altos: Add SPI-based companion board support

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index 1c8f5bbf0b8c88cf0e79f93d41ec29b649f5e3d1..de47f3df2f22242e344e6454101f01de5ff89790 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -965,6 +965,34 @@ ao_serial_init(void);
  * ao_spi.c
  */
 
+extern __xdata uint8_t ao_spi_mutex;
+
+#define ao_spi_get_mask(reg,mask) do {\
+       ao_mutex_get(&ao_spi_mutex); \
+       (reg) &= ~(mask); \
+       } while (0)
+
+#define ao_spi_put_mask(reg,mask) do { \
+       (reg) |= (mask); \
+       ao_mutex_put(&ao_spi_mutex); \
+       } while (0)
+
+#define ao_spi_get_bit(bit) do {\
+       ao_mutex_get(&ao_spi_mutex); \
+       (bit) = 0; \
+       } while (0)
+
+#define ao_spi_put_bit(bit) do { \
+       (bit) = 1; \
+       ao_mutex_put(&ao_spi_mutex); \
+       } while (0)
+
+/*
+ * The SPI mutex must be held to call either of these
+ * functions -- this mutex covers the entire SPI operation,
+ * from chip select low to chip select high
+ */
+
 void
 ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
 
@@ -1089,12 +1117,29 @@ struct ao_telemetry_satellite {
        /* 32 */
 };
 
+#define AO_TELEMETRY_COMPANION         0x07
+
+#define AO_COMPANION_MAX_CHANNELS      12
+
+struct ao_telemetry_companion {
+       uint16_t                                serial;         /*  0 */
+       uint16_t                                tick;           /*  2 */
+       uint8_t                                 type;           /*  4 */
+       uint8_t                                 board_id;       /*  5 */
+
+       uint8_t                                 update_period;  /*  6 */
+       uint8_t                                 channels;       /*  7 */
+       uint16_t                                companion_data[AO_COMPANION_MAX_CHANNELS];      /*  8 */
+       /* 32 */
+};
+       
 union ao_telemetry_all {
        struct ao_telemetry_generic             generic;
        struct ao_telemetry_sensor              sensor;
        struct ao_telemetry_configuration       configuration;
        struct ao_telemetry_location            location;
        struct ao_telemetry_satellite           satellite;
+       struct ao_telemetry_companion           companion;
 };
 
 /*
@@ -1529,8 +1574,33 @@ ao_btm_isr(void)
 #endif
        ;
 
-
 void
 ao_btm_init(void);
 
+/* ao_companion.c */
+
+#define AO_COMPANION_SETUP             1
+#define AO_COMPANION_FETCH             2
+
+struct ao_companion_command {
+       uint8_t         command;
+       uint8_t         flight_state;
+       uint16_t        tick;
+};
+
+struct ao_companion_setup {
+       uint16_t        board_id;
+       uint16_t        board_id_inverse;
+       uint8_t         update_period;
+       uint8_t         channels;
+};
+
+extern __pdata uint8_t                         ao_companion_running;
+extern __xdata struct ao_companion_setup       ao_companion_setup;
+extern __xdata uint8_t                         ao_companion_mutex;
+extern __xdata uint16_t                                ao_companion_data[AO_COMPANION_MAX_CHANNELS];
+
+void
+ao_companion_init(void);
+
 #endif /* _AO_H_ */