X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fstm%2Fao_adc_stm.c;h=53f19b406d20a884f6c33b6219b2dc55f10e9b76;hb=54f7888dc65ffc27c6ee5ef93953bd9b8fc029ed;hp=02187205eb18a82b4256c9669c33ee5cde2bb4ee;hpb=9eeba439ce8c9dc1def8528f96b6a67c6578d656;p=fw%2Faltos

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 02187205..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;
 
@@ -50,23 +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();
+	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
+		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
+		ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+#endif
 #if HAS_MPU6000
-	if (!ao_mpu6000_valid)
-		step = 0;
-	ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+		ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
 #endif
-#if HAS_MS5607
-	if (!ao_ms5607_valid)
-		step = 0;
-	ao_data_ring[ao_data_head].ms5607 = ao_ms5607_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;
 }
 
@@ -82,7 +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_data_ring[ao_data_head].tick + 1),
+			    (void *) (&ao_data_ring[ao_data_head].adc),
 			    AO_NUM_ADC,
 			    (0 << STM_DMA_CCR_MEM2MEM) |
 			    (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) |
@@ -104,17 +97,14 @@ ao_adc_poll(void)
 void
 ao_adc_get(__xdata struct ao_adc *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].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
 {
@@ -123,11 +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[] = {
@@ -143,34 +137,43 @@ ao_adc_init(void)
 #endif
 
 #ifdef AO_ADC_PIN0_PORT
-	stm_moder_set(&AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN1_PORT
-	stm_moder_set(&AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN2_PORT
-	stm_moder_set(&AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN3_PORT
-	stm_moder_set(&AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN4_PORT
-	stm_moder_set(&AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN5_PORT
-	stm_moder_set(&AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN6_PORT
-	stm_moder_set(&AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN7_PORT
-	stm_moder_set(&AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN8_PORT
-	stm_moder_set(&AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN9_PORT
-	stm_moder_set(&AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG);
+	stm_moder_set(AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN10_PORT
+	stm_moder_set(AO_ADC_PIN10_PORT, AO_ADC_PIN10_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN11_PORT
+	stm_moder_set(AO_ADC_PIN11_PORT, AO_ADC_PIN11_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN12_PORT
+	stm_moder_set(AO_ADC_PIN12_PORT, AO_ADC_PIN12_PIN, STM_MODER_ANALOG);
 #endif
 
 	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADC1EN);
@@ -232,7 +235,19 @@ ao_adc_init(void)
 #if AO_NUM_ADC > 8
 	stm_adc.sqr4 |= (AO_ADC_SQ9 << 10);
 #endif
-
+#if AO_NUM_ADC > 9
+	stm_adc.sqr4 |= (AO_ADC_SQ10 << 15);
+#endif
+#if AO_NUM_ADC > 10
+	stm_adc.sqr4 |= (AO_ADC_SQ11 << 20);
+#endif
+#if AO_NUM_ADC > 11
+	stm_adc.sqr4 |= (AO_ADC_SQ12 << 25);
+#endif
+#if AO_NUM_ADC > 12
+#error "need to finish stm_adc.sqr settings"
+#endif
+	
 	/* Turn ADC on */
 	stm_adc.cr2 = AO_ADC_CR2_VAL;
 
@@ -247,8 +262,10 @@ ao_adc_init(void)
 #endif
 	/* 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]);
+
+	ao_adc_ready = 1;
 }