Bump to 1.0.9.3

[fw/altos] / src / avr / ao_spi_slave.c

diff --git a/src/avr/ao_spi_slave.c b/src/avr/ao_spi_slave.c
index 4dde09f3dbaff5f06ac3a0b7291079b72c8cb9d0..b742d29aa6de10b73bb6d1ce8e60f756c0d7fc3f 100644 (file)
--- a/src/avr/ao_spi_slave.c
+++ b/src/avr/ao_spi_slave.c
@@ -16,19 +16,9 @@
  */
 
 #include "ao.h"
-#include "ao_product.h"
 
-struct ao_companion_command    ao_companion_command;
-
-static const struct ao_companion_setup ao_telescience_setup = {
-       .board_id               = AO_idProduct_NUMBER,
-       .board_id_inverse       = ~AO_idProduct_NUMBER,
-       .update_period          = 50,
-       .channels               = AO_LOG_TELESCIENCE_NUM_ADC,
-};
-
-static uint8_t
-ao_spi_read(uint8_t *buf, uint8_t len)
+uint8_t
+ao_spi_slave_recv(uint8_t *buf, uint8_t len)
 {
        while (len--) {
                while (!(SPSR & (1 << SPIF)))
@@ -39,8 +29,8 @@ ao_spi_read(uint8_t *buf, uint8_t len)
        return 1;
 }
 
-static void
-ao_spi_write(uint8_t *buf, uint8_t len)
+void
+ao_spi_slave_send(uint8_t *buf, uint8_t len)
 {
        while (len--) {
                SPDR = *buf++;
@@ -52,66 +42,38 @@ ao_spi_write(uint8_t *buf, uint8_t len)
        (void) SPDR;
 }
 
-static uint8_t ao_spi_slave_recv(void)
-{
-       if (!ao_spi_read((uint8_t *) &ao_companion_command,
-                        sizeof (ao_companion_command)))
-               return 0;
-
-       /* Figure out the outbound data */
-       switch (ao_companion_command.command) {
-       case AO_COMPANION_SETUP:
-               ao_spi_write((uint8_t *) &ao_telescience_setup,
-                            sizeof (ao_telescience_setup));
-               break;
-       case AO_COMPANION_FETCH:
-               ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
-                            AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
-               break;
-       case AO_COMPANION_NOTIFY:
-               break;
-       default:
-               return 0;
-       }
-
-       ao_log_store.tm_tick = ao_companion_command.tick;
-       if (ao_log_store.tm_state != ao_companion_command.flight_state) {
-               ao_log_store.tm_state = ao_companion_command.flight_state;
-               return 1;
-       }
-       return 0;
-}
-
 static uint8_t ao_spi_slave_running;
 
 ISR(PCINT0_vect)
 {
-       if ((PINB & (1 << PINB0)) == 0) {
+       cli();
+#if SPI_SLAVE_PIN_0_3
+       if ((PINB & (1 << PORTB0)) == 0)
+#endif
+#if SPI_SLAVE_PIN_2_5
+       if ((PINB & (1 << PORTB2)) == 0)
+#endif
+       {
                if (!ao_spi_slave_running) {
-                       uint8_t changed;
                        ao_spi_slave_running = 1;
-                       cli();
-                       changed = ao_spi_slave_recv();
-                       sei();
-                       if (changed && ao_flight_boost <= ao_log_store.tm_state) {
-                               if (ao_log_store.tm_state < ao_flight_landed)
-                                       ao_log_start();
-                               else
-                                       ao_log_stop();
-                       }
+                       ao_spi_slave();
                }
        } else {
                ao_spi_slave_running = 0;
        }
-}
-
-void ao_spi_slave_debug(void) {
-       printf ("slave running %d\n", ao_spi_slave_running);
+       sei();
 }
 
 void
 ao_spi_slave_init(void)
 {
+       /* We'd like to have a pull-up on SS so that disconnecting the
+        * TM would cause any SPI transaction to abort. However, when
+        * I tried that, SPI transactions would spontaneously abort,
+        * making me assume that we needed a less aggressive pull-up
+        * than is offered inside the AVR
+        */
+#if SPI_SLAVE_PIN_0_3
        PCMSK0 |= (1 << PCINT0);        /* Enable PCINT0 pin change */
        PCICR |= (1 << PCIE0);          /* Enable pin change interrupt */
 
@@ -121,17 +83,28 @@ ao_spi_slave_init(void)
                (0 << 1) |              /* SCK, input */
                (0 << 0));              /* SS, input */
 
-       /* We'd like to have a pull-up on SS so that disconnecting the
-        * TM would cause any SPI transaction to abort. However, when
-        * I tried that, SPI transactions would spontaneously abort,
-        * making me assume that we needed a less aggressive pull-up
-        * than is offered inside the AVR
-        */
        PORTB = ((PORTB & 0xf0) |
                 (1 << 3) |             /* MISO, output */
                 (0 << 2) |             /* MOSI, no pull-up */
                 (0 << 1) |             /* SCK, no pull-up */
-                (0 << 0));             /* SS, no pull-up */
+                (1 << 0));             /* SS, pull-up */
+#endif
+#if SPI_SLAVE_PIN_2_5
+       PCMSK0 |= (1 << PCINT2);        /* Enable PCINT2 pin change */
+       PCICR |= (1 << PCIE0);          /* Enable pin change interrupt */
+
+       DDRB = ((DDRB & 0xf0) |
+               (0 << 5) |              /* SCK, input */
+               (1 << 4) |              /* MISO, output */
+               (0 << 3) |              /* MOSI, input */
+               (0 << 2));              /* SS, input */
+
+       PORTB = ((PORTB & 0xf0) |
+                (0 << 5) |             /* SCK, no pull-up */
+                (1 << 4) |             /* MISO, output */
+                (0 << 3) |             /* MOSI, no pull-up */
+                (1 << 2));             /* SS, pull-up */
+#endif 
 
        SPCR = (0 << SPIE) |            /* Disable SPI interrupts */
                (1 << SPE) |            /* Enable SPI */