#include "ao.h"
-#define COMPANION_SELECT() ao_spi_get_bit(COMPANION_CS)
-#define COMPANION_DESELECT() ao_spi_put_bit(COMPANION_CS)
+#define ao_spi_slow() (U0GCR = (UxGCR_CPOL_NEGATIVE | \
+ UxGCR_CPHA_FIRST_EDGE | \
+ UxGCR_ORDER_MSB | \
+ (13 << UxGCR_BAUD_E_SHIFT)))
+
+#define ao_spi_fast() (U0GCR = (UxGCR_CPOL_NEGATIVE | \
+ UxGCR_CPHA_FIRST_EDGE | \
+ UxGCR_ORDER_MSB | \
+ (17 << UxGCR_BAUD_E_SHIFT)))
+
+#define COMPANION_SELECT() do { ao_spi_get_bit(COMPANION_CS); ao_spi_slow(); } while (0)
+#define COMPANION_DESELECT() do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS); } while (0)
static __xdata struct ao_companion_command ao_companion_command;
__xdata struct ao_companion_setup ao_companion_setup;
ao_companion_command.command = command;
ao_companion_command.flight_state = ao_flight_state;
ao_companion_command.tick = ao_time();
+ ao_companion_command.serial = ao_serial_number;
+ ao_companion_command.flight = ao_flight_number;
ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
}
ao_companion_send_command(AO_COMPANION_SETUP);
ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
COMPANION_DESELECT();
- if (ao_companion_setup.board_id != ~ao_companion_setup.board_id)
- return 0;
- return 1;
+ return (ao_companion_setup.board_id ==
+ ~ao_companion_setup.board_id_inverse);
}
static void
COMPANION_DESELECT();
}
+static void
+ao_companion_notify(void)
+{
+ COMPANION_SELECT();
+ ao_companion_send_command(AO_COMPANION_NOTIFY);
+ COMPANION_DESELECT();
+}
+
void
ao_companion(void)
{
- if (!ao_companion_get_setup())
- ao_exit();
- ao_companion_running = 1;
- for (;;) {
- ao_delay(ao_companion_setup.update_period);
- ao_companion_get_data();
+ uint8_t i;
+ while (!ao_flight_number)
+ ao_sleep(&ao_flight_number);
+ for (i = 0; i < 10; i++) {
+ ao_delay(AO_SEC_TO_TICKS(1));
+ if ((ao_companion_running = ao_companion_get_setup()))
+ break;
}
+ while (ao_companion_running) {
+ ao_alarm(ao_companion_setup.update_period);
+ if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
+ ao_companion_get_data();
+ else
+ ao_companion_notify();
+ }
+ ao_exit();
}
void
ao_companion_status(void) __reentrant
{
+ uint8_t i;
+ printf("Companion running: %d\n", ao_companion_running);
+ printf("device: %d\n", ao_companion_setup.board_id);
+ printf("update period: %d\n", ao_companion_setup.update_period);
+ printf("channels: %d\n", ao_companion_setup.channels);
+ printf("data:");
+ for(i = 0; i < ao_companion_setup.channels; i++)
+ printf(" %5u", ao_companion_data[i]);
+ printf("\n");
}
__code struct ao_cmds ao_companion_cmds[] = {
COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
ao_cmd_register(&ao_companion_cmds[0]);
-
ao_add_task(&ao_companion_task, ao_companion, "companion");
}