X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_telemetry.c;h=9a86882f45f9ff5b63fcfd224ea137f1eb860d59;hp=463bcd91137f571dde8590b1ecd0523f10e44dc4;hb=01952da35a57ae4da062facb26b3c6d7de29190f;hpb=210dbaa23cdacf3a6f2d6e23493e96ee2ac9bca7

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 463bcd91..9a86882f 100644
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -18,30 +18,64 @@
 #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.addr = ao_serial_number;
+	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);
-		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);
+		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();
+		}
 	}
 }
 
@@ -52,6 +86,16 @@ ao_telemetry_set_interval(uint16_t 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