Creates a task to poll the mag sensor and place the data into the
sensor data ring.
Signed-off-by: Keith Packard <keithp@keithp.com>
#include <ao_mpu6000.h>
#endif
#include <ao_mpu6000.h>
#endif
+#if HAS_HMC5883
+#include <ao_hmc5883.h>
+#endif
+
struct ao_data {
uint16_t tick;
#if HAS_ADC
struct ao_data {
uint16_t tick;
#if HAS_ADC
#if HAS_MPU6000
struct ao_mpu6000_sample mpu6000;
#endif
#if HAS_MPU6000
struct ao_mpu6000_sample mpu6000;
#endif
+#if HAS_HMC5883
+ struct ao_hmc5883_sample hmc5883;
+#endif
};
#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
};
#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
+ log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
+ log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
+ log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
+ log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
ao_log_mega(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
ao_log_mega(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
#include <ao_hmc5883.h>
#include <ao_exti.h>
#include <ao_hmc5883.h>
#include <ao_exti.h>
+uint8_t ao_hmc5883_valid;
+
static uint8_t ao_hmc5883_configured;
static uint8_t ao_hmc5883_addr;
static uint8_t ao_hmc5883_configured;
static uint8_t ao_hmc5883_addr;
ao_hmc5883_isr(void)
{
ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
ao_hmc5883_isr(void)
{
ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
ao_wakeup(&ao_hmc5883_done);
}
ao_wakeup(&ao_hmc5883_done);
}
ao_sleep(&ao_hmc5883_done);
sei();
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 */
ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
#if __BYTE_ORDER == __LITTLE_ENDIAN
/* byte swap */
{
uint8_t d;
uint8_t present;
{
uint8_t d;
uint8_t present;
if (ao_hmc5883_configured)
return 1;
if (ao_hmc5883_configured)
return 1;
ao_i2c_put(AO_HMC5883_I2C_INDEX);
if (!present)
ao_i2c_put(AO_HMC5883_I2C_INDEX);
if (!present)
+ ao_panic(AO_PANIC_SELF_TEST);
ao_hmc5883_reg_write(HMC5883_CONFIG_A,
(HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
ao_hmc5883_reg_write(HMC5883_CONFIG_A,
(HMC5883_CONFIG_A_MA_8 << HMC5883_CONFIG_A_MA) |
+struct ao_hmc5883_sample ao_hmc5883_current;
+
+static void
+ao_hmc5883(void)
+{
+ 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)
{
static void
ao_hmc5883_show(void)
{
- uint8_t addr, data;
- struct ao_hmc5883_sample sample;
+ 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);
- }
-#endif
- ao_hmc5883_sample(&sample);
+ sample = ao_hmc5883_current;
printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
}
printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
}
ao_hmc5883_init(void)
{
ao_hmc5883_configured = 0;
ao_hmc5883_init(void)
{
ao_hmc5883_configured = 0;
ao_enable_port(AO_HMC5883_INT_PORT);
ao_exti_setup(&AO_HMC5883_INT_PORT,
ao_enable_port(AO_HMC5883_INT_PORT);
ao_exti_setup(&AO_HMC5883_INT_PORT,
AO_EXTI_MODE_FALLING | AO_EXTI_MODE_PULL_UP,
ao_hmc5883_isr);
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]);
}
ao_cmd_register(&ao_hmc5883_cmds[0]);
}
#define HMC5883_ID_B 11
#define HMC5883_ID_C 12
#define HMC5883_ID_B 11
#define HMC5883_ID_C 12
+extern uint8_t ao_hmc5883_valid;
+
struct ao_hmc5883_sample {
int16_t x, y, z;
};
struct ao_hmc5883_sample {
int16_t x, y, z;
};
+extern struct ao_hmc5883_sample ao_hmc5883_current;
+
void
ao_hmc5883_init(void);
void
ao_hmc5883_init(void);
* Mag sensor (hmc5883)
*/
* Mag sensor (hmc5883)
*/
#define AO_HMC5883_INT_PORT stm_gpioc
#define AO_HMC5883_INT_PIN 12
#define AO_HMC5883_I2C_INDEX STM_I2C_INDEX(1)
#define AO_HMC5883_INT_PORT stm_gpioc
#define AO_HMC5883_INT_PIN 12
#define AO_HMC5883_I2C_INDEX STM_I2C_INDEX(1)
step = 0;
ao_data_ring[ao_data_head].ms5607 = ao_ms5607_current;
#endif
step = 0;
ao_data_ring[ao_data_head].ms5607 = ao_ms5607_current;
#endif
+#if HAS_HMC5883
+ if (!ao_hmc5883_valid)
+ step = 0;
+ ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current;
+#endif
if (step) {
ao_data_head = ao_data_ring_next(ao_data_head);
ao_wakeup((void *) &ao_data_head);
if (step) {
ao_data_head = ao_data_ring_next(ao_data_head);
ao_wakeup((void *) &ao_data_head);