void
ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
{
uint16_t *d = (uint16_t *) sample;
int i = sizeof (*sample) / 2;
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));
ao_arch_block_interrupts();
while (!ao_hmc5883_done)
if (ao_sleep(&ao_hmc5883_done))
++ao_hmc5883_missed_irq;
ao_arch_release_interrupts();
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 int
ao_btm_getchar(void)
{
int c;
ao_arch_block_interrupts();
while ((c = _ao_serial_btm_pollchar()) == AO_READ_AGAIN) {
ao_alarm(AO_MS_TO_TICKS(10));
c = ao_sleep(&ao_serial_btm_rx_fifo);
ao_clear_alarm();
if (c) {
c = AO_READ_AGAIN;
break;
}
}
ao_arch_release_interrupts();
return c;
}
void
ao_delay(uint16_t ticks)
{
ao_alarm(ticks);
ao_sleep(&ao_forever);
}
