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

   1 /*
   2  * Copyright © 2009 Keith 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
  20 static __xdata struct ao_packet_recv rx_packet;
  21 static __xdata struct ao_packet tx_packet;
  22 static __xdata char tx_data[AO_PACKET_MAX];
  23 static __xdata char rx_data[AO_PACKET_MAX];
  24 static __pdata uint8_t rx_len, rx_used, tx_used;
  25 static __pdata uint8_t rx_seq;
  26
  27 static __xdata struct ao_task   ao_packet_task;
  28 static __xdata uint8_t ao_packet_enable;
  29 static __xdata uint8_t ao_packet_master_sleeping;
  30
  31 void
  32 ao_packet_send(void)
  33 {
  34         ao_config_get();
  35         ao_mutex_get(&ao_radio_mutex);
  36         ao_radio_idle();
  37         RF_CHANNR = ao_config.radio_channel;
  38         ao_dma_set_transfer(ao_radio_dma,
  39                             &tx_packet,
  40                             &RFDXADDR,
  41                             sizeof (struct ao_packet),
  42                             DMA_CFG0_WORDSIZE_8 |
  43                             DMA_CFG0_TMODE_SINGLE |
  44                             DMA_CFG0_TRIGGER_RADIO,
  45                             DMA_CFG1_SRCINC_1 |
  46                             DMA_CFG1_DESTINC_0 |
  47                             DMA_CFG1_PRIORITY_HIGH);
  48         ao_dma_start(ao_radio_dma);
  49         RFST = RFST_STX;
  50         __critical while (!ao_radio_dma_done)
  51                 ao_sleep(&ao_radio_dma_done);
  52         ao_mutex_put(&ao_radio_mutex);
  53 }
  54
  55 uint8_t
  56 ao_packet_recv(void)
  57 {
  58         uint8_t dma_done;
  59
  60         ao_config_get();
  61         ao_mutex_get(&ao_radio_mutex);
  62         ao_radio_idle();
  63         RF_CHANNR = ao_config.radio_channel;
  64         ao_dma_set_transfer(ao_radio_dma,
  65                             &RFDXADDR,
  66                             &rx_packet,
  67                             sizeof (struct ao_packet_recv),
  68                             DMA_CFG0_WORDSIZE_8 |
  69                             DMA_CFG0_TMODE_SINGLE |
  70                             DMA_CFG0_TRIGGER_RADIO,
  71                             DMA_CFG1_SRCINC_0 |
  72                             DMA_CFG1_DESTINC_1 |
  73                             DMA_CFG1_PRIORITY_HIGH);
  74         ao_dma_start(ao_radio_dma);
  75         RFST = RFST_SRX;
  76         __critical while (!ao_radio_dma_done)
  77                            if (ao_sleep(&ao_radio_dma_done) != 0) {
  78                                    printf("recv timeout\n"); flush();
  79                                    ao_radio_abort();
  80                            }
  81         dma_done = ao_radio_dma_done;
  82         ao_mutex_put(&ao_radio_mutex);
  83
  84         if (dma_done & AO_DMA_DONE) {
  85                 printf ("rssi %d status %x\n", rx_packet.rssi, rx_packet.status); flush();
  86                 if (!(rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK)) {
  87                         printf ("bad crc\n"); flush();
  88 //                      return AO_DMA_ABORTED;
  89                 }
  90                 if (rx_packet.packet.len) {
  91                         if (rx_packet.packet.seq == rx_seq + 1 && rx_used == rx_len)
  92                         {
  93                                 memcpy(rx_data, rx_packet.packet.d, rx_packet.packet.len);
  94                                 rx_used = 0;
  95                                 rx_len = rx_packet.packet.len;
  96                                 rx_seq = rx_packet.packet.seq;
  97                                 tx_packet.ack = rx_seq;
  98                                 ao_wakeup(&rx_data);
  99                         }
 100                 }
 101                 if (rx_packet.packet.ack == tx_packet.seq) {
 102                         tx_packet.len = 0;
 103                         ao_wakeup(&tx_packet);
 104                 }
 105         }
 106         return dma_done;
 107 }
 108
 109 void
 110 ao_packet_slave(void)
 111 {
 112         tx_packet.addr = ao_serial_number;
 113         ao_radio_set_packet();
 114         while (ao_packet_enable) {
 115                 ao_packet_recv();
 116                 ao_led_toggle(AO_LED_GREEN);
 117                 ao_delay(AO_MS_TO_TICKS(100));
 118                 ao_packet_send();
 119                 ao_led_toggle(AO_LED_RED);
 120         }
 121         ao_exit();
 122 }
 123
 124 /* Thread for the master side of the packet link */
 125
 126 void
 127 ao_packet_master(void)
 128 {
 129         uint8_t status;
 130
 131         ao_radio_set_packet();
 132         tx_packet.addr = ao_serial_number;
 133         tx_packet.len = AO_PACKET_SYN;
 134         while (ao_packet_enable) {
 135                 ao_led_on(AO_LED_RED);
 136                 ao_delay(AO_MS_TO_TICKS(100));
 137                 ao_packet_send();
 138                 ao_led_off(AO_LED_RED);
 139                 ao_led_on(AO_LED_GREEN);
 140                 ao_alarm(AO_MS_TO_TICKS(1000));
 141                 status = ao_packet_recv();
 142                 ao_led_off(AO_LED_GREEN);
 143                 if (status & AO_DMA_DONE) {
 144                         ao_packet_master_sleeping = 1;
 145                         ao_delay(AO_MS_TO_TICKS(1000));
 146                         ao_packet_master_sleeping = 0;
 147                 }
 148         }
 149         ao_exit();
 150 }
 151
 152 void
 153 ao_packet_flush(void)
 154 {
 155         if (!tx_used)
 156                 return;
 157
 158         /* Wait for previous packet to be received
 159          */
 160         while (tx_packet.len)
 161                 ao_sleep(&tx_packet);
 162
 163         /* Prepare next packet
 164          */
 165         if (tx_used) {
 166                 memcpy(&tx_packet.d, tx_data, tx_used);
 167                 tx_packet.len = tx_used;
 168                 tx_packet.seq++;
 169                 tx_used = 0;
 170
 171                 if (ao_packet_master_sleeping)
 172                         ao_wake_task(&ao_packet_task);
 173         }
 174 }
 175
 176 void
 177 ao_packet_putchar(char c)
 178 {
 179         while (tx_used == AO_PACKET_MAX && ao_packet_enable)
 180                 ao_packet_flush();
 181
 182         if (ao_packet_enable)
 183                 tx_data[tx_used++] = c;
 184 }
 185
 186 char
 187 ao_packet_getchar(void) __critical
 188 {
 189         while (rx_used == rx_len && ao_packet_enable)
 190                 ao_sleep(&rx_data);
 191
 192         if (!ao_packet_enable)
 193                 return 0;
 194
 195         return rx_data[rx_used++];
 196 }
 197
 198 static void
 199 ao_packet_echo(void) __reentrant
 200 {
 201         uint8_t c;
 202         while (ao_packet_enable) {
 203                 c = ao_packet_getchar();
 204                 if (ao_packet_enable)
 205                         putchar(c);
 206         }
 207         ao_exit();
 208 }
 209
 210 static __xdata struct ao_task   ao_packet_echo_task;
 211
 212 static void
 213 ao_packet_forward(void) __reentrant
 214 {
 215         char c;
 216         ao_packet_enable = 1;
 217         ao_cmd_white();
 218
 219         if (ao_cmd_lex_c == 'm')
 220                 ao_add_task(&ao_packet_task, ao_packet_master, "master");
 221         else
 222                 ao_add_task(&ao_packet_task, ao_packet_slave, "slave");
 223         ao_add_task(&ao_packet_echo_task, ao_packet_echo, "echo");
 224         while ((c = getchar()) != '~') {
 225                 ao_packet_putchar(c);
 226                 if (c == '\n')
 227                         ao_packet_flush();
 228         }
 229         ao_packet_enable = 0;
 230         ao_radio_abort();
 231         while (ao_packet_echo_task.wchan || ao_packet_task.wchan) {
 232                 ao_wake_task(&ao_packet_echo_task);
 233                 ao_wake_task(&ao_packet_task);
 234         }
 235 #endif
 236 }
 237
 238 __code struct ao_cmds ao_packet_cmds[] = {
 239         { 'p',  ao_packet_forward,      "p {m|s}                            Remote packet link. m=master, s=slave" },
 240         { 0,    ao_packet_forward,      NULL },
 241 };
 242
 243 void
 244 ao_packet_init(void)
 245 {
 246         ao_cmd_register(&ao_packet_cmds[0]);
 247 }