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   1 /*
   2  * Copyright © 2011 Keth 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_log.h"
  21 #include "ao_product.h"
  22
  23 static __pdata uint16_t ao_telemetry_interval;
  24
  25 #if HAS_RADIO_RATE
  26 static __xdata uint16_t ao_telemetry_desired_interval;
  27 #endif
  28
  29 /* TeleMetrum v1.0 just doesn't have enough space to
  30  * manage the more complicated telemetry scheduling, so
  31  * it loses the ability to disable telem/rdf separately
  32  */
  33
  34 #if defined(TELEMETRUM_V_1_0)
  35 #define SIMPLIFY
  36 #endif
  37
  38 #ifdef SIMPLIFY
  39 #define ao_telemetry_time time
  40 #define RDF_SPACE       __pdata
  41 #else
  42 #define RDF_SPACE       __xdata
  43 static __pdata uint16_t ao_telemetry_time;
  44 #endif
  45
  46 #if HAS_RDF
  47 static RDF_SPACE uint8_t ao_rdf = 0;
  48 static RDF_SPACE uint16_t ao_rdf_time;
  49 #endif
  50
  51 #if HAS_APRS
  52 static __pdata uint16_t ao_aprs_time;
  53
  54 #include <ao_aprs.h>
  55 #endif
  56
  57 #if defined(TELEMEGA)
  58 #define AO_SEND_MEGA    1
  59 #endif
  60
  61 #if defined (TELEMETRUM_V_2_0)
  62 #define AO_SEND_METRUM  1
  63 #endif
  64
  65 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
  66 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  67 #endif
  68
  69 #if defined(TELEMINI_V_1_0)
  70 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  71 #endif
  72
  73 #if defined(TELENANO_V_0_1)
  74 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  75 #endif
  76
  77 static __xdata union ao_telemetry_all   telemetry;
  78
  79 static void
  80 ao_telemetry_send(void)
  81 {
  82         ao_radio_send(&telemetry, sizeof (telemetry));
  83         ao_delay(1);
  84 }
  85
  86 #if defined AO_TELEMETRY_SENSOR
  87 /* Send sensor packet */
  88 static void
  89 ao_send_sensor(void)
  90 {
  91         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  92
  93         telemetry.generic.tick = packet->tick;
  94         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  95
  96         telemetry.sensor.state = ao_flight_state;
  97 #if HAS_ACCEL
  98         telemetry.sensor.accel = packet->adc.accel;
  99 #else
 100         telemetry.sensor.accel = 0;
 101 #endif
 102         telemetry.sensor.pres = ao_data_pres(packet);
 103         telemetry.sensor.temp = packet->adc.temp;
 104         telemetry.sensor.v_batt = packet->adc.v_batt;
 105 #if HAS_IGNITE
 106         telemetry.sensor.sense_d = packet->adc.sense_d;
 107         telemetry.sensor.sense_m = packet->adc.sense_m;
 108 #else
 109         telemetry.sensor.sense_d = 0;
 110         telemetry.sensor.sense_m = 0;
 111 #endif
 112
 113         telemetry.sensor.acceleration = ao_accel;
 114         telemetry.sensor.speed = ao_speed;
 115         telemetry.sensor.height = ao_height;
 116
 117         telemetry.sensor.ground_pres = ao_ground_pres;
 118 #if HAS_ACCEL
 119         telemetry.sensor.ground_accel = ao_ground_accel;
 120         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
 121         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
 122 #else
 123         telemetry.sensor.ground_accel = 0;
 124         telemetry.sensor.accel_plus_g = 0;
 125         telemetry.sensor.accel_minus_g = 0;
 126 #endif
 127
 128         ao_telemetry_send();
 129 }
 130 #endif
 131
 132
 133 #ifdef AO_SEND_MEGA
 134
 135 /* Send mega sensor packet */
 136 static void
 137 ao_send_mega_sensor(void)
 138 {
 139         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 140
 141         telemetry.generic.tick = packet->tick;
 142         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 143
 144 #if HAS_MPU6000
 145         telemetry.mega_sensor.orient = ao_sample_orient;
 146 #endif
 147         telemetry.mega_sensor.accel = ao_data_accel(packet);
 148         telemetry.mega_sensor.pres = ao_data_pres(packet);
 149         telemetry.mega_sensor.temp = ao_data_temp(packet);
 150
 151 #if HAS_MPU6000
 152         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 153         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 154         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 155
 156         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 157         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 158         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 159 #endif
 160
 161 #if HAS_HMC5883
 162         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 163         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 164         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 165 #endif
 166
 167         ao_telemetry_send();
 168 }
 169
 170 static __pdata int8_t ao_telemetry_mega_data_max;
 171 static __pdata int8_t ao_telemetry_mega_data_cur;
 172
 173 /* Send mega data packet */
 174 static void
 175 ao_send_mega_data(void)
 176 {
 177         if (--ao_telemetry_mega_data_cur <= 0) {
 178                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 179                 uint8_t i;
 180
 181                 telemetry.generic.tick = packet->tick;
 182                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 183
 184                 telemetry.mega_data.state = ao_flight_state;
 185                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 186                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 187
 188                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 189                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 190                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
 191
 192                 telemetry.mega_data.ground_pres = ao_ground_pres;
 193                 telemetry.mega_data.ground_accel = ao_ground_accel;
 194                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 195                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 196
 197                 telemetry.mega_data.acceleration = ao_accel;
 198                 telemetry.mega_data.speed = ao_speed;
 199                 telemetry.mega_data.height = ao_height;
 200
 201                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 202                 ao_telemetry_send();
 203         }
 204 }
 205 #endif /* AO_SEND_MEGA */
 206
 207 #ifdef AO_SEND_METRUM
 208 /* Send telemetrum sensor packet */
 209 static void
 210 ao_send_metrum_sensor(void)
 211 {
 212         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 213
 214         telemetry.generic.tick = packet->tick;
 215         telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 216
 217         telemetry.metrum_sensor.state = ao_flight_state;
 218 #if HAS_ACCEL
 219         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 220 #endif
 221         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 222         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 223
 224         telemetry.metrum_sensor.acceleration = ao_accel;
 225         telemetry.metrum_sensor.speed = ao_speed;
 226         telemetry.metrum_sensor.height = ao_height;
 227
 228         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 229         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 230         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 231
 232         ao_telemetry_send();
 233 }
 234
 235 static __pdata int8_t ao_telemetry_metrum_data_max;
 236 static __pdata int8_t ao_telemetry_metrum_data_cur;
 237
 238 /* Send telemetrum data packet */
 239 static void
 240 ao_send_metrum_data(void)
 241 {
 242         if (--ao_telemetry_metrum_data_cur <= 0) {
 243                 __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 244
 245                 telemetry.generic.tick = packet->tick;
 246                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 247
 248                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 249 #if HAS_ACCEL
 250                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 251                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 252                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 253 #else
 254                 telemetry.metrum_data.ground_accel = 1;
 255                 telemetry.metrum_data.accel_plus_g = 0;
 256                 telemetry.metrum_data.accel_minus_g = 2;
 257 #endif
 258
 259                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 260                 ao_telemetry_send();
 261         }
 262 }
 263 #endif /* AO_SEND_METRUM */
 264
 265 #ifdef AO_SEND_MINI
 266
 267 static void
 268 ao_send_mini(void)
 269 {
 270         __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 271
 272         telemetry.generic.tick = packet->tick;
 273         telemetry.generic.type = AO_TELEMETRY_MINI;
 274
 275         telemetry.mini.state = ao_flight_state;
 276
 277         telemetry.mini.v_batt = packet->adc.v_batt;
 278         telemetry.mini.sense_a = packet->adc.sense_a;
 279         telemetry.mini.sense_m = packet->adc.sense_m;
 280
 281         telemetry.mini.pres = ao_data_pres(packet);
 282         telemetry.mini.temp = ao_data_temp(packet);
 283
 284         telemetry.mini.acceleration = ao_accel;
 285         telemetry.mini.speed = ao_speed;
 286         telemetry.mini.height = ao_height;
 287
 288         telemetry.mini.ground_pres = ao_ground_pres;
 289
 290         ao_telemetry_send();
 291 }
 292
 293 #endif /* AO_SEND_MINI */
 294
 295 static __pdata int8_t ao_telemetry_config_max;
 296 static __pdata int8_t ao_telemetry_config_cur;
 297
 298 static void
 299 ao_send_configuration(void)
 300 {
 301         if (--ao_telemetry_config_cur <= 0)
 302         {
 303                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 304                 telemetry.configuration.device = AO_idProduct_NUMBER;
 305 #if HAS_LOG
 306                 telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
 307 #else
 308                 telemetry.configuration.flight = ao_flight_number;
 309 #endif
 310                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 311                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 312 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
 313                 /* TeleGPS gets battery voltage instead of apogee delay */
 314                 telemetry.configuration.apogee_delay = ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt;
 315 #else
 316                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 317                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 318 #endif
 319
 320                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 321                 ao_xmemcpy (telemetry.configuration.callsign,
 322                             ao_config.callsign,
 323                             AO_MAX_CALLSIGN);
 324                 ao_xmemcpy (telemetry.configuration.version,
 325                             CODE_TO_XDATA(ao_version),
 326                             AO_MAX_VERSION);
 327                 ao_telemetry_config_cur = ao_telemetry_config_max;
 328                 ao_telemetry_send();
 329         }
 330 }
 331
 332 #if HAS_GPS
 333
 334 static __pdata int8_t ao_telemetry_gps_max;
 335 static __pdata int8_t ao_telemetry_loc_cur;
 336 static __pdata int8_t ao_telemetry_sat_cur;
 337
 338 static void
 339 ao_send_location(void)
 340 {
 341         if (--ao_telemetry_loc_cur <= 0)
 342         {
 343                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 344                 ao_mutex_get(&ao_gps_mutex);
 345                 ao_xmemcpy(&telemetry.location.flags,
 346                        &ao_gps_data.flags,
 347                        27);
 348                 telemetry.location.tick = ao_gps_tick;
 349                 ao_mutex_put(&ao_gps_mutex);
 350                 ao_telemetry_loc_cur = ao_telemetry_gps_max;
 351                 ao_telemetry_send();
 352         }
 353 }
 354
 355 static void
 356 ao_send_satellite(void)
 357 {
 358         if (--ao_telemetry_sat_cur <= 0)
 359         {
 360                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 361                 ao_mutex_get(&ao_gps_mutex);
 362                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 363                 ao_xmemcpy(&telemetry.satellite.sats,
 364                        &ao_gps_tracking_data.sats,
 365                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 366                 ao_mutex_put(&ao_gps_mutex);
 367                 ao_telemetry_sat_cur = ao_telemetry_gps_max;
 368                 ao_telemetry_send();
 369         }
 370 }
 371 #endif
 372
 373 #if HAS_COMPANION
 374
 375 static __pdata int8_t ao_telemetry_companion_max;
 376 static __pdata int8_t ao_telemetry_companion_cur;
 377
 378 static void
 379 ao_send_companion(void)
 380 {
 381         if (--ao_telemetry_companion_cur <= 0) {
 382                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 383                 telemetry.companion.board_id = ao_companion_setup.board_id;
 384                 telemetry.companion.update_period = ao_companion_setup.update_period;
 385                 telemetry.companion.channels = ao_companion_setup.channels;
 386                 ao_mutex_get(&ao_companion_mutex);
 387                 ao_xmemcpy(&telemetry.companion.companion_data,
 388                        ao_companion_data,
 389                        ao_companion_setup.channels * 2);
 390                 ao_mutex_put(&ao_companion_mutex);
 391                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 392                 ao_telemetry_send();
 393         }
 394 }
 395 #endif
 396
 397 void
 398 ao_telemetry(void)
 399 {
 400         uint16_t        time;
 401         int16_t         delay;
 402
 403         ao_config_get();
 404         if (!ao_config.radio_enable)
 405                 ao_exit();
 406         while (!ao_flight_number)
 407                 ao_sleep(&ao_flight_number);
 408
 409         telemetry.generic.serial = ao_serial_number;
 410         for (;;) {
 411                 while (ao_telemetry_interval == 0)
 412                         ao_sleep(&telemetry);
 413                 time = ao_time();
 414                 ao_telemetry_time = time;
 415 #if HAS_RDF
 416                 ao_rdf_time = time;
 417 #endif
 418 #if HAS_APRS
 419                 ao_aprs_time = time;
 420 #endif
 421                 while (ao_telemetry_interval) {
 422                         time = ao_time() + AO_SEC_TO_TICKS(100);
 423 #ifndef SIMPLIFY
 424                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 425 #endif
 426                         {
 427 #ifndef SIMPLIFY
 428                                 if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
 429 #endif
 430                                 {
 431                                         ao_telemetry_time = ao_time() + ao_telemetry_interval;
 432 # ifdef AO_SEND_MEGA
 433                                         ao_send_mega_sensor();
 434                                         ao_send_mega_data();
 435 # endif
 436 # ifdef AO_SEND_METRUM
 437                                         ao_send_metrum_sensor();
 438                                         ao_send_metrum_data();
 439 # endif
 440 # ifdef AO_SEND_MINI
 441                                         ao_send_mini();
 442 # endif
 443 # ifdef AO_TELEMETRY_SENSOR
 444                                         ao_send_sensor();
 445 # endif
 446 #if HAS_COMPANION
 447                                         if (ao_companion_running)
 448                                                 ao_send_companion();
 449 #endif
 450 #if HAS_GPS
 451                                         ao_send_location();
 452                                         ao_send_satellite();
 453 #endif
 454                                         ao_send_configuration();
 455                                 }
 456 #ifndef SIMPLIFY
 457                                 time = ao_telemetry_time;
 458 #endif
 459                         }
 460 #if HAS_RDF
 461                         if (ao_rdf
 462 #ifndef SIMPLIFY
 463                             && !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF)
 464 #endif
 465                                 )
 466                         {
 467                                 if ((int16_t) (ao_time() - ao_rdf_time) >= 0) {
 468 #if HAS_IGNITE_REPORT
 469                                         uint8_t c;
 470 #endif
 471                                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 472 #if HAS_IGNITE_REPORT
 473                                         if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 474                                                 ao_radio_continuity(c);
 475                                         else
 476 #endif
 477                                                 ao_radio_rdf();
 478                                 }
 479 #ifndef SIMPLIFY
 480                                 if ((int16_t) (time - ao_rdf_time) > 0)
 481                                         time = ao_rdf_time;
 482 #endif
 483                         }
 484 #endif /* HAS_RDF */
 485 #if HAS_APRS
 486                         if (ao_config.aprs_interval != 0) {
 487                                 if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
 488                                         ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 489                                         ao_aprs_send();
 490                                 }
 491                                 if ((int16_t) (time - ao_aprs_time) > 0)
 492                                         time = ao_aprs_time;
 493                         }
 494 #endif /* HAS_APRS */
 495                         delay = time - ao_time();
 496                         if (delay > 0) {
 497                                 ao_sleep_for(&telemetry, delay);
 498                         }
 499                 }
 500         }
 501 }
 502
 503 #if HAS_RADIO_RATE
 504 void
 505 ao_telemetry_reset_interval(void)
 506 {
 507         ao_telemetry_set_interval(ao_telemetry_desired_interval);
 508 }
 509 #endif
 510
 511 void
 512 ao_telemetry_set_interval(uint16_t interval)
 513 {
 514         int8_t  cur = 0;
 515
 516 #if HAS_RADIO_RATE
 517         /* Limit max telemetry rate based on available radio bandwidth.
 518          */
 519         static __xdata const uint16_t min_interval[] = {
 520                 /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
 521                 /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
 522                 /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
 523         };
 524
 525         ao_telemetry_desired_interval = interval;
 526         if (interval && interval < min_interval[ao_config.radio_rate])
 527                 interval = min_interval[ao_config.radio_rate];
 528 #endif
 529         ao_telemetry_interval = interval;
 530 #if AO_SEND_MEGA
 531         if (interval > 1)
 532                 ao_telemetry_mega_data_max = 1;
 533         else
 534                 ao_telemetry_mega_data_max = 2;
 535         if (ao_telemetry_mega_data_max > cur)
 536                 cur++;
 537         ao_telemetry_mega_data_cur = cur;
 538 #endif
 539 #if AO_SEND_METRUM
 540         ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
 541         if (ao_telemetry_metrum_data_max > cur)
 542                 cur++;
 543         ao_telemetry_metrum_data_cur = cur;
 544 #endif
 545
 546 #if HAS_COMPANION
 547         if (!ao_companion_setup.update_period)
 548                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 549         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 550         if (ao_telemetry_companion_max > cur)
 551                 cur++;
 552         ao_telemetry_companion_cur = cur;
 553 #endif
 554
 555 #if HAS_GPS
 556         ao_telemetry_gps_max = AO_SEC_TO_TICKS(1) / interval;
 557         if (ao_telemetry_gps_max > cur)
 558                 cur++;
 559         ao_telemetry_loc_cur = cur;
 560         if (ao_telemetry_gps_max > cur)
 561                 cur++;
 562         ao_telemetry_sat_cur = cur;
 563 #endif
 564
 565         ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval;
 566         if (ao_telemetry_config_max > cur)
 567                 cur++;
 568         ao_telemetry_config_cur = cur;
 569
 570 #ifndef SIMPLIFY
 571         ao_telemetry_time =
 572 #if HAS_RDF
 573                 ao_rdf_time =
 574 #endif
 575 #if HAS_APRS
 576                 ao_aprs_time =
 577 #endif
 578                 ao_time();
 579 #endif
 580         ao_wakeup(&telemetry);
 581 }
 582
 583 #if HAS_RDF
 584 void
 585 ao_rdf_set(uint8_t rdf)
 586 {
 587         ao_rdf = rdf;
 588         if (rdf == 0)
 589                 ao_radio_rdf_abort();
 590         else {
 591                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 592         }
 593 }
 594 #endif
 595
 596 __xdata struct ao_task  ao_telemetry_task;
 597
 598 void
 599 ao_telemetry_init()
 600 {
 601         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 602 }