X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_hmc5883.c;h=1bc914e68a6c6908dceff487b9e9670f4df3f6fc;hb=9aa7993ee31bdfd6890ad7262a0375c07464ee76;hp=0077daf9281095cb8513a57036869f15cff84dc1;hpb=e0b8c614ec4d11f432963e48d94e4497d31a9ddc;p=fw%2Faltos

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 0077daf9..1bc914e6 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,112 +19,134 @@
 #include <ao_hmc5883.h>
 #include <ao_exti.h>
 
-static uint8_t	ao_hmc5883_wake;
-static uint8_t	ao_hmc5883_configured;
+uint8_t	ao_hmc5883_valid;
 
-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_configured;
 
-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);
-	ao_hmc5883_addr_reg = addr;
-	if (len) {
-		ao_i2c_send(data, len, AO_HMC5883_I2C_INDEX);
-		ao_hmc5883_update_addr(len);
-	}
-	ao_i2c_stop(AO_HMC5883_I2C_INDEX);
+	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);
-		ao_hmc5883_addr_reg = addr;
+		ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, FALSE);
 	}
 	ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
-	if (len) {
-		ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX);
-		ao_hmc5883_update_addr(len);
-	}
-	ao_i2c_stop(AO_HMC5883_I2C_INDEX);
+	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_hmc5883_done = 1;
+	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();
+
+	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_stop(AO_HMC5883_I2C_INDEX);
+	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;
-
-	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_stop(AO_HMC5883_I2C_INDEX);
-		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;
-	}
-	for (addr = 0; addr <= 12; addr++) {
-		ao_hmc5883_read(addr, &data, 1);
-		printf ("hmc5883 register %2d: %02x\n",
-			addr, data);
+	ao_hmc5883_setup();
+	for (;;) {
+		struct ao_hmc5883_sample ao_hmc5883_next;
+
+		ao_hmc5883_sample(&ao_hmc5883_next);
+		ao_arch_critical(
+			ao_hmc5883_current = ao_hmc5883_next;
+			ao_hmc5883_valid = 1;
+			);
+		ao_delay(0);
 	}
 }
 
+static struct ao_task ao_hmc5883_task;
+
+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);
+}
+
 static const struct ao_cmds ao_hmc5883_cmds[] = {
 	{ ao_hmc5883_show,	"M\0Show HMC5883 status" },
 	{ 0, NULL }
@@ -134,6 +156,14 @@ void
 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_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]);
 }