Merge branch 'master' into mm-ms5611

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --combined src/core/ao_data.h
index 30208dfbdef780852b9df5646e88630ccf23532f,86acd48fa8c94fe92e076bf7aa15da771c219910..6fdd19cb9b7ca88cc72d1b6fd52073cd3ac032a2
--- 1/src/core/ao_data.h
--- 2/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@@ -52,6 -52,8 +52,8 @@@
  #define AO_DATA_MMA655X 0
  #endif
  
+ #ifdef AO_DATA_RING
+ 
  #define AO_DATA_ALL   (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
  
  struct ao_data {
@@@ -65,6 -67,9 +67,9 @@@
  #endif
  #if HAS_MPU6000
        struct ao_mpu6000_sample        mpu6000;
+ #if !HAS_MMA655X
+       int16_t                         z_accel;
+ #endif
  #endif
  #if HAS_HMC5883
        struct ao_hmc5883_sample        hmc5883;
@@@ -85,7 -90,14 +90,7 @@@ extern volatile __data uint8_t               ao_data
  /*
   * Mark a section of data as ready, check for data complete
   */
 -#define AO_DATA_PRESENT(bit)  do {                                    \
 -              if ((ao_data_present |= (bit)) == AO_DATA_ALL) {        \
 -                      ao_data_ring[ao_data_head].tick = ao_tick_count; \
 -                      ao_data_head = ao_data_ring_next(ao_data_head); \
 -                      ao_data_present = 0;                            \
 -                      ao_wakeup((void *) &ao_data_head);              \
 -              }                                                       \
 -      } while (0);
 +#define AO_DATA_PRESENT(bit)  (ao_data_present |= (bit))
  
  /*
   * Wait until it is time to write a sensor sample; this is
@@@ -95,6 -107,8 +100,8 @@@
                ao_sleep((void *) &ao_data_count);      \
        } while (0)
  
+ #endif /* AO_DATA_RING */
+ 
  #if !HAS_BARO && HAS_MS5607
  
  /* Either an MS5607 or an MS5611 hooked to a SPI port
@@@ -103,7 -117,12 +110,12 @@@
  #define HAS_BARO      1
  
  typedef int32_t       pres_t;
- typedef int32_t alt_t;
+ 
+ #ifndef AO_ALT_TYPE
+ #define AO_ALT_TYPE   int32_t
+ #endif
+ 
+ typedef AO_ALT_TYPE   alt_t;
  
  #define ao_data_pres_cook(packet)     ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
  
@@@ -128,6 -147,10 +140,10 @@@ typedef int16_t alt_t
  
  #endif
  
+ #if !HAS_BARO
+ typedef int16_t alt_t;
+ #endif
+ 
  /*
   * Need a few macros to pull data from the sensors:
   *
@@@ -265,9 -288,9 +281,9 @@@ typedef int16_t accel_t
  typedef int16_t accel_t;
  
  /* MPU6000 is hooked up so that positive y is positive acceleration */
- #define ao_data_accel(packet)                 ((packet)->mpu6000.accel_y)
+ #define ao_data_accel(packet)                 ((packet)->z_accel)
  #define ao_data_accel_cook(packet)            (-(packet)->mpu6000.accel_y)
- #define ao_data_set_accel(packet, accel)      ((packet)->mpu6000.accel_y = (accel))
+ #define ao_data_set_accel(packet, accel)      ((packet)->z_accel = (accel))
  #define ao_data_accel_invert(a)                       (-(a))
  
  #endif

diff --combined src/drivers/ao_mpu6000.h
index ab36d6f27aeacf801aeec6fe943bfea5dc84ab70,5c0cee1b1184e02dcfdcf340e815ae3f4a75cac5..6aada9a927b9ac8da07165667fdab817cfb3b951
--- 1/src/drivers/ao_mpu6000.h
--- 2/src/drivers/ao_mpu6000.h
+++ b/src/drivers/ao_mpu6000.h
@@@ -145,6 -145,9 +145,9 @@@
  /* Self test gyro is approximately 50°/s */
  #define MPU6000_ST_GYRO(full_scale)   ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale)))
  
+ #define MPU6000_GYRO_FULLSCALE        2000
+ #define MPU6000_ACCEL_FULLSCALE       16
+ 
  struct ao_mpu6000_sample {
        int16_t         accel_x;
        int16_t         accel_y;
@@@ -155,8 -158,6 +158,8 @@@
        int16_t         gyro_z;
  };
  
 +extern struct ao_mpu6000_sample       ao_mpu6000_current;
 +
  void
  ao_mpu6000_init(void);
  

diff --combined src/drivers/ao_ms5607.c
index 736e115bd560d6fa938dea948aaa3f917fd5719c,fdd2c31e5992e4c96e1120d313bb13ba186978b7..077a40e6a02e6b4478e39b9923e021df99d1f00e
--- 1/src/drivers/ao_ms5607.c
--- 2/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@@ -17,7 -17,7 +17,7 @@@
  
  #include <ao.h>
  #include <ao_exti.h>
- #include "ao_ms5607.h"
+ #include <ao_ms5607.h>
  
  #if HAS_MS5607 || HAS_MS5611
  
@@@ -27,12 -27,12 +27,12 @@@ static uint8_t                     ms5607_configured
  static void
  ao_ms5607_start(void) {
        ao_spi_get(AO_MS5607_SPI_INDEX,AO_SPI_SPEED_FAST);
-       stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 0);
+       ao_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, AO_MS5607_CS, 0);
  }
  
  static void
  ao_ms5607_stop(void) {
-       stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
+       ao_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, AO_MS5607_CS, 1);
        ao_spi_put(AO_MS5607_SPI_INDEX);
  }
  
@@@ -53,7 -53,6 +53,6 @@@ ao_ms5607_crc(uint8_t *prom
        uint8_t         crc_byte = prom[15];
        uint8_t         cnt;
        uint16_t        n_rem = 0;
-       uint16_t        crc_read;
        uint8_t         n_bit;
  
        prom[15] = 0;
@@@ -89,9 -88,11 +88,11 @@@ ao_ms5607_prom_read(struct ao_ms5607_pr
        }
        crc = ao_ms5607_crc((uint8_t *) prom);
        if (crc != (((uint8_t *) prom)[15] & 0xf)) {
+ #if HAS_TASK
                printf ("MS5607 PROM CRC error (computed %x actual %x)\n",
                        crc, (((uint8_t *) prom)[15] & 0xf));
                flush();
+ #endif
                ao_panic(AO_PANIC_SELF_TEST_MS5607);
        }
  
@@@ -105,7 -106,7 +106,7 @@@
  #endif
  }
  
- static void
+ void
  ao_ms5607_setup(void)
  {
        if (ms5607_configured)
@@@ -115,33 -116,34 +116,34 @@@
        ao_ms5607_prom_read(&ms5607_prom);
  }
  
- static uint8_t        ao_ms5607_done;
+ static volatile 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);
+       ao_wakeup((void *) &ao_ms5607_done);
  }
  
  static uint32_t
  ao_ms5607_get_sample(uint8_t cmd) {
        uint8_t reply[3];
        uint8_t read;
-       uint16_t now;
  
        ao_ms5607_done = 0;
  
        ao_ms5607_start();
        ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
+ 
        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);
+               ao_sleep((void *) &ao_ms5607_done);
        sei();
  #if AO_MS5607_PRIVATE_PINS
        stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
@@@ -165,57 -167,16 +167,18 @@@ ao_ms5607_sample(struct ao_ms5607_sampl
        sample->temp = ao_ms5607_get_sample(AO_MS5607_CONVERT_D2_2048);
  }
  
- void
- ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value)
- {
-       uint8_t addr;
-       int32_t dT;
-       int32_t TEMP;
-       int64_t OFF;
-       int64_t SENS;
-       int32_t P;
- 
-       dT = sample->temp - ((int32_t) ms5607_prom.tref << 8);
-       
-       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;
-               int32_t TEMPM = TEMP - 2000;
-               int64_t OFF2 = (61 * (int64_t) TEMPM * (int64_t) TEMPM) >> 4;
-               int64_t SENS2 = 2 * (int64_t) TEMPM * (int64_t) TEMPM;
-               if (TEMP < 1500) {
-                       int32_t TEMPP = TEMP + 1500;
-                       int64_t TEMPP2 = TEMPP * TEMPP;
-                       OFF2 = OFF2 + 15 * TEMPP2;
-                       SENS2 = SENS2 + 8 * TEMPP2;
-               }
-               TEMP -= T2;
-               OFF -= OFF2;
-               SENS -= SENS2;
-       }
- 
-       value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15;
-       value->temp = TEMP;
- }
+ #include "ao_ms5607_convert.c"
  
+ #if HAS_TASK
 +struct ao_ms5607_sample       ao_ms5607_current;
 +
  static void
  ao_ms5607(void)
  {
        ao_ms5607_setup();
        for (;;)
        {
 -              ao_ms5607_sample((struct ao_ms5607_sample *) &ao_data_ring[ao_data_head].ms5607_raw);
 +              ao_ms5607_sample(&ao_ms5607_current);
                ao_arch_critical(
                        AO_DATA_PRESENT(AO_DATA_MS5607);
                        AO_DATA_WAIT();
@@@ -241,11 -202,14 +204,11 @@@ ao_ms5607_info(void
  static void
  ao_ms5607_dump(void)
  {
 -      struct ao_ms5607_sample sample;
        struct ao_ms5607_value value;
  
 -      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);
 +      ao_ms5607_convert(&ao_ms5607_current, &value);
 +      printf ("Pressure:    %8u %8d\n", ao_ms5607_current.pres, value.pres);
 +      printf ("Temperature: %8u %8d\n", ao_ms5607_current.temp, value.temp);
        printf ("Altitude: %ld\n", ao_pa_to_altitude(value.pres));
  }
  
@@@ -253,15 -217,18 +216,18 @@@ __code struct ao_cmds ao_ms5607_cmds[] 
        { ao_ms5607_dump,       "B\0Display MS5607 data" },
        { 0, NULL },
  };
+ #endif /* HAS_TASK */
  
  void
  ao_ms5607_init(void)
  {
        ms5607_configured = 0;
-       ao_cmd_register(&ao_ms5607_cmds[0]);
        ao_spi_init_cs(AO_MS5607_CS_PORT, (1 << AO_MS5607_CS_PIN));
  
+ #if HAS_TASK
+       ao_cmd_register(&ao_ms5607_cmds[0]);
        ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
+ #endif
  
        /* Configure the MISO pin as an interrupt; when the
         * conversion is complete, the MS5607 will raise this
@@@ -272,12 -239,14 +238,14 @@@
                      AO_EXTI_MODE_RISING,
                      ao_ms5607_isr);
  
+ #ifdef STM_MODER_ALTERNATE
        /* Reset the pin from INPUT to ALTERNATE so that SPI works
         * This needs an abstraction at some point...
         */
        stm_moder_set(AO_MS5607_MISO_PORT,
                      AO_MS5607_MISO_PIN,
                      STM_MODER_ALTERNATE);
+ #endif
  }
  
  #endif

diff --combined src/drivers/ao_ms5607.h
index 4c29f6a7448facf7d4e44c333a60108af2474146,5c31fd8b54cae35ab1999dea002bef1a23244b51..b2f98a59d9677397fa60e6a0fa42b94c5c6a8ded
--- 1/src/drivers/ao_ms5607.h
--- 2/src/drivers/ao_ms5607.h
+++ b/src/drivers/ao_ms5607.h
@@@ -56,8 -56,9 +56,11 @@@ struct ao_ms5607_value 
        int32_t         temp;   /* in °C * 100 */
  };
  
 +extern struct ao_ms5607_sample        ao_ms5607_current;
 +
+ void
+ ao_ms5607_setup(void);
+ 
  void
  ao_ms5607_init(void);