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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include "ao.h"
  20 #include "ao_telem.h"
  21
  22 static void
  23 ao_monitor_forward(void)
  24 {
  25         uint32_t                                        recv_radio_setting;
  26         static struct ao_telemetry_all_recv     packet;
  27
  28         for (;;) {
  29                 while (ao_monitoring)
  30                         ao_sleep(&ao_monitoring);
  31
  32                 if (!ao_radio_recv(&packet, sizeof(packet), 0))
  33                         continue;
  34                 if (!(packet.status & PKT_APPEND_STATUS_1_CRC_OK))
  35                         continue;
  36                 recv_radio_setting = ao_config.radio_setting;
  37                 ao_config.radio_setting = ao_send_radio_setting;
  38                 ao_radio_send(&packet.telemetry, sizeof (packet.telemetry));
  39                 ao_config.radio_setting = recv_radio_setting;
  40         }
  41 }
  42
  43 static struct ao_task ao_monitor_forward_task;
  44
  45 void
  46 ao_monitor_forward_init(void)
  47 {
  48         ao_add_task(&ao_monitor_forward_task, ao_monitor_forward, "monitor_forward");
  49 }