X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_telemetry.c;h=5cf9ca6134c3bfcc4de4e4cb3f9a7180f1a36a18;hp=092918d4b5ee32801f246479a6c6be5ef0a4800f;hb=91b07410122d0eaaf292cdb31c200925d45eaf2c;hpb=43c8f7012102cdb591ace899420c10e4a78385ad

diff --git a/ao_telemetry.c b/ao_telemetry.c
index 092918d4..5cf9ca61 100644
--- 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;