--- /dev/null
+/*
+ * Copyright © 2021 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_mmc5983.h>
+#include <ao_exti.h>
+
+#if HAS_MMC5983
+
+#define AO_MMC5983_SPI_SPEED ao_spi_speed(10000000)
+
+static void
+ao_mmc5983_start(void) {
+ ao_spi_get_bit(AO_MMC5983_SPI_CS_PORT,
+ AO_MMC5983_SPI_CS_PIN,
+ AO_MMC5983_SPI_INDEX,
+ AO_MMC5983_SPI_SPEED);
+}
+
+static void
+ao_mmc5983_stop(void) {
+ ao_spi_put_bit(AO_MMC5983_SPI_CS_PORT,
+ AO_MMC5983_SPI_CS_PIN,
+ AO_MMC5983_SPI_INDEX);
+}
+
+struct ao_mmc5983_sample ao_mmc5983_current;
+
+static uint8_t ao_mmc5983_configured;
+
+static void
+ao_mmc5983_reg_write(uint8_t addr, uint8_t data)
+{
+ uint8_t d[2];
+
+ d[0] = addr;
+ d[1] = data;
+ ao_mmc5983_start();
+ ao_spi_send(d, 2, AO_MMC5983_SPI_INDEX);
+ ao_mmc5983_stop();
+}
+
+static uint8_t
+ao_mmc5983_reg_read(uint8_t addr)
+{
+ uint8_t d[2];
+
+ d[0] = addr | MMC5983_READ;
+ ao_mmc5983_start();
+ ao_spi_duplex(d, d, 2, AO_MMC5983_SPI_INDEX);
+ ao_mmc5983_stop();
+
+ return d[1];
+}
+
+static void
+ao_mmc5983_duplex(uint8_t *dst, uint8_t len)
+{
+ ao_mmc5983_start();
+ ao_spi_duplex(dst, dst, len, AO_MMC5983_SPI_INDEX);
+ ao_mmc5983_stop();
+}
+
+static uint8_t ao_mmc5983_done;
+
+static void
+ao_mmc5983_isr(void)
+{
+ ao_exti_disable(AO_MMC5983_INT_PORT, AO_MMC5983_INT_PIN);
+ ao_mmc5983_done = 1;
+ ao_wakeup(&ao_mmc5983_done);
+}
+
+static uint32_t ao_mmc5983_missed_irq;
+
+static void
+ao_mmc5983_sample(struct ao_mmc5983_sample *sample)
+{
+ struct ao_mmc5983_raw raw;
+
+ ao_mmc5983_done = 0;
+ ao_exti_enable(AO_MMC5983_INT_PORT, AO_MMC5983_INT_PIN);
+ ao_mmc5983_reg_write(MMC5983_CONTROL_0,
+ (1 << MMC5983_CONTROL_0_INT_MEAS_DONE_EN) |
+ (1 << MMC5983_CONTROL_0_TM_M));
+ ao_arch_block_interrupts();
+ while (!ao_mmc5983_done)
+ if (ao_sleep_for(&ao_mmc5983_done, AO_MS_TO_TICKS(10)))
+ ++ao_mmc5983_missed_irq;
+ ao_arch_release_interrupts();
+ raw.addr = MMC5983_X_OUT_0 | MMC5983_READ;
+ ao_mmc5983_duplex((uint8_t *) &raw, sizeof (raw));
+
+ sample->x = raw.x0 << 10 | raw.x1 << 2 | ((raw.xyz2 >> 6) & 3);
+ sample->y = raw.y0 << 10 | raw.y1 << 2 | ((raw.xyz2 >> 4) & 3);
+ sample->z = raw.z0 << 10 | raw.z1 << 2 | ((raw.xyz2 >> 2) & 3);
+}
+
+static uint8_t
+ao_mmc5983_setup(void)
+{
+ uint8_t product_id;
+
+ if (ao_mmc5983_configured)
+ return 1;
+
+ /* Place device in 3-wire mode */
+ ao_mmc5983_reg_write(MMC5983_CONTROL_3,
+ 1 << MMC5983_CONTROL_3_SPI_3W);
+
+ /* Check product ID */
+ product_id = ao_mmc5983_reg_read(MMC5983_PRODUCT_ID);
+ if (product_id != MMC5983_PRODUCT_ID_PRODUCT)
+ AO_SENSOR_ERROR(AO_DATA_MMC5983);
+
+ /* Set high bandwidth to reduce sample collection time */
+ ao_mmc5983_reg_write(MMC5983_CONTROL_1,
+ MMC5983_CONTROL_1_BW_800 << MMC5983_CONTROL_1_BW);
+
+ /* Clear automatic measurement and 'set' operation */
+ ao_mmc5983_reg_write(MMC5983_CONTROL_2,
+ 0);
+
+ ao_mmc5983_configured = 1;
+ return 1;
+}
+
+struct ao_mmc5983_sample ao_mmc5983_current;
+
+static void
+ao_mmc5983(void)
+{
+ struct ao_mmc5983_sample sample;
+ ao_mmc5983_setup();
+ for (;;) {
+ ao_mmc5983_sample(&sample);
+ ao_arch_block_interrupts();
+ ao_mmc5983_current = sample;
+ AO_DATA_PRESENT(AO_DATA_MMC5983);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
+ }
+}
+
+static struct ao_task ao_mmc5983_task;
+
+static void
+ao_mmc5983_show(void)
+{
+ printf ("X: %d Z: %d Y: %d missed irq: %lu\n",
+ ao_mmc5983_current.x, ao_mmc5983_current.z, ao_mmc5983_current.y, ao_mmc5983_missed_irq);
+}
+
+static const struct ao_cmds ao_mmc5983_cmds[] = {
+ { ao_mmc5983_show, "M\0Show MMC5983 status" },
+ { 0, NULL }
+};
+
+void
+ao_mmc5983_init(void)
+{
+ ao_mmc5983_configured = 0;
+
+ ao_spi_init_cs(AO_MMC5983_SPI_CS_PORT, (1 << AO_MMC5983_SPI_CS_PIN));
+
+ ao_enable_port(AO_MMC5983_INT_PORT);
+ ao_exti_setup(AO_MMC5983_INT_PORT,
+ AO_MMC5983_INT_PIN,
+ AO_EXTI_MODE_RISING | AO_EXTI_MODE_PULL_NONE,
+ ao_mmc5983_isr);
+
+ ao_add_task(&ao_mmc5983_task, ao_mmc5983, "mmc5983");
+ ao_cmd_register(&ao_mmc5983_cmds[0]);
+}
+
+#endif
projects / fw / altos / blobdiff