#include <ao_hmc5883.h>
#include <ao_exti.h>
+#if HAS_HMC5883
+
static uint8_t ao_hmc5883_configured;
+static uint8_t ao_hmc5883_addr;
+
static void
ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
{
ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
ao_i2c_send(d, 2, AO_HMC5883_I2C_INDEX, TRUE);
ao_i2c_put(AO_HMC5883_I2C_INDEX);
+ ao_hmc5883_addr = addr + 1;
}
static void
ao_hmc5883_read(uint8_t addr, uint8_t *data, uint8_t len)
{
ao_i2c_get(AO_HMC5883_I2C_INDEX);
- ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
- ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, FALSE);
+ 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_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX, TRUE);
ao_i2c_put(AO_HMC5883_I2C_INDEX);
+ ao_hmc5883_addr = 0xff;
}
static uint8_t ao_hmc5883_done;
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
/* byte swap */
static uint8_t
ao_hmc5883_setup(void)
{
+ uint8_t d;
uint8_t present;
+
if (ao_hmc5883_configured)
return 1;
- /* Enable the EXTI interrupt for the appropriate pin */
- ao_enable_port(AO_HMC5883_INT_PORT);
- ao_exti_setup(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN,
- AO_EXTI_MODE_FALLING, ao_hmc5883_isr);
-
ao_i2c_get(AO_HMC5883_I2C_INDEX);
present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
- ao_i2c_recv(NULL, 0, AO_HMC5883_I2C_INDEX, TRUE);
+ ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX, TRUE);
ao_i2c_put(AO_HMC5883_I2C_INDEX);
+
if (!present)
- return 0;
+ ao_panic(AO_PANIC_SELF_TEST);
+
+ ao_hmc5883_reg_write(HMC5883_CONFIG_A,
+ (HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
+ (HMC5883_CONFIG_A_DO_15 << HMC5883_CONFIG_A_DO) |
+ (HMC5883_CONFIG_A_MS_NORMAL << HMC5883_CONFIG_A_MS));
+
+ ao_hmc5883_reg_write(HMC5883_CONFIG_B,
+ (HMC5883_CONFIG_B_GN_1_3 << HMC5883_CONFIG_B_GN));
+
ao_hmc5883_configured = 1;
return 1;
}
+struct ao_hmc5883_sample ao_hmc5883_current;
+
static void
-ao_hmc5883_show(void)
+ao_hmc5883(void)
{
- uint8_t addr, data;
- struct ao_hmc5883_sample sample;
-
- if (!ao_hmc5883_setup()) {
- printf("hmc5883 not present\n");
- return;
- }
-#if 0
- for (addr = 0; addr <= 12; addr++) {
- ao_hmc5883_read(addr, &data, 1);
- printf ("hmc5883 register %2d: %02x\n",
- addr, data);
+ ao_hmc5883_setup();
+ for (;;) {
+ ao_hmc5883_sample(&ao_hmc5883_current);
+ ao_arch_critical(
+ AO_DATA_PRESENT(AO_DATA_HMC5883);
+ AO_DATA_WAIT();
+ );
}
-#endif
- ao_hmc5883_sample(&sample);
- printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
+}
+
+static struct ao_task ao_hmc5883_task;
+
+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);
}
static const struct ao_cmds ao_hmc5883_cmds[] = {
{
ao_hmc5883_configured = 0;
- ao_exti_setup(&AO_HMC5883_INT_PORT,
+ ao_enable_port(AO_HMC5883_INT_PORT);
+ ao_exti_setup(AO_HMC5883_INT_PORT,
AO_HMC5883_INT_PIN,
- AO_EXTI_MODE_FALLING,
+ 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