#define DEBUG_LOW 1
#define DEBUG_HIGH 2
#if 1
-#define PRINTD(l, ...) do { if (DEBUG & (l)) { printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } } while(0)
+#define PRINTD(l, ...) do { if (DEBUG & (l)) { printf ("\r%5lu %s: ", (unsigned long) ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } } while(0)
#else
#define PRINTD(l,...)
#endif
+#define AO_MMA655X_SPI_SPEED ao_spi_speed(8333333) /* 120ns clock period */
+
static void
ao_mma655x_start(void) {
ao_spi_get_bit(AO_MMA655X_CS_PORT,
AO_MMA655X_CS_PIN,
- AO_MMA655X_CS,
AO_MMA655X_SPI_INDEX,
- AO_SPI_SPEED_FAST);
+ AO_MMA655X_SPI_SPEED);
}
static void
ao_mma655x_stop(void) {
ao_spi_put_bit(AO_MMA655X_CS_PORT,
AO_MMA655X_CS_PIN,
- AO_MMA655X_CS,
AO_MMA655X_SPI_INDEX);
}
static void
ao_mma655x_restart(void) {
uint8_t i;
- ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, AO_MMA655X_CS, 1);
+ ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, 1);
/* Emperical testing on STM32L151 at 32MHz for this delay amount */
for (i = 0; i < 10; i++)
ao_arch_nop();
- ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, AO_MMA655X_CS, 0);
+ ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, 0);
}
static uint8_t
{
uint8_t d[2];
ao_mma655x_start();
- d[0] = addr | (ao_parity(addr) << 7);
+ d[0] = (uint8_t) (addr | (ao_parity(addr) << 7));
d[1] = 0;
ao_spi_send(&d, 2, AO_MMA655X_SPI_INDEX);
ao_mma655x_restart();
PRINTD(DEBUG_LOW, "write %x %x\n", addr, value);
addr |= (1 << 6); /* write mode */
- d[0] = addr | (ao_parity(addr^value) << 7);
+ d[0] = (uint8_t) (addr | (ao_parity(addr^value) << 7));
d[1] = value;
ao_mma655x_start();
ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
ao_mma655x_stop();
-
- addr &= ~(1 << 6);
}
static uint16_t
PRINTD(DEBUG_LOW, "value RECV %02x %02x\n", d[0], d[1]);
v = (uint16_t) d[1] << 2;
- v |= d[0] >> 6;
- v |= (uint16_t) (d[0] & 3) << 10;
+ v = (uint16_t) (v | (d[0] >> 6));
+ v = (uint16_t) (v | ((d[0] & 3) << 10));
return v;
}
a = ao_mma655x_value();
- st_change = a_st - a;
+ st_change = (int16_t) (a_st - a);
PRINTD(DEBUG_HIGH, "self test %d normal %d change %d\n", a_st, a, st_change);
ao_delay(AO_ST_DELAY);
}
if (tries == AO_ST_TRIES)
- ao_sensor_errors = 1;
+ AO_SENSOR_ERROR(AO_DATA_MMA655X);
ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
DEVCFG_VALUE | (1 << AO_MMA655X_DEVCFG_ENDINIT));