--- /dev/null
+/*
+ * Copyright © 2019 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_bmx160.h>
+#include <ao_exti.h>
+
+static uint8_t ao_bmx160_configured;
+
+#define ao_bmx160_spi_get() ao_spi_get(AO_BMX160_SPI_BUS, AO_SPI_SPEED_8MHz)
+#define ao_bmx160_spi_put() ao_spi_put(AO_BMX160_SPI_BUS)
+
+#define ao_bmx160_spi_start() ao_spi_set_cs(AO_BMX160_SPI_CS_PORT, \
+ (1 << AO_BMX160_SPI_CS_PIN))
+
+#define ao_bmx160_spi_end() ao_spi_clr_cs(AO_BMX160_SPI_CS_PORT, \
+ (1 << AO_BMX160_SPI_CS_PIN))
+
+static void
+_ao_bmx160_reg_write(uint8_t addr, uint8_t value)
+{
+ uint8_t d[2] = { addr, value };
+ ao_bmx160_spi_start();
+ ao_spi_send(d, 2, AO_BMX160_SPI_BUS);
+ ao_bmx160_spi_end();
+}
+
+static void
+_ao_bmx160_read(uint8_t addr, void *data, uint8_t len)
+{
+ addr |= 0x80;
+ ao_bmx160_spi_start();
+ ao_spi_send(&addr, 1, AO_BMX160_SPI_BUS);
+ ao_spi_recv(data, len, AO_BMX160_SPI_BUS);
+ ao_bmx160_spi_end();
+}
+
+static uint8_t
+_ao_bmx160_reg_read(uint8_t addr)
+{
+ uint8_t value;
+ addr |= 0x80;
+ ao_bmx160_spi_start();
+ ao_spi_send(&addr, 1, AO_BMX160_SPI_BUS);
+ ao_spi_recv(&value, 1, AO_BMX160_SPI_BUS);
+ ao_bmx160_spi_end();
+ return value;
+}
+
+static void
+_ao_bmx160_cmd(uint8_t cmd)
+{
+ _ao_bmx160_reg_write(BMX160_CMD, cmd);
+ ao_delay(AO_MS_TO_TICKS(100));
+}
+
+static void
+_ao_bmx160_mag_setup(void)
+{
+ _ao_bmx160_reg_write(BMX160_MAG_IF_0, 0x80);
+}
+
+static void
+_ao_bmm150_wait_manual(void)
+{
+ while (_ao_bmx160_reg_read(BMX160_STATUS) & (1 << BMX160_STATUS_MAG_MAN_OP))
+ ;
+}
+
+static void
+_ao_bmm150_reg_write(uint8_t addr, uint8_t data)
+{
+ _ao_bmx160_reg_write(BMX160_MAG_IF_3, data);
+ _ao_bmx160_reg_write(BMX160_MAG_IF_2, addr);
+ _ao_bmm150_wait_manual();
+}
+
+static uint8_t
+_ao_bmm150_reg_read(uint8_t addr)
+{
+ _ao_bmx160_reg_write(BMX160_MAG_IF_1, addr);
+ _ao_bmm150_wait_manual();
+ return _ao_bmx160_reg_read(BMX160_DATA_0);
+}
+
+static void
+_ao_bmx160_sample(struct ao_bmx160_sample *sample)
+{
+ _ao_bmx160_read(BMX160_MAG_X_0_7, sample, sizeof (*sample));
+#if __BYTE_ORDER != __LITTLE_ENDIAN
+ int i = sizeof (*sample) / 2;
+ uint16_t *d = (uint16_t *) sample;
+
+ /* byte swap */
+ while (i--) {
+ uint16_t t = *d;
+ *d++ = (t >> 8) | (t << 8);
+ }
+#endif
+}
+
+#define G 981 /* in cm/s² */
+
+#if 0
+static int16_t /* cm/s² */
+ao_bmx160_accel(int16_t v)
+{
+ return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
+}
+
+static int16_t /* deg*10/s */
+ao_bmx160_gyro(int16_t v)
+{
+ return (int16_t) ((v * (int32_t) 20000) / 32767);
+}
+
+static uint8_t
+ao_bmx160_accel_check(int16_t normal, int16_t test)
+{
+ int16_t diff = test - normal;
+
+ if (diff < BMX160_ST_ACCEL(16) / 4) {
+ return 1;
+ }
+ if (diff > BMX160_ST_ACCEL(16) * 4) {
+ return 1;
+ }
+ return 0;
+}
+
+static uint8_t
+ao_bmx160_gyro_check(int16_t normal, int16_t test)
+{
+ int16_t diff = test - normal;
+
+ if (diff < 0)
+ diff = -diff;
+ if (diff < BMX160_ST_GYRO(2000) / 4) {
+ return 1;
+ }
+ if (diff > BMX160_ST_GYRO(2000) * 4) {
+ return 1;
+ }
+ return 0;
+}
+#endif
+
+static void
+_ao_bmx160_wait_alive(void)
+{
+ uint8_t i;
+
+ /* Wait for the chip to wake up */
+ for (i = 0; i < 30; i++) {
+ ao_delay(AO_MS_TO_TICKS(100));
+ if (_ao_bmx160_reg_read(BMX160_CHIPID) == BMX160_CHIPID_BMX160)
+ break;
+ }
+ if (i == 30)
+ ao_panic(AO_PANIC_SELF_TEST_BMX160);
+}
+
+#define ST_TRIES 10
+#define MAG_TRIES 10
+
+static void
+_ao_bmx160_setup(void)
+{
+ if (ao_bmx160_configured)
+ return;
+
+ /* Make sure the chip is responding */
+ _ao_bmx160_wait_alive();
+
+ /* Reboot */
+ _ao_bmx160_cmd(BMX160_CMD_SOFTRESET);
+
+ /* Force SPI mode */
+ _ao_bmx160_reg_write(BMX160_NV_CONF, 1 << BMX160_NV_CONF_SPI_EN);
+
+ /* Configure accelerometer:
+ *
+ * undersampling disabled
+ * normal filter
+ * 200Hz sampling rate
+ * 16g range
+ *
+ * This yields a 3dB cutoff frequency of 80Hz
+ */
+ _ao_bmx160_reg_write(BMX160_ACC_CONF,
+ (0 << BMX160_ACC_CONF_ACC_US) |
+ (BMX160_ACC_CONF_ACC_BWP_NORMAL << BMX160_ACC_CONF_ACC_BWP) |
+ (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR));
+ _ao_bmx160_reg_write(BMX160_ACC_RANGE,
+ BMX160_ACC_RANGE_16G);
+
+ /* Configure gyro:
+ *
+ * 200Hz sampling rate
+ * Normal filter mode
+ * ±2000°/s
+ */
+ _ao_bmx160_reg_write(BMX160_GYR_CONF,
+ (BMX160_GYR_CONF_GYR_BWP_NORMAL << BMX160_GYR_CONF_GYR_BWP) |
+ (BMX160_GYR_CONF_GYR_ODR_200 << BMX160_GYR_CONF_GYR_ODR));
+ _ao_bmx160_reg_write(BMX160_GYR_RANGE,
+ BMX160_GYR_RANGE_2000);
+
+
+ /* Configure magnetometer:
+ *
+ * 30Hz sampling rate
+ * power on
+ * axes enabled
+ */
+ _ao_bmx160_cmd(BMX160_CMD_MAG_IF_SET_PMU_MODE(BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL));
+
+ /* Enter setup mode */
+ _ao_bmx160_mag_setup();
+
+ /* Place in suspend mode to reboot the chip */
+ _ao_bmm150_reg_write(BMM150_POWER_MODE,
+ (0 << BMM150_POWER_MODE_POWER_CONTROL));
+
+ /* Power on */
+ _ao_bmm150_reg_write(BMM150_POWER_MODE,
+ (1 << BMM150_POWER_MODE_POWER_CONTROL));
+
+ /* Set data rate and place in sleep mode */
+ _ao_bmm150_reg_write(BMM150_CONTROL,
+ (BMM150_CONTROL_DATA_RATE_30 << BMM150_CONTROL_DATA_RATE) |
+ (BMM150_CONTROL_OP_MODE_SLEEP << BMM150_CONTROL_OP_MODE));
+
+ /* enable all axes (should already be enabled) */
+ _ao_bmm150_reg_write(BMM150_INT_CONF,
+ (0 << BMM150_INT_CONF_X_DISABLE) |
+ (0 << BMM150_INT_CONF_Y_DISABLE) |
+ (0 << BMM150_INT_CONF_Z_DISABLE));
+
+ /* Set repetition values (?) */
+ _ao_bmm150_reg_write(BMM150_REPXY, BMM150_REPXY_VALUE(9));
+ _ao_bmm150_reg_write(BMM150_REPZ, BMM150_REPZ_VALUE(15));
+
+ /* To get data out of the magnetometer, set the control op mode to 'forced', then read
+ * from the data registers
+ */
+ _ao_bmx160_reg_write(BMX160_MAG_IF_3, (BMM150_CONTROL_OP_MODE_FORCED << BMM150_CONTROL_OP_MODE));
+ _ao_bmx160_reg_write(BMX160_MAG_IF_2, BMM150_CONTROL);
+ _ao_bmx160_reg_write(BMX160_MAG_IF_1, BMM150_DATA_X_0_4);
+
+ /* Set data rate to 200Hz */
+ _ao_bmx160_reg_write(BMX160_MAG_CONF,
+ (BMX160_MAG_CONF_MAG_ODR_200 << BMX160_MAG_CONF_MAG_ODR));
+
+ /* Put magnetometer interface back into 'normal mode'
+ */
+ _ao_bmx160_reg_write(BMX160_MAG_IF_0,
+ (0 << BMX160_MAG_IF_0_MAG_MANUAL_EN) |
+ (0 << BMX160_MAG_IF_0_MAG_OFFSET) |
+ (0 << BMX160_MAG_IF_0_MAG_RD_BURST));
+
+ /* Enable acc and gyr
+ */
+
+ _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
+ _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
+ ao_bmx160_configured = 1;
+}
+
+struct ao_bmx160_sample ao_bmx160_current;
+
+static void
+ao_bmx160(void)
+{
+ struct ao_bmx160_sample sample;
+
+ /* ao_bmx160_init already grabbed the SPI bus and mutex */
+ _ao_bmx160_setup();
+ ao_bmx160_spi_put();
+ for (;;)
+ {
+ ao_bmx160_spi_get();
+ _ao_bmx160_sample(&sample);
+ ao_bmx160_spi_put();
+ ao_arch_block_interrupts();
+ ao_bmx160_current = sample;
+ AO_DATA_PRESENT(AO_DATA_BMX160);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
+ }
+}
+
+static struct ao_task ao_bmx160_task;
+
+static void
+ao_bmx160_show(void)
+{
+ printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
+ ao_bmx160_current.acc_x,
+ ao_bmx160_current.acc_y,
+ ao_bmx160_current.acc_z,
+ ao_bmx160_current.gyr_x,
+ ao_bmx160_current.gyr_y,
+ ao_bmx160_current.gyr_z,
+ ao_bmx160_current.mag_x,
+ ao_bmx160_current.mag_y,
+ ao_bmx160_current.mag_z);
+}
+
+#if BMX160_TEST
+
+static void
+ao_bmx160_read(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ addr = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_bmx160_spi_get();
+ val = _ao_bmx160_reg_read(addr);
+ ao_bmx160_spi_put();
+ printf("Addr %02x val %02x\n", addr, val);
+}
+
+static void
+ao_bmx160_write(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ addr = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ val = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ printf("Addr %02x val %02x\n", addr, val);
+ ao_bmx160_spi_get();
+ _ao_bmx160_reg_write(addr, val);
+ ao_bmx160_spi_put();
+}
+
+static void
+ao_bmm150_read(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ addr = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_bmx160_spi_get();
+ val = _ao_bmm150_reg_read(addr);
+ ao_bmx160_spi_put();
+ printf("Addr %02x val %02x\n", addr, val);
+}
+
+static void
+ao_bmm150_write(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ addr = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ val = ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ printf("Addr %02x val %02x\n", addr, val);
+ ao_bmx160_spi_get();
+ _ao_bmm150_reg_write(addr, val);
+ ao_bmx160_spi_put();
+}
+
+#endif /* BMX160_TEST */
+
+static const struct ao_cmds ao_bmx160_cmds[] = {
+ { ao_bmx160_show, "I\0Show BMX160 status" },
+#if BMX160_TEST
+ { ao_bmx160_read, "R <addr>\0Read BMX160 register" },
+ { ao_bmx160_write, "W <addr> <val>\0Write BMX160 register" },
+ { ao_bmm150_read, "M <addr>\0Read BMM150 register" },
+ { ao_bmm150_write, "N <addr> <val>\0Write BMM150 register" },
+#endif
+ { 0, NULL }
+};
+
+void
+ao_bmx160_init(void)
+{
+ ao_add_task(&ao_bmx160_task, ao_bmx160, "bmx160");
+
+ ao_spi_init_cs(AO_BMX160_SPI_CS_PORT, (1 << AO_BMX160_SPI_CS_PIN));
+
+ /* Pretend to be the bmx160 task. Grab the SPI bus right away and
+ * hold it for the task so that nothing else uses the SPI bus before
+ * we get the I2C mode disabled in the chip
+ */
+
+ ao_cur_task = &ao_bmx160_task;
+ ao_bmx160_spi_get();
+ ao_cur_task = NULL;
+ ao_cmd_register(&ao_bmx160_cmds[0]);
+}
projects / fw / altos / blobdiff