X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fstm%2Fao_adc_stm.c;h=2399e6a281bf7196f1e75474d89fb84d77b056c6;hp=53f19b406d20a884f6c33b6219b2dc55f10e9b76;hb=684741765117611b7d666efbdfafd87c6199752c;hpb=6d553230903ddd0ec522c07be0df975b38ef23d3

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 53f19b40..2399e6a2 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -41,6 +42,7 @@ static uint8_t			ao_adc_ready;
  */
 static void ao_adc_done(int index)
 {
+	(void) index;
 	AO_DATA_PRESENT(AO_DATA_ADC);
 	ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
 	if (ao_data_present == AO_DATA_ALL) {
@@ -55,6 +57,9 @@ static void ao_adc_done(int index)
 #endif
 #if HAS_MPU6000
 		ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+#if HAS_MPU9250
+		ao_data_ring[ao_data_head].mpu9250 = ao_mpu9250_current;
 #endif
 		ao_data_ring[ao_data_head].tick = ao_tick_count;
 		ao_data_head = ao_data_ring_next(ao_data_head);
@@ -95,7 +100,7 @@ ao_adc_poll(void)
  * Fetch a copy of the most recent ADC data
  */
 void
-ao_adc_get(__xdata struct ao_adc *packet)
+ao_adc_get(struct ao_adc *packet)
 {
 #if HAS_FLIGHT
 	uint8_t	i = ao_data_ring_prev(ao_sample_data);
@@ -105,12 +110,80 @@ ao_adc_get(__xdata struct ao_adc *packet)
 	memcpy(packet, (void *) &ao_data_ring[i].adc, sizeof (struct ao_adc));
 }
 
+#ifdef AO_ADC_SQ1_NAME
+static const char *ao_adc_name[AO_NUM_ADC] = {
+	AO_ADC_SQ1_NAME,
+#ifdef AO_ADC_SQ2_NAME
+	AO_ADC_SQ2_NAME,
+#endif
+#ifdef AO_ADC_SQ3_NAME
+	AO_ADC_SQ3_NAME,
+#endif
+#ifdef AO_ADC_SQ4_NAME
+	AO_ADC_SQ4_NAME,
+#endif
+#ifdef AO_ADC_SQ5_NAME
+	AO_ADC_SQ5_NAME,
+#endif
+#ifdef AO_ADC_SQ6_NAME
+	AO_ADC_SQ6_NAME,
+#endif
+#ifdef AO_ADC_SQ7_NAME
+	AO_ADC_SQ7_NAME,
+#endif
+#ifdef AO_ADC_SQ8_NAME
+	AO_ADC_SQ8_NAME,
+#endif
+#ifdef AO_ADC_SQ9_NAME
+	AO_ADC_SQ9_NAME,
+#endif
+#ifdef AO_ADC_SQ10_NAME
+	AO_ADC_SQ10_NAME,
+#endif
+#ifdef AO_ADC_SQ11_NAME
+	AO_ADC_SQ11_NAME,
+#endif
+#ifdef AO_ADC_SQ12_NAME
+	AO_ADC_SQ12_NAME,
+#endif
+#ifdef AO_ADC_SQ13_NAME
+	AO_ADC_SQ13_NAME,
+#endif
+#ifdef AO_ADC_SQ14_NAME
+	AO_ADC_SQ14_NAME,
+#endif
+#ifdef AO_ADC_SQ15_NAME
+	AO_ADC_SQ15_NAME,
+#endif
+#ifdef AO_ADC_SQ16_NAME
+	AO_ADC_SQ16_NAME,
+#endif
+#ifdef AO_ADC_SQ17_NAME
+	AO_ADC_SQ17_NAME,
+#endif
+#ifdef AO_ADC_SQ18_NAME
+	AO_ADC_SQ18_NAME,
+#endif
+#ifdef AO_ADC_SQ19_NAME
+	AO_ADC_SQ19_NAME,
+#endif
+#ifdef AO_ADC_SQ20_NAME
+	AO_ADC_SQ20_NAME,
+#endif
+#ifdef AO_ADC_SQ21_NAME
+	#error "too many ADC names"
+#endif
+};
+#endif
+
 static void
-ao_adc_dump(void) __reentrant
+ao_adc_dump(void) 
 {
 	struct ao_data	packet;
-	int16_t *d;
+#ifndef AO_ADC_DUMP
 	uint8_t i;
+	int16_t *d;
+#endif
 
 	ao_data_get(&packet);
 #ifdef AO_ADC_DUMP
@@ -118,13 +191,19 @@ ao_adc_dump(void) __reentrant
 #else
 	printf("tick: %5u",  packet.tick);
 	d = (int16_t *) (&packet.adc);
-	for (i = 0; i < AO_NUM_ADC; i++)
-		printf (" %2d: %5d", i, d[i]);
+	for (i = 0; i < AO_NUM_ADC; i++) {
+#ifdef AO_ADC_SQ1_NAME
+		if (ao_adc_name[i])
+			printf (" %s: %5d", ao_adc_name[i], d[i]);
+		else		
+#endif
+			printf (" %2d: %5d", i, d[i]);
+	}
 	printf("\n");
 #endif
 }
 
-__code struct ao_cmds ao_adc_cmds[] = {
+const struct ao_cmds ao_adc_cmds[] = {
 	{ ao_adc_dump,	"a\0Display current ADC values" },
 	{ 0, NULL },
 };
@@ -175,6 +254,42 @@ ao_adc_init(void)
 #ifdef AO_ADC_PIN12_PORT
 	stm_moder_set(AO_ADC_PIN12_PORT, AO_ADC_PIN12_PIN, STM_MODER_ANALOG);
 #endif
+#ifdef AO_ADC_PIN13_PORT
+	stm_moder_set(AO_ADC_PIN13_PORT, AO_ADC_PIN13_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN14_PORT
+	stm_moder_set(AO_ADC_PIN14_PORT, AO_ADC_PIN14_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN15_PORT
+	stm_moder_set(AO_ADC_PIN15_PORT, AO_ADC_PIN15_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN16_PORT
+	stm_moder_set(AO_ADC_PIN16_PORT, AO_ADC_PIN16_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN17_PORT
+	stm_moder_set(AO_ADC_PIN17_PORT, AO_ADC_PIN17_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN18_PORT
+	stm_moder_set(AO_ADC_PIN18_PORT, AO_ADC_PIN18_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN19_PORT
+	stm_moder_set(AO_ADC_PIN19_PORT, AO_ADC_PIN19_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN20_PORT
+	stm_moder_set(AO_ADC_PIN20_PORT, AO_ADC_PIN20_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN21_PORT
+	stm_moder_set(AO_ADC_PIN21_PORT, AO_ADC_PIN21_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN22_PORT
+	stm_moder_set(AO_ADC_PIN22_PORT, AO_ADC_PIN22_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN23_PORT
+	stm_moder_set(AO_ADC_PIN23_PORT, AO_ADC_PIN23_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN24_PORT
+	#error "Too many ADC ports"
+#endif
 
 	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADC1EN);
 
@@ -245,9 +360,27 @@ ao_adc_init(void)
 	stm_adc.sqr4 |= (AO_ADC_SQ12 << 25);
 #endif
 #if AO_NUM_ADC > 12
+	stm_adc.sqr3 |= (AO_ADC_SQ13 << 0);
+#endif
+#if AO_NUM_ADC > 13
+	stm_adc.sqr3 |= (AO_ADC_SQ14 << 5);
+#endif
+#if AO_NUM_ADC > 14
+	stm_adc.sqr3 |= (AO_ADC_SQ15 << 10);
+#endif
+#if AO_NUM_ADC > 15
+	stm_adc.sqr3 |= (AO_ADC_SQ16 << 15);
+#endif
+#if AO_NUM_ADC > 16
+	stm_adc.sqr3 |= (AO_ADC_SQ17 << 20);
+#endif
+#if AO_NUM_ADC > 17
+	stm_adc.sqr3 |= (AO_ADC_SQ18 << 25);
+#endif
+#if AO_NUM_ADC > 18
 #error "need to finish stm_adc.sqr settings"
 #endif
-	
+
 	/* Turn ADC on */
 	stm_adc.cr2 = AO_ADC_CR2_VAL;
 
@@ -255,6 +388,9 @@ ao_adc_init(void)
 	while (!(stm_adc.sr & (1 << STM_ADC_SR_ADONS)))
 		;
 
+#ifndef HAS_ADC_TEMP
+#error Please define HAS_ADC_TEMP
+#endif
 #if HAS_ADC_TEMP
 	stm_adc.ccr = ((1 << STM_ADC_CCR_TSVREFE));
 #else