altos: Add delays to bt startup sequence

[fw/altos] / src / ao_packet_slave.c

diff --git a/src/ao_packet_slave.c b/src/ao_packet_slave.c
index 3c4ffb92d26837f5216fbbe1a0a8739447098ed7..9f14052af406c9293b3fbeeb7a73b92c3fff438c 100644 (file)
--- a/src/ao_packet_slave.c
+++ b/src/ao_packet_slave.c
@@ -20,15 +20,16 @@
 void
 ao_packet_slave(void)
 {
-       uint8_t status;
-
-       ao_radio_set_packet();
        ao_tx_packet.addr = ao_serial_number;
        ao_tx_packet.len = AO_PACKET_SYN;
        while (ao_packet_enable) {
-               status = ao_packet_recv();
-               if (status & AO_DMA_DONE)
+               if (ao_packet_recv()) {
+                       memcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
+#if HAS_FLIGHT
+                       ao_flight_force_idle = TRUE;
+#endif
                        ao_packet_send();
+               }
        }
        ao_exit();
 }
@@ -36,10 +37,8 @@ ao_packet_slave(void)
 void
 ao_packet_slave_start(void)
 {
-       if (!ao_packet_enable) {
-               ao_packet_enable = 1;
-               ao_add_task(&ao_packet_task, ao_packet_slave, "slave");
-       }
+       ao_packet_enable = 1;
+       ao_add_task(&ao_packet_task, ao_packet_slave, "slave");
 }
 
 void
@@ -47,39 +46,19 @@ ao_packet_slave_stop(void)
 {
        if (ao_packet_enable) {
                ao_packet_enable = 0;
-               ao_radio_abort();
                while (ao_packet_task.wchan) {
-                       ao_wake_task(&ao_packet_task);
-                       ao_yield();
+                       ao_radio_recv_abort();
+                       ao_delay(AO_MS_TO_TICKS(10));
                }
-               ao_radio_set_telemetry();
        }
 }
 
-#ifdef PACKET_HAS_SLAVE_CMD
 void
-ao_packet_slave_control(void)
-{
-       ao_cmd_hex();
-       if (ao_cmd_lex_i)
-               ao_packet_slave_start();
-       else
-               ao_packet_slave_stop();
-}
-
-__code struct ao_cmds ao_packet_slave_cmds[] = {
-       { 's',  ao_packet_slave_control,        "s <enable>                         Remote packet link slave" },
-       { 0,    ao_packet_slave_control,        NULL },
-};
-#endif
-
-void
-ao_packet_slave_init(void)
+ao_packet_slave_init(uint8_t enable)
 {
        ao_add_stdio(ao_packet_pollchar,
                     ao_packet_putchar,
                     NULL);
-#ifdef PACKET_HAS_SLAVE_CMD
-       ao_cmd_register(&ao_packet_slave_cmds[0]);
-#endif
+       if (enable)
+               ao_packet_slave_start();
 }