--- /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
--- /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.
+ */
+
+#ifndef _AO_MMC5983_H_
+#define _AO_MMC5983_H_
+
+#define MMC5983_READ 0x80
+
+#define MMC5983_CONFIG_A 0
+
+#define MMC5983_CONFIG_A_MA 5
+#define MMC5983_CONFIG_A_MA_1 0
+#define MMC5983_CONFIG_A_MA_2 1
+#define MMC5983_CONFIG_A_MA_4 2
+#define MMC5983_CONFIG_A_MA_8 3
+#define MMC5983_CONFIG_A_MA_MASK 3
+
+#define MMC5983_CONFIG_A_DO 2
+#define MMC5983_CONFIG_A_DO_0_75 0
+#define MMC5983_CONFIG_A_DO_1_5 1
+#define MMC5983_CONFIG_A_DO_3 2
+#define MMC5983_CONFIG_A_DO_7_5 3
+#define MMC5983_CONFIG_A_DO_15 4
+#define MMC5983_CONFIG_A_DO_30 5
+#define MMC5983_CONFIG_A_DO_75 6
+#define MMC5983_CONFIG_A_DO_MASK 7
+
+#define MMC5983_CONFIG_A_MS 0
+#define MMC5983_CONFIG_A_MS_NORMAL 0
+#define MMC5983_CONFIG_A_MS_POSITIVE_BIAS 1
+#define MMC5983_CONFIG_A_MS_NEGATIVE_BIAS 2
+#define MMC5983_CONFIG_A_MS_MASK 3
+
+#define MMC5983_CONFIG_B 1
+
+#define MMC5983_CONFIG_B_GN 5
+#define MMC5983_CONFIG_B_GN_0_88 0
+#define MMC5983_CONFIG_B_GN_1_3 1
+#define MMC5983_CONFIG_B_GN_1_9 2
+#define MMC5983_CONFIG_B_GN_2_5 3
+#define MMC5983_CONFIG_B_GN_4_0 4
+#define MMC5983_CONFIG_B_GN_4_7 5
+#define MMC5983_CONFIG_B_GN_5_6 6
+#define MMC5983_CONFIG_B_GN_8_1 7
+#define MMC5983_CONFIG_B_GN_MASK 7
+
+#define MMC5983_MODE 2
+#define MMC5983_MODE_CONTINUOUS 0
+#define MMC5983_MODE_SINGLE 1
+#define MMC5983_MODE_IDLE 2
+
+#define MMC5983_X_OUT_0 0
+#define MMC5983_X_OUT_1 1
+#define MMC5983_Y_OUT_0 2
+#define MMC5983_Y_OUT_1 3
+#define MMC5983_Z_OUT_0 4
+#define MMC5983_Z_OUT_1 5
+#define MMC5983_XYZ_OUT_2 6
+#define MMC5983_T_OUT 7
+
+#define MMC5983_STATUS 8
+# define MMC5983_STATUS_OTP_READ_DONE 4
+# define MMC5983_STATUS_MEAS_T_DONE 1
+# define MMC5983_STATUS_MEAS_M_DONE 0
+
+#define MMC5983_CONTROL_0 9
+# define MMC5983_CONTROL_0_OTP_READ 6
+# define MMC5983_CONTROL_0_AUTO_SR_EN 5
+# define MMC5983_CONTROL_0_RESET 4
+# define MMC5983_CONTROL_0_SET 3
+# define MMC5983_CONTROL_0_INT_MEAS_DONE_EN 2
+# define MMC5983_CONTROL_0_TM_T 1
+# define MMC5983_CONTROL_0_TM_M 0
+
+#define MMC5983_CONTROL_1 0xa
+# define MMC5983_CONTROL_1_SW_RST 7
+# define MMC5983_CONTROL_1_YZ_INHIBIT 3
+# define MMC5983_CONTROL_1_X_INHIBIT 2
+# define MMC5983_CONTROL_1_BW 0
+# define MMC5983_CONTROL_1_BW_100 0
+# define MMC5983_CONTROL_1_BW_200 1
+# define MMC5983_CONTROL_1_BW_400 2
+# define MMC5983_CONTROL_1_BW_800 3
+#define MMC5983_CONTROL_2 0xb
+# define MMC5983_CONTROL_2_EN_PRD_SET 7
+# define MMC5983_CONTROL_2_PRD_SET 4
+# define MMC5983_CONTROL_2_PRD_SET_1 0
+# define MMC5983_CONTROL_2_PRD_SET_25 1
+# define MMC5983_CONTROL_2_PRD_SET_75 2
+# define MMC5983_CONTROL_2_PRD_SET_100 3
+# define MMC5983_CONTROL_2_PRD_SET_250 4
+# define MMC5983_CONTROL_2_PRD_SET_500 5
+# define MMC5983_CONTROL_2_PRD_SET_1000 6
+# define MMC5983_CONTROL_2_PRD_SET_2000 7
+# define MMC5983_CONTROL_2_CMM_EN 3
+# define MMC5983_CONTROL_2_CM_FREQ 0
+# define MMC5983_CONTROL_2_CM_FREQ_OFF 0
+# define MMC5983_CONTROL_2_CM_FREQ_1HZ 1
+# define MMC5983_CONTROL_2_CM_FREQ_10HZ 2
+# define MMC5983_CONTROL_2_CM_FREQ_20HZ 3
+# define MMC5983_CONTROL_2_CM_FREQ_50HZ 4
+# define MMC5983_CONTROL_2_CM_FREQ_100HZ 5
+# define MMC5983_CONTROL_2_CM_FREQ_200HZ 6
+# define MMC5983_CONTROL_2_CM_FREQ_1000HZ 7
+
+#define MMC5983_CONTROL_3 0xc
+#define MMC5983_CONTROL_3_SPI_3W 6
+#define MMC5983_CONTROL_3_ST_ENM 2
+#define MMC5983_CONTROL_3_ST_ENP 1
+
+#define MMC5983_PRODUCT_ID 0x2f
+#define MMC5983_PRODUCT_ID_PRODUCT 0x30
+
+struct ao_mmc5983_sample {
+ int16_t x, y, z;
+};
+
+struct ao_mmc5983_raw {
+ uint8_t addr;
+ uint8_t x0;
+ uint8_t x1;
+ uint8_t y0;
+ uint8_t y1;
+ uint8_t z0;
+ uint8_t z1;
+ uint8_t xyz2;
+};
+
+extern struct ao_mmc5983_sample ao_mmc5983_current;
+
+void
+ao_mmc5983_init(void);
+
+#endif /* _AO_MMC5983_H_ */
#define AO_DATA_HMC5883 0
#endif
+#if HAS_MMC5983
+#include <ao_mmc5983.h>
+#define AO_DATA_MMC5983 (1 << 3)
+#else
+#define AO_DATA_MMC5983 0
+#endif
+
#if HAS_MMA655X
#include <ao_mma655x.h>
#define AO_DATA_MMA655X (1 << 4)
#ifdef AO_DATA_RING
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160)
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160|AO_DATA_MMC5983)
struct ao_data {
uint16_t tick;
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
+#if HAS_MMC5983
+ struct ao_mmc5983_sample mmc5983;
+#endif
#if HAS_MMA655X
uint16_t mma655x;
#endif
/* X axis is aligned in the other board axis (across) */
/* Z axis is aligned perpendicular to the board (through) */
+#ifndef ao_data_along
#define ao_data_along(packet) ((packet)->mpu6000.accel_y)
#define ao_data_across(packet) ((packet)->mpu6000.accel_x)
#define ao_data_through(packet) ((packet)->mpu6000.accel_z)
#define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+#endif
static inline float ao_convert_gyro(float sensor)
{
#endif
+#if !HAS_MAG && HAS_MMC5983
+
+#define HAS_MAG 1
+
+typedef int16_t ao_mag_t; /* in raw sample units */
+
+#endif
+
#if !HAS_MAG && HAS_MPU9250
#define HAS_MAG 1
#if HAS_HMC5883
ao_data_ring[head].hmc5883 = ao_hmc5883_current;
#endif
+#if HAS_MMC5983
+ ao_data_ring[head].mmc5983 = ao_mmc5983_current;
+#endif
#if HAS_MPU6000
ao_data_ring[head].mpu6000 = ao_mpu6000_current;
#endif
#define AO_LOG_FORMAT_MICROPEAK2 18 /* 2-byte baro values with header */
#define AO_LOG_FORMAT_TELEMEGA_4 19 /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
#define AO_LOG_FORMAT_EASYMOTOR 20 /* ? byte typed easymotor records with pressure sensor and adxl375 */
+#define AO_LOG_FORMAT_TELEMEGA_5 21 /* 32 byte typed telemega records with 32 bit gyro cal, mpu6000 and mmc5983 */
#define AO_LOG_FORMAT_NONE 127 /* No log at all */
/* Return the flight number from the given log slot, 0 if none, -slot on failure */
} u;
};
-#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_4
+#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_4 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
typedef struct ao_log_mega ao_log_type;
#endif
projects / fw / altos / commitdiff