git.gag.com Git - fw/altos/blob - src/drivers/ao_science_slave.c

   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_flight.h"
  21 #include "ao_companion.h"
  22
  23 struct ao_companion_command     ao_companion_command;
  24
  25 static const struct ao_companion_setup  ao_telescience_setup = {
  26         .board_id               = AO_idProduct_NUMBER,
  27         .board_id_inverse       = ~AO_idProduct_NUMBER,
  28         .update_period          = 50,
  29         .channels               = AO_LOG_TELESCIENCE_NUM_ADC,
  30 };
  31
  32 void ao_spi_slave(void)
  33 {
  34         if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
  35                                sizeof (ao_companion_command)))
  36                 return;
  37
  38         /* Figure out the outbound data */
  39         switch (ao_companion_command.command) {
  40         case AO_COMPANION_SETUP:
  41                 ao_spi_slave_send((uint8_t *) &ao_telescience_setup,
  42                                   sizeof (ao_telescience_setup));
  43                 break;
  44         case AO_COMPANION_FETCH:
  45                 ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc,
  46                                   AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
  47                 break;
  48         case AO_COMPANION_NOTIFY:
  49                 break;
  50         default:
  51                 return;
  52         }
  53
  54 #if HAS_LOG
  55         ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick;
  56         if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) {
  57                 ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state;
  58                 if (ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) {
  59                         if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed)
  60                                 ao_log_single_start();
  61                         else
  62                                 ao_log_single_stop();
  63                 }
  64         }
  65 #endif
  66 }