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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         int r;
 187
 188         if (ao_bmx160_configured)
 189                 return;
 190
 191         /* Make sure the chip is responding */
 192         _ao_bmx160_wait_alive();
 193
 194         /* Force SPI mode */
 195         _ao_bmx160_reg_write(BMX160_NV_CONF, 1 << BMX160_NV_CONF_SPI_EN);
 196
 197         /* Enable acc and gyr
 198          */
 199
 200         _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
 201
 202         for (r = 0; r < 20; r++) {
 203                 ao_delay(AO_MS_TO_TICKS(100));
 204                 if (((_ao_bmx160_reg_read(BMX160_PMU_STATUS)
 205                       >> BMX160_PMU_STATUS_ACC_PMU_STATUS)
 206                      & BMX160_PMU_STATUS_ACC_PMU_STATUS_MASK)
 207                     == BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL)
 208                 {
 209                         r = 0;
 210                         break;
 211                 }
 212         }
 213         if (r != 0)
 214                 AO_SENSOR_ERROR(AO_DATA_BMX160);
 215
 216         _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
 217
 218         for (r = 0; r < 20; r++) {
 219                 ao_delay(AO_MS_TO_TICKS(100));
 220                 if (((_ao_bmx160_reg_read(BMX160_PMU_STATUS)
 221                       >> BMX160_PMU_STATUS_GYR_PMU_STATUS)
 222                      & BMX160_PMU_STATUS_GYR_PMU_STATUS_MASK)
 223                     == BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL)
 224                 {
 225                         r = 0;
 226                         break;
 227                 }
 228         }
 229         if (r != 0)
 230                 AO_SENSOR_ERROR(AO_DATA_BMX160);
 231
 232         /* Configure accelerometer:
 233          *
 234          *      undersampling disabled
 235          *      normal filter
 236          *      200Hz sampling rate
 237          *      16g range
 238          *
 239          * This yields a 3dB cutoff frequency of 80Hz
 240          */
 241         _ao_bmx160_reg_write(BMX160_ACC_CONF,
 242                              (0 << BMX160_ACC_CONF_ACC_US) |
 243                              (BMX160_ACC_CONF_ACC_BWP_NORMAL << BMX160_ACC_CONF_ACC_BWP) |
 244                              (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR));
 245         _ao_bmx160_reg_write(BMX160_ACC_RANGE,
 246                              BMX160_ACC_RANGE_16G);
 247
 248         for (r = 0x3; r <= 0x1b; r++)
 249                 (void) _ao_bmx160_reg_read(r);
 250
 251         /* Configure gyro:
 252          *
 253          *      200Hz sampling rate
 254          *      Normal filter mode
 255          *      ±2000°/s
 256          */
 257         _ao_bmx160_reg_write(BMX160_GYR_CONF,
 258                              (BMX160_GYR_CONF_GYR_BWP_NORMAL << BMX160_GYR_CONF_GYR_BWP) |
 259                              (BMX160_GYR_CONF_GYR_ODR_200 << BMX160_GYR_CONF_GYR_ODR));
 260         _ao_bmx160_reg_write(BMX160_GYR_RANGE,
 261                              BMX160_GYR_RANGE_2000);
 262
 263
 264         /* Configure magnetometer:
 265          *
 266          *      30Hz sampling rate
 267          *      power on
 268          *      axes enabled
 269          */
 270         _ao_bmx160_cmd(BMX160_CMD_MAG_IF_SET_PMU_MODE(BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL));
 271
 272         /* Enter setup mode */
 273         _ao_bmx160_mag_setup();
 274
 275         /* Place in suspend mode to reboot the chip */
 276         _ao_bmm150_reg_write(BMM150_POWER_MODE,
 277                              (0 << BMM150_POWER_MODE_POWER_CONTROL));
 278
 279         /* Power on */
 280         _ao_bmm150_reg_write(BMM150_POWER_MODE,
 281                              (1 << BMM150_POWER_MODE_POWER_CONTROL));
 282
 283         /* Set data rate and place in sleep mode */
 284         _ao_bmm150_reg_write(BMM150_CONTROL,
 285                              (BMM150_CONTROL_DATA_RATE_30 << BMM150_CONTROL_DATA_RATE) |
 286                              (BMM150_CONTROL_OP_MODE_SLEEP << BMM150_CONTROL_OP_MODE));
 287
 288         /* enable all axes (should already be enabled) */
 289         _ao_bmm150_reg_write(BMM150_INT_CONF,
 290                              (0 << BMM150_INT_CONF_X_DISABLE) |
 291                              (0 << BMM150_INT_CONF_Y_DISABLE) |
 292                              (0 << BMM150_INT_CONF_Z_DISABLE));
 293
 294         /* Set repetition values (?) */
 295         _ao_bmm150_reg_write(BMM150_REPXY, BMM150_REPXY_VALUE(9));
 296         _ao_bmm150_reg_write(BMM150_REPZ, BMM150_REPZ_VALUE(15));
 297
 298         /* To get data out of the magnetometer, set the control op mode to 'forced', then read
 299          * from the data registers
 300          */
 301         _ao_bmx160_reg_write(BMX160_MAG_IF_3, (BMM150_CONTROL_OP_MODE_FORCED << BMM150_CONTROL_OP_MODE));
 302         _ao_bmx160_reg_write(BMX160_MAG_IF_2, BMM150_CONTROL);
 303         _ao_bmx160_reg_write(BMX160_MAG_IF_1, BMM150_DATA_X_0_4);
 304
 305         /* Set data rate to 200Hz */
 306         _ao_bmx160_reg_write(BMX160_MAG_CONF,
 307                              (BMX160_MAG_CONF_MAG_ODR_200 << BMX160_MAG_CONF_MAG_ODR));
 308
 309         /* Put magnetometer interface back into 'normal mode'
 310          */
 311         _ao_bmx160_reg_write(BMX160_MAG_IF_0,
 312                              (0 << BMX160_MAG_IF_0_MAG_MANUAL_EN) |
 313                              (0 << BMX160_MAG_IF_0_MAG_OFFSET) |
 314                              (0 << BMX160_MAG_IF_0_MAG_RD_BURST));
 315
 316         ao_bmx160_configured = 1;
 317 }
 318
 319 struct ao_bmx160_sample ao_bmx160_current;
 320
 321 static void
 322 ao_bmx160(void)
 323 {
 324         struct ao_bmx160_sample sample;
 325
 326         /* ao_bmx160_init already grabbed the SPI bus and mutex */
 327         _ao_bmx160_setup();
 328         ao_bmx160_spi_put();
 329         for (;;)
 330         {
 331                 ao_bmx160_spi_get();
 332                 _ao_bmx160_sample(&sample);
 333                 ao_bmx160_spi_put();
 334                 ao_arch_block_interrupts();
 335                 ao_bmx160_current = sample;
 336                 AO_DATA_PRESENT(AO_DATA_BMX160);
 337                 AO_DATA_WAIT();
 338                 ao_arch_release_interrupts();
 339         }
 340 }
 341
 342 static struct ao_task ao_bmx160_task;
 343
 344 static void
 345 ao_bmx160_show(void)
 346 {
 347         printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
 348                 ao_bmx160_current.acc_x,
 349                 ao_bmx160_current.acc_y,
 350                 ao_bmx160_current.acc_z,
 351                 ao_bmx160_current.gyr_x,
 352                 ao_bmx160_current.gyr_y,
 353                 ao_bmx160_current.gyr_z,
 354                 ao_bmx160_current.mag_x,
 355                 ao_bmx160_current.mag_y,
 356                 ao_bmx160_current.mag_z);
 357 }
 358
 359 #if BMX160_TEST
 360
 361 static void
 362 ao_bmx160_read(void)
 363 {
 364         uint8_t addr;
 365         uint8_t val;
 366
 367         addr = ao_cmd_hex();
 368         if (ao_cmd_status != ao_cmd_success)
 369                 return;
 370         ao_bmx160_spi_get();
 371         val = _ao_bmx160_reg_read(addr);
 372         ao_bmx160_spi_put();
 373         printf("Addr %02x val %02x\n", addr, val);
 374 }
 375
 376 static void
 377 ao_bmx160_write(void)
 378 {
 379         uint8_t addr;
 380         uint8_t val;
 381
 382         addr = ao_cmd_hex();
 383         if (ao_cmd_status != ao_cmd_success)
 384                 return;
 385         val = ao_cmd_hex();
 386         if (ao_cmd_status != ao_cmd_success)
 387                 return;
 388         printf("Addr %02x val %02x\n", addr, val);
 389         ao_bmx160_spi_get();
 390         _ao_bmx160_reg_write(addr, val);
 391         ao_bmx160_spi_put();
 392 }
 393
 394 static void
 395 ao_bmm150_read(void)
 396 {
 397         uint8_t addr;
 398         uint8_t val;
 399
 400         addr = ao_cmd_hex();
 401         if (ao_cmd_status != ao_cmd_success)
 402                 return;
 403         ao_bmx160_spi_get();
 404         val = _ao_bmm150_reg_read(addr);
 405         ao_bmx160_spi_put();
 406         printf("Addr %02x val %02x\n", addr, val);
 407 }
 408
 409 static void
 410 ao_bmm150_write(void)
 411 {
 412         uint8_t addr;
 413         uint8_t val;
 414
 415         addr = ao_cmd_hex();
 416         if (ao_cmd_status != ao_cmd_success)
 417                 return;
 418         val = ao_cmd_hex();
 419         if (ao_cmd_status != ao_cmd_success)
 420                 return;
 421         printf("Addr %02x val %02x\n", addr, val);
 422         ao_bmx160_spi_get();
 423         _ao_bmm150_reg_write(addr, val);
 424         ao_bmx160_spi_put();
 425 }
 426
 427 #endif /* BMX160_TEST */
 428
 429 static const struct ao_cmds ao_bmx160_cmds[] = {
 430         { ao_bmx160_show,       "I\0Show BMX160 status" },
 431 #if BMX160_TEST
 432         { ao_bmx160_read,       "R <addr>\0Read BMX160 register" },
 433         { ao_bmx160_write,      "W <addr> <val>\0Write BMX160 register" },
 434         { ao_bmm150_read,       "M <addr>\0Read BMM150 register" },
 435         { ao_bmm150_write,      "N <addr> <val>\0Write BMM150 register" },
 436 #endif
 437         { 0, NULL }
 438 };
 439
 440 void
 441 ao_bmx160_init(void)
 442 {
 443         ao_add_task(&ao_bmx160_task, ao_bmx160, "bmx160");
 444
 445         ao_spi_init_cs(AO_BMX160_SPI_CS_PORT, (1 << AO_BMX160_SPI_CS_PIN));
 446
 447         /* Pretend to be the bmx160 task. Grab the SPI bus right away and
 448          * hold it for the task so that nothing else uses the SPI bus before
 449          * we get the I2C mode disabled in the chip
 450          */
 451
 452         ao_cur_task = &ao_bmx160_task;
 453         ao_bmx160_spi_get();
 454         ao_cur_task = NULL;
 455         ao_cmd_register(&ao_bmx160_cmds[0]);
 456 }