altos: Add telerepeat-v1.0

[fw/altos] / src / kernel / ao_forward.c

diff --git a/src/kernel/ao_forward.c b/src/kernel/ao_forward.c
new file mode 100644 (file)
index 0000000..2a93718
--- /dev/null
+++ b/src/kernel/ao_forward.c
@@ -0,0 +1,48 @@
+/*
+ * Copyright © 2014 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"
+#include "ao_telem.h"
+
+static void
+ao_monitor_forward(void)
+{
+       uint32_t                                        recv_radio_setting;
+       static __xdata struct ao_telemetry_all_recv     packet;
+
+       for (;;) {
+               while (ao_monitoring)
+                       ao_sleep(DATA_TO_XDATA(&ao_monitoring));
+
+               if (!ao_radio_recv(&packet, sizeof(packet), 0))
+                       continue;
+               if (!(packet.status & PKT_APPEND_STATUS_1_CRC_OK))
+                       continue;
+               recv_radio_setting = ao_config.radio_setting;
+               ao_config.radio_setting = ao_send_radio_setting;
+               ao_radio_send(&packet.telemetry, sizeof (packet.telemetry));
+               ao_config.radio_setting = recv_radio_setting;
+       }
+}
+
+static __xdata struct ao_task ao_monitor_forward_task;
+
+void
+ao_monitor_forward_init(void) __reentrant
+{
+       ao_add_task(&ao_monitor_forward_task, ao_monitor_forward, "monitor_forward");
+}