Set telemetry rate to 100ms

[fw/altos] / ao_report.c

diff --git a/ao_report.c b/ao_report.c
index 1cc883be880d2a3756f96631682ad86f4768e9bd..b26f671346202468f7cd709069a72122dd09db80 100644 (file)
--- a/ao_report.c
+++ b/ao_report.c
@@ -3,8 +3,7 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * the Free Software Foundation; version 2 of the License.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -38,10 +37,12 @@ static const char * __xdata flight_reports[] = {
 #endif
 #define pause(time)    ao_delay(time)
 
+static __xdata enum ao_flight_state ao_report_state;
+
 static void
-ao_report_state(void)
+ao_report_beep(void)
 {
-       char *r = flight_reports[ao_flight_state];
+       char *r = flight_reports[ao_report_state];
        char c;
 
        if (!r)
@@ -53,22 +54,20 @@ ao_report_state(void)
                        signal(AO_MS_TO_TICKS(600));
                pause(AO_MS_TO_TICKS(200));
        }
-}
-
-static __xdata ao_report_wait;
-
-void
-ao_report_notify(void)
-{
-       ao_wakeup(&ao_report_wait);
+       pause(AO_MS_TO_TICKS(400));
 }
 
 void
 ao_report(void)
 {
+       ao_report_state = ao_flight_state;
        for(;;) {
-               ao_report_state();
-               ao_sleep(&ao_report_wait);
+               ao_report_beep();
+               __critical {
+                       while (ao_report_state == ao_flight_state)
+                               ao_sleep(DATA_TO_XDATA(&ao_flight_state));
+                       ao_report_state = ao_flight_state;
+               }
        }
 }
 
@@ -77,5 +76,5 @@ static __xdata struct ao_task ao_report_task;
 void
 ao_report_init(void)
 {
-       ao_add_task(&ao_report_task, ao_report);
+       ao_add_task(&ao_report_task, ao_report, "report");
 }