X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_pyro_slave.c;h=8ea6d858a76939336854d668cca69be6b785ff7f;hb=41fed74c4cf139de6bf8f1879d370977785ad1f8;hp=70206a00a994fca62b7551bb2439089a287ebe4e;hpb=5dd5e0284c8b26b0d4ce69c64bb7864e0ae83db7;p=fw%2Faltos

diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c
index 70206a00..8ea6d858 100644
--- a/src/drivers/ao_pyro_slave.c
+++ b/src/drivers/ao_pyro_slave.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -18,6 +19,8 @@
 #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;
 
@@ -28,6 +31,11 @@ static const struct ao_companion_setup	ao_telepyro_setup = {
 	.channels		= AO_TELEPYRO_NUM_ADC,
 };
 
+struct ao_config ao_config;
+
+extern volatile uint16_t ao_tick_count;
+uint16_t ao_boost_tick;
+
 void ao_spi_slave(void)
 {
 	if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
@@ -45,6 +53,10 @@ void ao_spi_slave(void)
 				  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;