2014-03-20 23:33:30 +00:00
|
|
|
#include <stdio.h>
|
|
|
|
#include <string.h>
|
|
|
|
|
|
|
|
#include <stm32f4xx_hal.h>
|
|
|
|
|
2014-03-24 11:48:39 +00:00
|
|
|
#include "nlr.h"
|
2014-03-20 23:33:30 +00:00
|
|
|
#include "misc.h"
|
|
|
|
#include "mpconfig.h"
|
|
|
|
#include "qstr.h"
|
|
|
|
#include "obj.h"
|
|
|
|
#include "runtime.h"
|
|
|
|
#include "accel.h"
|
|
|
|
|
|
|
|
#define MMA_ADDR (0x98)
|
2014-03-23 15:34:54 +00:00
|
|
|
#define MMA_REG_X (0)
|
|
|
|
#define MMA_REG_Y (1)
|
|
|
|
#define MMA_REG_Z (2)
|
|
|
|
#define MMA_REG_TILT (3)
|
2014-03-20 23:33:30 +00:00
|
|
|
#define MMA_REG_MODE (7)
|
2014-03-23 15:34:54 +00:00
|
|
|
#define MMA_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0))
|
2014-03-20 23:33:30 +00:00
|
|
|
|
|
|
|
STATIC I2C_HandleTypeDef I2cHandle;
|
|
|
|
|
|
|
|
void accel_init(void) {
|
|
|
|
GPIO_InitTypeDef GPIO_InitStructure;
|
|
|
|
|
|
|
|
// PB5 is connected to AVDD; pull high to enable MMA accel device
|
|
|
|
GPIOB->BSRRH = GPIO_PIN_5; // turn off AVDD
|
|
|
|
GPIO_InitStructure.Pin = GPIO_PIN_5;
|
|
|
|
GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
|
|
|
|
GPIO_InitStructure.Speed = GPIO_SPEED_LOW;
|
|
|
|
GPIO_InitStructure.Pull = GPIO_NOPULL;
|
|
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
|
|
|
|
|
|
|
|
// PB6=SCL, PB7=SDA
|
|
|
|
GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7;
|
|
|
|
GPIO_InitStructure.Mode = GPIO_MODE_AF_OD;
|
|
|
|
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
|
|
|
|
GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines
|
|
|
|
GPIO_InitStructure.Alternate = GPIO_AF4_I2C1;
|
|
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
|
|
|
|
|
|
|
|
// enable the I2C1 clock
|
|
|
|
__I2C1_CLK_ENABLE();
|
|
|
|
|
|
|
|
// set up the I2C1 device
|
|
|
|
memset(&I2cHandle, 0, sizeof(I2C_HandleTypeDef));
|
|
|
|
I2cHandle.Instance = I2C1;
|
|
|
|
I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
|
|
|
|
I2cHandle.Init.ClockSpeed = 400000;
|
|
|
|
I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
|
|
|
|
I2cHandle.Init.DutyCycle = I2C_DUTYCYCLE_16_9;
|
|
|
|
I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
|
|
|
|
I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
|
|
|
|
I2cHandle.Init.OwnAddress1 = 0xfe; // unused
|
|
|
|
I2cHandle.Init.OwnAddress2 = 0xfe; // unused
|
|
|
|
|
|
|
|
if (HAL_I2C_Init(&I2cHandle) != HAL_OK) {
|
|
|
|
// init error
|
|
|
|
printf("accel_init: HAL_I2C_Init failed\n");
|
|
|
|
return;
|
|
|
|
}
|
2014-03-23 15:34:54 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
STATIC void accel_init_device(void) {
|
|
|
|
// turn off AVDD, wait 20ms, turn on AVDD, wait 20ms again
|
|
|
|
GPIOB->BSRRH = GPIO_PIN_5; // turn off
|
|
|
|
HAL_Delay(20);
|
|
|
|
GPIOB->BSRRL = GPIO_PIN_5; // turn on
|
|
|
|
HAL_Delay(20);
|
2014-03-20 23:33:30 +00:00
|
|
|
|
|
|
|
HAL_StatusTypeDef status;
|
|
|
|
|
|
|
|
//printf("IsDeviceReady\n");
|
|
|
|
for (int i = 0; i < 10; i++) {
|
|
|
|
status = HAL_I2C_IsDeviceReady(&I2cHandle, MMA_ADDR, 10, 200);
|
|
|
|
//printf(" got %d\n", status);
|
|
|
|
if (status == HAL_OK) {
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
//printf("MemWrite\n");
|
|
|
|
uint8_t data[1];
|
|
|
|
data[0] = 1; // active mode
|
|
|
|
status = HAL_I2C_Mem_Write(&I2cHandle, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
|
|
|
|
//printf(" got %d\n", status);
|
|
|
|
}
|
|
|
|
|
|
|
|
/******************************************************************************/
|
|
|
|
/* Micro Python bindings */
|
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
#define NUM_AXIS (3)
|
|
|
|
#define FILT_DEPTH (4)
|
2014-03-20 23:33:30 +00:00
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
typedef struct _pyb_accel_obj_t {
|
|
|
|
mp_obj_base_t base;
|
|
|
|
int16_t buf[NUM_AXIS * FILT_DEPTH];
|
|
|
|
} pyb_accel_obj_t;
|
2014-03-20 23:33:30 +00:00
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
STATIC pyb_accel_obj_t pyb_accel_obj;
|
|
|
|
|
2014-03-24 11:48:39 +00:00
|
|
|
STATIC mp_obj_t pyb_accel_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
|
|
|
|
// check arguments
|
|
|
|
if (!(n_args == 0 && n_kw == 0)) {
|
|
|
|
nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "Accel accepts no arguments"));
|
|
|
|
}
|
|
|
|
|
|
|
|
// init accel object
|
|
|
|
pyb_accel_obj.base.type = &pyb_accel_type;
|
|
|
|
accel_init_device();
|
|
|
|
|
|
|
|
return &pyb_accel_obj;
|
|
|
|
}
|
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
STATIC mp_obj_t read_axis(int axis) {
|
|
|
|
uint8_t data[1];
|
|
|
|
HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
|
|
|
|
return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0]));
|
|
|
|
}
|
|
|
|
|
|
|
|
STATIC mp_obj_t pyb_accel_x(mp_obj_t self_in) {
|
|
|
|
return read_axis(MMA_REG_X);
|
|
|
|
}
|
|
|
|
|
|
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_x_obj, pyb_accel_x);
|
|
|
|
|
|
|
|
STATIC mp_obj_t pyb_accel_y(mp_obj_t self_in) {
|
|
|
|
return read_axis(MMA_REG_Y);
|
|
|
|
}
|
2014-03-20 23:33:30 +00:00
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_y_obj, pyb_accel_y);
|
2014-03-20 23:33:30 +00:00
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
STATIC mp_obj_t pyb_accel_z(mp_obj_t self_in) {
|
|
|
|
return read_axis(MMA_REG_Z);
|
2014-03-20 23:33:30 +00:00
|
|
|
}
|
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z);
|
2014-03-20 23:33:30 +00:00
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) {
|
|
|
|
uint8_t data[1];
|
|
|
|
HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
|
|
|
|
return mp_obj_new_int(data[0]);
|
|
|
|
}
|
|
|
|
|
|
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_tilt_obj, pyb_accel_tilt);
|
|
|
|
|
|
|
|
STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t self_in) {
|
|
|
|
pyb_accel_obj_t *self = self_in;
|
|
|
|
|
|
|
|
memmove(self->buf, self->buf + NUM_AXIS, NUM_AXIS * (FILT_DEPTH - 1) * sizeof(int16_t));
|
|
|
|
|
|
|
|
uint8_t data[NUM_AXIS];
|
|
|
|
HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200);
|
|
|
|
|
|
|
|
mp_obj_t tuple[NUM_AXIS];
|
|
|
|
for (int i = 0; i < NUM_AXIS; i++) {
|
|
|
|
self->buf[NUM_AXIS * (FILT_DEPTH - 1) + i] = MMA_AXIS_SIGNED_VALUE(data[i]);
|
|
|
|
int32_t val = 0;
|
|
|
|
for (int j = 0; j < FILT_DEPTH; j++) {
|
|
|
|
val += self->buf[i + NUM_AXIS * j];
|
|
|
|
}
|
|
|
|
tuple[i] = mp_obj_new_int(val);
|
2014-03-20 23:33:30 +00:00
|
|
|
}
|
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
return rt_build_tuple(3, tuple);
|
2014-03-20 23:33:30 +00:00
|
|
|
}
|
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_xyz);
|
2014-03-20 23:33:30 +00:00
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
STATIC mp_obj_t pyb_accel_read_reg(mp_obj_t self_in, mp_obj_t reg) {
|
|
|
|
uint8_t data[1];
|
|
|
|
HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
|
|
|
|
return mp_obj_new_int(data[0]);
|
|
|
|
}
|
|
|
|
|
|
|
|
MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_read_reg_obj, pyb_accel_read_reg);
|
|
|
|
|
|
|
|
STATIC mp_obj_t pyb_accel_write_reg(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val) {
|
|
|
|
uint8_t data[1];
|
|
|
|
data[0] = mp_obj_get_int(val);
|
|
|
|
HAL_I2C_Mem_Write(&I2cHandle, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
|
2014-03-20 23:33:30 +00:00
|
|
|
return mp_const_none;
|
|
|
|
}
|
|
|
|
|
2014-03-23 15:34:54 +00:00
|
|
|
MP_DEFINE_CONST_FUN_OBJ_3(pyb_accel_write_reg_obj, pyb_accel_write_reg);
|
|
|
|
|
2014-03-24 11:48:39 +00:00
|
|
|
STATIC const mp_method_t pyb_accel_methods[] = {
|
2014-03-23 15:34:54 +00:00
|
|
|
{ "x", &pyb_accel_x_obj },
|
|
|
|
{ "y", &pyb_accel_y_obj },
|
|
|
|
{ "z", &pyb_accel_z_obj },
|
|
|
|
{ "tilt", &pyb_accel_tilt_obj },
|
|
|
|
{ "filtered_xyz", &pyb_accel_filtered_xyz_obj },
|
|
|
|
{ "read_reg", &pyb_accel_read_reg_obj },
|
|
|
|
{ "write_reg", &pyb_accel_write_reg_obj },
|
|
|
|
{ NULL, NULL },
|
|
|
|
};
|
|
|
|
|
2014-03-24 11:48:39 +00:00
|
|
|
const mp_obj_type_t pyb_accel_type = {
|
2014-03-23 15:34:54 +00:00
|
|
|
{ &mp_type_type },
|
|
|
|
.name = MP_QSTR_Accel,
|
2014-03-24 11:48:39 +00:00
|
|
|
.make_new = pyb_accel_make_new,
|
|
|
|
.methods = pyb_accel_methods,
|
2014-03-23 15:34:54 +00:00
|
|
|
};
|