altosui: Add config and pyro tabs to graph widget

[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 08d454670acb0bd881da59385e6e2ac265a3e038..f5e27e602180accfcb875c253bbdc108000d3a7b 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
- * 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
@@ -20,15 +21,15 @@
 #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          r;
-       uint16_t        sent_time;
-       uint16_t        timeout = AO_MS_TO_TICKS(10);
+       AO_TICK_TYPE    sent_time;
+       AO_TICK_TYPE    timeout = AO_MS_TO_TICKS(20);
 
 #if HAS_RADIO_RATE
        switch (ao_config.radio_rate) {
@@ -36,7 +37,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
        default:
                break;
        case AO_RADIO_RATE_9600:
-               timeout = AO_MS_TO_TICKS(20);
+               timeout = AO_MS_TO_TICKS(30);
                break;
        case AO_RADIO_RATE_2400:
                timeout = AO_MS_TO_TICKS(80);
@@ -44,15 +45,15 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
        }
 #endif
        ao_mutex_get(&ao_lco_mutex);
-       command.tick = ao_time();
+       command.tick = (uint16_t) ao_time();
        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();
        r = ao_radio_cmac_recv(query, sizeof (*query), timeout);
        if (r == AO_RADIO_CMAC_OK)
-               *tick_offset = sent_time - query->tick;
+               *tick_offset = (uint16_t) sent_time - query->tick;
        ao_mutex_put(&ao_lco_mutex);
        return r;
 }
@@ -61,21 +62,21 @@ void
 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.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
-ao_lco_ignite(void)
+ao_lco_ignite(uint8_t cmd)
 {
        ao_mutex_get(&ao_lco_mutex);
        command.tick = 0;
        command.box = 0;
-       command.cmd = AO_LAUNCH_FIRE;
+       command.cmd = cmd;
        command.channels = 0;
        ao_radio_cmac_send(&command, sizeof (command));
        ao_mutex_put(&ao_lco_mutex);