*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include <ao.h>
#include <ao_companion.h>
-#ifdef MEGAMETRUM
+#ifdef TELEMEGA
#define ao_spi_slow(b)
#define ao_spi_fast(b)
#endif
+#if !HAS_COMPANION
+#error HAS_COMPANION not set in ao_companion.c
+#endif
+
+#define AO_COMPANION_SPI_SPEED ao_spi_speed(200000)
+
#define COMPANION_SELECT() do { \
ao_spi_get_bit(AO_COMPANION_CS_PORT, \
AO_COMPANION_CS_PIN, \
- AO_COMPANION_CS, \
AO_COMPANION_SPI_BUS, \
- AO_SPI_SPEED_200kHz); \
+ AO_COMPANION_SPI_SPEED); \
} while (0)
#define COMPANION_DESELECT() do { \
ao_spi_put_bit(AO_COMPANION_CS_PORT, \
AO_COMPANION_CS_PIN, \
- AO_COMPANION_CS, \
AO_COMPANION_SPI_BUS); \
} while (0)
-__xdata struct ao_companion_command ao_companion_command;
-__xdata struct ao_companion_setup ao_companion_setup;
+struct ao_companion_command ao_companion_command;
+struct ao_companion_setup ao_companion_setup;
-__xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-__pdata uint8_t ao_companion_running;
-__xdata uint8_t ao_companion_mutex;
+uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
+uint8_t ao_companion_running;
+uint8_t ao_companion_mutex;
static void
ao_companion_send_command(uint8_t command)
ao_companion_command.tick = ao_time();
ao_companion_command.serial = ao_serial_number;
ao_companion_command.flight = ao_flight_number;
+ ao_companion_command.accel = ao_accel;
+ ao_companion_command.speed = ao_speed;
+ ao_companion_command.height = ao_height;
+ ao_companion_command.motor_number = ao_motor_number;
ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
}
ao_companion_send_command(AO_COMPANION_SETUP);
ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
COMPANION_DESELECT();
- return (ao_companion_setup.board_id ==
- ~ao_companion_setup.board_id_inverse);
+ return ((int16_t) ao_companion_setup.board_id ==
+ (int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
}
static void
COMPANION_DESELECT();
}
-void
+static void
ao_companion(void)
{
uint8_t i;
break;
}
while (ao_companion_running) {
- ao_alarm(ao_companion_setup.update_period);
- if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
+ if (ao_sleep_for(&ao_flight_state, ao_companion_setup.update_period))
ao_companion_get_data();
else
ao_companion_notify();
ao_exit();
}
-void
-ao_companion_status(void) __reentrant
+static void
+ao_companion_status(void)
{
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:");
+ if (!ao_companion_running)
+ return;
+ printf("device: %d\n"
+ "update period: %d\n"
+ "channels: %d\n"
+ "data:",
+ ao_companion_setup.board_id,
+ ao_companion_setup.update_period,
+ ao_companion_setup.channels);
for(i = 0; i < ao_companion_setup.channels; i++)
printf(" %5u", ao_companion_data[i]);
printf("\n");
}
-__code struct ao_cmds ao_companion_cmds[] = {
+const struct ao_cmds ao_companion_cmds[] = {
{ ao_companion_status, "L\0Companion link status" },
{ 0, NULL },
};
-static __xdata struct ao_task ao_companion_task;
+static struct ao_task ao_companion_task;
void
ao_companion_init(void)
{
- ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
+ ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
ao_cmd_register(&ao_companion_cmds[0]);
ao_add_task(&ao_companion_task, ao_companion, "companion");
}