*
* 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
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-#include "ao.h"
-#include "ao_product.h"
+#include <ao.h>
+#include <ao_product.h>
+#include <ao_companion.h>
+#include <ao_flight.h>
+#include <ao_pyro.h>
struct ao_companion_command ao_companion_command;
.channels = AO_TELEPYRO_NUM_ADC,
};
+struct ao_config ao_config;
+
+extern volatile AO_TICK_TYPE ao_tick_count;
+AO_TICK_TYPE ao_boost_tick;
+
void ao_spi_slave(void)
{
- if (!ao_spi_read((uint8_t *) &ao_companion_command,
- sizeof (ao_companion_command)))
+ if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
+ sizeof (ao_companion_command)))
return;
/* Figure out the outbound data */
switch (ao_companion_command.command) {
case AO_COMPANION_SETUP:
- ao_spi_write((uint8_t *) &ao_telepyro_setup,
- sizeof (ao_telepyro_setup));
+ ao_spi_slave_send((uint8_t *) &ao_telepyro_setup,
+ sizeof (ao_telepyro_setup));
break;
case AO_COMPANION_FETCH:
- ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
- AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
+ ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.adc,
+ AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
break;
case AO_COMPANION_NOTIFY:
+ /* Can't use ao_time because we have interrupts suspended */
+ if (ao_companion_command.flight_state < ao_flight_boost && ao_companion_command.flight_state >= ao_flight_boost)
+ ao_boost_tick = ao_tick_count;
+ ao_wakeup(&ao_pyro_wakeup);
break;
default:
return;