Merge remote-tracking branch 'mjb/master'

[fw/altos] / src / drivers / ao_hmc5883.c

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index f50376c8b977cac2dcbafad3df8c677e368cbf81..782d03f447e7a79a619b0e79b4814c0fcb4c9ae2 100644 (file)
--- 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