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   1 /*
   2  * Copyright © 2019 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include <ao.h>
  20 #include <ao_bmx160.h>
  21 #include <ao_exti.h>
  22
  23 static uint8_t  ao_bmx160_configured;
  24
  25 #define ao_bmx160_spi_get()     ao_spi_get(AO_BMX160_SPI_BUS, AO_SPI_SPEED_8MHz)
  26 #define ao_bmx160_spi_put()     ao_spi_put(AO_BMX160_SPI_BUS)
  27
  28 #define ao_bmx160_spi_start()   ao_spi_set_cs(AO_BMX160_SPI_CS_PORT,    \
  29                                               (1 << AO_BMX160_SPI_CS_PIN))
  30
  31 #define ao_bmx160_spi_end()     ao_spi_clr_cs(AO_BMX160_SPI_CS_PORT,    \
  32                                               (1 << AO_BMX160_SPI_CS_PIN))
  33
  34 static void
  35 _ao_bmx160_reg_write(uint8_t addr, uint8_t value)
  36 {
  37         uint8_t d[2] = { addr, value };
  38         ao_bmx160_spi_start();
  39         ao_spi_send(d, 2, AO_BMX160_SPI_BUS);
  40         ao_bmx160_spi_end();
  41 }
  42
  43 static void
  44 _ao_bmx160_read(uint8_t addr, void *data, uint8_t len)
  45 {
  46         addr |= 0x80;
  47         ao_bmx160_spi_start();
  48         ao_spi_send(&addr, 1, AO_BMX160_SPI_BUS);
  49         ao_spi_recv(data, len, AO_BMX160_SPI_BUS);
  50         ao_bmx160_spi_end();
  51 }
  52
  53 static uint8_t
  54 _ao_bmx160_reg_read(uint8_t addr)
  55 {
  56         uint8_t value;
  57         addr |= 0x80;
  58         ao_bmx160_spi_start();
  59         ao_spi_send(&addr, 1, AO_BMX160_SPI_BUS);
  60         ao_spi_recv(&value, 1, AO_BMX160_SPI_BUS);
  61         ao_bmx160_spi_end();
  62         return value;
  63 }
  64
  65 static void
  66 _ao_bmx160_cmd(uint8_t cmd)
  67 {
  68         _ao_bmx160_reg_write(BMX160_CMD, cmd);
  69         ao_delay(AO_MS_TO_TICKS(100));
  70 }
  71
  72 static void
  73 _ao_bmx160_mag_setup(void)
  74 {
  75         _ao_bmx160_reg_write(BMX160_MAG_IF_0, 0x80);
  76 }
  77
  78 static void
  79 _ao_bmm150_wait_manual(void)
  80 {
  81         while (_ao_bmx160_reg_read(BMX160_STATUS) & (1 << BMX160_STATUS_MAG_MAN_OP))
  82                 ;
  83 }
  84
  85 static void
  86 _ao_bmm150_reg_write(uint8_t addr, uint8_t data)
  87 {
  88         _ao_bmx160_reg_write(BMX160_MAG_IF_3, data);
  89         _ao_bmx160_reg_write(BMX160_MAG_IF_2, addr);
  90         _ao_bmm150_wait_manual();
  91 }
  92
  93 #if BMX160_TEST
  94 static uint8_t
  95 _ao_bmm150_reg_read(uint8_t addr)
  96 {
  97         _ao_bmx160_reg_write(BMX160_MAG_IF_1, addr);
  98         _ao_bmm150_wait_manual();
  99         return _ao_bmx160_reg_read(BMX160_DATA_0);
 100 }
 101 #endif
 102
 103 static void
 104 _ao_bmx160_sample(struct ao_bmx160_sample *sample)
 105 {
 106         _ao_bmx160_read(BMX160_MAG_X_0_7, sample, sizeof (*sample));
 107 #if __BYTE_ORDER != __LITTLE_ENDIAN
 108         int             i = sizeof (*sample) / 2;
 109         uint16_t        *d = (uint16_t *) sample;
 110
 111         /* byte swap */
 112         while (i--) {
 113                 uint16_t        t = *d;
 114                 *d++ = (t >> 8) | (t << 8);
 115         }
 116 #endif
 117 }
 118
 119 #define G       981     /* in cm/s² */
 120
 121 #if 0
 122 static int16_t /* cm/s² */
 123 ao_bmx160_accel(int16_t v)
 124 {
 125         return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
 126 }
 127
 128 static int16_t  /* deg*10/s */
 129 ao_bmx160_gyro(int16_t v)
 130 {
 131         return (int16_t) ((v * (int32_t) 20000) / 32767);
 132 }
 133
 134 static uint8_t
 135 ao_bmx160_accel_check(int16_t normal, int16_t test)
 136 {
 137         int16_t diff = test - normal;
 138
 139         if (diff < BMX160_ST_ACCEL(16) / 4) {
 140                 return 1;
 141         }
 142         if (diff > BMX160_ST_ACCEL(16) * 4) {
 143                 return 1;
 144         }
 145         return 0;
 146 }
 147
 148 static uint8_t
 149 ao_bmx160_gyro_check(int16_t normal, int16_t test)
 150 {
 151         int16_t diff = test - normal;
 152
 153         if (diff < 0)
 154                 diff = -diff;
 155         if (diff < BMX160_ST_GYRO(2000) / 4) {
 156                 return 1;
 157         }
 158         if (diff > BMX160_ST_GYRO(2000) * 4) {
 159                 return 1;
 160         }
 161         return 0;
 162 }
 163 #endif
 164
 165 static void
 166 _ao_bmx160_wait_alive(void)
 167 {
 168         uint8_t i;
 169
 170         /* Wait for the chip to wake up */
 171         for (i = 0; i < 30; i++) {
 172                 ao_delay(AO_MS_TO_TICKS(100));
 173                 if (_ao_bmx160_reg_read(BMX160_CHIPID) == BMX160_CHIPID_BMX160)
 174                         break;
 175         }
 176         if (i == 30)
 177                 ao_panic(AO_PANIC_SELF_TEST_BMX160);
 178 }
 179
 180 #define ST_TRIES        10
 181 #define MAG_TRIES       10
 182
 183 static void
 184 _ao_bmx160_setup(void)
 185 {
 186         if (ao_bmx160_configured)
 187                 return;
 188
 189         /* Make sure the chip is responding */
 190         _ao_bmx160_wait_alive();
 191
 192         /* Reboot */
 193         _ao_bmx160_cmd(BMX160_CMD_SOFTRESET);
 194
 195         /* Force SPI mode */
 196         _ao_bmx160_reg_write(BMX160_NV_CONF, 1 << BMX160_NV_CONF_SPI_EN);
 197
 198         /* Enable acc and gyr
 199          */
 200
 201         _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
 202         _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
 203
 204         /* Configure accelerometer:
 205          *
 206          *      undersampling disabled
 207          *      normal filter
 208          *      200Hz sampling rate
 209          *      16g range
 210          *
 211          * This yields a 3dB cutoff frequency of 80Hz
 212          */
 213         _ao_bmx160_reg_write(BMX160_ACC_CONF,
 214                              (0 << BMX160_ACC_CONF_ACC_US) |
 215                              (BMX160_ACC_CONF_ACC_BWP_NORMAL << BMX160_ACC_CONF_ACC_BWP) |
 216                              (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR));
 217         _ao_bmx160_reg_write(BMX160_ACC_RANGE,
 218                              BMX160_ACC_RANGE_16G);
 219
 220         /* Configure gyro:
 221          *
 222          *      200Hz sampling rate
 223          *      Normal filter mode
 224          *      ±2000°/s
 225          */
 226         _ao_bmx160_reg_write(BMX160_GYR_CONF,
 227                              (BMX160_GYR_CONF_GYR_BWP_NORMAL << BMX160_GYR_CONF_GYR_BWP) |
 228                              (BMX160_GYR_CONF_GYR_ODR_200 << BMX160_GYR_CONF_GYR_ODR));
 229         _ao_bmx160_reg_write(BMX160_GYR_RANGE,
 230                              BMX160_GYR_RANGE_2000);
 231
 232
 233         /* Configure magnetometer:
 234          *
 235          *      30Hz sampling rate
 236          *      power on
 237          *      axes enabled
 238          */
 239         _ao_bmx160_cmd(BMX160_CMD_MAG_IF_SET_PMU_MODE(BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL));
 240
 241         /* Enter setup mode */
 242         _ao_bmx160_mag_setup();
 243
 244         /* Place in suspend mode to reboot the chip */
 245         _ao_bmm150_reg_write(BMM150_POWER_MODE,
 246                              (0 << BMM150_POWER_MODE_POWER_CONTROL));
 247
 248         /* Power on */
 249         _ao_bmm150_reg_write(BMM150_POWER_MODE,
 250                              (1 << BMM150_POWER_MODE_POWER_CONTROL));
 251
 252         /* Set data rate and place in sleep mode */
 253         _ao_bmm150_reg_write(BMM150_CONTROL,
 254                              (BMM150_CONTROL_DATA_RATE_30 << BMM150_CONTROL_DATA_RATE) |
 255                              (BMM150_CONTROL_OP_MODE_SLEEP << BMM150_CONTROL_OP_MODE));
 256
 257         /* enable all axes (should already be enabled) */
 258         _ao_bmm150_reg_write(BMM150_INT_CONF,
 259                              (0 << BMM150_INT_CONF_X_DISABLE) |
 260                              (0 << BMM150_INT_CONF_Y_DISABLE) |
 261                              (0 << BMM150_INT_CONF_Z_DISABLE));
 262
 263         /* Set repetition values (?) */
 264         _ao_bmm150_reg_write(BMM150_REPXY, BMM150_REPXY_VALUE(9));
 265         _ao_bmm150_reg_write(BMM150_REPZ, BMM150_REPZ_VALUE(15));
 266
 267         /* To get data out of the magnetometer, set the control op mode to 'forced', then read
 268          * from the data registers
 269          */
 270         _ao_bmx160_reg_write(BMX160_MAG_IF_3, (BMM150_CONTROL_OP_MODE_FORCED << BMM150_CONTROL_OP_MODE));
 271         _ao_bmx160_reg_write(BMX160_MAG_IF_2, BMM150_CONTROL);
 272         _ao_bmx160_reg_write(BMX160_MAG_IF_1, BMM150_DATA_X_0_4);
 273
 274         /* Set data rate to 200Hz */
 275         _ao_bmx160_reg_write(BMX160_MAG_CONF,
 276                              (BMX160_MAG_CONF_MAG_ODR_200 << BMX160_MAG_CONF_MAG_ODR));
 277
 278         /* Put magnetometer interface back into 'normal mode'
 279          */
 280         _ao_bmx160_reg_write(BMX160_MAG_IF_0,
 281                              (0 << BMX160_MAG_IF_0_MAG_MANUAL_EN) |
 282                              (0 << BMX160_MAG_IF_0_MAG_OFFSET) |
 283                              (0 << BMX160_MAG_IF_0_MAG_RD_BURST));
 284
 285         ao_bmx160_configured = 1;
 286 }
 287
 288 struct ao_bmx160_sample ao_bmx160_current;
 289
 290 static void
 291 ao_bmx160(void)
 292 {
 293         struct ao_bmx160_sample sample;
 294
 295         /* ao_bmx160_init already grabbed the SPI bus and mutex */
 296         _ao_bmx160_setup();
 297         ao_bmx160_spi_put();
 298         for (;;)
 299         {
 300                 ao_bmx160_spi_get();
 301                 _ao_bmx160_sample(&sample);
 302                 ao_bmx160_spi_put();
 303                 ao_arch_block_interrupts();
 304                 ao_bmx160_current = sample;
 305                 AO_DATA_PRESENT(AO_DATA_BMX160);
 306                 AO_DATA_WAIT();
 307                 ao_arch_release_interrupts();
 308         }
 309 }
 310
 311 static struct ao_task ao_bmx160_task;
 312
 313 static void
 314 ao_bmx160_show(void)
 315 {
 316         ao_bmx160_spi_get();
 317         uint8_t acc_conf = _ao_bmx160_reg_read(BMX160_ACC_CONF);
 318         uint8_t acc_range = _ao_bmx160_reg_read(BMX160_ACC_RANGE);
 319         uint8_t gyr_conf = _ao_bmx160_reg_read(BMX160_GYR_CONF);
 320         uint8_t gyr_range = _ao_bmx160_reg_read(BMX160_GYR_RANGE);
 321         uint8_t mag_conf = _ao_bmx160_reg_read(BMX160_MAG_CONF);
 322         ao_bmx160_spi_put();
 323
 324         printf("ACC_CONF %02x ACC_RANGE %02x GYR_CONF %02x GYR_RANGE %02x MAG_CONF %02x\n",
 325                acc_conf, acc_range, gyr_conf, gyr_range, mag_conf);
 326
 327         printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
 328                 ao_bmx160_current.acc_x,
 329                 ao_bmx160_current.acc_y,
 330                 ao_bmx160_current.acc_z,
 331                 ao_bmx160_current.gyr_x,
 332                 ao_bmx160_current.gyr_y,
 333                 ao_bmx160_current.gyr_z,
 334                 ao_bmx160_current.mag_x,
 335                 ao_bmx160_current.mag_y,
 336                 ao_bmx160_current.mag_z);
 337
 338 }
 339
 340 #if BMX160_TEST
 341
 342 static void
 343 ao_bmx160_read(void)
 344 {
 345         uint8_t addr;
 346         uint8_t val;
 347
 348         addr = ao_cmd_hex();
 349         if (ao_cmd_status != ao_cmd_success)
 350                 return;
 351         ao_bmx160_spi_get();
 352         val = _ao_bmx160_reg_read(addr);
 353         ao_bmx160_spi_put();
 354         printf("Addr %02x val %02x\n", addr, val);
 355 }
 356
 357 static void
 358 ao_bmx160_write(void)
 359 {
 360         uint8_t addr;
 361         uint8_t val;
 362
 363         addr = ao_cmd_hex();
 364         if (ao_cmd_status != ao_cmd_success)
 365                 return;
 366         val = ao_cmd_hex();
 367         if (ao_cmd_status != ao_cmd_success)
 368                 return;
 369         printf("Addr %02x val %02x\n", addr, val);
 370         ao_bmx160_spi_get();
 371         _ao_bmx160_reg_write(addr, val);
 372         ao_bmx160_spi_put();
 373 }
 374
 375 static void
 376 ao_bmm150_read(void)
 377 {
 378         uint8_t addr;
 379         uint8_t val;
 380
 381         addr = ao_cmd_hex();
 382         if (ao_cmd_status != ao_cmd_success)
 383                 return;
 384         ao_bmx160_spi_get();
 385         val = _ao_bmm150_reg_read(addr);
 386         ao_bmx160_spi_put();
 387         printf("Addr %02x val %02x\n", addr, val);
 388 }
 389
 390 static void
 391 ao_bmm150_write(void)
 392 {
 393         uint8_t addr;
 394         uint8_t val;
 395
 396         addr = ao_cmd_hex();
 397         if (ao_cmd_status != ao_cmd_success)
 398                 return;
 399         val = ao_cmd_hex();
 400         if (ao_cmd_status != ao_cmd_success)
 401                 return;
 402         printf("Addr %02x val %02x\n", addr, val);
 403         ao_bmx160_spi_get();
 404         _ao_bmm150_reg_write(addr, val);
 405         ao_bmx160_spi_put();
 406 }
 407
 408 #endif /* BMX160_TEST */
 409
 410 static const struct ao_cmds ao_bmx160_cmds[] = {
 411         { ao_bmx160_show,       "I\0Show BMX160 status" },
 412 #if BMX160_TEST
 413         { ao_bmx160_read,       "R <addr>\0Read BMX160 register" },
 414         { ao_bmx160_write,      "W <addr> <val>\0Write BMX160 register" },
 415         { ao_bmm150_read,       "M <addr>\0Read BMM150 register" },
 416         { ao_bmm150_write,      "N <addr> <val>\0Write BMM150 register" },
 417 #endif
 418         { 0, NULL }
 419 };
 420
 421 void
 422 ao_bmx160_init(void)
 423 {
 424         ao_add_task(&ao_bmx160_task, ao_bmx160, "bmx160");
 425
 426         ao_spi_init_cs(AO_BMX160_SPI_CS_PORT, (1 << AO_BMX160_SPI_CS_PIN));
 427
 428         /* Pretend to be the bmx160 task. Grab the SPI bus right away and
 429          * hold it for the task so that nothing else uses the SPI bus before
 430          * we get the I2C mode disabled in the chip
 431          */
 432
 433         ao_cur_task = &ao_bmx160_task;
 434         ao_bmx160_spi_get();
 435         ao_cur_task = NULL;
 436         ao_cmd_register(&ao_bmx160_cmds[0]);
 437 }