* 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_COMPANION_BUS); ao_spi_slow(); } while (0)
-#define COMPANION_DESELECT() do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS, AO_COMPANION_BUS); } while (0)
+#include <ao.h>
+#include <ao_companion.h>
+
+#ifdef MEGAMETRUM
+#define ao_spi_slow(b)
+#define ao_spi_fast(b)
+#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_SPEED_200kHz); \
+ } 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;
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_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);
+ (uint16_t) ~ao_companion_setup.board_id_inverse);
}
static void
{
uint8_t i;
printf("Companion running: %d\n", ao_companion_running);
+ if (!ao_companion_running)
+ return;
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);
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, AO_COMPANION_CS, 1);
ao_cmd_register(&ao_companion_cmds[0]);
ao_add_task(&ao_companion_task, ao_companion, "companion");
}