X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao.h;h=2e2fb589f1916dd20304c3a2cfe82ade5092ed4f;hp=f89568f2b4ff9a1ad2503368df02d1d9a4fb14a8;hb=b428faf74ae145126ec1da972028fcfe0b4b2b18;hpb=2b765728ce177e26899f6feef00bfdf6aeaf2678

diff --git a/src/ao.h b/src/ao.h
index f89568f2..2e2fb589 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -40,6 +40,7 @@
 /* An AltOS task */
 struct ao_task {
 	__xdata void *wchan;		/* current wait channel (NULL if running) */
+	uint16_t alarm;			/* abort ao_sleep time */
 	uint8_t	stack_count;		/* amount of saved stack */
 	uint8_t task_id;		/* index in the task array */
 	__code char *name;		/* task name */
@@ -55,14 +56,26 @@ extern __xdata struct ao_task *__data ao_cur_task;
  ao_task.c
  */
 
-/* Suspend the current task until wchan is awoken */
-void
+/* Suspend the current task until wchan is awoken.
+ * returns:
+ *  0 on normal wake
+ *  1 on alarm
+ */
+uint8_t
 ao_sleep(__xdata void *wchan);
 
 /* Wake all tasks sleeping on wchan */
 void
 ao_wakeup(__xdata void *wchan);
 
+/* Wake up a specific task */
+void
+ao_wake_task(__xdata struct ao_task *task);
+
+/* set an alarm to go off in 'delay' ticks */
+void
+ao_alarm(uint16_t delay);
+
 /* Yield the processor to another task */
 void
 ao_yield(void) _naked;
@@ -71,6 +84,10 @@ ao_yield(void) _naked;
 void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
 
+/* Terminate the current task */
+void
+ao_exit(void);
+
 /* Dump task info to console */
 void
 ao_task_info(void);
@@ -130,7 +147,7 @@ ao_clock_init(void);
  * ao_adc.c
  */
 
-#define AO_ADC_RING	64
+#define AO_ADC_RING	32
 #define ao_adc_ring_next(n)	(((n) + 1) & (AO_ADC_RING - 1))
 #define ao_adc_ring_prev(n)	(((n) - 1) & (AO_ADC_RING - 1))
 
@@ -341,9 +358,14 @@ ao_cmd_init(void);
  * ao_dma.c
  */
 
-/* Allocate a DMA channel. the 'done' parameter will be set to 1
- * when the dma is finished and will be used to wakeup any waiters
+/* Allocate a DMA channel. the 'done' parameter will be set
+ * when the dma is finished or aborted and will be used to
+ * wakeup any waiters
  */
+
+#define AO_DMA_DONE	1
+#define AO_DMA_ABORTED	2
+
 uint8_t
 ao_dma_alloc(__xdata uint8_t * done);
 
@@ -668,7 +690,8 @@ void
 ao_serial_putchar(char c) __critical;
 
 #define AO_SERIAL_SPEED_4800	0
-#define AO_SERIAL_SPEED_57600	1
+#define AO_SERIAL_SPEED_9600	1
+#define AO_SERIAL_SPEED_57600	2
 
 void
 ao_serial_set_speed(uint8_t speed);
@@ -787,6 +810,23 @@ ao_telemetry_init(void);
  * ao_radio.c
  */
 
+extern __xdata uint8_t	ao_radio_dma;
+extern __xdata uint8_t ao_radio_dma_done;
+extern __xdata uint8_t ao_radio_done;
+extern __xdata uint8_t ao_radio_mutex;
+
+void
+ao_radio_general_isr(void) interrupt 16;
+
+void
+ao_radio_set_telemetry(void);
+
+void
+ao_radio_set_packet(void);
+
+void
+ao_radio_set_rdf(void);
+
 void
 ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant;
 
@@ -796,15 +836,21 @@ struct ao_radio_recv {
 	uint8_t			status;
 };
 
-void
+uint8_t
 ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant;
 
 void
 ao_radio_rdf(int ms);
 
+void
+ao_radio_abort(void);
+
 void
 ao_radio_rdf_abort(void);
 
+void
+ao_radio_idle(void);
+
 void
 ao_radio_init(void);
 
@@ -934,35 +980,21 @@ struct ao_fifo {
  * Packet-based command interface
  */
 
-#define AO_PACKET_MAX	32
-#define AO_PACKET_WIN	256
-
-#define AO_PACKET_FIN	(1 << 0)
-#define AO_PACKET_SYN	(1 << 1)
-#define AO_PACKET_RST	(1 << 2)
-#define AO_PACKET_ACK	(1 << 3)
+#define AO_PACKET_MAX	8
 
 struct ao_packet {
 	uint8_t		addr;
-	uint8_t		flags;
-	uint16_t	seq;
-	uint16_t	ack;
-	uint16_t	window;
 	uint8_t		len;
+	uint8_t		seq;
+	uint8_t		ack;
 	uint8_t		d[AO_PACKET_MAX];
 };
 
-uint8_t
-ao_packet_connect(uint8_t dest);
-
-uint8_t
-ao_packet_accept(void);
-
-int
-ao_packet_send(uint8_t *data, int len);
-
-int
-ao_packet_recv(uint8_t *data, int len);
+struct ao_packet_recv {
+	struct ao_packet	packet;
+	int8_t			rssi;
+	uint8_t			status;
+};
 
 void
 ao_packet_init(void);