1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
|
/*
* 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, FALSE);
ao_hmc5883_addr_reg = addr;
ao_i2c_send(data, len, AO_HMC5883_I2C_INDEX, TRUE);
ao_hmc5883_update_addr(len);
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, FALSE);
ao_hmc5883_addr_reg = addr;
}
ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
ao_i2c_recv(data, len, AO_HMC5883_I2C_INDEX, TRUE);
ao_hmc5883_update_addr(len);
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_recv(NULL, 0, AO_HMC5883_I2C_INDEX, TRUE);
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_recv(NULL, 0, AO_HMC5883_I2C_INDEX, TRUE);
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]);
}
|
