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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 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_height;
telemetry_tiny.speed = ao_speed;
telemetry_tiny.accel = ao_accel;
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");
}
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