diff options
Diffstat (limited to 'src/ao_telemetry_orig.c')
| -rw-r--r-- | src/ao_telemetry_orig.c | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/src/ao_telemetry_orig.c b/src/ao_telemetry_orig.c new file mode 100644 index 00000000..9a86882f --- /dev/null +++ b/src/ao_telemetry_orig.c @@ -0,0 +1,105 @@ +/* + * Copyright © 2009 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#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.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); + 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(); + } + } +} + +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(); + else + ao_rdf_time = ao_time(); +} + +__xdata struct ao_task ao_telemetry_task; + +void +ao_telemetry_init() +{ + ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry"); +} |