2010-10-02 04:17:22 +02:00
|
|
|
#include "ahrs_program_master.h"
|
|
|
|
|
#include "ahrs_program.h"
|
|
|
|
|
#include "pios_spi.h"
|
|
|
|
|
|
|
|
|
|
char connectTxBuf[SPI_PROGRAM_REQUEST_LENGTH] = { SPI_PROGRAM_REQUEST };
|
|
|
|
|
|
|
|
|
|
char connectRxBuf[SPI_PROGRAM_REQUEST_LENGTH];
|
|
|
|
|
#define MAX_CONNECT_TRIES 10
|
|
|
|
|
|
|
|
|
|
uint32_t AhrsProgramConnect(void)
|
|
|
|
|
{
|
|
|
|
|
memset(connectRxBuf, 0, SPI_PROGRAM_REQUEST_LENGTH);
|
|
|
|
|
for (int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
|
|
|
|
|
uint32_t res = PIOS_SPI_TransferBlock(PIOS_SPI_OP, (uint8_t *) & connectTxBuf,
|
|
|
|
|
(uint8_t *) & connectRxBuf, SPI_PROGRAM_REQUEST_LENGTH, NULL);
|
|
|
|
|
if (res == 0 && memcmp(connectRxBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH) == 0) {
|
|
|
|
|
return (0);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
vTaskDelay(1 / portTICK_RATE_MS);
|
|
|
|
|
}
|
|
|
|
|
return (-1);
|
|
|
|
|
}
|
