Merge branch 'micropeak-1.1'

[fw/altos] / src / drivers / ao_companion.c

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 2e587f8efd1fff3c9fd45741288d2b904fe56a6a..0ebe8429124966790244e0a2fa5083782a0525a6 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -15,20 +15,28 @@
  * 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)
+#include <ao.h>
+#include <ao_companion.h>
+
+#ifdef MEGAMETRUM
+#define ao_spi_slow(b)
+#define ao_spi_fast(b)
+#endif
+
+#define COMPANION_SELECT()     do {                    \
+               ao_spi_get_bit(AO_COMPANION_CS_PORT,    \
+                              AO_COMPANION_CS_PIN,     \
+                              AO_COMPANION_CS,         \
+                              AO_COMPANION_SPI_BUS,    \
+                              AO_SPI_SPEED_200kHz);    \
+       } while (0)
+
+#define COMPANION_DESELECT()   do {                    \
+               ao_spi_put_bit(AO_COMPANION_CS_PORT,    \
+                              AO_COMPANION_CS_PIN,     \
+                              AO_COMPANION_CS,         \
+                              AO_COMPANION_SPI_BUS);   \
+       } while (0)
 
 __xdata struct ao_companion_command            ao_companion_command;
 __xdata struct ao_companion_setup              ao_companion_setup;
@@ -45,7 +53,11 @@ ao_companion_send_command(uint8_t command)
        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));
+       ao_companion_command.accel = ao_accel;
+       ao_companion_command.speed = ao_speed;
+       ao_companion_command.height = ao_height;
+       ao_companion_command.motor_number = ao_motor_number;
+       ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
 static uint8_t
@@ -53,10 +65,10 @@ ao_companion_get_setup(void)
 {
        COMPANION_SELECT();
        ao_companion_send_command(AO_COMPANION_SETUP);
-       ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup));
+       ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
        COMPANION_DESELECT();
        return (ao_companion_setup.board_id ==
-               ~ao_companion_setup.board_id_inverse);
+               (uint16_t) ~ao_companion_setup.board_id_inverse);
 }
 
 static void
@@ -65,7 +77,7 @@ 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_spi_recv(&ao_companion_data, ao_companion_setup.channels * 2, AO_COMPANION_SPI_BUS);
        ao_mutex_put(&ao_companion_mutex);
        COMPANION_DESELECT();
 }
@@ -104,10 +116,15 @@ 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:");
+       if (!ao_companion_running)
+               return;
+       printf("device: %d\n"
+              "update period: %d\n"
+              "channels: %d\n"
+              "data:",
+              ao_companion_setup.board_id,
+              ao_companion_setup.update_period,
+              ao_companion_setup.channels);
        for(i = 0; i < ao_companion_setup.channels; i++)
                printf(" %5u", ao_companion_data[i]);
        printf("\n");
@@ -123,10 +140,7 @@ 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_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
        ao_cmd_register(&ao_companion_cmds[0]);
        ao_add_task(&ao_companion_task, ao_companion, "companion");
 }