X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fao_companion.c;fp=src%2Fao_companion.c;h=0000000000000000000000000000000000000000;hb=9513be7f9d3d0b0ec29f6487fa9dc8f1ac24d0de;hp=4c8f4269588769054a541535b5e939934f82aac7;hpb=3bfe8df44b575ca430ffaa051e20faa955a06c03;p=fw%2Faltos

diff --git a/src/ao_companion.c b/src/ao_companion.c
deleted file mode 100644
index 4c8f4269..00000000
--- a/src/ao_companion.c
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 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)
-
-static __xdata struct ao_companion_command	ao_companion_command;
-__xdata 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;
-
-static void
-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.serial = ao_serial_number;
-	ao_companion_command.flight = ao_flight_number;
-	ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
-}
-
-static uint8_t
-ao_companion_get_setup(void)
-{
-	COMPANION_SELECT();
-	ao_companion_send_command(AO_COMPANION_SETUP);
-	ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
-	COMPANION_DESELECT();
-	return (ao_companion_setup.board_id ==
-		~ao_companion_setup.board_id_inverse);
-}
-
-static void
-ao_companion_get_data(void)
-{
-	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_mutex_put(&ao_companion_mutex);
-	COMPANION_DESELECT();
-}
-
-static void
-ao_companion_notify(void)
-{
-	COMPANION_SELECT();
-	ao_companion_send_command(AO_COMPANION_NOTIFY);
-	COMPANION_DESELECT();
-}
-
-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) {
-		ao_alarm(ao_companion_setup.update_period);
-		if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
-			ao_companion_get_data();
-		else
-			ao_companion_notify();
-	}
-	ao_exit();
-}
-
-void
-ao_companion_status(void) __reentrant
-{
-	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:");
-	for(i = 0; i < ao_companion_setup.channels; i++)
-		printf(" %5u", ao_companion_data[i]);
-	printf("\n");
-}
-
-__code struct ao_cmds ao_companion_cmds[] = {
-	{ ao_companion_status,	"L\0Companion link status" },
-	{ 0, NULL },
-};
-
-static __xdata struct ao_task ao_companion_task;
-
-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_cmd_register(&ao_companion_cmds[0]);
-	ao_add_task(&ao_companion_task, ao_companion, "companion");
-}