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)
27 #error HAS_COMPANION not set in ao_companion.c
30 #define COMPANION_SELECT() do { \
31 ao_spi_get_bit(AO_COMPANION_CS_PORT, \
32 AO_COMPANION_CS_PIN, \
34 AO_COMPANION_SPI_BUS, \
35 AO_SPI_SPEED_200kHz); \
38 #define COMPANION_DESELECT() do { \
39 ao_spi_put_bit(AO_COMPANION_CS_PORT, \
40 AO_COMPANION_CS_PIN, \
42 AO_COMPANION_SPI_BUS); \
45 __xdata struct ao_companion_command ao_companion_command;
46 __xdata struct ao_companion_setup ao_companion_setup;
48 __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
49 __pdata uint8_t ao_companion_running;
50 __xdata uint8_t ao_companion_mutex;
53 ao_companion_send_command(uint8_t command)
55 ao_companion_command.command = command;
56 ao_companion_command.flight_state = ao_flight_state;
57 ao_companion_command.tick = ao_time();
58 ao_companion_command.serial = ao_serial_number;
59 ao_companion_command.flight = ao_flight_number;
60 ao_companion_command.accel = ao_accel;
61 ao_companion_command.speed = ao_speed;
62 ao_companion_command.height = ao_height;
63 ao_companion_command.motor_number = ao_motor_number;
64 ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
68 ao_companion_get_setup(void)
71 ao_companion_send_command(AO_COMPANION_SETUP);
72 ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
74 return ((int16_t) ao_companion_setup.board_id ==
75 (int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
79 ao_companion_get_data(void)
82 ao_companion_send_command(AO_COMPANION_FETCH);
83 ao_mutex_get(&ao_companion_mutex);
84 ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
85 ao_mutex_put(&ao_companion_mutex);
90 ao_companion_notify(void)
93 ao_companion_send_command(AO_COMPANION_NOTIFY);
101 while (!ao_flight_number)
102 ao_sleep(&ao_flight_number);
103 for (i = 0; i < 10; i++) {
104 ao_delay(AO_SEC_TO_TICKS(1));
105 if ((ao_companion_running = ao_companion_get_setup()))
108 while (ao_companion_running) {
109 if (ao_sleep_for(DATA_TO_XDATA(&ao_flight_state), ao_companion_setup.update_period))
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"
125 "update period: %d\n"
128 ao_companion_setup.board_id,
129 ao_companion_setup.update_period,
130 ao_companion_setup.channels);
131 for(i = 0; i < ao_companion_setup.channels; i++)
132 printf(" %5u", ao_companion_data[i]);
136 __code struct ao_cmds ao_companion_cmds[] = {
137 { ao_companion_status, "L\0Companion link status" },
141 static __xdata struct ao_task ao_companion_task;
144 ao_companion_init(void)
146 ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
147 ao_cmd_register(&ao_companion_cmds[0]);
148 ao_add_task(&ao_companion_task, ao_companion, "companion");