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(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE | \
23 UxGCR_CPHA_FIRST_EDGE | \
25 (13 << UxGCR_BAUD_E_SHIFT)))
27 #define ao_spi_fast(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE | \
28 UxGCR_CPHA_FIRST_EDGE | \
30 (17 << UxGCR_BAUD_E_SHIFT)))
33 #define COMPANION_SELECT() do { \
34 ao_spi_get_bit(AO_COMPANION_CS_PORT, \
35 AO_COMPANION_CS_PIN, \
37 AO_COMPANION_SPI_BUS); \
38 ao_spi_slow(AO_COMPANION_SPI_BUS); \
41 #define COMPANION_DESELECT() do { \
42 ao_spi_fast(AO_COMPANION_SPI_BUS); \
43 ao_spi_put_bit(AO_COMPANION_CS_PORT, \
44 AO_COMPANION_CS_PIN, \
46 AO_COMPANION_SPI_BUS); \
49 __xdata struct ao_companion_command ao_companion_command;
50 __xdata struct ao_companion_setup ao_companion_setup;
52 __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
53 __pdata uint8_t ao_companion_running;
54 __xdata uint8_t ao_companion_mutex;
57 ao_companion_send_command(uint8_t command)
59 ao_companion_command.command = command;
60 ao_companion_command.flight_state = ao_flight_state;
61 ao_companion_command.tick = ao_time();
62 ao_companion_command.serial = ao_serial_number;
63 ao_companion_command.flight = ao_flight_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 (ao_companion_setup.board_id ==
75 ~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 ao_alarm(ao_companion_setup.update_period);
110 if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
111 ao_companion_get_data();
113 ao_companion_notify();
119 ao_companion_status(void) __reentrant
122 printf("Companion running: %d\n", ao_companion_running);
123 printf("device: %d\n", ao_companion_setup.board_id);
124 printf("update period: %d\n", ao_companion_setup.update_period);
125 printf("channels: %d\n", ao_companion_setup.channels);
127 for(i = 0; i < ao_companion_setup.channels; i++)
128 printf(" %5u", ao_companion_data[i]);
132 __code struct ao_cmds ao_companion_cmds[] = {
133 { ao_companion_status, "L\0Companion link status" },
137 static __xdata struct ao_task ao_companion_task;
140 ao_companion_init(void)
142 ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
143 ao_cmd_register(&ao_companion_cmds[0]);
144 ao_add_task(&ao_companion_task, ao_companion, "companion");