git.gag.com Git - fw/altos/blob - src/kernel/ao_forward.c

   1 /*
   2  * Copyright © 2014 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19 #include "ao_telem.h"
  20
  21 static void
  22 ao_monitor_forward(void)
  23 {
  24         uint32_t                                        recv_radio_setting;
  25         static __xdata struct ao_telemetry_all_recv     packet;
  26
  27         for (;;) {
  28                 while (ao_monitoring)
  29                         ao_sleep(DATA_TO_XDATA(&ao_monitoring));
  30
  31                 if (!ao_radio_recv(&packet, sizeof(packet), 0))
  32                         continue;
  33                 if (!(packet.status & PKT_APPEND_STATUS_1_CRC_OK))
  34                         continue;
  35                 recv_radio_setting = ao_config.radio_setting;
  36                 ao_config.radio_setting = ao_send_radio_setting;
  37                 ao_radio_send(&packet.telemetry, sizeof (packet.telemetry));
  38                 ao_config.radio_setting = recv_radio_setting;
  39         }
  40 }
  41
  42 static __xdata struct ao_task ao_monitor_forward_task;
  43
  44 void
  45 ao_monitor_forward_init(void) __reentrant
  46 {
  47         ao_add_task(&ao_monitor_forward_task, ao_monitor_forward, "monitor_forward");
  48 }