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 64663ea6d33d618b794213a7726a0f5dc7919d69..ade6c263d84236823d7d366cdb1c42b8b18348c8 100644 (file)
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,7 +19,7 @@
 #include <ao_hmc5883.h>
 #include <ao_exti.h>
 
-uint8_t        ao_hmc5883_valid;
+#if HAS_HMC5883
 
 static uint8_t ao_hmc5883_configured;
 
@@ -63,6 +63,8 @@ ao_hmc5883_isr(void)
        ao_wakeup(&ao_hmc5883_done);
 }
 
+static uint32_t        ao_hmc5883_missed_irq;
+
 void
 ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 {
@@ -74,10 +76,13 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
        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)
-               ao_sleep(&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
@@ -118,21 +123,16 @@ ao_hmc5883_setup(void)
        return 1;
 }
 
-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_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883);
                ao_arch_critical(
-                       ao_hmc5883_current = ao_hmc5883_next;
-                       ao_hmc5883_valid = 1;
+                       AO_DATA_PRESENT(AO_DATA_HMC5883);
+                       AO_DATA_WAIT();
                        );
-               ao_delay(0);
        }
 }
 
@@ -141,10 +141,10 @@ static struct ao_task ao_hmc5883_task;
 static void
 ao_hmc5883_show(void)
 {
-       struct ao_hmc5883_sample        sample;
-
-       sample = ao_hmc5883_current;
-       printf ("X: %d Y: %d Z: %d\n", sample.x, sample.y, sample.z);
+       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[] = {
@@ -156,7 +156,6 @@ void
 ao_hmc5883_init(void)
 {
        ao_hmc5883_configured = 0;
-       ao_hmc5883_valid = 0;
 
        ao_enable_port(AO_HMC5883_INT_PORT);
        ao_exti_setup(AO_HMC5883_INT_PORT,
@@ -167,3 +166,5 @@ ao_hmc5883_init(void)
        ao_add_task(&ao_hmc5883_task, ao_hmc5883, "hmc5883");
        ao_cmd_register(&ao_hmc5883_cmds[0]);
 }
+
+#endif