2010-10-04 17:29:41 +02:00
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/**
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******************************************************************************
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*
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* @file ahrs_spi_program_master.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief AHRS programming over SPI link - master(OpenPilot) end.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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2010-10-02 04:17:22 +02:00
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#include "ahrs_program_master.h"
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#include "ahrs_program.h"
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#include "pios_spi.h"
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char connectTxBuf[SPI_PROGRAM_REQUEST_LENGTH] = { SPI_PROGRAM_REQUEST };
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char connectRxBuf[SPI_PROGRAM_REQUEST_LENGTH];
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#define MAX_CONNECT_TRIES 10
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uint32_t AhrsProgramConnect(void)
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{
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memset(connectRxBuf, 0, SPI_PROGRAM_REQUEST_LENGTH);
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for (int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
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uint32_t res = PIOS_SPI_TransferBlock(PIOS_SPI_OP, (uint8_t *) & connectTxBuf,
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(uint8_t *) & connectRxBuf, SPI_PROGRAM_REQUEST_LENGTH, NULL);
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if (res == 0 && memcmp(connectRxBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
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return (0);
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}
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vTaskDelay(1 / portTICK_RATE_MS);
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}
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return (-1);
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}
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