altos: Add bit-bang i2c driver

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

diff --git a/src/kernel/ao_monitor.c b/src/kernel/ao_monitor.c
index 2d75c41c2c786bf98d7c03c05e4a09f9a58b70a0..cd5116990b7046e83789dfbbe2431e620be74170 100644 (file)
--- a/src/kernel/ao_monitor.c
+++ b/src/kernel/ao_monitor.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -35,14 +36,15 @@
 #error Must define AO_MONITOR_LED
 #endif
 
-__data uint8_t ao_monitoring;
-static __data uint8_t ao_monitor_disabled;
-static __data uint8_t ao_internal_monitoring;
-static __data uint8_t ao_external_monitoring;
+uint8_t ao_monitoring_mutex;
+uint8_t ao_monitoring;
+static uint8_t ao_monitor_disabled;
+static uint8_t ao_internal_monitoring;
+static uint8_t ao_external_monitoring;
 
-__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
+union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
 
-__data uint8_t ao_monitor_head;
+uint8_t        ao_monitor_head;
 
 static void
 _ao_monitor_adjust(void)
@@ -57,10 +59,10 @@ _ao_monitor_adjust(void)
                else
                        ao_monitoring = ao_internal_monitoring;
        }
-       ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
+       ao_wakeup(&ao_monitoring);
 }
 
-void
+static void
 ao_monitor_get(void)
 {
        uint8_t size;
@@ -68,7 +70,7 @@ ao_monitor_get(void)
        for (;;) {
                switch (ao_monitoring) {
                case 0:
-                       ao_sleep(DATA_TO_XDATA(&ao_monitoring));
+                       ao_sleep(&ao_monitoring);
                        continue;
 #if LEGACY_MONITOR
                case AO_MONITORING_ORIG:
@@ -84,19 +86,28 @@ ao_monitor_get(void)
                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));
+               ao_wakeup(&ao_monitor_head);
        }
 }
 
 #if AO_MONITOR_LED
-__xdata struct ao_task ao_monitor_blink_task;
+struct ao_task ao_monitor_blink_task;
 
-void
+static void
 ao_monitor_blink(void)
 {
+#ifdef AO_MONITOR_BAD
+       uint8_t         *recv;
+#endif
        for (;;) {
-               ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
-               ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
+               ao_sleep(&ao_monitor_head);
+#ifdef AO_MONITOR_BAD
+               recv = (uint8_t *) &ao_monitor_ring[ao_monitor_ring_prev(ao_monitor_head)];
+               if (ao_monitoring && !(recv[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK))
+                       ao_led_for(AO_MONITOR_BAD, AO_MS_TO_TICKS(100));
+               else
+#endif
+                       ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
        }
 }
 #endif
@@ -110,11 +121,11 @@ static const char xdigit[16] = {
 
 #define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
 
-void
+static void
 ao_monitor_put(void)
 {
 #if LEGACY_MONITOR
-       __xdata char callsign[AO_MAX_CALLSIGN+1];
+       char callsign[AO_MAX_CALLSIGN+1];
 #endif
 #if LEGACY_MONITOR || HAS_RSSI
        int16_t rssi;
@@ -122,7 +133,7 @@ ao_monitor_put(void)
        uint8_t ao_monitor_tail;
        uint8_t state;
        uint8_t sum, byte;
-       __xdata union ao_monitor        *m;
+       union ao_monitor        *m;
 
 #define recv_raw       ((m->raw))
 #define recv_orig      ((m->orig))
@@ -131,9 +142,9 @@ ao_monitor_put(void)
        ao_monitor_tail = ao_monitor_head;
        for (;;) {
                while (!ao_external_monitoring)
-                       ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
+                       ao_sleep(&ao_external_monitoring);
                while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
-                       ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+                       ao_sleep(&ao_monitor_head);
                if (!ao_external_monitoring)
                        continue;
                m = &ao_monitor_ring[ao_monitor_tail];
@@ -146,7 +157,7 @@ ao_monitor_put(void)
                        state = recv_orig.telemetry_orig.flight_state;
 
                        rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
-                       ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
+                       memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
                        if (state > ao_flight_invalid)
                                state = ao_flight_invalid;
                        if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
@@ -231,6 +242,7 @@ ao_monitor_put(void)
                        printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
                }
 #endif
+                       ao_mutex_get(&ao_monitoring_mutex);
                        printf("TELEM ");
                        hex((uint8_t) (ao_monitoring + 2));
                        sum = 0x5a;
@@ -241,6 +253,7 @@ ao_monitor_put(void)
                        }
                        hex(sum);
                        putchar ('\n');
+                       ao_mutex_put(&ao_monitoring_mutex);
 #if HAS_RSSI
                        if (recv_raw.packet[ao_monitoring + 1] & AO_RADIO_STATUS_CRC_OK) {
                                rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
@@ -253,10 +266,10 @@ ao_monitor_put(void)
        }
 }
 
-__xdata struct ao_task ao_monitor_put_task;
+struct ao_task ao_monitor_put_task;
 #endif
 
-__xdata struct ao_task ao_monitor_get_task;
+struct ao_task ao_monitor_get_task;
 
 void
 ao_monitor_set(uint8_t monitoring)
@@ -283,21 +296,20 @@ ao_monitor_enable(void)
 static void
 set_monitor(void)
 {
-       ao_cmd_hex();
-       ao_external_monitoring = ao_cmd_lex_i;
-       ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
-       ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+       ao_external_monitoring = ao_cmd_hex();
+       ao_wakeup(&ao_external_monitoring);
+       ao_wakeup(&ao_monitor_head);
        _ao_monitor_adjust();
 }
 
-__code struct ao_cmds ao_monitor_cmds[] = {
+const struct ao_cmds ao_monitor_cmds[] = {
        { set_monitor,  "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
        { 0,    NULL },
 };
 #endif
 
 void
-ao_monitor_init(void) __reentrant
+ao_monitor_init(void) 
 {
 #if HAS_MONITOR_PUT
        ao_cmd_register(&ao_monitor_cmds[0]);