X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_pyro_slave.c;h=f07c2cba184ddb47fdd67dfaac6bb53be13c4e38;hb=fb0fb6f4beab484e7fe55b39d18c1f19778f1211;hp=e6c73a3c914356deefb5e564a4e2ec9a37cb3dc9;hpb=128bbfa150f88c09f7adde2434b7bf0b5a9ed556;p=fw%2Faltos

diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c
index e6c73a3c..f07c2cba 100644
--- a/src/drivers/ao_pyro_slave.c
+++ b/src/drivers/ao_pyro_slave.c
@@ -15,8 +15,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-#include "ao.h"
-#include "ao_product.h"
+#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;
 
@@ -27,23 +30,32 @@ static const struct ao_companion_setup	ao_telepyro_setup = {
 	.channels		= AO_TELEPYRO_NUM_ADC,
 };
 
+struct ao_config ao_config;
+
+extern volatile __data uint16_t ao_tick_count;
+uint16_t ao_boost_tick;
+
 void ao_spi_slave(void)
 {
-	if (!ao_spi_read((uint8_t *) &ao_companion_command,
-			 sizeof (ao_companion_command)))
+	if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
+			       sizeof (ao_companion_command)))
 		return;
 
 	/* Figure out the outbound data */
 	switch (ao_companion_command.command) {
 	case AO_COMPANION_SETUP:
-		ao_spi_write((uint8_t *) &ao_telepyro_setup,
-			     sizeof (ao_telepyro_setup));
+		ao_spi_slave_send((uint8_t *) &ao_telepyro_setup,
+				  sizeof (ao_telepyro_setup));
 		break;
 	case AO_COMPANION_FETCH:
-		ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
-			     AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
+		ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.adc,
+				  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;