diff options
Diffstat (limited to 'src/drivers/ao_pyro_slave.c')
| -rw-r--r-- | src/drivers/ao_pyro_slave.c | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/drivers/ao_pyro_slave.c b/src/drivers/ao_pyro_slave.c index 70206a00..f07c2cba 100644 --- a/src/drivers/ao_pyro_slave.c +++ b/src/drivers/ao_pyro_slave.c @@ -18,6 +18,8 @@ #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; @@ -28,6 +30,11 @@ static const struct ao_companion_setup ao_telepyro_setup = { .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, @@ -45,6 +52,10 @@ void ao_spi_slave(void) 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; |