altos: Intgrate hmc5883 sensor into adc ring

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>

6 files changed, 50 insertions, 18 deletions

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 83f8df59..502df6c9 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -26,6 +26,10 @@
 #include <ao_mpu6000.h>
 #endif
 
+#if HAS_HMC5883
+#include <ao_hmc5883.h>
+#endif
+
 struct ao_data {
 	uint16_t			tick;
 #if HAS_ADC
@@ -37,6 +41,9 @@ struct ao_data {
 #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))
diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c
index 404e6bf7..68e2af49 100644
--- a/src/core/ao_log_mega.c
+++ b/src/core/ao_log_mega.c
@@ -120,6 +120,10 @@ ao_log(void)
 				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;
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index f50376c8..1bc914e6 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -19,6 +19,8 @@
 #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;
@@ -57,7 +59,7 @@ static void
 ao_hmc5883_isr(void)
 {
 	ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
-	++ao_hmc5883_done;
+	ao_hmc5883_done = 1;
 	ao_wakeup(&ao_hmc5883_done);
 }
 
@@ -77,8 +79,6 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
 		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 */
@@ -94,6 +94,7 @@ ao_hmc5883_setup(void)
 {
 	uint8_t d;
 	uint8_t	present;
+
 	if (ao_hmc5883_configured)
 		return 1;
 
@@ -103,7 +104,7 @@ ao_hmc5883_setup(void)
 	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) |
@@ -117,24 +118,32 @@ 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_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)
 {
-	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);
 }
 
@@ -147,6 +156,7 @@ 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,
@@ -154,5 +164,6 @@ ao_hmc5883_init(void)
 		      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]);
 }
diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h
index 55690978..8d726510 100644
--- a/src/drivers/ao_hmc5883.h
+++ b/src/drivers/ao_hmc5883.h
@@ -75,10 +75,14 @@
 #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;
 };
 
+extern struct ao_hmc5883_sample ao_hmc5883_current;
+
 void
 ao_hmc5883_init(void);
 
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index 75b22045..d6394d9b 100644
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -235,6 +235,7 @@ struct ao_adc {
  * Mag sensor (hmc5883)
  */
 
+#define HAS_HMC5883		1
 #define AO_HMC5883_INT_PORT	stm_gpioc
 #define AO_HMC5883_INT_PIN	12
 #define AO_HMC5883_I2C_INDEX	STM_I2C_INDEX(1)
diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index 24a1fdd0..71299de9 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -62,6 +62,11 @@ static void ao_adc_done(int index)
 		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);