2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 #include <ao_hmc5883.h>
22 uint8_t ao_hmc5883_valid;
24 static uint8_t ao_hmc5883_configured;
26 static uint8_t ao_hmc5883_addr;
29 ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
35 ao_i2c_get(AO_HMC5883_I2C_INDEX);
36 ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
37 ao_i2c_send(d, 2, AO_HMC5883_I2C_INDEX, TRUE);
38 ao_i2c_put(AO_HMC5883_I2C_INDEX);
39 ao_hmc5883_addr = addr + 1;
43 ao_hmc5883_read(uint8_t addr, uint8_t *data, uint8_t len)
45 ao_i2c_get(AO_HMC5883_I2C_INDEX);
46 if (addr != ao_hmc5883_addr) {
47 ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
48 ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, FALSE);
50 ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
51 ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX, TRUE);
52 ao_i2c_put(AO_HMC5883_I2C_INDEX);
53 ao_hmc5883_addr = 0xff;
56 static uint8_t ao_hmc5883_done;
61 ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
63 ao_wakeup(&ao_hmc5883_done);
67 ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
69 uint16_t *d = (uint16_t *) sample;
70 int i = sizeof (*sample) / 2;
71 uint8_t single = HMC5883_MODE_SINGLE;
74 ao_exti_enable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
75 ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
78 while (!ao_hmc5883_done)
79 ao_sleep(&ao_hmc5883_done);
82 ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
83 #if __BYTE_ORDER == __LITTLE_ENDIAN
87 *d++ = (t >> 8) | (t << 8);
93 ao_hmc5883_setup(void)
98 if (ao_hmc5883_configured)
101 ao_i2c_get(AO_HMC5883_I2C_INDEX);
102 present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
103 ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX, TRUE);
104 ao_i2c_put(AO_HMC5883_I2C_INDEX);
107 ao_panic(AO_PANIC_SELF_TEST);
109 ao_hmc5883_reg_write(HMC5883_CONFIG_A,
110 (HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
111 (HMC5883_CONFIG_A_DO_15 << HMC5883_CONFIG_A_DO) |
112 (HMC5883_CONFIG_A_MS_NORMAL << HMC5883_CONFIG_A_MS));
114 ao_hmc5883_reg_write(HMC5883_CONFIG_B,
115 (HMC5883_CONFIG_B_GN_1_3 << HMC5883_CONFIG_B_GN));
117 ao_hmc5883_configured = 1;
121 struct ao_hmc5883_sample ao_hmc5883_current;
128 struct ao_hmc5883_sample ao_hmc5883_next;
130 ao_hmc5883_sample(&ao_hmc5883_next);
132 ao_hmc5883_current = ao_hmc5883_next;
133 ao_hmc5883_valid = 1;
139 static struct ao_task ao_hmc5883_task;
142 ao_hmc5883_show(void)
144 struct ao_hmc5883_sample sample;
146 sample = ao_hmc5883_current;
147 printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
150 static const struct ao_cmds ao_hmc5883_cmds[] = {
151 { ao_hmc5883_show, "M\0Show HMC5883 status" },
156 ao_hmc5883_init(void)
158 ao_hmc5883_configured = 0;
159 ao_hmc5883_valid = 0;
161 ao_enable_port(AO_HMC5883_INT_PORT);
162 ao_exti_setup(&AO_HMC5883_INT_PORT,
164 AO_EXTI_MODE_FALLING | AO_EXTI_MODE_PULL_UP,
167 ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883");
168 ao_cmd_register(&ao_hmc5883_cmds[0]);