X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_adxl375.c;h=f53fb59d7ad2147aa04eb2872bd779e706d7ad1a;hb=3fb95b34a85fb79713c258937a9005faf6f89a03;hp=e0d094f214b3a42a8f48a9f5cced8f0685f5debb;hpb=0686a7b8aec524d81bda4c572549a3a068ce0eed;p=fw%2Faltos

diff --git a/src/drivers/ao_adxl375.c b/src/drivers/ao_adxl375.c
index e0d094f2..f53fb59d 100644
--- a/src/drivers/ao_adxl375.c
+++ b/src/drivers/ao_adxl375.c
@@ -18,14 +18,16 @@
 #define DEBUG_LOW	1
 #define DEBUG_HIGH	2
 
-#define DEBUG		0
+#define DEBUG		3
 
 #if DEBUG
-#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: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } } while(0)
 #else
 #define PRINTD(l,...)
 #endif
 
+#define AO_ADXL375_SPI_SPEED	ao_spi_speed(5000000)
+
 struct ao_adxl375_sample	ao_adxl375_current;
 
 static void
@@ -46,16 +48,17 @@ ao_adxl375_stop(void) {
 static uint8_t
 ao_adxl375_reg_read(uint8_t addr)
 {
-	uint8_t	d[2];
+	uint8_t	d[1];
 
 	d[0] = addr | AO_ADXL375_READ;
 	ao_adxl375_start();
-	ao_spi_duplex(d, d, 2, AO_ADXL375_SPI_INDEX);
+	ao_spi_send(d, 1, AO_ADXL375_SPI_INDEX);
+	ao_spi_recv(d, 1, AO_ADXL375_SPI_INDEX);
 	ao_adxl375_stop();
 
-	PRINTD(DEBUG_LOW, "read %x = %x\n", addr, d);
+	PRINTD(DEBUG_LOW, "read %x = %x\n", addr, d[0]);
 
-	return d[1];
+	return d[0];
 }
 
 static void
@@ -71,12 +74,12 @@ ao_adxl375_reg_write(uint8_t addr, uint8_t value)
 	ao_adxl375_stop();
 
 #if DEBUG & DEBUG_LOW
-	d[0] = addr | AO_ADXL375_READ
-	d[1] = 0;
+	d[0] = addr | AO_ADXL375_READ;
 	ao_adxl375_start();
-	ao_spi_duplex(d, d, 2, AO_ADXL375_SPI_INDEX);
+	ao_spi_send(d, 1, AO_ADXL375_SPI_INDEX);
+	ao_spi_recv(d, 1, AO_ADXL375_SPI_INDEX);
 	ao_adxl375_stop();
-	PRINTD(DEBUG_LOW, "readback %x %x\n", d[0], d[1]);
+	PRINTD(DEBUG_LOW, "readback %x\n", d[0]);
 #endif
 }
 
@@ -87,9 +90,9 @@ ao_adxl375_value(struct ao_adxl375_sample *value)
 
 	d[0] = AO_ADXL375_DATAX0 | AO_ADXL375_READ | AO_ADXL375_MULTI_BYTE;
 	ao_adxl375_start();
-	ao_spi_duplex(d, d, 7, AO_ADXL375_SPI_INDEX);
+	ao_spi_send(d, 1, AO_ADXL375_SPI_INDEX);
+	ao_spi_recv(value, 6, AO_ADXL375_SPI_INDEX);
 	ao_adxl375_stop();
-	memcpy(value, &d[1], 6);
 }
 
 struct ao_adxl375_total {
@@ -98,20 +101,17 @@ struct ao_adxl375_total {
 	int32_t	z;
 };
 
-#define AO_ADXL375_SELF_TEST_SAMPLES	16
-#define AO_ADXL375_SELF_TEST_SETTLE	6
+#define AO_ADXL375_SELF_TEST_SAMPLES	10
+#define AO_ADXL375_SELF_TEST_SETTLE	4
 
 #define MIN_LSB_G	18.4
 #define MAX_LSB_G	22.6
-#define SELF_TEST_MIN_G	6.0
+#define SELF_TEST_MIN_G	5.0
 #define SELF_TEST_MAX_G	6.8
 
 #define MIN_SELF_TEST	((int32_t) (MIN_LSB_G * SELF_TEST_MIN_G * AO_ADXL375_SELF_TEST_SAMPLES + 0.5))
 #define MAX_SELF_TEST	((int32_t) (MAX_LSB_G * SELF_TEST_MAX_G * AO_ADXL375_SELF_TEST_SAMPLES + 0.5))
 
-static const int32_t	min_self_test = MIN_SELF_TEST;
-static const int32_t	max_self_test = MAX_SELF_TEST;
-
 static void
 ao_adxl375_total_value(struct ao_adxl375_total *total, int samples)
 {
@@ -146,7 +146,7 @@ ao_adxl375_setup(void)
 
 	uint8_t	devid = ao_adxl375_reg_read(AO_ADXL375_DEVID);
 	if (devid != AO_ADXL375_DEVID_ID)
-		ao_sensor_errors = 1;
+		AO_SENSOR_ERROR(AO_DATA_ADXL375);
 
 	/* Set the data rate */
 	ao_adxl375_reg_write(AO_ADXL375_BW_RATE,
@@ -175,12 +175,8 @@ ao_adxl375_setup(void)
 			     (0 << AO_ADXL375_POWER_CTL_SLEEP) |
 			     (AO_ADXL375_POWER_CTL_WAKEUP_8 << AO_ADXL375_POWER_CTL_WAKEUP));
 
-	(void) ao_adxl375_total_value;
 	/* Perform self-test */
 
-#define AO_ADXL375_SELF_TEST_SAMPLES	16
-#define AO_ADXL375_SELF_TEST_SETTLE	6
-
 	struct ao_adxl375_total	self_test_off, self_test_on;
 
 	/* Discard some samples to let it settle down */
@@ -210,22 +206,26 @@ ao_adxl375_setup(void)
 
 	self_test_value = z_change;
 
-	if (z_change < min_self_test || max_self_test < z_change)
-		ao_sensor_errors = 1;
+	if (z_change < MIN_SELF_TEST)
+		AO_SENSOR_ERROR(AO_DATA_ADXL375);
+
+	/* This check is commented out as maximum self test is unreliable
+
+	   if (z_change > MAX_SELF_TEST)
+		AO_SENSOR_ERROR(AO_DATA_ADXL375);
+
+	*/
 
 	/* Discard some samples to let it settle down */
 	ao_adxl375_total_value(&self_test_off, AO_ADXL375_SELF_TEST_SETTLE);
 }
 
-static int	adxl375_count;
-
 static void
 ao_adxl375(void)
 {
 	ao_adxl375_setup();
 	for (;;) {
 		ao_adxl375_value(&ao_adxl375_current);
-		++adxl375_count;
 		ao_arch_critical(
 			AO_DATA_PRESENT(AO_DATA_ADXL375);
 			AO_DATA_WAIT();
@@ -238,14 +238,13 @@ static struct ao_task ao_adxl375_task;
 static void
 ao_adxl375_dump(void)
 {
-	printf ("ADXL375 value %d %d %d count %d self test %d min %d max %d\n",
+	printf ("ADXL375 value %d %d %d self test %ld min %ld max %ld\n",
 		ao_adxl375_current.x,
 		ao_adxl375_current.y,
 		ao_adxl375_current.z,
-		adxl375_count,
-		self_test_value,
-		MIN_SELF_TEST,
-		MAX_SELF_TEST);
+		(long) self_test_value,
+		(long) MIN_SELF_TEST,
+		(long) MAX_SELF_TEST);
 }
 
 const struct ao_cmds ao_adxl375_cmds[] = {