altos: Broke TeleMetrum GPS reporting by holding the GPS mutex too much

[fw/altos] / src / core / ao_monitor.c

diff --git a/src/core/ao_monitor.c b/src/core/ao_monitor.c
index 830464d8643a34db6a8541370651a637cfcf5ad7..18f170b49912af18c707e2e8780a03db522f2419 100644 (file)
--- a/src/core/ao_monitor.c
+++ b/src/core/ao_monitor.c
@@ -17,6 +17,7 @@
 
 #include "ao.h"
 #include "ao_telem.h"
+#include "ao_flight.h"
 
 #if !HAS_MONITOR
 #error Must define HAS_MONITOR to 1
@@ -27,7 +28,7 @@
 #endif
 
 #ifndef HAS_MONITOR_PUT
-#define HAS_MONIOTOR_PUT 1
+#define HAS_MONITOR_PUT 1
 #endif
 
 #ifndef AO_MONITOR_LED
@@ -80,7 +81,7 @@ ao_monitor_get(void)
                        size = ao_monitoring;
                        break;
                }
-               if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
+               if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
                        continue;
                ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
                ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
@@ -102,6 +103,13 @@ ao_monitor_blink(void)
 
 #if HAS_MONITOR_PUT
 
+static const char xdigit[16] = {
+       '0', '1', '2', '3', '4', '5', '6', '7',
+       '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
+};
+
+#define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
+
 void
 ao_monitor_put(void)
 {
@@ -124,6 +132,8 @@ ao_monitor_put(void)
                        ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
                while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
                        ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+               if (!ao_external_monitoring)
+                       continue;
                m = &ao_monitor_ring[ao_monitor_tail];
                ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
                switch (ao_monitoring) {
@@ -133,8 +143,7 @@ ao_monitor_put(void)
                case AO_MONITORING_ORIG:
                        state = recv_orig.telemetry_orig.flight_state;
 
-                       /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
-                       rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
+                       rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
                        ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
                        if (state > ao_flight_invalid)
                                state = ao_flight_invalid;
@@ -209,17 +218,30 @@ ao_monitor_put(void)
                        break;
 #endif /* LEGACY_MONITOR */
                default:
-                       printf ("TELEM %02x", ao_monitoring + 2);
+#if AO_PROFILE
+               {
+                       extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
+                       extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
+
+                       printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
+                       printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
+                       printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
+                       printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
+               }
+#endif
+                       printf("TELEM ");
+                       hex((uint8_t) (ao_monitoring + 2));
                        sum = 0x5a;
                        for (state = 0; state < ao_monitoring + 2; state++) {
                                byte = recv_raw.packet[state];
                                sum += byte;
-                               printf("%02x", byte);
+                               hex(byte);
                        }
-                       printf("%02x\n", sum);
+                       hex(sum);
+                       putchar ('\n');
 #if HAS_RSSI
                        if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
-                               rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
+                               rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
                                ao_rssi_set(rssi);
                        }
 #endif