X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_mmc5983.c;fp=src%2Fdrivers%2Fao_mmc5983.c;h=06d4e9c9eb76d707cb06d29486436bab0d0b4b61;hp=0000000000000000000000000000000000000000;hb=eb77758b7dcdd0bcef12cd1d56cf4d447cbe5c8c;hpb=5b580ff01ef0618236bfeb63690fd32710c684b4 diff --git a/src/drivers/ao_mmc5983.c b/src/drivers/ao_mmc5983.c new file mode 100644 index 00000000..06d4e9c9 --- /dev/null +++ b/src/drivers/ao_mmc5983.c @@ -0,0 +1,191 @@ +/* + * Copyright © 2021 Keith Packard + * + * 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 +#include +#include + +#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