*
* 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; version 2 of the License.
+ * 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
#if HAS_MMA655X
-static uint8_t mma655x_configured;
+#define DEBUG 0
+#define DEBUG_LOW 1
+#define DEBUG_HIGH 2
+#if 1
+#define PRINTD(l, ...) do { if (DEBUG & (l)) { printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } } while(0)
+#else
+#define PRINTD(l,...)
+#endif
+
+uint8_t ao_mma655x_spi_index = AO_MMA655X_SPI_INDEX;
static void
ao_mma655x_start(void) {
- ao_spi_get_bit(AO_MMA655X_CS_GPIO,
- AO_MMA655X_CS,
+ ao_spi_get_bit(AO_MMA655X_CS_PORT,
AO_MMA655X_CS_PIN,
+ AO_MMA655X_CS,
AO_MMA655X_SPI_INDEX,
AO_SPI_SPEED_FAST);
}
static void
ao_mma655x_stop(void) {
- ao_spi_put_bit(AO_MMA655X_CS_GPIO,
- AO_MMA655X_CS,
+ ao_spi_put_bit(AO_MMA655X_CS_PORT,
AO_MMA655X_CS_PIN,
+ AO_MMA655X_CS,
AO_MMA655X_SPI_INDEX);
}
+static void
+ao_mma655x_restart(void) {
+ uint8_t i;
+ ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, AO_MMA655X_CS, 1);
+
+ /* Emperical testing on STM32L151 at 32MHz for this delay amount */
+ for (i = 0; i < 10; i++)
+ ao_arch_nop();
+ ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, AO_MMA655X_CS, 0);
+}
+
static uint8_t
ao_parity(uint8_t v)
{
+ uint8_t p;
/* down to four bits */
- v = (v ^ (v >> 4)) & 0xf;
+ p = (v ^ (v >> 4)) & 0xf;
/* Cute lookup hack -- 0x6996 encodes the sixteen
* even parity values in order.
*/
- return (~0x6996 >> v) & 1;
+ p = (~0x6996 >> p) & 1;
+ return p;
}
+#if 0
static void
ao_mma655x_cmd(uint8_t d[2])
{
ao_mma655x_start();
- ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
- ao_spi_recv(d, 2, AO_MMA655X_SPI_INDEX);
+ PRINTD(DEBUG_LOW, "\tSEND %02x %02x\n", d[0], d[1]);
+ ao_spi_duplex(d, d, 2, AO_MMA655X_SPI_INDEX);
+ PRINTD(DEBUG_LOW, "\t\tRECV %02x %02x\n", d[0], d[1]);
ao_mma655x_stop();
}
+#endif
static uint8_t
-ao_mma655x_reg_write(uint8_t addr, uint8_t value)
+ao_mma655x_reg_read(uint8_t addr)
{
uint8_t d[2];
+ ao_mma655x_start();
+ d[0] = addr | (ao_parity(addr) << 7);
+ d[1] = 0;
+ ao_spi_send(&d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_restart();
- addr |= (1 << 6); /* write mode */
- d[0] = addr | (ao_parity(addr^value) << 7);
- d[1] = value;
- ao_mma655x_cmd(d);
+ /* Send a dummy read of 00 to clock out the SPI data */
+ d[0] = 0x80;
+ d[1] = 0x00;
+ ao_spi_duplex(&d, &d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_stop();
+ PRINTD(DEBUG_LOW, "read %x = %x %x\n", addr, d[0], d[1]);
return d[1];
}
-static uint8_t
-ao_mma655x_reg_read(uint8_t addr)
+static void
+ao_mma655x_reg_write(uint8_t addr, uint8_t value)
{
uint8_t d[2];
- d[0] = addr | (ao_parity(addr) << 7);
- d[1] = 0;
- ao_mma655x_cmd(d);
- return d[1];
+ PRINTD(DEBUG_LOW, "write %x %x\n", addr, value);
+ addr |= (1 << 6); /* write mode */
+ d[0] = addr | (ao_parity(addr^value) << 7);
+ d[1] = value;
+ ao_mma655x_start();
+ ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_stop();
+
+ addr &= ~(1 << 6);
}
static uint16_t
uint8_t d[2];
uint16_t v;
- d[0] = ((0 << 7) | /* Axis selection (X) */
- (1 << 6) | /* Acceleration operation */
- (1 << 5)); /* Raw data */
+ d[0] = ((0 << 6) | /* Axis selection (X) */
+ (1 << 5) | /* Acceleration operation */
+ (1 << 4)); /* Raw data */
d[1] = ((1 << 3) | /* must be one */
(1 << 2) | /* Unsigned data */
(0 << 1) | /* Arm disabled */
(1 << 0)); /* Odd parity */
- ao_mma655x_cmd(d);
+ ao_mma655x_start();
+ PRINTD(DEBUG_LOW, "value SEND %02x %02x\n", d[0], d[1]);
+ ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_restart();
+ d[0] = 0x80;
+ d[1] = 0x00;
+ ao_spi_duplex(d, d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_stop();
+ PRINTD(DEBUG_LOW, "value RECV %02x %02x\n", d[0], d[1]);
+
v = (uint16_t) d[1] << 2;
v |= d[0] >> 6;
v |= (uint16_t) (d[0] & 3) << 10;
static void
ao_mma655x_reset(void) {
+ PRINTD(DEBUG_HIGH, "reset\n");
ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
(0 << AO_MMA655X_DEVCTL_RES_1) |
- (0 << AO_MMA655X_DEVCTL_RES_1));
+ (0 << AO_MMA655X_DEVCTL_RES_0));
ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
(1 << AO_MMA655X_DEVCTL_RES_1) |
- (1 << AO_MMA655X_DEVCTL_RES_1));
+ (1 << AO_MMA655X_DEVCTL_RES_0));
ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
(0 << AO_MMA655X_DEVCTL_RES_1) |
- (1 << AO_MMA655X_DEVCTL_RES_1));
+ (1 << AO_MMA655X_DEVCTL_RES_0));
}
#define DEVCFG_VALUE (\
(0 << AO_MMA655X_AXISCFG_LPF)) /* 100Hz 4-pole filter */
+#define AO_ST_TRIES 10
+#define AO_ST_DELAY AO_MS_TO_TICKS(100)
+
static void
ao_mma655x_setup(void)
{
- uint8_t v;
uint16_t a, a_st;
- uint8_t stdefl;
-
- if (mma655x_configured)
- return;
- mma655x_configured = 1;
- ao_delay(AO_MS_TO_TICKS(10)); /* Top */
- ao_mma655x_reset();
- ao_delay(AO_MS_TO_TICKS(10)); /* Top */
- (void) ao_mma655x_reg_read(AO_MMA655X_DEVSTAT);
- v = ao_mma655x_reg_read(AO_MMA655X_DEVSTAT);
-
- /* Configure R/W register values.
- * Most of them relate to the arming feature, which
- * we don't use, so the only registers we need to
- * write are DEVCFG and AXISCFG
- */
+ int16_t st_change;
+ int tries;
+ uint8_t devstat;
+#if 0
+ uint8_t s0, s1, s2, s3;
+ uint32_t lot;
+#endif
- ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
- DEVCFG_VALUE | (0 << AO_MMA655X_DEVCFG_ENDINIT));
+ for (tries = 0; tries < AO_ST_TRIES; tries++) {
+ ao_delay(AO_MS_TO_TICKS(10));
+ ao_mma655x_reset();
+ ao_delay(AO_MS_TO_TICKS(10));
- /* Test X axis
- */
+ devstat = ao_mma655x_reg_read(AO_MMA655X_DEVSTAT);
+ PRINTD(DEBUG_HIGH, "devstat %x\n", devstat);
+
+ if (!(devstat & (1 << AO_MMA655X_DEVSTAT_DEVRES)))
+ continue;
+
+ /* Configure R/W register values.
+ * Most of them relate to the arming feature, which
+ * we don't use, so the only registers we need to
+ * write are DEVCFG and AXISCFG
+ */
+
+ ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
+ DEVCFG_VALUE | (0 << AO_MMA655X_DEVCFG_ENDINIT));
+
+ /* Test X axis
+ */
- ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
- AXISCFG_VALUE |
- (1 << AO_MMA655X_AXISCFG_ST));
- a_st = ao_mma655x_value();
+ ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
+ AXISCFG_VALUE |
+ (1 << AO_MMA655X_AXISCFG_ST));
+ ao_delay(AO_MS_TO_TICKS(10));
- stdefl = ao_mma655x_reg_read(AO_MMA655X_STDEFL);
+ a_st = ao_mma655x_value();
- ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
- AXISCFG_VALUE |
- (0 << AO_MMA655X_AXISCFG_ST));
- a = ao_mma655x_value();
- printf ("normal: %u self_test: %u stdefl: %u\n",
- a, a_st, stdefl);
+ ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
+ AXISCFG_VALUE |
+ (0 << AO_MMA655X_AXISCFG_ST));
- ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
- DEVCFG_VALUE | (1 << AO_MMA655X_DEVCFG_ENDINIT));
-}
+ ao_delay(AO_MS_TO_TICKS(10));
-static void
-ao_mma655x_dump(void)
-{
- uint8_t s0, s1, s2, s3;
- uint32_t lot;
- uint16_t serial;
+ a = ao_mma655x_value();
- ao_mma655x_setup();
+ st_change = a_st - a;
+
+ PRINTD(DEBUG_HIGH, "self test %d normal %d change %d\n", a_st, a, st_change);
+ if (AO_ST_MIN <= st_change && st_change <= AO_ST_MAX)
+ break;
+ ao_delay(AO_ST_DELAY);
+ }
+ if (tries == AO_ST_TRIES)
+ ao_sensor_errors = 1;
+
+ ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
+ DEVCFG_VALUE | (1 << AO_MMA655X_DEVCFG_ENDINIT));
+#if 0
s0 = ao_mma655x_reg_read(AO_MMA655X_SN0);
s1 = ao_mma655x_reg_read(AO_MMA655X_SN1);
s2 = ao_mma655x_reg_read(AO_MMA655X_SN2);
((uint32_t) s1 << 8) | ((uint32_t) s0);
serial = lot & 0x1fff;
lot >>= 12;
- printf ("MMA655X lot %d serial %d\n", lot, serial);
- mma655x_configured = 0;
+ pn = ao_mma655x_reg_read(AO_MMA655X_PN);
+#endif
+}
+
+uint16_t ao_mma655x_current;
+
+static void
+ao_mma655x_dump(void)
+{
+ printf ("MMA655X value %d\n", ao_mma655x_current);
}
__code struct ao_cmds ao_mma655x_cmds[] = {
{
ao_mma655x_setup();
for (;;) {
- ao_data_ring[ao_data_head].mma655x = ao_mma655x_value();
+ ao_mma655x_current = ao_mma655x_value();
ao_arch_critical(
AO_DATA_PRESENT(AO_DATA_MMA655X);
AO_DATA_WAIT();
void
ao_mma655x_init(void)
{
- mma655x_configured = 0;
-
ao_cmd_register(&ao_mma655x_cmds[0]);
- ao_spi_init_cs(AO_MMA655X_CS_GPIO, (1 << AO_MMA655X_CS));
+ ao_spi_init_cs(AO_MMA655X_CS_PORT, (1 << AO_MMA655X_CS_PIN));
ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x");
}
projects / fw / altos / blobdiff