diff options
| author | Keith Packard <keithp@keithp.com> | 2011-07-09 16:59:16 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-08-13 18:46:12 -0700 |
| commit | 30abbdc7ffcfc809b4a3fc31486fe968161ea225 (patch) | |
| tree | 5f7735943d8bc54e5f6a478e168aebc054b215d6 /src/ao_telemetry.c | |
| parent | 578c4b17b8f62f2727654ebda78ee139f9fe13fa (diff) | |
altos: Add SPI-based companion board support
This sends current flight state information and retrieves companion
data to include in telemetry.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/ao_telemetry.c')
| -rw-r--r-- | src/ao_telemetry.c | 45 |
1 files changed, 44 insertions, 1 deletions
diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c index 52f818ed..15ba4302 100644 --- a/src/ao_telemetry.c +++ b/src/ao_telemetry.c @@ -25,6 +25,10 @@ static __pdata int8_t ao_telemetry_config_cur; static __pdata int8_t ao_telemetry_loc_cur; static __pdata int8_t ao_telemetry_sat_cur; #endif +#if HAS_COMPANION +static __pdata int8_t ao_telemetry_companion_max; +static __pdata int8_t ao_telemetry_companion_cur; +#endif static __pdata uint8_t ao_rdf = 0; static __pdata uint16_t ao_rdf_time; @@ -149,6 +153,26 @@ ao_send_satellite(void) } #endif +#if HAS_COMPANION +static void +ao_send_companion(void) +{ + if (--ao_telemetry_companion_cur <= 0) { + telemetry.generic.type = AO_TELEMETRY_COMPANION; + telemetry.companion.board_id = ao_companion_setup.board_id; + telemetry.companion.update_period = ao_companion_setup.update_period; + telemetry.companion.channels = ao_companion_setup.channels; + ao_mutex_get(&ao_companion_mutex); + memcpy(&telemetry.companion.companion_data, + ao_companion_data, + ao_companion_setup.channels * 2); + ao_mutex_put(&ao_companion_mutex); + ao_radio_send(&telemetry, sizeof (telemetry)); + ao_telemetry_companion_cur = ao_telemetry_companion_max; + } +} +#endif + void ao_telemetry(void) { @@ -168,6 +192,10 @@ ao_telemetry(void) ao_send_sensor(); +#if HAS_COMPANION + if (ao_companion_running) + ao_send_companion(); +#endif ao_send_configuration(); #if HAS_GPS ao_send_location(); @@ -193,10 +221,25 @@ void ao_telemetry_set_interval(uint16_t interval) { ao_telemetry_interval = interval; + +#if HAS_COMPANION + if (!ao_companion_setup.update_period) + ao_companion_setup.update_period = AO_SEC_TO_TICKS(1); + ao_telemetry_companion_max = ao_companion_setup.update_period / interval; + ao_telemetry_companion_cur = 1; +#endif + ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval; +#if HAS_COMPANION + ao_telemetry_config_cur = ao_telemetry_companion_cur; + if (ao_telemetry_config_max > ao_telemetry_config_cur) + ao_telemetry_config_cur++; +#else ao_telemetry_config_cur = 1; +#endif + #if HAS_GPS - ao_telemetry_loc_cur = 1; + ao_telemetry_loc_cur = ao_telemetry_config_cur; if (ao_telemetry_config_max > ao_telemetry_loc_cur) ao_telemetry_loc_cur++; ao_telemetry_sat_cur = ao_telemetry_loc_cur; |