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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19
  20 #define COMPANION_SELECT()      ao_spi_get_bit(COMPANION_CS)
  21 #define COMPANION_DESELECT()    ao_spi_put_bit(COMPANION_CS)
  22
  23 static __xdata struct ao_companion_command      ao_companion_command;
  24 __xdata struct ao_companion_setup               ao_companion_setup;
  25
  26 __xdata uint16_t        ao_companion_data[AO_COMPANION_MAX_CHANNELS];
  27 __pdata uint8_t         ao_companion_running;
  28 __xdata uint8_t         ao_companion_mutex;
  29
  30 static void
  31 ao_companion_send_command(uint8_t command)
  32 {
  33         ao_companion_command.command = command;
  34         ao_companion_command.flight_state = ao_flight_state;
  35         ao_companion_command.tick = ao_time();
  36         ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
  37 }
  38
  39 static uint8_t
  40 ao_companion_get_setup(void)
  41 {
  42         COMPANION_SELECT();
  43         ao_companion_send_command(AO_COMPANION_SETUP);
  44         ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
  45         COMPANION_DESELECT();
  46         if (ao_companion_setup.board_id != ~ao_companion_setup.board_id)
  47                 return 0;
  48         return 1;
  49 }
  50
  51 static void
  52 ao_companion_get_data(void)
  53 {
  54         COMPANION_SELECT();
  55         ao_companion_send_command(AO_COMPANION_FETCH);
  56         ao_mutex_get(&ao_companion_mutex);
  57         ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
  58         ao_mutex_put(&ao_companion_mutex);
  59         COMPANION_DESELECT();
  60 }
  61
  62 void
  63 ao_companion(void)
  64 {
  65         if (!ao_companion_get_setup())
  66                 ao_exit();
  67         ao_companion_running = 1;
  68         for (;;) {
  69                 ao_delay(ao_companion_setup.update_period);
  70                 ao_companion_get_data();
  71         }
  72 }
  73
  74 void
  75 ao_companion_status(void) __reentrant
  76 {
  77 }
  78
  79 __code struct ao_cmds ao_companion_cmds[] = {
  80         { ao_companion_status,  "L\0Companion link status" },
  81         { 0, NULL },
  82 };
  83
  84 static __xdata struct ao_task ao_companion_task;
  85
  86 void
  87 ao_companion_init(void)
  88 {
  89         COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
  90         COMPANION_CS_DIR |= COMPANION_CS_MASK;  /* set CS pins as outputs */
  91         COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
  92
  93         ao_cmd_register(&ao_companion_cmds[0]);
  94
  95         ao_add_task(&ao_companion_task, ao_companion, "companion");
  96 }