altos: Add support for multiple SPI busses and sharing device drivers

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

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 2e587f8efd1fff3c9fd45741288d2b904fe56a6a..fe88e998f0cca54139c86245b1fd2ea2dad3d9ca 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -27,8 +27,8 @@
                                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)
+#define COMPANION_SELECT()     do { ao_spi_get_bit(COMPANION_CS, AO_COMPANION_BUS); ao_spi_slow(); } while (0)
+#define COMPANION_DESELECT()   do { ao_spi_fast(); ao_spi_put_bit(COMPANION_CS, AO_COMPANION_BUS); } while (0)
 
 __xdata struct ao_companion_command            ao_companion_command;
 __xdata struct ao_companion_setup              ao_companion_setup;
@@ -45,7 +45,7 @@ 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_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
 static uint8_t
@@ -53,7 +53,7 @@ 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);
@@ -65,7 +65,7 @@ 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();
 }