diff options
| -rw-r--r-- | accel.c | 15 | ||||
| -rw-r--r-- | gyro.c | 16 | ||||
| -rw-r--r-- | i2c.c | 7 | ||||
| -rw-r--r-- | main.c | 4 |
4 files changed, 20 insertions, 22 deletions
@@ -5,6 +5,7 @@ #include <avr/io.h> #include <avr/interrupt.h> #include <avr/sleep.h> +#include <util/atomic.h> #include "i2c.h" #include "accel.h" @@ -16,8 +17,6 @@ #define LIS302DL_CTRLREG1 0x20 #define LIS302DL_UNUSED1 0x28 -/* the first interrupt is lost */ -static volatile bool drdy = true; /* 0, 2 and 4 are zero, as they contain the dummy register’s content */ static volatile int8_t val[6] = {0, 0, 0, 0, 0, 0}; /* currently reading from i2c */ @@ -26,13 +25,13 @@ static bool reading = false; /* data ready interrupt */ ISR(PCINT1_vect) { - drdy = true; + /* empty */ } void accelInit () { /* set interrupt lines to input with pull-up */ - DDRC = DDRC & ~((1 << PC0) | (1 << PC1)); - PORTC = PORTC | (1 << PC0) | (1 << PC1); + DDRC = DDRC & ~((1 << DDC0) | (1 << DDC1)); + PORTC = PORTC | (1 << PORTC0) | (1 << PORTC1); /* enable interrupt PCI1 for PCINT8/9 */ PCICR = PCICR | (1 << PCIE1); /* enable interrupts from port PC0/PC1 aka PCINT8/PCINT9 */ @@ -67,13 +66,13 @@ bool accelProcess () { reading = false; } } else { - if (drdy && twr.status != TWST_WAIT) { + if (!((PINC >> PINC1) & 0x1) && twr.status != TWST_WAIT) { /* new data available in device buffer and bus is free, we are * reading the registers inbetween out_x/y/z and ignore them */ - if (!twRequest (TWM_READ, LIS302DL, LIS302DL_UNUSED1, (uint8_t *) val, 6)) { + if (!twRequest (TWM_READ, LIS302DL, LIS302DL_UNUSED1, + (uint8_t *) val, 6)) { printf ("cannot start read\n"); } else { - drdy = false; reading = true; } } @@ -29,8 +29,7 @@ #define L3GD20_CTRLREG3 0x22 #define L3GD20_CTRLREG4 0x23 -/* the first interrupt is lost */ -static volatile bool drdy = true; +/* raw values */ static volatile int16_t val[3] = {0, 0, 0}; /* current (relative) angle, in millidegree */ static int16_t angle[3] = {0, 0, 0}; @@ -40,13 +39,13 @@ static bool reading = false; /* data ready interrupt */ ISR(PCINT0_vect) { - drdy = true; + /* empty */ } void gyroInit () { /* set PB1 to input, with pull-up */ - DDRB = (DDRB & ~((1 << PB1))); - PORTB = (PORTB | (1 << PB1)); + DDRB = DDRB & ~((1 << DDB1)); + PORTB = PORTB | (1 << PORTB1); /* enable interrupt PCI0 */ PCICR = PCICR | (1 << PCIE0); /* enable interrupts on PB1/PCINT1 */ @@ -58,10 +57,10 @@ void gyroStart () { /* configuration: * disable power-down-mode * defaults - * enable drdy interrupt + * low-active (does not work?), push-pull, drdy on int2 * select 500dps */ - uint8_t data[] = {0b00001111, 0b0, 0b00001000, 0b00010000}; + uint8_t data[] = {0b00001111, 0b0, 0b00101000, 0b00010000}; if (!twRequest (TWM_WRITE, L3GD20, L3GD20_CTRLREG1, data, sizeof (data)/sizeof (*data))) { @@ -87,12 +86,11 @@ bool gyroProcess () { reading = false; } } else { - if (drdy && twr.status != TWST_WAIT) { + if (((PINB >> PINB1) & 0x1) && twr.status != TWST_WAIT) { /* new data available in device buffer and bus is free */ if (!twRequest (TWM_READ, L3GD20, 0x28, (uint8_t *) val, 6)) { printf ("cannot start read\n"); } else { - drdy = false; reading = true; } } @@ -1,6 +1,8 @@ #include <stdio.h> #include <util/twi.h> #include <avr/interrupt.h> +#include <stdlib.h> +#include <assert.h> #include "i2c.h" #include "common.h" @@ -67,10 +69,7 @@ void twInit () { */ bool twRequest (const twMode mode, const uint8_t address, const uint8_t subaddress, uint8_t * const data, const uint8_t count) { - /* do not start if request is pending */ - if (twr.status == TWST_WAIT) { - return false; - } + assert (twr.status != TWST_WAIT); twr.mode = mode; twr.address = address; @@ -66,7 +66,7 @@ int main () { gyroProcess (); accelProcess(); } else { - accelProcess(); + accelProcess (); gyroProcess (); } checkGyro = !checkGyro; @@ -82,6 +82,8 @@ int main () { } timerStop (); + printf ("stopped\n"); + /* global interrupt disable */ cli (); |