altos: Wait after configuring boot pin before testing it

[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 ed1d20c9a454eb342f642d69d7125361b2b7c33d..48fc4262f7cb822f298168e7f55d5a9478c757b9 100644 (file)
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -17,15 +17,6 @@
 
 #include <ao.h>
 #include <ao_data.h>
-#if HAS_MPU6000
-#include <ao_mpu6000.h>
-#endif
-#if HAS_MS5607
-#include <ao_ms5607.h>
-#endif
-
-volatile __xdata struct ao_data        ao_data_ring[AO_DATA_RING];
-volatile __data uint8_t                ao_data_head;
 
 static uint8_t                 ao_adc_ready;
 
@@ -50,28 +41,25 @@ 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
+       AO_DATA_PRESENT(AO_DATA_ADC);
+       ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
+       if (ao_data_present == AO_DATA_ALL) {
 #if HAS_MS5607
-       if (!ao_ms5607_valid)
-               step = 0;
-       ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current;
-#endif 
+               ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current;
+#endif
+#if HAS_MMA655X
+               ao_data_ring[ao_data_head].mma655x = ao_mma655x_current;
+#endif
 #if HAS_HMC5883
-       if (!ao_hmc5883_valid)
-               step = 0;
-       ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+               ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
 #endif
-       if (step) {
+#if HAS_MPU6000
+               ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+               ao_data_ring[ao_data_head].tick = ao_tick_count;
                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;
 }
 
@@ -117,17 +105,6 @@ ao_adc_get(__xdata struct ao_adc *packet)
        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));
-}
-
 static void
 ao_adc_dump(void) __reentrant
 {
@@ -156,43 +133,43 @@ ao_adc_init(void)
 #endif
 
 #ifdef AO_ADC_PIN0_PORT
-       stm_moder_set(&AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN1_PORT
-       stm_moder_set(&AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN2_PORT
-       stm_moder_set(&AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN3_PORT
-       stm_moder_set(&AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN4_PORT
-       stm_moder_set(&AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN5_PORT
-       stm_moder_set(&AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN6_PORT
-       stm_moder_set(&AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN7_PORT
-       stm_moder_set(&AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN8_PORT
-       stm_moder_set(&AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG);
+       stm_moder_set(AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG);
 #endif
 #ifdef AO_ADC_PIN9_PORT
-       stm_moder_set(&AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG);
+       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);
+       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);
+       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);
+       stm_moder_set(AO_ADC_PIN12_PORT, AO_ADC_PIN12_PIN, STM_MODER_ANALOG);
 #endif
 
        stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADC1EN);
@@ -281,8 +258,10 @@ ao_adc_init(void)
 #endif
        /* Clear any stale status bits */
        stm_adc.sr = 0;
-       ao_adc_ready = 1;
 
        ao_dma_alloc(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
+
        ao_cmd_register(&ao_adc_cmds[0]);
+
+       ao_adc_ready = 1;
 }