diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/Makefile.proto | 4 | ||||
| -rw-r--r-- | src/ao.h | 21 | ||||
| -rw-r--r-- | src/ao_telemetry_tiny.c | 91 |
3 files changed, 114 insertions, 2 deletions
diff --git a/src/Makefile.proto b/src/Makefile.proto index df514cfe..eabd17b9 100644 --- a/src/Makefile.proto +++ b/src/Makefile.proto @@ -176,7 +176,7 @@ TMINI_TASK_SRC = \ ao_log.c \ ao_log_tiny.c \ ao_report.c \ - ao_telemetry.c + ao_telemetry_tiny.c TMINI_MAIN_SRC = \ ao_telemini.c @@ -204,7 +204,7 @@ TNANO_TASK_SRC = \ ao_log.c \ ao_log_tiny.c \ ao_report.c \ - ao_telemetry.c + ao_telemetry_tiny.c TNANO_MAIN_SRC = \ ao_telemini.c @@ -925,6 +925,18 @@ struct ao_telemetry { struct ao_gps_tracking_data gps_tracking; }; +struct ao_telemetry_tiny { + uint16_t serial; + uint16_t flight; + uint8_t flight_state; + int16_t height; /* AGL in meters */ + int16_t speed; /* in m/s * 16 */ + int16_t accel; /* in m/s² * 16 */ + int16_t ground_pres; /* sensor units */ + struct ao_adc adc; /* raw ADC readings */ + char callsign[AO_MAX_CALLSIGN]; +}; + /* * ao_radio_recv tacks on rssi and status bytes */ @@ -934,6 +946,12 @@ struct ao_telemetry_recv { uint8_t status; }; +struct ao_telemetry_tiny_recv { + struct ao_telemetry_tiny telemetry_tiny; + int8_t rssi; + uint8_t status; +}; + /* Set delay between telemetry reports (0 to disable) */ #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) @@ -949,6 +967,9 @@ ao_rdf_set(uint8_t rdf); void ao_telemetry_init(void); +void +ao_telemetry_tiny_init(void); + /* * ao_radio.c */ diff --git a/src/ao_telemetry_tiny.c b/src/ao_telemetry_tiny.c new file mode 100644 index 00000000..83ba7fc0 --- /dev/null +++ b/src/ao_telemetry_tiny.c @@ -0,0 +1,91 @@ +/* + * 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 uint8_t ao_rdf = 0; +__xdata uint16_t ao_rdf_time; +__xdata uint16_t ao_telemetry_tiny_interval = 0; + +#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5) +#define AO_RDF_LENGTH_MS 500 + +void +ao_telemetry_tiny(void) +{ + uint16_t time; + int16_t delay; + static __xdata struct ao_telemetry_tiny telemetry_tiny; + + ao_config_get(); + while (!ao_flight_number) + ao_sleep(&ao_flight_number); + memcpy(telemetry_tiny.callsign, ao_config.callsign, AO_MAX_CALLSIGN); + telemetry_tiny.serial = ao_serial_number; + telemetry_tiny.flight = ao_log_full() ? 0 : ao_flight_number; + for (;;) { + while (ao_telemetry_tiny_interval == 0) + ao_sleep(&ao_telemetry_tiny_interval); + time = ao_rdf_time = ao_time(); + while (ao_telemetry_tiny_interval) { + telemetry_tiny.flight_state = ao_flight_state; + telemetry_tiny.height = ao_k_height >> 16; + telemetry_tiny.speed = ao_k_speed >> 12; + telemetry_tiny.accel = ao_k_accel >> 12; + telemetry_tiny.ground_pres = ao_ground_pres; + ao_adc_get(&telemetry_tiny.adc); + ao_radio_send(&telemetry_tiny, sizeof (telemetry_tiny)); + 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_tiny_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_tiny_interval = interval; + ao_wakeup(&ao_telemetry_tiny_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_tiny_task; + +void +ao_telemetry_tiny_init() +{ + ao_add_task(&ao_telemetry_tiny_task, ao_telemetry_tiny, "telemetry_tiny"); +} |