altos: Add mpu6000 and hmc5883 stubs

No real drivers here yet, just some testing stubs

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 139 insertions, 0 deletions

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
new file mode 100644
index 00000000..0077daf9
--- /dev/null
+++ b/src/drivers/ao_hmc5883.c
@@ -0,0 +1,139 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_hmc5883.h>
+#include <ao_exti.h>
+
+static uint8_t	ao_hmc5883_wake;
+static uint8_t	ao_hmc5883_configured;
+
+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_addr_reg;
+
+static void
+ao_hmc5883_update_addr (uint8_t len)
+{
+	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;
+		    
+}
+
+static void
+ao_hmc5883_write(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);
+	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_put(AO_HMC5883_I2C_INDEX);
+}
+
+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) {
+		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_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_put(AO_HMC5883_I2C_INDEX);
+}
+
+static uint8_t
+ao_hmc5883_setup(void)
+{
+	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_put(AO_HMC5883_I2C_INDEX);
+	if (!present)
+		return 0;
+	ao_hmc5883_configured = 1;
+	return 1;
+}
+
+static void
+ao_hmc5883_show(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);
+	}
+}
+
+static const struct ao_cmds ao_hmc5883_cmds[] = {
+	{ ao_hmc5883_show,	"M\0Show HMC5883 status" },
+	{ 0, NULL }
+};
+
+void
+ao_hmc5883_init(void)
+{
+	ao_hmc5883_configured = 0;
+
+	ao_cmd_register(&ao_hmc5883_cmds[0]);
+}