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doc: clarify how EasyMotor gets put into idle mode
[fw/altos]
/
src
/
drivers
/
ao_hmc5883.c
diff --git
a/src/drivers/ao_hmc5883.c
b/src/drivers/ao_hmc5883.c
index 059fc2c8d5fb85d75872d9325e34f341f50a5991..fc339334c51889181cae88d37f80bf33a20ef3f6 100644
(file)
--- a/
src/drivers/ao_hmc5883.c
+++ b/
src/drivers/ao_hmc5883.c
@@
-3,7
+3,8
@@
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-34,7
+35,7
@@
ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
d[1] = data;
ao_i2c_get(AO_HMC5883_I2C_INDEX);
ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
d[1] = data;
ao_i2c_get(AO_HMC5883_I2C_INDEX);
ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
- ao_i2c_send(d, 2, AO_HMC5883_I2C_INDEX,
TRUE
);
+ ao_i2c_send(d, 2, AO_HMC5883_I2C_INDEX,
true
);
ao_i2c_put(AO_HMC5883_I2C_INDEX);
ao_hmc5883_addr = addr + 1;
}
ao_i2c_put(AO_HMC5883_I2C_INDEX);
ao_hmc5883_addr = addr + 1;
}
@@
-45,10
+46,10
@@
ao_hmc5883_read(uint8_t addr, uint8_t *data, uint8_t len)
ao_i2c_get(AO_HMC5883_I2C_INDEX);
if (addr != ao_hmc5883_addr) {
ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
ao_i2c_get(AO_HMC5883_I2C_INDEX);
if (addr != ao_hmc5883_addr) {
ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
- ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX,
FALSE
);
+ ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX,
false
);
}
ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
}
ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
- ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX,
TRUE
);
+ ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX,
true
);
ao_i2c_put(AO_HMC5883_I2C_INDEX);
ao_hmc5883_addr = 0xff;
}
ao_i2c_put(AO_HMC5883_I2C_INDEX);
ao_hmc5883_addr = 0xff;
}
@@
-65,31
+66,28
@@
ao_hmc5883_isr(void)
static uint32_t ao_hmc5883_missed_irq;
static uint32_t ao_hmc5883_missed_irq;
-void
+
static
void
ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
{
uint16_t *d = (uint16_t *) sample;
int i = sizeof (*sample) / 2;
ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
{
uint16_t *d = (uint16_t *) sample;
int i = sizeof (*sample) / 2;
- uint8_t single = HMC5883_MODE_SINGLE;
ao_hmc5883_done = 0;
ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
ao_hmc5883_done = 0;
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();
+ ao_arch_block_interrupts();
while (!ao_hmc5883_done)
while (!ao_hmc5883_done)
- if (ao_sleep
(&ao_hmc5883_done
))
+ if (ao_sleep
_for(&ao_hmc5883_done, AO_MS_TO_TICKS(10)
))
++ao_hmc5883_missed_irq;
++ao_hmc5883_missed_irq;
- sei();
- ao_clear_alarm();
+ ao_arch_release_interrupts();
ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
#if __BYTE_ORDER == __LITTLE_ENDIAN
/* byte swap */
while (i--) {
uint16_t t = *d;
ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
#if __BYTE_ORDER == __LITTLE_ENDIAN
/* byte swap */
while (i--) {
uint16_t t = *d;
- *d++ = (
t >> 8) | (t << 8
);
+ *d++ = (
uint16_t) ((t >> 8) | (t << 8)
);
}
#endif
}
}
#endif
}
@@
-105,11
+103,11
@@
ao_hmc5883_setup(void)
ao_i2c_get(AO_HMC5883_I2C_INDEX);
present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
ao_i2c_get(AO_HMC5883_I2C_INDEX);
present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
- ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX,
TRUE
);
+ ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX,
true
);
ao_i2c_put(AO_HMC5883_I2C_INDEX);
if (!present)
ao_i2c_put(AO_HMC5883_I2C_INDEX);
if (!present)
- ao_panic(AO_PANIC_SELF_TEST);
+ ao_panic(AO_PANIC_SELF_TEST
_HMC5883
);
ao_hmc5883_reg_write(HMC5883_CONFIG_A,
(HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
ao_hmc5883_reg_write(HMC5883_CONFIG_A,
(HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
@@
-128,13
+126,15
@@
struct ao_hmc5883_sample ao_hmc5883_current;
static void
ao_hmc5883(void)
{
static void
ao_hmc5883(void)
{
+ struct ao_hmc5883_sample sample;
ao_hmc5883_setup();
for (;;) {
ao_hmc5883_setup();
for (;;) {
- ao_hmc5883_sample(&ao_hmc5883_current);
- ao_arch_critical(
- AO_DATA_PRESENT(AO_DATA_HMC5883);
- AO_DATA_WAIT();
- );
+ ao_hmc5883_sample(&sample);
+ ao_arch_block_interrupts();
+ ao_hmc5883_current = sample;
+ AO_DATA_PRESENT(AO_DATA_HMC5883);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
}
}
}
}
@@
-143,10
+143,8
@@
static struct ao_task ao_hmc5883_task;
static void
ao_hmc5883_show(void)
{
static void
ao_hmc5883_show(void)
{
- struct ao_data sample;
- ao_data_get(&sample);
- printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
- sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
+ printf ("X: %d Z: %d Y: %d missed irq: %lu\n",
+ ao_hmc5883_current.x, ao_hmc5883_current.z, ao_hmc5883_current.y, ao_hmc5883_missed_irq);
}
static const struct ao_cmds ao_hmc5883_cmds[] = {
}
static const struct ao_cmds ao_hmc5883_cmds[] = {