diff options
| -rw-r--r-- | src/drivers/ao_hmc5883.c | 37 | ||||
| -rw-r--r-- | src/drivers/ao_hmc5883.h | 37 |
2 files changed, 64 insertions, 10 deletions
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c index 9551df71..f50376c8 100644 --- a/src/drivers/ao_hmc5883.c +++ b/src/drivers/ao_hmc5883.c @@ -21,6 +21,8 @@ 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 +34,21 @@ 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; @@ -51,7 +57,7 @@ static void ao_hmc5883_isr(void) { ao_exti_disable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN); - ao_hmc5883_done = 1; + ++ao_hmc5883_done; ao_wakeup(&ao_hmc5883_done); } @@ -65,10 +71,14 @@ ao_hmc5883_sample(struct ao_hmc5883_sample *sample) ao_hmc5883_done = 0; ao_exti_enable(&AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN); ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE); + cli(); while (!ao_hmc5883_done) 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 */ @@ -82,21 +92,27 @@ 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_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; } @@ -132,9 +148,10 @@ ao_hmc5883_init(void) { ao_hmc5883_configured = 0; + 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_cmd_register(&ao_hmc5883_cmds[0]); diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h index 2ec27dd9..55690978 100644 --- a/src/drivers/ao_hmc5883.h +++ b/src/drivers/ao_hmc5883.h @@ -22,11 +22,48 @@ #define HMC5883_ADDR_READ 0x3d #define HMC5883_CONFIG_A 0 + +#define HMC5883_CONFIG_A_MA 5 +#define HMC5883_CONFIG_A_MA_1 0 +#define HMC5883_CONFIG_A_MA_2 1 +#define HMC5883_CONFIG_A_MA_4 2 +#define HMC5883_CONFIG_A_MA_8 3 +#define HMC5883_CONFIG_A_MA_MASK 3 + +#define HMC5883_CONFIG_A_DO 2 +#define HMC5883_CONFIG_A_DO_0_75 0 +#define HMC5883_CONFIG_A_DO_1_5 1 +#define HMC5883_CONFIG_A_DO_3 2 +#define HMC5883_CONFIG_A_DO_7_5 3 +#define HMC5883_CONFIG_A_DO_15 4 +#define HMC5883_CONFIG_A_DO_30 5 +#define HMC5883_CONFIG_A_DO_75 6 +#define HMC5883_CONFIG_A_DO_MASK 7 + +#define HMC5883_CONFIG_A_MS 0 +#define HMC5883_CONFIG_A_MS_NORMAL 0 +#define HMC5883_CONFIG_A_MS_POSITIVE_BIAS 1 +#define HMC5883_CONFIG_A_MS_NEGATIVE_BIAS 2 +#define HMC5883_CONFIG_A_MS_MASK 3 + #define HMC5883_CONFIG_B 1 + +#define HMC5883_CONFIG_B_GN 5 +#define HMC5883_CONFIG_B_GN_0_88 0 +#define HMC5883_CONFIG_B_GN_1_3 1 +#define HMC5883_CONFIG_B_GN_1_9 2 +#define HMC5883_CONFIG_B_GN_2_5 3 +#define HMC5883_CONFIG_B_GN_4_0 4 +#define HMC5883_CONFIG_B_GN_4_7 5 +#define HMC5883_CONFIG_B_GN_5_6 6 +#define HMC5883_CONFIG_B_GN_8_1 7 +#define HMC5883_CONFIG_B_GN_MASK 7 + #define HMC5883_MODE 2 #define HMC5883_MODE_CONTINUOUS 0 #define HMC5883_MODE_SINGLE 1 #define HMC5883_MODE_IDLE 2 + #define HMC5883_X_MSB 3 #define HMC5883_X_LSB 4 #define HMC5883_Y_MSB 5 |