From: Keith Packard Date: Thu, 14 Jul 2011 04:20:06 +0000 (-0700) Subject: altos-avr: Add SPI-slave companion support X-Git-Url: https://git.gag.com/?a=commitdiff_plain;h=b6083ce00867051d4d513b91519cad6e4a91f07b;p=fw%2Faltos altos-avr: Add SPI-slave companion support Listen on the SPI slave port for commands from TeleMetrum. Run logging during flight, based on flight state. Return recent data for telemetry. Signed-off-by: Keith Packard --- diff --git a/src-avr/ao.h b/src-avr/ao.h index ecb33464..c548c618 100644 --- a/src-avr/ao.h +++ b/src-avr/ao.h @@ -1421,4 +1421,33 @@ ao_btm_init(void); void ao_debug_init(void); +/* ao_spi_slave.c */ + +void +ao_spi_slave_read(uint8_t *data, int len); + +void +ao_spi_slave_write(uint8_t *data, int len); + +void +ao_spi_slave_init(void); + +/* ao_companion.c */ + +#define AO_COMPANION_SETUP 1 +#define AO_COMPANION_FETCH 2 + +struct ao_companion_command { + uint8_t command; + uint8_t flight_state; + uint16_t tick; +}; + +struct ao_companion_setup { + uint16_t board_id; + uint16_t board_id_inverse; + uint8_t update_period; + uint8_t channels; +}; + #endif /* _AO_H_ */ diff --git a/src-avr/ao_log_telescience.c b/src-avr/ao_log_telescience.c index ef5a1c97..6022ad21 100644 --- a/src-avr/ao_log_telescience.c +++ b/src-avr/ao_log_telescience.c @@ -16,8 +16,10 @@ */ #include "ao.h" +#include "ao_product.h" static struct ao_task ao_log_task; +static struct ao_task ao_spi_task; uint8_t ao_log_running; uint8_t ao_log_mutex; @@ -231,6 +233,43 @@ ao_log_delete(void) printf ("Erased\n"); } +void +ao_spi_telescience(void) +{ + static union { + struct ao_companion_command command; + struct ao_companion_setup setup; + struct ao_adc data; + } u; + + for (;;) { + ao_spi_slave_read((uint8_t *) &u.command, sizeof (struct ao_companion_command)); + switch (u.command.command) { + case AO_COMPANION_SETUP: + u.setup.board_id = AO_idProduct_NUMBER; + u.setup.board_id_inverse = ~AO_idProduct_NUMBER; + u.setup.update_period = 10; + u.setup.channels = NUM_ADC; + ao_spi_slave_write((uint8_t *) &u.setup, + sizeof (struct ao_companion_setup)); + break; + case AO_COMPANION_FETCH: + ao_adc_get(&u.data); + ao_spi_slave_write((uint8_t *) &u.data.adc, + NUM_ADC * sizeof (uint16_t)); + if (u.command.flight_state >= ao_flight_boost && + u.command.flight_state < ao_flight_landed) { + if (!ao_log_running) + ao_log_start(); + } else { + if (ao_log_running) + ao_log_stop(); + } + break; + } + } +} + const struct ao_cmds ao_log_cmds[] = { { ao_log_set, "L <0 off, 1 on>\0Set logging mode" }, { ao_log_list, "l\0List stored flight logs" }, @@ -238,25 +277,13 @@ const struct ao_cmds ao_log_cmds[] = { { 0, NULL }, }; -ISR(PCINT0_vect) -{ - ao_log_check_pin(); -} - void ao_log_init(void) { ao_log_running = 0; - DDRB &= ~(1 << DDB0); - - PORTB |= (1 << PORTB0); /* Pull input up; require input to log */ - - PCMSK0 |= (1 << PCINT0); /* Enable PCINT0 pin change */ - - PCICR |= (1 << PCIE0); /* Enable pin change interrupt */ - ao_cmd_register(&ao_log_cmds[0]); ao_add_task(&ao_log_task, ao_log_telescience, "log"); + ao_add_task(&ao_spi_task, ao_spi_telescience, "spi"); } diff --git a/src-avr/ao_spi_slave.c b/src-avr/ao_spi_slave.c new file mode 100644 index 00000000..5f1990d5 --- /dev/null +++ b/src-avr/ao_spi_slave.c @@ -0,0 +1,101 @@ +/* + * Copyright © 2011 Keith Packard + * + * 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. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +__xdata struct ao_fifo ao_spi_slave_rx_fifo; +__xdata struct ao_fifo ao_spi_slave_tx_fifo; + +static volatile uint8_t ao_spi_slave_tx_started; + +static void +ao_spi_slave_tx_start(void) +{ + if (!ao_spi_slave_tx_started && !ao_fifo_empty(ao_spi_slave_tx_fifo)) { + ao_spi_slave_tx_started = 1; + ao_fifo_remove(ao_spi_slave_tx_fifo, SPDR); + } +} + +ISR(SPI_STC_vect) +{ + uint8_t spsr; + + spsr = SPSR; + if (SPIF & (1 << SPIF)) { + uint8_t byte = SPDR; + if (!ao_fifo_full(ao_spi_slave_rx_fifo)) + ao_fifo_insert(ao_spi_slave_rx_fifo, byte); + ao_spi_slave_tx_started = 0; + ao_spi_slave_tx_start(); + ao_wakeup(&ao_spi_slave_rx_fifo); + ao_wakeup(&ao_spi_slave_tx_fifo); + } +} + +static void +ao_spi_slave_put(uint8_t b) __critical +{ + cli(); + while (ao_fifo_full(ao_spi_slave_tx_fifo)) + ao_sleep(&ao_spi_slave_tx_fifo); + ao_fifo_insert(ao_spi_slave_tx_fifo, b); + ao_spi_slave_tx_start(); + sei(); +} + +static uint8_t +ao_spi_slave_get(void) __critical +{ + uint8_t b; + + cli(); + while (ao_fifo_empty(ao_spi_slave_rx_fifo)) + ao_sleep(&ao_spi_slave_rx_fifo); + ao_fifo_remove(ao_spi_slave_rx_fifo, b); + sei(); + return b; +} + +void +ao_spi_slave_read(uint8_t *data, int len) +{ + while (len--) { + ao_spi_slave_put(0); + *data++ = ao_spi_slave_get(); + } +} + +void +ao_spi_slave_write(uint8_t *data, int len) +{ + while (len--) { + ao_spi_slave_put(*data++); + (void) ao_spi_slave_get(); + } +} + +void +ao_spi_slave_init(void) +{ + SPCR = (1 << SPIE) | /* Enable SPI interrupts */ + (1 << SPE) | /* Enable SPI */ + (0 << DORD) | /* MSB first */ + (0 << MSTR) | /* Slave mode */ + (0 << CPOL) | /* Clock low when idle */ + (0 << CPHA); /* Sample at leading clock edge */ +} diff --git a/src-avr/telescience/Makefile b/src-avr/telescience/Makefile index 41580d8d..b50559a9 100644 --- a/src-avr/telescience/Makefile +++ b/src-avr/telescience/Makefile @@ -51,6 +51,7 @@ ALTOS_SRC = \ ao_led.c \ ao_usb_avr.c \ ao_adc_avr.c \ + ao_spi_slave.c \ ao_log_telescience.c \ $(TELESCIENCE_STORAGE)