X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=a31cc2eadf2e5742917b33872519e382b0b3a75c;hb=f1ae622eff60e05c1f5d8f822a3cf6a85750c6cc;hp=4c8f4269588769054a541535b5e939934f82aac7;hpb=9513be7f9d3d0b0ec29f6487fa9dc8f1ac24d0de;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 4c8f4269..a31cc2ea 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -15,22 +15,38 @@
  * 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;
+#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;
 
 __xdata uint16_t	ao_companion_data[AO_COMPANION_MAX_CHANNELS];
@@ -45,7 +61,7 @@ ao_companion_send_command(uint8_t command)
 	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
@@ -53,7 +69,7 @@ ao_companion_get_setup(void)
 {
 	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);
@@ -65,7 +81,7 @@ 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_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
 	ao_mutex_put(&ao_companion_mutex);
 	COMPANION_DESELECT();
 }
@@ -123,10 +139,7 @@ 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_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");
 }