altos: Add Mosaic GPS support to TeleMega v3+

[fw/altos] / src / drivers / ao_companion.c

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index d6fbb6b7480de528c322eac0f778a671b9d44d85..10647ad9da38847d5c4759e83f2a9e9704616543 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -28,11 +28,13 @@
 #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_SPI_BUS,    \
-                              AO_SPI_SPEED_200kHz);    \
+                              AO_COMPANION_SPI_SPEED); \
        } while (0)
 
 #define COMPANION_DESELECT()   do {                    \
@@ -53,12 +55,12 @@ ao_companion_send_command(uint8_t command)
 {
        ao_companion_command.command = command;
        ao_companion_command.flight_state = ao_flight_state;
-       ao_companion_command.tick = ao_time();
+       ao_companion_command.tick = (uint16_t) 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.accel = (int16_t) ao_accel;
+       ao_companion_command.speed = (int16_t) ao_speed;
+       ao_companion_command.height = (int16_t) ao_height;
        ao_companion_command.motor_number = ao_motor_number;
        ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
@@ -93,26 +95,6 @@ ao_companion_notify(void)
        COMPANION_DESELECT();
 }
 
-static void
-ao_companion(void)
-{
-       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) {
-               if (ao_sleep_for(&ao_flight_state, ao_companion_setup.update_period))
-                       ao_companion_get_data();
-               else
-                       ao_companion_notify();
-       }
-       ao_exit();
-}
-
 static void
 ao_companion_status(void) 
 {
@@ -137,12 +119,36 @@ const struct ao_cmds ao_companion_cmds[] = {
        { 0, NULL },
 };
 
+static void
+ao_companion(void)
+{
+       uint8_t i;
+#if HAS_GPS_MOSAIC
+       if (ao_config.gps_mosaic)
+               ao_exit();
+#endif
+       ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
+       ao_cmd_register(&ao_companion_cmds[0]);
+       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) {
+               if (ao_sleep_for(&ao_flight_state, ao_companion_setup.update_period))
+                       ao_companion_get_data();
+               else
+                       ao_companion_notify();
+       }
+       ao_exit();
+}
+
 static struct ao_task ao_companion_task;
 
 void
 ao_companion_init(void)
 {
-       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");
 }