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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 #include <ao_hmc5883.h>
25 static uint8_t ao_hmc5883_configured;
27 static uint8_t ao_hmc5883_addr;
30 ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
36 ao_i2c_get(AO_HMC5883_I2C_INDEX);
37 ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
38 ao_i2c_send(d, 2, AO_HMC5883_I2C_INDEX, true);
39 ao_i2c_put(AO_HMC5883_I2C_INDEX);
40 ao_hmc5883_addr = addr + 1;
44 ao_hmc5883_read(uint8_t addr, uint8_t *data, uint8_t len)
46 ao_i2c_get(AO_HMC5883_I2C_INDEX);
47 if (addr != ao_hmc5883_addr) {
48 ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
49 ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, false);
51 ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
52 ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX, true);
53 ao_i2c_put(AO_HMC5883_I2C_INDEX);
54 ao_hmc5883_addr = 0xff;
57 static uint8_t ao_hmc5883_done;
62 ao_exti_disable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
64 ao_wakeup(&ao_hmc5883_done);
67 static uint32_t ao_hmc5883_missed_irq;
70 ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
72 uint16_t *d = (uint16_t *) sample;
73 int i = sizeof (*sample) / 2;
76 ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
77 ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
79 ao_arch_block_interrupts();
80 while (!ao_hmc5883_done)
81 if (ao_sleep_for(&ao_hmc5883_done, AO_MS_TO_TICKS(10)))
82 ++ao_hmc5883_missed_irq;
83 ao_arch_release_interrupts();
85 ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
86 #if __BYTE_ORDER == __LITTLE_ENDIAN
90 *d++ = (t >> 8) | (t << 8);
96 ao_hmc5883_setup(void)
101 if (ao_hmc5883_configured)
104 ao_i2c_get(AO_HMC5883_I2C_INDEX);
105 present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
106 ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX, true);
107 ao_i2c_put(AO_HMC5883_I2C_INDEX);
110 ao_panic(AO_PANIC_SELF_TEST_HMC5883);
112 ao_hmc5883_reg_write(HMC5883_CONFIG_A,
113 (HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
114 (HMC5883_CONFIG_A_DO_15 << HMC5883_CONFIG_A_DO) |
115 (HMC5883_CONFIG_A_MS_NORMAL << HMC5883_CONFIG_A_MS));
117 ao_hmc5883_reg_write(HMC5883_CONFIG_B,
118 (HMC5883_CONFIG_B_GN_1_3 << HMC5883_CONFIG_B_GN));
120 ao_hmc5883_configured = 1;
124 struct ao_hmc5883_sample ao_hmc5883_current;
129 struct ao_hmc5883_sample sample;
132 ao_hmc5883_sample(&sample);
133 ao_arch_block_interrupts();
134 ao_hmc5883_current = sample;
135 AO_DATA_PRESENT(AO_DATA_HMC5883);
137 ao_arch_release_interrupts();
141 static struct ao_task ao_hmc5883_task;
144 ao_hmc5883_show(void)
146 printf ("X: %d Z: %d Y: %d missed irq: %lu\n",
147 ao_hmc5883_current.x, ao_hmc5883_current.z, ao_hmc5883_current.y, ao_hmc5883_missed_irq);
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;
160 ao_enable_port(AO_HMC5883_INT_PORT);
161 ao_exti_setup(AO_HMC5883_INT_PORT,
163 AO_EXTI_MODE_FALLING | AO_EXTI_MODE_PULL_UP,
166 ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883");
167 ao_cmd_register(&ao_hmc5883_cmds[0]);