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-rw-r--r--src/kernel/ao_config.c23
-rw-r--r--src/kernel/ao_config.h9
-rw-r--r--src/kernel/ao_packet.h2
-rw-r--r--src/kernel/ao_product.c8
-rw-r--r--src/kernel/ao_pyro.c4
-rw-r--r--src/kernel/ao_radio_cmac.c6
-rw-r--r--src/kernel/ao_serial.h8
-rw-r--r--src/kernel/ao_task.c48
-rw-r--r--src/kernel/ao_task.h10
-rw-r--r--src/kernel/ao_telemetry.c4
-rw-r--r--src/kernel/ao_telemetry.h7
11 files changed, 86 insertions, 43 deletions
diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 8dab7c42..b0d3e541 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -220,6 +220,10 @@ _ao_config_get(void)
if (minor < 21)
ao_config.send_frequency = 434550;
#endif
+#if HAS_APRS
+ if (minor < 22)
+ ao_config.aprs_format = AO_CONFIG_DEFAULT_APRS_FORMAT;
+#endif
ao_config.minor = AO_CONFIG_MINOR;
ao_config_dirty = 1;
}
@@ -876,6 +880,23 @@ ao_config_aprs_ssid_set(void)
ao_config.aprs_ssid = ao_cmd_lex_i;
_ao_config_edit_finish();
}
+
+void
+ao_config_aprs_format_set(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.aprs_format = ao_cmd_lex_i != 0;
+ _ao_config_edit_finish();
+}
+
+void
+ao_config_aprs_format_show(void)
+{
+ printf ("APRS format: %d\n", ao_config.aprs_format);
+}
#endif /* HAS_APRS */
struct ao_config_var {
@@ -969,6 +990,8 @@ __code struct ao_config_var ao_config_vars[] = {
#if HAS_APRS
{ "S <ssid>\0Set APRS SSID (0-15)",
ao_config_aprs_ssid_set, ao_config_aprs_ssid_show },
+ { "C <0 compressed, 1 uncompressed>\0APRS format",
+ ao_config_aprs_format_set, ao_config_aprs_format_show },
#endif
{ "s\0Show",
ao_config_show, 0 },
diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
index 164584a5..cfe8555c 100644
--- a/src/kernel/ao_config.h
+++ b/src/kernel/ao_config.h
@@ -57,7 +57,7 @@
#endif
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 21
+#define AO_CONFIG_MINOR 22
#define AO_AES_LEN 16
@@ -115,8 +115,15 @@ struct ao_config {
#if HAS_RADIO_FORWARD
uint32_t send_frequency; /* minor version 21 */
#endif
+#if HAS_APRS
+ uint8_t aprs_format; /* minor version 22 */
+#endif
};
+#define AO_APRS_FORMAT_COMPRESSED 0
+#define AO_APRS_FORMAT_UNCOMPRESSED 1
+#define AO_CONFIG_DEFAULT_APRS_FORMAT AO_APRS_FORMAT_COMPRESSED
+
#if HAS_RADIO_FORWARD
extern __xdata uint32_t ao_send_radio_setting;
#endif
diff --git a/src/kernel/ao_packet.h b/src/kernel/ao_packet.h
index b8426cf9..136609c3 100644
--- a/src/kernel/ao_packet.h
+++ b/src/kernel/ao_packet.h
@@ -54,7 +54,7 @@ void
ao_packet_send(void);
uint8_t
-ao_packet_recv(void);
+ao_packet_recv(uint16_t timeout);
void
ao_packet_flush(void);
diff --git a/src/kernel/ao_product.c b/src/kernel/ao_product.c
index b9327bac..c711a4d2 100644
--- a/src/kernel/ao_product.c
+++ b/src/kernel/ao_product.c
@@ -33,6 +33,10 @@ const char ao_product[] = AO_iProduct_STRING;
#define AO_USB_MAX_POWER 100
#endif
+#ifndef AO_USB_INTERFACE_CLASS
+#define AO_USB_INTERFACE_CLASS 0x02
+#endif
+
#include "ao_usb.h"
/* USB descriptors in one giant block of bytes */
AO_ROMCONFIG_SYMBOL(0x00aa) uint8_t ao_usb_descriptors [] =
@@ -45,7 +49,7 @@ AO_ROMCONFIG_SYMBOL(0x00aa) uint8_t ao_usb_descriptors [] =
0x00, /* bDeviceSubClass */
0x00, /* bDeviceProtocol */
AO_USB_CONTROL_SIZE, /* bMaxPacketSize */
- LE_WORD(0xFFFE), /* idVendor */
+ LE_WORD(AO_idVendor_NUMBER), /* idVendor */
LE_WORD(AO_idProduct_NUMBER), /* idProduct */
LE_WORD(0x0100), /* bcdDevice */
0x01, /* iManufacturer */
@@ -69,7 +73,7 @@ AO_ROMCONFIG_SYMBOL(0x00aa) uint8_t ao_usb_descriptors [] =
0x00, /* bInterfaceNumber */
0x00, /* bAlternateSetting */
0x01, /* bNumEndPoints */
- 0x02, /* bInterfaceClass */
+ AO_USB_INTERFACE_CLASS, /* bInterfaceClass */
0x02, /* bInterfaceSubClass */
0x01, /* bInterfaceProtocol, linux requires value of 1 for the cdc_acm module */
0x00, /* iInterface */
diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 3044d565..43e73de4 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -375,9 +375,7 @@ ao_pyro(void)
ao_sleep(&ao_flight_state);
for (;;) {
- ao_alarm(AO_MS_TO_TICKS(100));
- ao_sleep(&ao_pyro_wakeup);
- ao_clear_alarm();
+ ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
if (ao_flight_state >= ao_flight_landed)
break;
any_waiting = ao_pyro_check();
diff --git a/src/kernel/ao_radio_cmac.c b/src/kernel/ao_radio_cmac.c
index bff848f6..b6835346 100644
--- a/src/kernel/ao_radio_cmac.c
+++ b/src/kernel/ao_radio_cmac.c
@@ -91,7 +91,6 @@ radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
return AO_RADIO_CMAC_TIMEOUT;
}
- 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;
@@ -114,13 +113,15 @@ radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
/* Check the packet signature against the signature provided
* over the link
*/
-
+
if (memcmp(&cmac_data[len],
&cmac_data[len + AO_CMAC_KEY_LEN + 2],
AO_CMAC_KEY_LEN) != 0) {
return AO_RADIO_CMAC_MAC_ERROR;
}
+ ao_radio_cmac_rssi = ao_radio_rssi;
+
return AO_RADIO_CMAC_OK;
}
@@ -161,4 +162,3 @@ ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentr
ao_mutex_put(&ao_radio_cmac_mutex);
return i;
}
-
diff --git a/src/kernel/ao_serial.h b/src/kernel/ao_serial.h
index dbc9f8e4..e21643ac 100644
--- a/src/kernel/ao_serial.h
+++ b/src/kernel/ao_serial.h
@@ -35,7 +35,7 @@ int
_ao_serial0_pollchar(void);
uint8_t
-_ao_serial0_sleep(void);
+_ao_serial0_sleep_for(uint16_t timeout);
void
ao_serial0_putchar(char c);
@@ -58,7 +58,7 @@ int
_ao_serial1_pollchar(void);
uint8_t
-_ao_serial1_sleep(void);
+_ao_serial1_sleep_for(uint16_t timeout);
void
ao_serial1_putchar(char c);
@@ -81,7 +81,7 @@ int
_ao_serial2_pollchar(void);
uint8_t
-_ao_serial2_sleep(void);
+_ao_serial2_sleep_for(uint16_t timeout);
void
ao_serial2_putchar(char c);
@@ -104,7 +104,7 @@ int
_ao_serial3_pollchar(void);
uint8_t
-_ao_serial3_sleep(void);
+_ao_serial3_sleep_for(uint16_t timeout);
void
ao_serial3_putchar(char c);
diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index bafb4943..55e423bb 100644
--- a/src/kernel/ao_task.c
+++ b/src/kernel/ao_task.c
@@ -450,37 +450,39 @@ ao_wakeup(__xdata void *wchan) __reentrant
ao_check_stack();
}
-void
-ao_alarm(uint16_t delay)
+uint8_t
+ao_sleep_for(__xdata void *wchan, uint16_t timeout)
{
+ uint8_t ret;
+ if (timeout) {
#if HAS_TASK_QUEUE
- uint32_t flags;
- /* Make sure we sleep *at least* delay ticks, which means adding
- * one to account for the fact that we may be close to the next tick
- */
- flags = ao_arch_irqsave();
+ uint32_t flags;
+ /* Make sure we sleep *at least* delay ticks, which means adding
+ * one to account for the fact that we may be close to the next tick
+ */
+ flags = ao_arch_irqsave();
#endif
- if (!(ao_cur_task->alarm = ao_time() + delay + 1))
- ao_cur_task->alarm = 1;
+ if (!(ao_cur_task->alarm = ao_time() + timeout + 1))
+ ao_cur_task->alarm = 1;
#if HAS_TASK_QUEUE
- ao_task_to_alarm_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
+ ao_task_to_alarm_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
#endif
-}
-
-void
-ao_clear_alarm(void)
-{
+ }
+ ret = ao_sleep(wchan);
+ if (timeout) {
#if HAS_TASK_QUEUE
- uint32_t flags;
+ uint32_t flags;
- flags = ao_arch_irqsave();
+ flags = ao_arch_irqsave();
#endif
- ao_cur_task->alarm = 0;
+ ao_cur_task->alarm = 0;
#if HAS_TASK_QUEUE
- ao_task_from_alarm_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
+ ao_task_from_alarm_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
#endif
+ }
+ return ret;
}
static __xdata uint8_t ao_forever;
@@ -488,9 +490,7 @@ static __xdata uint8_t ao_forever;
void
ao_delay(uint16_t ticks)
{
- ao_alarm(ticks);
- ao_sleep(&ao_forever);
- ao_clear_alarm();
+ ao_sleep_for(&ao_forever, ticks);
}
void
diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h
index 9c56b480..c6bec0e3 100644
--- a/src/kernel/ao_task.h
+++ b/src/kernel/ao_task.h
@@ -68,10 +68,19 @@ extern __data uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */
uint8_t
ao_sleep(__xdata void *wchan);
+/* Suspend the current task until wchan is awoken or the timeout
+ * expires. returns:
+ * 0 on normal wake
+ * 1 on alarm
+ */
+uint8_t
+ao_sleep_for(__xdata void *wchan, uint16_t timeout);
+
/* Wake all tasks sleeping on wchan */
void
ao_wakeup(__xdata void *wchan) __reentrant;
+#if 0
/* set an alarm to go off in 'delay' ticks */
void
ao_alarm(uint16_t delay);
@@ -79,6 +88,7 @@ ao_alarm(uint16_t delay);
/* Clear any pending alarm */
void
ao_clear_alarm(void);
+#endif
/* Yield the processor to another task */
void
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index e2197f7a..854ac898 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -486,9 +486,7 @@ ao_telemetry(void)
#endif /* HAS_APRS */
delay = time - ao_time();
if (delay > 0) {
- ao_alarm(delay);
- ao_sleep(&telemetry);
- ao_clear_alarm();
+ ao_sleep_for(&telemetry, delay);
}
}
}
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 711e0d36..672d2317 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -258,13 +258,14 @@ struct ao_telemetry_metrum_data {
uint16_t serial; /* 0 */
uint16_t tick; /* 2 */
uint8_t type; /* 4 */
+ uint8_t pad5[3]; /* 5 */
- int32_t ground_pres; /* 8 average pres on pad */
+ int32_t ground_pres; /* 8 average pres on pad */
int16_t ground_accel; /* 12 average accel on pad */
int16_t accel_plus_g; /* 14 accel calibration at +1g */
int16_t accel_minus_g; /* 16 accel calibration at -1g */
- uint8_t pad[14]; /* 18 */
+ uint8_t pad18[14]; /* 18 */
/* 32 */
};
@@ -332,6 +333,8 @@ union ao_telemetry_all {
struct ao_telemetry_baro baro;
};
+typedef char ao_check_telemetry_size[sizeof(union ao_telemetry_all) == 32 ? 1 : -1];
+
struct ao_telemetry_all_recv {
union ao_telemetry_all telemetry;
int8_t rssi;
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-30 02:51:39 +0000