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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         /* Configure accelerometer:
 199          *
 200          *      undersampling disabled
 201          *      normal filter
 202          *      200Hz sampling rate
 203          *      16g range
 204          *
 205          * This yields a 3dB cutoff frequency of 80Hz
 206          */
 207         _ao_bmx160_reg_write(BMX160_ACC_CONF,
 208                              (0 << BMX160_ACC_CONF_ACC_US) |
 209                              (BMX160_ACC_CONF_ACC_BWP_NORMAL << BMX160_ACC_CONF_ACC_BWP) |
 210                              (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR));
 211         _ao_bmx160_reg_write(BMX160_ACC_RANGE,
 212                              BMX160_ACC_RANGE_16G);
 213
 214         /* Configure gyro:
 215          *
 216          *      200Hz sampling rate
 217          *      Normal filter mode
 218          *      ±2000°/s
 219          */
 220         _ao_bmx160_reg_write(BMX160_GYR_CONF,
 221                              (BMX160_GYR_CONF_GYR_BWP_NORMAL << BMX160_GYR_CONF_GYR_BWP) |
 222                              (BMX160_GYR_CONF_GYR_ODR_200 << BMX160_GYR_CONF_GYR_ODR));
 223         _ao_bmx160_reg_write(BMX160_GYR_RANGE,
 224                              BMX160_GYR_RANGE_2000);
 225
 226
 227         /* Configure magnetometer:
 228          *
 229          *      30Hz sampling rate
 230          *      power on
 231          *      axes enabled
 232          */
 233         _ao_bmx160_cmd(BMX160_CMD_MAG_IF_SET_PMU_MODE(BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL));
 234
 235         /* Enter setup mode */
 236         _ao_bmx160_mag_setup();
 237
 238         /* Place in suspend mode to reboot the chip */
 239         _ao_bmm150_reg_write(BMM150_POWER_MODE,
 240                              (0 << BMM150_POWER_MODE_POWER_CONTROL));
 241
 242         /* Power on */
 243         _ao_bmm150_reg_write(BMM150_POWER_MODE,
 244                              (1 << BMM150_POWER_MODE_POWER_CONTROL));
 245
 246         /* Set data rate and place in sleep mode */
 247         _ao_bmm150_reg_write(BMM150_CONTROL,
 248                              (BMM150_CONTROL_DATA_RATE_30 << BMM150_CONTROL_DATA_RATE) |
 249                              (BMM150_CONTROL_OP_MODE_SLEEP << BMM150_CONTROL_OP_MODE));
 250
 251         /* enable all axes (should already be enabled) */
 252         _ao_bmm150_reg_write(BMM150_INT_CONF,
 253                              (0 << BMM150_INT_CONF_X_DISABLE) |
 254                              (0 << BMM150_INT_CONF_Y_DISABLE) |
 255                              (0 << BMM150_INT_CONF_Z_DISABLE));
 256
 257         /* Set repetition values (?) */
 258         _ao_bmm150_reg_write(BMM150_REPXY, BMM150_REPXY_VALUE(9));
 259         _ao_bmm150_reg_write(BMM150_REPZ, BMM150_REPZ_VALUE(15));
 260
 261         /* To get data out of the magnetometer, set the control op mode to 'forced', then read
 262          * from the data registers
 263          */
 264         _ao_bmx160_reg_write(BMX160_MAG_IF_3, (BMM150_CONTROL_OP_MODE_FORCED << BMM150_CONTROL_OP_MODE));
 265         _ao_bmx160_reg_write(BMX160_MAG_IF_2, BMM150_CONTROL);
 266         _ao_bmx160_reg_write(BMX160_MAG_IF_1, BMM150_DATA_X_0_4);
 267
 268         /* Set data rate to 200Hz */
 269         _ao_bmx160_reg_write(BMX160_MAG_CONF,
 270                              (BMX160_MAG_CONF_MAG_ODR_200 << BMX160_MAG_CONF_MAG_ODR));
 271
 272         /* Put magnetometer interface back into 'normal mode'
 273          */
 274         _ao_bmx160_reg_write(BMX160_MAG_IF_0,
 275                              (0 << BMX160_MAG_IF_0_MAG_MANUAL_EN) |
 276                              (0 << BMX160_MAG_IF_0_MAG_OFFSET) |
 277                              (0 << BMX160_MAG_IF_0_MAG_RD_BURST));
 278
 279         /* Enable acc and gyr
 280          */
 281
 282         _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
 283         _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
 284         ao_bmx160_configured = 1;
 285 }
 286
 287 struct ao_bmx160_sample ao_bmx160_current;
 288
 289 static void
 290 ao_bmx160(void)
 291 {
 292         struct ao_bmx160_sample sample;
 293
 294         /* ao_bmx160_init already grabbed the SPI bus and mutex */
 295         _ao_bmx160_setup();
 296         ao_bmx160_spi_put();
 297         for (;;)
 298         {
 299                 ao_bmx160_spi_get();
 300                 _ao_bmx160_sample(&sample);
 301                 ao_bmx160_spi_put();
 302                 ao_arch_block_interrupts();
 303                 ao_bmx160_current = sample;
 304                 AO_DATA_PRESENT(AO_DATA_BMX160);
 305                 AO_DATA_WAIT();
 306                 ao_arch_release_interrupts();
 307         }
 308 }
 309
 310 static struct ao_task ao_bmx160_task;
 311
 312 static void
 313 ao_bmx160_show(void)
 314 {
 315         printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
 316                 ao_bmx160_current.acc_x,
 317                 ao_bmx160_current.acc_y,
 318                 ao_bmx160_current.acc_z,
 319                 ao_bmx160_current.gyr_x,
 320                 ao_bmx160_current.gyr_y,
 321                 ao_bmx160_current.gyr_z,
 322                 ao_bmx160_current.mag_x,
 323                 ao_bmx160_current.mag_y,
 324                 ao_bmx160_current.mag_z);
 325 }
 326
 327 #if BMX160_TEST
 328
 329 static void
 330 ao_bmx160_read(void)
 331 {
 332         uint8_t addr;
 333         uint8_t val;
 334
 335         addr = ao_cmd_hex();
 336         if (ao_cmd_status != ao_cmd_success)
 337                 return;
 338         ao_bmx160_spi_get();
 339         val = _ao_bmx160_reg_read(addr);
 340         ao_bmx160_spi_put();
 341         printf("Addr %02x val %02x\n", addr, val);
 342 }
 343
 344 static void
 345 ao_bmx160_write(void)
 346 {
 347         uint8_t addr;
 348         uint8_t val;
 349
 350         addr = ao_cmd_hex();
 351         if (ao_cmd_status != ao_cmd_success)
 352                 return;
 353         val = ao_cmd_hex();
 354         if (ao_cmd_status != ao_cmd_success)
 355                 return;
 356         printf("Addr %02x val %02x\n", addr, val);
 357         ao_bmx160_spi_get();
 358         _ao_bmx160_reg_write(addr, val);
 359         ao_bmx160_spi_put();
 360 }
 361
 362 static void
 363 ao_bmm150_read(void)
 364 {
 365         uint8_t addr;
 366         uint8_t val;
 367
 368         addr = ao_cmd_hex();
 369         if (ao_cmd_status != ao_cmd_success)
 370                 return;
 371         ao_bmx160_spi_get();
 372         val = _ao_bmm150_reg_read(addr);
 373         ao_bmx160_spi_put();
 374         printf("Addr %02x val %02x\n", addr, val);
 375 }
 376
 377 static void
 378 ao_bmm150_write(void)
 379 {
 380         uint8_t addr;
 381         uint8_t val;
 382
 383         addr = ao_cmd_hex();
 384         if (ao_cmd_status != ao_cmd_success)
 385                 return;
 386         val = ao_cmd_hex();
 387         if (ao_cmd_status != ao_cmd_success)
 388                 return;
 389         printf("Addr %02x val %02x\n", addr, val);
 390         ao_bmx160_spi_get();
 391         _ao_bmm150_reg_write(addr, val);
 392         ao_bmx160_spi_put();
 393 }
 394
 395 #endif /* BMX160_TEST */
 396
 397 static const struct ao_cmds ao_bmx160_cmds[] = {
 398         { ao_bmx160_show,       "I\0Show BMX160 status" },
 399 #if BMX160_TEST
 400         { ao_bmx160_read,       "R <addr>\0Read BMX160 register" },
 401         { ao_bmx160_write,      "W <addr> <val>\0Write BMX160 register" },
 402         { ao_bmm150_read,       "M <addr>\0Read BMM150 register" },
 403         { ao_bmm150_write,      "N <addr> <val>\0Write BMM150 register" },
 404 #endif
 405         { 0, NULL }
 406 };
 407
 408 void
 409 ao_bmx160_init(void)
 410 {
 411         ao_add_task(&ao_bmx160_task, ao_bmx160, "bmx160");
 412
 413         ao_spi_init_cs(AO_BMX160_SPI_CS_PORT, (1 << AO_BMX160_SPI_CS_PIN));
 414
 415         /* Pretend to be the bmx160 task. Grab the SPI bus right away and
 416          * hold it for the task so that nothing else uses the SPI bus before
 417          * we get the I2C mode disabled in the chip
 418          */
 419
 420         ao_cur_task = &ao_bmx160_task;
 421         ao_bmx160_spi_get();
 422         ao_cur_task = NULL;
 423         ao_cmd_register(&ao_bmx160_cmds[0]);
 424 }