altos: Get HMC5883 driver limping along

[fw/altos] / src / drivers / ao_hmc5883.c

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 43d04f70c5edae83f3e1861bfc5aa0dcc6cf1c7a..f50376c8b977cac2dcbafad3df8c677e368cbf81 100644 (file)
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,77 +19,100 @@
 #include <ao_hmc5883.h>
 #include <ao_exti.h>
 
-static uint8_t ao_hmc5883_wake;
 static uint8_t ao_hmc5883_configured;
 
-static void
-ao_hmc5883_isr(void)
-{
-       ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
-       ao_hmc5883_wake = 1;
-       ao_wakeup(&ao_hmc5883_wake);
-}
-
-static uint8_t ao_hmc5883_addr_reg;
+static uint8_t ao_hmc5883_addr;
 
 static void
-ao_hmc5883_update_addr (uint8_t len)
+ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
 {
-       ao_hmc5883_addr_reg += len;
-       if (ao_hmc5883_addr_reg == 9)
-               ao_hmc5883_addr_reg = 3;
-       else if (ao_hmc5883_addr_reg > 12)
-               ao_hmc5883_addr_reg = 0;
-                   
-}
+       uint8_t d[2];
 
-static void
-ao_hmc5883_write(uint8_t addr, uint8_t *data, uint8_t len)
-{
+       d[0] = addr;
+       d[1] = data;
        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);
-       ao_hmc5883_addr_reg = addr;
-       ao_i2c_send(data, len, AO_HMC5883_I2C_INDEX, TRUE);
-       ao_hmc5883_update_addr(len);
+       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);
-       if (addr != ao_hmc5883_addr_reg) {
+       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_hmc5883_addr_reg = addr;
        }
        ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
        ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX, TRUE);
-       ao_hmc5883_update_addr(len);
        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_hmc5883_done;
+       ao_wakeup(&ao_hmc5883_done);
+}
+
+void
+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);
+
+       cli();
+       while (!ao_hmc5883_done)
+               ao_sleep(&ao_hmc5883_done);
+       sei();
+
+       printf ("done %d\n", ao_hmc5883_done);
+
+       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);
+       }
+#endif
 }
 
 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_hmc5883_addr_reg = 0xff;
-
        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_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;
 }
@@ -98,25 +121,21 @@ static void
 ao_hmc5883_show(void)
 {
        uint8_t addr, data;
+       struct ao_hmc5883_sample sample;
 
-       for (addr = 0x00; addr <= 0x7f; addr++)
-       {
-               ao_i2c_get(AO_HMC5883_I2C_INDEX);
-               data = ao_i2c_start(AO_HMC5883_I2C_INDEX, addr << 1);
-               ao_i2c_recv(NULL, 0, AO_HMC5883_I2C_INDEX, TRUE);
-               ao_i2c_put(AO_HMC5883_I2C_INDEX);
-               if (data)
-                       printf("address %02x responds\n", addr << 1);
-       }
        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);
        }
+#endif
+       ao_hmc5883_sample(&sample);
+       printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
 }
 
 static const struct ao_cmds ao_hmc5883_cmds[] = {
@@ -129,5 +148,11 @@ ao_hmc5883_init(void)
 {
        ao_hmc5883_configured = 0;
 
+       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_PULL_UP,
+                     ao_hmc5883_isr);
+
        ao_cmd_register(&ao_hmc5883_cmds[0]);
 }