__xdata uint8_t ao_radio_dma;
__xdata uint8_t ao_radio_dma_done;
__xdata uint8_t ao_radio_done;
+__xdata uint8_t ao_radio_abort;
__xdata uint8_t ao_radio_mutex;
void
-ao_radio_general_isr(void) interrupt 16
+ao_radio_general_isr(void) __interrupt 16
{
S1CON &= ~0x03;
if (RFIF & RFIF_IM_TIMEOUT) {
- ao_dma_abort(ao_radio_dma);
+ ao_radio_recv_abort();
RFIF &= ~ RFIF_IM_TIMEOUT;
} else if (RFIF & RFIF_IM_DONE) {
ao_radio_done = 1;
{
if (RF_MARCSTATE != RF_MARCSTATE_IDLE)
{
- RFST = RFST_SIDLE;
do {
+ RFST = RFST_SIDLE;
ao_yield();
} while (RF_MARCSTATE != RF_MARCSTATE_IDLE);
}
}
-static void
+void
ao_radio_get(void)
{
ao_config_get();
RF_FREQ0 = (uint8_t) (ao_config.radio_cal);
}
-#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
void
-ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant
+ao_radio_send(__xdata void *packet, uint8_t size) __reentrant
{
ao_radio_get();
ao_radio_done = 0;
ao_dma_set_transfer(ao_radio_dma,
- telemetry,
+ packet,
&RFDXADDR,
- sizeof (struct ao_telemetry),
+ size,
DMA_CFG0_WORDSIZE_8 |
DMA_CFG0_TMODE_SINGLE |
DMA_CFG0_TRIGGER_RADIO,
}
uint8_t
-ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant
+ao_radio_recv(__xdata void *packet, uint8_t size) __reentrant
{
+ ao_radio_abort = 0;
ao_radio_get();
ao_dma_set_transfer(ao_radio_dma,
&RFDXADDR,
- radio,
- sizeof (struct ao_radio_recv),
+ packet,
+ size,
DMA_CFG0_WORDSIZE_8 |
DMA_CFG0_TMODE_SINGLE |
DMA_CFG0_TRIGGER_RADIO,
DMA_CFG1_PRIORITY_HIGH);
ao_dma_start(ao_radio_dma);
RFST = RFST_SRX;
- __critical while (!ao_radio_dma_done)
- ao_sleep(&ao_radio_dma_done);
+
+ /* Wait for DMA to be done, for the radio receive process to
+ * get aborted or for a receive timeout to fire
+ */
+ __critical while (!ao_radio_dma_done && !ao_radio_abort)
+ if (ao_sleep(&ao_radio_dma_done))
+ break;
+
+ /* If recv was aborted, clean up by stopping the DMA engine
+ * and idling the radio
+ */
+ if (!ao_radio_dma_done) {
+ ao_dma_abort(ao_radio_dma);
+ ao_radio_idle();
+ }
ao_radio_put();
- return (ao_radio_dma_done & AO_DMA_DONE);
+ return ao_radio_dma_done;
+}
+
+/*
+ * Wake up a task waiting to receive a radio packet
+ * and tell them to abort the transfer
+ */
+
+void
+ao_radio_recv_abort(void)
+{
+ ao_radio_abort = 1;
+ ao_wakeup(&ao_radio_dma_done);
}
-__xdata ao_radio_rdf_running;
__xdata ao_radio_rdf_value = 0x55;
void
uint8_t i;
uint8_t pkt_len;
+ ao_radio_abort = 0;
ao_radio_get();
- ao_radio_rdf_running = 1;
+ ao_radio_done = 0;
for (i = 0; i < sizeof (rdf_setup); i += 2)
RF[rdf_setup[i]] = rdf_setup[i+1];
DMA_CFG1_PRIORITY_HIGH);
ao_dma_start(ao_radio_dma);
RFST = RFST_STX;
-
- __critical while (!ao_radio_dma_done)
- ao_sleep(&ao_radio_dma_done);
- ao_radio_rdf_running = 0;
- ao_radio_idle();
+ __critical while (!ao_radio_done && !ao_radio_abort)
+ ao_sleep(&ao_radio_done);
+ if (!ao_radio_done) {
+ ao_dma_abort(ao_radio_dma);
+ ao_radio_idle();
+ }
for (i = 0; i < sizeof (telemetry_setup); i += 2)
RF[telemetry_setup[i]] = telemetry_setup[i+1];
ao_radio_put();
}
-void
-ao_radio_abort(void)
-{
- ao_dma_abort(ao_radio_dma);
- ao_radio_idle();
-}
-
void
ao_radio_rdf_abort(void)
{
- if (ao_radio_rdf_running)
- ao_radio_abort();
+ ao_radio_abort = 1;
+ ao_wakeup(&ao_radio_done);
}
void
ao_radio_test(void)
{
- ao_packet_slave_stop();
- ao_radio_get();
- printf ("Hit a character to stop..."); flush();
- RFST = RFST_STX;
- getchar();
- ao_radio_idle();
- ao_radio_put();
- putchar('\n');
+ uint8_t mode = 2;
+ static __xdata radio_on;
+ ao_cmd_white();
+ if (ao_cmd_lex_c != '\n') {
+ ao_cmd_decimal();
+ mode = (uint8_t) ao_cmd_lex_u32;
+ }
+ mode++;
+ if ((mode & 2) && !radio_on) {
+ ao_set_monitor(0);
+ ao_packet_slave_stop();
+ ao_radio_get();
+ RFST = RFST_STX;
+ radio_on = 1;
+ }
+ if (mode == 3) {
+ printf ("Hit a character to stop..."); flush();
+ getchar();
+ putchar('\n');
+ }
+ if ((mode & 1) && radio_on) {
+ ao_radio_idle();
+ ao_radio_put();
+ radio_on = 0;
+ }
}
__code struct ao_cmds ao_radio_cmds[] = {
- { 'C', ao_radio_test, "C Radio carrier test" },
+ { 'C', ao_radio_test, "C <1 start, 0 stop, none both> Radio carrier test" },
{ 0, ao_radio_test, NULL },
};