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stm: Rename mma -> accel.

pull/302/head
Damien George 11 years ago
parent
754a8dd827
commit
2abbae3419
6 changed files with 89 additions and 89 deletions
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  1. 2
      stm/Makefile
  2. 128
      stm/accel.c
  3. 11
      stm/accel.h
  4. 22
      stm/main.c
  5. 11
      stm/mma.h
  6. 4
      stm/qstrdefsport.h

2
stm/Makefile
View File

@ -55,7 +55,7 @@ SRC_C = \
servo.c \
flash.c \
storage.c \
mma.c \
accel.c \
usart.c \
usb.c \
timer.c \

128
stm/mma.c → stm/accel.c
View File

@ -10,11 +10,11 @@
#include "systick.h"
#include "obj.h"
#include "runtime.h"
#include "mma.h"
#include "accel.h"
#define MMA_ADDR (0x4c)
#define ACCEL_ADDR (0x4c)
void mma_init(void) {
void accel_init(void) {
RCC->APB1ENR |= RCC_APB1ENR_I2C1EN; // enable I2C1
//gpio_pin_init(GPIOB, 6 /* B6 is SCL */, 2 /* AF mode */, 1 /* open drain output */, 1 /* 25 MHz */, 0 /* no pull up or pull down */);
@ -25,7 +25,7 @@ void mma_init(void) {
GPIO_InitTypeDef GPIO_InitStructure;
// PB5 is connected to AVDD; pull high to enable MMA device
// PB5 is connected to AVDD; pull high to enable MMA accel device
GPIOB->BSRRH = GPIO_Pin_5; // PB5 low to start with
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
@ -75,21 +75,21 @@ void mma_init(void) {
// set START bit in CR1 to generate a start cond!
// init the chip via I2C commands
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_stop();
accel_start(ACCEL_ADDR, 1);
accel_send_byte(0);
accel_stop();
/*
// read and print all 11 registers
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
accel_start(ACCEL_ADDR, 1);
accel_send_byte(0);
accel_restart(ACCEL_ADDR, 0);
for (int i = 0; i <= 0xa; i++) {
int data;
if (i == 0xa) {
data = mma_read_nack();
data = accel_read_nack();
} else {
data = mma_read_ack();
data = accel_read_ack();
}
printf(" %02x", data);
}
@ -97,26 +97,26 @@ void mma_init(void) {
*/
// put into active mode
mma_start(MMA_ADDR, 1);
mma_send_byte(7); // mode
mma_send_byte(1); // active mode
mma_stop();
accel_start(ACCEL_ADDR, 1);
accel_send_byte(7); // mode
accel_send_byte(1); // active mode
accel_stop();
/*
// infinite loop to read values
for (;;) {
sys_tick_delay_ms(500);
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
accel_start(ACCEL_ADDR, 1);
accel_send_byte(0);
accel_restart(ACCEL_ADDR, 0);
for (int i = 0; i <= 3; i++) {
int data;
if (i == 3) {
data = mma_read_nack();
data = accel_read_nack();
printf(" %02x\n", data);
} else {
data = mma_read_ack() & 0x3f;
data = accel_read_ack() & 0x3f;
if (data & 0x20) {
data |= ~0x1f;
}
@ -134,7 +134,7 @@ static uint32_t i2c_get_sr(void) {
return (sr2 << 16) | sr1;
}
void mma_restart(uint8_t addr, int write) {
void accel_restart(uint8_t addr, int write) {
// send start condition
I2C1->CR1 |= I2C_CR1_START;
@ -142,7 +142,7 @@ void mma_restart(uint8_t addr, int write) {
uint32_t timeout = 1000000;
while ((i2c_get_sr() & 0x00030001) != 0x00030001) {
if (--timeout == 0) {
printf("timeout in mma_restart\n");
printf("timeout in accel_restart\n");
return;
}
}
@ -154,7 +154,7 @@ void mma_restart(uint8_t addr, int write) {
timeout = 1000000;
while ((i2c_get_sr() & 0x00070082) != 0x00070082) {
if (--timeout == 0) {
printf("timeout in mma_restart write\n");
printf("timeout in accel_restart write\n");
return;
}
}
@ -165,48 +165,48 @@ void mma_restart(uint8_t addr, int write) {
timeout = 1000000;
while ((i2c_get_sr() & 0x00030002) != 0x00030002) {
if (--timeout == 0) {
printf("timeout in mma_restart read\n");
printf("timeout in accel_restart read\n");
return;
}
}
}
}
void mma_start(uint8_t addr, int write) {
void accel_start(uint8_t addr, int write) {
// wait until I2C is not busy
uint32_t timeout = 1000000;
while (I2C1->SR2 & I2C_SR2_BUSY) {
if (--timeout == 0) {
printf("timeout in mma_start\n");
printf("timeout in accel_start\n");
return;
}
}
// do rest of start
mma_restart(addr, write);
accel_restart(addr, write);
}
void mma_send_byte(uint8_t data) {
void accel_send_byte(uint8_t data) {
// send byte
I2C1->DR = data;
// wait for TRA, BUSY, MSL, TXE and BTF (byte transmitted)
uint32_t timeout = 1000000;
while ((i2c_get_sr() & 0x00070084) != 0x00070084) {
if (--timeout == 0) {
printf("timeout in mma_send_byte\n");
printf("timeout in accel_send_byte\n");
return;
}
}
}
uint8_t mma_read_ack(void) {
uint8_t accel_read_ack(void) {
// enable ACK of received byte
I2C1->CR1 |= I2C_CR1_ACK;
// wait for BUSY, MSL and RXNE (byte received)
uint32_t timeout = 1000000;
while ((i2c_get_sr() & 0x00030040) != 0x00030040) {
if (--timeout == 0) {
printf("timeout in mma_read_ack\n");
printf("timeout in accel_read_ack\n");
break;
}
}
@ -215,7 +215,7 @@ uint8_t mma_read_ack(void) {
return data;
}
uint8_t mma_read_nack(void) {
uint8_t accel_read_nack(void) {
// disable ACK of received byte (to indicate end of receiving)
I2C1->CR1 &= (uint16_t)~((uint16_t)I2C_CR1_ACK);
// last byte should apparently also generate a stop condition
@ -224,7 +224,7 @@ uint8_t mma_read_nack(void) {
uint32_t timeout = 1000000;
while ((i2c_get_sr() & 0x00030040) != 0x00030040) {
if (--timeout == 0) {
printf("timeout in mma_read_nack\n");
printf("timeout in accel_read_nack\n");
break;
}
}
@ -233,7 +233,7 @@ uint8_t mma_read_nack(void) {
return data;
}
void mma_stop(void) {
void accel_stop(void) {
// send stop condition
I2C1->CR1 |= I2C_CR1_STOP;
}
@ -241,60 +241,60 @@ void mma_stop(void) {
/******************************************************************************/
/* Micro Python bindings */
int mma_buf[12];
int accel_buf[12];
mp_obj_t pyb_mma_read(void) {
mp_obj_t pyb_accel_read(void) {
for (int i = 0; i <= 6; i += 3) {
mma_buf[0 + i] = mma_buf[0 + i + 3];
mma_buf[1 + i] = mma_buf[1 + i + 3];
mma_buf[2 + i] = mma_buf[2 + i + 3];
accel_buf[0 + i] = accel_buf[0 + i + 3];
accel_buf[1 + i] = accel_buf[1 + i + 3];
accel_buf[2 + i] = accel_buf[2 + i + 3];
}
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
accel_start(ACCEL_ADDR, 1);
accel_send_byte(0);
accel_restart(ACCEL_ADDR, 0);
for (int i = 0; i <= 2; i++) {
int v = mma_read_ack() & 0x3f;
int v = accel_read_ack() & 0x3f;
if (v & 0x20) {
v |= ~0x1f;
}
mma_buf[9 + i] = v;
accel_buf[9 + i] = v;
}
int jolt_info = mma_read_nack();
int jolt_info = accel_read_nack();
mp_obj_t data[4];
data[0] = mp_obj_new_int(mma_buf[0] + mma_buf[3] + mma_buf[6] + mma_buf[9]);
data[1] = mp_obj_new_int(mma_buf[1] + mma_buf[4] + mma_buf[7] + mma_buf[10]);
data[2] = mp_obj_new_int(mma_buf[2] + mma_buf[5] + mma_buf[8] + mma_buf[11]);
data[0] = mp_obj_new_int(accel_buf[0] + accel_buf[3] + accel_buf[6] + accel_buf[9]);
data[1] = mp_obj_new_int(accel_buf[1] + accel_buf[4] + accel_buf[7] + accel_buf[10]);
data[2] = mp_obj_new_int(accel_buf[2] + accel_buf[5] + accel_buf[8] + accel_buf[11]);
data[3] = mp_obj_new_int(jolt_info);
return rt_build_tuple(4, data);
}
MP_DEFINE_CONST_FUN_OBJ_0(pyb_mma_read_obj, pyb_mma_read);
MP_DEFINE_CONST_FUN_OBJ_0(pyb_accel_read_obj, pyb_accel_read);
mp_obj_t pyb_mma_read_all(void) {
mp_obj_t pyb_accel_read_all(void) {
mp_obj_t data[11];
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
accel_start(ACCEL_ADDR, 1);
accel_send_byte(0);
accel_restart(ACCEL_ADDR, 0);
for (int i = 0; i <= 9; i++) {
data[i] = mp_obj_new_int(mma_read_ack());
data[i] = mp_obj_new_int(accel_read_ack());
}
data[10] = mp_obj_new_int(mma_read_nack());
data[10] = mp_obj_new_int(accel_read_nack());
return rt_build_tuple(11, data);
}
MP_DEFINE_CONST_FUN_OBJ_0(pyb_mma_read_all_obj, pyb_mma_read_all);
MP_DEFINE_CONST_FUN_OBJ_0(pyb_accel_read_all_obj, pyb_accel_read_all);
mp_obj_t pyb_mma_write_mode(mp_obj_t o_int, mp_obj_t o_mode) {
mma_start(MMA_ADDR, 1);
mma_send_byte(6); // start at int
mma_send_byte(mp_obj_get_int(o_int));
mma_send_byte(mp_obj_get_int(o_mode));
mma_stop();
mp_obj_t pyb_accel_write_mode(mp_obj_t o_int, mp_obj_t o_mode) {
accel_start(ACCEL_ADDR, 1);
accel_send_byte(6); // start at int
accel_send_byte(mp_obj_get_int(o_int));
accel_send_byte(mp_obj_get_int(o_mode));
accel_stop();
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_2(pyb_mma_write_mode_obj, pyb_mma_write_mode);
MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_write_mode_obj, pyb_accel_write_mode);

11
stm/accel.h
View File

@ -0,0 +1,11 @@
void accel_init(void);
void accel_restart(uint8_t addr, int write);
void accel_start(uint8_t addr, int write);
void accel_send_byte(uint8_t data);
uint8_t accel_read_ack(void);
uint8_t accel_read_nack(void);
void accel_stop(void);
MP_DECLARE_CONST_FUN_OBJ(pyb_accel_read_obj);
MP_DECLARE_CONST_FUN_OBJ(pyb_accel_read_all_obj);
MP_DECLARE_CONST_FUN_OBJ(pyb_accel_write_mode_obj);

22
stm/main.c
View File

@ -38,7 +38,7 @@
#include "lcd.h"
#include "storage.h"
#include "sdcard.h"
#include "mma.h"
#include "accel.h"
#include "usart.h"
#include "usb.h"
#include "timer.h"
@ -463,9 +463,9 @@ soft_reset:
#endif
rt_store_attr(m, MP_QSTR_pwm, rt_make_function_n(2, pyb_pwm_set));
#if MICROPY_HW_HAS_MMA7660
rt_store_attr(m, MP_QSTR_accel, (mp_obj_t)&pyb_mma_read_obj);
rt_store_attr(m, MP_QSTR_mma_read, (mp_obj_t)&pyb_mma_read_all_obj);
rt_store_attr(m, MP_QSTR_mma_mode, (mp_obj_t)&pyb_mma_write_mode_obj);
rt_store_attr(m, MP_QSTR_accel, (mp_obj_t)&pyb_accel_read_obj);
rt_store_attr(m, MP_QSTR_accel_read, (mp_obj_t)&pyb_accel_read_all_obj);
rt_store_attr(m, MP_QSTR_accel_mode, (mp_obj_t)&pyb_accel_write_mode_obj);
#endif
rt_store_attr(m, MP_QSTR_hid, rt_make_function_n(1, pyb_hid_send_report));
#if MICROPY_HW_ENABLE_RTC
@ -583,8 +583,8 @@ soft_reset:
if (first_soft_reset) {
#if MICROPY_HW_HAS_MMA7660
// MMA: init and reset address to zero
mma_init();
// MMA accel: init and reset address to zero
accel_init();
#endif
}
@ -654,17 +654,17 @@ soft_reset:
#else
data[0] = 0x00;
#endif
mma_start(0x4c /* MMA_ADDR */, 1);
mma_send_byte(0);
mma_restart(0x4c /* MMA_ADDR */, 0);
accel_start(0x4c /* ACCEL_ADDR */, 1);
accel_send_byte(0);
accel_restart(0x4c /* ACCEL_ADDR */, 0);
for (int i = 0; i <= 1; i++) {
int v = mma_read_ack() & 0x3f;
int v = accel_read_ack() & 0x3f;
if (v & 0x20) {
v |= ~0x1f;
}
data[1 + i] = v;
}
mma_read_nack();
accel_read_nack();
usb_hid_send_report(data);
sys_tick_delay_ms(15);
}

11
stm/mma.h
View File

@ -1,11 +0,0 @@
void mma_init(void);
void mma_restart(uint8_t addr, int write);
void mma_start(uint8_t addr, int write);
void mma_send_byte(uint8_t data);
uint8_t mma_read_ack(void);
uint8_t mma_read_nack(void);
void mma_stop(void);
MP_DECLARE_CONST_FUN_OBJ(pyb_mma_read_obj);
MP_DECLARE_CONST_FUN_OBJ(pyb_mma_read_all_obj);
MP_DECLARE_CONST_FUN_OBJ(pyb_mma_write_mode_obj);

4
stm/qstrdefsport.h
View File

@ -15,8 +15,8 @@ Q(switch)
Q(servo)
Q(pwm)
Q(accel)
Q(mma_read)
Q(mma_mode)
Q(accel_read)
Q(accel_mode)
Q(hid)
Q(time)
Q(rand)

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