X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_pyro_slave.c;h=8ea6d858a76939336854d668cca69be6b785ff7f;hp=e6c73a3c914356deefb5e564a4e2ec9a37cb3dc9;hb=0686a7b8aec524d81bda4c572549a3a068ce0eed;hpb=7a02d4bace05cc829522933b9df6b82a9e17336f

diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c
index e6c73a3c..8ea6d858 100644
--- 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;