1 files changed, 63 insertions, 0 deletions
diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c
new file mode 100644
index 00000000..f07c2cba
--- /dev/null
+++ b/src/drivers/ao_pyro_slave.c
@@ -0,0 +1,63 @@
+/*
+ * 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_product.h>
+#include <ao_companion.h>
+#include <ao_flight.h>
+#include <ao_pyro.h>
+
+struct ao_companion_command	ao_companion_command;
+
+static const struct ao_companion_setup	ao_telepyro_setup = {
+	.board_id 		= AO_idProduct_NUMBER,
+	.board_id_inverse	= ~AO_idProduct_NUMBER,
+	.update_period		= 50,
+	.channels		= AO_TELEPYRO_NUM_ADC,
+};
+
+struct ao_config ao_config;
+
+extern volatile __data uint16_t ao_tick_count;
+uint16_t ao_boost_tick;
+
+void ao_spi_slave(void)
+{
+	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_slave_send((uint8_t *) &ao_telepyro_setup,
+				  sizeof (ao_telepyro_setup));
+		break;
+	case AO_COMPANION_FETCH:
+		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;
+	}
+}