Use ao_alarm for ao_delay so it can be easily interrupted

[fw/altos] / src / ao_packet.c

diff --git a/src/ao_packet.c b/src/ao_packet.c
index 7d277d70594e9f3cbfa6471f43995216ad9e950f..0dce326c271b56dff69abfa8e276f710836eb17e 100644 (file)
--- a/src/ao_packet.c
+++ b/src/ao_packet.c
@@ -34,6 +34,7 @@ ao_packet_send(void)
        ao_config_get();
        ao_mutex_get(&ao_radio_mutex);
        ao_radio_idle();
+       ao_radio_done = 0;
        RF_CHANNR = ao_config.radio_channel;
        ao_dma_set_transfer(ao_radio_dma,
                            &tx_packet,
@@ -47,8 +48,8 @@ ao_packet_send(void)
                            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);
+       __critical while (!ao_radio_done)
+               ao_sleep(&ao_radio_done);
        ao_mutex_put(&ao_radio_mutex);
 }
 
@@ -82,14 +83,22 @@ ao_packet_recv(void)
        ao_mutex_put(&ao_radio_mutex);
 
        if (dma_done & AO_DMA_DONE) {
-               printf ("rssi %d status %x\n", rx_packet.rssi, rx_packet.status); flush();
                if (!(rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK)) {
                        printf ("bad crc\n"); flush();
-//                     return AO_DMA_ABORTED;
+                       return AO_DMA_ABORTED;
                }
-               if (rx_packet.packet.len) {
+               if (rx_packet.packet.len == AO_PACKET_SYN) {
+                       rx_seq = rx_packet.packet.seq;
+                       tx_packet.seq = rx_packet.packet.ack;
+                       tx_packet.ack = rx_seq;
+               } else if (rx_packet.packet.len) {
                        if (rx_packet.packet.seq == rx_seq + 1 && rx_used == rx_len)
                        {
+                               printf ("rx len %3d seq %3d ack %3d\n",
+                                       rx_packet.packet.len,
+                                       rx_packet.packet.seq,
+                                       rx_packet.packet.ack);
+                               flush();
                                memcpy(rx_data, rx_packet.packet.d, rx_packet.packet.len);
                                rx_used = 0;
                                rx_len = rx_packet.packet.len;
@@ -109,14 +118,17 @@ ao_packet_recv(void)
 void
 ao_packet_slave(void)
 {
-       tx_packet.addr = ao_serial_number;
        ao_radio_set_packet();
+       tx_packet.addr = ao_serial_number;
+       tx_packet.len = AO_PACKET_SYN;
        while (ao_packet_enable) {
+               ao_led_on(AO_LED_GREEN);
                ao_packet_recv();
-               ao_led_toggle(AO_LED_GREEN);
+               ao_led_off(AO_LED_GREEN);
+               ao_led_on(AO_LED_RED);
                ao_delay(AO_MS_TO_TICKS(100));
                ao_packet_send();
-               ao_led_toggle(AO_LED_RED);
+               ao_led_off(AO_LED_RED);
        }
        ao_exit();
 }
@@ -186,8 +198,10 @@ ao_packet_putchar(char c)
 char
 ao_packet_getchar(void) __critical
 {
-       while (rx_used == rx_len && ao_packet_enable)
+       while (rx_used == rx_len && ao_packet_enable) {
+               flush();
                ao_sleep(&rx_data);
+       }
 
        if (!ao_packet_enable)
                return 0;
@@ -201,8 +215,11 @@ ao_packet_echo(void) __reentrant
        uint8_t c;
        while (ao_packet_enable) {
                c = ao_packet_getchar();
-               if (ao_packet_enable)
+               if (ao_packet_enable) {
                        putchar(c);
+                       if (c == (uint8_t) '\n')
+                               flush();
+               }
        }
        ao_exit();
 }
@@ -221,18 +238,14 @@ ao_packet_forward(void) __reentrant
        else
                ao_add_task(&ao_packet_task, ao_packet_slave, "slave");
        ao_add_task(&ao_packet_echo_task, ao_packet_echo, "echo");
-       while ((c = getchar()) != '~') {
+       while ((c = getchar()) != '~')
                ao_packet_putchar(c);
-               if (c == '\n')
-                       ao_packet_flush();
-       }
        ao_packet_enable = 0;
        ao_radio_abort();
        while (ao_packet_echo_task.wchan || ao_packet_task.wchan) {
                ao_wake_task(&ao_packet_echo_task);
                ao_wake_task(&ao_packet_task);
        }
-#endif
 }
 
 __code struct ao_cmds ao_packet_cmds[] = {