Poke master to speed up packet rate when things are busy

[fw/altos] / src / ao_packet.c

diff --git a/src/ao_packet.c b/src/ao_packet.c
index 7d277d70594e9f3cbfa6471f43995216ad9e950f..ba5595126dd5656e25a2cb9fbd2e821a55d00873 100644 (file)
--- a/src/ao_packet.c
+++ b/src/ao_packet.c
@@ -31,9 +31,18 @@ static __xdata uint8_t ao_packet_master_sleeping;
 void
 ao_packet_send(void)
 {
+       ao_led_on(AO_LED_RED);
        ao_config_get();
        ao_mutex_get(&ao_radio_mutex);
+       if (tx_used && tx_packet.len == 0) {
+               memcpy(&tx_packet.d, tx_data, tx_used);
+               tx_packet.len = tx_used;
+               tx_packet.seq++;
+               tx_used = 0;
+               ao_wakeup(&tx_data);
+       }
        ao_radio_idle();
+       ao_radio_done = 0;
        RF_CHANNR = ao_config.radio_channel;
        ao_dma_set_transfer(ao_radio_dma,
                            &tx_packet,
@@ -47,9 +56,10 @@ 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);
+       ao_led_off(AO_LED_RED);
 }
 
 uint8_t
@@ -57,6 +67,7 @@ ao_packet_recv(void)
 {
        uint8_t dma_done;
 
+       ao_led_on(AO_LED_GREEN);
        ao_config_get();
        ao_mutex_get(&ao_radio_mutex);
        ao_radio_idle();
@@ -74,22 +85,28 @@ ao_packet_recv(void)
        ao_dma_start(ao_radio_dma);
        RFST = RFST_SRX;
        __critical while (!ao_radio_dma_done)
-                          if (ao_sleep(&ao_radio_dma_done) != 0) {
-                                  printf("recv timeout\n"); flush();
+                          if (ao_sleep(&ao_radio_dma_done) != 0)
                                   ao_radio_abort();
-                          }
        dma_done = ao_radio_dma_done;
        ao_mutex_put(&ao_radio_mutex);
+       ao_led_off(AO_LED_GREEN);
 
        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;
-               }
-               if (rx_packet.packet.len) {
-                       if (rx_packet.packet.seq == rx_seq + 1 && rx_used == rx_len)
-                       {
+               if (!(rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK))
+                       return AO_DMA_ABORTED;
+               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 == (uint8_t) (rx_seq + (uint8_t) 1) && rx_used == rx_len) {
+#if 0
+                               printf ("rx len %3d seq %3d ack %3d\n",
+                                       rx_packet.packet.len,
+                                       rx_packet.packet.seq,
+                                       rx_packet.packet.ack);
+                               flush();
+#endif
                                memcpy(rx_data, rx_packet.packet.d, rx_packet.packet.len);
                                rx_used = 0;
                                rx_len = rx_packet.packet.len;
@@ -109,14 +126,12 @@ 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_packet_recv();
-               ao_led_toggle(AO_LED_GREEN);
-               ao_delay(AO_MS_TO_TICKS(100));
                ao_packet_send();
-               ao_led_toggle(AO_LED_RED);
        }
        ao_exit();
 }
@@ -132,15 +147,13 @@ ao_packet_master(void)
        tx_packet.addr = ao_serial_number;
        tx_packet.len = AO_PACKET_SYN;
        while (ao_packet_enable) {
-               ao_led_on(AO_LED_RED);
-               ao_delay(AO_MS_TO_TICKS(100));
                ao_packet_send();
-               ao_led_off(AO_LED_RED);
-               ao_led_on(AO_LED_GREEN);
-               ao_alarm(AO_MS_TO_TICKS(1000));
+               ao_alarm(AO_MS_TO_TICKS(100));
                status = ao_packet_recv();
-               ao_led_off(AO_LED_GREEN);
                if (status & AO_DMA_DONE) {
+                       /* if we can transmit data, do so */
+                       if (tx_used && tx_packet.len == 0)
+                               continue;
                        ao_packet_master_sleeping = 1;
                        ao_delay(AO_MS_TO_TICKS(1000));
                        ao_packet_master_sleeping = 0;
@@ -152,32 +165,20 @@ ao_packet_master(void)
 void
 ao_packet_flush(void)
 {
-       if (!tx_used)
-               return;
-
-       /* Wait for previous packet to be received
+       /* If there is data to send, and this is the master,
+        * then poke the master to send all queued data
         */
-       while (tx_packet.len)
-               ao_sleep(&tx_packet);
-
-       /* Prepare next packet
-        */
-       if (tx_used) {
-               memcpy(&tx_packet.d, tx_data, tx_used);
-               tx_packet.len = tx_used;
-               tx_packet.seq++;
-               tx_used = 0;
-
-               if (ao_packet_master_sleeping)
-                       ao_wake_task(&ao_packet_task);
-       }
+       if (tx_used && ao_packet_master_sleeping)
+               ao_wake_task(&ao_packet_task);
 }
 
 void
 ao_packet_putchar(char c)
 {
-       while (tx_used == AO_PACKET_MAX && ao_packet_enable)
+       while (tx_used == AO_PACKET_MAX && ao_packet_enable) {
                ao_packet_flush();
+               ao_sleep(&tx_data);
+       }
 
        if (ao_packet_enable)
                tx_data[tx_used++] = c;
@@ -186,8 +187,12 @@ 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) {
+               /* poke the master to get more data */
+               if (ao_packet_master_sleeping)
+                       ao_wake_task(&ao_packet_task);
                ao_sleep(&rx_data);
+       }
 
        if (!ao_packet_enable)
                return 0;
@@ -201,8 +206,11 @@ 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' || c == (uint8_t) '\r')
+                               flush();
+               }
        }
        ao_exit();
 }
@@ -221,18 +229,14 @@ 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[] = {