From 6493a3e2930ff0f8e3408af16e4a7eeed4679cde Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <whoenig@usc.edu>
Date: Thu, 28 Apr 2016 16:04:53 -0700
Subject: [PATCH] support for broadcasting

---
 src/hal/interface/syslink.h | 15 ++++++++-------
 src/hal/src/radiolink.c     |  6 ++++++
 2 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/src/hal/interface/syslink.h b/src/hal/interface/syslink.h
index 63972c996d..140182c6f9 100644
--- a/src/hal/interface/syslink.h
+++ b/src/hal/interface/syslink.h
@@ -38,13 +38,14 @@
 // Defined packet types
 #define SYSLINK_GROUP_MASK    0xF0
 
-#define SYSLINK_RADIO_GROUP    0x00
-#define SYSLINK_RADIO_RAW      0x00
-#define SYSLINK_RADIO_CHANNEL  0x01
-#define SYSLINK_RADIO_DATARATE 0x02
-#define SYSLINK_RADIO_CONTWAVE 0x03
-#define SYSLINK_RADIO_RSSI     0x04
-#define SYSLINK_RADIO_ADDRESS  0x05
+#define SYSLINK_RADIO_GROUP         0x00
+#define SYSLINK_RADIO_RAW           0x00
+#define SYSLINK_RADIO_CHANNEL       0x01
+#define SYSLINK_RADIO_DATARATE      0x02
+#define SYSLINK_RADIO_CONTWAVE      0x03
+#define SYSLINK_RADIO_RSSI          0x04
+#define SYSLINK_RADIO_ADDRESS       0x05
+#define SYSLINK_RADIO_RAW_BROADCAST 0x06
 
 #define SYSLINK_PM_GROUP              0x10
 #define SYSLINK_PM_SOURCE             0x10
diff --git a/src/hal/src/radiolink.c b/src/hal/src/radiolink.c
index 3d525382f6..b0b09db88c 100644
--- a/src/hal/src/radiolink.c
+++ b/src/hal/src/radiolink.c
@@ -136,6 +136,12 @@ void radiolinkSyslinkDispatch(SyslinkPacket *slp)
       ledseqRun(LINK_DOWN_LED, seq_linkup);
       syslinkSendPacket(&txPacket);
     }
+  } else if (slp->type == SYSLINK_RADIO_RAW_BROADCAST)
+  {
+    slp->length--; // Decrease to get CRTP size.
+    xQueueSend(crtpPacketDelivery, &slp->length, 0);
+    ledseqRun(LINK_LED, seq_linkup);
+    // no ack for broadcasts
   } else if (slp->type == SYSLINK_RADIO_RSSI)
 	{
 		//Extract RSSI sample sent from radio