projects
/
fw
/
altos
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
altos: Use AO_TICK_TYPE/AO_TICK_SIGNED for lco/pad code
[fw/altos]
/
src
/
drivers
/
ao_lco_func.c
diff --git
a/src/drivers/ao_lco_func.c
b/src/drivers/ao_lco_func.c
index 99e58b76f872bc014e992ae622242cce1bc80701..1960683fa6b214a56cd7fd87800cd1a7c6e7562d 100644
(file)
--- a/
src/drivers/ao_lco_func.c
+++ b/
src/drivers/ao_lco_func.c
@@
-3,7
+3,8
@@
*
* 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
*
* 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; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-20,24
+21,37
@@
#include <ao_radio_cmac.h>
#include <ao_lco_func.h>
#include <ao_radio_cmac.h>
#include <ao_lco_func.h>
-static
__xdata
struct ao_pad_command command;
-static
__xdata
uint8_t ao_lco_mutex;
+static struct ao_pad_command command;
+static uint8_t ao_lco_mutex;
int8_t
ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
{
int8_t
ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
{
- uint8_t i;
int8_t r;
int8_t r;
- uint16_t sent_time;
+ AO_TICK_TYPE sent_time;
+ AO_TICK_TYPE timeout = AO_MS_TO_TICKS(10);
+#if HAS_RADIO_RATE
+ switch (ao_config.radio_rate) {
+ case AO_RADIO_RATE_38400:
+ default:
+ break;
+ case AO_RADIO_RATE_9600:
+ timeout = AO_MS_TO_TICKS(20);
+ break;
+ case AO_RADIO_RATE_2400:
+ timeout = AO_MS_TO_TICKS(80);
+ break;
+ }
+#endif
ao_mutex_get(&ao_lco_mutex);
ao_mutex_get(&ao_lco_mutex);
- command.tick = ao_time()
- *tick_offset
;
+ command.tick = ao_time();
command.box = box;
command.box = box;
- command.cmd = AO_
LAUNCH
_QUERY;
+ command.cmd = AO_
PAD
_QUERY;
command.channels = 0;
ao_radio_cmac_send(&command, sizeof (command));
sent_time = ao_time();
command.channels = 0;
ao_radio_cmac_send(&command, sizeof (command));
sent_time = ao_time();
- r = ao_radio_cmac_recv(query, sizeof (*query),
AO_MS_TO_TICKS(20)
);
+ r = ao_radio_cmac_recv(query, sizeof (*query),
timeout
);
if (r == AO_RADIO_CMAC_OK)
*tick_offset = sent_time - query->tick;
ao_mutex_put(&ao_lco_mutex);
if (r == AO_RADIO_CMAC_OK)
*tick_offset = sent_time - query->tick;
ao_mutex_put(&ao_lco_mutex);
@@
-48,23
+62,22
@@
void
ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset)
{
ao_mutex_get(&ao_lco_mutex);
ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset)
{
ao_mutex_get(&ao_lco_mutex);
- command.tick = ao_time() - tick_offset;
+ command.tick =
(uint16_t)
ao_time() - tick_offset;
command.box = box;
command.box = box;
- command.cmd = AO_
LAUNCH
_ARM;
+ command.cmd = AO_
PAD
_ARM;
command.channels = channels;
ao_radio_cmac_send(&command, sizeof (command));
ao_mutex_put(&ao_lco_mutex);
}
void
command.channels = channels;
ao_radio_cmac_send(&command, sizeof (command));
ao_mutex_put(&ao_lco_mutex);
}
void
-ao_lco_ignite(uint
16_t box, uint8_t channels, uint16_t tick_offset
)
+ao_lco_ignite(uint
8_t cmd
)
{
ao_mutex_get(&ao_lco_mutex);
{
ao_mutex_get(&ao_lco_mutex);
- command.tick =
ao_time() - tick_offset
;
- command.box =
box
;
- command.cmd =
AO_LAUNCH_FIRE
;
- command.channels =
channels
;
+ command.tick =
0
;
+ command.box =
0
;
+ command.cmd =
cmd
;
+ command.channels =
0
;
ao_radio_cmac_send(&command, sizeof (command));
ao_mutex_put(&ao_lco_mutex);
}
ao_radio_cmac_send(&command, sizeof (command));
ao_mutex_put(&ao_lco_mutex);
}
-