* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-#include "ao.h"
-
-#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)
+#include <ao.h>
+#include <ao_companion.h>
+
+#ifndef ao_spi_slow
+#define ao_spi_slow(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE | \
+ UxGCR_CPHA_FIRST_EDGE | \
+ UxGCR_ORDER_MSB | \
+ (13 << UxGCR_BAUD_E_SHIFT)))
+
+#define ao_spi_fast(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE | \
+ UxGCR_CPHA_FIRST_EDGE | \
+ UxGCR_ORDER_MSB | \
+ (17 << UxGCR_BAUD_E_SHIFT)))
+#endif
+
+#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_slow(AO_COMPANION_SPI_BUS); \
+ } while (0)
+
+#define COMPANION_DESELECT() do { \
+ ao_spi_fast(AO_COMPANION_SPI_BUS); \
+ 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;
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_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
}
static uint8_t
{
COMPANION_SELECT();
ao_companion_send_command(AO_COMPANION_SETUP);
- ao_spi_recv(&ao_companion_setup, sizeof (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);
COMPANION_SELECT();
ao_companion_send_command(AO_COMPANION_FETCH);
ao_mutex_get(&ao_companion_mutex);
- ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
+ ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
ao_mutex_put(&ao_companion_mutex);
COMPANION_DESELECT();
}
void
ao_companion_init(void)
{
- COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
- COMPANION_CS_DIR |= COMPANION_CS_MASK; /* set CS pins as outputs */
- COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
-
+ 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");
}