X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=3967090b55d04fa37c1ae5c87a0dc7cfe8c8c955;hp=2e587f8efd1fff3c9fd45741288d2b904fe56a6a;hb=c6e57291d91f1f6c4de5c54a5cfd3eef66d9f830;hpb=c32893ce79835a8f861d6ef414644c2ff9769ff6

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 2e587f8e..3967090b 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.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
@@ -15,27 +16,39 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-#include "ao.h"
+#include <ao.h>
+#include <ao_companion.h>
 
-#define ao_spi_slow() (U0GCR = (UxGCR_CPOL_NEGATIVE | 		\
-				UxGCR_CPHA_FIRST_EDGE |		\
-				UxGCR_ORDER_MSB |		\
-				(13 << UxGCR_BAUD_E_SHIFT)))
+#ifdef TELEMEGA
+#define ao_spi_slow(b)
+#define ao_spi_fast(b)
+#endif
 
-#define ao_spi_fast() (U0GCR = (UxGCR_CPOL_NEGATIVE | 		\
-				UxGCR_CPHA_FIRST_EDGE |		\
-				UxGCR_ORDER_MSB |		\
-				(17 << UxGCR_BAUD_E_SHIFT)))
+#if !HAS_COMPANION
+#error HAS_COMPANION not set in ao_companion.c
+#endif
 
-#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(AO_COMPANION_CS_PORT,	\
+			       AO_COMPANION_CS_PIN,	\
+			       AO_COMPANION_CS,		\
+			       AO_COMPANION_SPI_BUS,	\
+			       AO_SPI_SPEED_200kHz);	\
+	} while (0)
 
-__xdata struct ao_companion_command		ao_companion_command;
-__xdata struct ao_companion_setup		ao_companion_setup;
+#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 uint16_t	ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-__pdata uint8_t		ao_companion_running;
-__xdata uint8_t		ao_companion_mutex;
+struct ao_companion_command		ao_companion_command;
+struct ao_companion_setup		ao_companion_setup;
+
+uint16_t	ao_companion_data[AO_COMPANION_MAX_CHANNELS];
+uint8_t		ao_companion_running;
+uint8_t		ao_companion_mutex;
 
 static void
 ao_companion_send_command(uint8_t command)
@@ -45,7 +58,11 @@ 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 +70,10 @@ 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);
+	return ((int16_t) ao_companion_setup.board_id ==
+		(int16_t) (uint16_t) (~ao_companion_setup.board_id_inverse));
 }
 
 static void
@@ -65,7 +82,7 @@ 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();
 }
@@ -90,8 +107,7 @@ ao_companion(void)
 		    break;
 	}
 	while (ao_companion_running) {
-		ao_alarm(ao_companion_setup.update_period);
-		if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
+		if (ao_sleep_for(&ao_flight_state, ao_companion_setup.update_period))
 			ao_companion_get_data();
 		else
 			ao_companion_notify();
@@ -100,33 +116,35 @@ ao_companion(void)
 }
 
 void
-ao_companion_status(void) __reentrant
+ao_companion_status(void) 
 {
 	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");
 }
 
-__code struct ao_cmds ao_companion_cmds[] = {
+const struct ao_cmds ao_companion_cmds[] = {
 	{ ao_companion_status,	"L\0Companion link status" },
 	{ 0, NULL },
 };
 
-static __xdata struct ao_task ao_companion_task;
+static 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");
 }