Control radio monitoring with the M command

[fw/altos] / ao_monitor.c

diff --git a/ao_monitor.c b/ao_monitor.c
index f3c1fe7d43ae0a1436815404c483b7d5ceeac5b0..2cca31379deedf8cbbd32870592ccd259224b88d 100644 (file)
--- a/ao_monitor.c
+++ b/ao_monitor.c
@@ -29,6 +29,8 @@ const char const * const ao_state_names[] = {
        "apogee", "drogue", "main", "landed", "invalid"
 };
 
+__xdata uint8_t ao_monitoring;
+
 void
 ao_monitor(void)
 {
@@ -36,6 +38,8 @@ ao_monitor(void)
        uint8_t state;
 
        for (;;) {
+               __critical while (!ao_monitoring)
+                       ao_sleep(&ao_monitoring);
                ao_radio_recv(&recv);
                state = recv.telemetry.flight_state;
                if (state > ao_flight_invalid)
@@ -60,8 +64,23 @@ ao_monitor(void)
 
 __xdata struct ao_task ao_monitor_task;
 
+static void
+ao_set_monitor(void)
+{
+       ao_cmd_hex();
+       ao_monitoring = ao_cmd_lex_i != 0;
+       ao_wakeup(&ao_monitoring);
+}
+
+__code struct ao_cmds ao_monitor_cmds[] = {
+       { 'M',  ao_set_monitor, "M                                  Enable/disable radio monitoring" },
+       { 0,    ao_set_monitor, NULL },
+};
+
 void
 ao_monitor_init(void)
 {
+       ao_monitoring = 0;
+       ao_cmd_register(&ao_monitor_cmds[0]);
        ao_add_task(&ao_monitor_task, ao_monitor, "monitor");
 }