[paparazzi-commits] [6110] More work on HMC5843 mags for IMU 1.2

[Allen Ibara]

Revision: 6110
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6110
Author:   aibara
Date:     2010-10-08 06:59:57 +0000 (Fri, 08 Oct 2010)
Log Message:
-----------
More work on HMC5843 mags for IMU 1.2

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.c
    paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.h

Modified: paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.c        
2010-10-08 06:31:15 UTC (rev 6109)
+++ paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.c        
2010-10-08 06:59:57 UTC (rev 6110)
@@ -12,7 +12,6 @@
        hmc5843_i2c_trans.status = I2CTransSuccess;
        hmc5843_i2c_trans.slave_addr = HMC5843_ADDR;
        hmc5843_i2c_trans.stop_after_transmit = TRUE;
-
 }
 
 void hmc5843_periodic(void) {

Modified: paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.h        
2010-10-08 06:31:15 UTC (rev 6109)
+++ paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.h        
2010-10-08 06:59:57 UTC (rev 6110)
@@ -31,6 +31,7 @@
   HMC5843_UNINITIALIZED2,
   HMC5843_UNINITIALIZED3,
   HMC5843_IDLE,
+  HMC5843_DATA_AVAILABLE,
   HMC5843_READING
 };
 
@@ -72,9 +73,11 @@
 #define MagEvent(_m_handler) {                                         \
     if (hmc5843.status == HMC5843_READING && hmc5843_i2c_trans.status == 
I2CTransSuccess) {    \
       memcpy(hmc5843.data.buf, (const void*)hmc5843_i2c_trans.buf, 6);         
\
+      hmc5843.status = HMC5843_DATA_AVAILABLE;                                 
\
       _m_handler();                                                    \
+    }  else if (hmc5843_i2c_trans.status != I2CTransPending) { \
       hmc5843.status = HMC5843_IDLE;                                   \
-    }                                                                  \
+    } \
   }
 
 #endif /* BOOZ_HMC5843_H */