77 {
  78         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
  79 }