From f89e7de20374141b367205aa517a08ee203bfaf3 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 26 Aug 2012 09:53:16 -0700 Subject: [PATCH] altos: Trigger sample complete when all data are ready This has each sensor mark a bit in the current data record which is then sent for processing when all of the data are present. Signed-off-by: Keith Packard --- src/core/ao_data.h | 50 +++++++++++++++++++++++++++++++++ src/drivers/ao_hmc5883.c | 23 ++++++--------- src/drivers/ao_hmc5883.h | 4 --- src/drivers/ao_mma655x.c | 23 +++++++++++++-- src/drivers/ao_mpu6000.c | 30 ++++++++------------ src/drivers/ao_mpu6000.h | 3 -- src/drivers/ao_ms5607.c | 26 ++++++++--------- src/drivers/ao_ms5607.h | 3 -- src/megametrum-v0.1/Makefile | 2 ++ src/megametrum-v0.1/ao_pins.h | 2 +- src/megametrum-v0.1/stlink-pins | 8 ++++++ src/stm-demo/Makefile | 1 + src/stm/ao_adc_stm.c | 42 +-------------------------- src/stm/ao_timer.c | 19 +++++++------ 14 files changed, 126 insertions(+), 110 deletions(-) diff --git a/src/core/ao_data.h b/src/core/ao_data.h index fdc49ca2..3b66ef5d 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -18,18 +18,42 @@ #ifndef _AO_DATA_H_ #define _AO_DATA_H_ +#if HAS_ADC +#define AO_DATA_ADC (1 << 0) +#else +#define AO_DATA_ADC 0 +#endif + #if HAS_MS5607 #include +#define AO_DATA_MS5607 (1 << 1) +#else +#define AO_DATA_MS5607 (1 << 1) #endif #if HAS_MPU6000 #include +#define AO_DATA_MPU6000 (1 << 2) +#else +#define AO_DATA_MPU6000 0 #endif #if HAS_HMC5883 #include +#define AO_DATA_HMC5883 (1 << 3) +#else +#define AO_DATA_HMC5883 0 +#endif + +#if HAS_MMA655X +#include +#define AO_DATA_MMA655X (1 << 4) +#else +#define AO_DATA_MMA655X 0 #endif +#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X) + struct ao_data { uint16_t tick; #if HAS_ADC @@ -45,6 +69,9 @@ struct ao_data { #if HAS_HMC5883 struct ao_hmc5883_sample hmc5883; #endif +#if HAS_MMA655X + uint16_t mma655x; +#endif }; #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) @@ -52,6 +79,29 @@ struct ao_data { extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; extern volatile __data uint8_t ao_data_head; +extern volatile __data uint8_t ao_data_present; +extern volatile __data uint8_t ao_data_count; + +/* + * 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); + +/* + * Wait for data to be completed by looking at the + * indicated bit + */ +#define AO_DATA_WAIT() do { \ + ao_sleep((void *) &ao_data_count); \ + } while (0) + #if HAS_MS5607 diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c index dbeb66b8..ade6c263 100644 --- a/src/drivers/ao_hmc5883.c +++ b/src/drivers/ao_hmc5883.c @@ -19,7 +19,7 @@ #include #include -uint8_t ao_hmc5883_valid; +#if HAS_HMC5883 static uint8_t ao_hmc5883_configured; @@ -123,21 +123,16 @@ ao_hmc5883_setup(void) return 1; } -struct ao_hmc5883_sample ao_hmc5883_current; - static void ao_hmc5883(void) { ao_hmc5883_setup(); for (;;) { - struct ao_hmc5883_sample ao_hmc5883_next; - - ao_hmc5883_sample(&ao_hmc5883_next); + ao_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883); ao_arch_critical( - ao_hmc5883_current = ao_hmc5883_next; - ao_hmc5883_valid = 1; + AO_DATA_PRESENT(AO_DATA_HMC5883); + AO_DATA_WAIT(); ); - ao_delay(0); } } @@ -146,11 +141,10 @@ static struct ao_task ao_hmc5883_task; static void ao_hmc5883_show(void) { - struct ao_hmc5883_sample sample; - - sample = ao_hmc5883_current; + struct ao_data sample; + ao_data_get(&sample); printf ("X: %d Y: %d Z: %d missed irq: %lu\n", - sample.x, sample.y, sample.z, ao_hmc5883_missed_irq); + sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq); } static const struct ao_cmds ao_hmc5883_cmds[] = { @@ -162,7 +156,6 @@ void ao_hmc5883_init(void) { ao_hmc5883_configured = 0; - ao_hmc5883_valid = 0; ao_enable_port(AO_HMC5883_INT_PORT); ao_exti_setup(AO_HMC5883_INT_PORT, @@ -173,3 +166,5 @@ ao_hmc5883_init(void) ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883"); ao_cmd_register(&ao_hmc5883_cmds[0]); } + +#endif diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h index 8d726510..55690978 100644 --- a/src/drivers/ao_hmc5883.h +++ b/src/drivers/ao_hmc5883.h @@ -75,14 +75,10 @@ #define HMC5883_ID_B 11 #define HMC5883_ID_C 12 -extern uint8_t ao_hmc5883_valid; - struct ao_hmc5883_sample { int16_t x, y, z; }; -extern struct ao_hmc5883_sample ao_hmc5883_current; - void ao_hmc5883_init(void); diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c index e4e41627..cd304d80 100644 --- a/src/drivers/ao_mma655x.c +++ b/src/drivers/ao_mma655x.c @@ -18,8 +18,9 @@ #include #include +#if HAS_MMA655X + static uint8_t mma655x_configured; -uint8_t ao_mma655x_valid; static void ao_mma655x_start(void) { @@ -197,14 +198,30 @@ __code struct ao_cmds ao_mma655x_cmds[] = { { 0, NULL }, }; +static void +ao_mma655x(void) +{ + ao_mma655x_setup(); + for (;;) { + ao_data_ring[ao_data_head].mma655x = ao_mma655x_value(); + ao_arch_critical( + AO_DATA_PRESENT(AO_DATA_MMA655X); + AO_DATA_WAIT(); + ); + } +} + +static __xdata struct ao_task ao_mma655x_task; + void ao_mma655x_init(void) { mma655x_configured = 0; - ao_mma655x_valid = 0; ao_cmd_register(&ao_mma655x_cmds[0]); ao_spi_init_cs(AO_MMA655X_CS_GPIO, (1 << AO_MMA655X_CS)); -// ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x"); + ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x"); } + +#endif diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index a1c32d4d..e8c80f12 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -240,22 +240,17 @@ ao_mpu6000_setup(void) ao_mpu6000_configured = 1; } -struct ao_mpu6000_sample ao_mpu6000_current; -uint8_t ao_mpu6000_valid; - static void ao_mpu6000(void) { ao_mpu6000_setup(); for (;;) { - struct ao_mpu6000_sample ao_mpu6000_next; - ao_mpu6000_sample(&ao_mpu6000_next); + ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000); ao_arch_critical( - ao_mpu6000_current = ao_mpu6000_next; - ao_mpu6000_valid = 1; + AO_DATA_PRESENT(AO_DATA_MPU6000); + AO_DATA_WAIT(); ); - ao_delay(0); } } @@ -264,18 +259,16 @@ static struct ao_task ao_mpu6000_task; static void ao_mpu6000_show(void) { - struct ao_mpu6000_sample sample; + struct ao_data sample; - ao_arch_critical( - sample = ao_mpu6000_current; - ); + ao_data_get(&sample); printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n", - sample.accel_x, - sample.accel_y, - sample.accel_z, - sample.gyro_x, - sample.gyro_y, - sample.gyro_z); + sample.mpu6000.accel_x, + sample.mpu6000.accel_y, + sample.mpu6000.accel_z, + sample.mpu6000.gyro_x, + sample.mpu6000.gyro_y, + sample.mpu6000.gyro_z); } static const struct ao_cmds ao_mpu6000_cmds[] = { @@ -287,7 +280,6 @@ void ao_mpu6000_init(void) { ao_mpu6000_configured = 0; - ao_mpu6000_valid = 0; ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000"); ao_cmd_register(&ao_mpu6000_cmds[0]); diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h index fc7af1e0..ca76b081 100644 --- a/src/drivers/ao_mpu6000.h +++ b/src/drivers/ao_mpu6000.h @@ -155,9 +155,6 @@ struct ao_mpu6000_sample { int16_t gyro_z; }; -extern struct ao_mpu6000_sample ao_mpu6000_current; -extern uint8_t ao_mpu6000_valid; - void ao_mpu6000_init(void); diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c index 1b55b7fd..ec0d2202 100644 --- a/src/drivers/ao_ms5607.c +++ b/src/drivers/ao_ms5607.c @@ -19,6 +19,8 @@ #include #include "ao_ms5607.h" +#if HAS_MS5607 + static struct ao_ms5607_prom ms5607_prom; static uint8_t ms5607_configured; @@ -201,22 +203,17 @@ ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value value->temp = TEMP; } -struct ao_ms5607_sample ao_ms5607_current; -uint8_t ao_ms5607_valid; - static void ao_ms5607(void) { ao_ms5607_setup(); for (;;) { - static struct ao_ms5607_sample ao_ms5607_next; - ao_ms5607_sample(&ao_ms5607_next); + ao_ms5607_sample((struct ao_ms5607_sample *) &ao_data_ring[ao_data_head].ms5607_raw); ao_arch_critical( - ao_ms5607_current = ao_ms5607_next; - ao_ms5607_valid = 1; + AO_DATA_PRESENT(AO_DATA_MS5607); + AO_DATA_WAIT(); ); - ao_delay(0); } } @@ -238,13 +235,13 @@ ao_ms5607_info(void) static void ao_ms5607_dump(void) { - struct ao_ms5607_sample sample; + struct ao_data sample; struct ao_ms5607_value value; - sample = ao_ms5607_current; - ao_ms5607_convert(&sample, &value); - printf ("Pressure: %8u %8d\n", sample.pres, value.pres); - printf ("Temperature: %8u %8d\n", sample.temp, value.temp); + ao_data_get(&sample); + ao_ms5607_convert(&sample.ms5607_raw, &value); + printf ("Pressure: %8u %8d\n", sample.ms5607_raw.pres, value.pres); + printf ("Temperature: %8u %8d\n", sample.ms5607_raw.temp, value.temp); printf ("Altitude: %ld\n", ao_pa_to_altitude(value.pres)); } @@ -257,7 +254,6 @@ void ao_ms5607_init(void) { ms5607_configured = 0; - ao_ms5607_valid = 0; ao_cmd_register(&ao_ms5607_cmds[0]); ao_spi_init_cs(AO_MS5607_CS_GPIO, (1 << AO_MS5607_CS)); @@ -279,3 +275,5 @@ ao_ms5607_init(void) AO_MS5607_MISO, STM_MODER_ALTERNATE); } + +#endif diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h index fa3b1c5b..e9c364d9 100644 --- a/src/drivers/ao_ms5607.h +++ b/src/drivers/ao_ms5607.h @@ -51,9 +51,6 @@ struct ao_ms5607_sample { uint32_t temp; /* raw 24 bit sensor */ }; -extern uint8_t ao_ms5607_valid; -extern struct ao_ms5607_sample ao_ms5607_current; - struct ao_ms5607_value { int32_t pres; /* in Pa * 10 */ int32_t temp; /* in °C * 100 */ diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile index 1dfebca0..a93f6f17 100644 --- a/src/megametrum-v0.1/Makefile +++ b/src/megametrum-v0.1/Makefile @@ -56,8 +56,10 @@ ALTOS_SRC = \ ao_cc1120.c \ ao_fec_tx.c \ ao_fec_rx.c \ + ao_data.c \ ao_ms5607.c \ ao_mma655x.c \ + ao_hmc5883.c \ ao_adc_stm.c \ ao_beep_stm.c \ ao_storage.c \ diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h index 6256d2f6..8b631ae9 100644 --- a/src/megametrum-v0.1/ao_pins.h +++ b/src/megametrum-v0.1/ao_pins.h @@ -309,7 +309,7 @@ struct ao_adc { * mma655x */ -#define HAS_MMA655X 1 +#define HAS_MMA655X 0 #define AO_MMA655X_SPI_INDEX AO_SPI_1_PA5_PA6_PA7 #define AO_MMA655X_CS_GPIO (&stm_gpiod) #define AO_MMA655X_CS 4 diff --git a/src/megametrum-v0.1/stlink-pins b/src/megametrum-v0.1/stlink-pins index 71042acc..e6094372 100644 --- a/src/megametrum-v0.1/stlink-pins +++ b/src/megametrum-v0.1/stlink-pins @@ -34,6 +34,14 @@ GND 3 7 JTMS 4 8 NRST 5 2 +TL debug connector: + + TL ST +GND 1 3 +NRST 2 5 +SWDIO 3 4 +SWCLK 4 2 + MegaAccel: Jumpers diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile index 340967fc..09c9c3ca 100644 --- a/src/stm-demo/Makefile +++ b/src/stm-demo/Makefile @@ -32,6 +32,7 @@ ALTOS_SRC = \ ao_dma_stm.c \ ao_spi_stm.c \ ao_adc_stm.c \ + ao_data.c \ ao_i2c_stm.c \ ao_usb_stm.c \ ao_exti_stm.c \ diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c index 7564c7fa..18ca6ea0 100644 --- a/src/stm/ao_adc_stm.c +++ b/src/stm/ao_adc_stm.c @@ -17,15 +17,6 @@ #include #include -#if HAS_MPU6000 -#include -#endif -#if HAS_MS5607 -#include -#endif - -volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; -volatile __data uint8_t ao_data_head; static uint8_t ao_adc_ready; @@ -50,27 +41,7 @@ static uint8_t ao_adc_ready; */ static void ao_adc_done(int index) { - uint8_t step = 1; - ao_data_ring[ao_data_head].tick = ao_time(); -#if HAS_MPU6000 - if (!ao_mpu6000_valid) - step = 0; - ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current; -#endif -#if HAS_MS5607 - if (!ao_ms5607_valid) - step = 0; - ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current; -#endif -#if HAS_HMC5883 - if (!ao_hmc5883_valid) - step = 0; - ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current; -#endif - if (step) { - ao_data_head = ao_data_ring_next(ao_data_head); - ao_wakeup((void *) &ao_data_head); - } + AO_DATA_PRESENT(AO_DATA_ADC); ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1)); ao_adc_ready = 1; } @@ -117,17 +88,6 @@ ao_adc_get(__xdata struct ao_adc *packet) memcpy(packet, (void *) &ao_data_ring[i].adc, sizeof (struct ao_adc)); } -void -ao_data_get(__xdata struct ao_data *packet) -{ -#if HAS_FLIGHT - uint8_t i = ao_data_ring_prev(ao_sample_data); -#else - uint8_t i = ao_data_ring_prev(ao_data_head); -#endif - memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); -} - static void ao_adc_dump(void) __reentrant { diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index adec7aad..78228e65 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -37,9 +37,9 @@ ao_delay(uint16_t ticks) ao_sleep(&ao_forever); } -#if HAS_ADC -volatile __data uint8_t ao_adc_interval = 1; -volatile __data uint8_t ao_adc_count; +#if AO_DATA_ALL +volatile __data uint8_t ao_data_interval = 1; +volatile __data uint8_t ao_data_count; #endif void @@ -51,10 +51,13 @@ void stm_tim6_isr(void) if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) { stm_tim6.sr = 0; ++ao_tick_count; -#if HAS_ADC - if (++ao_adc_count == ao_adc_interval) { - ao_adc_count = 0; +#if AO_DATA_ALL + if (++ao_data_count == ao_data_interval) { + ao_data_count = 0; ao_adc_poll(); +#if (AO_DATA_ALL & ~(AO_DATA_ADC)) + ao_wakeup((void *) &ao_data_count); +#endif } #endif } @@ -64,8 +67,8 @@ void stm_tim6_isr(void) void ao_timer_set_adc_interval(uint8_t interval) __critical { - ao_adc_interval = interval; - ao_adc_count = 0; + ao_data_interval = interval; + ao_data_count = 0; } #endif -- 2.30.2