altos: first cut at ADS124S0X driver interrupt handling

diff --git a/src/drivers/ao_ads124s0x.c b/src/drivers/ao_ads124s0x.c
index e779b29394f117c56f15a37c08994687feb8da89..9ead34c1c5e4402bac27263c3af56c4c8567c35e 100644 (file)
--- a/src/drivers/ao_ads124s0x.c
+++ b/src/drivers/ao_ads124s0x.c
@@ -13,6 +13,7 @@
  */
 
 #include <ao.h>
+#include <ao_exti.h>
 #include "ao_ads124s0x.h"
 
 #define DEBUG_LOW      1
@@ -27,6 +28,8 @@
 #endif
 
 struct ao_ads124s0x_sample     ao_ads124s0x_current;
+uint8_t                nextchan = 0;
+uint8_t                ao_ads124s0x_drdy;
 
 static void
 ao_ads124s0x_start(void) {
@@ -94,15 +97,16 @@ ao_ads124s0x_setup(void)
 {
        uint8_t d[20];
 
-/*     we have nowhere to report this error to since ao_sensor_errors is
-       normally part of ao_flight?
-
        uint8_t devid = ao_ads124s0x_reg_read(AO_ADS124S0X_ID);
        if (devid != AO_ADS124S0X_ID_ADS124S06)
-               ao_sensor_errors = 1;
-*/
+               ao_panic(AO_PANIC_SELF_TEST_ADS124S0X);
+
+       ao_exti_setup(AO_ADS124S0x_DRDY_PORT, AO_ADS124S0X_DRDY_PIN,
+               AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_HIGH,
+               ao_ads124s0x_isr);
 
-       /* 1ksps each across 4 inputs using full duplex ala 9.5.4.3 */
+       /* run converter at 4ksps so we can scan 4 channels at 1ksps using
+          full duplex ala datasheet section 9.5.4.3 */
 
        d[0] = AO_ADS124S0X_INPMUX | AO_ADS124S0X_WREG;
        d[1] = 8;       /* write 8 registers starting with INPMUX */
@@ -133,16 +137,38 @@ ao_ads124s0x_setup(void)
 static void
 ao_ads124s0x(void)
 {
+       uint8_t d[3], curchan;
+
        ao_ads124s0x_setup();
-/*
+
+       ao_exti_enable(AO_ADS124S0X_DRDY_PORT, AO_ADS124S0X_DRDY_PIN);
+
        for (;;) {
-               ao_ads124s0x_value(&ao_ads124s0x_current);
-               ao_arch_critical(
-                       AO_DATA_PRESENT(AO_DATA_ADS124S0X);
-                       AO_DATA_WAIT();
-                       );
+               ao_sleep(&ao_ads124s0x_drdy);
+
+               curchan = nextchan;
+               nextchan = (nextchan + 1) % AO_ADS124S0X_CHANNELS;
+
+               d[0] = AO_ADS124S0X_INPMUX | AO_ADS124S0X_WREG;
+               d[1] = 1;                       
+               d[2] = nextchan << 4 | 0x0c; ;  /* relative to AINCOM */
+               ao_ads124s0x_start();
+               ao_spi_duplex(d, d, 3, AO_ADS124S0X_SPI_BUS);
+               ao_ads124s0x_stop();
+
+               ao_ads124s0x_current.ain[curchan] = 
+                       d[0] << 16 | d[1] << 8 | d[2];
+
+               // FIXME
+               //      If nextchan == 0, we have a complete set of inputs
+               //      and we need to log them somewhere
+
        }
-*/
+}
+
+void ao_ads124s0x_isr(void)
+{
+       ao_wakeup(&ao_ads124s0x_drdy);
 }
 
 static struct ao_task ao_ads124s0x_task;
@@ -151,10 +177,10 @@ static void
 ao_ads124s0x_dump(void)                        // FIXME
 {
        printf ("ADS124S0X value %d %d %d %d\n",
-               ao_ads124s0x_current.ain0,
-               ao_ads124s0x_current.ain1,
-               ao_ads124s0x_current.ain2,
-               ao_ads124s0x_current.ain3);
+               ao_ads124s0x_current.ain[0],
+               ao_ads124s0x_current.ain[1],
+               ao_ads124s0x_current.ain[2],
+               ao_ads124s0x_current.ain[3]);
 }
 
 const struct ao_cmds ao_ads124s0x_cmds[] = {
@@ -166,6 +192,7 @@ void
 ao_ads124s0x_init(void)
 {
        ao_cmd_register(ao_ads124s0x_cmds);
+
        ao_spi_init_cs(AO_ADS124S0X_SPI_CS_PORT, 
                (1 << AO_ADS124S0X_SPI_CS_PIN));
 

diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 9baae8b437d310b071618b57795b11575c650637..910c1d8ed97c532c70da13957fd087f6ee06b84a 100644 (file)
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -76,6 +76,7 @@ typedef AO_PORT_TYPE ao_port_t;
 #define AO_PANIC_SELF_TEST_MPU6000     0x40 | 3        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MPU9250     0x40 | 3        /* Self test failure */
 #define AO_PANIC_SELF_TEST_MS5607      0x40 | 4        /* Self test failure */
+#define AO_PANIC_SELF_TEST_ADS124S0X   0x40 | 5        /* Self test failure */
 
 /* Stop the operating system, beeping and blinking the reason */
 void