From: Keith Packard <keithp@keithp.com>
Date: Wed, 27 Jul 2016 19:24:27 +0000 (-0700)
Subject: altos: Keep telemetry and command output from interleaving
X-Git-Tag: 1.6.8~1^2~39
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=17adfd7939ff697afa96f7207a3fe17b6af789bd

altos: Keep telemetry and command output from interleaving

When monitoring telemetry, the frame needs to be sent together on one
line, not split with the output of a command (like 'a') mixed in.

Use a mutex for products with monitoring to keep command output and
telemetry output each on separate lines.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 0f878df5..56945bf5 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -667,6 +667,7 @@ extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
 #define ao_monitor_ring_next(n)	(((n) + 1) & (AO_MONITOR_RING - 1))
 #define ao_monitor_ring_prev(n)	(((n) - 1) & (AO_MONITOR_RING - 1))
 
+extern __data uint8_t ao_monitoring_mutex;
 extern __data uint8_t ao_monitoring;
 extern __data uint8_t ao_monitor_head;
 
diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c
index 605a2f20..10716afd 100644
--- a/src/kernel/ao_cmd.c
+++ b/src/kernel/ao_cmd.c
@@ -394,11 +394,17 @@ ao_cmd(void)
 			if (func)
 				break;
 		}
+#if HAS_MONITOR
+		ao_mutex_get(&ao_monitoring_mutex);
+#endif
 		if (func)
 			(*func)();
 		else
 			ao_cmd_status = ao_cmd_syntax_error;
 		report();
+#if HAS_MONITOR
+		ao_mutex_put(&ao_monitoring_mutex);
+#endif
 	}
 }
 
diff --git a/src/kernel/ao_monitor.c b/src/kernel/ao_monitor.c
index 8a5a04ba..9912161b 100644
--- a/src/kernel/ao_monitor.c
+++ b/src/kernel/ao_monitor.c
@@ -36,6 +36,7 @@
 #error Must define AO_MONITOR_LED
 #endif
 
+__data uint8_t ao_monitoring_mutex;
 __data uint8_t ao_monitoring;
 static __data uint8_t ao_monitor_disabled;
 static __data uint8_t ao_internal_monitoring;
@@ -241,6 +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;
@@ -251,6 +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]);