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/*
* 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>
#if HAS_HMC5883
static uint8_t ao_hmc5883_configured;
static uint8_t ao_hmc5883_addr;
static void
ao_hmc5883_reg_write(uint8_t addr, uint8_t data)
{
uint8_t d[2];
d[0] = addr;
d[1] = data;
ao_i2c_get(AO_HMC5883_I2C_INDEX);
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);
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;
static void
ao_hmc5883_isr(void)
{
ao_exti_disable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
ao_hmc5883_done = 1;
ao_wakeup(&ao_hmc5883_done);
}
static uint32_t ao_hmc5883_missed_irq;
void
ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
{
uint16_t *d = (uint16_t *) sample;
int i = sizeof (*sample) / 2;
uint8_t single = HMC5883_MODE_SINGLE;
ao_hmc5883_done = 0;
ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
ao_alarm(AO_MS_TO_TICKS(10));
cli();
while (!ao_hmc5883_done)
if (ao_sleep(&ao_hmc5883_done))
++ao_hmc5883_missed_irq;
sei();
ao_clear_alarm();
ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
#if __BYTE_ORDER == __LITTLE_ENDIAN
/* byte swap */
while (i--) {
uint16_t t = *d;
*d++ = (t >> 8) | (t << 8);
}
#endif
}
static uint8_t
ao_hmc5883_setup(void)
{
uint8_t d;
uint8_t present;
if (ao_hmc5883_configured)
return 1;
ao_i2c_get(AO_HMC5883_I2C_INDEX);
present = ao_i2c_start(AO_HMC5883_I2C_INDEX, HMC5883_ADDR_READ);
ao_i2c_recv(&d, 1, AO_HMC5883_I2C_INDEX, TRUE);
ao_i2c_put(AO_HMC5883_I2C_INDEX);
if (!present)
ao_panic(AO_PANIC_SELF_TEST);
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;
}
struct ao_hmc5883_sample ao_hmc5883_current;
static void
ao_hmc5883(void)
{
ao_hmc5883_setup();
for (;;) {
ao_hmc5883_sample(&ao_hmc5883_current);
ao_arch_critical(
AO_DATA_PRESENT(AO_DATA_HMC5883);
AO_DATA_WAIT();
);
}
}
static struct ao_task ao_hmc5883_task;
static void
ao_hmc5883_show(void)
{
struct ao_data sample;
ao_data_get(&sample);
printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
}
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_enable_port(AO_HMC5883_INT_PORT);
ao_exti_setup(AO_HMC5883_INT_PORT,
AO_HMC5883_INT_PIN,
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]);
}
#endif
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