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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include <ao.h>
  19 #include <ao_product.h>
  20 #include <ao_companion.h>
  21 #include <ao_flight.h>
  22 #include <ao_pyro.h>
  23
  24 struct ao_companion_command     ao_companion_command;
  25
  26 static const struct ao_companion_setup  ao_telepyro_setup = {
  27         .board_id               = AO_idProduct_NUMBER,
  28         .board_id_inverse       = ~AO_idProduct_NUMBER,
  29         .update_period          = 50,
  30         .channels               = AO_TELEPYRO_NUM_ADC,
  31 };
  32
  33 struct ao_config ao_config;
  34
  35 extern volatile __data uint16_t ao_tick_count;
  36 uint16_t ao_boost_tick;
  37
  38 void ao_spi_slave(void)
  39 {
  40         if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
  41                                sizeof (ao_companion_command)))
  42                 return;
  43
  44         /* Figure out the outbound data */
  45         switch (ao_companion_command.command) {
  46         case AO_COMPANION_SETUP:
  47                 ao_spi_slave_send((uint8_t *) &ao_telepyro_setup,
  48                                   sizeof (ao_telepyro_setup));
  49                 break;
  50         case AO_COMPANION_FETCH:
  51                 ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.adc,
  52                                   AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
  53                 break;
  54         case AO_COMPANION_NOTIFY:
  55                 /* Can't use ao_time because we have interrupts suspended */
  56                 if (ao_companion_command.flight_state < ao_flight_boost && ao_companion_command.flight_state >= ao_flight_boost)
  57                         ao_boost_tick = ao_tick_count;
  58                 ao_wakeup(&ao_pyro_wakeup);
  59                 break;
  60         default:
  61                 return;
  62         }
  63 }