altos: Track missed HMC5883 interrupts

When it fails to signal conversion complete to the CPU, keep track of
that and report it with the rest of the current data.

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

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 64663ea6d33d618b794213a7726a0f5dc7919d69..dbeb66b818905e4ac2c455744c4c71c8f3bd30bb 100644 (file)
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -63,6 +63,8 @@ ao_hmc5883_isr(void)
        ao_wakeup(&ao_hmc5883_done);
 }
 
+static uint32_t        ao_hmc5883_missed_irq;
+
 void
 ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 {
@@ -74,10 +76,13 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
        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[] = {