X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fstm%2Fao_adc_stm.c;h=af2968d6ea9df830933c63e92e775859968c2e10;hb=78423f3fc5164ea9fd428606419784c1700ad5c5;hp=1722a9ecdf0698e555969891867f468ea8bf5451;hpb=5e41d1e03680af9806c599aad80b9b64dd719f9b;p=fw%2Faltos

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 1722a9ec..af2968d6 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -16,10 +16,17 @@
  */
 
 #include <ao.h>
+#include <ao_data.h>
+#if HAS_MPU6000
+#include <ao_mpu6000.h>
+#endif
+#if HAS_MS5607
+#include <ao_ms5607.h>
+#endif
 
+volatile __xdata struct ao_data	ao_data_ring[AO_DATA_RING];
+volatile __data uint8_t		ao_data_head;
 
-volatile __xdata struct ao_adc	ao_adc_ring[AO_ADC_RING];
-volatile __data uint8_t		ao_adc_head;
 static uint8_t			ao_adc_ready;
 
 #define AO_ADC_CR2_VAL		((0 << STM_ADC_CR2_SWSTART) |		\
@@ -28,11 +35,11 @@ static uint8_t			ao_adc_ready;
 				 (0 << STM_ADC_CR2_JWSTART) |		\
 				 (STM_ADC_CR2_JEXTEN_DISABLE << STM_ADC_CR2_JEXTEN) | \
 				 (0 << STM_ADC_CR2_JEXTSEL) |		\
-				 (1 << STM_ADC_CR2_ALIGN) |		\
+				 (0 << STM_ADC_CR2_ALIGN) |		\
 				 (0 << STM_ADC_CR2_EOCS) |		\
 				 (1 << STM_ADC_CR2_DDS) |		\
 				 (1 << STM_ADC_CR2_DMA) |		\
-				 (STM_ADC_CR2_DELS_NONE << STM_ADC_CR2_DELS) | \
+				 (STM_ADC_CR2_DELS_UNTIL_READ << STM_ADC_CR2_DELS) | \
 				 (0 << STM_ADC_CR2_CONT) |		\
 				 (1 << STM_ADC_CR2_ADON))
 
@@ -41,11 +48,17 @@ static uint8_t			ao_adc_ready;
  *
  * Mark time in ring, shut down DMA engine
  */
-static void ao_adc_done(void)
+static void ao_adc_done(int index)
 {
-	ao_adc_ring[ao_adc_head].tick = ao_time();
-	ao_adc_head = ao_adc_ring_next(ao_adc_head);
-	ao_wakeup((void *) &ao_adc_head);
+	ao_data_ring[ao_data_head].adc.tick = ao_time();
+#if HAS_MPU6000
+	ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+#if HAS_MS5607
+	ao_data_ring[ao_data_head].ms5607 = ao_ms5607_current;
+#endif	
+	ao_data_head = ao_data_ring_next(ao_data_head);
+	ao_wakeup((void *) &ao_data_head);
 	ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
 	ao_adc_ready = 1;
 }
@@ -62,7 +75,7 @@ ao_adc_poll(void)
 	stm_adc.sr = 0;
 	ao_dma_set_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1),
 			    &stm_adc.dr,
-			    (void *) (&ao_adc_ring[ao_adc_head].tick + 1),
+			    (void *) (&ao_data_ring[ao_data_head].tick + 1),
 			    AO_NUM_ADC,
 			    (0 << STM_DMA_CCR_MEM2MEM) |
 			    (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) |
@@ -84,20 +97,27 @@ ao_adc_poll(void)
 void
 ao_adc_get(__xdata struct ao_adc *packet)
 {
-	uint8_t	i = ao_adc_ring_prev(ao_adc_head);
-	memcpy(packet, (void *) &ao_adc_ring[i], sizeof (struct ao_adc));
+	uint8_t	i = ao_data_ring_prev(ao_data_head);
+	memcpy(packet, (void *) &ao_data_ring[i].adc, sizeof (struct ao_adc));
+}
+
+void
+ao_data_get(__xdata struct ao_data *packet)
+{
+	uint8_t	i = ao_data_ring_prev(ao_data_head);
+	memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
 }
 
 static void
 ao_adc_dump(void) __reentrant
 {
-	struct ao_adc	packet;
+	struct ao_data	packet;
 	int16_t *d;
 	uint8_t i;
 
-	ao_adc_get(&packet);
+	ao_data_get(&packet);
 	printf("tick: %5u",  packet.tick);
-	d = (int16_t *) (&packet.tick + 1);
+	d = (int16_t *) (&packet.adc);
 	for (i = 0; i < AO_NUM_ADC; i++)
 		printf (" %2d: %5d", i, d[i]);
 	printf("\n");
@@ -168,10 +188,10 @@ ao_adc_init(void)
 		       (0 << STM_ADC_CR1_EOCIE ) |
 		       (0 << STM_ADC_CR1_AWDCH ));
 
-	/* 4 cycle sample time for everyone */
-	stm_adc.smpr1 = 0;
-	stm_adc.smpr2 = 0;
-	stm_adc.smpr3 = 0;
+	/* 384 cycle sample time for everyone */
+	stm_adc.smpr1 = 0x3ffff;
+	stm_adc.smpr2 = 0x3fffffff;
+	stm_adc.smpr3 = 0x3fffffff;
 
 	stm_adc.sqr1 = ((AO_NUM_ADC - 1) << 20);
 	stm_adc.sqr2 = 0;
@@ -221,5 +241,7 @@ ao_adc_init(void)
 	/* Clear any stale status bits */
 	stm_adc.sr = 0;
 	ao_adc_ready = 1;
+
+	ao_dma_alloc(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
 	ao_cmd_register(&ao_adc_cmds[0]);
 }