X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_hmc5883.c;h=55a193ac5adb58236acb51be0e3a3f9eb78fe5e5;hb=6b0754cee625c6e2c19dc70fb5be6cd2f0125d47;hp=9551df7136d700686e4fc0aed1a93cec696c1e4e;hpb=43e558738c76afd72fc01660884be3158f44470d;p=fw%2Faltos

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 9551df71..55a193ac 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -19,8 +20,12 @@
 #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)
 {
@@ -30,19 +35,23 @@ ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
 	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;
 }
 
 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_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;
@@ -50,25 +59,29 @@ 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);
 }
 
-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();
+		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 */
@@ -82,44 +95,56 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 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_HMC5883);
+
+	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;
+	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();
 	}
-#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 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[] = {
@@ -132,10 +157,14 @@ ao_hmc5883_init(void)
 {
 	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