altos: Restructure altos build to prepare for multi-arch support

[fw/altos] / src / ao_companion.c

diff --git a/src/ao_companion.c b/src/ao_companion.c
deleted file mode 100644 (file)
index 4c8f426..0000000
--- a/src/ao_companion.c
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-#define ao_spi_slow() (U0GCR = (UxGCR_CPOL_NEGATIVE |          \
-                               UxGCR_CPHA_FIRST_EDGE |         \
-                               UxGCR_ORDER_MSB |               \
-                               (13 << UxGCR_BAUD_E_SHIFT)))
-
-#define ao_spi_fast() (U0GCR = (UxGCR_CPOL_NEGATIVE |          \
-                               UxGCR_CPHA_FIRST_EDGE |         \
-                               UxGCR_ORDER_MSB |               \
-                               (17 << UxGCR_BAUD_E_SHIFT)))
-
-#define COMPANION_SELECT()     do { ao_spi_get_bit(COMPANION_CS); ao_spi_slow(); } while (0)
-#define COMPANION_DESELECT()   do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS); } while (0)
-
-static __xdata struct ao_companion_command     ao_companion_command;
-__xdata struct ao_companion_setup              ao_companion_setup;
-
-__xdata uint16_t       ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-__pdata uint8_t                ao_companion_running;
-__xdata uint8_t                ao_companion_mutex;
-
-static void
-ao_companion_send_command(uint8_t command)
-{
-       ao_companion_command.command = command;
-       ao_companion_command.flight_state = ao_flight_state;
-       ao_companion_command.tick = ao_time();
-       ao_companion_command.serial = ao_serial_number;
-       ao_companion_command.flight = ao_flight_number;
-       ao_spi_send(&ao_companion_command, sizeof (ao_companion_command));
-}
-
-static uint8_t
-ao_companion_get_setup(void)
-{
-       COMPANION_SELECT();
-       ao_companion_send_command(AO_COMPANION_SETUP);
-       ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
-       COMPANION_DESELECT();
-       return (ao_companion_setup.board_id ==
-               ~ao_companion_setup.board_id_inverse);
-}
-
-static void
-ao_companion_get_data(void)
-{
-       COMPANION_SELECT();
-       ao_companion_send_command(AO_COMPANION_FETCH);
-       ao_mutex_get(&ao_companion_mutex);
-       ao_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2);
-       ao_mutex_put(&ao_companion_mutex);
-       COMPANION_DESELECT();
-}
-
-static void
-ao_companion_notify(void)
-{
-       COMPANION_SELECT();
-       ao_companion_send_command(AO_COMPANION_NOTIFY);
-       COMPANION_DESELECT();
-}
-
-void
-ao_companion(void)
-{
-       uint8_t i;
-       while (!ao_flight_number)
-               ao_sleep(&ao_flight_number);
-       for (i = 0; i < 10; i++) {
-               ao_delay(AO_SEC_TO_TICKS(1));
-               if ((ao_companion_running = ao_companion_get_setup()))
-                   break;
-       }
-       while (ao_companion_running) {
-               ao_alarm(ao_companion_setup.update_period);
-               if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
-                       ao_companion_get_data();
-               else
-                       ao_companion_notify();
-       }
-       ao_exit();
-}
-
-void
-ao_companion_status(void) __reentrant
-{
-       uint8_t i;
-       printf("Companion running: %d\n", ao_companion_running);
-       printf("device: %d\n", ao_companion_setup.board_id);
-       printf("update period: %d\n", ao_companion_setup.update_period);
-       printf("channels: %d\n", ao_companion_setup.channels);
-       printf("data:");
-       for(i = 0; i < ao_companion_setup.channels; i++)
-               printf(" %5u", ao_companion_data[i]);
-       printf("\n");
-}
-
-__code struct ao_cmds ao_companion_cmds[] = {
-       { ao_companion_status,  "L\0Companion link status" },
-       { 0, NULL },
-};
-
-static __xdata struct ao_task ao_companion_task;
-
-void
-ao_companion_init(void)
-{
-       COMPANION_CS_PORT |= COMPANION_CS_MASK; /* raise all CS pins */
-       COMPANION_CS_DIR |= COMPANION_CS_MASK;  /* set CS pins as outputs */
-       COMPANION_CS_SEL &= ~COMPANION_CS_MASK; /* set CS pins as GPIO */
-
-       ao_cmd_register(&ao_companion_cmds[0]);
-       ao_add_task(&ao_companion_task, ao_companion, "companion");
-}