altos: Add split telemetry code

[fw/altos] / src / ao_telemetry.c

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
new file mode 100644 (file)
index 0000000..024ac6f
--- /dev/null
+++ b/src/ao_telemetry.c
@@ -0,0 +1,146 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include "ao_product.h"
+
+__xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
+
+#define AO_RDF_INTERVAL_TICKS  AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS       500
+
+#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
+#define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELEMETRUM
+#endif
+
+#if defined(TELEMINI_V_0_1)
+#define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELEMINI
+#endif
+
+#if defined(TELENANO_V_0_1)
+#define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELENANO
+#endif
+
+void
+ao_telemetry(void)
+{
+       uint16_t        time;
+       int16_t         delay;
+       static __xdata union ao_telemetry_all   telemetry;
+       uint8_t         sample;
+
+       ao_config_get();
+       while (!ao_flight_number)
+               ao_sleep(&ao_flight_number);
+
+       telemetry.generic.serial = ao_serial_number;
+       for (;;) {
+               while (ao_telemetry_interval == 0)
+                       ao_sleep(&ao_telemetry_interval);
+               time = ao_rdf_time = ao_time();
+               while (ao_telemetry_interval) {
+
+                       /* Send sensor packet */
+                       sample = ao_sample_adc;
+                       
+                       telemetry.generic.tick = ao_adc_ring[sample].tick;
+                       telemetry.generic.type = AO_TELEMETRY_SENSOR;
+
+                       telemetry.sensor.state = ao_flight_state;
+#if HAS_ACCEL
+                       telemetry.sensor.accel = ao_adc_ring[sample].accel;
+#else
+                       telemetry.sensor.accel = 0;
+#endif
+                       telemetry.sensor.pres = ao_adc_ring[sample].pres;
+                       telemetry.sensor.temp = ao_adc_ring[sample].temp;
+                       telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
+#if HAS_IGNITE
+                       telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
+                       telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
+#else
+                       telemetry.sensor.sense_d = 0;
+                       telemetry.sensor.sense_m = 0;
+#endif
+
+                       telemetry.sensor.acceleration = ao_accel;
+                       telemetry.sensor.speed = ao_speed;
+                       telemetry.sensor.height = ao_height;
+
+                       telemetry.sensor.ground_pres = ao_ground_pres;
+                       telemetry.sensor.ground_accel = ao_ground_accel;
+                       telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
+                       telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
+
+                       ao_radio_send(&telemetry, sizeof (telemetry));
+
+                       telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
+                       telemetry.configuration.device = AO_idProduct_NUMBER;
+                       telemetry.configuration.flight = ao_flight_number;
+                       telemetry.configuration.config_major = AO_CONFIG_MAJOR;
+                       telemetry.configuration.config_minor = AO_CONFIG_MINOR;
+                       telemetry.configuration.main_deploy = ao_config.main_deploy;
+                       telemetry.configuration.flight_log_max = ao_config.flight_log_max;
+                       memcpy (telemetry.configuration.callsign,
+                               ao_config.callsign,
+                               AO_MAX_CALLSIGN);
+                       memcpy (telemetry.configuration.version,
+                               ao_version,
+                               AO_MAX_VERSION);
+
+                       if (ao_rdf &&
+                           (int16_t) (ao_time() - ao_rdf_time) >= 0)
+                       {
+                               ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+                               ao_radio_rdf(AO_RDF_LENGTH_MS);
+                       }
+                       time += ao_telemetry_interval;
+                       delay = time - ao_time();
+                       if (delay > 0)
+                               ao_delay(delay);
+                       else
+                               time = ao_time();
+               }
+       }
+}
+
+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();
+       else
+               ao_rdf_time = ao_time();
+}
+
+__xdata struct ao_task ao_telemetry_task;
+
+void
+ao_telemetry_init()
+{
+       ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
+}