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 f79c315a2a683df13c01636dc979625fb4e64fbd..76931b4b07a15b263fd06d607079efc5d9c849a7 100644 (file)
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -19,18 +19,20 @@
 #include <ao_exti.h>
 #include "ao_ms5607.h"
 
+#if HAS_MS5607 || HAS_MS5611
+
 static struct ao_ms5607_prom   ms5607_prom;
 static uint8_t                 ms5607_configured;
 
 static void
 ao_ms5607_start(void) {
-       ao_spi_get(AO_MS5607_SPI_INDEX);
-       stm_gpio_set(&AO_MS5607_CS_GPIO, AO_MS5607_CS, 0);
+       ao_spi_get(AO_MS5607_SPI_INDEX,AO_SPI_SPEED_FAST);
+       stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 0);
 }
 
 static void
 ao_ms5607_stop(void) {
-       stm_gpio_set(&AO_MS5607_CS_GPIO, AO_MS5607_CS, 1);
+       stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
        ao_spi_put(AO_MS5607_SPI_INDEX);
 }
 
@@ -90,7 +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);
+               ao_panic(AO_PANIC_SELF_TEST_MS5607);
        }
 
 #if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -118,6 +120,7 @@ static uint8_t      ao_ms5607_done;
 static void
 ao_ms5607_isr(void)
 {
+       ao_exti_disable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
        ao_ms5607_done = 1;
        ao_wakeup(&ao_ms5607_done);
 }
@@ -132,13 +135,19 @@ ao_ms5607_get_sample(uint8_t cmd) {
 
        ao_ms5607_start();
        ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
-       ao_exti_enable(&AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+       ao_exti_enable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
+#if AO_MS5607_PRIVATE_PINS
+       ao_spi_put(AO_MS5607_SPI_INDEX);
+#endif
        cli();
        while (!ao_ms5607_done)
                ao_sleep(&ao_ms5607_done);
        sei();
-       ao_exti_disable(&AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+#if AO_MS5607_PRIVATE_PINS
+       stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
+#else
        ao_ms5607_stop();
+#endif
 
        ao_ms5607_start();
        read = AO_MS5607_ADC_READ;
@@ -170,9 +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;
@@ -194,31 +207,25 @@ ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value
        value->temp = TEMP;
 }
 
-struct ao_ms5607_sample        ao_ms5607_current;
-
 static void
 ao_ms5607(void)
 {
        ao_ms5607_setup();
        for (;;)
        {
-               struct ao_ms5607_sample ao_ms5607_next;
-               ao_ms5607_sample(&ao_ms5607_next);
+               ao_ms5607_sample((struct ao_ms5607_sample *) &ao_data_ring[ao_data_head].ms5607_raw);
                ao_arch_critical(
-                       ao_ms5607_current = ao_ms5607_next;
+                       AO_DATA_PRESENT(AO_DATA_MS5607);
+                       AO_DATA_WAIT();
                        );
-               ao_delay(0);
        }
 }
 
 __xdata struct ao_task ao_ms5607_task;
 
-static void
-ao_ms5607_dump(void)
+void
+ao_ms5607_info(void)
 {
-       struct ao_ms5607_sample sample;
-       struct ao_ms5607_value value;
-
        printf ("ms5607 reserved: %u\n", ms5607_prom.reserved);
        printf ("ms5607 sens: %u\n", ms5607_prom.sens);
        printf ("ms5607 off: %u\n", ms5607_prom.off);
@@ -227,8 +234,16 @@ ao_ms5607_dump(void)
        printf ("ms5607 tref: %u\n", ms5607_prom.tref);
        printf ("ms5607 tempsens: %u\n", ms5607_prom.tempsens);
        printf ("ms5607 crc: %u\n", ms5607_prom.crc);
+}
+
+static void
+ao_ms5607_dump(void)
+{
+       struct ao_ms5607_sample sample;
+       struct ao_ms5607_value value;
 
-       sample = ao_ms5607_current;
+       ao_ms5607_setup();
+       ao_ms5607_sample(&sample);
        ao_ms5607_convert(&sample, &value);
        printf ("Pressure:    %8u %8d\n", sample.pres, value.pres);
        printf ("Temperature: %8u %8d\n", sample.temp, value.temp);
@@ -236,7 +251,7 @@ ao_ms5607_dump(void)
 }
 
 __code struct ao_cmds ao_ms5607_cmds[] = {
-       { ao_ms5607_dump,       "p\0Display MS5607 data" },
+       { ao_ms5607_dump,       "B\0Display MS5607 data" },
        { 0, NULL },
 };
 
@@ -245,7 +260,7 @@ ao_ms5607_init(void)
 {
        ms5607_configured = 0;
        ao_cmd_register(&ao_ms5607_cmds[0]);
-       ao_spi_init_cs(AO_MS5607_CS_GPIO, (1 << AO_MS5607_CS));
+       ao_spi_init_cs(AO_MS5607_CS_PORT, (1 << AO_MS5607_CS_PIN));
 
        ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
 
@@ -253,15 +268,17 @@ ao_ms5607_init(void)
         * conversion is complete, the MS5607 will raise this
         * pin as a signal
         */
-       ao_exti_setup(&AO_MS5607_MISO_GPIO,
-                     AO_MS5607_MISO,
+       ao_exti_setup(AO_MS5607_MISO_PORT,
+                     AO_MS5607_MISO_PIN,
                      AO_EXTI_MODE_RISING,
                      ao_ms5607_isr);
 
        /* Reset the pin from INPUT to ALTERNATE so that SPI works
         * This needs an abstraction at some point...
         */
-       stm_moder_set(&AO_MS5607_MISO_GPIO,
-                     AO_MS5607_MISO,
+       stm_moder_set(AO_MS5607_MISO_PORT,
+                     AO_MS5607_MISO_PIN,
                      STM_MODER_ALTERNATE);
 }
+
+#endif