#include <ao_hmc5883.h>
#include <ao_exti.h>
-static uint8_t ao_hmc5883_wake;
-static uint8_t ao_hmc5883_configured;
+#if HAS_HMC5883
-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);
+}
+
+static uint32_t ao_hmc5883_missed_irq;
+
+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);
+
+ ao_alarm(AO_MS_TO_TICKS(10));
+ cli();
+ while (!ao_hmc5883_done)
+ if (ao_sleep(&ao_hmc5883_done))
+ ++ao_hmc5883_missed_irq;
+ sei();
+ ao_clear_alarm();
+
+ 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;
}
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 (;;) {
+ ao_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883);
+ ao_arch_critical(
+ AO_DATA_PRESENT(AO_DATA_HMC5883);
+ AO_DATA_WAIT();
+ );
}
}
+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[] = {
{ ao_hmc5883_show, "M\0Show HMC5883 status" },
{ 0, NULL }
{
ao_hmc5883_configured = 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]);
}
+
+#endif
projects / fw / altos / blobdiff