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.
20 #define ao_spi_slow() (U0GCR = (UxGCR_CPOL_NEGATIVE | \
21 UxGCR_CPHA_FIRST_EDGE | \
23 (13 << UxGCR_BAUD_E_SHIFT)))
25 #define ao_spi_fast() (U0GCR = (UxGCR_CPOL_NEGATIVE | \
26 UxGCR_CPHA_FIRST_EDGE | \
28 (17 << UxGCR_BAUD_E_SHIFT)))
30 #define COMPANION_SELECT() do { ao_spi_get_bit(COMPANION_CS, AO_COMPANION_BUS); ao_spi_slow(); } while (0)
31 #define COMPANION_DESELECT() do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS, AO_COMPANION_BUS); } while (0)
33 __xdata struct ao_companion_command ao_companion_command;
34 __xdata struct ao_companion_setup ao_companion_setup;
36 __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
37 __pdata uint8_t ao_companion_running;
38 __xdata uint8_t ao_companion_mutex;
41 ao_companion_send_command(uint8_t command)
43 ao_companion_command.command = command;
44 ao_companion_command.flight_state = ao_flight_state;
45 ao_companion_command.tick = ao_time();
46 ao_companion_command.serial = ao_serial_number;
47 ao_companion_command.flight = ao_flight_number;
48 ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
52 ao_companion_get_setup(void)
55 ao_companion_send_command(AO_COMPANION_SETUP);
56 ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
58 return (ao_companion_setup.board_id ==
59 ~ao_companion_setup.board_id_inverse);
63 ao_companion_get_data(void)
66 ao_companion_send_command(AO_COMPANION_FETCH);
67 ao_mutex_get(&ao_companion_mutex);
68 ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
69 ao_mutex_put(&ao_companion_mutex);
74 ao_companion_notify(void)
77 ao_companion_send_command(AO_COMPANION_NOTIFY);
85 while (!ao_flight_number)
86 ao_sleep(&ao_flight_number);
87 for (i = 0; i < 10; i++) {
88 ao_delay(AO_SEC_TO_TICKS(1));
89 if ((ao_companion_running = ao_companion_get_setup()))
92 while (ao_companion_running) {
93 ao_alarm(ao_companion_setup.update_period);
94 if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
95 ao_companion_get_data();
97 ao_companion_notify();
103 ao_companion_status(void) __reentrant
106 printf("Companion running: %d\n", ao_companion_running);
107 printf("device: %d\n", ao_companion_setup.board_id);
108 printf("update period: %d\n", ao_companion_setup.update_period);
109 printf("channels: %d\n", ao_companion_setup.channels);
111 for(i = 0; i < ao_companion_setup.channels; i++)
112 printf(" %5u", ao_companion_data[i]);
116 __code struct ao_cmds ao_companion_cmds[] = {
117 { ao_companion_status, "L\0Companion link status" },
121 static __xdata struct ao_task ao_companion_task;
124 ao_companion_init(void)
126 COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
127 COMPANION_CS_DIR |= COMPANION_CS_MASK; /* set CS pins as outputs */
128 COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
130 ao_cmd_register(&ao_companion_cmds[0]);
131 ao_add_task(&ao_companion_task, ao_companion, "companion");