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 { \
27 ao_spi_get_bit(AO_COMPANION_CS_PORT, \
28 AO_COMPANION_CS_PIN, \
30 AO_COMPANION_SPI_BUS, \
31 AO_SPI_SPEED_200kHz); \
34 #define COMPANION_DESELECT() do { \
35 ao_spi_put_bit(AO_COMPANION_CS_PORT, \
36 AO_COMPANION_CS_PIN, \
38 AO_COMPANION_SPI_BUS); \
41 __xdata struct ao_companion_command ao_companion_command;
42 __xdata struct ao_companion_setup ao_companion_setup;
44 __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
45 __pdata uint8_t ao_companion_running;
46 __xdata uint8_t ao_companion_mutex;
49 ao_companion_send_command(uint8_t command)
51 ao_companion_command.command = command;
52 ao_companion_command.flight_state = ao_flight_state;
53 ao_companion_command.tick = ao_time();
54 ao_companion_command.serial = ao_serial_number;
55 ao_companion_command.flight = ao_flight_number;
56 ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
60 ao_companion_get_setup(void)
63 ao_companion_send_command(AO_COMPANION_SETUP);
64 ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
66 return (ao_companion_setup.board_id ==
67 ~ao_companion_setup.board_id_inverse);
71 ao_companion_get_data(void)
74 ao_companion_send_command(AO_COMPANION_FETCH);
75 ao_mutex_get(&ao_companion_mutex);
76 ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
77 ao_mutex_put(&ao_companion_mutex);
82 ao_companion_notify(void)
85 ao_companion_send_command(AO_COMPANION_NOTIFY);
93 while (!ao_flight_number)
94 ao_sleep(&ao_flight_number);
95 for (i = 0; i < 10; i++) {
96 ao_delay(AO_SEC_TO_TICKS(1));
97 if ((ao_companion_running = ao_companion_get_setup()))
100 while (ao_companion_running) {
101 ao_alarm(ao_companion_setup.update_period);
102 if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
103 ao_companion_get_data();
105 ao_companion_notify();
111 ao_companion_status(void) __reentrant
114 printf("Companion running: %d\n", ao_companion_running);
115 printf("device: %d\n", ao_companion_setup.board_id);
116 printf("update period: %d\n", ao_companion_setup.update_period);
117 printf("channels: %d\n", ao_companion_setup.channels);
119 for(i = 0; i < ao_companion_setup.channels; i++)
120 printf(" %5u", ao_companion_data[i]);
124 __code struct ao_cmds ao_companion_cmds[] = {
125 { ao_companion_status, "L\0Companion link status" },
129 static __xdata struct ao_task ao_companion_task;
132 ao_companion_init(void)
134 ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
135 ao_cmd_register(&ao_companion_cmds[0]);
136 ao_add_task(&ao_companion_task, ao_companion, "companion");