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-rw-r--r--src/core/ao.h10
-rw-r--r--src/core/ao_cmd.c37
-rw-r--r--src/core/ao_config.c12
-rw-r--r--src/core/ao_log_telem.c6
-rw-r--r--src/core/ao_packet.h2
-rw-r--r--src/core/ao_send_packet.c20
-rw-r--r--src/core/ao_serial.h28
-rw-r--r--src/core/ao_stdio.c4
-rw-r--r--src/core/ao_task.c11
-rw-r--r--src/core/ao_task.h1
-rw-r--r--src/core/ao_usb.h2
11 files changed, 89 insertions, 44 deletions
diff --git a/src/core/ao.h b/src/core/ao.h
index 81d92e72..54018b37 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -170,6 +170,10 @@ ao_cmd_hex(void);
void
ao_cmd_decimal(void);
+/* Read a single hex nibble off stdin. */
+uint8_t
+ao_getnibble(void);
+
uint8_t
ao_match_word(__code char *word);
@@ -595,10 +599,10 @@ ao_monitor_init(void) __reentrant;
* ao_stdio.c
*/
-#define AO_READ_AGAIN ((char) -1)
+#define AO_READ_AGAIN (-1)
struct ao_stdio {
- char (*pollchar)(void);
+ int (*pollchar)(void);
void (*putchar)(char c) __reentrant;
void (*flush)(void);
uint8_t echo;
@@ -617,7 +621,7 @@ uint8_t
ao_echo(void);
int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
void (*putchar)(char) __reentrant,
void (*flush)(void)) __reentrant;
diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 1814cecf..3d086a57 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -110,6 +110,22 @@ putnibble(uint8_t v)
putchar(v + ('a' - 10));
}
+uint8_t
+ao_getnibble(void)
+{
+ char c;
+
+ c = getchar();
+ if ('0' <= c && c <= '9')
+ return c - '0';
+ if ('a' <= c && c <= 'f')
+ return c - ('a' - 10);
+ if ('A' <= c && c <= 'F')
+ return c - ('A' - 10);
+ ao_cmd_status = ao_cmd_lex_error;
+ return 0;
+}
+
void
ao_cmd_put16(uint16_t v)
{
@@ -249,12 +265,25 @@ ao_reboot(void)
static void
version(void)
{
- printf("manufacturer %s\n", ao_manufacturer);
- printf("product %s\n", ao_product);
- printf("serial-number %u\n", ao_serial_number);
+ printf("manufacturer %s\n"
+ "product %s\n"
+ "serial-number %u\n"
+#if HAS_FLIGHT
+ "current-flight %u\n"
+#endif
+#if HAS_LOG
+ "log-format %u\n"
+#endif
+ , ao_manufacturer
+ , ao_product
+ , ao_serial_number
+#if HAS_FLIGHT
+ , ao_flight_number
+#endif
#if HAS_LOG
- printf("log-format %u\n", ao_log_format);
+ , ao_log_format
#endif
+ );
#if HAS_MS5607
ao_ms5607_info();
#endif
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index e85ddcb4..797fe7ec 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -529,15 +529,15 @@ __code struct ao_config_var ao_config_vars[] = {
ao_config_callsign_set, ao_config_callsign_show },
{ "e <0 disable, 1 enable>\0Enable telemetry and RDF",
ao_config_radio_enable_set, ao_config_radio_enable_show },
+ { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
+ ao_config_radio_cal_set, ao_config_radio_cal_show },
#endif /* HAS_RADIO */
#if HAS_ACCEL
{ "a <+g> <-g>\0Accel calib (0 for auto)",
ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
+ { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
+ ao_config_pad_orientation_set,ao_config_pad_orientation_show },
#endif /* HAS_ACCEL */
-#if HAS_RADIO
- { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
- ao_config_radio_cal_set, ao_config_radio_cal_show },
-#endif /* HAS_RADIO */
#if HAS_LOG
{ "l <size>\0Flight log size (kB)",
ao_config_log_set, ao_config_log_show },
@@ -546,10 +546,6 @@ __code struct ao_config_var ao_config_vars[] = {
{ "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
ao_config_ignite_mode_set, ao_config_ignite_mode_show },
#endif
-#if HAS_ACCEL
- { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
- ao_config_pad_orientation_set,ao_config_pad_orientation_show },
-#endif
#if HAS_AES
{ "k <32 hex digits>\0Set AES encryption key",
ao_config_key_set, ao_config_key_show },
diff --git a/src/core/ao_log_telem.c b/src/core/ao_log_telem.c
index 18ab85dd..23ebf7dd 100644
--- a/src/core/ao_log_telem.c
+++ b/src/core/ao_log_telem.c
@@ -102,9 +102,9 @@ ao_log_single(void)
while (ao_log_running) {
/* Write samples to EEPROM */
while (ao_log_monitor_pos != ao_monitor_head) {
- memcpy(&ao_log_single_write_data.telemetry,
- &ao_monitor_ring[ao_log_monitor_pos],
- AO_LOG_SINGLE_SIZE);
+ ao_xmemcpy(&ao_log_single_write_data.telemetry,
+ &ao_monitor_ring[ao_log_monitor_pos],
+ AO_LOG_SINGLE_SIZE);
ao_log_single_write();
ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos);
ao_log_telem_track();
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 0eafd3b2..08b184d6 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -62,7 +62,7 @@ ao_packet_flush(void);
void
ao_packet_putchar(char c) __reentrant;
-char
+int
ao_packet_pollchar(void);
#if PACKET_HAS_MASTER
diff --git a/src/core/ao_send_packet.c b/src/core/ao_send_packet.c
index 1a8e74de..66315d22 100644
--- a/src/core/ao_send_packet.c
+++ b/src/core/ao_send_packet.c
@@ -21,22 +21,6 @@
static __xdata uint8_t ao_send[AO_MAX_SEND];
-static uint8_t
-getnibble(void)
-{
- char c;
-
- c = getchar();
- if ('0' <= c && c <= '9')
- return c - '0';
- if ('a' <= c && c <= 'f')
- return c - ('a' - 10);
- if ('A' <= c && c <= 'F')
- return c - ('A' - 10);
- ao_cmd_status = ao_cmd_lex_error;
- return 0;
-}
-
static void
ao_send_packet(void)
{
@@ -53,8 +37,8 @@ ao_send_packet(void)
return;
}
for (i = 0; i < count; i++) {
- b = getnibble() << 4;
- b |= getnibble();
+ b = ao_getnibble() << 4;
+ b |= ao_getnibble();
if (ao_cmd_status != ao_cmd_success)
return;
ao_send[i] = b;
diff --git a/src/core/ao_serial.h b/src/core/ao_serial.h
index 53aa8a89..a799bf2c 100644
--- a/src/core/ao_serial.h
+++ b/src/core/ao_serial.h
@@ -22,6 +22,7 @@
#define AO_SERIAL_SPEED_9600 1
#define AO_SERIAL_SPEED_19200 2
#define AO_SERIAL_SPEED_57600 3
+#define AO_SERIAL_SPEED_115200 4
#if HAS_SERIAL_0
extern volatile __xdata struct ao_fifo ao_serial0_rx_fifo;
@@ -30,6 +31,9 @@ extern volatile __xdata struct ao_fifo ao_serial0_tx_fifo;
char
ao_serial0_getchar(void);
+int
+ao_serial0_pollchar(void);
+
void
ao_serial0_putchar(char c);
@@ -47,7 +51,7 @@ extern volatile __xdata struct ao_fifo ao_serial1_tx_fifo;
char
ao_serial1_getchar(void);
-char
+int
ao_serial1_pollchar(void);
void
@@ -67,7 +71,7 @@ extern volatile __xdata struct ao_fifo ao_serial2_tx_fifo;
char
ao_serial2_getchar(void);
-char
+int
ao_serial2_pollchar(void);
void
@@ -80,6 +84,26 @@ void
ao_serial2_set_speed(uint8_t speed);
#endif
+#if HAS_SERIAL_3
+extern volatile __xdata struct ao_fifo ao_serial3_rx_fifo;
+extern volatile __xdata struct ao_fifo ao_serial3_tx_fifo;
+
+char
+ao_serial3_getchar(void);
+
+int
+ao_serial3_pollchar(void);
+
+void
+ao_serial3_putchar(char c);
+
+void
+ao_serial3_drain(void);
+
+void
+ao_serial3_set_speed(uint8_t speed);
+#endif
+
void
ao_serial_init(void);
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 8cf66a23..1748dfe8 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -98,7 +98,7 @@ __xdata uint8_t ao_stdin_ready;
char
getchar(void) __reentrant
{
- char c;
+ int c;
ao_arch_critical(
int8_t stdio = ao_cur_stdio;
@@ -123,7 +123,7 @@ ao_echo(void)
}
int8_t
-ao_add_stdio(char (*pollchar)(void),
+ao_add_stdio(int (*pollchar)(void),
void (*putchar)(char),
void (*flush)(void)) __reentrant
{
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 0411fbdd..9cb074b5 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -305,6 +305,8 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
);
}
+__data uint8_t ao_task_minimize_latency;
+
/* Task switching function. This must not use any stack variables */
void
ao_yield(void) ao_arch_naked_define
@@ -331,7 +333,12 @@ ao_yield(void) ao_arch_naked_define
}
ao_arch_isr_stack();
- ao_arch_block_interrupts();
+#if !HAS_TASK_QUEUE
+ if (ao_task_minimize_latency)
+ ao_arch_release_interrupts();
+ else
+#endif
+ ao_arch_block_interrupts();
#if AO_CHECK_STACK
in_yield = 1;
@@ -374,7 +381,7 @@ ao_yield(void) ao_arch_naked_define
break;
/* Wait for interrupts when there's nothing ready */
- if (ao_cur_task_index == ao_last_task_index)
+ if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
ao_arch_wait_interrupt();
}
}
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 049f69a7..50bfb220 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -47,6 +47,7 @@ struct ao_task {
extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
extern __data uint8_t ao_num_tasks;
extern __xdata struct ao_task *__data ao_cur_task;
+extern __data uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */
/*
ao_task.c
diff --git a/src/core/ao_usb.h b/src/core/ao_usb.h
index e051db93..4476ee6b 100644
--- a/src/core/ao_usb.h
+++ b/src/core/ao_usb.h
@@ -33,7 +33,7 @@ ao_usb_getchar(void);
/* Poll for a charcter on the USB input queue.
* returns AO_READ_AGAIN if none are available
*/
-char
+int
ao_usb_pollchar(void);
/* Flush the USB output queue */
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-17 01:43:51 +0000