altos: Intgrate hmc5883 sensor into adc ring

Creates a task to poll the mag sensor and place the data into the
sensor data ring.

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

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 83f8df597e44cbd1ae9295a85d5e1b1e22276324..502df6c9e55afd5441fe48b7557218a23887fc2a 100644 (file)
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -26,6 +26,10 @@
 #include <ao_mpu6000.h>
 #endif
 
+#if HAS_HMC5883
+#include <ao_hmc5883.h>
+#endif
+
 struct ao_data {
        uint16_t                        tick;
 #if HAS_ADC
@@ -37,6 +41,9 @@ struct ao_data {
 #if HAS_MPU6000
        struct ao_mpu6000_sample        mpu6000;
 #endif
+#if HAS_HMC5883
+       struct ao_hmc5883_sample        hmc5883;
+#endif
 };
 
 #define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))

diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c
index 404e6bf7325e10950d4f143b894ad60b821ff61e..68e2af49da839e2d4944726e48d675a4634376d8 100644 (file)
--- a/src/core/ao_log_mega.c
+++ b/src/core/ao_log_mega.c
@@ -120,6 +120,10 @@ ao_log(void)
                                log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
                                log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
                                log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
+                               log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
+                               log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
+                               log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
+                               log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
                                ao_log_mega(&log);
                                if (ao_log_state <= ao_flight_coast)
                                        next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index f50376c8b977cac2dcbafad3df8c677e368cbf81..1bc914e68a6c6908dceff487b9e9670f4df3f6fc 100644 (file)
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,6 +19,8 @@
 #include <ao_hmc5883.h>
 #include <ao_exti.h>
 
+uint8_t        ao_hmc5883_valid;
+
 static uint8_t ao_hmc5883_configured;
 
 static uint8_t ao_hmc5883_addr;
@@ -57,7 +59,7 @@ static void
 ao_hmc5883_isr(void)
 {
        ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
-       ++ao_hmc5883_done;
+       ao_hmc5883_done = 1;
        ao_wakeup(&ao_hmc5883_done);
 }
 
@@ -77,8 +79,6 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
                ao_sleep(&ao_hmc5883_done);
        sei();
 
-       printf ("done %d\n", ao_hmc5883_done);
-
        ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
 #if __BYTE_ORDER == __LITTLE_ENDIAN
        /* byte swap */
@@ -94,6 +94,7 @@ ao_hmc5883_setup(void)
 {
        uint8_t d;
        uint8_t present;
+
        if (ao_hmc5883_configured)
                return 1;
 
@@ -103,7 +104,7 @@ ao_hmc5883_setup(void)
        ao_i2c_put(AO_HMC5883_I2C_INDEX);
 
        if (!present)
-               return 0;
+               ao_panic(AO_PANIC_SELF_TEST);
 
        ao_hmc5883_reg_write(HMC5883_CONFIG_A,
                             (HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
@@ -117,24 +118,32 @@ 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_arch_critical(
+                       ao_hmc5883_current = ao_hmc5883_next;
+                       ao_hmc5883_valid = 1;
+                       );
+               ao_delay(0);
+       }
+}
+
+static struct ao_task ao_hmc5883_task;
+
 static void
 ao_hmc5883_show(void)
 {
-       uint8_t addr, data;
-       struct ao_hmc5883_sample sample;
+       struct ao_hmc5883_sample        sample;
 
-       if (!ao_hmc5883_setup()) {
-               printf("hmc5883 not present\n");
-               return;
-       }
-#if 0
-       for (addr = 0; addr <= 12; addr++) {
-               ao_hmc5883_read(addr, &data, 1);
-               printf ("hmc5883 register %2d: %02x\n",
-                       addr, data);
-       }
-#endif
-       ao_hmc5883_sample(&sample);
+       sample = ao_hmc5883_current;
        printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
 }
 
@@ -147,6 +156,7 @@ 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,
@@ -154,5 +164,6 @@ ao_hmc5883_init(void)
                      AO_EXTI_MODE_FALLING | AO_EXTI_MODE_PULL_UP,
                      ao_hmc5883_isr);
 
+       ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883");
        ao_cmd_register(&ao_hmc5883_cmds[0]);
 }

diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h
index 556909784040f9be4fd5979d793d189f5b1ec7ec..8d726510911558ae4e6ec3b8883941f286bf0bfc 100644 (file)
--- a/src/drivers/ao_hmc5883.h
+++ b/src/drivers/ao_hmc5883.h
@@ -75,10 +75,14 @@
 #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/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index 75b2204530beafa04fabbda886cbf26376330e14..d6394d9b86e1aabd90ebdaf6bd2a1cb38f86238d 100644 (file)
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -235,6 +235,7 @@ struct ao_adc {
  * Mag sensor (hmc5883)
  */
 
+#define HAS_HMC5883            1
 #define AO_HMC5883_INT_PORT    stm_gpioc
 #define AO_HMC5883_INT_PIN     12
 #define AO_HMC5883_I2C_INDEX   STM_I2C_INDEX(1)

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 24a1fdd012a0bc0d68c650c00b429e42942bf91c..71299de93c7a4a77814ea843477117d173f1dad6 100644 (file)
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -62,6 +62,11 @@ static void ao_adc_done(int index)
                step = 0;
        ao_data_ring[ao_data_head].ms5607 = 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);