altos: Get MMC5983 driver working

[fw/altos] / src / drivers / ao_mmc5983.c

diff --git a/src/drivers/ao_mmc5983.c b/src/drivers/ao_mmc5983.c
index 7160ea1a2cf248150b77ef155104cb85a6aceddc..e27051a5173c852c5d41f7218987049bee022f72 100644 (file)
--- a/src/drivers/ao_mmc5983.c
+++ b/src/drivers/ao_mmc5983.c
@@ -22,7 +22,59 @@
 
 #if HAS_MMC5983
 
-#define AO_MMC5983_SPI_SPEED   ao_spi_speed(10000000)
+struct ao_mmc5983_sample       ao_mmc5983_current;
+
+static uint8_t ao_mmc5983_configured;
+
+#ifdef MMC5983_I2C
+#include <ao_i2c_bit.h>
+
+static void
+ao_mmc5983_reg_write(uint8_t addr, uint8_t data)
+{
+       uint8_t d[2];
+
+       d[0] = addr;
+       d[1] = data;
+
+       ao_i2c_bit_start(MMC5983_I2C_ADDR);
+       ao_i2c_bit_send(d, 2);
+       ao_i2c_bit_stop();
+}
+
+static uint8_t
+ao_mmc5983_reg_read(uint8_t addr)
+{
+       uint8_t d[1];
+
+       ao_i2c_bit_start(MMC5983_I2C_ADDR);
+       d[0] = addr;
+       ao_i2c_bit_send(d, 1);
+       ao_i2c_bit_restart(MMC5983_I2C_ADDR | 1);
+       ao_i2c_bit_recv(d, 1);
+       ao_i2c_bit_stop();
+       return d[0];
+}
+
+static void
+ao_mmc5983_sample(struct ao_mmc5983_sample *sample)
+{
+       struct ao_mmc5983_raw   raw;
+
+       ao_i2c_bit_start(MMC5983_I2C_ADDR);
+       raw.addr = MMC5983_X_OUT_0;
+       ao_i2c_bit_send(&raw.addr, 1);
+       ao_i2c_bit_restart(MMC5983_I2C_ADDR | 1);
+       ao_i2c_bit_recv(&raw.x0, 7);
+       ao_i2c_bit_stop();
+
+       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);
+}
+
+#else
+#define AO_MMC5983_SPI_SPEED   ao_spi_speed(2000000)
 
 static void
 ao_mmc5983_start(void) {
@@ -39,9 +91,6 @@ ao_mmc5983_stop(void) {
                       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)
@@ -88,23 +137,33 @@ ao_mmc5983_sample(struct ao_mmc5983_sample *sample)
        sample->y = raw.y0 << 10 | raw.y1 << 2 | ((raw.xyz2 >> 4) & 3);
        sample->z = raw.z0 << 10 | raw.z1 << 2 | ((raw.xyz2 >> 2) & 3);
 }
+#endif
 
 static uint8_t product_id;
 
 static uint8_t
 ao_mmc5983_setup(void)
 {
+
        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);
+       /* Delay for power up time (10ms) */
+       ao_delay(AO_MS_TO_TICKS(10));
+
+       ao_mmc5983_reg_write(MMC5983_CONTROL_1,
+                            1 << MMC5983_CONTROL_1_SW_RST);
+
+       /* Delay for power up time (10ms) */
+       ao_delay(AO_MS_TO_TICKS(10));
 
        /* Check product ID */
        product_id = ao_mmc5983_reg_read(MMC5983_PRODUCT_ID);
-       if (product_id != MMC5983_PRODUCT_ID_PRODUCT)
+       if (product_id != MMC5983_PRODUCT_ID_PRODUCT_I2C &&
+           product_id != MMC5983_PRODUCT_ID_PRODUCT_SPI)
+       {
                AO_SENSOR_ERROR(AO_DATA_MMC5983);
+       }
 
        /* Set bandwidth to 200Hz */
        ao_mmc5983_reg_write(MMC5983_CONTROL_1,
@@ -143,8 +202,9 @@ static struct ao_task ao_mmc5983_task;
 static void
 ao_mmc5983_show(void)
 {
-       printf ("X: %d Z: %d Y: %d id %d\n",
-               ao_mmc5983_current.x, ao_mmc5983_current.z, ao_mmc5983_current.y, product_id);
+       printf ("X: %d Z: %d Y: %d id: %d\n",
+               ao_mmc5983_current.x, ao_mmc5983_current.z, ao_mmc5983_current.y,
+               product_id);
 }
 
 static const struct ao_cmds ao_mmc5983_cmds[] = {
@@ -157,7 +217,23 @@ ao_mmc5983_init(void)
 {
        ao_mmc5983_configured = 0;
 
+#ifdef MMC5983_I2C
+       ao_enable_output(AO_MMC5983_SPI_CS_PORT, AO_MMC5983_SPI_CS_PIN, 1);
+#else
+       ao_enable_input(AO_MMC5983_SPI_MISO_PORT,
+                       AO_MMC5983_SPI_MISO_PIN,
+                       AO_EXTI_MODE_PULL_NONE);
+
+       ao_enable_output(AO_MMC5983_SPI_CLK_PORT,
+                        AO_MMC5983_SPI_CLK_PIN,
+                        1);
+
+       ao_enable_output(AO_MMC5983_SPI_MOSI_PORT,
+                        AO_MMC5983_SPI_MOSI_PIN,
+                        0);
+
        ao_spi_init_cs(AO_MMC5983_SPI_CS_PORT, (1 << AO_MMC5983_SPI_CS_PIN));
+#endif
 
        ao_add_task(&ao_mmc5983_task, ao_mmc5983, "mmc5983");
        ao_cmd_register(&ao_mmc5983_cmds[0]);