Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

10 files changed, 55 insertions, 39 deletions

diff --git a/src/drivers/ao_btm.c b/src/drivers/ao_btm.c
index e6b28688..93d9dd9d 100644
--- a/src/drivers/ao_btm.c
+++ b/src/drivers/ao_btm.c
@@ -23,7 +23,7 @@
 #ifndef ao_serial_btm_getchar
 #define ao_serial_btm_putchar	ao_serial1_putchar
 #define _ao_serial_btm_pollchar	_ao_serial1_pollchar
-#define _ao_serial_btm_sleep()	ao_sleep((void *) &ao_serial1_rx_fifo)
+#define _ao_serial_btm_sleep_for(timeout)	ao_sleep_for((void *) &ao_serial1_rx_fifo, timeout)
 #define ao_serial_btm_set_speed ao_serial1_set_speed
 #define ao_serial_btm_drain	ao_serial1_drain
 #endif
@@ -111,7 +111,7 @@ ao_btm_do_echo(void)
 	while (ao_btm_enable) {
 		ao_arch_block_interrupts();
 		while ((c = _ao_serial_btm_pollchar()) == AO_READ_AGAIN && ao_btm_enable)
-			_ao_serial_btm_sleep();
+			_ao_serial_btm_sleep_for(0);
 		ao_arch_release_interrupts();
 		if (c != AO_READ_AGAIN) {
 			putchar(c);
@@ -166,9 +166,7 @@ ao_btm_getchar(void)
 
 	ao_arch_block_interrupts();
 	while ((c = _ao_serial_btm_pollchar()) == AO_READ_AGAIN) {
-		ao_alarm(AO_MS_TO_TICKS(10));
-		c = _ao_serial_btm_sleep();
-		ao_clear_alarm();
+		c = _ao_serial_btm_sleep_for(AO_MS_TO_TICKS(10));
 		if (c) {
 			c = AO_READ_AGAIN;
 			break;
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 90d6cc75..5b814667 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -837,15 +837,11 @@ ao_radio_test_cmd(void)
 static void
 ao_radio_wait_isr(uint16_t timeout)
 {
-	if (timeout)
-		ao_alarm(timeout);
 	ao_arch_block_interrupts();
 	while (!ao_radio_wake && !ao_radio_mcu_wake && !ao_radio_abort)
-		if (ao_sleep(&ao_radio_wake))
+		if (ao_sleep_for(&ao_radio_wake, timeout))
 			ao_radio_abort = 1;
 	ao_arch_release_interrupts();
-	if (timeout)
-		ao_clear_alarm();
 	if (ao_radio_mcu_wake)
 		ao_radio_check_marc_status();
 }
@@ -1060,19 +1056,17 @@ ao_radio_rx_isr(void)
 static uint16_t
 ao_radio_rx_wait(void)
 {
-	ao_alarm(AO_MS_TO_TICKS(100));
 	ao_arch_block_interrupts();
 	rx_waiting = 1;
 	while (rx_data_cur - rx_data_consumed < AO_FEC_DECODE_BLOCK &&
 	       !ao_radio_abort &&
 	       !ao_radio_mcu_wake)
 	{
-		if (ao_sleep(&ao_radio_wake))
+		if (ao_sleep_for(&ao_radio_wake, AO_MS_TO_TICKS(100)))
 			ao_radio_abort = 1;
 	}
 	rx_waiting = 0;
 	ao_arch_release_interrupts();
-	ao_clear_alarm();
 	if (ao_radio_abort || ao_radio_mcu_wake)
 		return 0;
 	rx_data_consumed += AO_FEC_DECODE_BLOCK;
@@ -1133,19 +1127,15 @@ ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout)
 
 	ao_radio_strobe(CC1120_SRX);
 
-	if (timeout)
-		ao_alarm(timeout);
 	ao_arch_block_interrupts();
 	while (rx_starting && !ao_radio_abort) {
-		if (ao_sleep(&ao_radio_wake))
+		if (ao_sleep_for(&ao_radio_wake, timeout))
 			ao_radio_abort = 1;
 	}
 	uint8_t	rx_task_id_save = rx_task_id;
 	rx_task_id = 0;
 	rx_starting = 0;
 	ao_arch_release_interrupts();
-	if (timeout)
-		ao_clear_alarm();
 
 	if (ao_radio_abort) {
 		if (rx_task_id_save == 0)
diff --git a/src/drivers/ao_cc1200.c b/src/drivers/ao_cc1200.c
index 8546900e..df4bd335 100644
--- a/src/drivers/ao_cc1200.c
+++ b/src/drivers/ao_cc1200.c
@@ -715,17 +715,11 @@ ao_radio_show_state(char *where)
 static void
 ao_radio_wait_isr(uint16_t timeout)
 {
-	if (timeout)
-		ao_alarm(timeout);
-
 	ao_arch_block_interrupts();
 	while (!ao_radio_wake && !ao_radio_abort)
-		if (ao_sleep(&ao_radio_wake))
+		if (ao_sleep_for(&ao_radio_wake, timeout))
 			ao_radio_abort = 1;
 	ao_arch_release_interrupts();
-
-	if (timeout)
-		ao_clear_alarm();
 }
 
 static void
diff --git a/src/drivers/ao_cc1200.h b/src/drivers/ao_cc1200.h
index b04775fd..b2b63cde 100644
--- a/src/drivers/ao_cc1200.h
+++ b/src/drivers/ao_cc1200.h
@@ -438,6 +438,38 @@
 #define CC1200_IF_MIX_CFG	(CC1200_EXTENDED_BIT | 0x00)
 #define CC1200_FREQOFF_CFG	(CC1200_EXTENDED_BIT | 0x01)
 #define CC1200_TOC_CFG		(CC1200_EXTENDED_BIT | 0x02)
+
+#define CC1200_TOC_CFG_TOC_LIMIT		6
+#define  CC1200_TOC_CFG_TOC_LIMIT_0_2			0
+#define  CC1200_TOC_CFG_TOC_LIMIT_2			1
+#define  CC1200_TOC_CFG_TOC_LIMIT_12			3
+
+#define CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN	3
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_8			0
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_16		1
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_32		2
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_64		3
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_128		4
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_256		5
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_8_16		0
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_6_16		1
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_2_16		2
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_1_16		3
+#define  CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_1_16_SYNC		4
+
+#define CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN	0
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_8		0
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_16		1
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_32		2
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_64		3
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_128		4
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_256		5
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_FREEZE		0
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_6_32		1
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_2_32		2
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_1_32		3
+#define  CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_1_32_SYNC	4
+
 #define CC1200_MARC_SPARE	(CC1200_EXTENDED_BIT | 0x03)
 #define CC1200_ECG_CFG		(CC1200_EXTENDED_BIT | 0x04)
 #define CC1200_MDMCFG2		(CC1200_EXTENDED_BIT | 0x05)
diff --git a/src/drivers/ao_cc1200_CC1200.h b/src/drivers/ao_cc1200_CC1200.h
index 35673123..f0214c2a 100644
--- a/src/drivers/ao_cc1200_CC1200.h
+++ b/src/drivers/ao_cc1200_CC1200.h
@@ -101,6 +101,15 @@
 		 (CC1200_MDMCFG2_SYMBOL_MAP_CFG_MODE_0 << CC1200_MDMCFG2_SYMBOL_MAP_CFG) |
 		 (CC1200_MDMCFG2_UPSAMPLER_P_8 << CC1200_MDMCFG2_UPSAMPLER_P) |
 		 (0 << CC1200_MDMCFG2_CFM_DATA_EN)),
+	CC1200_MDMCFG0,					 /* General Modem Parameter Configuration Reg. 0 */ 
+		((0 << CC1200_MDMCFG0_TRANSPARENT_MODE_EN) |
+		 (0 << CC1200_MDMCFG0_TRANSPARENT_INTFACT) |
+		 (0 << CC1200_MDMCFG0_DATA_FILTER_EN) |	
+		 (1 << CC1200_MDMCFG0_VITERBI_EN)),
+	CC1200_TOC_CFG,					/* Timing Offset Correction Configuration */
+		((CC1200_TOC_CFG_TOC_LIMIT_2 << CC1200_TOC_CFG_TOC_LIMIT) |
+		 (CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN_6_16 << CC1200_TOC_CFG_TOC_PRE_SYNC_BLOCKLEN)|
+		 (CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN_2_32 << CC1200_TOC_CFG_TOC_POST_SYNC_BLOCKLEN)),
         CC1200_FREQ2,                        0x6c,       /* Frequency Configuration [23:16] */
         CC1200_FREQ1,                        0xa3,       /* Frequency Configuration [15:8] */
         CC1200_FREQ0,                        0x33,       /* Frequency Configuration [7:0] */
diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 570b9e40..7e02939b 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -102,8 +102,7 @@ ao_companion(void)
 		    break;
 	}
 	while (ao_companion_running) {
-		ao_alarm(ao_companion_setup.update_period);
-		if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
+		if (ao_sleep_for(DATA_TO_XDATA(&ao_flight_state), ao_companion_setup.update_period))
 			ao_companion_get_data();
 		else
 			ao_companion_notify();
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 2d217bcf..f761671a 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -75,13 +75,11 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 	ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
 	ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
 
-	ao_alarm(AO_MS_TO_TICKS(10));
 	ao_arch_block_interrupts();
 	while (!ao_hmc5883_done)
-		if (ao_sleep(&ao_hmc5883_done))
+		if (ao_sleep_for(&ao_hmc5883_done, AO_MS_TO_TICKS(10)))
 			++ao_hmc5883_missed_irq;
 	ao_arch_release_interrupts();
-	ao_clear_alarm();
 
 	ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
 #if __BYTE_ORDER == __LITTLE_ENDIAN
diff --git a/src/drivers/ao_packet.c b/src/drivers/ao_packet.c
index 8cdf85a9..18330ead 100644
--- a/src/drivers/ao_packet.c
+++ b/src/drivers/ao_packet.c
@@ -54,14 +54,14 @@ ao_packet_send(void)
 }
 
 uint8_t
-ao_packet_recv(void)
+ao_packet_recv(uint16_t timeout)
 {
 	uint8_t	dma_done;
 
 #ifdef AO_LED_GREEN
 	ao_led_on(AO_LED_GREEN);
 #endif
-	dma_done = ao_radio_recv(&ao_rx_packet, sizeof (struct ao_packet_recv), 0);
+	dma_done = ao_radio_recv(&ao_rx_packet, sizeof (struct ao_packet_recv), timeout);
 #ifdef AO_LED_GREEN
 	ao_led_off(AO_LED_GREEN);
 #endif
diff --git a/src/drivers/ao_packet_master.c b/src/drivers/ao_packet_master.c
index 42a4f5bf..5e440db0 100644
--- a/src/drivers/ao_packet_master.c
+++ b/src/drivers/ao_packet_master.c
@@ -97,9 +97,7 @@ ao_packet_master(void)
 		if (ao_tx_packet.len)
 			ao_packet_master_busy();
 		ao_packet_master_check_busy();
-		ao_alarm(AO_PACKET_MASTER_RECV_DELAY);
-		r = ao_packet_recv();
-		ao_clear_alarm();
+		r = ao_packet_recv(AO_PACKET_MASTER_RECV_DELAY);
 		if (r) {
 			/* if we can transmit data, do so */
 			if (ao_packet_tx_used && ao_tx_packet.len == 0)
@@ -107,9 +105,7 @@ ao_packet_master(void)
 			if (ao_rx_packet.packet.len)
 				ao_packet_master_busy();
 			ao_packet_master_sleeping = 1;
-			ao_alarm(ao_packet_master_delay);
-			ao_sleep(&ao_packet_master_sleeping);
-			ao_clear_alarm();
+			ao_sleep_for(&ao_packet_master_sleeping, ao_packet_master_delay);
 			ao_packet_master_sleeping = 0;
 		}
 	}
diff --git a/src/drivers/ao_packet_slave.c b/src/drivers/ao_packet_slave.c
index e75df0d6..0872682f 100644
--- a/src/drivers/ao_packet_slave.c
+++ b/src/drivers/ao_packet_slave.c
@@ -24,7 +24,7 @@ ao_packet_slave(void)
 	ao_tx_packet.len = AO_PACKET_SYN;
 	ao_packet_restart = 1;
 	while (ao_packet_enable) {
-		if (ao_packet_recv()) {
+		if (ao_packet_recv(0)) {
 			ao_xmemcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
 #if HAS_FLIGHT
 			ao_flight_force_idle = TRUE;