git.gag.com Git - fw/altos/blob - src/drivers/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 __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_companion_command.serial = ao_serial_number;
  47         ao_companion_command.flight = ao_flight_number;
  48         ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
  49 }
  50
  51 static uint8_t
  52 ao_companion_get_setup(void)
  53 {
  54         COMPANION_SELECT();
  55         ao_companion_send_command(AO_COMPANION_SETUP);
  56         ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
  57         COMPANION_DESELECT();
  58         return (ao_companion_setup.board_id ==
  59                 ~ao_companion_setup.board_id_inverse);
  60 }
  61
  62 static void
  63 ao_companion_get_data(void)
  64 {
  65         COMPANION_SELECT();
  66         ao_companion_send_command(AO_COMPANION_FETCH);
  67         ao_mutex_get(&ao_companion_mutex);
  68         ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
  69         ao_mutex_put(&ao_companion_mutex);
  70         COMPANION_DESELECT();
  71 }
  72
  73 static void
  74 ao_companion_notify(void)
  75 {
  76         COMPANION_SELECT();
  77         ao_companion_send_command(AO_COMPANION_NOTIFY);
  78         COMPANION_DESELECT();
  79 }
  80
  81 void
  82 ao_companion(void)
  83 {
  84         uint8_t i;
  85         while (!ao_flight_number)
  86                 ao_sleep(&ao_flight_number);
  87         for (i = 0; i < 10; i++) {
  88                 ao_delay(AO_SEC_TO_TICKS(1));
  89                 if ((ao_companion_running = ao_companion_get_setup()))
  90                     break;
  91         }
  92         while (ao_companion_running) {
  93                 ao_alarm(ao_companion_setup.update_period);
  94                 if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
  95                         ao_companion_get_data();
  96                 else
  97                         ao_companion_notify();
  98         }
  99         ao_exit();
 100 }
 101
 102 void
 103 ao_companion_status(void) __reentrant
 104 {
 105         uint8_t i;
 106         printf("Companion running: %d\n", ao_companion_running);
 107         printf("device: %d\n", ao_companion_setup.board_id);
 108         printf("update period: %d\n", ao_companion_setup.update_period);
 109         printf("channels: %d\n", ao_companion_setup.channels);
 110         printf("data:");
 111         for(i = 0; i < ao_companion_setup.channels; i++)
 112                 printf(" %5u", ao_companion_data[i]);
 113         printf("\n");
 114 }
 115
 116 __code struct ao_cmds ao_companion_cmds[] = {
 117         { ao_companion_status,  "L\0Companion link status" },
 118         { 0, NULL },
 119 };
 120
 121 static __xdata struct ao_task ao_companion_task;
 122
 123 void
 124 ao_companion_init(void)
 125 {
 126         COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
 127         COMPANION_CS_DIR |= COMPANION_CS_MASK;  /* set CS pins as outputs */
 128         COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
 129
 130         ao_cmd_register(&ao_companion_cmds[0]);
 131         ao_add_task(&ao_companion_task, ao_companion, "companion");
 132 }