altos: Send SPI message at flight state changes

Get the companion board starting its data logging as soon as possible
after boost starts.

Signed-off-by: Keith Packard <keithp@keithp.com>

2 files changed, 14 insertions, 2 deletions

diff --git a/src/ao.h b/src/ao.h
index de47f3df..b14b65f2 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -1581,6 +1581,7 @@ ao_btm_init(void);
 
 #define AO_COMPANION_SETUP		1
 #define AO_COMPANION_FETCH		2
+#define AO_COMPANION_NOTIFY		3
 
 struct ao_companion_command {
 	uint8_t		command;
diff --git a/src/ao_companion.c b/src/ao_companion.c
index f54f5251..f0ce3f12 100644
--- a/src/ao_companion.c
+++ b/src/ao_companion.c
@@ -68,13 +68,24 @@ ao_companion_get_data(void)
 	COMPANION_DESELECT();
 }
 
+static void
+ao_companion_notify(void)
+{
+	COMPANION_SELECT();
+	ao_companion_send_command(AO_COMPANION_NOTIFY);
+	COMPANION_DESELECT();
+}
+
 void
 ao_companion(void)
 {
 	ao_companion_running = ao_companion_get_setup();
 	while (ao_companion_running) {
-		ao_delay(ao_companion_setup.update_period);
-		ao_companion_get_data();
+		ao_alarm(ao_companion_setup.update_period);
+		if (ao_sleep(DATA_TO_XDATA(&ao_flight_state)))
+			ao_companion_get_data();
+		else
+			ao_companion_notify();
 	}
 	ao_exit();
 }