From e45fce7f82d704d677f84c69b0e07588d109d780 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 25 Apr 2009 14:42:20 -0700
Subject: [PATCH] Add RDF beacon and callsign to telemetry

---
 ao.h           | 18 ++++++++++++++++--
 ao_monitor.c   |  8 ++++++--
 ao_telemetry.c | 44 +++++++++++++++++++++++++++++++++++++-------
 3 files changed, 59 insertions(+), 11 deletions(-)

diff --git a/ao.h b/ao.h
index 6b861de1..338a40b0 100644
--- a/ao.h
+++ b/ao.h
@@ -29,7 +29,7 @@
 /* Stack runs from above the allocated __data space to 0xfe, which avoids
  * writing to 0xff as that triggers the stack overflow indicator
  */
-#define AO_STACK_START	0x7e
+#define AO_STACK_START	0x80
 #define AO_STACK_END	0xfe
 #define AO_STACK_SIZE	(AO_STACK_END - AO_STACK_START + 1)
 
@@ -702,13 +702,27 @@ ao_gps_init(void);
  * ao_telemetry.c
  */
 
+#define AO_MAX_CALLSIGN		8
+
 struct ao_telemetry {
 	uint8_t			addr;
 	uint8_t			flight_state;
 	struct ao_adc		adc;
 	struct ao_gps_data	gps;
+	char			callsign[AO_MAX_CALLSIGN];
 };
 
+/* Set delay between telemetry reports (0 to disable) */
+
+#define AO_TELEMETRY_INTERVAL_FLIGHT	AO_MS_TO_TICKS(50)
+#define AO_TELEMETRY_INTERVAL_RECOVER	AO_MS_TO_TICKS(1000)
+
+void
+ao_telemetry_set_interval(uint16_t interval);
+
+void
+ao_rdf_set(uint8_t rdf);
+
 void
 ao_telemetry_init(void);
 
@@ -721,7 +735,7 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
 
 struct ao_radio_recv {
 	struct ao_telemetry	telemetry;
-	uint8_t			rssi;
+	int8_t			rssi;
 	uint8_t			status;
 };
 
diff --git a/ao_monitor.c b/ao_monitor.c
index 15b56f05..d62f69da 100644
--- a/ao_monitor.c
+++ b/ao_monitor.c
@@ -29,6 +29,7 @@ void
 ao_monitor(void)
 {
 	__xdata struct ao_radio_recv recv;
+	__xdata char callsign[AO_MAX_CALLSIGN+1];
 	uint8_t state;
 
 	for (;;) {
@@ -36,10 +37,13 @@ ao_monitor(void)
 			ao_sleep(&ao_monitoring);
 		ao_radio_recv(&recv);
 		state = recv.telemetry.flight_state;
+		memcpy(callsign, recv.telemetry.callsign, AO_MAX_CALLSIGN);
 		if (state > ao_flight_invalid)
 			state = ao_flight_invalid;
-		printf ("SERIAL %3d RSSI %3d STATUS %02x STATE %s ",
-			recv.telemetry.addr, recv.rssi, recv.status,
+		printf ("CALL %s SERIAL %3d RSSI %3d STATUS %02x STATE %s ",
+			callsign,
+			recv.telemetry.addr,
+			(int) recv.rssi - 74, recv.status,
 			ao_state_names[state]);
 		if (!(recv.status & PKT_APPEND_STATUS_1_CRC_OK))
 			printf("CRC INVALID ");
diff --git a/ao_telemetry.c b/ao_telemetry.c
index 752c7142..ffee9bee 100644
--- a/ao_telemetry.c
+++ b/ao_telemetry.c
@@ -19,29 +19,59 @@
 
 /* XXX make serial numbers real */
 
-uint8_t	ao_serial_number = 2;
+__xdata uint8_t	ao_serial_number = 2;
+
+/* XXX make callsigns real */
+__xdata char ao_callsign[AO_MAX_CALLSIGN] = "KD7SQG";
+
+__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)
 {
 	static __xdata struct ao_telemetry telemetry;
-	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));
 
+	telemetry.addr = ao_serial_number;
+	memcpy(telemetry.callsign, ao_callsign, AO_MAX_CALLSIGN);
+	ao_rdf_time = ao_time();
 	for (;;) {
-		telemetry.addr = ao_serial_number;
+		while (ao_telemetry_interval == 0)
+			ao_sleep(&ao_telemetry_interval);
 		telemetry.flight_state = ao_flight_state;
 		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_MS_TO_TICKS(100));
+		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();
+		}
 	}
 }
 
+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();
+}
+
 __xdata struct ao_task	ao_telemetry_task;
 
 void
-- 
2.30.2