1 files changed, 40 insertions, 13 deletions

diff --git a/src-avr/ao_log_telescience.c b/src-avr/ao_log_telescience.c
index ef5a1c97..6022ad21 100644
--- a/src-avr/ao_log_telescience.c
+++ b/src-avr/ao_log_telescience.c
@@ -16,8 +16,10 @@
  */
 
 #include "ao.h"
+#include "ao_product.h"
 
 static struct ao_task ao_log_task;
+static struct ao_task ao_spi_task;
 
 uint8_t 	ao_log_running;
 uint8_t		ao_log_mutex;
@@ -231,6 +233,43 @@ ao_log_delete(void)
 		printf ("Erased\n");
 }
 
+void
+ao_spi_telescience(void)
+{
+	static union {
+		struct ao_companion_command	command;
+		struct ao_companion_setup	setup;
+		struct ao_adc			data;
+	} u;
+
+	for (;;) {
+		ao_spi_slave_read((uint8_t *) &u.command, sizeof (struct ao_companion_command));
+		switch (u.command.command) {
+		case AO_COMPANION_SETUP:
+			u.setup.board_id = AO_idProduct_NUMBER;
+			u.setup.board_id_inverse = ~AO_idProduct_NUMBER;
+			u.setup.update_period = 10;
+			u.setup.channels = NUM_ADC;
+			ao_spi_slave_write((uint8_t *) &u.setup,
+					   sizeof (struct ao_companion_setup));
+			break;
+		case AO_COMPANION_FETCH:
+			ao_adc_get(&u.data);
+			ao_spi_slave_write((uint8_t *) &u.data.adc,
+					   NUM_ADC * sizeof (uint16_t));
+			if (u.command.flight_state >= ao_flight_boost &&
+			    u.command.flight_state < ao_flight_landed) {
+				if (!ao_log_running)
+					ao_log_start();
+			} else {
+				if (ao_log_running)
+					ao_log_stop();
+			}
+			break;
+		}
+	}
+}
+
 const struct ao_cmds ao_log_cmds[] = {
 	{ ao_log_set,	"L <0 off, 1 on>\0Set logging mode" },
 	{ ao_log_list,	"l\0List stored flight logs" },
@@ -238,25 +277,13 @@ const struct ao_cmds ao_log_cmds[] = {
 	{ 0,	NULL },
 };
 
-ISR(PCINT0_vect)
-{
-	ao_log_check_pin();
-}
-
 void
 ao_log_init(void)
 {
 	ao_log_running = 0;
 
-	DDRB &= ~(1 << DDB0);
-
-	PORTB |= (1 << PORTB0);		/* Pull input up; require input to log */
-
-	PCMSK0 |= (1 << PCINT0);	/* Enable PCINT0 pin change */
-
-	PCICR |= (1 << PCIE0);		/* Enable pin change interrupt */
-
 	ao_cmd_register(&ao_log_cmds[0]);
 
 	ao_add_task(&ao_log_task, ao_log_telescience, "log");
+	ao_add_task(&ao_spi_task, ao_spi_telescience, "spi");
 }