Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[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 e6c73a3c914356deefb5e564a4e2ec9a37cb3dc9..8ea6d858a76939336854d668cca69be6b785ff7f 100644 (file)
--- a/src/drivers/ao_pyro_slave.c
+++ b/src/drivers/ao_pyro_slave.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -15,8 +16,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-#include "ao.h"
-#include "ao_product.h"
+#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;
 
@@ -27,23 +31,32 @@ static const struct ao_companion_setup      ao_telepyro_setup = {
        .channels               = AO_TELEPYRO_NUM_ADC,
 };
 
+struct ao_config ao_config;
+
+extern volatile uint16_t ao_tick_count;
+uint16_t ao_boost_tick;
+
 void ao_spi_slave(void)
 {
-       if (!ao_spi_read((uint8_t *) &ao_companion_command,
-                        sizeof (ao_companion_command)))
+       if (!ao_spi_slave_recv((uint8_t *) &ao_companion_command,
+                              sizeof (ao_companion_command)))
                return;
 
        /* Figure out the outbound data */
        switch (ao_companion_command.command) {
        case AO_COMPANION_SETUP:
-               ao_spi_write((uint8_t *) &ao_telepyro_setup,
-                            sizeof (ao_telepyro_setup));
+               ao_spi_slave_send((uint8_t *) &ao_telepyro_setup,
+                                 sizeof (ao_telepyro_setup));
                break;
        case AO_COMPANION_FETCH:
-               ao_spi_write((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
-                            AO_TELEPYRO_NUM_ADC * sizeof (uint16_t));
+               ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.adc,
+                                 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;