#include "ao_product.h"
static struct ao_task ao_log_task;
-static struct ao_task ao_spi_task;
+//static struct ao_task ao_spi_task;
uint8_t ao_log_running;
uint8_t ao_log_mutex;
printf ("Erased\n");
}
-void
-ao_spi_telescience(void)
-{
- static union {
- struct ao_companion_command command;
- struct ao_companion_setup setup;
- struct ao_adc data;
- } u;
-
- for (;;) {
- ao_spi_slave_read((uint8_t *) &u.command, sizeof (struct ao_companion_command));
- switch (u.command.command) {
- case AO_COMPANION_SETUP:
- u.setup.board_id = AO_idProduct_NUMBER;
- u.setup.board_id_inverse = ~AO_idProduct_NUMBER;
- u.setup.update_period = 10;
- u.setup.channels = NUM_ADC;
- ao_spi_slave_write((uint8_t *) &u.setup,
- sizeof (struct ao_companion_setup));
- break;
- case AO_COMPANION_FETCH:
- ao_adc_get(&u.data);
- ao_spi_slave_write((uint8_t *) &u.data.adc,
- NUM_ADC * sizeof (uint16_t));
- if (u.command.flight_state >= ao_flight_boost &&
- u.command.flight_state < ao_flight_landed) {
- if (!ao_log_running)
- ao_log_start();
- } else {
- if (ao_log_running)
- ao_log_stop();
- }
- break;
- }
- }
-}
-
const struct ao_cmds ao_log_cmds[] = {
{ ao_log_set, "L <0 off, 1 on>\0Set logging mode" },
{ ao_log_list, "l\0List stored flight logs" },
{ ao_log_delete, "d 1\0Delete all stored flights" },
+ { ao_spi_slave_debug, "s\0Dump SPI slave data" },
{ 0, NULL },
};
ao_cmd_register(&ao_log_cmds[0]);
ao_add_task(&ao_log_task, ao_log_telescience, "log");
- ao_add_task(&ao_spi_task, ao_spi_telescience, "spi");
+// ao_add_task(&ao_spi_task, ao_spi_telescience, "spi");
}
*/
#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;
+static struct ao_companion_command ao_companion_command;
+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 volatile uint8_t ao_spi_slave_tx_started;
-
-static void
-ao_spi_slave_tx_start(void)
+static void ao_spi_slave_recv(void)
{
- 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);
- }
-}
+ uint8_t *buf;
+ uint8_t len;
-ISR(SPI_STC_vect)
-{
- uint8_t spsr;
+ len = sizeof (ao_companion_command);
+ buf = (uint8_t *) &ao_companion_command;
+ while (len--) {
+ while (!(SPSR & (1 << SPIF)))
+ ;
+ *buf++ = SPDR;
+ }
- 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);
+ /* Figure out the outbound data */
+ switch (ao_companion_command.command) {
+ case AO_COMPANION_SETUP:
+ buf = (uint8_t *) &ao_companion_setup;
+ len = sizeof (ao_companion_setup);
+ break;
+ case AO_COMPANION_FETCH:
+ buf = (uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc;
+ len = NUM_ADC * sizeof (uint16_t);
+ break;
+ default:
+ return;
}
-}
-static void
-ao_spi_slave_put(uint8_t b) __critical
-{
- 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();
+ /* Send the outbound data */
+ while (len--) {
+ SPDR = *buf++;
+ while (!(SPSR & (1 << SPIF)))
+ ;
+ }
+ (void) SPDR;
}
-static uint8_t
-ao_spi_slave_get(void) __critical
-{
- uint8_t b;
-
- 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;
-}
+static uint8_t ao_spi_slave_running;
-void
-ao_spi_slave_read(uint8_t *data, int len)
+ISR(PCINT0_vect)
{
- while (len--) {
- ao_spi_slave_put(0);
- *data++ = ao_spi_slave_get();
+ if ((PINB & (1 << PINB0)) == 0) {
+ if (!(PCMSK0 & (1 << PCINT1)))
+ PCMSK0 |= (1 << PCINT1);
+ else {
+ PCMSK0 &= ~(1 << PCINT1);
+ cli();
+ if (!ao_spi_slave_running) {
+ ao_spi_slave_running = 1;
+ ao_spi_slave_recv();
+ }
+ sei();
+ }
+ } 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);
+ SPCR = (0 << SPIE) | /* Disable SPI interrupts */
(1 << SPE) | /* Enable SPI */
(0 << DORD) | /* MSB first */
(0 << MSTR) | /* Slave mode */
projects / fw / altos / commitdiff