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         memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
  34         telemetry.addr = ao_serial_number;
  35         ao_rdf_time = ao_time();
  36         for (;;) {
  37                 while (ao_telemetry_interval == 0)
  38                         ao_sleep(&ao_telemetry_interval);
  39                 telemetry.flight_state = ao_flight_state;
  40                 telemetry.flight_accel = ao_flight_accel;
  41                 telemetry.ground_accel = ao_ground_accel;
  42                 telemetry.flight_vel = ao_flight_vel;
  43                 telemetry.flight_pres = ao_flight_pres;
  44                 telemetry.ground_pres = ao_ground_pres;
  45                 ao_adc_get(&telemetry.adc);
  46                 ao_mutex_get(&ao_gps_mutex);
  47                 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
  48                 memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
  49                 ao_mutex_put(&ao_gps_mutex);
  50                 ao_radio_send(&telemetry);
  51                 ao_delay(ao_telemetry_interval);
  52                 if (ao_rdf &&
  53                     (int16_t) (ao_time() - ao_rdf_time) >= 0)
  54                 {
  55                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
  56                         ao_radio_rdf(AO_RDF_LENGTH_MS);
  57                         ao_delay(ao_telemetry_interval);
  58                 }
  59         }
  60 }
  61
  62 void
  63 ao_telemetry_set_interval(uint16_t interval)
  64 {
  65         ao_telemetry_interval = interval;
  66         ao_wakeup(&ao_telemetry_interval);
  67 }
  68
  69 void
  70 ao_rdf_set(uint8_t rdf)
  71 {
  72         ao_rdf = rdf;
  73         if (rdf == 0)
  74                 ao_radio_rdf_abort();
  75         else
  76                 ao_rdf_time = ao_time();
  77 }
  78
  79 __xdata struct ao_task  ao_telemetry_task;
  80
  81 void
  82 ao_telemetry_init()
  83 {
  84         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
  85 }