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   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include <ao.h>
  19 #include <ao_hmc5883.h>
  20 #include <ao_exti.h>
  21
  22 #if HAS_HMC5883
  23
  24 static uint8_t  ao_hmc5883_configured;
  25
  26 static uint8_t  ao_hmc5883_addr;
  27
  28 static void
  29 ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
  30 {
  31         uint8_t d[2];
  32
  33         d[0] = addr;
  34         d[1] = 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;
  40 }
  41
  42 static void
  43 ao_hmc5883_read(uint8_t addr, uint8_t *data, uint8_t len)
  44 {
  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);
  49         }
  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;
  54 }
  55
  56 static uint8_t ao_hmc5883_done;
  57
  58 static void
  59 ao_hmc5883_isr(void)
  60 {
  61         ao_exti_disable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
  62         ao_hmc5883_done = 1;
  63         ao_wakeup(&ao_hmc5883_done);
  64 }
  65
  66 static uint32_t ao_hmc5883_missed_irq;
  67
  68 void
  69 ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
  70 {
  71         uint16_t        *d = (uint16_t *) sample;
  72         int             i = sizeof (*sample) / 2;
  73         uint8_t         single = HMC5883_MODE_SINGLE;
  74
  75         ao_hmc5883_done = 0;
  76         ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
  77         ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
  78
  79         ao_alarm(AO_MS_TO_TICKS(10));
  80         ao_arch_block_interrupts();
  81         while (!ao_hmc5883_done)
  82                 if (ao_sleep(&ao_hmc5883_done))
  83                         ++ao_hmc5883_missed_irq;
  84         ao_arch_release_interrupts();
  85         ao_clear_alarm();
  86
  87         ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
  88 #if __BYTE_ORDER == __LITTLE_ENDIAN
  89         /* byte swap */
  90         while (i--) {
  91                 uint16_t        t = *d;
  92                 *d++ = (t >> 8) | (t << 8);
  93         }
  94 #endif
  95 }
  96
  97 static uint8_t
  98 ao_hmc5883_setup(void)
  99 {
 100         uint8_t d;
 101         uint8_t present;
 102
 103         if (ao_hmc5883_configured)
 104                 return 1;
 105
 106         ao_i2c_get(AO_HMC5883_I2C_INDEX);
 107         present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
 108         ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX, TRUE);
 109         ao_i2c_put(AO_HMC5883_I2C_INDEX);
 110
 111         if (!present)
 112                 ao_panic(AO_PANIC_SELF_TEST_HMC5883);
 113
 114         ao_hmc5883_reg_write(HMC5883_CONFIG_A,
 115                              (HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
 116                              (HMC5883_CONFIG_A_DO_15 << HMC5883_CONFIG_A_DO) |
 117                              (HMC5883_CONFIG_A_MS_NORMAL << HMC5883_CONFIG_A_MS));
 118
 119         ao_hmc5883_reg_write(HMC5883_CONFIG_B,
 120                              (HMC5883_CONFIG_B_GN_1_3 << HMC5883_CONFIG_B_GN));
 121
 122         ao_hmc5883_configured = 1;
 123         return 1;
 124 }
 125
 126 struct ao_hmc5883_sample ao_hmc5883_current;
 127
 128 static void
 129 ao_hmc5883(void)
 130 {
 131         ao_hmc5883_setup();
 132         for (;;) {
 133                 ao_hmc5883_sample(&ao_hmc5883_current);
 134                 ao_arch_critical(
 135                         AO_DATA_PRESENT(AO_DATA_HMC5883);
 136                         AO_DATA_WAIT();
 137                         );
 138         }
 139 }
 140
 141 static struct ao_task ao_hmc5883_task;
 142
 143 static void
 144 ao_hmc5883_show(void)
 145 {
 146         struct ao_data  sample;
 147         ao_data_get(&sample);
 148         printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
 149                 sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
 150 }
 151
 152 static const struct ao_cmds ao_hmc5883_cmds[] = {
 153         { ao_hmc5883_show,      "M\0Show HMC5883 status" },
 154         { 0, NULL }
 155 };
 156
 157 void
 158 ao_hmc5883_init(void)
 159 {
 160         ao_hmc5883_configured = 0;
 161
 162         ao_enable_port(AO_HMC5883_INT_PORT);
 163         ao_exti_setup(AO_HMC5883_INT_PORT,
 164                       AO_HMC5883_INT_PIN,
 165                       AO_EXTI_MODE_FALLING | AO_EXTI_MODE_PULL_UP,
 166                       ao_hmc5883_isr);
 167
 168         ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883");
 169         ao_cmd_register(&ao_hmc5883_cmds[0]);
 170 }
 171
 172 #endif