git.gag.com Git - fw/altos/blob - src/drivers/ao_science_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_flight.h"
  22 #include "ao_companion.h"
  23
  24 struct ao_companion_command     ao_companion_command;
  25
  26 static const struct ao_companion_setup  ao_telescience_setup = {
  27         .board_id               = AO_idProduct_NUMBER,
  28         .board_id_inverse       = ~AO_idProduct_NUMBER,
  29         .update_period          = 50,
  30         .channels               = AO_LOG_TELESCIENCE_NUM_ADC,
  31 };
  32
  33 void ao_spi_slave(void)
  34 {
  35         if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
  36                                sizeof (ao_companion_command)))
  37                 return;
  38
  39         /* Figure out the outbound data */
  40         switch (ao_companion_command.command) {
  41         case AO_COMPANION_SETUP:
  42                 ao_spi_slave_send((uint8_t *) &ao_telescience_setup,
  43                                   sizeof (ao_telescience_setup));
  44                 break;
  45         case AO_COMPANION_FETCH:
  46                 ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc,
  47                                   AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
  48                 break;
  49         case AO_COMPANION_NOTIFY:
  50                 break;
  51         default:
  52                 return;
  53         }
  54
  55 #if HAS_LOG
  56         ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick;
  57         if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) {
  58                 ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state;
  59                 if (ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) {
  60                         if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed)
  61                                 ao_log_single_start();
  62                         else
  63                                 ao_log_single_stop();
  64                 }
  65         }
  66 #endif
  67 }