*/
#include "ao.h"
+#include "ao_product.h"
-__xdata struct ao_fifo ao_spi_slave_rx_fifo;
-__xdata struct ao_fifo ao_spi_slave_tx_fifo;
+struct ao_companion_command ao_companion_command;
-static volatile uint8_t ao_spi_slave_tx_started;
+static const struct ao_companion_setup ao_companion_setup = {
+ .board_id = AO_idProduct_NUMBER,
+ .board_id_inverse = ~AO_idProduct_NUMBER,
+ .update_period = 50,
+ .channels = NUM_ADC
+};
-static void
-ao_spi_slave_tx_start(void)
+static uint8_t
+ao_spi_read(uint8_t *buf, uint8_t len)
{
- if (!ao_spi_slave_tx_started && !ao_fifo_empty(ao_spi_slave_tx_fifo)) {
- ao_spi_slave_tx_started = 1;
- ao_fifo_remove(ao_spi_slave_tx_fifo, SPDR);
+ while (len--) {
+ while (!(SPSR & (1 << SPIF)))
+ if ((PINB & (1 << PINB0)))
+ return 0;
+ *buf++ = SPDR;
}
+ return 1;
}
-ISR(SPI_STC_vect)
+static void
+ao_spi_write(uint8_t *buf, uint8_t len)
{
- uint8_t spsr;
-
- spsr = SPSR;
- if (SPIF & (1 << SPIF)) {
- uint8_t byte = SPDR;
- if (!ao_fifo_full(ao_spi_slave_rx_fifo))
- ao_fifo_insert(ao_spi_slave_rx_fifo, byte);
- ao_spi_slave_tx_started = 0;
- ao_spi_slave_tx_start();
- ao_wakeup(&ao_spi_slave_rx_fifo);
- ao_wakeup(&ao_spi_slave_tx_fifo);
+ while (len--) {
+ SPDR = *buf++;
+ while (!(SPSR & (1 << SPIF)))
+ if ((PINB & (1 << PINB0)))
+ return;
}
+ /* Clear pending SPIF bit by reading */
+ (void) SPDR;
}
-static void
-ao_spi_slave_put(uint8_t b) __critical
+static uint8_t ao_spi_slave_recv(void)
{
- cli();
- while (ao_fifo_full(ao_spi_slave_tx_fifo))
- ao_sleep(&ao_spi_slave_tx_fifo);
- ao_fifo_insert(ao_spi_slave_tx_fifo, b);
- ao_spi_slave_tx_start();
- sei();
-}
+ if (!ao_spi_read((uint8_t *) &ao_companion_command,
+ sizeof (ao_companion_command)))
+ return 0;
-static uint8_t
-ao_spi_slave_get(void) __critical
-{
- uint8_t b;
+ /* Figure out the outbound data */
+ switch (ao_companion_command.command) {
+ case AO_COMPANION_SETUP:
+ ao_spi_write((uint8_t *) &ao_companion_setup,
+ sizeof (ao_companion_setup));
+ break;
+ case AO_COMPANION_FETCH:
+ ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
+ NUM_ADC * sizeof (uint16_t));
+ break;
+ case AO_COMPANION_STATE:
+ break;
+ default:
+ return 0;
+ }
- cli();
- while (ao_fifo_empty(ao_spi_slave_rx_fifo))
- ao_sleep(&ao_spi_slave_rx_fifo);
- ao_fifo_remove(ao_spi_slave_rx_fifo, b);
- sei();
- return b;
+ ao_log_store.tm_tick = ao_companion_command.tick;
+ if (ao_log_store.tm_state != ao_companion_command.flight_state) {
+ ao_log_store.tm_state = ao_companion_command.flight_state;
+ return 1;
+ }
+ return 0;
}
-void
-ao_spi_slave_read(uint8_t *data, int len)
+static uint8_t ao_spi_slave_running;
+
+ISR(PCINT0_vect, ISR_BLOCK)
{
- while (len--) {
- ao_spi_slave_put(0);
- *data++ = ao_spi_slave_get();
+ if ((PINB & (1 << PINB0)) == 0) {
+ if (!ao_spi_slave_running) {
+ uint8_t changed;
+ ao_spi_slave_running = 1;
+ changed = ao_spi_slave_recv();
+ if (changed && ao_flight_boost <= ao_log_store.tm_state) {
+ if (ao_log_store.tm_state < ao_flight_landed)
+ ao_log_start();
+ else
+ ao_log_stop();
+ }
+ }
+ } else {
+ ao_spi_slave_running = 0;
}
}
-void
-ao_spi_slave_write(uint8_t *data, int len)
-{
- while (len--) {
- ao_spi_slave_put(*data++);
- (void) ao_spi_slave_get();
- }
+void ao_spi_slave_debug(void) {
+ printf ("slave running %d\n", ao_spi_slave_running);
}
void
ao_spi_slave_init(void)
{
- SPCR = (1 << SPIE) | /* Enable SPI interrupts */
+ PCMSK0 |= (1 << PCINT0); /* Enable PCINT0 pin change */
+ PCICR |= (1 << PCIE0); /* Enable pin change interrupt */
+
+ DDRB = ((DDRB & 0xf0) |
+ (1 << 3) | /* MISO, output */
+ (0 << 2) | /* MOSI, input */
+ (0 << 1) | /* SCK, input */
+ (0 << 0)); /* SS, input */
+
+ /* We'd like to have a pull-up on SS so that disconnecting the
+ * TM would cause any SPI transaction to abort. However, when
+ * I tried that, SPI transactions would spontaneously abort,
+ * making me assume that we needed a less aggressive pull-up
+ * than is offered inside the AVR
+ */
+ PORTB = ((PORTB & 0xf0) |
+ (1 << 3) | /* MISO, output */
+ (0 << 2) | /* MOSI, no pull-up */
+ (0 << 1) | /* SCK, no pull-up */
+ (0 << 0)); /* SS, no pull-up */
+
+ SPCR = (0 << SPIE) | /* Disable SPI interrupts */
(1 << SPE) | /* Enable SPI */
(0 << DORD) | /* MSB first */
(0 << MSTR) | /* Slave mode */
projects / fw / altos / blobdiff