altos: Track missed HMC5883 interrupts

[fw/altos] / src / drivers / ao_hmc5883.c

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 1bc914e68a6c6908dceff487b9e9670f4df3f6fc..dbeb66b818905e4ac2c455744c4c71c8f3bd30bb 100644 (file)
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -58,11 +58,13 @@ static uint8_t ao_hmc5883_done;
 static void
 ao_hmc5883_isr(void)
 {
-       ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
+       ao_exti_disable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
        ao_hmc5883_done = 1;
        ao_wakeup(&ao_hmc5883_done);
 }
 
+static uint32_t        ao_hmc5883_missed_irq;
+
 void
 ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 {
@@ -71,13 +73,16 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
        uint8_t         single = HMC5883_MODE_SINGLE;
 
        ao_hmc5883_done = 0;
-       ao_exti_enable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
+       ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
        ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
 
+       ao_alarm(AO_MS_TO_TICKS(10));
        cli();
        while (!ao_hmc5883_done)
-               ao_sleep(&ao_hmc5883_done);
+               if (ao_sleep(&ao_hmc5883_done))
+                       ++ao_hmc5883_missed_irq;
        sei();
+       ao_clear_alarm();
 
        ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
 #if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -144,7 +149,8 @@ ao_hmc5883_show(void)
        struct ao_hmc5883_sample        sample;
 
        sample = ao_hmc5883_current;
-       printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
+       printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
+               sample.x, sample.y, sample.z, ao_hmc5883_missed_irq);
 }
 
 static const struct ao_cmds ao_hmc5883_cmds[] = {
@@ -159,7 +165,7 @@ ao_hmc5883_init(void)
        ao_hmc5883_valid = 0;
 
        ao_enable_port(AO_HMC5883_INT_PORT);
-       ao_exti_setup(&AO_HMC5883_INT_PORT,
+       ao_exti_setup(AO_HMC5883_INT_PORT,
                      AO_HMC5883_INT_PIN,
                      AO_EXTI_MODE_FALLING | AO_EXTI_MODE_PULL_UP,
                      ao_hmc5883_isr);