diff options
Diffstat (limited to 'src/core')
| -rw-r--r-- | src/core/ao.h | 22 | ||||
| -rw-r--r-- | src/core/ao_aes.h | 19 | ||||
| -rw-r--r-- | src/core/ao_config.c | 7 | ||||
| -rw-r--r-- | src/core/ao_data.h | 50 | ||||
| -rw-r--r-- | src/core/ao_led.h | 4 | ||||
| -rw-r--r-- | src/core/ao_radio_cmac.c | 275 | ||||
| -rw-r--r-- | src/core/ao_radio_cmac.h | 43 | ||||
| -rw-r--r-- | src/core/ao_radio_cmac_cmd.c | 104 | ||||
| -rw-r--r-- | src/core/ao_radio_cmac_cmd.h | 24 | ||||
| -rw-r--r-- | src/core/ao_storage.c | 1 | ||||
| -rw-r--r-- | src/core/ao_task.c | 40 |
11 files changed, 296 insertions, 293 deletions
diff --git a/src/core/ao.h b/src/core/ao.h index 65b9eb18..66c0881f 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -125,7 +125,12 @@ ao_panic(uint8_t reason); * ao_timer.c */ -extern volatile __data uint16_t ao_tick_count; +#ifndef AO_TICK_TYPE +#define AO_TICK_TYPE uint16_t +#define AO_TICK_SIGNED int16_t +#endif + +extern volatile __data AO_TICK_TYPE ao_tick_count; /* Our timer runs at 100Hz */ #define AO_HERTZ 100 @@ -432,6 +437,7 @@ ao_gps_report_mega_init(void); * ao_telemetry_orig.c */ +#if LEGACY_MONITOR struct ao_adc_orig { uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ @@ -489,6 +495,8 @@ struct ao_telemetry_tiny_recv { uint8_t status; }; +#endif /* LEGACY_MONITOR */ + /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method * for reporting RSSI. So, now we use these values everywhere */ @@ -535,9 +543,6 @@ ao_telemetry_tiny_init(void); */ extern __xdata uint8_t ao_radio_dma; -extern __xdata uint8_t ao_radio_dma_done; -extern __xdata uint8_t ao_radio_done; -extern __xdata uint8_t ao_radio_mutex; #ifdef PKT_APPEND_STATUS_1_CRC_OK #define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK @@ -558,6 +563,9 @@ ao_radio_recv(__xdata void *d, uint8_t size) __reentrant; void ao_radio_recv_abort(void); +void +ao_radio_test(uint8_t on); + /* * Compute the packet length as follows: * @@ -582,6 +590,8 @@ ao_radio_init(void); * ao_monitor.c */ +#if HAS_MONITOR + extern const char const * const ao_state_names[]; #define AO_MONITOR_RING 8 @@ -618,6 +628,8 @@ ao_monitor_enable(void); void ao_monitor_init(void) __reentrant; +#endif + /* * ao_stdio.c */ @@ -706,6 +718,8 @@ extern __xdata uint8_t ao_force_freq; #define AO_AES_LEN 16 +extern __xdata uint8_t ao_config_aes_seq; + struct ao_config { uint8_t major; uint8_t minor; diff --git a/src/core/ao_aes.h b/src/core/ao_aes.h index 7f67374d..c47bc2db 100644 --- a/src/core/ao_aes.h +++ b/src/core/ao_aes.h @@ -29,9 +29,11 @@ enum ao_aes_mode { }; #if HAS_AES +#ifdef SDCC void ao_aes_isr(void) __interrupt 4; #endif +#endif void ao_aes_set_mode(enum ao_aes_mode mode); @@ -49,21 +51,4 @@ ao_aes_run(__xdata uint8_t *in, void ao_aes_init(void); -/* ao_radio_cmac.c */ - -int8_t -ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant; - -#define AO_RADIO_CMAC_OK 0 -#define AO_RADIO_CMAC_LEN_ERROR -1 -#define AO_RADIO_CMAC_CRC_ERROR -2 -#define AO_RADIO_CMAC_MAC_ERROR -3 -#define AO_RADIO_CMAC_TIMEOUT -4 - -int8_t -ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant; - -void -ao_radio_cmac_init(void); - #endif /* _AO_AES_H_ */ diff --git a/src/core/ao_config.c b/src/core/ao_config.c index e2095e65..ce855ad1 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -17,8 +17,11 @@ #include "ao.h" #include "ao_log.h" +#include <ao_storage.h> +#if HAS_FLIGHT #include <ao_sample.h> #include <ao_data.h> +#endif __xdata struct ao_config ao_config; __pdata uint8_t ao_config_loaded; @@ -460,6 +463,9 @@ ao_config_radio_enable_set(void) __reentrant #endif /* HAS_RADIO */ #if HAS_AES + +__xdata uint8_t ao_config_aes_seq = 1; + void ao_config_key_show(void) __reentrant { @@ -482,6 +488,7 @@ ao_config_key_set(void) __reentrant break; ao_config.aes_key[i] = ao_cmd_lex_i; } + ++ao_config_aes_seq; _ao_config_edit_finish(); } #endif diff --git a/src/core/ao_data.h b/src/core/ao_data.h index fdc49ca2..3b66ef5d 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -18,18 +18,42 @@ #ifndef _AO_DATA_H_ #define _AO_DATA_H_ +#if HAS_ADC +#define AO_DATA_ADC (1 << 0) +#else +#define AO_DATA_ADC 0 +#endif + #if HAS_MS5607 #include <ao_ms5607.h> +#define AO_DATA_MS5607 (1 << 1) +#else +#define AO_DATA_MS5607 (1 << 1) #endif #if HAS_MPU6000 #include <ao_mpu6000.h> +#define AO_DATA_MPU6000 (1 << 2) +#else +#define AO_DATA_MPU6000 0 #endif #if HAS_HMC5883 #include <ao_hmc5883.h> +#define AO_DATA_HMC5883 (1 << 3) +#else +#define AO_DATA_HMC5883 0 +#endif + +#if HAS_MMA655X +#include <ao_mma655x.h> +#define AO_DATA_MMA655X (1 << 4) +#else +#define AO_DATA_MMA655X 0 #endif +#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X) + struct ao_data { uint16_t tick; #if HAS_ADC @@ -45,6 +69,9 @@ struct ao_data { #if HAS_HMC5883 struct ao_hmc5883_sample hmc5883; #endif +#if HAS_MMA655X + uint16_t mma655x; +#endif }; #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) @@ -52,6 +79,29 @@ struct ao_data { extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; extern volatile __data uint8_t ao_data_head; +extern volatile __data uint8_t ao_data_present; +extern volatile __data uint8_t ao_data_count; + +/* + * Mark a section of data as ready, check for data complete + */ +#define AO_DATA_PRESENT(bit) do { \ + if ((ao_data_present |= (bit)) == AO_DATA_ALL) { \ + ao_data_ring[ao_data_head].tick = ao_tick_count; \ + ao_data_head = ao_data_ring_next(ao_data_head); \ + ao_data_present = 0; \ + ao_wakeup((void *) &ao_data_head); \ + } \ + } while (0); + +/* + * Wait for data to be completed by looking at the + * indicated bit + */ +#define AO_DATA_WAIT() do { \ + ao_sleep((void *) &ao_data_count); \ + } while (0) + #if HAS_MS5607 diff --git a/src/core/ao_led.h b/src/core/ao_led.h index edc5fd1f..d9a0914a 100644 --- a/src/core/ao_led.h +++ b/src/core/ao_led.h @@ -40,6 +40,10 @@ ao_led_off(AO_LED_TYPE colors); void ao_led_set(AO_LED_TYPE colors); +/* Set all LEDs in 'mask' to the specified state */ +void +ao_led_set_mask(uint8_t colors, uint8_t mask); + /* Toggle the specified LEDs */ void ao_led_toggle(AO_LED_TYPE colors); diff --git a/src/core/ao_radio_cmac.c b/src/core/ao_radio_cmac.c index e263f0db..fc0ca8b1 100644 --- a/src/core/ao_radio_cmac.c +++ b/src/core/ao_radio_cmac.c @@ -15,39 +15,15 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -#include "ao.h" - -#define AO_CMAC_KEY_LEN AO_AES_LEN -#define AO_CMAC_MAX_LEN (128 - AO_CMAC_KEY_LEN) +#include <ao.h> +#include <ao_radio_cmac.h> static __xdata uint8_t ao_radio_cmac_mutex; -__pdata int16_t ao_radio_cmac_rssi; +__pdata int8_t ao_radio_cmac_rssi; static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN + AO_CMAC_KEY_LEN + 2 + AO_CMAC_KEY_LEN]; static __pdata uint8_t ao_radio_cmac_len; static uint8_t -getnibble(void) -{ - int8_t b; - - b = ao_cmd_hexchar(getchar()); - if (b < 0) { - ao_cmd_status = ao_cmd_lex_error; - return 0; - } - return (uint8_t) b; -} - -static uint8_t -getbyte(void) -{ - uint8_t b; - b = getnibble() << 4; - b |= getnibble(); - return b; -} - -static uint8_t round_len(uint8_t len) { uint8_t rem; @@ -120,8 +96,8 @@ radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant return AO_RADIO_CMAC_TIMEOUT; } - ao_radio_cmac_rssi = (int16_t) (((int8_t) cmac_data[len + AO_CMAC_KEY_LEN]) >> 1) - 74; - if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & PKT_APPEND_STATUS_1_CRC_OK)) + ao_radio_cmac_rssi = (int8_t) (((int8_t) cmac_data[len + AO_CMAC_KEY_LEN]) >> 1) - 74; + if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & AO_RADIO_STATUS_CRC_OK)) return AO_RADIO_CMAC_CRC_ERROR; ao_config_get(); @@ -159,8 +135,14 @@ ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant if (len > AO_CMAC_MAX_LEN) return AO_RADIO_CMAC_LEN_ERROR; ao_mutex_get(&ao_radio_cmac_mutex); - memcpy(cmac_data, packet, len); + ao_xmemcpy(cmac_data, packet, len); +#if AO_LED_TX + ao_led_on(AO_LED_TX); +#endif radio_cmac_send(len); +#if AO_LED_TX + ao_led_off(AO_LED_TX); +#endif ao_mutex_put(&ao_radio_cmac_mutex); return AO_RADIO_CMAC_OK; } @@ -172,235 +154,16 @@ ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentr if (len > AO_CMAC_MAX_LEN) return AO_RADIO_CMAC_LEN_ERROR; ao_mutex_get(&ao_radio_cmac_mutex); +#if AO_LED_RX + ao_led_on(AO_LED_RX); +#endif i = radio_cmac_recv(len, timeout); +#if AO_LED_RX + ao_led_off(AO_LED_RX); +#endif if (i == AO_RADIO_CMAC_OK) - memcpy(packet, cmac_data, len); + ao_xmemcpy(packet, cmac_data, len); ao_mutex_put(&ao_radio_cmac_mutex); return i; } -static void -radio_cmac_send_cmd(void) __reentrant -{ - uint8_t i; - uint8_t len; - - ao_cmd_decimal(); - if (ao_cmd_status != ao_cmd_success) - return; - len = ao_cmd_lex_i; - if (len > AO_CMAC_MAX_LEN) { - ao_cmd_status = ao_cmd_syntax_error; - return; - } - flush(); - ao_mutex_get(&ao_radio_cmac_mutex); - len = ao_cmd_lex_i; - for (i = 0; i < len; i++) { - cmac_data[i] = getbyte(); - if (ao_cmd_status != ao_cmd_success) - return; - } - radio_cmac_send(len); - ao_mutex_put(&ao_radio_cmac_mutex); -} - -static void -radio_cmac_recv_cmd(void) __reentrant -{ - uint8_t len, i; - uint16_t timeout; - - ao_cmd_decimal(); - if (ao_cmd_status != ao_cmd_success) - return; - len = ao_cmd_lex_i; - ao_cmd_decimal(); - if (ao_cmd_status != ao_cmd_success) - return; - timeout = AO_MS_TO_TICKS(ao_cmd_lex_i); - ao_mutex_get(&ao_radio_cmac_mutex); - i = radio_cmac_recv(len, timeout); - if (i == AO_RADIO_CMAC_OK) { - printf ("PACKET "); - for (i = 0; i < len; i++) - printf("%02x", cmac_data[i]); - printf (" %d\n", ao_radio_cmac_rssi); - } else - printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi); - ao_mutex_put(&ao_radio_cmac_mutex); -} - -static __xdata struct ao_launch_command command; -static __xdata struct ao_launch_query query; -static pdata uint16_t launch_serial; -static pdata uint8_t launch_channel; -static pdata uint16_t tick_offset; - -static void -launch_args(void) __reentrant -{ - ao_cmd_decimal(); - launch_serial = ao_cmd_lex_i; - ao_cmd_decimal(); - launch_channel = ao_cmd_lex_i; -} - -static int8_t -launch_query(void) -{ - uint8_t i; - int8_t r = AO_RADIO_CMAC_OK; - - tick_offset = ao_time(); - for (i = 0; i < 10; i++) { - printf ("."); flush(); - command.tick = ao_time(); - command.serial = launch_serial; - command.cmd = AO_LAUNCH_QUERY; - command.channel = launch_channel; - ao_radio_cmac_send(&command, sizeof (command)); - r = ao_radio_cmac_recv(&query, sizeof (query), AO_MS_TO_TICKS(500)); - if (r == AO_RADIO_CMAC_OK) - break; - } - tick_offset -= query.tick; - printf("\n"); flush(); - return r; -} - -static void -launch_report_cmd(void) __reentrant -{ - int8_t r; - - launch_args(); - if (ao_cmd_status != ao_cmd_success) - return; - r = launch_query(); - switch (r) { - case AO_RADIO_CMAC_OK: - if (query.valid) { - switch (query.arm_status) { - case ao_igniter_ready: - case ao_igniter_active: - printf ("Armed: "); - break; - default: - printf("Disarmed: "); - } - switch (query.igniter_status) { - default: - printf("unknown\n"); - break; - case ao_igniter_ready: - printf("igniter good\n"); - break; - case ao_igniter_open: - printf("igniter bad\n"); - break; - } - } else { - printf("Invalid channel %d\n", launch_channel); - } - printf("Rssi: %d\n", ao_radio_cmac_rssi); - break; - default: - printf("Error %d\n", r); - break; - } -} - -static void -launch_arm(void) __reentrant -{ - command.tick = ao_time() - tick_offset; - command.serial = launch_serial; - command.cmd = AO_LAUNCH_ARM; - command.channel = launch_channel; - ao_radio_cmac_send(&command, sizeof (command)); -} - -static void -launch_ignite(void) __reentrant -{ - command.tick = ao_time() - tick_offset; - command.serial = launch_serial; - command.cmd = AO_LAUNCH_FIRE; - command.channel = 0; - ao_radio_cmac_send(&command, sizeof (command)); -} - -static void -launch_fire_cmd(void) __reentrant -{ - static __xdata struct ao_launch_command command; - uint8_t secs; - uint8_t i; - int8_t r; - - launch_args(); - ao_cmd_decimal(); - secs = ao_cmd_lex_i; - if (ao_cmd_status != ao_cmd_success) - return; - r = launch_query(); - if (r != AO_RADIO_CMAC_OK) { - printf("query failed %d\n", r); - return; - } - - for (i = 0; i < 4; i++) { - printf("arm %d\n", i); flush(); - launch_arm(); - } - - secs = secs * 10 - 5; - if (secs > 100) - secs = 100; - for (i = 0; i < secs; i++) { - printf("fire %d\n", i); flush(); - launch_ignite(); - ao_delay(AO_MS_TO_TICKS(100)); - } -} - -static void -launch_arm_cmd(void) __reentrant -{ - uint8_t i; - int8_t r; - launch_args(); - r = launch_query(); - if (r != AO_RADIO_CMAC_OK) { - printf("query failed %d\n", r); - return; - } - for (i = 0; i < 4; i++) - launch_arm(); -} - -static void -launch_ignite_cmd(void) __reentrant -{ - uint8_t i; - launch_args(); - for (i = 0; i < 4; i++) - launch_ignite(); -} - -static __code struct ao_cmds ao_radio_cmac_cmds[] = { - { radio_cmac_send_cmd, "s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" }, - { radio_cmac_recv_cmd, "S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" }, - { launch_report_cmd, "l <serial> <channel>\0Get remote launch status" }, - { launch_fire_cmd, "f <serial> <channel> <secs>\0Fire remote igniter" }, - { launch_arm_cmd, "a <serial> <channel>\0Arm remote igniter" }, - { launch_ignite_cmd, "i <serial> <channel>\0Pulse remote igniter" }, - { 0, NULL }, -}; - -void -ao_radio_cmac_init(void) -{ - ao_cmd_register(&ao_radio_cmac_cmds[0]); -} diff --git a/src/core/ao_radio_cmac.h b/src/core/ao_radio_cmac.h new file mode 100644 index 00000000..e86f31e9 --- /dev/null +++ b/src/core/ao_radio_cmac.h @@ -0,0 +1,43 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_RADIO_CMAC_H_ +#define _AO_RADIO_CMAC_H_ + +#include <ao_aes.h> + +#define AO_CMAC_KEY_LEN AO_AES_LEN +#define AO_CMAC_MAX_LEN (128 - AO_CMAC_KEY_LEN) + +extern __pdata int8_t ao_radio_cmac_rssi; + +int8_t +ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant; + +#define AO_RADIO_CMAC_OK 0 +#define AO_RADIO_CMAC_LEN_ERROR -1 +#define AO_RADIO_CMAC_CRC_ERROR -2 +#define AO_RADIO_CMAC_MAC_ERROR -3 +#define AO_RADIO_CMAC_TIMEOUT -4 + +int8_t +ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant; + +void +ao_radio_cmac_init(void); + +#endif /* _AO_RADIO_CMAC_H_ */ diff --git a/src/core/ao_radio_cmac_cmd.c b/src/core/ao_radio_cmac_cmd.c new file mode 100644 index 00000000..64410921 --- /dev/null +++ b/src/core/ao_radio_cmac_cmd.c @@ -0,0 +1,104 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_radio_cmac_cmd.h> +#include <ao_radio_cmac.h> + +static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN]; + +static uint8_t +getnibble(void) +{ + int8_t b; + + b = ao_cmd_hexchar(getchar()); + if (b < 0) { + ao_cmd_status = ao_cmd_lex_error; + return 0; + } + return (uint8_t) b; +} + +static uint8_t +getbyte(void) +{ + uint8_t b; + b = getnibble() << 4; + b |= getnibble(); + return b; +} + +static void +radio_cmac_send_cmd(void) __reentrant +{ + uint8_t i; + uint8_t len; + + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + len = ao_cmd_lex_i; + if (len > AO_CMAC_MAX_LEN) { + ao_cmd_status = ao_cmd_syntax_error; + return; + } + flush(); + len = ao_cmd_lex_i; + for (i = 0; i < len; i++) { + cmac_data[i] = getbyte(); + if (ao_cmd_status != ao_cmd_success) + return; + } + ao_radio_cmac_send(cmac_data, len); +} + +static void +radio_cmac_recv_cmd(void) __reentrant +{ + uint8_t len, i; + uint16_t timeout; + + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + len = ao_cmd_lex_i; + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + timeout = AO_MS_TO_TICKS(ao_cmd_lex_i); + i = ao_radio_cmac_recv(cmac_data, len, timeout); + if (i == AO_RADIO_CMAC_OK) { + printf ("PACKET "); + for (i = 0; i < len; i++) + printf("%02x", cmac_data[i]); + printf (" %d\n", ao_radio_cmac_rssi); + } else + printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi); +} + +static __code struct ao_cmds ao_radio_cmac_cmds[] = { + { radio_cmac_send_cmd, "s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" }, + { radio_cmac_recv_cmd, "S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" }, + { 0, NULL }, +}; + +void +ao_radio_cmac_cmd_init(void) +{ + ao_cmd_register(&ao_radio_cmac_cmds[0]); +} diff --git a/src/core/ao_radio_cmac_cmd.h b/src/core/ao_radio_cmac_cmd.h new file mode 100644 index 00000000..6b8782de --- /dev/null +++ b/src/core/ao_radio_cmac_cmd.h @@ -0,0 +1,24 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_RADIO_CMAC_CMD_H_ +#define _AO_RADIO_CMAC_CMD_H_ + +void +ao_radio_cmac_cmd_init(void); + +#endif /* _AO_RADIO_CMAC_CMD_H_ */ diff --git a/src/core/ao_storage.c b/src/core/ao_storage.c index b2dd435b..adf7e4d4 100644 --- a/src/core/ao_storage.c +++ b/src/core/ao_storage.c @@ -16,6 +16,7 @@ */ #include <ao.h> +#include <ao_storage.h> uint8_t ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant diff --git a/src/core/ao_task.c b/src/core/ao_task.c index 4011a36e..65654731 100644 --- a/src/core/ao_task.c +++ b/src/core/ao_task.c @@ -82,39 +82,36 @@ ao_yield(void) ao_arch_naked_define ao_arch_isr_stack(); -#if CHECK_STACK +#if AO_CHECK_STACK in_yield = 1; #endif /* Find a task to run. If there isn't any runnable task, * this loop will run forever, which is just fine */ { - __pdata uint8_t ao_next_task_index = ao_cur_task_index; + __pdata uint8_t ao_last_task_index = ao_cur_task_index; for (;;) { - ++ao_next_task_index; - if (ao_next_task_index == ao_num_tasks) - ao_next_task_index = 0; + ++ao_cur_task_index; + if (ao_cur_task_index == ao_num_tasks) + ao_cur_task_index = 0; + + ao_cur_task = ao_tasks[ao_cur_task_index]; - ao_cur_task = ao_tasks[ao_next_task_index]; - if (ao_cur_task->wchan == NULL) { - ao_cur_task_index = ao_next_task_index; + /* Check for ready task */ + if (ao_cur_task->wchan == NULL) break; - } /* Check if the alarm is set for a time which has passed */ if (ao_cur_task->alarm && - (int16_t) (ao_time() - ao_cur_task->alarm) >= 0) { - ao_cur_task_index = ao_next_task_index; + (int16_t) (ao_time() - ao_cur_task->alarm) >= 0) break; - } /* Enter lower power mode when there isn't anything to do */ - if (ao_next_task_index == ao_cur_task_index) { + if (ao_cur_task_index == ao_last_task_index) ao_arch_cpu_idle(); - } } } -#if CHECK_STACK +#if AO_CHECK_STACK cli(); in_yield = 0; #endif @@ -128,6 +125,7 @@ ao_sleep(__xdata void *wchan) ao_yield(); if (ao_cur_task->wchan) { ao_cur_task->wchan = NULL; + ao_cur_task->alarm = 0; return 1; } return 0; @@ -160,6 +158,16 @@ ao_clear_alarm(void) ao_cur_task->alarm = 0; } +static __xdata uint8_t ao_forever; + +void +ao_delay(uint16_t ticks) +{ + ao_alarm(ticks); + ao_sleep(&ao_forever); + ao_clear_alarm(); +} + void ao_exit(void) { @@ -177,7 +185,7 @@ ao_exit(void) void ao_task_info(void) { - uint8_t i; + uint8_t i; __xdata struct ao_task *task; for (i = 0; i < ao_num_tasks; i++) { |