From: Keith Packard <keithp@keithp.com>
Date: Sat, 15 Jan 2011 20:12:02 +0000 (-0800)
Subject: altos: Ensure flight code gets first crack at new ADC data
X-Git-Tag: debian/0.8.1+71+gda42f40~1^2~4
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=69290588980bb15732a99eca5c911a3b6e9a37b9

altos: Ensure flight code gets first crack at new ADC data

Instead of having everyone wait on the raw ADC ring, have the flight
code wait on that and have everyone else wait for the flight code to
finish looking at the data and move its pointer forwards.

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

diff --git a/src/ao.h b/src/ao.h
index 5721c344..abac22a3 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -649,7 +649,7 @@ enum ao_flight_state {
 	ao_flight_invalid = 9
 };
 
-extern __xdata struct ao_adc		ao_flight_data;
+extern __data uint8_t			ao_flight_adc;
 extern __pdata enum ao_flight_state	ao_flight_state;
 extern __pdata uint16_t			ao_flight_tick;
 extern __pdata int16_t			ao_flight_accel;
diff --git a/src/ao_adc.c b/src/ao_adc.c
index 49d2519e..f577b458 100644
--- a/src/ao_adc.c
+++ b/src/ao_adc.c
@@ -27,16 +27,10 @@ ao_adc_poll(void)
 	ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 0;
 }
 
-void
-ao_adc_sleep(void)
-{
-	ao_sleep(&ao_adc_ring);
-}
-
 void
 ao_adc_get(__xdata struct ao_adc *packet)
 {
-	uint8_t	i = ao_adc_ring_prev(ao_adc_head);
+	uint8_t	i = ao_adc_ring_prev(ao_flight_adc);
 	memcpy(packet, &ao_adc_ring[i], sizeof (struct ao_adc));
 }
 
@@ -65,7 +59,7 @@ ao_adc_isr(void) __interrupt 1
 		/* record this conversion series */
 		ao_adc_ring[ao_adc_head].tick = ao_time();
 		ao_adc_head = ao_adc_ring_next(ao_adc_head);
-		ao_wakeup(ao_adc_ring);
+		ao_wakeup(DATA_TO_XDATA(&ao_adc_head));
 	}
 }
 
diff --git a/src/ao_config.c b/src/ao_config.c
index e97b7eb1..bbee3b44 100644
--- a/src/ao_config.c
+++ b/src/ao_config.c
@@ -209,10 +209,10 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant
 	puts("Calibrating..."); flush();
 	i = ACCEL_CALIBRATE_SAMPLES;
 	accel_total = 0;
-	cal_adc_ring = ao_adc_head;
+	cal_adc_ring = ao_flight_adc;
 	while (i) {
-		ao_sleep(&ao_adc_ring);
-		while (i && cal_adc_ring != ao_adc_head) {
+		ao_sleep(DATA_TO_XDATA(&ao_flight_adc));
+		while (i && cal_adc_ring != ao_flight_adc) {
 			accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel;
 			cal_adc_ring = ao_adc_ring_next(cal_adc_ring);
 			i--;
diff --git a/src/ao_flight.c b/src/ao_flight.c
index e99692a3..9eb9a014 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -146,7 +146,8 @@ ao_flight(void)
 	ao_raw_pres = 0;
 	ao_flight_tick = 0;
 	for (;;) {
-		ao_sleep(&ao_adc_ring);
+		ao_wakeup(DATA_TO_XDATA(&ao_flight_adc));
+		ao_sleep(DATA_TO_XDATA(&ao_adc_head));
 		while (ao_flight_adc != ao_adc_head) {
 			__pdata uint8_t ticks;
 			__pdata int16_t ao_vel_change;
diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 108d2c19..5c619518 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -180,7 +180,7 @@ void
 ao_sleep(void *wchan)
 {
 	ao_dump_state();
-	if (wchan == &ao_adc_ring) {
+	if (wchan == &ao_adc_head) {
 		char		type;
 		uint16_t	tick;
 		uint16_t	a, b;
diff --git a/src/ao_ignite.c b/src/ao_ignite.c
index f2b15dd2..603fcd25 100644
--- a/src/ao_ignite.c
+++ b/src/ao_ignite.c
@@ -52,7 +52,6 @@ ao_igniter_status(enum ao_igniter igniter)
 	__xdata uint8_t request, firing, fired;
 
 	__critical {
-		ao_adc_sleep();
 		ao_adc_get(&adc);
 		request = ao_ignition[igniter].request;
 		fired = ao_ignition[igniter].fired;
diff --git a/src/ao_log.c b/src/ao_log.c
index fa072550..099c5f6f 100644
--- a/src/ao_log.c
+++ b/src/ao_log.c
@@ -99,10 +99,10 @@ ao_log(void)
 	/* Write the whole contents of the ring to the log
 	 * when starting up.
 	 */
-	ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
+	ao_log_adc_pos = ao_adc_ring_next(ao_flight_adc);
 	for (;;) {
 		/* Write samples to EEPROM */
-		while (ao_log_adc_pos != ao_adc_head) {
+		while (ao_log_adc_pos != ao_flight_adc) {
 			log.type = AO_LOG_SENSOR;
 			log.tick = ao_adc_ring[ao_log_adc_pos].tick;
 			log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
diff --git a/src/ao_test.c b/src/ao_test.c
index b9f7d338..14c2eb75 100644
--- a/src/ao_test.c
+++ b/src/ao_test.c
@@ -53,7 +53,7 @@ blink_1(void)
 	static __xdata struct ao_adc adc;
 
 	for (;;) {
-		ao_sleep(&ao_adc_ring);
+		ao_sleep(&ao_adc_head);
 		ao_adc_get(&adc);
 		if (adc.accel < 15900)
 			ao_led_on(AO_LED_RED);