altos: snapshot - working on ads124x0x driver

[fw/altos] / src / drivers / ao_ads124s0x.c

diff --git a/src/drivers/ao_ads124s0x.c b/src/drivers/ao_ads124s0x.c
index e779b29394f117c56f15a37c08994687feb8da89..0068b604fdeb4112f2282665796b24fa94cf8fd4 100644 (file)
--- a/src/drivers/ao_ads124s0x.c
+++ b/src/drivers/ao_ads124s0x.c
@@ -13,6 +13,7 @@
  */
 
 #include <ao.h>
+#include <ao_exti.h>
 #include "ao_ads124s0x.h"
 
 #define DEBUG_LOW      1
@@ -27,6 +28,8 @@
 #endif
 
 struct ao_ads124s0x_sample     ao_ads124s0x_current;
+uint8_t                nextchan = 0;
+uint8_t                ao_ads124s0x_drdy;
 
 static void
 ao_ads124s0x_start(void) {
@@ -43,7 +46,6 @@ ao_ads124s0x_stop(void) {
                       AO_ADS124S0X_SPI_BUS);
 }
 
-/*
 static uint8_t
 ao_ads124s0x_reg_read(uint8_t addr)
 {
@@ -52,14 +54,16 @@ ao_ads124s0x_reg_read(uint8_t addr)
        d[0] = addr | AO_ADS124S0X_RREG;
        d[1] = 0;                       
        ao_ads124s0x_start();
-       ao_spi_duplex(d, d, 2, AO_ADS124S0X_SPI_BUS);
+       ao_spi_send(d, 2, AO_ADS124S0X_SPI_BUS);
+       ao_spi_recv(d, 1, AO_ADS124S0X_SPI_BUS);
        ao_ads124s0x_stop();
 
-       PRINTD(DEBUG_LOW, "read %x = %x\n", addr, d);
+       PRINTD(DEBUG_LOW, "read %x = %x\n", addr, d[0]);
 
-       return d[1];
+       return d[0];
 }
 
+/*
 static void
 ao_ads124s0x_reg_write(uint8_t addr, uint8_t value)
 {
@@ -73,36 +77,30 @@ ao_ads124s0x_reg_write(uint8_t addr, uint8_t value)
        ao_spi_send(d, 3, AO_ADS124S0X_SPI_BUS);
        ao_ads124s0x_stop();
 
-#if DEBUG & DEBUG_LOW
-       d[0] = addr | AO_ADS124S0X_RREG
-       d[1] = 0;
-       ao_ads124s0x_start();
-       ao_spi_duplex(d, d, 2, AO_ADS124S0X_SPI_BUS);
-       ao_ads124s0x_stop();
-       PRINTD(DEBUG_LOW, "readback %x %x\n", d[0], d[1]);
-#endif
 }
 */
 
-// FIXME 
-//     We need to be in continuous conversion mode, and use the WREG
-//     command to set the next conversion input while reading each 
-//     which I don't see an example for elsewhere?
+static void 
+ao_ads124s0x_isr(void)
+{
+       ao_wakeup(&ao_ads124s0x_drdy);
+}
 
 static void
 ao_ads124s0x_setup(void)
 {
        uint8_t d[20];
 
-/*     we have nowhere to report this error to since ao_sensor_errors is
-       normally part of ao_flight?
-
        uint8_t devid = ao_ads124s0x_reg_read(AO_ADS124S0X_ID);
        if (devid != AO_ADS124S0X_ID_ADS124S06)
-               ao_sensor_errors = 1;
-*/
+               ao_panic(AO_PANIC_SELF_TEST_ADS124S0X);
 
-       /* 1ksps each across 4 inputs using full duplex ala 9.5.4.3 */
+       ao_exti_setup(AO_ADS124S0X_DRDY_PORT, AO_ADS124S0X_DRDY_PIN,
+               AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH,
+               ao_ads124s0x_isr);
+
+       /* run converter at 4ksps so we can scan 4 channels at 1ksps using
+          full duplex ala datasheet section 9.5.4.3 */
 
        d[0] = AO_ADS124S0X_INPMUX | AO_ADS124S0X_WREG;
        d[1] = 8;       /* write 8 registers starting with INPMUX */
@@ -133,28 +131,47 @@ ao_ads124s0x_setup(void)
 static void
 ao_ads124s0x(void)
 {
+       uint8_t d[3], curchan;
+
        ao_ads124s0x_setup();
-/*
+
+       ao_exti_enable(AO_ADS124S0X_DRDY_PORT, AO_ADS124S0X_DRDY_PIN);
+
        for (;;) {
-               ao_ads124s0x_value(&ao_ads124s0x_current);
-               ao_arch_critical(
-                       AO_DATA_PRESENT(AO_DATA_ADS124S0X);
-                       AO_DATA_WAIT();
-                       );
+               ao_sleep(&ao_ads124s0x_drdy);
+
+               curchan = nextchan;
+               nextchan = (nextchan + 1) % AO_ADS124S0X_CHANNELS;
+
+               d[0] = AO_ADS124S0X_INPMUX | AO_ADS124S0X_WREG;
+               d[1] = 1;                       
+               d[2] = nextchan << 4 | 0x0c; ;  /* relative to AINCOM */
+               ao_ads124s0x_start();
+               ao_spi_duplex(d, d, 3, AO_ADS124S0X_SPI_BUS);
+               ao_ads124s0x_stop();
+
+               ao_ads124s0x_current.ain[curchan] = 
+                       d[0] << 16 | d[1] << 8 | d[2];
+
+               // FIXME
+               //      If nextchan == 0, we have a complete set of inputs
+               //      and we need to log them somewhere
+
        }
-*/
 }
 
 static struct ao_task ao_ads124s0x_task;
 
 static void
-ao_ads124s0x_dump(void)                        // FIXME
+ao_ads124s0x_dump(void)        
 {
+       ao_add_task(&ao_ads124s0x_task, ao_ads124s0x, "ads124s0x");
+
        printf ("ADS124S0X value %d %d %d %d\n",
-               ao_ads124s0x_current.ain0,
-               ao_ads124s0x_current.ain1,
-               ao_ads124s0x_current.ain2,
-               ao_ads124s0x_current.ain3);
+               ao_ads124s0x_current.ain[0],
+               ao_ads124s0x_current.ain[1],
+               ao_ads124s0x_current.ain[2],
+               ao_ads124s0x_current.ain[3]);
 }
 
 const struct ao_cmds ao_ads124s0x_cmds[] = {
@@ -166,8 +183,9 @@ void
 ao_ads124s0x_init(void)
 {
        ao_cmd_register(ao_ads124s0x_cmds);
+
        ao_spi_init_cs(AO_ADS124S0X_SPI_CS_PORT, 
                (1 << AO_ADS124S0X_SPI_CS_PIN));
 
-       ao_add_task(&ao_ads124s0x_task, ao_ads124s0x, "ads124s0x");
+//     ao_add_task(&ao_ads124s0x_task, ao_ads124s0x, "ads124s0x");
 }