X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_hmc5883.c;h=782d03f447e7a79a619b0e79b4814c0fcb4c9ae2;hb=d813566cdc4d43a43ed988dde4a3ceeccf24efe6;hp=f50376c8b977cac2dcbafad3df8c677e368cbf81;hpb=69a8907ecbb7ca0e8526aeea0dc7490a191a0f8b;p=fw%2Faltos

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index f50376c8..782d03f4 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,6 +19,8 @@
 #include <ao_hmc5883.h>
 #include <ao_exti.h>
 
+#if HAS_HMC5883
+
 static uint8_t	ao_hmc5883_configured;
 
 static uint8_t	ao_hmc5883_addr;
@@ -56,11 +58,13 @@ 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_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)
 {
@@ -69,15 +73,16 @@ 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);
 
-	cli();
+	ao_alarm(AO_MS_TO_TICKS(10));
+	ao_arch_block_interrupts();
 	while (!ao_hmc5883_done)
-		ao_sleep(&ao_hmc5883_done);
-	sei();
-
-	printf ("done %d\n", ao_hmc5883_done);
+		if (ao_sleep(&ao_hmc5883_done))
+			++ao_hmc5883_missed_irq;
+	ao_arch_release_interrupts();
+	ao_clear_alarm();
 
 	ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
 #if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -94,6 +99,7 @@ ao_hmc5883_setup(void)
 {
 	uint8_t d;
 	uint8_t	present;
+
 	if (ao_hmc5883_configured)
 		return 1;
 
@@ -103,7 +109,7 @@ ao_hmc5883_setup(void)
 	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) |
@@ -117,25 +123,30 @@ ao_hmc5883_setup(void)
 	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;
+	ao_hmc5883_setup();
+	for (;;) {
+		ao_hmc5883_sample(&ao_hmc5883_current);
+		ao_arch_critical(
+			AO_DATA_PRESENT(AO_DATA_HMC5883);
+			AO_DATA_WAIT();
+			);
 	}
-#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)
+{
+	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[] = {
@@ -149,10 +160,13 @@ ao_hmc5883_init(void)
 	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