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.
19 #include <ao_companion.h>
22 #define ao_spi_slow(b)
23 #define ao_spi_fast(b)
26 #define COMPANION_SELECT() do { \
28 ao_spi_get_bit(AO_COMPANION_CS_PORT, \
29 AO_COMPANION_CS_PIN, \
31 AO_COMPANION_SPI_BUS, \
32 AO_SPI_SPEED_200kHz); \
33 for (pause = 0; pause < 100; pause++) \
37 #define COMPANION_DESELECT() do { \
38 ao_spi_put_bit(AO_COMPANION_CS_PORT, \
39 AO_COMPANION_CS_PIN, \
41 AO_COMPANION_SPI_BUS); \
44 __xdata struct ao_companion_command ao_companion_command;
45 __xdata struct ao_companion_setup ao_companion_setup;
47 __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
48 __pdata uint8_t ao_companion_running;
49 __xdata uint8_t ao_companion_mutex;
52 ao_companion_send_command(uint8_t command)
54 ao_companion_command.command = command;
55 ao_companion_command.flight_state = ao_flight_state;
56 ao_companion_command.tick = ao_time();
57 ao_companion_command.serial = ao_serial_number;
58 ao_companion_command.flight = ao_flight_number;
59 ao_companion_command.accel = ao_accel;
60 ao_companion_command.speed = ao_speed;
61 ao_companion_command.height = ao_height;
62 ao_companion_command.motor_number = ao_motor_number;
63 ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
67 ao_companion_get_setup(void)
70 ao_companion_send_command(AO_COMPANION_SETUP);
71 ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
73 return (ao_companion_setup.board_id ==
74 (uint16_t) ~ao_companion_setup.board_id_inverse);
78 ao_companion_get_data(void)
81 ao_companion_send_command(AO_COMPANION_FETCH);
82 ao_mutex_get(&ao_companion_mutex);
83 ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
84 ao_mutex_put(&ao_companion_mutex);
89 ao_companion_notify(void)
92 ao_companion_send_command(AO_COMPANION_NOTIFY);
100 while (!ao_flight_number)
101 ao_sleep(&ao_flight_number);
102 for (i = 0; i < 10; i++) {
103 ao_delay(AO_SEC_TO_TICKS(1));
104 if ((ao_companion_running = ao_companion_get_setup()))
107 while (ao_companion_running) {
108 ao_alarm(ao_companion_setup.update_period);
109 if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
110 ao_companion_get_data();
112 ao_companion_notify();
118 ao_companion_status(void) __reentrant
121 printf("Companion running: %d\n", ao_companion_running);
122 if (!ao_companion_running)
124 printf("device: %d\n", ao_companion_setup.board_id);
125 printf("update period: %d\n", ao_companion_setup.update_period);
126 printf("channels: %d\n", ao_companion_setup.channels);
128 for(i = 0; i < ao_companion_setup.channels; i++)
129 printf(" %5u", ao_companion_data[i]);
133 __code struct ao_cmds ao_companion_cmds[] = {
134 { ao_companion_status, "L\0Companion link status" },
138 static __xdata struct ao_task ao_companion_task;
141 ao_companion_init(void)
143 ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
144 ao_cmd_register(&ao_companion_cmds[0]);
145 ao_add_task(&ao_companion_task, ao_companion, "companion");