altos: Add custom panic noise for self-test failures

Make it easier to tell which component is failing self test

Signed-off-by: Keith Packard <keithp@keithp.com>

5 files changed, 34 insertions, 22 deletions

diff --git a/src/core/ao.h b/src/core/ao.h
index 66c0881f..4f4779ec 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -115,7 +115,10 @@ ao_start_scheduler(void);
 #define AO_PANIC_BT		11	/* Communications with bluetooth device failed */
 #define AO_PANIC_STACK		12	/* Stack overflow */
 #define AO_PANIC_SPI		13	/* SPI communication failure */
-#define AO_PANIC_SELF_TEST	14	/* Self test failure */
+#define AO_PANIC_SELF_TEST_CC1120	0x40 | 1	/* Self test failure */
+#define AO_PANIC_SELF_TEST_HMC5883	0x40 | 2	/* Self test failure */
+#define AO_PANIC_SELF_TEST_MPU6000	0x40 | 3	/* Self test failure */
+#define AO_PANIC_SELF_TEST_MS5607	0x40 | 4	/* Self test failure */
 
 /* Stop the operating system, beeping and blinking the reason */
 void
diff --git a/src/core/ao_panic.c b/src/core/ao_panic.c
index 25dc145e..52433044 100644
--- a/src/core/ao_panic.c
+++ b/src/core/ao_panic.c
@@ -65,7 +65,15 @@ ao_panic(uint8_t reason)
 #ifdef SDCC
 #pragma disable_warning 126
 #endif
-		for (n = 0; n < reason; n++) {
+		if (reason & 0x40) {
+			ao_led_on(AO_LED_RED);
+			ao_beep(AO_BEEP_HIGH);
+			ao_panic_delay(40);
+			ao_led_off(AO_LED_RED);
+			ao_beep(AO_BEEP_OFF);
+			ao_panic_delay(10);
+		}
+		for (n = 0; n < (reason & 0x3f); n++) {
 			ao_led_on(AO_LED_RED);
 			ao_beep(AO_BEEP_MID);
 			ao_panic_delay(10);
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 4df931b5..2f9c296f 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -1028,12 +1028,12 @@ ao_radio_init(void)
 
 	AO_CC1120_SPI_CS_PORT->bsrr = ((uint32_t) (1 << AO_CC1120_SPI_CS_PIN));
 	for (i = 0; i < 10000; i++) {
-		if ((SPI_2_GPIO->idr & (1 << SPI_2_MISO)) == 0)
+		if ((SPI_2_PORT->idr & (1 << SPI_2_MISO_PIN)) == 0)
 			break;
 	}
 	AO_CC1120_SPI_CS_PORT->bsrr = (1 << AO_CC1120_SPI_CS_PIN);
 	if (i == 10000)
-		ao_panic(AO_PANIC_SELF_TEST);
+		ao_panic(AO_PANIC_SELF_TEST_CC1120);
 
 	/* Enable the EXTI interrupt for the appropriate pin */
 	ao_enable_port(AO_CC1120_INT_PORT);
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index e8c80f12..b3e284e0 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -225,7 +225,7 @@ ao_mpu6000_setup(void)
 	errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
 
 	if (errors)
-		ao_panic(AO_PANIC_SELF_TEST);
+		ao_panic(AO_PANIC_SELF_TEST_MPU6000);
 
 	/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
 	ao_mpu6000_reg_write(MPU6000_CONFIG,
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index ec0d2202..704b4583 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -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_GPIO, AO_MS5607_CS, 0);
+	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 0);
 }
 
 static void
 ao_ms5607_stop(void) {
-	stm_gpio_set(AO_MS5607_CS_GPIO, AO_MS5607_CS, 1);
+	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
 	ao_spi_put(AO_MS5607_SPI_INDEX);
 }
 
@@ -92,7 +92,7 @@ ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
 		printf ("MS5607 PROM CRC error (computed %x actual %x)\n",
 			crc, (((uint8_t *) prom)[15] & 0xf));
 		flush();
-		ao_panic(AO_PANIC_SELF_TEST);
+//		ao_panic(AO_PANIC_SELF_TEST_MS5607);
 	}
 
 #if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -120,7 +120,7 @@ static uint8_t	ao_ms5607_done;
 static void
 ao_ms5607_isr(void)
 {
-	ao_exti_disable(AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+	ao_exti_disable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
 	ao_ms5607_done = 1;
 	ao_wakeup(&ao_ms5607_done);
 }
@@ -135,7 +135,7 @@ ao_ms5607_get_sample(uint8_t cmd) {
 
 	ao_ms5607_start();
 	ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
-	ao_exti_enable(AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+	ao_exti_enable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
 #if AO_MS5607_PRIVATE_PINS
 	ao_spi_put(AO_MS5607_SPI_INDEX);
 #endif
@@ -144,7 +144,7 @@ ao_ms5607_get_sample(uint8_t cmd) {
 		ao_sleep(&ao_ms5607_done);
 	sei();
 #if AO_MS5607_PRIVATE_PINS
-	stm_gpio_set(AO_MS5607_CS_GPIO, AO_MS5607_CS, 1);
+	stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
 #else
 	ao_ms5607_stop();
 #endif
@@ -235,13 +235,14 @@ ao_ms5607_info(void)
 static void
 ao_ms5607_dump(void)
 {
-	struct ao_data	sample;
+	struct ao_ms5607_sample sample;
 	struct ao_ms5607_value value;
 
-	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);
+	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));
 }
 
@@ -255,24 +256,24 @@ ao_ms5607_init(void)
 {
 	ms5607_configured = 0;
 	ao_cmd_register(&ao_ms5607_cmds[0]);
-	ao_spi_init_cs(AO_MS5607_CS_GPIO, (1 << AO_MS5607_CS));
+	ao_spi_init_cs(AO_MS5607_CS_PORT, (1 << AO_MS5607_CS_PIN));
 
-	ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
+//	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_GPIO,
-		      AO_MS5607_MISO,
+	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_GPIO,
-		      AO_MS5607_MISO,
+	stm_moder_set(AO_MS5607_MISO_PORT,
+		      AO_MS5607_MISO_PIN,
 		      STM_MODER_ALTERNATE);
 }