stm32/accel: Add support for KXTJ3.
This commit is contained in:
Frederic.Pierson
Damien George
parent
3105207aff
commit
28062b5108
@ -33,21 +33,30 @@
|
||||
#include "i2c.h"
|
||||
#include "accel.h"
|
||||
|
||||
#if MICROPY_HW_HAS_MMA7660
|
||||
#if MICROPY_HW_HAS_MMA7660 || MICROPY_HW_HAS_KXTJ3
|
||||
|
||||
/// \moduleref pyb
|
||||
/// \class Accel - accelerometer control
|
||||
///
|
||||
/// Accel is an object that controls the accelerometer. Example usage:
|
||||
/// Accel is an object that controls the MMA7660 or the KXTJ3 accelerometer
|
||||
/// depending on one/two constant in mpconfigboard.h file of board project :
|
||||
/// #define MICROPY_HW_HAS_MMA7660 (1)
|
||||
/// #define MICROPY_HW_HAS_KXTJ3 (0) // not mandatory if equal to 0
|
||||
///
|
||||
/// Example usage:
|
||||
///
|
||||
/// accel = pyb.Accel()
|
||||
/// for i in range(10):
|
||||
/// print(accel.x(), accel.y(), accel.z())
|
||||
///
|
||||
/// Raw values are between -32 and 31.
|
||||
/// Raw values are between -32 and 31 for -/+ 1.5G acceleration for MMA7660.
|
||||
/// Raw values are between -128 and 127 for -/+ 8G acceleration for KXTJ3.
|
||||
|
||||
|
||||
#define I2C_TIMEOUT_MS (50)
|
||||
|
||||
#if MICROPY_HW_HAS_MMA7660
|
||||
|
||||
#define ACCEL_ADDR (76)
|
||||
#define ACCEL_REG_X (0)
|
||||
#define ACCEL_REG_Y (1)
|
||||
@ -56,16 +65,36 @@
|
||||
#define ACCEL_REG_MODE (7)
|
||||
#define ACCEL_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0))
|
||||
|
||||
#elif MICROPY_HW_HAS_KXTJ3
|
||||
|
||||
#define ACCEL_ADDR (0x0f)
|
||||
#define ACCEL_REG_DCST_RESP (0x0c)
|
||||
#define ACCEL_REG_WHO_AM_I (0x0f)
|
||||
#define ACCEL_REG_X (0x07) // XOUT_H
|
||||
#define ACCEL_REG_Y (0x09) // YOUT_H
|
||||
#define ACCEL_REG_Z (0x0B) // ZOUT_H
|
||||
#define ACCEL_REG_CTRL_REG1 (0x1B)
|
||||
#define ACCEL_REG_CTRL_REG2 (0x1d)
|
||||
#define ACCEL_REG_CTRL_REG2 (0x1d)
|
||||
#define ACCEL_REG_DATA_CTRL_REG (0x21)
|
||||
#define ACCEL_AXIS_SIGNED_VALUE(i) (((i) & 0x7f) | ((i) & 0x80 ? (~0x7f) : 0))
|
||||
|
||||
#endif
|
||||
|
||||
void accel_init(void) {
|
||||
#if MICROPY_HW_HAS_MMA7660
|
||||
// PB5 is connected to AVDD; pull high to enable MMA accel device
|
||||
mp_hal_pin_low(MICROPY_HW_MMA_AVDD_PIN); // turn off AVDD
|
||||
mp_hal_pin_output(MICROPY_HW_MMA_AVDD_PIN);
|
||||
#endif
|
||||
}
|
||||
|
||||
STATIC void accel_start(void) {
|
||||
// start the I2C bus in master mode
|
||||
i2c_init(I2C1, MICROPY_HW_I2C1_SCL, MICROPY_HW_I2C1_SDA, 400000, I2C_TIMEOUT_MS);
|
||||
|
||||
#if MICROPY_HW_HAS_MMA7660
|
||||
|
||||
// turn off AVDD, wait 30ms, turn on AVDD, wait 30ms again
|
||||
mp_hal_pin_low(MICROPY_HW_MMA_AVDD_PIN); // turn off
|
||||
mp_hal_delay_ms(30);
|
||||
@ -90,6 +119,27 @@ STATIC void accel_start(void) {
|
||||
|
||||
// wait for MMA to become active
|
||||
mp_hal_delay_ms(30);
|
||||
|
||||
#elif MICROPY_HW_HAS_KXTJ3
|
||||
|
||||
// readout WHO_AM_I register to check KXTJ3 device presence
|
||||
uint8_t data[2] = { ACCEL_REG_WHO_AM_I };
|
||||
i2c_writeto(I2C1, ACCEL_ADDR, data, 1, false);
|
||||
i2c_readfrom(I2C1, ACCEL_ADDR, data, 1, true);
|
||||
if (data[0] != 0x35) {
|
||||
mp_raise_msg(&mp_type_OSError, "accelerometer not found");
|
||||
}
|
||||
|
||||
// set operating mode (default: 8 bits, range +/-8G)
|
||||
data[0] = ACCEL_REG_CTRL_REG1;
|
||||
data[1] = 0x90;
|
||||
i2c_writeto(I2C1, ACCEL_ADDR, data, 2, true);
|
||||
// set dat output rates to 200Hz (LPF roll-over 10ms), idd=35uA
|
||||
data[0] = ACCEL_REG_DATA_CTRL_REG;
|
||||
data[1] = 0x04;
|
||||
i2c_writeto(I2C1, ACCEL_ADDR, data, 2, true);
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
/******************************************************************************/
|
||||
@ -158,10 +208,15 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z);
|
||||
/// \method tilt()
|
||||
/// Get the tilt register.
|
||||
STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) {
|
||||
#if MICROPY_HW_HAS_MMA7660
|
||||
uint8_t data[1] = { ACCEL_REG_TILT };
|
||||
i2c_writeto(I2C1, ACCEL_ADDR, data, 1, false);
|
||||
i2c_readfrom(I2C1, ACCEL_ADDR, data, 1, true);
|
||||
return mp_obj_new_int(data[0]);
|
||||
#elif MICROPY_HW_HAS_KXTJ3
|
||||
/// No tilt like register with KXTJ3 accelerometer
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_tilt_obj, pyb_accel_tilt);
|
||||
|
||||
@ -172,13 +227,20 @@ STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t self_in) {
|
||||
|
||||
memmove(self->buf, self->buf + NUM_AXIS, NUM_AXIS * (FILT_DEPTH - 1) * sizeof(int16_t));
|
||||
|
||||
uint8_t data[NUM_AXIS] = { ACCEL_REG_X };
|
||||
#if MICROPY_HW_HAS_MMA7660
|
||||
const size_t DATA_SIZE = NUM_AXIS;
|
||||
const size_t DATA_STRIDE = 1;
|
||||
#elif MICROPY_HW_HAS_KXTJ3
|
||||
const size_t DATA_SIZE = 5;
|
||||
const size_t DATA_STRIDE = 2;
|
||||
#endif
|
||||
uint8_t data[DATA_SIZE]; data[0] = ACCEL_REG_X;
|
||||
i2c_writeto(I2C1, ACCEL_ADDR, data, 1, false);
|
||||
i2c_readfrom(I2C1, ACCEL_ADDR, data, 3, true);
|
||||
i2c_readfrom(I2C1, ACCEL_ADDR, data, DATA_SIZE, true);
|
||||
|
||||
mp_obj_t tuple[NUM_AXIS];
|
||||
for (int i = 0; i < NUM_AXIS; i++) {
|
||||
self->buf[NUM_AXIS * (FILT_DEPTH - 1) + i] = ACCEL_AXIS_SIGNED_VALUE(data[i]);
|
||||
self->buf[NUM_AXIS * (FILT_DEPTH - 1) + i] = ACCEL_AXIS_SIGNED_VALUE(data[i * DATA_STRIDE]);
|
||||
int32_t val = 0;
|
||||
for (int j = 0; j < FILT_DEPTH; j++) {
|
||||
val += self->buf[i + NUM_AXIS * j];
|
||||
@ -225,4 +287,4 @@ const mp_obj_type_t pyb_accel_type = {
|
||||
.locals_dict = (mp_obj_dict_t*)&pyb_accel_locals_dict,
|
||||
};
|
||||
|
||||
#endif // MICROPY_HW_HAS_MMA7660
|
||||
#endif // MICROPY_HW_HAS_MMA7660 || MICROPY_HW_HAS_KXTJ3
|
||||
|
||||
@ -248,7 +248,7 @@ STATIC const mp_rom_map_elem_t pyb_module_globals_table[] = {
|
||||
{ MP_ROM_QSTR(MP_QSTR_DAC), MP_ROM_PTR(&pyb_dac_type) },
|
||||
#endif
|
||||
|
||||
#if MICROPY_HW_HAS_MMA7660
|
||||
#if MICROPY_HW_HAS_MMA7660 || MICROPY_HW_HAS_KXTJ3
|
||||
{ MP_ROM_QSTR(MP_QSTR_Accel), MP_ROM_PTR(&pyb_accel_type) },
|
||||
#endif
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user