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/*
* 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 TELEMEGA
#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 ((int16_t) ao_companion_setup.board_id ==
(int16_t) (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) {
if (ao_sleep_for(DATA_TO_XDATA(&ao_flight_state), ao_companion_setup.update_period))
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"
"update period: %d\n"
"channels: %d\n"
"data:",
ao_companion_setup.board_id,
ao_companion_setup.update_period,
ao_companion_setup.channels);
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");
}
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