1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
|
/*
* 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 AO_SEC_TO_TICKS(3)
void
ao_telemetry(void)
{
static __xdata struct ao_telemetry telemetry;
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);
telemetry.flight_state = ao_flight_state;
telemetry.flight_accel = ao_flight_accel;
telemetry.flight_vel = ao_flight_vel;
telemetry.flight_pres = ao_flight_pres;
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_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);
}
}
}
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
ao_telemetry_init()
{
ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
}
|
