/* Turn on telemetry system
*/
+ ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
ao_flight_state = ao_flight_pad;
/* Increase telemetry rate */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+ /* disable RDF beacon */
+ ao_rdf_set(0);
+
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
/* slow down the ADC sample rate */
ao_timer_set_adc_interval(10);
+ /* Enable RDF beacon */
+ ao_rdf_set(1);
+
/*
* Start recording min/max accel and pres for a while
* to figure out when the rocket has landed
#define DEVIATION_M 6
#define DEVIATION_E 3
+/*
+ * For our RDF beacon, set the symbol rate to 2kBaud (for a 1kHz tone),
+ * so the DRATE_E and DRATE_M values are:
+ *
+ * M is 94 and E is 6
+ *
+ * To make the tone last for 200ms, we need 2000 * .2 = 400 bits or 50 bytes
+ */
+
+#define RDF_DRATE_E 6
+#define RDF_DRATE_M 94
+#define RDF_PACKET_LEN 50
+
+/*
+ * RDF deviation should match the normal NFM value of 5kHz
+ *
+ * M is 6 and E is 1
+ *
+ */
+
+#define RDF_DEVIATION_M 6
+#define RDF_DEVIATION_E 1
+
/* This are from the table for 433MHz */
#define RF_POWER_M30_DBM 0x12
RF_IOCFG0_OFF, 0x00,
};
+static __code uint8_t rdf_setup[] = {
+ RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) |
+ (CHANBW_M << RF_MDMCFG4_CHANBW_M_SHIFT) |
+ (RDF_DRATE_E << RF_MDMCFG4_DRATE_E_SHIFT)),
+ RF_MDMCFG3_OFF, (RDF_DRATE_M << RF_MDMCFG3_DRATE_M_SHIFT),
+ RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_OFF |
+ RF_MDMCFG2_MOD_FORMAT_GFSK |
+ RF_MDMCFG2_SYNC_MODE_15_16_THRES),
+ RF_MDMCFG1_OFF, (RF_MDMCFG1_FEC_DIS |
+ RF_MDMCFG1_NUM_PREAMBLE_2 |
+ (2 << RF_MDMCFG1_CHANSPC_E_SHIFT)),
+
+ RF_DEVIATN_OFF, ((RDF_DEVIATION_E << RF_DEVIATN_DEVIATION_E_SHIFT) |
+ (RDF_DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)),
+
+ /* packet length */
+ RF_PKTLEN_OFF, RDF_PACKET_LEN,
+ RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)|
+ PKTCTRL1_ADR_CHK_NONE),
+ RF_PKTCTRL0_OFF, (RF_PKTCTRL0_PKT_FORMAT_NORMAL|
+ RF_PKTCTRL0_LENGTH_CONFIG_FIXED),
+};
static __code uint8_t telemetry_setup[] = {
RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) |
ao_mutex_put(&ao_radio_mutex);
}
+__xdata ao_radio_rdf_running;
+__xdata ao_radio_rdf_value = 0x55;
+
+void
+ao_radio_rdf(void)
+{
+ uint8_t i;
+ ao_mutex_get(&ao_radio_mutex);
+ ao_radio_idle();
+ ao_radio_rdf_running = 1;
+ for (i = 0; i < sizeof (rdf_setup); i += 2)
+ RF[rdf_setup[i]] = rdf_setup[i+1];
+
+ ao_dma_set_transfer(ao_radio_dma,
+ &ao_radio_rdf_value,
+ &RFDXADDR,
+ RDF_PACKET_LEN,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_RADIO,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_HIGH);
+ ao_dma_start(ao_radio_dma);
+ RFST = RFST_STX;
+
+ __critical while (!ao_radio_dma_done)
+ ao_sleep(&ao_radio_dma_done);
+ ao_radio_rdf_running = 0;
+ ao_radio_idle();
+ for (i = 0; i < sizeof (rdf_setup); i += 2)
+ RF[telemetry_setup[i]] = telemetry_setup[i+1];
+ ao_mutex_put(&ao_radio_mutex);
+}
+
+void
+ao_radio_rdf_abort(void)
+{
+ if (ao_radio_rdf_running) {
+ ao_dma_abort(ao_radio_dma);
+ ao_radio_idle();
+ }
+}
+
void
ao_radio_init(void)
{
#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 AO_SEC_TO_TICKS(3)
void
ao_telemetry(void)
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);
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);
+ }
}
}
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