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 9551df7136d700686e4fc0aed1a93cec696c1e4e..ade6c263d84236823d7d366cdb1c42b8b18348c8 100644 (file)
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,8 +19,12 @@
 #include <ao_hmc5883.h>
 #include <ao_exti.h>
 
+#if HAS_HMC5883
+
 static uint8_t ao_hmc5883_configured;
 
+static uint8_t ao_hmc5883_addr;
+
 static void
 ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
 {
@@ -32,17 +36,21 @@ ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
        ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
        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);
-       ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
-       ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, FALSE);
+       if (addr != ao_hmc5883_addr) {
+               ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_WRITE);
+               ao_i2c_send(&addr, 1, AO_HMC5883_I2C_INDEX, FALSE);
+       }
        ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
        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;
@@ -50,11 +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_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)
 {
@@ -63,12 +73,17 @@ 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);
+
+       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
        /* byte swap */
@@ -82,44 +97,54 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 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_i2c_get(AO_HMC5883_I2C_INDEX);
        present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
-       ao_i2c_recv(NULL, 0, AO_HMC5883_I2C_INDEX, TRUE);
+       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;
-       struct ao_hmc5883_sample sample;
-
-       if (!ao_hmc5883_setup()) {
-               printf("hmc5883 not present\n");
-               return;
+       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();
+                       );
        }
-#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[] = {
@@ -132,10 +157,14 @@ ao_hmc5883_init(void)
 {
        ao_hmc5883_configured = 0;
 
-       ao_exti_setup(&AO_HMC5883_INT_PORT,
+       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_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