git.gag.com Git - fw/altos/blob - src/drivers/ao_pyro_slave.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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include <ao.h>
  20 #include <ao_product.h>
  21 #include <ao_companion.h>
  22 #include <ao_flight.h>
  23 #include <ao_pyro.h>
  24
  25 struct ao_companion_command     ao_companion_command;
  26
  27 static const struct ao_companion_setup  ao_telepyro_setup = {
  28         .board_id               = AO_idProduct_NUMBER,
  29         .board_id_inverse       = ~AO_idProduct_NUMBER,
  30         .update_period          = 50,
  31         .channels               = AO_TELEPYRO_NUM_ADC,
  32 };
  33
  34 struct ao_config ao_config;
  35
  36 extern volatile uint16_t ao_tick_count;
  37 uint16_t ao_boost_tick;
  38
  39 void ao_spi_slave(void)
  40 {
  41         if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
  42                                sizeof (ao_companion_command)))
  43                 return;
  44
  45         /* Figure out the outbound data */
  46         switch (ao_companion_command.command) {
  47         case AO_COMPANION_SETUP:
  48                 ao_spi_slave_send((uint8_t *) &ao_telepyro_setup,
  49                                   sizeof (ao_telepyro_setup));
  50                 break;
  51         case AO_COMPANION_FETCH:
  52                 ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.adc,
  53                                   AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
  54                 break;
  55         case AO_COMPANION_NOTIFY:
  56                 /* Can't use ao_time because we have interrupts suspended */
  57                 if (ao_companion_command.flight_state < ao_flight_boost && ao_companion_command.flight_state >= ao_flight_boost)
  58                         ao_boost_tick = ao_tick_count;
  59                 ao_wakeup(&ao_pyro_wakeup);
  60                 break;
  61         default:
  62                 return;
  63         }
  64 }