Transmit computed ground pressure and acceleration values

[fw/altos] / ao_telemetry.c

diff --git a/ao_telemetry.c b/ao_telemetry.c
index 092918d4b5ee32801f246479a6c6be5ef0a4800f..5cf9ca6134c3bfcc4de4e4cb3f9a7180f1a36a18 100644 (file)
--- a/ao_telemetry.c
+++ b/ao_telemetry.c
@@ -17,35 +17,59 @@
 
 #include "ao.h"
 
-/* XXX make serial numbers real */
+__xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
 
-uint8_t        ao_serial_number = 2;
+#define AO_RDF_INTERVAL        AO_SEC_TO_TICKS(3)
 
 void
-ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant
+ao_telemetry(void)
 {
-       if (ao_flight_state != ao_flight_idle && ao_flight_state != ao_flight_startup) {
-               telemetry->addr = ao_serial_number;
-               telemetry->flight_state = ao_flight_state;
-               ao_radio_send(telemetry);
+       static __xdata struct ao_telemetry telemetry;
+
+       ao_config_get();
+       memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+       telemetry.addr = ao_serial_number;
+       ao_rdf_time = ao_time();
+       for (;;) {
+               while (ao_telemetry_interval == 0)
+                       ao_sleep(&ao_telemetry_interval);
+               telemetry.flight_state = ao_flight_state;
+               telemetry.flight_accel = ao_flight_accel;
+               telemetry.ground_accel = ao_ground_accel;
+               telemetry.flight_vel = ao_flight_vel;
+               telemetry.flight_pres = ao_flight_pres;
+               telemetry.ground_pres = ao_ground_pres;
+               ao_adc_get(&telemetry.adc);
+               ao_mutex_get(&ao_gps_mutex);
+               memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+               ao_mutex_put(&ao_gps_mutex);
+               ao_radio_send(&telemetry);
+               ao_delay(ao_telemetry_interval);
+               if (ao_rdf &&
+                   (int16_t) (ao_time() - ao_rdf_time) >= 0)
+               {
+                       ao_rdf_time = ao_time() + AO_RDF_INTERVAL;
+                       ao_radio_rdf();
+                       ao_delay(ao_telemetry_interval);
+               }
        }
 }
 
 void
-ao_telemetry(void)
+ao_telemetry_set_interval(uint16_t interval)
 {
-       static __xdata struct ao_radio_recv recv;
-       static uint8_t state;
-
-       while (ao_flight_state == ao_flight_startup || ao_flight_state == ao_flight_idle)
-               ao_sleep(DATA_TO_XDATA(&ao_flight_state));
+       ao_telemetry_interval = interval;
+       ao_wakeup(&ao_telemetry_interval);
+}
 
-       recv.telemetry.type = AO_TELEMETRY_SENSOR;
-       for (;;) {
-               ao_adc_get(&recv.telemetry.u.adc);
-               ao_telemetry_send(&recv.telemetry);
-               ao_delay(AO_MS_TO_TICKS(1000));
-       }
+void
+ao_rdf_set(uint8_t rdf)
+{
+       ao_rdf = rdf;
+       if (rdf == 0)
+               ao_radio_rdf_abort();
 }
 
 __xdata struct ao_task ao_telemetry_task;