altos: panic if MPU6000 self test fails

[fw/altos] / src / drivers / ao_packet.c

diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 19fe0558b91892d6de9bc316bafd0818ce6892dc..e020c0030ce0dffd6e8ef4da383a40397f50ed77 100644 (file)
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -61,14 +61,24 @@ ao_packet_recv(void)
 #ifdef AO_LED_GREEN
        ao_led_off(AO_LED_GREEN);
 #endif
+#if AO_PROFILE
+               {
+                       extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
+                       extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
+
+                       printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
+                       printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
+                       printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
+                       printf ("rx cleanup: %d\n\n", ao_rx_done_tick - ao_fec_decode_end);
+                       flush();
+               }
+#endif
 
        /* Check to see if we got a valid packet */
        if (!dma_done)
                return 0;
-#ifdef PKT_APPEND_STATUS_1_CRC_OK
-       if (!(ao_rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK))
+       if (!(ao_rx_packet.status & AO_RADIO_STATUS_CRC_OK))
                return 0;
-#endif
 
        /* Accept packets with matching call signs, or any packet if
         * our callsign hasn't been configured