altos: Wait for companion to see CS before attempting communcation

[fw/altos] / src / drivers / ao_companion.c

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index a31cc2eadf2e5742917b33872519e382b0b3a75c..2ed407f1d9b216ea4fa6ed34e9eaa82ead4d3cbe 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -18,28 +18,23 @@
 #include <ao.h>
 #include <ao_companion.h>
 
-#ifndef ao_spi_slow
-#define ao_spi_slow(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE |       \
-                                  UxGCR_CPHA_FIRST_EDGE |      \
-                                  UxGCR_ORDER_MSB |            \
-                                  (13 << UxGCR_BAUD_E_SHIFT)))
-
-#define ao_spi_fast(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE |       \
-                                  UxGCR_CPHA_FIRST_EDGE |      \
-                                  UxGCR_ORDER_MSB |            \
-                                  (17 << UxGCR_BAUD_E_SHIFT)))
+#ifdef MEGAMETRUM
+#define ao_spi_slow(b)
+#define ao_spi_fast(b)
 #endif
 
 #define COMPANION_SELECT()     do {                    \
+               uint8_t pause;                          \
                ao_spi_get_bit(AO_COMPANION_CS_PORT,    \
                               AO_COMPANION_CS_PIN,     \
                               AO_COMPANION_CS,         \
-                              AO_COMPANION_SPI_BUS);   \
-               ao_spi_slow(AO_COMPANION_SPI_BUS);      \
+                              AO_COMPANION_SPI_BUS,    \
+                              AO_SPI_SPEED_200kHz);    \
+               for (pause = 0; pause < 100; pause++)   \
+                       ao_arch_nop();                  \
        } while (0)
 
 #define COMPANION_DESELECT()   do {                    \
-               ao_spi_fast(AO_COMPANION_SPI_BUS);      \
                ao_spi_put_bit(AO_COMPANION_CS_PORT,    \
                               AO_COMPANION_CS_PIN,     \
                               AO_COMPANION_CS,         \
@@ -61,6 +56,10 @@ ao_companion_send_command(uint8_t command)
        ao_companion_command.tick = ao_time();
        ao_companion_command.serial = ao_serial_number;
        ao_companion_command.flight = ao_flight_number;
+       ao_companion_command.accel = ao_accel;
+       ao_companion_command.speed = ao_speed;
+       ao_companion_command.height = ao_height;
+       ao_companion_command.motor_number = ao_motor_number;
        ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
@@ -72,7 +71,7 @@ ao_companion_get_setup(void)
        ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
        COMPANION_DESELECT();
        return (ao_companion_setup.board_id ==
-               ~ao_companion_setup.board_id_inverse);
+               (uint16_t) ~ao_companion_setup.board_id_inverse);
 }
 
 static void
@@ -120,6 +119,8 @@ ao_companion_status(void) __reentrant
 {
        uint8_t i;
        printf("Companion running: %d\n", ao_companion_running);
+       if (!ao_companion_running)
+               return;
        printf("device: %d\n", ao_companion_setup.board_id);
        printf("update period: %d\n", ao_companion_setup.update_period);
        printf("channels: %d\n", ao_companion_setup.channels);
@@ -139,7 +140,7 @@ static __xdata struct ao_task ao_companion_task;
 void
 ao_companion_init(void)
 {
-       ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
+       ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
        ao_cmd_register(&ao_companion_cmds[0]);
        ao_add_task(&ao_companion_task, ao_companion, "companion");
 }