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         uint16_t        time;
  31         int16_t         delay;
  32         static __xdata struct ao_telemetry telemetry;
  33
  34         ao_config_get();
  35         while (!ao_flight_number)
  36                 ao_sleep(&ao_flight_number);
  37         memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
  38         telemetry.serial = ao_serial_number;
  39         telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
  40         telemetry.accel_plus_g = ao_config.accel_plus_g;
  41         telemetry.accel_minus_g = ao_config.accel_minus_g;
  42         for (;;) {
  43                 while (ao_telemetry_interval == 0)
  44                         ao_sleep(&ao_telemetry_interval);
  45                 time = ao_rdf_time = ao_time();
  46                 while (ao_telemetry_interval) {
  47                         telemetry.flight_state = ao_flight_state;
  48                         telemetry.height = ao_height;
  49                         telemetry.u.k.speed = ao_speed;
  50                         telemetry.accel = ao_accel;
  51                         telemetry.u.k.unused = 0x8000;
  52 #if HAS_ACCEL
  53                         telemetry.ground_accel = ao_ground_accel;
  54 #endif
  55                         telemetry.ground_pres = ao_ground_pres;
  56 #if HAS_ADC
  57                         ao_adc_get(&telemetry.adc);
  58 #endif
  59 #if HAS_GPS
  60                         ao_mutex_get(&ao_gps_mutex);
  61                         memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
  62                         memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
  63                         ao_mutex_put(&ao_gps_mutex);
  64 #endif
  65                         ao_radio_send(&telemetry, sizeof (telemetry));
  66                         if (ao_rdf &&
  67                             (int16_t) (ao_time() - ao_rdf_time) >= 0)
  68                         {
  69                                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
  70                                 ao_radio_rdf(AO_RDF_LENGTH_MS);
  71                         }
  72                         time += ao_telemetry_interval;
  73                         delay = time - ao_time();
  74                         if (delay > 0)
  75                                 ao_delay(delay);
  76                         else
  77                                 time = ao_time();
  78                 }
  79         }
  80 }
  81
  82 void
  83 ao_telemetry_set_interval(uint16_t interval)
  84 {
  85         ao_telemetry_interval = interval;
  86         ao_wakeup(&ao_telemetry_interval);
  87 }
  88
  89 void
  90 ao_rdf_set(uint8_t rdf)
  91 {
  92         ao_rdf = rdf;
  93         if (rdf == 0)
  94                 ao_radio_rdf_abort();
  95         else
  96                 ao_rdf_time = ao_time();
  97 }
  98
  99 __xdata struct ao_task  ao_telemetry_task;
 100
 101 void
 102 ao_telemetry_init()
 103 {
 104         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 105 }