1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
|
/*
* 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_flight.h"
#include "ao_companion.h"
struct ao_companion_command ao_companion_command;
static const struct ao_companion_setup ao_telescience_setup = {
.board_id = AO_idProduct_NUMBER,
.board_id_inverse = ~AO_idProduct_NUMBER,
.update_period = 50,
.channels = AO_LOG_TELESCIENCE_NUM_ADC,
};
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_telescience_setup,
sizeof (ao_telescience_setup));
break;
case AO_COMPANION_FETCH:
ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc,
AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
break;
case AO_COMPANION_NOTIFY:
break;
default:
return;
}
#if HAS_LOG
ao_log_single_write_data.telescience.tm_tick = ao_companion_command.tick;
if (ao_log_single_write_data.telescience.tm_state != ao_companion_command.flight_state) {
ao_log_single_write_data.telescience.tm_state = ao_companion_command.flight_state;
if (ao_flight_boost <= ao_log_single_write_data.telescience.tm_state) {
if (ao_log_single_write_data.telescience.tm_state < ao_flight_landed)
ao_log_single_start();
else
ao_log_single_stop();
}
}
#endif
}
|
