altos: Enable pyro channel control in telepyro

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

diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c
index 70206a00a994fca62b7551bb2439089a287ebe4e..f07c2cba184ddb47fdd67dfaac6bb53be13c4e38 100644 (file)
--- a/src/drivers/ao_pyro_slave.c
+++ b/src/drivers/ao_pyro_slave.c
@@ -18,6 +18,8 @@
 #include <ao.h>
 #include <ao_product.h>
 #include <ao_companion.h>
+#include <ao_flight.h>
+#include <ao_pyro.h>
 
 struct ao_companion_command    ao_companion_command;
 
@@ -28,6 +30,11 @@ static const struct ao_companion_setup       ao_telepyro_setup = {
        .channels               = AO_TELEPYRO_NUM_ADC,
 };
 
+struct ao_config ao_config;
+
+extern volatile __data uint16_t ao_tick_count;
+uint16_t ao_boost_tick;
+
 void ao_spi_slave(void)
 {
        if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
@@ -45,6 +52,10 @@ void ao_spi_slave(void)
                                  AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
                break;
        case AO_COMPANION_NOTIFY:
+               /* Can't use ao_time because we have interrupts suspended */
+               if (ao_companion_command.flight_state < ao_flight_boost && ao_companion_command.flight_state >= ao_flight_boost)
+                       ao_boost_tick = ao_tick_count;
+               ao_wakeup(&ao_pyro_wakeup);
                break;
        default:
                return;