altos: Don't start ADC ring until the other sensors have a valid value

[fw/altos] / src / stm / ao_adc_stm.c

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 576dbf5d6c76b78c946575aa94f0c29f8d3d55ee..02187205eb18a82b4256c9669c33ee5cde2bb4ee 100644 (file)
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -50,15 +50,22 @@ 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 (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;
 }