#include <ao_hmc5883.h>
#include <ao_exti.h>
-uint8_t ao_hmc5883_valid;
+#if HAS_HMC5883
static uint8_t ao_hmc5883_configured;
static void
ao_hmc5883_isr(void)
{
- ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
+ ao_exti_disable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
ao_hmc5883_done = 1;
ao_wakeup(&ao_hmc5883_done);
}
+static uint32_t ao_hmc5883_missed_irq;
+
void
ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
{
uint8_t single = HMC5883_MODE_SINGLE;
ao_hmc5883_done = 0;
- ao_exti_enable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
+ 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();
while (!ao_hmc5883_done)
- ao_sleep(&ao_hmc5883_done);
+ if (ao_sleep(&ao_hmc5883_done))
+ ++ao_hmc5883_missed_irq;
sei();
+ ao_clear_alarm();
ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
#if __BYTE_ORDER == __LITTLE_ENDIAN
{
ao_hmc5883_setup();
for (;;) {
- struct ao_hmc5883_sample ao_hmc5883_next;
-
- ao_hmc5883_sample(&ao_hmc5883_next);
+ ao_hmc5883_sample(&ao_hmc5883_current);
ao_arch_critical(
- ao_hmc5883_current = ao_hmc5883_next;
- ao_hmc5883_valid = 1;
+ AO_DATA_PRESENT(AO_DATA_HMC5883);
+ AO_DATA_WAIT();
);
- ao_delay(0);
}
}
static void
ao_hmc5883_show(void)
{
- struct ao_hmc5883_sample sample;
-
- sample = ao_hmc5883_current;
- printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
+ 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);
}
static const struct ao_cmds ao_hmc5883_cmds[] = {
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,
+ ao_exti_setup(AO_HMC5883_INT_PORT,
AO_HMC5883_INT_PIN,
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]);
}
+
+#endif