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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 static uint8_t
  94 _ao_bmm150_reg_read(uint8_t addr)
  95 {
  96         _ao_bmx160_reg_write(BMX160_MAG_IF_1, addr);
  97         _ao_bmm150_wait_manual();
  98         return _ao_bmx160_reg_read(BMX160_DATA_0);
  99 }
 100
 101 static void
 102 _ao_bmx160_sample(struct ao_bmx160_sample *sample)
 103 {
 104         _ao_bmx160_read(BMX160_MAG_X_0_7, sample, sizeof (*sample));
 105 #if __BYTE_ORDER != __LITTLE_ENDIAN
 106         int             i = sizeof (*sample) / 2;
 107         uint16_t        *d = (uint16_t *) sample;
 108
 109         /* byte swap */
 110         while (i--) {
 111                 uint16_t        t = *d;
 112                 *d++ = (t >> 8) | (t << 8);
 113         }
 114 #endif
 115 }
 116
 117 #define G       981     /* in cm/s² */
 118
 119 #if 0
 120 static int16_t /* cm/s² */
 121 ao_bmx160_accel(int16_t v)
 122 {
 123         return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
 124 }
 125
 126 static int16_t  /* deg*10/s */
 127 ao_bmx160_gyro(int16_t v)
 128 {
 129         return (int16_t) ((v * (int32_t) 20000) / 32767);
 130 }
 131
 132 static uint8_t
 133 ao_bmx160_accel_check(int16_t normal, int16_t test)
 134 {
 135         int16_t diff = test - normal;
 136
 137         if (diff < BMX160_ST_ACCEL(16) / 4) {
 138                 return 1;
 139         }
 140         if (diff > BMX160_ST_ACCEL(16) * 4) {
 141                 return 1;
 142         }
 143         return 0;
 144 }
 145
 146 static uint8_t
 147 ao_bmx160_gyro_check(int16_t normal, int16_t test)
 148 {
 149         int16_t diff = test - normal;
 150
 151         if (diff < 0)
 152                 diff = -diff;
 153         if (diff < BMX160_ST_GYRO(2000) / 4) {
 154                 return 1;
 155         }
 156         if (diff > BMX160_ST_GYRO(2000) * 4) {
 157                 return 1;
 158         }
 159         return 0;
 160 }
 161 #endif
 162
 163 static void
 164 _ao_bmx160_wait_alive(void)
 165 {
 166         uint8_t i;
 167
 168         /* Wait for the chip to wake up */
 169         for (i = 0; i < 30; i++) {
 170                 ao_delay(AO_MS_TO_TICKS(100));
 171                 if (_ao_bmx160_reg_read(BMX160_CHIPID) == BMX160_CHIPID_BMX160)
 172                         break;
 173         }
 174         if (i == 30)
 175                 ao_panic(AO_PANIC_SELF_TEST_BMX160);
 176 }
 177
 178 #define ST_TRIES        10
 179 #define MAG_TRIES       10
 180
 181 static void
 182 _ao_bmx160_setup(void)
 183 {
 184         if (ao_bmx160_configured)
 185                 return;
 186
 187         /* Make sure the chip is responding */
 188         _ao_bmx160_wait_alive();
 189
 190         /* Reboot */
 191         _ao_bmx160_cmd(BMX160_CMD_SOFTRESET);
 192
 193         /* Force SPI mode */
 194         _ao_bmx160_reg_write(BMX160_NV_CONF, 1 << BMX160_NV_CONF_SPI_EN);
 195
 196         /* Configure accelerometer:
 197          *
 198          *      undersampling disabled
 199          *      normal filter
 200          *      200Hz sampling rate
 201          *      16g range
 202          *
 203          * This yields a 3dB cutoff frequency of 80Hz
 204          */
 205         _ao_bmx160_reg_write(BMX160_ACC_CONF,
 206                              (0 << BMX160_ACC_CONF_ACC_US) |
 207                              (BMX160_ACC_CONF_ACC_BWP_NORMAL << BMX160_ACC_CONF_ACC_BWP) |
 208                              (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR));
 209         _ao_bmx160_reg_write(BMX160_ACC_RANGE,
 210                              BMX160_ACC_RANGE_16G);
 211
 212         /* Configure gyro:
 213          *
 214          *      200Hz sampling rate
 215          *      Normal filter mode
 216          *      ±2000°/s
 217          */
 218         _ao_bmx160_reg_write(BMX160_GYR_CONF,
 219                              (BMX160_GYR_CONF_GYR_BWP_NORMAL << BMX160_GYR_CONF_GYR_BWP) |
 220                              (BMX160_GYR_CONF_GYR_ODR_200 << BMX160_GYR_CONF_GYR_ODR));
 221         _ao_bmx160_reg_write(BMX160_GYR_RANGE,
 222                              BMX160_GYR_RANGE_2000);
 223
 224
 225         /* Configure magnetometer:
 226          *
 227          *      30Hz sampling rate
 228          *      power on
 229          *      axes enabled
 230          */
 231         _ao_bmx160_cmd(BMX160_CMD_MAG_IF_SET_PMU_MODE(BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL));
 232
 233         /* Enter setup mode */
 234         _ao_bmx160_mag_setup();
 235
 236         /* Place in suspend mode to reboot the chip */
 237         _ao_bmm150_reg_write(BMM150_POWER_MODE,
 238                              (0 << BMM150_POWER_MODE_POWER_CONTROL));
 239
 240         /* Power on */
 241         _ao_bmm150_reg_write(BMM150_POWER_MODE,
 242                              (1 << BMM150_POWER_MODE_POWER_CONTROL));
 243
 244         /* Set data rate and place in sleep mode */
 245         _ao_bmm150_reg_write(BMM150_CONTROL,
 246                              (BMM150_CONTROL_DATA_RATE_30 << BMM150_CONTROL_DATA_RATE) |
 247                              (BMM150_CONTROL_OP_MODE_SLEEP << BMM150_CONTROL_OP_MODE));
 248
 249         /* enable all axes (should already be enabled) */
 250         _ao_bmm150_reg_write(BMM150_INT_CONF,
 251                              (0 << BMM150_INT_CONF_X_DISABLE) |
 252                              (0 << BMM150_INT_CONF_Y_DISABLE) |
 253                              (0 << BMM150_INT_CONF_Z_DISABLE));
 254
 255         /* Set repetition values (?) */
 256         _ao_bmm150_reg_write(BMM150_REPXY, BMM150_REPXY_VALUE(9));
 257         _ao_bmm150_reg_write(BMM150_REPZ, BMM150_REPZ_VALUE(15));
 258
 259         /* To get data out of the magnetometer, set the control op mode to 'forced', then read
 260          * from the data registers
 261          */
 262         _ao_bmx160_reg_write(BMX160_MAG_IF_3, (BMM150_CONTROL_OP_MODE_FORCED << BMM150_CONTROL_OP_MODE));
 263         _ao_bmx160_reg_write(BMX160_MAG_IF_2, BMM150_CONTROL);
 264         _ao_bmx160_reg_write(BMX160_MAG_IF_1, BMM150_DATA_X_0_4);
 265
 266         /* Set data rate to 200Hz */
 267         _ao_bmx160_reg_write(BMX160_MAG_CONF,
 268                              (BMX160_MAG_CONF_MAG_ODR_200 << BMX160_MAG_CONF_MAG_ODR));
 269
 270         /* Put magnetometer interface back into 'normal mode'
 271          */
 272         _ao_bmx160_reg_write(BMX160_MAG_IF_0,
 273                              (0 << BMX160_MAG_IF_0_MAG_MANUAL_EN) |
 274                              (0 << BMX160_MAG_IF_0_MAG_OFFSET) |
 275                              (0 << BMX160_MAG_IF_0_MAG_RD_BURST));
 276
 277         /* Enable acc and gyr
 278          */
 279
 280         _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
 281         _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
 282         ao_bmx160_configured = 1;
 283 }
 284
 285 struct ao_bmx160_sample ao_bmx160_current;
 286
 287 static void
 288 ao_bmx160(void)
 289 {
 290         struct ao_bmx160_sample sample;
 291
 292         /* ao_bmx160_init already grabbed the SPI bus and mutex */
 293         _ao_bmx160_setup();
 294         ao_bmx160_spi_put();
 295         for (;;)
 296         {
 297                 ao_bmx160_spi_get();
 298                 _ao_bmx160_sample(&sample);
 299                 ao_bmx160_spi_put();
 300                 ao_arch_block_interrupts();
 301                 ao_bmx160_current = sample;
 302                 AO_DATA_PRESENT(AO_DATA_BMX160);
 303                 AO_DATA_WAIT();
 304                 ao_arch_release_interrupts();
 305         }
 306 }
 307
 308 static struct ao_task ao_bmx160_task;
 309
 310 static void
 311 ao_bmx160_show(void)
 312 {
 313         printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
 314                 ao_bmx160_current.acc_x,
 315                 ao_bmx160_current.acc_y,
 316                 ao_bmx160_current.acc_z,
 317                 ao_bmx160_current.gyr_x,
 318                 ao_bmx160_current.gyr_y,
 319                 ao_bmx160_current.gyr_z,
 320                 ao_bmx160_current.mag_x,
 321                 ao_bmx160_current.mag_y,
 322                 ao_bmx160_current.mag_z);
 323 }
 324
 325 #if BMX160_TEST
 326
 327 static void
 328 ao_bmx160_read(void)
 329 {
 330         uint8_t addr;
 331         uint8_t val;
 332
 333         addr = ao_cmd_hex();
 334         if (ao_cmd_status != ao_cmd_success)
 335                 return;
 336         ao_bmx160_spi_get();
 337         val = _ao_bmx160_reg_read(addr);
 338         ao_bmx160_spi_put();
 339         printf("Addr %02x val %02x\n", addr, val);
 340 }
 341
 342 static void
 343 ao_bmx160_write(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         val = ao_cmd_hex();
 352         if (ao_cmd_status != ao_cmd_success)
 353                 return;
 354         printf("Addr %02x val %02x\n", addr, val);
 355         ao_bmx160_spi_get();
 356         _ao_bmx160_reg_write(addr, val);
 357         ao_bmx160_spi_put();
 358 }
 359
 360 static void
 361 ao_bmm150_read(void)
 362 {
 363         uint8_t addr;
 364         uint8_t val;
 365
 366         addr = ao_cmd_hex();
 367         if (ao_cmd_status != ao_cmd_success)
 368                 return;
 369         ao_bmx160_spi_get();
 370         val = _ao_bmm150_reg_read(addr);
 371         ao_bmx160_spi_put();
 372         printf("Addr %02x val %02x\n", addr, val);
 373 }
 374
 375 static void
 376 ao_bmm150_write(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         val = ao_cmd_hex();
 385         if (ao_cmd_status != ao_cmd_success)
 386                 return;
 387         printf("Addr %02x val %02x\n", addr, val);
 388         ao_bmx160_spi_get();
 389         _ao_bmm150_reg_write(addr, val);
 390         ao_bmx160_spi_put();
 391 }
 392
 393 #endif /* BMX160_TEST */
 394
 395 static const struct ao_cmds ao_bmx160_cmds[] = {
 396         { ao_bmx160_show,       "I\0Show BMX160 status" },
 397 #if BMX160_TEST
 398         { ao_bmx160_read,       "R <addr>\0Read BMX160 register" },
 399         { ao_bmx160_write,      "W <addr> <val>\0Write BMX160 register" },
 400         { ao_bmm150_read,       "M <addr>\0Read BMM150 register" },
 401         { ao_bmm150_write,      "N <addr> <val>\0Write BMM150 register" },
 402 #endif
 403         { 0, NULL }
 404 };
 405
 406 void
 407 ao_bmx160_init(void)
 408 {
 409         ao_add_task(&ao_bmx160_task, ao_bmx160, "bmx160");
 410
 411         ao_spi_init_cs(AO_BMX160_SPI_CS_PORT, (1 << AO_BMX160_SPI_CS_PIN));
 412
 413         /* Pretend to be the bmx160 task. Grab the SPI bus right away and
 414          * hold it for the task so that nothing else uses the SPI bus before
 415          * we get the I2C mode disabled in the chip
 416          */
 417
 418         ao_cur_task = &ao_bmx160_task;
 419         ao_bmx160_spi_get();
 420         ao_cur_task = NULL;
 421         ao_cmd_register(&ao_bmx160_cmds[0]);
 422 }