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>

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 <ao_ms5607.h>
+#define AO_DATA_MS5607	(1 << 1)
+#else
+#define AO_DATA_MS5607	(1 << 1)
 #endif
 
 #if HAS_MPU6000
 #include <ao_mpu6000.h>
+#define AO_DATA_MPU6000	(1 << 2)
+#else
+#define AO_DATA_MPU6000	0
 #endif
 
 #if HAS_HMC5883
 #include <ao_hmc5883.h>
+#define AO_DATA_HMC5883	(1 << 3)
+#else
+#define AO_DATA_HMC5883	0
+#endif
+
+#if HAS_MMA655X
+#include <ao_mma655x.h>
+#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 <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 */
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 <ao.h>
 #include <ao_data.h>
-#if HAS_MPU6000
-#include <ao_mpu6000.h>
-#endif
-#if HAS_MS5607
-#include <ao_ms5607.h>
-#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