X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_companion.c;h=4c8f4269588769054a541535b5e939934f82aac7;hb=458f816ad23fd6784757b13b244057d4be64260e;hp=e2e6d05ae81c0f6b468dd044b0857e3af16821cb;hpb=f87f0787fa5aa528674f3f4919eb22646c87c25a;p=fw%2Faltos

diff --git a/src/ao_companion.c b/src/ao_companion.c
index e2e6d05a..4c8f4269 100644
--- a/src/ao_companion.c
+++ b/src/ao_companion.c
@@ -43,6 +43,8 @@ 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));
 }
 
@@ -53,9 +55,8 @@ ao_companion_get_setup(void)
 	ao_companion_send_command(AO_COMPANION_SETUP);
 	ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
 	COMPANION_DESELECT();
-	if (ao_companion_setup.board_id != ~ao_companion_setup.board_id)
-		return 0;
-	return 1;
+	return (ao_companion_setup.board_id ==
+		~ao_companion_setup.board_id_inverse);
 }
 
 static void
@@ -69,15 +70,31 @@ ao_companion_get_data(void)
 	COMPANION_DESELECT();
 }
 
+static void
+ao_companion_notify(void)
+{
+	COMPANION_SELECT();
+	ao_companion_send_command(AO_COMPANION_NOTIFY);
+	COMPANION_DESELECT();
+}
+
 void
 ao_companion(void)
 {
-	if (!ao_companion_get_setup())
-		ao_exit();
-	ao_companion_running = 1;
-	for (;;) {
-		ao_delay(ao_companion_setup.update_period);
-		ao_companion_get_data();
+	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();
 }
@@ -85,6 +102,15 @@ ao_companion(void)
 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[] = {
@@ -102,6 +128,5 @@ ao_companion_init(void)
 	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");
 }