git.gag.com Git - fw/altos/blob - src/ao_packet.c

   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19
  20 static __xdata struct ao_packet_recv rx_packet;
  21 static __xdata struct ao_packet tx_packet;
  22 static __xdata char tx_data[AO_PACKET_MAX];
  23 static __xdata char rx_data[AO_PACKET_MAX];
  24 static __pdata uint8_t rx_len, rx_used, tx_used;
  25 static __pdata uint8_t rx_seq;
  26
  27 static __xdata struct ao_task   ao_packet_task;
  28 static __xdata uint8_t ao_packet_enable;
  29 static __xdata uint8_t ao_packet_master_sleeping;
  30
  31 void
  32 ao_packet_send(void)
  33 {
  34         ao_config_get();
  35         ao_mutex_get(&ao_radio_mutex);
  36         ao_radio_idle();
  37         ao_radio_done = 0;
  38         RF_CHANNR = ao_config.radio_channel;
  39         ao_dma_set_transfer(ao_radio_dma,
  40                             &tx_packet,
  41                             &RFDXADDR,
  42                             sizeof (struct ao_packet),
  43                             DMA_CFG0_WORDSIZE_8 |
  44                             DMA_CFG0_TMODE_SINGLE |
  45                             DMA_CFG0_TRIGGER_RADIO,
  46                             DMA_CFG1_SRCINC_1 |
  47                             DMA_CFG1_DESTINC_0 |
  48                             DMA_CFG1_PRIORITY_HIGH);
  49         ao_dma_start(ao_radio_dma);
  50         RFST = RFST_STX;
  51         __critical while (!ao_radio_done)
  52                 ao_sleep(&ao_radio_done);
  53         ao_mutex_put(&ao_radio_mutex);
  54 }
  55
  56 uint8_t
  57 ao_packet_recv(void)
  58 {
  59         uint8_t dma_done;
  60
  61         ao_config_get();
  62         ao_mutex_get(&ao_radio_mutex);
  63         ao_radio_idle();
  64         RF_CHANNR = ao_config.radio_channel;
  65         ao_dma_set_transfer(ao_radio_dma,
  66                             &RFDXADDR,
  67                             &rx_packet,
  68                             sizeof (struct ao_packet_recv),
  69                             DMA_CFG0_WORDSIZE_8 |
  70                             DMA_CFG0_TMODE_SINGLE |
  71                             DMA_CFG0_TRIGGER_RADIO,
  72                             DMA_CFG1_SRCINC_0 |
  73                             DMA_CFG1_DESTINC_1 |
  74                             DMA_CFG1_PRIORITY_HIGH);
  75         ao_dma_start(ao_radio_dma);
  76         RFST = RFST_SRX;
  77         __critical while (!ao_radio_dma_done)
  78                            if (ao_sleep(&ao_radio_dma_done) != 0) {
  79                                    printf("recv timeout\n"); flush();
  80                                    ao_radio_abort();
  81                            }
  82         dma_done = ao_radio_dma_done;
  83         ao_mutex_put(&ao_radio_mutex);
  84
  85         if (dma_done & AO_DMA_DONE) {
  86                 printf ("rssi %d status %x\n", rx_packet.rssi, rx_packet.status); flush();
  87                 if (!(rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK)) {
  88                         printf ("bad crc\n"); flush();
  89 //                      return AO_DMA_ABORTED;
  90                 }
  91                 if (rx_packet.packet.len) {
  92                         if (rx_packet.packet.seq == rx_seq + 1 && rx_used == rx_len)
  93                         {
  94                                 memcpy(rx_data, rx_packet.packet.d, rx_packet.packet.len);
  95                                 rx_used = 0;
  96                                 rx_len = rx_packet.packet.len;
  97                                 rx_seq = rx_packet.packet.seq;
  98                                 tx_packet.ack = rx_seq;
  99                                 ao_wakeup(&rx_data);
 100                         }
 101                 }
 102                 if (rx_packet.packet.ack == tx_packet.seq) {
 103                         tx_packet.len = 0;
 104                         ao_wakeup(&tx_packet);
 105                 }
 106         }
 107         return dma_done;
 108 }
 109
 110 void
 111 ao_packet_slave(void)
 112 {
 113         tx_packet.addr = ao_serial_number;
 114         ao_radio_set_packet();
 115         while (ao_packet_enable) {
 116                 ao_packet_recv();
 117                 ao_led_toggle(AO_LED_GREEN);
 118                 ao_delay(AO_MS_TO_TICKS(100));
 119                 ao_packet_send();
 120                 ao_led_toggle(AO_LED_RED);
 121         }
 122         ao_exit();
 123 }
 124
 125 /* Thread for the master side of the packet link */
 126
 127 void
 128 ao_packet_master(void)
 129 {
 130         uint8_t status;
 131
 132         ao_radio_set_packet();
 133         tx_packet.addr = ao_serial_number;
 134         tx_packet.len = AO_PACKET_SYN;
 135         while (ao_packet_enable) {
 136                 ao_led_on(AO_LED_RED);
 137                 ao_delay(AO_MS_TO_TICKS(100));
 138                 ao_packet_send();
 139                 ao_led_off(AO_LED_RED);
 140                 ao_led_on(AO_LED_GREEN);
 141                 ao_alarm(AO_MS_TO_TICKS(1000));
 142                 status = ao_packet_recv();
 143                 ao_led_off(AO_LED_GREEN);
 144                 if (status & AO_DMA_DONE) {
 145                         ao_packet_master_sleeping = 1;
 146                         ao_delay(AO_MS_TO_TICKS(1000));
 147                         ao_packet_master_sleeping = 0;
 148                 }
 149         }
 150         ao_exit();
 151 }
 152
 153 void
 154 ao_packet_flush(void)
 155 {
 156         if (!tx_used)
 157                 return;
 158
 159         /* Wait for previous packet to be received
 160          */
 161         while (tx_packet.len)
 162                 ao_sleep(&tx_packet);
 163
 164         /* Prepare next packet
 165          */
 166         if (tx_used) {
 167                 memcpy(&tx_packet.d, tx_data, tx_used);
 168                 tx_packet.len = tx_used;
 169                 tx_packet.seq++;
 170                 tx_used = 0;
 171
 172                 if (ao_packet_master_sleeping)
 173                         ao_wake_task(&ao_packet_task);
 174         }
 175 }
 176
 177 void
 178 ao_packet_putchar(char c)
 179 {
 180         while (tx_used == AO_PACKET_MAX && ao_packet_enable)
 181                 ao_packet_flush();
 182
 183         if (ao_packet_enable)
 184                 tx_data[tx_used++] = c;
 185 }
 186
 187 char
 188 ao_packet_getchar(void) __critical
 189 {
 190         while (rx_used == rx_len && ao_packet_enable)
 191                 ao_sleep(&rx_data);
 192
 193         if (!ao_packet_enable)
 194                 return 0;
 195
 196         return rx_data[rx_used++];
 197 }
 198
 199 static void
 200 ao_packet_echo(void) __reentrant
 201 {
 202         uint8_t c;
 203         while (ao_packet_enable) {
 204                 c = ao_packet_getchar();
 205                 if (ao_packet_enable)
 206                         putchar(c);
 207         }
 208         ao_exit();
 209 }
 210
 211 static __xdata struct ao_task   ao_packet_echo_task;
 212
 213 static void
 214 ao_packet_forward(void) __reentrant
 215 {
 216         char c;
 217         ao_packet_enable = 1;
 218         ao_cmd_white();
 219
 220         if (ao_cmd_lex_c == 'm')
 221                 ao_add_task(&ao_packet_task, ao_packet_master, "master");
 222         else
 223                 ao_add_task(&ao_packet_task, ao_packet_slave, "slave");
 224         ao_add_task(&ao_packet_echo_task, ao_packet_echo, "echo");
 225         while ((c = getchar()) != '~') {
 226                 ao_packet_putchar(c);
 227                 if (c == '\n')
 228                         ao_packet_flush();
 229         }
 230         ao_packet_enable = 0;
 231         ao_radio_abort();
 232         while (ao_packet_echo_task.wchan || ao_packet_task.wchan) {
 233                 ao_wake_task(&ao_packet_echo_task);
 234                 ao_wake_task(&ao_packet_task);
 235         }
 236 #endif
 237 }
 238
 239 __code struct ao_cmds ao_packet_cmds[] = {
 240         { 'p',  ao_packet_forward,      "p {m|s}                            Remote packet link. m=master, s=slave" },
 241         { 0,    ao_packet_forward,      NULL },
 242 };
 243
 244 void
 245 ao_packet_init(void)
 246 {
 247         ao_cmd_register(&ao_packet_cmds[0]);
 248 }