git.gag.com Git - fw/altos/blob - src/ao_companion.c

   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 ao_spi_slow() (U0GCR = (UxGCR_CPOL_NEGATIVE |           \
  21                                 UxGCR_CPHA_FIRST_EDGE |         \
  22                                 UxGCR_ORDER_MSB |               \
  23                                 (13 << UxGCR_BAUD_E_SHIFT)))
  24
  25 #define ao_spi_fast() (U0GCR = (UxGCR_CPOL_NEGATIVE |           \
  26                                 UxGCR_CPHA_FIRST_EDGE |         \
  27                                 UxGCR_ORDER_MSB |               \
  28                                 (17 << UxGCR_BAUD_E_SHIFT)))
  29
  30 #define COMPANION_SELECT()      do { ao_spi_get_bit(COMPANION_CS); ao_spi_slow(); } while (0)
  31 #define COMPANION_DESELECT()    do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS); } while (0)
  32
  33 static __xdata struct ao_companion_command      ao_companion_command;
  34 __xdata struct ao_companion_setup               ao_companion_setup;
  35
  36 __xdata uint16_t        ao_companion_data[AO_COMPANION_MAX_CHANNELS];
  37 __pdata uint8_t         ao_companion_running;
  38 __xdata uint8_t         ao_companion_mutex;
  39
  40 static void
  41 ao_companion_send_command(uint8_t command)
  42 {
  43         ao_companion_command.command = command;
  44         ao_companion_command.flight_state = ao_flight_state;
  45         ao_companion_command.tick = ao_time();
  46         ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
  47 }
  48
  49 static uint8_t
  50 ao_companion_get_setup(void)
  51 {
  52         COMPANION_SELECT();
  53         ao_companion_send_command(AO_COMPANION_SETUP);
  54         ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
  55         COMPANION_DESELECT();
  56         if (ao_companion_setup.board_id != ~ao_companion_setup.board_id)
  57                 return 0;
  58         return 1;
  59 }
  60
  61 static void
  62 ao_companion_get_data(void)
  63 {
  64         COMPANION_SELECT();
  65         ao_companion_send_command(AO_COMPANION_FETCH);
  66         ao_mutex_get(&ao_companion_mutex);
  67         ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
  68         ao_mutex_put(&ao_companion_mutex);
  69         COMPANION_DESELECT();
  70 }
  71
  72 void
  73 ao_companion(void)
  74 {
  75         if (!ao_companion_get_setup())
  76                 ao_exit();
  77         ao_companion_running = 1;
  78         for (;;) {
  79                 ao_delay(ao_companion_setup.update_period);
  80                 ao_companion_get_data();
  81         }
  82         ao_exit();
  83 }
  84
  85 void
  86 ao_companion_status(void) __reentrant
  87 {
  88 }
  89
  90 __code struct ao_cmds ao_companion_cmds[] = {
  91         { ao_companion_status,  "L\0Companion link status" },
  92         { 0, NULL },
  93 };
  94
  95 static __xdata struct ao_task ao_companion_task;
  96
  97 void
  98 ao_companion_init(void)
  99 {
 100         COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
 101         COMPANION_CS_DIR |= COMPANION_CS_MASK;  /* set CS pins as outputs */
 102         COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
 103
 104         ao_cmd_register(&ao_companion_cmds[0]);
 105
 106         ao_add_task(&ao_companion_task, ao_companion, "companion");
 107 }