From: Keith Packard <keithp@keithp.com>
Date: Tue, 21 Apr 2009 09:07:24 +0000 (-0700)
Subject: Clean up telemetry now that all packets are the same
X-Git-Tag: 0.1~42
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=d87e9c25947d7cc2eba8894a524977f2c55a089a;hp=1b333def5052d2ed47fdeaef23a897fe326f6340

Clean up telemetry now that all packets are the same
---

diff --git a/ao.h b/ao.h
index c2e83277..02810d05 100644
--- a/ao.h
+++ b/ao.h
@@ -695,9 +695,6 @@ struct ao_telemetry {
 	struct ao_gps_data	gps;
 };
 
-void
-ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant;
-
 void
 ao_telemetry_init(void);
 
diff --git a/ao_radio.c b/ao_radio.c
index 5ff6f9bf..13362d3e 100644
--- a/ao_radio.c
+++ b/ao_radio.c
@@ -217,7 +217,7 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant
 			    DMA_CFG1_PRIORITY_HIGH);
 	ao_dma_start(ao_radio_dma);
 	RFST = RFST_STX;
-	while (!ao_radio_dma_done)
+	__critical while (!ao_radio_dma_done)
 		ao_sleep(&ao_radio_dma_done);
 	ao_mutex_put(&ao_radio_mutex);
 }
@@ -239,7 +239,7 @@ ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant
 			    DMA_CFG1_PRIORITY_HIGH);
 	ao_dma_start(ao_radio_dma);
 	RFST = RFST_SRX;
-	while (!ao_radio_dma_done)
+	__critical while (!ao_radio_dma_done)
 		ao_sleep(&ao_radio_dma_done);
 	ao_mutex_put(&ao_radio_mutex);
 }
diff --git a/ao_telemetry.c b/ao_telemetry.c
index b46f03c7..90cf2e4e 100644
--- a/ao_telemetry.c
+++ b/ao_telemetry.c
@@ -21,16 +21,6 @@
 
 uint8_t	ao_serial_number = 2;
 
-void
-ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant
-{
-	if (ao_flight_state != ao_flight_idle && ao_flight_state != ao_flight_startup) {
-		telemetry->addr = ao_serial_number;
-		telemetry->flight_state = ao_flight_state;
-		ao_radio_send(telemetry);
-	}
-}
-
 void
 ao_telemetry(void)
 {
@@ -41,11 +31,13 @@ ao_telemetry(void)
 		ao_sleep(DATA_TO_XDATA(&ao_flight_state));
 
 	for (;;) {
+		telemetry.addr = ao_serial_number;
+		telemetry.flight_state = ao_flight_state;
 		ao_adc_get(&telemetry.adc);
 		ao_mutex_get(&ao_gps_mutex);
 		memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
 		ao_mutex_put(&ao_gps_mutex);
-		ao_telemetry_send(&telemetry);
+		ao_radio_send(&telemetry);
 		ao_delay(AO_MS_TO_TICKS(1000));
 	}
 }