X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=0ebe8429124966790244e0a2fa5083782a0525a6;hp=a31cc2eadf2e5742917b33872519e382b0b3a75c;hb=6fa1ec0dbf2a4eda8d061c67b3779b83b88f29f0;hpb=03dc80d15a2f8fe9d7340351226dadd8bc3cfdb9 diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c index a31cc2ea..0ebe8429 100644 --- a/src/drivers/ao_companion.c +++ b/src/drivers/ao_companion.c @@ -18,28 +18,20 @@ #include #include -#ifndef ao_spi_slow -#define ao_spi_slow(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE | \ - UxGCR_CPHA_FIRST_EDGE | \ - UxGCR_ORDER_MSB | \ - (13 << UxGCR_BAUD_E_SHIFT))) - -#define ao_spi_fast(bus) (U0GCR = (UxGCR_CPOL_NEGATIVE | \ - UxGCR_CPHA_FIRST_EDGE | \ - UxGCR_ORDER_MSB | \ - (17 << UxGCR_BAUD_E_SHIFT))) +#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_slow(AO_COMPANION_SPI_BUS); \ + AO_COMPANION_SPI_BUS, \ + AO_SPI_SPEED_200kHz); \ } while (0) #define COMPANION_DESELECT() do { \ - ao_spi_fast(AO_COMPANION_SPI_BUS); \ ao_spi_put_bit(AO_COMPANION_CS_PORT, \ AO_COMPANION_CS_PIN, \ AO_COMPANION_CS, \ @@ -61,6 +53,10 @@ 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_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); } @@ -72,7 +68,7 @@ ao_companion_get_setup(void) 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 @@ -120,10 +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"); @@ -139,7 +140,7 @@ static __xdata struct ao_task ao_companion_task; void ao_companion_init(void) { - ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1); + 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"); }