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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 #include <ao_companion.h>
23 #define ao_spi_slow(b)
24 #define ao_spi_fast(b)
28 #error HAS_COMPANION not set in ao_companion.c
31 #define COMPANION_SELECT() do { \
32 ao_spi_get_bit(AO_COMPANION_CS_PORT, \
33 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, \
41 AO_COMPANION_SPI_BUS); \
44 struct ao_companion_command ao_companion_command;
45 struct ao_companion_setup ao_companion_setup;
47 uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
48 uint8_t ao_companion_running;
49 uint8_t ao_companion_mutex;
52 ao_companion_send_command(uint8_t command)
54 ao_companion_command.command = command;
55 ao_companion_command.flight_state = ao_flight_state;
56 ao_companion_command.tick = ao_time();
57 ao_companion_command.serial = ao_serial_number;
58 ao_companion_command.flight = ao_flight_number;
59 ao_companion_command.accel = ao_accel;
60 ao_companion_command.speed = ao_speed;
61 ao_companion_command.height = ao_height;
62 ao_companion_command.motor_number = ao_motor_number;
63 ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
67 ao_companion_get_setup(void)
70 ao_companion_send_command(AO_COMPANION_SETUP);
71 ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
73 return ((int16_t) ao_companion_setup.board_id ==
74 (int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
78 ao_companion_get_data(void)
81 ao_companion_send_command(AO_COMPANION_FETCH);
82 ao_mutex_get(&ao_companion_mutex);
83 ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
84 ao_mutex_put(&ao_companion_mutex);
89 ao_companion_notify(void)
92 ao_companion_send_command(AO_COMPANION_NOTIFY);
100 while (!ao_flight_number)
101 ao_sleep(&ao_flight_number);
102 for (i = 0; i < 10; i++) {
103 ao_delay(AO_SEC_TO_TICKS(1));
104 if ((ao_companion_running = ao_companion_get_setup()))
107 while (ao_companion_running) {
108 if (ao_sleep_for(&ao_flight_state, ao_companion_setup.update_period))
109 ao_companion_get_data();
111 ao_companion_notify();
117 ao_companion_status(void)
120 printf("Companion running: %d\n", ao_companion_running);
121 if (!ao_companion_running)
123 printf("device: %d\n"
124 "update period: %d\n"
127 ao_companion_setup.board_id,
128 ao_companion_setup.update_period,
129 ao_companion_setup.channels);
130 for(i = 0; i < ao_companion_setup.channels; i++)
131 printf(" %5u", ao_companion_data[i]);
135 const struct ao_cmds ao_companion_cmds[] = {
136 { ao_companion_status, "L\0Companion link status" },
140 static struct ao_task ao_companion_task;
143 ao_companion_init(void)
145 ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
146 ao_cmd_register(&ao_companion_cmds[0]);
147 ao_add_task(&ao_companion_task, ao_companion, "companion");