altos: Scale packet master receive delay by baud rate

[fw/altos] / src / drivers / ao_packet_master.c

diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index 66f94288fabd5cd6a0888907344f6a58c2ca1bf2..2354504981d6f09d3b51046d02fab1e300bc6b3a 100644 (file)
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -18,10 +18,15 @@
 #include "ao.h"
 
 static char
-ao_packet_getchar(void) __critical
+ao_packet_getchar(void)
 {
-       char c;
-       while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
+       int c;
+
+       /* No need to block interrupts in this function as
+        * all packet variables are only modified from task
+        * context, not an interrupt handler
+        */
+       while ((c = _ao_packet_pollchar()) == AO_READ_AGAIN) {
                if (!ao_packet_enable)
                        break;
                if (ao_packet_master_sleeping)
@@ -35,7 +40,7 @@ ao_packet_getchar(void) __critical
 static void
 ao_packet_echo(void) __reentrant
 {
-       char    c;
+       int     c;
        while (ao_packet_enable) {
                c = ao_packet_getchar();
                if (c != AO_READ_AGAIN)
@@ -52,6 +57,12 @@ static __xdata uint16_t              ao_packet_master_time;
 #define AO_PACKET_MASTER_DELAY_LONG    AO_MS_TO_TICKS(1000)
 #define AO_PACKET_MASTER_DELAY_TIMEOUT AO_MS_TO_TICKS(2000)
 
+#if HAS_RADIO_RATE
+#define AO_PACKET_MASTER_RECV_DELAY    AO_MS_TO_TICKS(100) << (ao_config.radio_rate << 1)
+#else
+#define AO_PACKET_MASTER_RECV_DELAY    AO_MS_TO_TICKS(100)
+#endif
+
 static void
 ao_packet_master_busy(void)
 {
@@ -86,7 +97,7 @@ ao_packet_master(void)
                if (ao_tx_packet.len)
                        ao_packet_master_busy();
                ao_packet_master_check_busy();
-               ao_alarm(ao_packet_master_delay);
+               ao_alarm(AO_PACKET_MASTER_RECV_DELAY);
                r = ao_packet_recv();
                ao_clear_alarm();
                if (r) {
@@ -137,10 +148,15 @@ ao_packet_forward(void) __reentrant
 #endif
 }
 
-
+static void
+ao_packet_signal(void)
+{
+       printf ("RSSI: %d\n", ao_radio_rssi);
+}
 
 __code struct ao_cmds ao_packet_master_cmds[] = {
        { ao_packet_forward,    "p\0Remote packet link." },
+       { ao_packet_signal,     "s\0Report signal strength." },
        { 0,    NULL },
 };