diff options
| -rw-r--r-- | src/ao.h | 31 | ||||
| -rw-r--r-- | src/ao_config.c | 2 | ||||
| -rw-r--r-- | src/ao_dma.c | 4 | ||||
| -rw-r--r-- | src/ao_monitor.c | 6 | ||||
| -rw-r--r-- | src/ao_packet.c | 98 | ||||
| -rw-r--r-- | src/ao_packet_master.c | 5 | ||||
| -rw-r--r-- | src/ao_packet_slave.c | 7 | ||||
| -rw-r--r-- | src/ao_radio.c | 68 | ||||
| -rw-r--r-- | src/ao_telemetry.c | 2 |
9 files changed, 109 insertions, 114 deletions
@@ -391,14 +391,10 @@ ao_cmd_init(void); * ao_dma.c */ -/* Allocate a DMA channel. the 'done' parameter will be set - * when the dma is finished or aborted and will be used to - * wakeup any waiters +/* Allocate a DMA channel. the 'done' parameter will be set when the + * dma is finished and will be used to wakeup any waiters */ -#define AO_DMA_DONE 1 -#define AO_DMA_ABORTED 2 - uint8_t ao_dma_alloc(__xdata uint8_t * done); @@ -838,6 +834,15 @@ struct ao_telemetry { struct ao_gps_tracking_data gps_tracking; }; +/* + * ao_radio_recv tacks on rssi and status bytes + */ +struct ao_telemetry_recv { + struct ao_telemetry telemetry; + int8_t rssi; + uint8_t status; +}; + /* Set delay between telemetry reports (0 to disable) */ #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) @@ -880,22 +885,16 @@ void ao_radio_set_rdf(void); void -ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant; - -struct ao_radio_recv { - struct ao_telemetry telemetry; - int8_t rssi; - uint8_t status; -}; +ao_radio_send(__xdata void *data, uint8_t size) __reentrant; uint8_t -ao_radio_recv(__xdata struct ao_radio_recv *recv) __reentrant; +ao_radio_recv(__xdata void *data, uint8_t size) __reentrant; void -ao_radio_rdf(int ms); +ao_radio_recv_abort(void); void -ao_radio_abort(void); +ao_radio_rdf(int ms); void ao_radio_rdf_abort(void); diff --git a/src/ao_config.c b/src/ao_config.c index 88b52dc0..fd33e2cc 100644 --- a/src/ao_config.c +++ b/src/ao_config.c @@ -141,7 +141,7 @@ ao_config_radio_channel_set(void) __reentrant ao_config_dirty = 1; ao_mutex_put(&ao_config_mutex); ao_config_radio_channel_show(); - ao_radio_abort(); + ao_radio_recv_abort(); } #if HAS_ADC diff --git a/src/ao_dma.c b/src/ao_dma.c index 946666ab..6052964a 100644 --- a/src/ao_dma.c +++ b/src/ao_dma.c @@ -107,8 +107,6 @@ ao_dma_abort(uint8_t id) uint8_t mask = (1 << id); DMAARM = 0x80 | mask; DMAIRQ &= ~mask; - *(ao_dma_done[id]) |= AO_DMA_ABORTED; - ao_wakeup(ao_dma_done[id]); } void @@ -124,7 +122,7 @@ ao_dma_isr(void) __interrupt 8 DMAIF = 0; /* Clear the completed ID */ DMAIRQ = ~mask; - *(ao_dma_done[id]) |= AO_DMA_DONE; + *(ao_dma_done[id]) = 1; ao_wakeup(ao_dma_done[id]); break; } diff --git a/src/ao_monitor.c b/src/ao_monitor.c index f019d3b4..1e7f5102 100644 --- a/src/ao_monitor.c +++ b/src/ao_monitor.c @@ -23,7 +23,7 @@ __pdata uint8_t ao_monitor_led; void ao_monitor(void) { - __xdata struct ao_radio_recv recv; + __xdata struct ao_telemetry_recv recv; __xdata char callsign[AO_MAX_CALLSIGN+1]; uint8_t state; int16_t rssi; @@ -31,7 +31,7 @@ ao_monitor(void) for (;;) { __critical while (!ao_monitoring) ao_sleep(&ao_monitoring); - if (!ao_radio_recv(&recv)) + if (!ao_radio_recv(&recv, sizeof (recv))) continue; state = recv.telemetry.flight_state; @@ -85,7 +85,7 @@ ao_set_monitor(uint8_t monitoring) ao_monitoring = monitoring; ao_wakeup(&ao_monitoring); if (!ao_monitoring) - ao_radio_abort(); + ao_radio_recv_abort(); } static void diff --git a/src/ao_packet.c b/src/ao_packet.c index d52f2a68..9896149c 100644 --- a/src/ao_packet.c +++ b/src/ao_packet.c @@ -33,8 +33,6 @@ void ao_packet_send(void) { ao_led_on(AO_LED_RED); - ao_radio_get(); - /* If any tx data is pending then copy it into the tx packet */ if (ao_packet_tx_used && ao_tx_packet.len == 0) { memcpy(&ao_tx_packet.d, tx_data, ao_packet_tx_used); @@ -43,22 +41,7 @@ ao_packet_send(void) ao_packet_tx_used = 0; ao_wakeup(&tx_data); } - ao_radio_done = 0; - ao_dma_set_transfer(ao_radio_dma, - &ao_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_done) - ao_sleep(&ao_radio_done); - ao_radio_put(); + ao_radio_send(&ao_tx_packet, sizeof (ao_tx_packet)); ao_led_off(AO_LED_RED); } @@ -70,51 +53,56 @@ ao_packet_recv(void) #ifdef AO_LED_GREEN ao_led_on(AO_LED_GREEN); #endif - ao_radio_get(); - ao_dma_set_transfer(ao_radio_dma, - &RFDXADDR, - &ao_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) - if (ao_sleep(&ao_radio_dma_done) != 0) - ao_radio_abort(); - dma_done = ao_radio_dma_done; - ao_radio_put(); + dma_done = ao_radio_recv(&ao_rx_packet, sizeof (struct ao_packet_recv)); #ifdef AO_LED_GREEN ao_led_off(AO_LED_GREEN); #endif - if (dma_done & AO_DMA_DONE) { - if (!(ao_rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK)) - return AO_DMA_ABORTED; - if (ao_rx_packet.packet.len == AO_PACKET_SYN) { + /* Check to see if we got a valid packet */ + if (!dma_done) + return 0; + if (!(ao_rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK)) + return 0; + + /* SYN packets carry no data */ + if (ao_rx_packet.packet.len == AO_PACKET_SYN) { + rx_seq = ao_rx_packet.packet.seq; + ao_tx_packet.seq = ao_rx_packet.packet.ack; + ao_tx_packet.ack = rx_seq; + } else if (ao_rx_packet.packet.len) { + + /* Check for incoming data at the next sequence and + * for an empty data buffer + */ + if (ao_rx_packet.packet.seq == (uint8_t) (rx_seq + (uint8_t) 1) && + ao_packet_rx_used == ao_packet_rx_len) { + + /* Copy data to the receive data buffer and set up the + * offsets + */ + memcpy(rx_data, ao_rx_packet.packet.d, ao_rx_packet.packet.len); + ao_packet_rx_used = 0; + ao_packet_rx_len = ao_rx_packet.packet.len; + + /* Mark the sequence that we've received to + * let the sender know when we return a packet + */ rx_seq = ao_rx_packet.packet.seq; - ao_tx_packet.seq = ao_rx_packet.packet.ack; ao_tx_packet.ack = rx_seq; - } else if (ao_rx_packet.packet.len) { - if (ao_rx_packet.packet.seq == (uint8_t) (rx_seq + (uint8_t) 1) && ao_packet_rx_used == ao_packet_rx_len) { - memcpy(rx_data, ao_rx_packet.packet.d, ao_rx_packet.packet.len); - ao_packet_rx_used = 0; - ao_packet_rx_len = ao_rx_packet.packet.len; - rx_seq = ao_rx_packet.packet.seq; - ao_tx_packet.ack = rx_seq; - ao_wakeup(&ao_stdin_ready); - } - } - if (ao_rx_packet.packet.ack == ao_tx_packet.seq) { - ao_tx_packet.len = 0; - ao_wakeup(&ao_tx_packet); + + /* Poke anyone looking for received data */ + ao_wakeup(&ao_stdin_ready); } } - return dma_done; + + /* If the other side has seen the latest data we queued, + * wake up any task waiting to send data and let them go again + */ + if (ao_rx_packet.packet.ack == ao_tx_packet.seq) { + ao_tx_packet.len = 0; + ao_wakeup(&ao_tx_packet); + } + return 1; } #ifndef PACKET_HAS_MASTER diff --git a/src/ao_packet_master.c b/src/ao_packet_master.c index 641b49f4..3b23ad92 100644 --- a/src/ao_packet_master.c +++ b/src/ao_packet_master.c @@ -77,8 +77,6 @@ ao_packet_master_check_busy(void) void ao_packet_master(void) { - uint8_t status; - ao_config_get(); ao_radio_set_packet(); ao_tx_packet.addr = ao_serial_number; @@ -92,8 +90,7 @@ ao_packet_master(void) ao_packet_master_busy(); ao_packet_master_check_busy(); ao_alarm(ao_packet_master_delay); - status = ao_packet_recv(); - if (status & AO_DMA_DONE) { + if (ao_packet_recv()) { /* if we can transmit data, do so */ if (ao_packet_tx_used && ao_tx_packet.len == 0) continue; diff --git a/src/ao_packet_slave.c b/src/ao_packet_slave.c index 9b78767f..3040d781 100644 --- a/src/ao_packet_slave.c +++ b/src/ao_packet_slave.c @@ -20,14 +20,11 @@ void ao_packet_slave(void) { - uint8_t status; - ao_radio_set_packet(); ao_tx_packet.addr = ao_serial_number; ao_tx_packet.len = AO_PACKET_SYN; while (ao_packet_enable) { - status = ao_packet_recv(); - if (status & AO_DMA_DONE) { + if (ao_packet_recv()) { memcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN); ao_packet_send(); } @@ -47,7 +44,7 @@ ao_packet_slave_stop(void) { if (ao_packet_enable) { ao_packet_enable = 0; - ao_radio_abort(); + ao_radio_recv_abort(); while (ao_packet_task.wchan) { ao_wake_task(&ao_packet_task); ao_yield(); diff --git a/src/ao_radio.c b/src/ao_radio.c index cafa7010..362b73aa 100644 --- a/src/ao_radio.c +++ b/src/ao_radio.c @@ -272,6 +272,7 @@ 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 @@ -279,7 +280,7 @@ 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; @@ -338,14 +339,14 @@ ao_radio_get(void) 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, @@ -360,13 +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, @@ -375,13 +377,32 @@ 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); + __critical while (!ao_radio_dma_done && !ao_radio_abort) + ao_sleep(&ao_radio_dma_done); + + /* 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 @@ -390,8 +411,9 @@ 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]; @@ -419,28 +441,22 @@ 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); } diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c index 88ac142c..277c3ce0 100644 --- a/src/ao_telemetry.c +++ b/src/ao_telemetry.c @@ -52,7 +52,7 @@ ao_telemetry(void) memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data)); memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data)); ao_mutex_put(&ao_gps_mutex); - ao_radio_send(&telemetry); + ao_radio_send(&telemetry, sizeof (telemetry)); ao_delay(ao_telemetry_interval); if (ao_rdf && (int16_t) (ao_time() - ao_rdf_time) >= 0) |