altos: Rename telemetry to telemetry_orig

[fw/altos] / src / ao_telemetry_orig.c

diff --git a/src/ao_telemetry_orig.c b/src/ao_telemetry_orig.c
new file mode 100644 (file)
index 0000000..9a86882
--- /dev/null
+++ b/src/ao_telemetry_orig.c
@@ -0,0 +1,105 @@
+/*
+ * Copyright © 2009 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"
+
+__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
+
+void
+ao_telemetry(void)
+{
+       uint16_t        time;
+       int16_t         delay;
+       static __xdata struct ao_telemetry telemetry;
+
+       ao_config_get();
+       while (!ao_flight_number)
+               ao_sleep(&ao_flight_number);
+       memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+       telemetry.serial = ao_serial_number;
+       telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
+       telemetry.accel_plus_g = ao_config.accel_plus_g;
+       telemetry.accel_minus_g = ao_config.accel_minus_g;
+       for (;;) {
+               while (ao_telemetry_interval == 0)
+                       ao_sleep(&ao_telemetry_interval);
+               time = ao_rdf_time = ao_time();
+               while (ao_telemetry_interval) {
+                       telemetry.flight_state = ao_flight_state;
+                       telemetry.height = ao_height;
+                       telemetry.u.k.speed = ao_speed;
+                       telemetry.accel = ao_accel;
+                       telemetry.u.k.unused = 0x8000;
+#if HAS_ACCEL
+                       telemetry.ground_accel = ao_ground_accel;
+#endif
+                       telemetry.ground_pres = ao_ground_pres;
+#if HAS_ADC
+                       ao_adc_get(&telemetry.adc);
+#endif
+#if HAS_GPS
+                       ao_mutex_get(&ao_gps_mutex);
+                       memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+                       memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
+                       ao_mutex_put(&ao_gps_mutex);
+#endif
+                       ao_radio_send(&telemetry, sizeof (telemetry));
+                       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");
+}