X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fstm%2Fao_adc_stm.c;h=71299de93c7a4a77814ea843477117d173f1dad6;hb=9aa7993ee31bdfd6890ad7262a0375c07464ee76;hp=576dbf5d6c76b78c946575aa94f0c29f8d3d55ee;hpb=d01c10eff4b70af13347969a7cece8730cf1a3f1;p=fw%2Faltos

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 576dbf5d..71299de9 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -50,15 +50,27 @@ 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
 #if HAS_MS5607
+	if (!ao_ms5607_valid)
+		step = 0;
 	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);
+#if HAS_HMC5883
+	if (!ao_hmc5883_valid)
+		step = 0;
+	ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+#endif
+	if (step) {
+		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;
 }
@@ -75,7 +87,7 @@ 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) |
@@ -97,14 +109,22 @@ 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)
 {
+#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));
 }
 
@@ -165,6 +185,15 @@ ao_adc_init(void)
 #ifdef AO_ADC_PIN9_PORT
 	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);
 
@@ -225,7 +254,19 @@ 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;