Merge branch 'new-debian' into debian

Conflicts:
	ChangeLog
	debian/altos.install
	debian/changelog
	debian/control
	debian/copyright
	debian/dirs
	debian/docs
	debian/menu
	debian/rules
	src/Makefile

1 files changed, 280 insertions, 0 deletions

diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
new file mode 100644
index 00000000..704b4583
--- /dev/null
+++ b/src/drivers/ao_ms5607.c
@@ -0,0 +1,280 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_exti.h>
+#include "ao_ms5607.h"
+
+#if HAS_MS5607
+
+static struct ao_ms5607_prom	ms5607_prom;
+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);
+}
+
+static void
+ao_ms5607_stop(void) {
+	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
+	ao_spi_put(AO_MS5607_SPI_INDEX);
+}
+
+static void
+ao_ms5607_reset(void) {
+	uint8_t	cmd;
+
+	cmd = AO_MS5607_RESET;
+	ao_ms5607_start();
+	ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
+	ao_delay(AO_MS_TO_TICKS(10));
+	ao_ms5607_stop();
+}
+
+static uint8_t
+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;
+	for (cnt = 0; cnt < 16; cnt++) {
+		n_rem ^= prom[cnt];
+		for (n_bit = 8; n_bit > 0; n_bit--) {
+			if (n_rem & 0x8000)
+				n_rem = (n_rem << 1) ^ 0x3000;
+			else
+				n_rem = (n_rem << 1);
+		}
+	}
+	n_rem = (n_rem >> 12) & 0xf;
+	prom[15] = crc_byte;
+	return n_rem;
+}
+
+static void
+ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
+{
+	uint8_t		addr;
+	uint8_t		crc;
+	uint16_t	*r;
+
+	r = (uint16_t *) prom;
+	for (addr = 0; addr < 8; addr++) {
+		uint8_t	cmd = AO_MS5607_PROM_READ(addr);
+		ao_ms5607_start();
+		ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
+		ao_spi_recv(r, 2, AO_MS5607_SPI_INDEX);
+		ao_ms5607_stop();
+		r++;
+	}
+	crc = ao_ms5607_crc((uint8_t *) prom);
+	if (crc != (((uint8_t *) prom)[15] & 0xf)) {
+		printf ("MS5607 PROM CRC error (computed %x actual %x)\n",
+			crc, (((uint8_t *) prom)[15] & 0xf));
+		flush();
+//		ao_panic(AO_PANIC_SELF_TEST_MS5607);
+	}
+
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+	/* Byte swap */
+	r = (uint16_t *) prom;
+	for (addr = 0; addr < 8; addr++) {
+		uint16_t	t = *r;
+		*r++ = (t << 8) | (t >> 8);
+	}
+#endif
+}
+
+static void
+ao_ms5607_setup(void)
+{
+	if (ms5607_configured)
+		return;
+	ms5607_configured = 1;
+	ao_ms5607_reset();
+	ao_ms5607_prom_read(&ms5607_prom);
+}
+
+static 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);
+}
+
+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();
+	while (!ao_ms5607_done)
+		ao_sleep(&ao_ms5607_done);
+	sei();
+#if AO_MS5607_PRIVATE_PINS
+	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
+#else
+	ao_ms5607_stop();
+#endif
+
+	ao_ms5607_start();
+	read = AO_MS5607_ADC_READ;
+	ao_spi_send(&read, 1, AO_MS5607_SPI_INDEX);
+	ao_spi_recv(&reply, 3, AO_MS5607_SPI_INDEX);
+	ao_ms5607_stop();
+
+	return ((uint32_t) reply[0] << 16) | ((uint32_t) reply[1] << 8) | (uint32_t) reply[2];
+}
+
+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);
+}
+
+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;
+	}
+
+	value->pres = ((((int64_t) sample->pres * SENS) >> 21) - OFF) >> 15;
+	value->temp = TEMP;
+}
+
+static void
+ao_ms5607(void)
+{
+	ao_ms5607_setup();
+	for (;;)
+	{
+		ao_ms5607_sample((struct ao_ms5607_sample *) &ao_data_ring[ao_data_head].ms5607_raw);
+		ao_arch_critical(
+			AO_DATA_PRESENT(AO_DATA_MS5607);
+			AO_DATA_WAIT();
+			);
+	}
+}
+
+__xdata struct ao_task ao_ms5607_task;
+
+void
+ao_ms5607_info(void)
+{
+	printf ("ms5607 reserved: %u\n", ms5607_prom.reserved);
+	printf ("ms5607 sens: %u\n", ms5607_prom.sens);
+	printf ("ms5607 off: %u\n", ms5607_prom.off);
+	printf ("ms5607 tcs: %u\n", ms5607_prom.tcs);
+	printf ("ms5607 tco: %u\n", ms5607_prom.tco);
+	printf ("ms5607 tref: %u\n", ms5607_prom.tref);
+	printf ("ms5607 tempsens: %u\n", ms5607_prom.tempsens);
+	printf ("ms5607 crc: %u\n", ms5607_prom.crc);
+}
+
+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);
+	printf ("Altitude: %ld\n", ao_pa_to_altitude(value.pres));
+}
+
+__code struct ao_cmds ao_ms5607_cmds[] = {
+	{ ao_ms5607_dump,	"B\0Display MS5607 data" },
+	{ 0, NULL },
+};
+
+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");
+
+	/* Configure the MISO pin as an interrupt; when the
+	 * conversion is complete, the MS5607 will raise this
+	 * pin as a signal
+	 */
+	ao_exti_setup(AO_MS5607_MISO_PORT,
+		      AO_MS5607_MISO_PIN,
+		      AO_EXTI_MODE_RISING,
+		      ao_ms5607_isr);
+
+	/* 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