2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 #define ao_spi_slow() (U0GCR = (UxGCR_CPOL_NEGATIVE | \
21 UxGCR_CPHA_FIRST_EDGE | \
23 (13 << UxGCR_BAUD_E_SHIFT)))
25 #define ao_spi_fast() (U0GCR = (UxGCR_CPOL_NEGATIVE | \
26 UxGCR_CPHA_FIRST_EDGE | \
28 (17 << UxGCR_BAUD_E_SHIFT)))
30 #define COMPANION_SELECT() do { ao_spi_get_bit(COMPANION_CS); ao_spi_slow(); } while (0)
31 #define COMPANION_DESELECT() do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS); } while (0)
33 static __xdata struct ao_companion_command ao_companion_command;
34 __xdata struct ao_companion_setup ao_companion_setup;
36 __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
37 __pdata uint8_t ao_companion_running;
38 __xdata uint8_t ao_companion_mutex;
41 ao_companion_send_command(uint8_t command)
43 ao_companion_command.command = command;
44 ao_companion_command.flight_state = ao_flight_state;
45 ao_companion_command.tick = ao_time();
46 ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
50 ao_companion_get_setup(void)
53 ao_companion_send_command(AO_COMPANION_SETUP);
54 ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
56 return (ao_companion_setup.board_id ==
57 ~ao_companion_setup.board_id_inverse);
61 ao_companion_get_data(void)
64 ao_companion_send_command(AO_COMPANION_FETCH);
65 ao_mutex_get(&ao_companion_mutex);
66 ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
67 ao_mutex_put(&ao_companion_mutex);
74 ao_companion_running = ao_companion_get_setup();
75 while (ao_companion_running) {
76 ao_delay(ao_companion_setup.update_period);
77 ao_companion_get_data();
83 ao_companion_status(void) __reentrant
86 printf("Companion running: %d\n", ao_companion_running);
87 printf("device: %d\n", ao_companion_setup.board_id);
88 printf("update period: %d\n", ao_companion_setup.update_period);
89 printf("channels: %d\n", ao_companion_setup.channels);
91 for(i = 0; i < ao_companion_setup.channels; i++)
92 printf(" %5u", ao_companion_data[i]);
96 __code struct ao_cmds ao_companion_cmds[] = {
97 { ao_companion_status, "L\0Companion link status" },
101 static __xdata struct ao_task ao_companion_task;
104 ao_companion_init(void)
106 COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
107 COMPANION_CS_DIR |= COMPANION_CS_MASK; /* set CS pins as outputs */
108 COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
110 ao_cmd_register(&ao_companion_cmds[0]);
111 ao_add_task(&ao_companion_task, ao_companion, "companion");