X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_mma655x.c;h=b9f1709c9cf57ae2dd20ba3897ad1975f6c8a720;hp=cd304d80affcf8cec7e7d289bedaacef33bec6fd;hb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;hpb=b635cb26ba54c8f5c6a958e0ab0bc4d34d33b635 diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c index cd304d80..b9f1709c 100644 --- a/src/drivers/ao_mma655x.c +++ b/src/drivers/ao_mma655x.c @@ -3,7 +3,8 @@ * * 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 @@ -20,67 +21,104 @@ #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 @@ -89,14 +127,23 @@ ao_mma655x_value(void) 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; @@ -105,15 +152,16 @@ ao_mma655x_value(void) 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 (\ @@ -126,61 +174,73 @@ ao_mma655x_reset(void) { (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); @@ -189,8 +249,16 @@ ao_mma655x_dump(void) ((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[] = { @@ -203,7 +271,7 @@ ao_mma655x(void) { 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(); @@ -216,10 +284,8 @@ static __xdata struct ao_task ao_mma655x_task; 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"); }