From 8cc418ed3b0df0e465f0af27c2255cb97294e6ce Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Sun, 24 Feb 2019 10:25:31 -0700 Subject: [PATCH] altos: first cut at ADS124S0X driver interrupt handling --- src/drivers/ao_ads124s0x.c | 61 +++++++++++++++++++++++++++----------- src/kernel/ao.h | 1 + 2 files changed, 45 insertions(+), 17 deletions(-) diff --git a/src/drivers/ao_ads124s0x.c b/src/drivers/ao_ads124s0x.c index e779b293..9ead34c1 100644 --- a/src/drivers/ao_ads124s0x.c +++ b/src/drivers/ao_ads124s0x.c @@ -13,6 +13,7 @@ */ #include +#include #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 9baae8b4..910c1d8e 100644 --- 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 -- 2.30.2