Transmit computed ground pressure and acceleration values

[fw/altos] / ao_telemetry.c

diff --git a/ao_telemetry.c b/ao_telemetry.c
index 90cf2e4ef254aec2a61a055910953255c46831fb..5cf9ca6134c3bfcc4de4e4cb3f9a7180f1a36a18 100644 (file)
--- a/ao_telemetry.c
+++ b/ao_telemetry.c
@@ -17,31 +17,61 @@
 
 #include "ao.h"
 
 
 #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(void)
 {
        static __xdata struct ao_telemetry telemetry;
 
 void
 ao_telemetry(void)
 {
        static __xdata struct ao_telemetry telemetry;

-       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_config_get();
+       memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+       telemetry.addr = ao_serial_number;
+       ao_rdf_time = ao_time();

        for (;;) {
        for (;;) {

-               telemetry.addr = ao_serial_number;
+               while (ao_telemetry_interval == 0)
+                       ao_sleep(&ao_telemetry_interval);

                telemetry.flight_state = ao_flight_state;
                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_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_MS_TO_TICKS(1000));
+               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_set_interval(uint16_t interval)
+{
+       ao_telemetry_interval = interval;
+       ao_wakeup(&ao_telemetry_interval);
+}
+
+void
+ao_rdf_set(uint8_t rdf)
+{
+       ao_rdf = rdf;
+       if (rdf == 0)
+               ao_radio_rdf_abort();
+}
+

 __xdata struct ao_task ao_telemetry_task;
 
 void
 __xdata struct ao_task ao_telemetry_task;
 
 void