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-rw-r--r--src/core/ao.h9
-rw-r--r--src/core/ao_cmd.c46
-rw-r--r--src/core/ao_monitor.c2
-rw-r--r--src/core/ao_notask.c45
-rw-r--r--src/core/ao_notask.h27
-rw-r--r--src/core/ao_packet.h2
-rw-r--r--src/core/ao_radio_cmac.c10
-rw-r--r--src/core/ao_stdio.c17
-rw-r--r--src/core/ao_task.c5
-rw-r--r--src/core/ao_task.h4
-rw-r--r--src/core/ao_telemetry.c1
11 files changed, 152 insertions, 16 deletions
diff --git a/src/core/ao.h b/src/core/ao.h
index 977e10b8..0ad3e4aa 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -45,6 +45,8 @@
#if HAS_TASK
#include <ao_task.h>
+#else
+#include <ao_notask.h>
#endif
/*
@@ -145,6 +147,9 @@ extern __pdata char ao_cmd_lex_c;
extern __pdata enum ao_cmd_status ao_cmd_status;
void
+ao_put_string(__code char *s);
+
+void
ao_cmd_lex(void);
void
@@ -508,6 +513,8 @@ ao_telemetry_tiny_init(void);
extern __xdata uint8_t ao_radio_dma;
+extern __xdata int8_t ao_radio_rssi;
+
#ifdef PKT_APPEND_STATUS_1_CRC_OK
#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
#else
@@ -532,7 +539,7 @@ ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
#if HAS_RADIO_RECV
uint8_t
-ao_radio_recv(__xdata void *d, uint8_t size) __reentrant;
+ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
void
ao_radio_recv_abort(void);
diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 3d086a57..16cde919 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -16,6 +16,7 @@
*/
#include "ao.h"
+#include "ao_task.h"
__pdata uint16_t ao_cmd_lex_i;
__pdata uint32_t ao_cmd_lex_u32;
@@ -28,8 +29,8 @@ static __xdata char cmd_line[CMD_LEN];
static __pdata uint8_t cmd_len;
static __pdata uint8_t cmd_i;
-static void
-put_string(__code char *s)
+void
+ao_put_string(__code char *s)
{
char c;
while ((c = *s++))
@@ -39,7 +40,7 @@ put_string(__code char *s)
static void
backspace(void)
{
- put_string ("\010 \010");
+ ao_put_string ("\010 \010");
}
static void
@@ -47,7 +48,7 @@ readline(void)
{
char c;
if (ao_echo())
- put_string("> ");
+ ao_put_string("> ");
cmd_len = 0;
for (;;) {
flush();
@@ -262,6 +263,11 @@ ao_reboot(void)
ao_panic(AO_PANIC_REBOOT);
}
+#ifndef HAS_VERSION
+#define HAS_VERSION 1
+#endif
+
+#if HAS_VERSION
static void
version(void)
{
@@ -289,6 +295,7 @@ version(void)
#endif
printf("software-version %s\n", ao_version);
}
+#endif
#ifndef NUM_CMDS
#define NUM_CMDS 11
@@ -303,13 +310,21 @@ help(void)
__pdata uint8_t cmds;
__pdata uint8_t cmd;
__code struct ao_cmds * __pdata cs;
- const char *h;
+ __code char *h;
+ uint8_t e;
for (cmds = 0; cmds < ao_ncmds; cmds++) {
cs = ao_cmds[cmds];
for (cmd = 0; cs[cmd].func; cmd++) {
h = cs[cmd].help;
- printf("%-45s %s\n", h, h + 1 + strlen(h));
+ ao_put_string(h);
+ e = strlen(h);
+ h += e + 1;
+ e = 45 - e;
+ while (e--)
+ putchar(' ');
+ ao_put_string(h);
+ putchar('\n');
}
}
}
@@ -370,14 +385,33 @@ ao_cmd(void)
}
}
+#if HAS_BOOT_LOADER
+
+#include <ao_boot.h>
+
+static void
+ao_loader(void)
+{
+ flush();
+ ao_boot_loader();
+}
+#endif
+
__xdata struct ao_task ao_cmd_task;
__code struct ao_cmds ao_base_cmds[] = {
{ help, "?\0Help" },
+#if HAS_TASK_INFO
{ ao_task_info, "T\0Tasks" },
+#endif
{ echo, "E <0 off, 1 on>\0Echo" },
{ ao_reboot, "r eboot\0Reboot" },
+#if HAS_VERSION
{ version, "v\0Version" },
+#endif
+#if HAS_BOOT_LOADER
+ { ao_loader, "X\0Switch to boot loader" },
+#endif
{ 0, NULL },
};
diff --git a/src/core/ao_monitor.c b/src/core/ao_monitor.c
index 5876bef7..18f170b4 100644
--- a/src/core/ao_monitor.c
+++ b/src/core/ao_monitor.c
@@ -81,7 +81,7 @@ ao_monitor_get(void)
size = ao_monitoring;
break;
}
- if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
+ if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
continue;
ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
diff --git a/src/core/ao_notask.c b/src/core/ao_notask.c
new file mode 100644
index 00000000..a41712d2
--- /dev/null
+++ b/src/core/ao_notask.c
@@ -0,0 +1,45 @@
+/*
+ * 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>
+
+static volatile void *ao_wchan;
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+#if 1
+ ao_wchan = wchan;
+ ao_arch_wait_interrupt();
+#else
+ uint8_t sreg;
+
+ ao_wchan = wchan;
+ asm("in %0,__SREG__" : "=&r" (sreg));
+ sei();
+ while (ao_wchan)
+ ao_arch_cpu_idle();
+ asm("out __SREG__,%0" : : "r" (sreg));
+#endif
+ return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan)
+{
+ ao_wchan = 0;
+}
diff --git a/src/core/ao_notask.h b/src/core/ao_notask.h
new file mode 100644
index 00000000..6b6b5bb8
--- /dev/null
+++ b/src/core/ao_notask.h
@@ -0,0 +1,27 @@
+/*
+ * 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_NOTASK_H_
+#define _AO_NOTASK_H_
+
+uint8_t
+ao_sleep(__xdata void *wchan);
+
+void
+ao_wakeup(__xdata void *wchan);
+
+#endif /* _AO_NOTASK_H_ */
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index 6d121bb9..b8426cf9 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -68,7 +68,7 @@ _ao_packet_pollchar(void);
#if PACKET_HAS_MASTER
/* ao_packet_master.c */
-extern __xdata uint8_t ao_packet_last_rssi;
+extern __xdata int8_t ao_packet_last_rssi;
void
ao_packet_master_init(void);
diff --git a/src/core/ao_radio_cmac.c b/src/core/ao_radio_cmac.c
index fc0ca8b1..3ca3c313 100644
--- a/src/core/ao_radio_cmac.c
+++ b/src/core/ao_radio_cmac.c
@@ -85,18 +85,14 @@ radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
#if HAS_MONITOR
ao_monitor_set(0);
#endif
- if (timeout)
- ao_alarm(timeout);
-
- i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2);
- ao_clear_alarm();
+ i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2, timeout);
if (!i) {
ao_radio_cmac_rssi = 0;
return AO_RADIO_CMAC_TIMEOUT;
}
- ao_radio_cmac_rssi = (int8_t) (((int8_t) cmac_data[len + AO_CMAC_KEY_LEN]) >> 1) - 74;
+ ao_radio_cmac_rssi = ao_radio_rssi;
if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & AO_RADIO_STATUS_CRC_OK))
return AO_RADIO_CMAC_CRC_ERROR;
@@ -150,7 +146,7 @@ ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant
int8_t
ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant
{
- uint8_t i;
+ int8_t i;
if (len > AO_CMAC_MAX_LEN)
return AO_RADIO_CMAC_LEN_ERROR;
ao_mutex_get(&ao_radio_cmac_mutex);
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 977d74b1..cd144d6b 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -66,8 +66,15 @@
#define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN)
__xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS];
+
+#if AO_NUM_STDIOS > 1
__pdata int8_t ao_cur_stdio;
__pdata int8_t ao_num_stdios;
+#else
+__pdata int8_t ao_cur_stdio;
+#define ao_cur_stdio 0
+#define ao_num_stdios 0
+#endif
void
putchar(char c)
@@ -107,12 +114,16 @@ getchar(void) __reentrant
c = ao_stdios[stdio]._pollchar();
if (c != AO_READ_AGAIN)
break;
+#if AO_NUM_STDIOS > 1
if (++stdio == ao_num_stdios)
stdio = 0;
if (stdio == ao_cur_stdio)
+#endif
ao_sleep(&ao_stdin_ready);
}
+#if AO_NUM_STDIOS > 1
ao_cur_stdio = stdio;
+#endif
ao_arch_release_interrupts();
return c;
}
@@ -128,11 +139,17 @@ ao_add_stdio(int (*_pollchar)(void),
void (*putchar)(char),
void (*flush)(void)) __reentrant
{
+#if AO_NUM_STDIOS > 1
if (ao_num_stdios == AO_NUM_STDIOS)
ao_panic(AO_PANIC_STDIO);
+#endif
ao_stdios[ao_num_stdios]._pollchar = _pollchar;
ao_stdios[ao_num_stdios].putchar = putchar;
ao_stdios[ao_num_stdios].flush = flush;
ao_stdios[ao_num_stdios].echo = 1;
+#if AO_NUM_STDIOS > 1
return ao_num_stdios++;
+#else
+ return 0;
+#endif
}
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 9cb074b5..0aad6508 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -512,6 +512,7 @@ ao_exit(void)
/* we'll never get back here */
}
+#if HAS_TASK_INFO
void
ao_task_info(void)
{
@@ -528,6 +529,7 @@ ao_task_info(void)
ao_task_validate();
#endif
}
+#endif
void
ao_start_scheduler(void)
@@ -536,5 +538,8 @@ ao_start_scheduler(void)
ao_cur_task_index = AO_NO_TASK_INDEX;
#endif
ao_cur_task = NULL;
+#if HAS_ARCH_START_SCHEDULER
+ ao_arch_start_scheduler();
+#endif
ao_yield();
}
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 50bfb220..1a4b5b6b 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -21,6 +21,10 @@
#include <ao_list.h>
#endif
+#ifndef HAS_TASK_INFO
+#define HAS_TASK_INFO 1
+#endif
+
/* An AltOS task */
struct ao_task {
__xdata void *wchan; /* current wait channel (NULL if running) */
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 03aa48d8..c3bbfec5 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -230,6 +230,7 @@ ao_send_location(void)
ao_xmemcpy(&telemetry.location.flags,
&ao_gps_data.flags,
26);
+ telemetry.location.tick = ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_loc_cur = ao_telemetry_config_max;
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-18 22:38:40 +0000