X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_radio.c;h=7b7c5161fb0ac95c2d730f7f44b91136a292c84b;hp=6d25df39e0d98bdb149f365a24f5f993c1dba764;hb=52ac83fedbfd380d14d4df2e79992bbdfba3552a;hpb=cd49847f3125df1733f298b56a43e8027ab5ce05

diff --git a/src/ao_radio.c b/src/ao_radio.c
index 6d25df39..7b7c5161 100644
--- a/src/ao_radio.c
+++ b/src/ao_radio.c
@@ -272,14 +272,15 @@ static __code uint8_t packet_setup[] = {
 __xdata uint8_t	ao_radio_dma;
 __xdata uint8_t ao_radio_dma_done;
 __xdata uint8_t ao_radio_done;
+__xdata uint8_t ao_radio_abort;
 __xdata uint8_t ao_radio_mutex;
 
 void
-ao_radio_general_isr(void) interrupt 16
+ao_radio_general_isr(void) __interrupt 16
 {
 	S1CON &= ~0x03;
 	if (RFIF & RFIF_IM_TIMEOUT) {
-		ao_dma_abort(ao_radio_dma);
+		ao_radio_recv_abort();
 		RFIF &= ~ RFIF_IM_TIMEOUT;
 	} else if (RFIF & RFIF_IM_DONE) {
 		ao_radio_done = 1;
@@ -317,36 +318,35 @@ ao_radio_idle(void)
 {
 	if (RF_MARCSTATE != RF_MARCSTATE_IDLE)
 	{
-		RFST = RFST_SIDLE;
 		do {
+			RFST = RFST_SIDLE;
 			ao_yield();
 		} while (RF_MARCSTATE != RF_MARCSTATE_IDLE);
 	}
 }
 
-static void
+void
 ao_radio_get(void)
 {
 	ao_config_get();
 	ao_mutex_get(&ao_radio_mutex);
 	ao_radio_idle();
 	RF_CHANNR = ao_config.radio_channel;
-	RF_FREQ2 = (uint8_t) (ao_config.radio_frequency >> 16);
-	RF_FREQ1 = (uint8_t) (ao_config.radio_frequency >> 8);
-	RF_FREQ0 = (uint8_t) (ao_config.radio_frequency);
+	RF_FREQ2 = (uint8_t) (ao_config.radio_cal >> 16);
+	RF_FREQ1 = (uint8_t) (ao_config.radio_cal >> 8);
+	RF_FREQ0 = (uint8_t) (ao_config.radio_cal);
 }
 
-#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
 
 void
-ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant
+ao_radio_send(__xdata void *packet, uint8_t size) __reentrant
 {
 	ao_radio_get();
 	ao_radio_done = 0;
 	ao_dma_set_transfer(ao_radio_dma,
-			    telemetry,
+			    packet,
 			    &RFDXADDR,
-			    sizeof (struct ao_telemetry),
+			    size,
 			    DMA_CFG0_WORDSIZE_8 |
 			    DMA_CFG0_TMODE_SINGLE |
 			    DMA_CFG0_TRIGGER_RADIO,
@@ -361,13 +361,14 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant
 }
 
 uint8_t
-ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant
+ao_radio_recv(__xdata void *packet, uint8_t size) __reentrant
 {
+	ao_radio_abort = 0;
 	ao_radio_get();
 	ao_dma_set_transfer(ao_radio_dma,
 			    &RFDXADDR,
-			    radio,
-			    sizeof (struct ao_radio_recv),
+			    packet,
+			    size,
 			    DMA_CFG0_WORDSIZE_8 |
 			    DMA_CFG0_TMODE_SINGLE |
 			    DMA_CFG0_TRIGGER_RADIO,
@@ -376,13 +377,37 @@ ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant
 			    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);
+
+	/* Wait for DMA to be done, for the radio receive process to
+	 * get aborted or for a receive timeout to fire
+	 */
+	__critical while (!ao_radio_dma_done && !ao_radio_abort)
+			   if (ao_sleep(&ao_radio_dma_done))
+				   break;
+
+	/* If recv was aborted, clean up by stopping the DMA engine
+	 * and idling the radio
+	 */
+	if (!ao_radio_dma_done) {
+		ao_dma_abort(ao_radio_dma);
+		ao_radio_idle();
+	}
 	ao_radio_put();
-	return (ao_radio_dma_done & AO_DMA_DONE);
+	return ao_radio_dma_done;
+}
+
+/*
+ * Wake up a task waiting to receive a radio packet
+ * and tell them to abort the transfer
+ */
+
+void
+ao_radio_recv_abort(void)
+{
+	ao_radio_abort = 1;
+	ao_wakeup(&ao_radio_dma_done);
 }
 
-__xdata ao_radio_rdf_running;
 __xdata ao_radio_rdf_value = 0x55;
 
 void
@@ -391,8 +416,9 @@ ao_radio_rdf(int ms)
 	uint8_t i;
 	uint8_t pkt_len;
 
+	ao_radio_abort = 0;
 	ao_radio_get();
-	ao_radio_rdf_running = 1;
+	ao_radio_done = 0;
 	for (i = 0; i < sizeof (rdf_setup); i += 2)
 		RF[rdf_setup[i]] = rdf_setup[i+1];
 
@@ -420,28 +446,22 @@ ao_radio_rdf(int ms)
 			    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_radio_rdf_running = 0;
-	ao_radio_idle();
+	__critical while (!ao_radio_done && !ao_radio_abort)
+			   ao_sleep(&ao_radio_done);
+	if (!ao_radio_done) {
+		ao_dma_abort(ao_radio_dma);
+		ao_radio_idle();
+	}
 	for (i = 0; i < sizeof (telemetry_setup); i += 2)
 		RF[telemetry_setup[i]] = telemetry_setup[i+1];
 	ao_radio_put();
 }
 
-void
-ao_radio_abort(void)
-{
-	ao_dma_abort(ao_radio_dma);
-	ao_radio_idle();
-}
-
 void
 ao_radio_rdf_abort(void)
 {
-	if (ao_radio_rdf_running)
-		ao_radio_abort();
+	ao_radio_abort = 1;
+	ao_wakeup(&ao_radio_done);
 }
 
 
@@ -449,18 +469,35 @@ ao_radio_rdf_abort(void)
 void
 ao_radio_test(void)
 {
-	ao_packet_slave_stop();
-	ao_radio_get();
-	printf ("Hit a character to stop..."); flush();
-	RFST = RFST_STX;
-	getchar();
-	ao_radio_idle();
-	ao_radio_put();
-	putchar('\n');
+	uint8_t	mode = 2;
+	static __xdata radio_on;
+	ao_cmd_white();
+	if (ao_cmd_lex_c != '\n') {
+		ao_cmd_decimal();
+		mode = (uint8_t) ao_cmd_lex_u32;
+	}
+	mode++;
+	if ((mode & 2) && !radio_on) {
+		ao_set_monitor(0);
+		ao_packet_slave_stop();
+		ao_radio_get();
+		RFST = RFST_STX;
+		radio_on = 1;
+	}
+	if (mode == 3) {
+		printf ("Hit a character to stop..."); flush();
+		getchar();
+		putchar('\n');
+	}
+	if ((mode & 1) && radio_on) {
+		ao_radio_idle();
+		ao_radio_put();
+		radio_on = 0;
+	}
 }
 
 __code struct ao_cmds ao_radio_cmds[] = {
-	{ 'C',	ao_radio_test,	"C                                  Radio carrier test" },
+	{ 'C',	ao_radio_test,	"C <1 start, 0 stop, none both>     Radio carrier test" },
 	{ 0,	ao_radio_test,	NULL },
 };