X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_packet.c;fp=src%2Fao_packet.c;h=e3133b888d919a492a64b61c4af3126a42cd736d;hp=0000000000000000000000000000000000000000;hb=7b14c3e609749f4fc00dbd660541375048535218;hpb=690fc263516d8beb6b24e86fbcd6588f42ce4e5c diff --git a/src/ao_packet.c b/src/ao_packet.c new file mode 100644 index 00000000..e3133b88 --- /dev/null +++ b/src/ao_packet.c @@ -0,0 +1,308 @@ +/* + * Copyright © 2009 Keith Packard + * + * 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. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +static __xdata struct ao_packet_recv rx_packet; +static __xdata struct ao_packet tx_packet; +static __xdata char tx_data[AO_PACKET_MAX]; +static __xdata char rx_data[AO_PACKET_MAX]; +static __pdata uint8_t rx_len, rx_used, tx_used; +static __pdata uint8_t rx_seq; + +static __xdata uint16_t ao_packet_timer_delay; +static __xdata uint8_t ao_packet_timer_cancelled; + +static __xdata struct ao_task ao_packet_task; +static __xdata struct ao_task ao_packet_timer_task; +static __xdata uint8_t ao_packet_enable; +static __xdata uint8_t ao_packet_master_sleeping; + +void +ao_packet_timer(void) __reentrant +{ + uint16_t delay; + + while (ao_packet_enable) { + + /* wait until the timer task is needed + */ + while (!ao_packet_timer_delay && ao_packet_enable) + ao_sleep(&ao_packet_timer_delay); + + delay = ao_packet_timer_delay; + ao_packet_timer_delay = 0; + + /* pause waiting for either a timeout or + * a timer cancel + */ + ao_delay(delay); + + /* if not canceled, abort the receive + */ + if (!ao_packet_timer_cancelled) { + printf ("packet timeout\n"); flush(); + ao_radio_abort(AO_DMA_TIMEOUT); + } + } + ao_exit(); +} + +void +ao_packet_timer_set(uint16_t delay) +{ + ao_packet_timer_delay = delay; + ao_packet_timer_cancelled = 0; + ao_wakeup(&ao_packet_timer_delay); +} + +void +ao_packet_timer_cancel(void) +{ + ao_packet_timer_cancelled = 1; + ao_packet_timer_delay = 0; + ao_wake_task(&ao_packet_timer_task); +} + +void +ao_packet_send(void) +{ + ao_config_get(); + ao_mutex_get(&ao_radio_mutex); + ao_radio_idle(); + RF_CHANNR = ao_config.radio_channel; + ao_dma_set_transfer(ao_radio_dma, + &tx_packet, + &RFDXADDR, + sizeof (struct ao_packet), + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + DMA_CFG0_TRIGGER_RADIO, + DMA_CFG1_SRCINC_1 | + DMA_CFG1_DESTINC_0 | + DMA_CFG1_PRIORITY_HIGH); + ao_dma_start(ao_radio_dma); + RFST = RFST_STX; + __critical while (!ao_radio_dma_done) + ao_sleep(&ao_radio_dma_done); + ao_mutex_put(&ao_radio_mutex); +} + +uint8_t +ao_packet_recv(void) +{ + uint8_t dma_done; + + ao_config_get(); + ao_mutex_get(&ao_radio_mutex); + ao_radio_idle(); + RF_CHANNR = ao_config.radio_channel; + ao_dma_set_transfer(ao_radio_dma, + &RFDXADDR, + &rx_packet, + sizeof (struct ao_packet_recv), + DMA_CFG0_WORDSIZE_8 | + DMA_CFG0_TMODE_SINGLE | + DMA_CFG0_TRIGGER_RADIO, + DMA_CFG1_SRCINC_0 | + DMA_CFG1_DESTINC_1 | + DMA_CFG1_PRIORITY_HIGH); + ao_dma_start(ao_radio_dma); + RFST = RFST_SRX; + __critical while (!ao_radio_dma_done) + ao_sleep(&ao_radio_dma_done); + dma_done = ao_radio_dma_done; + ao_mutex_put(&ao_radio_mutex); + + if (dma_done & AO_DMA_DONE) { + printf ("rssi %d status %x\n", rx_packet.rssi, rx_packet.status); flush(); + if (!(rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK)) { + printf ("bad crc\n"); flush(); +// return AO_DMA_ABORTED; + } + if (rx_packet.packet.len) { + if (rx_packet.packet.seq == rx_seq + 1 && rx_used == rx_len) + { + memcpy(rx_data, rx_packet.packet.d, rx_packet.packet.len); + rx_used = 0; + rx_len = rx_packet.packet.len; + rx_seq = rx_packet.packet.seq; + tx_packet.ack = rx_seq; + ao_wakeup(&rx_data); + } + } + if (rx_packet.packet.ack == tx_packet.seq) { + tx_packet.len = 0; + ao_wakeup(&tx_packet); + } + } + return dma_done; +} + +void +ao_packet_slave(void) +{ + tx_packet.addr = ao_serial_number; + ao_radio_set_packet(); + while (ao_packet_enable) { + ao_packet_recv(); + ao_led_toggle(AO_LED_GREEN); + ao_delay(AO_MS_TO_TICKS(100)); + ao_packet_send(); + ao_led_toggle(AO_LED_RED); + } + ao_exit(); +} + +/* Thread for the master side of the packet link */ + +void +ao_packet_master(void) +{ + uint8_t status; + tx_packet.addr = ao_serial_number; + ao_radio_set_packet(); + while (ao_packet_enable) { + ao_delay(AO_MS_TO_TICKS(100)); + ao_packet_send(); + ao_led_toggle(AO_LED_RED); + ao_packet_timer_set(AO_MS_TO_TICKS(1000)); + status = ao_packet_recv(); + ao_packet_timer_cancel(); + if (status & AO_DMA_DONE) { + ao_led_toggle(AO_LED_GREEN); + ao_packet_master_sleeping = 1; + ao_sleep(AO_MS_TO_TICKS(1000)); + ao_packet_master_sleeping = 0; + } + } + ao_exit(); +} + +void +ao_packet_flush(void) +{ + if (!tx_used) + return; + + /* Wait for previous packet to be received + */ + while (tx_packet.len) + ao_sleep(&tx_packet); + + /* Prepare next packet + */ + if (tx_used) { + memcpy(&tx_packet.d, tx_data, tx_used); + tx_packet.len = tx_used; + tx_packet.seq++; + tx_used = 0; + + if (ao_packet_master_sleeping) + ao_wake_task(&ao_packet_task); + } +} + +void +ao_packet_putchar(char c) +{ + while (tx_used == AO_PACKET_MAX && ao_packet_enable) + ao_packet_flush(); + + if (ao_packet_enable) + tx_data[tx_used++] = c; +} + +char +ao_packet_getchar(void) __critical +{ + while (rx_used == rx_len && ao_packet_enable) + ao_sleep(&rx_data); + + if (!ao_packet_enable) + return 0; + + return rx_data[rx_used++]; +} + +static void +ao_packet_echo(void) __reentrant +{ + uint8_t c; + while (ao_packet_enable) { + c = ao_packet_getchar(); + if (ao_packet_enable) + putchar(c); + } + ao_exit(); +} + +static __xdata struct ao_task ao_packet_echo_task; + +static void +ao_packet_forward(void) __reentrant +{ + char c; + ao_packet_enable = 1; + ao_cmd_white(); + + ao_radio_set_packet(); + if (ao_cmd_lex_c == 'm') { + while ((c = getchar()) != '~') + ao_packet_send(); + } else { + for (;;) { + ao_packet_recv(); + ao_led_toggle(AO_LED_GREEN); + if (rx_packet.packet.d[0] == (uint8_t) '@') + break; + } + } + ao_packet_enable = 0; + return; +#if 0 + if (ao_cmd_lex_c == 'm') { + ao_add_task(&ao_packet_timer_task, ao_packet_timer, "timeout"); + ao_add_task(&ao_packet_task, ao_packet_master, "master"); + } + else + ao_add_task(&ao_packet_task, ao_packet_slave, "slave"); + ao_add_task(&ao_packet_echo_task, ao_packet_echo, "echo"); + while ((c = getchar()) != '~') { + ao_packet_putchar(c); + if (c == '\n') + ao_packet_flush(); + } + ao_packet_enable = 0; + ao_radio_abort(AO_DMA_ABORTED); + while (ao_packet_echo_task.wchan || ao_packet_task.wchan) { + ao_wake_task(&ao_packet_echo_task); + ao_wake_task(&ao_packet_task); + } +#endif +} + +__code struct ao_cmds ao_packet_cmds[] = { + { 'p', ao_packet_forward, "p {m|s} Remote packet link. m=master, s=slave" }, + { 0, ao_packet_forward, NULL }, +}; + +void +ao_packet_init(void) +{ + ao_cmd_register(&ao_packet_cmds[0]); +}