altos: Require sequencing through 'main' state before landing

[fw/altos] / src / ao_monitor.c

diff --git a/src/ao_monitor.c b/src/ao_monitor.c
index e5e9159f0bcc4cce71c75d4e210e8d330e52dd93..8f1b9e12cdcc209dae9543c0a41885a68ef3bf4b 100644 (file)
--- a/src/ao_monitor.c
+++ b/src/ao_monitor.c
@@ -21,32 +21,71 @@
 __xdata uint8_t ao_monitoring;
 __pdata uint8_t ao_monitor_led;
 
-void
-ao_monitor(void)
-{
-       __xdata char callsign[AO_MAX_CALLSIGN+1];
-       __xdata union {
+#define AO_MONITOR_RING        8
+
+__xdata union ao_monitor {
                struct ao_telemetry_raw_recv    raw;
                struct ao_telemetry_orig_recv   orig;
                struct ao_telemetry_tiny_recv   tiny;
-       } u;
+} ao_monitor_ring[AO_MONITOR_RING];
+
+#define ao_monitor_ring_next(n)        (((n) + 1) & (AO_MONITOR_RING - 1))
 
-#define recv_raw       (u.raw)
-#define recv_orig      (u.orig)
-#define recv_tiny      (u.tiny)
+__data uint8_t ao_monitor_head;
 
+void
+ao_monitor_get(void)
+{
+       uint8_t size;
+
+       for (;;) {
+               switch (ao_monitoring) {
+               case 0:
+                       ao_sleep(&ao_monitoring);
+                       continue;
+               case AO_MONITORING_ORIG:
+                       size = sizeof (struct ao_telemetry_orig_recv);
+                       break;
+               case AO_MONITORING_TINY:
+                       size = sizeof (struct ao_telemetry_tiny_recv);
+                       break;
+               default:
+                       if (ao_monitoring > AO_MAX_TELEMETRY)
+                               ao_monitoring = AO_MAX_TELEMETRY;
+                       size = ao_monitoring;
+                       break;
+               }
+               if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
+                       continue;
+               ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
+               ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+               ao_led_toggle(ao_monitor_led);
+       }
+}
+
+void
+ao_monitor_put(void)
+{
+       __xdata char callsign[AO_MAX_CALLSIGN+1];
+
+       uint8_t ao_monitor_tail;
        uint8_t state;
        uint8_t sum, byte;
        int16_t rssi;
+       __xdata union ao_monitor        *m;
+
+#define recv_raw       ((m->raw))
+#define recv_orig      ((m->orig))
+#define recv_tiny      ((m->tiny))
 
+       ao_monitor_tail = ao_monitor_head;
        for (;;) {
-               __critical while (!ao_monitoring)
-                       ao_sleep(&ao_monitoring);
+               while (ao_monitor_tail == ao_monitor_head)
+                       ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+               m = &ao_monitor_ring[ao_monitor_tail];
+               ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
                switch (ao_monitoring) {
                case AO_MONITORING_ORIG:
-                       if (!ao_radio_recv(&recv_orig, sizeof (struct ao_telemetry_orig_recv)))
-                               continue;
-
                        state = recv_orig.telemetry_orig.flight_state;
 
                        /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
@@ -122,9 +161,6 @@ ao_monitor(void)
                        }
                        break;
                case AO_MONITORING_TINY:
-                       if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
-                               continue;
-
                        state = recv_tiny.telemetry_tiny.flight_state;
 
                        /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
@@ -188,10 +224,6 @@ ao_monitor(void)
                        }
                        break;
                default:
-                       if (ao_monitoring > AO_MAX_TELEMETRY)
-                               ao_monitoring = AO_MAX_TELEMETRY;
-                       if (!ao_radio_recv(&recv_raw, ao_monitoring + 2))
-                               continue;
                        printf ("TELEM %02x", ao_monitoring + 2);
                        sum = 0x5a;
                        for (state = 0; state < ao_monitoring + 2; state++) {
@@ -203,11 +235,11 @@ ao_monitor(void)
                        break;
                }
                ao_usb_flush();
-               ao_led_toggle(ao_monitor_led);
        }
 }
 
-__xdata struct ao_task ao_monitor_task;
+__xdata struct ao_task ao_monitor_get_task;
+__xdata struct ao_task ao_monitor_put_task;
 
 void
 ao_set_monitor(uint8_t monitoring)
@@ -236,5 +268,6 @@ ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
        ao_monitor_led = monitor_led;
        ao_monitoring = monitoring;
        ao_cmd_register(&ao_monitor_cmds[0]);
-       ao_add_task(&ao_monitor_task, ao_monitor, "monitor");
+       ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
+       ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 }