diff options
| -rw-r--r-- | src/core/ao_data.h | 7 | ||||
| -rw-r--r-- | src/core/ao_log_mega.c | 4 | ||||
| -rw-r--r-- | src/drivers/ao_hmc5883.c | 47 | ||||
| -rw-r--r-- | src/drivers/ao_hmc5883.h | 4 | ||||
| -rw-r--r-- | src/megametrum-v0.1/ao_pins.h | 1 | ||||
| -rw-r--r-- | src/stm/ao_adc_stm.c | 5 |
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); |