From 9050b2ee337c1f34412e2cc4c27da278756bc481 Mon Sep 17 00:00:00 2001 From: Damien George Date: Sun, 23 Mar 2014 15:34:54 +0000 Subject: [PATCH] stmhal: Improved interface to accelerometer. --- stmhal/accel.c | 156 +++++++++++++++++++++++++++++------------- stmhal/accel.h | 10 +-- stmhal/pybmodule.c | 4 +- stmhal/qstrdefsport.h | 4 +- 4 files changed, 111 insertions(+), 63 deletions(-) diff --git a/stmhal/accel.c b/stmhal/accel.c index f380242bf6..cd513b3fe8 100644 --- a/stmhal/accel.c +++ b/stmhal/accel.c @@ -11,7 +11,12 @@ #include "accel.h" #define MMA_ADDR (0x98) +#define MMA_REG_X (0) +#define MMA_REG_Y (1) +#define MMA_REG_Z (2) +#define MMA_REG_TILT (3) #define MMA_REG_MODE (7) +#define MMA_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0)) STATIC I2C_HandleTypeDef I2cHandle; @@ -26,11 +31,6 @@ void accel_init(void) { GPIO_InitStructure.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &GPIO_InitStructure); - // wait 20ms, then turn on AVDD, then wait 20ms again - HAL_Delay(20); - GPIOB->BSRRL = GPIO_PIN_5; - HAL_Delay(20); - // PB6=SCL, PB7=SDA GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7; GPIO_InitStructure.Mode = GPIO_MODE_AF_OD; @@ -59,6 +59,14 @@ void accel_init(void) { printf("accel_init: HAL_I2C_Init failed\n"); return; } +} + +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); HAL_StatusTypeDef status; @@ -81,57 +89,109 @@ void accel_init(void) { /******************************************************************************/ /* Micro Python bindings */ -int accel_buf[12]; +#define NUM_AXIS (3) +#define FILT_DEPTH (4) -mp_obj_t pyb_accel_read(void) { - for (int i = 0; i <= 6; 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]; - } +typedef struct _pyb_accel_obj_t { + mp_obj_base_t base; + int16_t buf[NUM_AXIS * FILT_DEPTH]; +} pyb_accel_obj_t; - uint8_t data_[4]; - HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, 0, I2C_MEMADD_SIZE_8BIT, data_, 4, 200); - accel_buf[9] = data_[0] & 0x3f; if (accel_buf[9] & 0x20) accel_buf[9] |= ~0x1f; - accel_buf[10] = data_[1] & 0x3f; if (accel_buf[10] & 0x20) accel_buf[10] |= ~0x1f; - accel_buf[11] = data_[2] & 0x3f; if (accel_buf[11] & 0x20) accel_buf[11] |= ~0x1f; - int jolt_info = data_[3]; +STATIC pyb_accel_obj_t pyb_accel_obj; - mp_obj_t data[4]; - 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); +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])); } -MP_DEFINE_CONST_FUN_OBJ_0(pyb_accel_read_obj, pyb_accel_read); - -/* -mp_obj_t pyb_accel_read_all(void) { - mp_obj_t data[11]; - accel_start(MMA_ADDR, 1); - accel_send_byte(0); - accel_restart(MMA_ADDR, 0); - for (int i = 0; i <= 9; i++) { - data[i] = mp_obj_new_int(accel_read_ack()); - } - data[10] = mp_obj_new_int(accel_read_nack()); - - return rt_build_tuple(11, data); +STATIC mp_obj_t pyb_accel_x(mp_obj_t self_in) { + return read_axis(MMA_REG_X); } -MP_DEFINE_CONST_FUN_OBJ_0(pyb_accel_read_all_obj, pyb_accel_read_all); +STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_x_obj, pyb_accel_x); -mp_obj_t pyb_accel_write_mode(mp_obj_t o_int, mp_obj_t o_mode) { - accel_start(MMA_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(); +STATIC mp_obj_t pyb_accel_y(mp_obj_t self_in) { + return read_axis(MMA_REG_Y); +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_y_obj, pyb_accel_y); + +STATIC mp_obj_t pyb_accel_z(mp_obj_t self_in) { + return read_axis(MMA_REG_Z); +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z); + +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); + } + + return rt_build_tuple(3, tuple); +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_xyz); + +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); return mp_const_none; } -MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_write_mode_obj, pyb_accel_write_mode); -*/ +MP_DEFINE_CONST_FUN_OBJ_3(pyb_accel_write_reg_obj, pyb_accel_write_reg); + +STATIC const mp_method_t accel_methods[] = { + { "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 }, +}; + +STATIC const mp_obj_type_t accel_obj_type = { + { &mp_type_type }, + .name = MP_QSTR_Accel, + .methods = accel_methods, +}; + +STATIC mp_obj_t pyb_Accel(void) { + pyb_accel_obj.base.type = &accel_obj_type; + accel_init_device(); + return &pyb_accel_obj; +} + +MP_DEFINE_CONST_FUN_OBJ_0(pyb_Accel_obj, pyb_Accel); diff --git a/stmhal/accel.h b/stmhal/accel.h index c2320f1a4e..b2c0fd6b19 100644 --- a/stmhal/accel.h +++ b/stmhal/accel.h @@ -1,11 +1,3 @@ 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); +MP_DECLARE_CONST_FUN_OBJ(pyb_Accel_obj); diff --git a/stmhal/pybmodule.c b/stmhal/pybmodule.c index 7727329849..00a8c321db 100644 --- a/stmhal/pybmodule.c +++ b/stmhal/pybmodule.c @@ -254,9 +254,7 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = { #endif #if MICROPY_HW_HAS_MMA7660 - { MP_OBJ_NEW_QSTR(MP_QSTR_accel), (mp_obj_t)&pyb_accel_read_obj }, - //{ MP_OBJ_NEW_QSTR(MP_QSTR_accel_read), (mp_obj_t)&pyb_accel_read_all_obj }, - //{ MP_OBJ_NEW_QSTR(MP_QSTR_accel_mode), (mp_obj_t)&pyb_accel_write_mode_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_Accel), (mp_obj_t)&pyb_Accel_obj }, #endif #if 0 diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h index 55d4b1b09b..18fc345a81 100644 --- a/stmhal/qstrdefsport.h +++ b/stmhal/qstrdefsport.h @@ -17,9 +17,7 @@ Q(switch) Q(SW) Q(servo) Q(pwm) -Q(accel) -Q(accel_read) -Q(accel_mode) +Q(Accel) Q(hid) Q(time) Q(rng)