diff options
Diffstat (limited to 'src/drivers/ao_companion.c')
| -rw-r--r-- | src/drivers/ao_companion.c | 143 |
1 files changed, 143 insertions, 0 deletions
diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c new file mode 100644 index 00000000..c749adea --- /dev/null +++ b/src/drivers/ao_companion.c @@ -0,0 +1,143 @@ +/* + * Copyright © 2011 Keith Packard <keithp@keithp.com> + * + * 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. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao.h> +#include <ao_companion.h> + +#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_SPEED_200kHz); \ + } while (0) + +#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 struct ao_companion_command ao_companion_command; +__xdata struct ao_companion_setup ao_companion_setup; + +__xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS]; +__pdata uint8_t ao_companion_running; +__xdata uint8_t ao_companion_mutex; + +static void +ao_companion_send_command(uint8_t command) +{ + ao_companion_command.command = command; + ao_companion_command.flight_state = ao_flight_state; + 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); +} + +static uint8_t +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_COMPANION_SPI_BUS); + COMPANION_DESELECT(); + return (ao_companion_setup.board_id == + (uint16_t) ~ao_companion_setup.board_id_inverse); +} + +static void +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_COMPANION_SPI_BUS); + ao_mutex_put(&ao_companion_mutex); + COMPANION_DESELECT(); +} + +static void +ao_companion_notify(void) +{ + COMPANION_SELECT(); + ao_companion_send_command(AO_COMPANION_NOTIFY); + COMPANION_DESELECT(); +} + +void +ao_companion(void) +{ + uint8_t i; + while (!ao_flight_number) + ao_sleep(&ao_flight_number); + for (i = 0; i < 10; i++) { + ao_delay(AO_SEC_TO_TICKS(1)); + if ((ao_companion_running = ao_companion_get_setup())) + break; + } + while (ao_companion_running) { + 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(); +} + +void +ao_companion_status(void) __reentrant +{ + uint8_t i; + printf("Companion running: %d\n", ao_companion_running); + if (!ao_companion_running) + return; + 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:"); + for(i = 0; i < ao_companion_setup.channels; i++) + printf(" %5u", ao_companion_data[i]); + printf("\n"); +} + +__code struct ao_cmds ao_companion_cmds[] = { + { ao_companion_status, "L\0Companion link status" }, + { 0, NULL }, +}; + +static __xdata struct ao_task ao_companion_task; + +void +ao_companion_init(void) +{ + 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"); +} |