diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/ao_adxl375.c | 6 | ||||
| -rw-r--r-- | src/drivers/ao_mma655x.c | 2 | ||||
| -rw-r--r-- | src/drivers/ao_mpu6000.c | 2 | ||||
| -rw-r--r-- | src/drivers/ao_mpu9250.c | 6 | ||||
| -rw-r--r-- | src/drivers/ao_ms5607.c | 2 | ||||
| -rw-r--r-- | src/kernel/ao_data.h | 6 | ||||
| -rw-r--r-- | src/kernel/ao_report.c | 5 |
7 files changed, 19 insertions, 10 deletions
diff --git a/src/drivers/ao_adxl375.c b/src/drivers/ao_adxl375.c index 66d39ff9..4f6b8169 100644 --- a/src/drivers/ao_adxl375.c +++ b/src/drivers/ao_adxl375.c @@ -143,7 +143,7 @@ ao_adxl375_setup(void) uint8_t devid = ao_adxl375_reg_read(AO_ADXL375_DEVID); if (devid != AO_ADXL375_DEVID_ID) - ao_sensor_errors = 1; + AO_SENSOR_ERROR(AO_DATA_ADXL375); /* Set the data rate */ ao_adxl375_reg_write(AO_ADXL375_BW_RATE, @@ -204,12 +204,12 @@ ao_adxl375_setup(void) self_test_value = z_change; if (z_change < MIN_SELF_TEST) - ao_sensor_errors = 1; + AO_SENSOR_ERROR(AO_DATA_ADXL375); /* This check is commented out as maximum self test is unreliable if (z_change > MAX_SELF_TEST) - ao_sensor_errors = 1; + AO_SENSOR_ERROR(AO_DATA_ADXL375); */ diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c index e8eeea6e..b0217368 100644 --- a/src/drivers/ao_mma655x.c +++ b/src/drivers/ao_mma655x.c @@ -232,7 +232,7 @@ ao_mma655x_setup(void) ao_delay(AO_ST_DELAY); } if (tries == AO_ST_TRIES) - ao_sensor_errors = 1; + AO_SENSOR_ERROR(AO_DATA_MMA655X); ao_mma655x_reg_write(AO_MMA655X_DEVCFG, DEVCFG_VALUE | (1 << AO_MMA655X_DEVCFG_ENDINIT)); diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index 8c85ab01..c894239e 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -305,7 +305,7 @@ _ao_mpu6000_setup(void) } if (st_tries == ST_TRIES) - ao_sensor_errors = 1; + AO_SENSOR_ERROR(AO_DATA_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_mpu9250.c b/src/drivers/ao_mpu9250.c index 74e444a9..1b31edf4 100644 --- a/src/drivers/ao_mpu9250.c +++ b/src/drivers/ao_mpu9250.c @@ -26,8 +26,6 @@ static uint8_t ao_mpu9250_configured; -extern uint8_t ao_sensor_errors; - #ifndef AO_MPU9250_I2C_INDEX #define AO_MPU9250_SPI 1 #else @@ -361,7 +359,7 @@ _ao_mpu9250_setup(void) } if (st_tries == ST_TRIES) - ao_sensor_errors = 1; + AO_SENSOR_ERROR(AO_DATA_MPU9250); /* Set up the mag sensor */ @@ -372,7 +370,7 @@ _ao_mpu9250_setup(void) } if (mag_tries == MAG_TRIES) - ao_sensor_errors = 1; + AO_SENSOR_ERROR(AO_DATA_MPU9250); /* Select continuous mode 2 (100Hz), 16 bit samples */ diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c index febe0111..1ebba3e9 100644 --- a/src/drivers/ao_ms5607.c +++ b/src/drivers/ao_ms5607.c @@ -115,7 +115,7 @@ ao_ms5607_prom_read(struct ao_ms5607_prom *prom) if (!ao_ms5607_prom_valid((uint8_t *) prom)) { #if HAS_SENSOR_ERRORS - ao_sensor_errors = 1; + AO_SENSOR_ERROR(AO_DATA_MS5607); #else ao_panic(AO_PANIC_SELF_TEST_MS5607); #endif diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 5a340c3f..4fc9db8f 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -143,6 +143,12 @@ extern volatile uint8_t ao_data_count; #define AO_DATA_PRESENT(bit) (ao_data_present |= (bit)) /* + * Mark sensor failed, and unblock the sample collection code by + * marking the data as present + */ +#define AO_SENSOR_ERROR(bit) (ao_data_present |= (ao_sensor_errors |= (bit))) + +/* * Wait until it is time to write a sensor sample; this is * signaled by the timer tick */ diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c index 872dcd48..12c3a1e9 100644 --- a/src/kernel/ao_report.c +++ b/src/kernel/ao_report.c @@ -262,6 +262,11 @@ ao_report(void) else #endif ao_report_beep(); +#if HAS_SENSOR_ERRORS + if (ao_report_state == ao_flight_invalid && ao_sensor_errors) + ao_report_number(ao_sensor_errors); +#endif + if (ao_report_state == ao_flight_landed) { ao_report_altitude(); #if HAS_FLIGHT |