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/*
* 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"
/* XXX make serial numbers real */
uint8_t ao_serial_number = 2;
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));
for (;;) {
telemetry.addr = ao_serial_number;
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));
}
}
__xdata struct ao_task ao_telemetry_task;
void
ao_telemetry_init()
{
ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
}
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