Add preliminary support for HMC5883L magnetometer and MPL3115A2 altimeter.

Logging only, at this stage.

hmc5883l.c

@@ -0,0 +1,129 @@
+/* hmc5883l.c */
+
+#include "sensors.h"
+#include "hmc5883l.h"
+#include "i2c.h"
+#include "event.h"
+#include "log.h"
+#include "uart.h"
+
+bool hmc5883l_state;
+
+i2c_result hmc5883l_result;
+
+unsigned char hmc5883l_sample_data[6];
+
+#define LOG_SIGNATURE_MAGNETOMETER 0xDA7AAA75
+
+unsigned char hmc5883l_init_command[] = {0x00, 0x70};
+unsigned char hmc5883l_init_command2[] = {0x01, 0xA0};
+
+struct i2c_transaction hmc5883l_init_transaction2;
+
+struct i2c_transaction hmc5883l_init_transaction = {
+	(0x1E << 1) + 0, /* write */
+	2,
+	hmc5883l_init_command,
+	&hmc5883l_result,
+	EVENT_HMC5883L_I2C_COMPLETE,
+	&hmc5883l_init_transaction2
+};
+
+struct i2c_transaction hmc5883l_init_transaction2 = {
+	(0x1E << 1) + 0, /* write */
+	2,
+	hmc5883l_init_command2,
+	&hmc5883l_result,
+	EVENT_HMC5883L_I2C_COMPLETE,
+	NULL
+};
+
+unsigned char hmc5883l_start_command[] = {0x02, 0x01};
+
+struct i2c_transaction hmc5883l_start_transaction = {
+	(0x1E << 1) + 0, /* write */
+	2,
+	hmc5883l_start_command,
+	&hmc5883l_result,
+	EVENT_HMC5883L_I2C_COMPLETE,
+	NULL
+};
+
+struct i2c_transaction hmc5883l_sample_transaction = {
+	(0x1E << 1) + 1, /* read */
+	6,
+	hmc5883l_sample_data,
+	&hmc5883l_result,
+	EVENT_HMC5883L_I2C_COMPLETE,
+	NULL
+};
+
+void hmc5883l_event_handler(void);
+
+bool hmc5883l_init(void)
+{
+	event_register(EVENT_HMC5883L_I2C_COMPLETE, hmc5883l_event_handler);
+
+	if (!i2c_start_transaction(&hmc5883l_init_transaction))
+		return FALSE;
+	while (i2c_busy()) ;
+
+	hmc5883l_state = 0;
+
+	return (hmc5883l_result == I2C_SUCCESS);
+}
+
+bool hmc5883l_start_sample(void)
+{
+	hmc5883l_state = !hmc5883l_state;
+
+	if (hmc5883l_state)
+	    return i2c_start_transaction(&hmc5883l_start_transaction);
+	else
+	    return i2c_start_transaction(&hmc5883l_sample_transaction);
+}
+
+void hmc5883l_event_handler(void)
+{
+#if 0
+	signed short int xi, yi, zi;
+	signed short int tempi;
+	signed short int rolli, pitchi, yawi;
+
+	float x, y, z;
+	float temp;
+	float roll, pitch, yaw;
+#endif
+
+	if (hmc5883l_result != I2C_SUCCESS)
+		return;
+
+	hmc5883l_result = I2C_IN_PROGRESS;
+
+	sensors_sample_done();
+
+	/* If we just started a conversion, our job is done for now */
+	if (hmc5883l_state)
+	    return;
+
+#if 0
+	xi = (hmc5883l_sample_data[0] << 8) + hmc5883l_sample_data[1];
+	yi = (hmc5883l_sample_data[2] << 8) + hmc5883l_sample_data[3];
+	zi = (hmc5883l_sample_data[4] << 8) + hmc5883l_sample_data[5];
+
+	tempi = (hmc5883l_sample_data[6] << 8) + hmc5883l_sample_data[7];
+
+	rolli  = (hmc5883l_sample_data[ 8] << 8)+hmc5883l_sample_data[ 9];
+	pitchi = (hmc5883l_sample_data[10] << 8)+hmc5883l_sample_data[11];
+	yawi   = (hmc5883l_sample_data[12] << 8)+hmc5883l_sample_data[13];
+
+	sensors_write_gyro_data(roll, pitch, yaw);
+	sensors_write_accel_data(x, y, z);
+	sensors_write_temp_data(temp);
+
+#endif
+
+	log_put_uint(LOG_SIGNATURE_MAGNETOMETER);
+	log_put_array((char *)hmc5883l_sample_data, 6);
+}
+