altos: Re-enable the ms5607 and mma655x acquisition threads

[fw/altos] / src / drivers / ao_ms5607.c

diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 704b4583ec9e973848b82e22e1a9ef52aed82241..76931b4b07a15b263fd06d607079efc5d9c849a7 100644 (file)
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -19,7 +19,7 @@
 #include <ao_exti.h>
 #include "ao_ms5607.h"
 
-#if HAS_MS5607
+#if HAS_MS5607 || HAS_MS5611
 
 static struct ao_ms5607_prom   ms5607_prom;
 static uint8_t                 ms5607_configured;
@@ -92,7 +92,7 @@ ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
                printf ("MS5607 PROM CRC error (computed %x actual %x)\n",
                        crc, (((uint8_t *) prom)[15] & 0xf));
                flush();
-//             ao_panic(AO_PANIC_SELF_TEST_MS5607);
+               ao_panic(AO_PANIC_SELF_TEST_MS5607);
        }
 
 #if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -179,9 +179,13 @@ ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value
        
        TEMP = 2000 + (((int64_t) dT * ms5607_prom.tempsens) >> 23);
 
+#if HAS_MS5611
+       OFF = ((int64_t) ms5607_prom.off << 16) + (((int64_t) ms5607_prom.tco * dT) >> 7);
+       SENS = ((int64_t) ms5607_prom.sens << 15) + (((int64_t) ms5607_prom.tcs * dT) >> 8);
+#else
        OFF = ((int64_t) ms5607_prom.off << 17) + (((int64_t) ms5607_prom.tco * dT) >> 6);
-
        SENS = ((int64_t) ms5607_prom.sens << 16) + (((int64_t) ms5607_prom.tcs * dT) >> 7);
+#endif
 
        if (TEMP < 2000) {
                int32_t T2 = ((int64_t) dT * (int64_t) dT) >> 31;
@@ -258,7 +262,7 @@ ao_ms5607_init(void)
        ao_cmd_register(&ao_ms5607_cmds[0]);
        ao_spi_init_cs(AO_MS5607_CS_PORT, (1 << AO_MS5607_CS_PIN));
 
-//     ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
+       ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
 
        /* Configure the MISO pin as an interrupt; when the
         * conversion is complete, the MS5607 will raise this