altos: Finish ms5607 support

[fw/altos] / src / drivers / ao_ms5607.c

diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 4594f07ceeddfccd3311eb0b8e8ee077e13be89e..f79c315a2a683df13c01636dc979625fb4e64fbd 100644 (file)
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -16,10 +16,11 @@
  */
 
 #include <ao.h>
+#include <ao_exti.h>
 #include "ao_ms5607.h"
 
-static struct ms5607_prom ms5607_prom;
-static uint8_t           ms5607_configured;
+static struct ao_ms5607_prom   ms5607_prom;
+static uint8_t                 ms5607_configured;
 
 static void
 ao_ms5607_start(void) {
@@ -69,7 +70,7 @@ ao_ms5607_crc(uint8_t *prom)
 }
 
 static void
-ao_ms5607_prom_read(struct ms5607_prom *prom)
+ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
 {
        uint8_t         addr;
        uint8_t         crc;
@@ -85,8 +86,12 @@ ao_ms5607_prom_read(struct ms5607_prom *prom)
                r++;
        }
        crc = ao_ms5607_crc((uint8_t *) prom);
-       if (crc != (((uint8_t *) prom)[15] & 0xf))
-               printf ("MS5607 PROM CRC error (computed %x actual %x)\n", crc, (((uint8_t *) prom)[15] & 0xf));
+       if (crc != (((uint8_t *) prom)[15] & 0xf)) {
+               printf ("MS5607 PROM CRC error (computed %x actual %x)\n",
+                       crc, (((uint8_t *) prom)[15] & 0xf));
+               flush();
+               ao_panic(AO_PANIC_SELF_TEST);
+       }
 
 #if __BYTE_ORDER == __LITTLE_ENDIAN
        /* Byte swap */
@@ -108,17 +113,33 @@ ao_ms5607_setup(void)
        ao_ms5607_prom_read(&ms5607_prom);
 }
 
+static uint8_t ao_ms5607_done;
+
+static void
+ao_ms5607_isr(void)
+{
+       ao_ms5607_done = 1;
+       ao_wakeup(&ao_ms5607_done);
+}
+
 static uint32_t
-ao_ms5607_convert(uint8_t cmd) {
+ao_ms5607_get_sample(uint8_t cmd) {
        uint8_t reply[3];
        uint8_t read;
+       uint16_t now;
+
+       ao_ms5607_done = 0;
 
        ao_ms5607_start();
        ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
+       ao_exti_enable(&AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+       cli();
+       while (!ao_ms5607_done)
+               ao_sleep(&ao_ms5607_done);
+       sei();
+       ao_exti_disable(&AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
        ao_ms5607_stop();
 
-       ao_delay(AO_MS_TO_TICKS(20));
-
        ao_ms5607_start();
        read = AO_MS5607_ADC_READ;
        ao_spi_send(&read, 1, AO_MS5607_SPI_INDEX);
@@ -130,23 +151,22 @@ ao_ms5607_convert(uint8_t cmd) {
 
 void
 ao_ms5607_sample(struct ao_ms5607_sample *sample)
+{
+       sample->pres = ao_ms5607_get_sample(AO_MS5607_CONVERT_D1_2048);
+       sample->temp = ao_ms5607_get_sample(AO_MS5607_CONVERT_D2_2048);
+}
+
+void
+ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value)
 {
        uint8_t addr;
-       uint32_t D1, D2;
        int32_t dT;
        int32_t TEMP;
        int64_t OFF;
        int64_t SENS;
        int32_t P;
 
-       ao_ms5607_setup();
-
-       D2 =  ao_ms5607_convert(AO_MS5607_CONVERT_D2_4096);
-       printf ("Conversion D2: %d\n", D2);
-       D1 =  ao_ms5607_convert(AO_MS5607_CONVERT_D1_4096);
-       printf ("Conversion D1: %d\n", D1);
-
-       dT = D2 - ((int32_t) ms5607_prom.tref << 8);
+       dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
        
        TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23);
 
@@ -170,19 +190,49 @@ ao_ms5607_sample(struct ao_ms5607_sample *sample)
                SENS -= SENS2;
        }
 
-       P = ((((int64_t) D1 * SENS) >> 21) - OFF) >> 15;
-       sample->temp = TEMP;
-       sample->pres = P;
+       value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15;
+       value->temp = TEMP;
 }
 
+struct ao_ms5607_sample        ao_ms5607_current;
+
+static void
+ao_ms5607(void)
+{
+       ao_ms5607_setup();
+       for (;;)
+       {
+               struct ao_ms5607_sample ao_ms5607_next;
+               ao_ms5607_sample(&ao_ms5607_next);
+               ao_arch_critical(
+                       ao_ms5607_current = ao_ms5607_next;
+                       );
+               ao_delay(0);
+       }
+}
+
+__xdata struct ao_task ao_ms5607_task;
+
 static void
 ao_ms5607_dump(void)
 {
        struct ao_ms5607_sample sample;
+       struct ao_ms5607_value value;
+
+       printf ("ms5607 reserved: %u\n", ms5607_prom.reserved);
+       printf ("ms5607 sens: %u\n", ms5607_prom.sens);
+       printf ("ms5607 off: %u\n", ms5607_prom.off);
+       printf ("ms5607 tcs: %u\n", ms5607_prom.tcs);
+       printf ("ms5607 tco: %u\n", ms5607_prom.tco);
+       printf ("ms5607 tref: %u\n", ms5607_prom.tref);
+       printf ("ms5607 tempsens: %u\n", ms5607_prom.tempsens);
+       printf ("ms5607 crc: %u\n", ms5607_prom.crc);
 
-       ao_ms5607_sample(&sample);
-       printf ("Temperature: %d\n", sample.temp);
-       printf ("Pressure %d\n", sample.pres);
+       sample = ao_ms5607_current;
+       ao_ms5607_convert(&sample, &value);
+       printf ("Pressure:    %8u %8d\n", sample.pres, value.pres);
+       printf ("Temperature: %8u %8d\n", sample.temp, value.temp);
+       printf ("Altitude: %ld\n", ao_pa_to_altitude(value.pres));
 }
 
 __code struct ao_cmds ao_ms5607_cmds[] = {
@@ -196,4 +246,22 @@ ao_ms5607_init(void)
        ms5607_configured = 0;
        ao_cmd_register(&ao_ms5607_cmds[0]);
        ao_spi_init_cs(AO_MS5607_CS_GPIO, (1 << AO_MS5607_CS));
+
+       ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
+
+       /* Configure the MISO pin as an interrupt; when the
+        * conversion is complete, the MS5607 will raise this
+        * pin as a signal
+        */
+       ao_exti_setup(&AO_MS5607_MISO_GPIO,
+                     AO_MS5607_MISO,
+                     AO_EXTI_MODE_RISING,
+                     ao_ms5607_isr);
+
+       /* Reset the pin from INPUT to ALTERNATE so that SPI works
+        * This needs an abstraction at some point...
+        */
+       stm_moder_set(&AO_MS5607_MISO_GPIO,
+                     AO_MS5607_MISO,
+                     STM_MODER_ALTERNATE);
 }