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b2d56ca34c
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1830 ebee16cc-31ac-478f-84a7-5cbb03baadba
27 lines
739 B
C
27 lines
739 B
C
#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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