X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fstm%2Fao_adc_stm.c;h=53f19b406d20a884f6c33b6219b2dc55f10e9b76;hb=4e1b134e29313a1bdac18de57fe547299e5ded2a;hp=7564c7fa9a0a810e466b0ce5418e0d27b800f53c;hpb=03dc80d15a2f8fe9d7340351226dadd8bc3cfdb9;p=fw%2Faltos

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 7564c7fa..53f19b40 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -17,15 +17,6 @@
 
 #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;
 
 static uint8_t			ao_adc_ready;
 
@@ -50,28 +41,25 @@ static uint8_t			ao_adc_ready;
  */
 static void ao_adc_done(int index)
 {
-	uint8_t	step = 1;
-	ao_data_ring[ao_data_head].tick = ao_time();
-#if HAS_MPU6000
-	if (!ao_mpu6000_valid)
-		step = 0;
-	ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
-#endif
+	AO_DATA_PRESENT(AO_DATA_ADC);
+	ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
+	if (ao_data_present == AO_DATA_ALL) {
 #if HAS_MS5607
-	if (!ao_ms5607_valid)
-		step = 0;
-	ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current;
-#endif	
+		ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current;
+#endif
+#if HAS_MMA655X
+		ao_data_ring[ao_data_head].mma655x = ao_mma655x_current;
+#endif
 #if HAS_HMC5883
-	if (!ao_hmc5883_valid)
-		step = 0;
-	ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+		ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+#endif
+#if HAS_MPU6000
+		ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
 #endif
-	if (step) {
+		ao_data_ring[ao_data_head].tick = ao_tick_count;
 		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;
 }
 
@@ -117,17 +105,6 @@ ao_adc_get(__xdata struct ao_adc *packet)
 	memcpy(packet, (void *) &ao_data_ring[i].adc, sizeof (struct ao_adc));
 }
 
-void
-ao_data_get(__xdata struct ao_data *packet)
-{
-#if HAS_FLIGHT
-	uint8_t	i = ao_data_ring_prev(ao_sample_data);
-#else
-	uint8_t	i = ao_data_ring_prev(ao_data_head);
-#endif
-	memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
-}
-
 static void
 ao_adc_dump(void) __reentrant
 {
@@ -136,11 +113,15 @@ ao_adc_dump(void) __reentrant
 	uint8_t i;
 
 	ao_data_get(&packet);
+#ifdef AO_ADC_DUMP
+	AO_ADC_DUMP(&packet);
+#else
 	printf("tick: %5u",  packet.tick);
 	d = (int16_t *) (&packet.adc);
 	for (i = 0; i < AO_NUM_ADC; i++)
 		printf (" %2d: %5d", i, d[i]);
 	printf("\n");
+#endif
 }
 
 __code struct ao_cmds ao_adc_cmds[] = {