*/
#include "ao.h"
-#include "ao_product.h"
-struct ao_companion_command ao_companion_command;
-
-static const struct ao_companion_setup ao_telescience_setup = {
- .board_id = AO_idProduct_NUMBER,
- .board_id_inverse = ~AO_idProduct_NUMBER,
- .update_period = 50,
- .channels = AO_LOG_TELESCIENCE_NUM_ADC,
-};
-
-static uint8_t
-ao_spi_read(uint8_t *buf, uint8_t len)
+uint8_t
+ao_spi_slave_recv(void *buf, uint16_t len)
{
+ uint8_t *b = buf;
while (len--) {
while (!(SPSR & (1 << SPIF)))
if ((PINB & (1 << PINB0)))
return 0;
- *buf++ = SPDR;
+ *b++ = SPDR;
}
return 1;
}
-static void
-ao_spi_write(uint8_t *buf, uint8_t len)
+void
+ao_spi_slave_send(void *buf, uint16_t len)
{
+ uint8_t *b = buf;
while (len--) {
- SPDR = *buf++;
+ SPDR = *b++;
while (!(SPSR & (1 << SPIF)))
if ((PINB & (1 << PINB0)))
return;
(void) SPDR;
}
-static uint8_t ao_spi_slave_recv(void)
-{
- if (!ao_spi_read((uint8_t *) &ao_companion_command,
- sizeof (ao_companion_command)))
- return 0;
-
- /* Figure out the outbound data */
- switch (ao_companion_command.command) {
- case AO_COMPANION_SETUP:
- ao_spi_write((uint8_t *) &ao_telescience_setup,
- sizeof (ao_telescience_setup));
- break;
- case AO_COMPANION_FETCH:
- ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
- AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
- break;
- case AO_COMPANION_NOTIFY:
- break;
- default:
- return 0;
- }
-
- ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick;
- if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) {
- ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state;
- return 1;
- }
- return 0;
-}
-
static uint8_t ao_spi_slave_running;
-ISR(PCINT0_vect)
+ISR(PCINT0_vect, ISR_BLOCK)
{
- if ((PINB & (1 << PINB0)) == 0) {
+#if SPI_SLAVE_PIN_0_3
+ if ((PINB & (1 << PORTB0)) == 0)
+#endif
+#if SPI_SLAVE_PIN_2_5
+ if ((PINB & (1 << PORTB2)) == 0)
+#endif
+ {
if (!ao_spi_slave_running) {
- uint8_t changed;
ao_spi_slave_running = 1;
- cli();
- changed = ao_spi_slave_recv();
- sei();
- if (changed && ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) {
- if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed)
- ao_log_single_start();
- else
- ao_log_single_stop();
- }
+ ao_spi_slave();
}
} else {
ao_spi_slave_running = 0;
}
}
-void ao_spi_slave_debug(void) {
- printf ("slave running %d\n", ao_spi_slave_running);
-}
-
void
ao_spi_slave_init(void)
{
+ /* We'd like to have a pull-up on SS so that disconnecting the
+ * TM would cause any SPI transaction to abort. However, when
+ * I tried that, SPI transactions would spontaneously abort,
+ * making me assume that we needed a less aggressive pull-up
+ * than is offered inside the AVR
+ */
+#if SPI_SLAVE_PIN_0_3
PCMSK0 |= (1 << PCINT0); /* Enable PCINT0 pin change */
PCICR |= (1 << PCIE0); /* Enable pin change interrupt */
(0 << 1) | /* SCK, input */
(0 << 0)); /* SS, input */
- /* We'd like to have a pull-up on SS so that disconnecting the
- * TM would cause any SPI transaction to abort. However, when
- * I tried that, SPI transactions would spontaneously abort,
- * making me assume that we needed a less aggressive pull-up
- * than is offered inside the AVR
- */
PORTB = ((PORTB & 0xf0) |
(1 << 3) | /* MISO, output */
(0 << 2) | /* MOSI, no pull-up */
(0 << 1) | /* SCK, no pull-up */
- (0 << 0)); /* SS, no pull-up */
+ (1 << 0)); /* SS, pull-up */
+#endif
+#if SPI_SLAVE_PIN_2_5
+ PCMSK0 |= (1 << PCINT2); /* Enable PCINT2 pin change */
+ PCICR |= (1 << PCIE0); /* Enable pin change interrupt */
+
+ DDRB = ((DDRB & 0xf0) |
+ (0 << 5) | /* SCK, input */
+ (1 << 4) | /* MISO, output */
+ (0 << 3) | /* MOSI, input */
+ (0 << 2)); /* SS, input */
+
+ PORTB = ((PORTB & 0xf0) |
+ (0 << 5) | /* SCK, no pull-up */
+ (1 << 4) | /* MISO, output */
+ (0 << 3) | /* MOSI, no pull-up */
+ (1 << 2)); /* SS, pull-up */
+#endif
SPCR = (0 << SPIE) | /* Disable SPI interrupts */
(1 << SPE) | /* Enable SPI */