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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"
__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");
}
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