git.gag.com Git - fw/altos/blob - src/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_TICKS   AO_SEC_TO_TICKS(5)
  25 #define AO_RDF_LENGTH_MS        500
  26
  27 void
  28 ao_telemetry(void)
  29 {
  30         static __xdata struct ao_telemetry telemetry;
  31
  32         ao_config_get();
  33         while (!ao_flight_number)
  34                 ao_sleep(&ao_flight_number);
  35         memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
  36         telemetry.addr = ao_serial_number;
  37         telemetry.flight = ao_flight_number;
  38         telemetry.accel_plus_g = ao_config.accel_plus_g;
  39         telemetry.accel_minus_g = ao_config.accel_minus_g;
  40         ao_rdf_time = ao_time();
  41         for (;;) {
  42                 while (ao_telemetry_interval == 0)
  43                         ao_sleep(&ao_telemetry_interval);
  44                 telemetry.flight_state = ao_flight_state;
  45                 telemetry.flight_accel = ao_flight_accel;
  46                 telemetry.ground_accel = ao_ground_accel;
  47                 telemetry.flight_vel = ao_flight_vel;
  48                 telemetry.flight_pres = ao_flight_pres;
  49                 telemetry.ground_pres = ao_ground_pres;
  50                 ao_adc_get(&telemetry.adc);
  51                 ao_mutex_get(&ao_gps_mutex);
  52                 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
  53                 memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
  54                 ao_mutex_put(&ao_gps_mutex);
  55                 ao_radio_send(&telemetry);
  56                 ao_delay(ao_telemetry_interval);
  57                 if (ao_rdf &&
  58                     (int16_t) (ao_time() - ao_rdf_time) >= 0)
  59                 {
  60                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
  61                         ao_radio_rdf(AO_RDF_LENGTH_MS);
  62                         ao_delay(ao_telemetry_interval);
  63                 }
  64         }
  65 }
  66
  67 void
  68 ao_telemetry_set_interval(uint16_t interval)
  69 {
  70         ao_telemetry_interval = interval;
  71         ao_wakeup(&ao_telemetry_interval);
  72 }
  73
  74 void
  75 ao_rdf_set(uint8_t rdf)
  76 {
  77         ao_rdf = rdf;
  78         if (rdf == 0)
  79                 ao_radio_rdf_abort();
  80         else
  81                 ao_rdf_time = ao_time();
  82 }
  83
  84 __xdata struct ao_task  ao_telemetry_task;
  85
  86 void
  87 ao_telemetry_init()
  88 {
  89         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
  90 }