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altos: Add HAS_COMPANION to new boards with companion connectors
[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 152b5d1ba5b1d06e6c9b509a7b012597f88df036..32c00068a58d9d89b0a5c29358458afc6c332c1d 100644
(file)
--- a/
src/drivers/ao_lco_func.c
+++ b/
src/drivers/ao_lco_func.c
@@
-26,20
+26,33
@@
static __xdata 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 time;
+ uint16_t sent_time;
+ uint16_t 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);
- time = ao_time();
- command.tick = time;
+ command.tick = ao_time() - *tick_offset;
command.box = box;
command.cmd = AO_LAUNCH_QUERY;
command.channels = 0;
ao_radio_cmac_send(&command, sizeof (command));
command.box = box;
command.cmd = AO_LAUNCH_QUERY;
command.channels = 0;
ao_radio_cmac_send(&command, sizeof (command));
- r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(500));
+ sent_time = ao_time();
+ r = ao_radio_cmac_recv(query, sizeof (*query), timeout);
if (r == AO_RADIO_CMAC_OK)
if (r == AO_RADIO_CMAC_OK)
- *tick_offset = time - query->tick;
+ *tick_offset =
sent_
time - query->tick;
ao_mutex_put(&ao_lco_mutex);
return r;
}
ao_mutex_put(&ao_lco_mutex);
return r;
}