void
ao_gps_tracking_report(void)
{
static __xdata struct ao_log_record gps_log;
static __xdata struct ao_telemetry_satellite gps_tracking_data;
uint8_t c, n;
for (;;) {
ao_sleep(&ao_gps_tracking_data);
ao_mutex_get(&ao_gps_mutex);
gps_log.tick = ao_gps_tick;
memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
ao_mutex_put(&ao_gps_mutex);
if (!(n = gps_tracking_data.channels))
continue;
gps_log.type = AO_LOG_GPS_SAT;
for (c = 0; c < n; c++)
if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
{
gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
ao_log_data(&gps_log);
}
}
}
void
ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset)
{
ao_mutex_get(&ao_lco_mutex);
command.tick = ao_time() - tick_offset;
command.box = box;
command.cmd = AO_LAUNCH_FIRE;
command.channels = channels;
ao_radio_cmac_send(&command, sizeof (command));
ao_mutex_put(&ao_lco_mutex);
}
int8_t
ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
{
int8_t r;
uint16_t sent_time;
ao_mutex_get(&ao_lco_mutex);
command.tick = ao_time() - *tick_offset;
command.box = box;
command.cmd = AO_LAUNCH_QUERY;
command.channels = 0;
ao_radio_cmac_send(&command, sizeof (command));
sent_time = ao_time();
r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(10));
if (r == AO_RADIO_CMAC_OK)
*tick_offset = sent_time - query->tick;
ao_mutex_put(&ao_lco_mutex);
return r;
}
void
ao_gps_report(void)
{
static __xdata struct ao_log_record gps_log;
static __xdata struct ao_telemetry_location gps_data;
uint8_t date_reported = 0;
for (;;) {
ao_sleep(&ao_gps_data);
ao_mutex_get(&ao_gps_mutex);
memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
ao_mutex_put(&ao_gps_mutex);
if (!(gps_data.flags & AO_GPS_VALID))
continue;
gps_log.tick = ao_gps_tick;
gps_log.type = AO_LOG_GPS_TIME;
gps_log.u.gps_time.hour = gps_data.hour;
gps_log.u.gps_time.minute = gps_data.minute;
gps_log.u.gps_time.second = gps_data.second;
gps_log.u.gps_time.flags = gps_data.flags;
ao_log_data(&gps_log);
gps_log.type = AO_LOG_GPS_LAT;
gps_log.u.gps_latitude = gps_data.latitude;
ao_log_data(&gps_log);
gps_log.type = AO_LOG_GPS_LON;
gps_log.u.gps_longitude = gps_data.longitude;
ao_log_data(&gps_log);
gps_log.type = AO_LOG_GPS_ALT;
gps_log.u.gps_altitude.altitude = gps_data.altitude;
gps_log.u.gps_altitude.unused = 0xffff;
ao_log_data(&gps_log);
if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
gps_log.type = AO_LOG_GPS_DATE;
gps_log.u.gps_date.year = gps_data.year;
gps_log.u.gps_date.month = gps_data.month;
gps_log.u.gps_date.day = gps_data.day;
gps_log.u.gps_date.extra = 0;
date_reported = ao_log_data(&gps_log);
}
}
}
void
ao_spi_put(uint8_t id)
{
ao_mutex_put(&ao_spi_mutex[id]);
}
