X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=c749adea9de2f2da295bf2aa64f28c9642ed1103;hb=310c1d0bf83448eb12e5d64ac09a4279c25fd258;hp=a31cc2eadf2e5742917b33872519e382b0b3a75c;hpb=03dc80d15a2f8fe9d7340351226dadd8bc3cfdb9;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index a31cc2ea..c749adea 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -18,28 +18,20 @@
 #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)))
+#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_slow(AO_COMPANION_SPI_BUS);	\
+			       AO_COMPANION_SPI_BUS,	\
+			       AO_SPI_SPEED_200kHz);	\
 	} 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,		\
@@ -61,6 +53,10 @@ 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_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);
 }
 
@@ -72,7 +68,7 @@ ao_companion_get_setup(void)
 	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
@@ -120,6 +116,8 @@ ao_companion_status(void) __reentrant
 {
 	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);
@@ -139,7 +137,7 @@ static __xdata struct ao_task ao_companion_task;
 void
 ao_companion_init(void)
 {
-	ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
+	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");
 }