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 <keithp@keithp.com>

7 files changed, 52 insertions, 60 deletions

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 <ao_hmc5883.h>
 #include <ao_exti.h>
 
-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 <ao.h>
 #include <ao_mma655x.h>
 
+#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 <ao_exti.h>
 #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 */