X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=xbee_user.c;fp=xbee_user.c;h=ca9d4756799b8fe7c13f55cc29a88f48e6b84657;hp=471731384dee0944c022e7cd39e0a73939cc49cb;hb=84514fdc4e37939d888eddf89956225ef20b57fc;hpb=608c07083a1bf61df3ef38415242dbf0f333b806

diff --git a/xbee_user.c b/xbee_user.c
index 4717313..ca9d475 100644
--- a/xbee_user.c
+++ b/xbee_user.c
@@ -36,6 +36,7 @@
 #include <aversive/endian.h>
 #include <aversive/pgmspace.h>
 
+#include <callout.h>
 #include <rdline.h>
 #include <xbee.h>
 #include <xbee_rxtx.h>
@@ -44,7 +45,8 @@
 #include "xbee_user.h"
 #include "main.h"
 
-#define XBEE_TIMEOUT_MS 1000
+#define XBEE_TIMEOUT_MS    1000
+#define XBEE_POLL_TIMER_MS 5
 
 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
 
@@ -435,6 +437,8 @@ int xbeeapp_send_atcmd(char *atcmd_str, void *param,
 	struct xbee_ctx ctx;
 	/* struct xbee_atcmd_hdr atcmd_hdr; -> no needed same than atcmd_str */
 	struct xbee_msg msg;
+	uint8_t prio;
+	int ret;
 
 	memset(&ctx, 0, sizeof(ctx));
 	ctx.atcmd_query[0] = atcmd_str[0];
@@ -448,10 +452,11 @@ int xbeeapp_send_atcmd(char *atcmd_str, void *param,
 	msg.iov[1].buf = param;
 	msg.iov[1].len = param_len;
 
-	if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg, foreground) < 0)
-		return -1;
+	prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
+	ret = xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg, foreground);
+	callout_mgr_set_prio(&xbeeboard.intr_cm, prio);
 
-	return 0;
+	return ret;
 }
 
 int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
@@ -460,12 +465,15 @@ int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
 	struct xbee_xmit_hdr xmit_hdr;
 	struct xbee_msg msg2;
 	unsigned i;
+	uint8_t prio;
+	int ret;
 
 	if (msg->iovlen + 2 > XBEE_MSG_MAXIOV) {
 		printf_P(PSTR("too many iovecs\r\n"));
 		return -1;
 	}
 
+
 	xmit_hdr.dstaddr = htonll(addr);
 	xmit_hdr.reserved = htons(0xFFFE);
 	xmit_hdr.bcast_radius = 0;
@@ -480,10 +488,11 @@ int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
 	memset(&ctx, 0, sizeof(ctx));
 	ctx.atcmd_query[0] = '\0';
 
-	if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2, foreground) < 0)
-		return -1;
+	prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
+	ret = xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2, foreground);
+	callout_mgr_set_prio(&xbeeboard.intr_cm, prio);
 
-	return 0;
+	return ret;
 }
 
 static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
@@ -517,8 +526,18 @@ void xbee_unload_timeout(struct xbee_ctx *ctx)
 	callout_stop(&xbeeboard.mainloop_cm, &ctx->timeout);
 }
 
+static void xbee_rx_poll_timer_cb(struct callout_mgr *cm, struct callout *tim,
+	void *arg)
+{
+	(void) arg;
+	xbee_rx(xbee_dev);
+	callout_reschedule(cm, tim, XBEE_POLL_TIMER_MS);
+}
+
 void xbee_mainloop(void)
 {
+	uint8_t prio;
+
 	while (1) {
 		callout_manage(&xbeeboard.mainloop_cm);
 
@@ -533,11 +552,14 @@ void xbee_mainloop(void)
 			/* from cmdline to xbee */
 			c = cmdline_dev_recv(NULL);
 			if (c == 4) { /* CTRL-d */
+				prio = callout_mgr_set_prio(&xbeeboard.intr_cm,
+					XBEE_PRIO);
 				xbee_dev_send('A', NULL);
 				xbee_dev_send('T', NULL);
 				xbee_dev_send('C', NULL);
 				xbee_dev_send('N', NULL);
 				xbee_dev_send('\n', NULL);
+				callout_mgr_set_prio(&xbeeboard.intr_cm, prio);
 				xbee_raw = 0;
 				rdline_newline(&xbeeboard.rdl,
 					       xbeeboard.prompt);
@@ -553,7 +575,8 @@ void xbee_mainloop(void)
 		else {
 			if (xbee_cmdline_input_enabled)
 				cmdline_poll();
-			xbee_rx(xbee_dev);
+			/* xbee rx polling is done in a timer, so we can block
+			 * the cmdline without loosing incoming packets */
 		}
 	}
 }
@@ -567,3 +590,11 @@ void xbee_stdin_disable(void)
 {
 	xbee_cmdline_input_enabled = 0;
 }
+
+void xbeeapp_init(void)
+{
+	callout_init(&xbeeboard.xbee_rx_poll_timer, xbee_rx_poll_timer_cb,
+		NULL, XBEE_PRIO);
+	callout_schedule(&xbeeboard.intr_cm,
+		&xbeeboard.xbee_rx_poll_timer, XBEE_POLL_TIMER_MS);
+}