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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 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         return (ao_companion_setup.board_id ==
  57                 ~ao_companion_setup.board_id_inverse);
  58 }
  59
  60 static void
  61 ao_companion_get_data(void)
  62 {
  63         COMPANION_SELECT();
  64         ao_companion_send_command(AO_COMPANION_FETCH);
  65         ao_mutex_get(&ao_companion_mutex);
  66         ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
  67         ao_mutex_put(&ao_companion_mutex);
  68         COMPANION_DESELECT();
  69 }
  70
  71 static void
  72 ao_companion_notify(void)
  73 {
  74         COMPANION_SELECT();
  75         ao_companion_send_command(AO_COMPANION_NOTIFY);
  76         COMPANION_DESELECT();
  77 }
  78
  79 void
  80 ao_companion(void)
  81 {
  82         ao_companion_running = ao_companion_get_setup();
  83         while (ao_companion_running) {
  84                 ao_alarm(ao_companion_setup.update_period);
  85                 if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
  86                         ao_companion_get_data();
  87                 else
  88                         ao_companion_notify();
  89         }
  90         ao_exit();
  91 }
  92
  93 void
  94 ao_companion_status(void) __reentrant
  95 {
  96         uint8_t i;
  97         printf("Companion running: %d\n", ao_companion_running);
  98         printf("device: %d\n", ao_companion_setup.board_id);
  99         printf("update period: %d\n", ao_companion_setup.update_period);
 100         printf("channels: %d\n", ao_companion_setup.channels);
 101         printf("data:");
 102         for(i = 0; i < ao_companion_setup.channels; i++)
 103                 printf(" %5u", ao_companion_data[i]);
 104         printf("\n");
 105 }
 106
 107 __code struct ao_cmds ao_companion_cmds[] = {
 108         { ao_companion_status,  "L\0Companion link status" },
 109         { 0, NULL },
 110 };
 111
 112 static __xdata struct ao_task ao_companion_task;
 113
 114 void
 115 ao_companion_init(void)
 116 {
 117         COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
 118         COMPANION_CS_DIR |= COMPANION_CS_MASK;  /* set CS pins as outputs */
 119         COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
 120
 121         ao_cmd_register(&ao_companion_cmds[0]);
 122         ao_add_task(&ao_companion_task, ao_companion, "companion");
 123 }