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
  22 void
  23 ao_telemetry(void)
  24 {
  25         static __xdata struct ao_telemetry telemetry;
  26
  27         ao_config_get();
  28         memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
  29         telemetry.addr = ao_serial_number;
  30         for (;;) {
  31                 while (ao_telemetry_interval == 0)
  32                         ao_sleep(&ao_telemetry_interval);
  33                 telemetry.flight_state = ao_flight_state;
  34                 telemetry.flight_accel = ao_flight_accel;
  35                 telemetry.ground_accel = ao_ground_accel;
  36                 telemetry.flight_vel = ao_flight_vel;
  37                 telemetry.flight_pres = ao_flight_pres;
  38                 telemetry.ground_pres = ao_ground_pres;
  39                 ao_adc_get(&telemetry.adc);
  40                 ao_mutex_get(&ao_gps_mutex);
  41                 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
  42                 memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
  43                 ao_mutex_put(&ao_gps_mutex);
  44                 ao_radio_send(&telemetry);
  45                 ao_delay(ao_telemetry_interval);
  46         }
  47 }
  48
  49 void
  50 ao_telemetry_set_interval(uint16_t interval)
  51 {
  52         ao_telemetry_interval = interval;
  53         ao_wakeup(&ao_telemetry_interval);
  54 }
  55
  56 __xdata struct ao_task  ao_telemetry_task;
  57
  58 void
  59 ao_telemetry_init()
  60 {
  61         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
  62 }