altos: Complete new telemetry switchover

This involved rewriting the GPS code to use the telemetry structures
directly so that a memcpy could be used to transfer the data to the
telemetry packets, saving a bunch of code space, along with fixing up
the gps testing programs to deal with the structure changes.

In addition, the teledongle code needed to have the monitoring code
split into separate radio receiver and USB writer threads as the
packets are now back-to-back, and hence come too fast to wait for the
USB data to be sent to the host after each one.

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

1 files changed, 57 insertions, 24 deletions

diff --git a/src/ao_monitor.c b/src/ao_monitor.c
index e5e9159f..8f1b9e12 100644
--- a/src/ao_monitor.c
+++ b/src/ao_monitor.c
@@ -21,32 +21,71 @@
 __xdata uint8_t ao_monitoring;
 __pdata uint8_t ao_monitor_led;
 
-void
-ao_monitor(void)
-{
-	__xdata char callsign[AO_MAX_CALLSIGN+1];
-	__xdata union {
+#define AO_MONITOR_RING	8
+
+__xdata union ao_monitor {
 		struct ao_telemetry_raw_recv	raw;
 		struct ao_telemetry_orig_recv	orig;
 		struct ao_telemetry_tiny_recv	tiny;
-	} u;
+} ao_monitor_ring[AO_MONITOR_RING];
+
+#define ao_monitor_ring_next(n)	(((n) + 1) & (AO_MONITOR_RING - 1))
 
-#define recv_raw	(u.raw)
-#define recv_orig	(u.orig)
-#define recv_tiny	(u.tiny)
+__data uint8_t	ao_monitor_head;
 
+void
+ao_monitor_get(void)
+{
+	uint8_t	size;
+
+	for (;;) {
+		switch (ao_monitoring) {
+		case 0:
+			ao_sleep(&ao_monitoring);
+			continue;
+		case AO_MONITORING_ORIG:
+			size = sizeof (struct ao_telemetry_orig_recv);
+			break;
+		case AO_MONITORING_TINY:
+			size = sizeof (struct ao_telemetry_tiny_recv);
+			break;
+		default:
+			if (ao_monitoring > AO_MAX_TELEMETRY)
+				ao_monitoring = AO_MAX_TELEMETRY;
+			size = ao_monitoring;
+			break;
+		}
+		if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
+			continue;
+		ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
+		ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+		ao_led_toggle(ao_monitor_led);
+	}
+}
+
+void
+ao_monitor_put(void)
+{
+	__xdata char callsign[AO_MAX_CALLSIGN+1];
+
+	uint8_t ao_monitor_tail;
 	uint8_t state;
 	uint8_t sum, byte;
 	int16_t rssi;
+	__xdata union ao_monitor	*m;
+
+#define recv_raw	((m->raw))
+#define recv_orig	((m->orig))
+#define recv_tiny	((m->tiny))
 
+	ao_monitor_tail = ao_monitor_head;
 	for (;;) {
-		__critical while (!ao_monitoring)
-			ao_sleep(&ao_monitoring);
+		while (ao_monitor_tail == ao_monitor_head)
+			ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+		m = &ao_monitor_ring[ao_monitor_tail];
+		ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
 		switch (ao_monitoring) {
 		case AO_MONITORING_ORIG:
-			if (!ao_radio_recv(&recv_orig, sizeof (struct ao_telemetry_orig_recv)))
-				continue;
-
 			state = recv_orig.telemetry_orig.flight_state;
 
 			/* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
@@ -122,9 +161,6 @@ ao_monitor(void)
 			}
 			break;
 		case AO_MONITORING_TINY:
-			if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
-				continue;
-
 			state = recv_tiny.telemetry_tiny.flight_state;
 
 			/* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
@@ -188,10 +224,6 @@ ao_monitor(void)
 			}
 			break;
 		default:
-			if (ao_monitoring > AO_MAX_TELEMETRY)
-				ao_monitoring = AO_MAX_TELEMETRY;
-			if (!ao_radio_recv(&recv_raw, ao_monitoring + 2))
-				continue;
 			printf ("TELEM %02x", ao_monitoring + 2);
 			sum = 0x5a;
 			for (state = 0; state < ao_monitoring + 2; state++) {
@@ -203,11 +235,11 @@ ao_monitor(void)
 			break;
 		}
 		ao_usb_flush();
-		ao_led_toggle(ao_monitor_led);
 	}
 }
 
-__xdata struct ao_task ao_monitor_task;
+__xdata struct ao_task ao_monitor_get_task;
+__xdata struct ao_task ao_monitor_put_task;
 
 void
 ao_set_monitor(uint8_t monitoring)
@@ -236,5 +268,6 @@ ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
 	ao_monitor_led = monitor_led;
 	ao_monitoring = monitoring;
 	ao_cmd_register(&ao_monitor_cmds[0]);
-	ao_add_task(&ao_monitor_task, ao_monitor, "monitor");
+	ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
+	ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 }