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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 #if !HAS_COMPANION
  27 #error HAS_COMPANION not set in ao_companion.c
  28 #endif
  29
  30 #define COMPANION_SELECT()      do {                    \
  31                 ao_spi_get_bit(AO_COMPANION_CS_PORT,    \
  32                                AO_COMPANION_CS_PIN,     \
  33                                AO_COMPANION_CS,         \
  34                                AO_COMPANION_SPI_BUS,    \
  35                                AO_SPI_SPEED_200kHz);    \
  36         } while (0)
  37
  38 #define COMPANION_DESELECT()    do {                    \
  39                 ao_spi_put_bit(AO_COMPANION_CS_PORT,    \
  40                                AO_COMPANION_CS_PIN,     \
  41                                AO_COMPANION_CS,         \
  42                                AO_COMPANION_SPI_BUS);   \
  43         } while (0)
  44
  45 __xdata struct ao_companion_command             ao_companion_command;
  46 __xdata struct ao_companion_setup               ao_companion_setup;
  47
  48 __xdata uint16_t        ao_companion_data[AO_COMPANION_MAX_CHANNELS];
  49 __pdata uint8_t         ao_companion_running;
  50 __xdata uint8_t         ao_companion_mutex;
  51
  52 static void
  53 ao_companion_send_command(uint8_t command)
  54 {
  55         ao_companion_command.command = command;
  56         ao_companion_command.flight_state = ao_flight_state;
  57         ao_companion_command.tick = ao_time();
  58         ao_companion_command.serial = ao_serial_number;
  59         ao_companion_command.flight = ao_flight_number;
  60         ao_companion_command.accel = ao_accel;
  61         ao_companion_command.speed = ao_speed;
  62         ao_companion_command.height = ao_height;
  63         ao_companion_command.motor_number = ao_motor_number;
  64         ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
  65 }
  66
  67 static uint8_t
  68 ao_companion_get_setup(void)
  69 {
  70         COMPANION_SELECT();
  71         ao_companion_send_command(AO_COMPANION_SETUP);
  72         ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
  73         COMPANION_DESELECT();
  74         return ((int16_t) ao_companion_setup.board_id ==
  75                 (int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
  76 }
  77
  78 static void
  79 ao_companion_get_data(void)
  80 {
  81         COMPANION_SELECT();
  82         ao_companion_send_command(AO_COMPANION_FETCH);
  83         ao_mutex_get(&ao_companion_mutex);
  84         ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
  85         ao_mutex_put(&ao_companion_mutex);
  86         COMPANION_DESELECT();
  87 }
  88
  89 static void
  90 ao_companion_notify(void)
  91 {
  92         COMPANION_SELECT();
  93         ao_companion_send_command(AO_COMPANION_NOTIFY);
  94         COMPANION_DESELECT();
  95 }
  96
  97 void
  98 ao_companion(void)
  99 {
 100         uint8_t i;
 101         while (!ao_flight_number)
 102                 ao_sleep(&ao_flight_number);
 103         for (i = 0; i < 10; i++) {
 104                 ao_delay(AO_SEC_TO_TICKS(1));
 105                 if ((ao_companion_running = ao_companion_get_setup()))
 106                     break;
 107         }
 108         while (ao_companion_running) {
 109                 if (ao_sleep_for(DATA_TO_XDATA(&ao_flight_state), ao_companion_setup.update_period))
 110                         ao_companion_get_data();
 111                 else
 112                         ao_companion_notify();
 113         }
 114         ao_exit();
 115 }
 116
 117 void
 118 ao_companion_status(void) __reentrant
 119 {
 120         uint8_t i;
 121         printf("Companion running: %d\n", ao_companion_running);
 122         if (!ao_companion_running)
 123                 return;
 124         printf("device: %d\n"
 125                "update period: %d\n"
 126                "channels: %d\n"
 127                "data:",
 128                ao_companion_setup.board_id,
 129                ao_companion_setup.update_period,
 130                ao_companion_setup.channels);
 131         for(i = 0; i < ao_companion_setup.channels; i++)
 132                 printf(" %5u", ao_companion_data[i]);
 133         printf("\n");
 134 }
 135
 136 __code struct ao_cmds ao_companion_cmds[] = {
 137         { ao_companion_status,  "L\0Companion link status" },
 138         { 0, NULL },
 139 };
 140
 141 static __xdata struct ao_task ao_companion_task;
 142
 143 void
 144 ao_companion_init(void)
 145 {
 146         ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
 147         ao_cmd_register(&ao_companion_cmds[0]);
 148         ao_add_task(&ao_companion_task, ao_companion, "companion");
 149 }