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.serial = ao_serial_number;
  37         telemetry.flight = ao_log_full() ? 0 : 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 #if HAS_ACCEL
  46                 telemetry.flight_accel = ao_flight_accel;
  47                 telemetry.ground_accel = ao_ground_accel;
  48                 telemetry.flight_vel = ao_flight_vel;
  49 #endif
  50                 telemetry.flight_pres = ao_flight_pres;
  51                 telemetry.ground_pres = ao_ground_pres;
  52 #if HAS_ADC
  53                 ao_adc_get(&telemetry.adc);
  54 #endif
  55 #if HAS_GPS
  56                 ao_mutex_get(&ao_gps_mutex);
  57                 memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
  58                 memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
  59                 ao_mutex_put(&ao_gps_mutex);
  60 #endif
  61                 ao_radio_send(&telemetry, sizeof (telemetry));
  62                 ao_delay(ao_telemetry_interval);
  63                 if (ao_rdf &&
  64                     (int16_t) (ao_time() - ao_rdf_time) >= 0)
  65                 {
  66                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
  67                         ao_radio_rdf(AO_RDF_LENGTH_MS);
  68                         ao_delay(ao_telemetry_interval);
  69                 }
  70         }
  71 }
  72
  73 void
  74 ao_telemetry_set_interval(uint16_t interval)
  75 {
  76         ao_telemetry_interval = interval;
  77         ao_wakeup(&ao_telemetry_interval);
  78 }
  79
  80 void
  81 ao_rdf_set(uint8_t rdf)
  82 {
  83         ao_rdf = rdf;
  84         if (rdf == 0)
  85                 ao_radio_rdf_abort();
  86         else
  87                 ao_rdf_time = ao_time();
  88 }
  89
  90 __xdata struct ao_task  ao_telemetry_task;
  91
  92 void
  93 ao_telemetry_init()
  94 {
  95         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
  96 }