*
* 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
#include <ao_hmc5883.h>
#include <ao_exti.h>
+#if HAS_HMC5883
+
static uint8_t ao_hmc5883_configured;
static uint8_t ao_hmc5883_addr;
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_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_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;
}
static void
ao_hmc5883_isr(void)
{
- ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
- ++ao_hmc5883_done;
+ ao_exti_disable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
+ ao_hmc5883_done = 1;
ao_wakeup(&ao_hmc5883_done);
}
-void
+static uint32_t ao_hmc5883_missed_irq;
+
+static 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_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
- cli();
+ ao_arch_block_interrupts();
while (!ao_hmc5883_done)
- ao_sleep(&ao_hmc5883_done);
- sei();
-
- printf ("done %d\n", ao_hmc5883_done);
+ if (ao_sleep_for(&ao_hmc5883_done, AO_MS_TO_TICKS(10)))
+ ++ao_hmc5883_missed_irq;
+ 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;
- *d++ = (t >> 8) | (t << 8);
+ *d++ = (uint16_t) ((t >> 8) | (t << 8));
}
#endif
}
{
uint8_t d;
uint8_t present;
+
if (ao_hmc5883_configured)
return 1;
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)
- return 0;
+ ao_panic(AO_PANIC_SELF_TEST_HMC5883);
ao_hmc5883_reg_write(HMC5883_CONFIG_A,
(HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
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);
+ struct ao_hmc5883_sample sample;
+ ao_hmc5883_setup();
+ for (;;) {
+ 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();
}
-#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)
+{
+ 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[] = {
ao_hmc5883_configured = 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