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 COMPANION_SELECT() ao_spi_get_bit(COMPANION_CS)
21 #define COMPANION_DESELECT() ao_spi_put_bit(COMPANION_CS)
23 static __xdata struct ao_companion_command ao_companion_command;
24 __xdata struct ao_companion_setup ao_companion_setup;
26 __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
27 __pdata uint8_t ao_companion_running;
28 __xdata uint8_t ao_companion_mutex;
31 ao_companion_send_command(uint8_t command)
33 ao_companion_command.command = command;
34 ao_companion_command.flight_state = ao_flight_state;
35 ao_companion_command.tick = ao_time();
36 ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
40 ao_companion_get_setup(void)
43 ao_companion_send_command(AO_COMPANION_SETUP);
44 ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
46 if (ao_companion_setup.board_id != ~ao_companion_setup.board_id)
52 ao_companion_get_data(void)
55 ao_companion_send_command(AO_COMPANION_FETCH);
56 ao_mutex_get(&ao_companion_mutex);
57 ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
58 ao_mutex_put(&ao_companion_mutex);
65 if (!ao_companion_get_setup())
67 ao_companion_running = 1;
69 ao_delay(ao_companion_setup.update_period);
70 ao_companion_get_data();
75 ao_companion_status(void) __reentrant
79 __code struct ao_cmds ao_companion_cmds[] = {
80 { ao_companion_status, "L\0Companion link status" },
84 static __xdata struct ao_task ao_companion_task;
87 ao_companion_init(void)
89 COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
90 COMPANION_CS_DIR |= COMPANION_CS_MASK; /* set CS pins as outputs */
91 COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
93 ao_cmd_register(&ao_companion_cmds[0]);
95 ao_add_task(&ao_companion_task, ao_companion, "companion");