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]); }