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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 #include <ao_companion.h>
  20
  21 #ifdef TELEMEGA
  22 #define ao_spi_slow(b)
  23 #define ao_spi_fast(b)
  24 #endif
  25
  26 #define COMPANION_SELECT()      do {                    \
  27                 ao_spi_get_bit(AO_COMPANION_CS_PORT,    \
  28                                AO_COMPANION_CS_PIN,     \
  29                                AO_COMPANION_CS,         \
  30                                AO_COMPANION_SPI_BUS,    \
  31                                AO_SPI_SPEED_200kHz);    \
  32         } while (0)
  33
  34 #define COMPANION_DESELECT()    do {                    \
  35                 ao_spi_put_bit(AO_COMPANION_CS_PORT,    \
  36                                AO_COMPANION_CS_PIN,     \
  37                                AO_COMPANION_CS,         \
  38                                AO_COMPANION_SPI_BUS);   \
  39         } while (0)
  40
  41 __xdata struct ao_companion_command             ao_companion_command;
  42 __xdata struct ao_companion_setup               ao_companion_setup;
  43
  44 __xdata uint16_t        ao_companion_data[AO_COMPANION_MAX_CHANNELS];
  45 __pdata uint8_t         ao_companion_running;
  46 __xdata uint8_t         ao_companion_mutex;
  47
  48 static void
  49 ao_companion_send_command(uint8_t command)
  50 {
  51         ao_companion_command.command = command;
  52         ao_companion_command.flight_state = ao_flight_state;
  53         ao_companion_command.tick = ao_time();
  54         ao_companion_command.serial = ao_serial_number;
  55         ao_companion_command.flight = ao_flight_number;
  56         ao_companion_command.accel = ao_accel;
  57         ao_companion_command.speed = ao_speed;
  58         ao_companion_command.height = ao_height;
  59         ao_companion_command.motor_number = ao_motor_number;
  60         ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
  61 }
  62
  63 static uint8_t
  64 ao_companion_get_setup(void)
  65 {
  66         COMPANION_SELECT();
  67         ao_companion_send_command(AO_COMPANION_SETUP);
  68         ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
  69         COMPANION_DESELECT();
  70         return ((int16_t) ao_companion_setup.board_id ==
  71                 (int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
  72 }
  73
  74 static void
  75 ao_companion_get_data(void)
  76 {
  77         COMPANION_SELECT();
  78         ao_companion_send_command(AO_COMPANION_FETCH);
  79         ao_mutex_get(&ao_companion_mutex);
  80         ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
  81         ao_mutex_put(&ao_companion_mutex);
  82         COMPANION_DESELECT();
  83 }
  84
  85 static void
  86 ao_companion_notify(void)
  87 {
  88         COMPANION_SELECT();
  89         ao_companion_send_command(AO_COMPANION_NOTIFY);
  90         COMPANION_DESELECT();
  91 }
  92
  93 void
  94 ao_companion(void)
  95 {
  96         uint8_t i;
  97         while (!ao_flight_number)
  98                 ao_sleep(&ao_flight_number);
  99         for (i = 0; i < 10; i++) {
 100                 ao_delay(AO_SEC_TO_TICKS(1));
 101                 if ((ao_companion_running = ao_companion_get_setup()))
 102                     break;
 103         }
 104         while (ao_companion_running) {
 105                 ao_alarm(ao_companion_setup.update_period);
 106                 if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
 107                         ao_companion_get_data();
 108                 else
 109                         ao_companion_notify();
 110         }
 111         ao_exit();
 112 }
 113
 114 void
 115 ao_companion_status(void) __reentrant
 116 {
 117         uint8_t i;
 118         printf("Companion running: %d\n", ao_companion_running);
 119         if (!ao_companion_running)
 120                 return;
 121         printf("device: %d\n"
 122                "update period: %d\n"
 123                "channels: %d\n"
 124                "data:",
 125                ao_companion_setup.board_id,
 126                ao_companion_setup.update_period,
 127                ao_companion_setup.channels);
 128         for(i = 0; i < ao_companion_setup.channels; i++)
 129                 printf(" %5u", ao_companion_data[i]);
 130         printf("\n");
 131 }
 132
 133 __code struct ao_cmds ao_companion_cmds[] = {
 134         { ao_companion_status,  "L\0Companion link status" },
 135         { 0, NULL },
 136 };
 137
 138 static __xdata struct ao_task ao_companion_task;
 139
 140 void
 141 ao_companion_init(void)
 142 {
 143         ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
 144         ao_cmd_register(&ao_companion_cmds[0]);
 145         ao_add_task(&ao_companion_task, ao_companion, "companion");
 146 }