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

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