Merge branch 'branch-1.2' into debian

1 files changed, 45 insertions, 60 deletions

diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index 704b4583..bd57400e 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -17,9 +17,9 @@
 
 #include <ao.h>
 #include <ao_exti.h>
-#include "ao_ms5607.h"
+#include <ao_ms5607.h>
 
-#if HAS_MS5607
+#if HAS_MS5607 || HAS_MS5611
 
 static struct ao_ms5607_prom	ms5607_prom;
 static uint8_t	  		ms5607_configured;
@@ -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 @@ 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;
@@ -89,10 +88,12 @@ ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
 	}
 	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();
-//		ao_panic(AO_PANIC_SELF_TEST_MS5607);
+#endif
+		ao_panic(AO_PANIC_SELF_TEST_MS5607);
 	}
 
 #if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -105,7 +106,7 @@ ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
 #endif
 }
 
-static void
+void
 ao_ms5607_setup(void)
 {
 	if (ms5607_configured)
@@ -115,34 +116,35 @@ ao_ms5607_setup(void)
 	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();
+	ao_arch_block_interrupts();
 	while (!ao_ms5607_done)
-		ao_sleep(&ao_ms5607_done);
-	sei();
+		ao_sleep((void *) &ao_ms5607_done);
+	ao_arch_release_interrupts();
 #if AO_MS5607_PRIVATE_PINS
 	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
 #else
@@ -158,50 +160,31 @@ ao_ms5607_get_sample(uint8_t cmd) {
 	return ((uint32_t) reply[0] << 16) | ((uint32_t) reply[1] << 8) | (uint32_t) reply[2];
 }
 
+#ifndef AO_MS5607_BARO_OVERSAMPLE
+#define AO_MS5607_BARO_OVERSAMPLE	2048
+#endif
+
+#ifndef AO_MS5607_TEMP_OVERSAMPLE
+#define AO_MS5607_TEMP_OVERSAMPLE	AO_MS5607_BARO_OVERSAMPLE
+#endif
+
+#define token_paster(x,y)	x ## y
+#define token_evaluator(x,y)	token_paster(x,y)
+
+#define AO_CONVERT_D1	token_evaluator(AO_MS5607_CONVERT_D1_, AO_MS5607_BARO_OVERSAMPLE)
+#define AO_CONVERT_D2	token_evaluator(AO_MS5607_CONVERT_D2_, AO_MS5607_TEMP_OVERSAMPLE)
+
 void
 ao_ms5607_sample(struct ao_ms5607_sample *sample)
 {
-	sample->pres = ao_ms5607_get_sample(AO_MS5607_CONVERT_D1_2048);
-	sample->temp = ao_ms5607_get_sample(AO_MS5607_CONVERT_D2_2048);
+	sample->pres = ao_ms5607_get_sample(AO_CONVERT_D1);
+	sample->temp = ao_ms5607_get_sample(AO_CONVERT_D2);
 }
 
-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);
-
-	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);
-
-	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;
-	}
+#include "ao_ms5607_convert.c"
 
-	value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15;
-	value->temp = TEMP;
-}
+#if HAS_TASK
+struct ao_ms5607_sample	ao_ms5607_current;
 
 static void
 ao_ms5607(void)
@@ -209,7 +192,7 @@ 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();
@@ -235,14 +218,11 @@ 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));
 }
 
@@ -250,15 +230,18 @@ __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));
 
-//	ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
+#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
@@ -269,12 +252,14 @@ ao_ms5607_init(void)
 		      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