altos: Send SPI message at flight state changes

[fw/altos] / src / ao_companion.c

diff --git a/src/ao_companion.c b/src/ao_companion.c
index 8db3273eaea126cce802ee0f11bdef5b61216e83..f0ce3f129c306bfa1a44c0d6350f8bbd5a983a90 100644 (file)
--- a/src/ao_companion.c
+++ b/src/ao_companion.c
@@ -17,8 +17,18 @@
 
 #include "ao.h"
 
-#define COMPANION_SELECT()     ao_spi_get_bit(COMPANION_CS)
-#define COMPANION_DESELECT()   ao_spi_put_bit(COMPANION_CS)
+#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;
@@ -43,9 +53,8 @@ ao_companion_get_setup(void)
        ao_companion_send_command(AO_COMPANION_SETUP);
        ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
        COMPANION_DESELECT();
-       if (ao_companion_setup.board_id != ~ao_companion_setup.board_id)
-               return 0;
-       return 1;
+       return (ao_companion_setup.board_id ==
+               ~ao_companion_setup.board_id_inverse);
 }
 
 static void
@@ -59,21 +68,40 @@ ao_companion_get_data(void)
        COMPANION_DESELECT();
 }
 
+static void
+ao_companion_notify(void)
+{
+       COMPANION_SELECT();
+       ao_companion_send_command(AO_COMPANION_NOTIFY);
+       COMPANION_DESELECT();
+}
+
 void
 ao_companion(void)
 {
-       if (!ao_companion_get_setup())
-               ao_exit();
-       ao_companion_running = 1;
-       for (;;) {
-               ao_delay(ao_companion_setup.update_period);
-               ao_companion_get_data();
+       ao_companion_running = ao_companion_get_setup();
+       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[] = {
@@ -91,6 +119,5 @@ ao_companion_init(void)
        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");
 }