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microsplash: Add 'publish' target to Makefile
[fw/altos]
/
src
/
drivers
/
ao_pyro_slave.c
diff --git
a/src/drivers/ao_pyro_slave.c
b/src/drivers/ao_pyro_slave.c
index e6c73a3c914356deefb5e564a4e2ec9a37cb3dc9..f07c2cba184ddb47fdd67dfaac6bb53be13c4e38 100644
(file)
--- a/
src/drivers/ao_pyro_slave.c
+++ b/
src/drivers/ao_pyro_slave.c
@@
-15,8
+15,11
@@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-#include "ao.h"
-#include "ao_product.h"
+#include <ao.h>
+#include <ao_product.h>
+#include <ao_companion.h>
+#include <ao_flight.h>
+#include <ao_pyro.h>
struct ao_companion_command ao_companion_command;
struct ao_companion_command ao_companion_command;
@@
-27,23
+30,32
@@
static const struct ao_companion_setup ao_telepyro_setup = {
.channels = AO_TELEPYRO_NUM_ADC,
};
.channels = AO_TELEPYRO_NUM_ADC,
};
+struct ao_config ao_config;
+
+extern volatile __data uint16_t ao_tick_count;
+uint16_t ao_boost_tick;
+
void ao_spi_slave(void)
{
void ao_spi_slave(void)
{
- if (!ao_spi_
read
((uint8_t *) &ao_companion_command,
- sizeof (ao_companion_command)))
+ if (!ao_spi_
slave_recv
((uint8_t *) &ao_companion_command,
+
sizeof (ao_companion_command)))
return;
/* Figure out the outbound data */
switch (ao_companion_command.command) {
case AO_COMPANION_SETUP:
return;
/* Figure out the outbound data */
switch (ao_companion_command.command) {
case AO_COMPANION_SETUP:
- ao_spi_
write
((uint8_t *) &ao_telepyro_setup,
- sizeof (ao_telepyro_setup));
+ ao_spi_
slave_send
((uint8_t *) &ao_telepyro_setup,
+
sizeof (ao_telepyro_setup));
break;
case AO_COMPANION_FETCH:
break;
case AO_COMPANION_FETCH:
- ao_spi_
write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)]
.adc,
- AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
+ ao_spi_
slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc
.adc,
+
AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
break;
case AO_COMPANION_NOTIFY:
break;
case AO_COMPANION_NOTIFY:
+ /* Can't use ao_time because we have interrupts suspended */
+ if (ao_companion_command.flight_state < ao_flight_boost && ao_companion_command.flight_state >= ao_flight_boost)
+ ao_boost_tick = ao_tick_count;
+ ao_wakeup(&ao_pyro_wakeup);
break;
default:
return;
break;
default:
return;