diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/ao.h | 4 | ||||
| -rw-r--r-- | src/ao_radio.c | 30 |
2 files changed, 28 insertions, 6 deletions
@@ -804,9 +804,13 @@ ao_telemetry_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; void +ao_radio_general_isr(void) interrupt 16; + +void ao_radio_set_telemetry(void); void diff --git a/src/ao_radio.c b/src/ao_radio.c index 55a0c297..43899f44 100644 --- a/src/ao_radio.c +++ b/src/ao_radio.c @@ -281,6 +281,24 @@ static __code uint8_t packet_setup[] = { RF_PKTCTRL0_LENGTH_CONFIG_FIXED), }; +__xdata uint8_t ao_radio_dma; +__xdata uint8_t ao_radio_dma_done; +__xdata uint8_t ao_radio_done; +__xdata uint8_t ao_radio_mutex; + +void +ao_radio_general_isr(void) interrupt 16 +{ + S1CON &= ~0x03; + if (RFIF & RFIF_IM_TIMEOUT) { + ao_dma_abort(ao_radio_dma); + RFIF &= ~ RFIF_IM_TIMEOUT; + } else if (RFIF & RFIF_IM_DONE) { + ao_radio_done = 1; + ao_wakeup(&ao_radio_done); + RFIF &= ~RFIF_IM_DONE; + } +} void ao_radio_set_telemetry(void) @@ -306,10 +324,6 @@ ao_radio_set_rdf(void) RF[rdf_setup[i]] = rdf_setup[i+1]; } -__xdata uint8_t ao_radio_dma; -__xdata uint8_t ao_radio_dma_done; -__xdata uint8_t ao_radio_mutex; - void ao_radio_idle(void) { @@ -328,6 +342,7 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant ao_config_get(); ao_mutex_get(&ao_radio_mutex); ao_radio_idle(); + ao_radio_done = 0; RF_CHANNR = ao_config.radio_channel; ao_dma_set_transfer(ao_radio_dma, telemetry, @@ -341,8 +356,8 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant 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); + __critical while (!ao_radio_done) + ao_sleep(&ao_radio_done); ao_mutex_put(&ao_radio_mutex); } @@ -462,5 +477,8 @@ ao_radio_init(void) ao_radio_set_telemetry(); ao_radio_dma_done = 1; ao_radio_dma = ao_dma_alloc(&ao_radio_dma_done); + RFIF = 0; + RFIM = RFIM_IM_TIMEOUT|RFIM_IM_DONE; + IEN2 |= IEN2_RFIE; ao_cmd_register(&ao_radio_cmds[0]); } |