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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include <ao.h>
  20 #include <ao_companion.h>
  21
  22 #ifdef TELEMEGA
  23 #define ao_spi_slow(b)
  24 #define ao_spi_fast(b)
  25 #endif
  26
  27 #if !HAS_COMPANION
  28 #error HAS_COMPANION not set in ao_companion.c
  29 #endif
  30
  31 #define AO_COMPANION_SPI_SPEED  ao_spi_speed(200000)
  32
  33 #define COMPANION_SELECT()      do {                    \
  34                 ao_spi_get_bit(AO_COMPANION_CS_PORT,    \
  35                                AO_COMPANION_CS_PIN,     \
  36                                AO_COMPANION_SPI_BUS,    \
  37                                AO_COMPANION_SPI_SPEED); \
  38         } while (0)
  39
  40 #define COMPANION_DESELECT()    do {                    \
  41                 ao_spi_put_bit(AO_COMPANION_CS_PORT,    \
  42                                AO_COMPANION_CS_PIN,     \
  43                                AO_COMPANION_SPI_BUS);   \
  44         } while (0)
  45
  46 struct ao_companion_command             ao_companion_command;
  47 struct ao_companion_setup               ao_companion_setup;
  48
  49 uint16_t        ao_companion_data[AO_COMPANION_MAX_CHANNELS];
  50 uint8_t         ao_companion_running;
  51 uint8_t         ao_companion_mutex;
  52
  53 static void
  54 ao_companion_send_command(uint8_t command)
  55 {
  56         ao_companion_command.command = command;
  57         ao_companion_command.flight_state = ao_flight_state;
  58         ao_companion_command.tick = (uint16_t) ao_time();
  59         ao_companion_command.serial = ao_serial_number;
  60         ao_companion_command.flight = ao_flight_number;
  61         ao_companion_command.accel = (int16_t) ao_accel;
  62         ao_companion_command.speed = (int16_t) ao_speed;
  63         ao_companion_command.height = (int16_t) ao_height;
  64         ao_companion_command.motor_number = ao_motor_number;
  65         ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
  66 }
  67
  68 static uint8_t
  69 ao_companion_get_setup(void)
  70 {
  71         COMPANION_SELECT();
  72         ao_companion_send_command(AO_COMPANION_SETUP);
  73         ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
  74         COMPANION_DESELECT();
  75         return ((int16_t) ao_companion_setup.board_id ==
  76                 (int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
  77 }
  78
  79 static void
  80 ao_companion_get_data(void)
  81 {
  82         COMPANION_SELECT();
  83         ao_companion_send_command(AO_COMPANION_FETCH);
  84         ao_mutex_get(&ao_companion_mutex);
  85         ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
  86         ao_mutex_put(&ao_companion_mutex);
  87         COMPANION_DESELECT();
  88 }
  89
  90 static void
  91 ao_companion_notify(void)
  92 {
  93         COMPANION_SELECT();
  94         ao_companion_send_command(AO_COMPANION_NOTIFY);
  95         COMPANION_DESELECT();
  96 }
  97
  98 static void
  99 ao_companion_status(void)
 100 {
 101         uint8_t i;
 102         printf("Companion running: %d\n", ao_companion_running);
 103         if (!ao_companion_running)
 104                 return;
 105         printf("device: %d\n"
 106                "update period: %d\n"
 107                "channels: %d\n"
 108                "data:",
 109                ao_companion_setup.board_id,
 110                ao_companion_setup.update_period,
 111                ao_companion_setup.channels);
 112         for(i = 0; i < ao_companion_setup.channels; i++)
 113                 printf(" %5u", ao_companion_data[i]);
 114         printf("\n");
 115 }
 116
 117 const struct ao_cmds ao_companion_cmds[] = {
 118         { ao_companion_status,  "L\0Companion link status" },
 119         { 0, NULL },
 120 };
 121
 122 static void
 123 ao_companion(void)
 124 {
 125         uint8_t i;
 126 #if HAS_GPS_MOSAIC
 127         if (ao_config.gps_mosaic)
 128                 ao_exit();
 129 #endif
 130         ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
 131         ao_cmd_register(&ao_companion_cmds[0]);
 132         while (!ao_flight_number)
 133                 ao_sleep(&ao_flight_number);
 134         for (i = 0; i < 10; i++) {
 135                 ao_delay(AO_SEC_TO_TICKS(1));
 136                 if ((ao_companion_running = ao_companion_get_setup()))
 137                     break;
 138         }
 139         while (ao_companion_running) {
 140                 if (ao_sleep_for(&ao_flight_state, ao_companion_setup.update_period))
 141                         ao_companion_get_data();
 142                 else
 143                         ao_companion_notify();
 144         }
 145         ao_exit();
 146 }
 147
 148 static struct ao_task ao_companion_task;
 149
 150 void
 151 ao_companion_init(void)
 152 {
 153         ao_add_task(&ao_companion_task, ao_companion, "companion");
 154 }