138 lines
4.3 KiB
C
138 lines
4.3 KiB
C
#include <stdio.h>
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#include <string.h>
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#include <stm32f4xx_hal.h>
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#include "misc.h"
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#include "mpconfig.h"
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#include "qstr.h"
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#include "obj.h"
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#include "runtime.h"
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#include "accel.h"
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#define MMA_ADDR (0x98)
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#define MMA_REG_MODE (7)
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STATIC I2C_HandleTypeDef I2cHandle;
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void accel_init(void) {
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GPIO_InitTypeDef GPIO_InitStructure;
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// PB5 is connected to AVDD; pull high to enable MMA accel device
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GPIOB->BSRRH = GPIO_PIN_5; // turn off AVDD
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GPIO_InitStructure.Pin = GPIO_PIN_5;
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GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStructure.Speed = GPIO_SPEED_LOW;
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GPIO_InitStructure.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
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// wait 20ms, then turn on AVDD, then wait 20ms again
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HAL_Delay(20);
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GPIOB->BSRRL = GPIO_PIN_5;
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HAL_Delay(20);
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// PB6=SCL, PB7=SDA
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GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7;
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GPIO_InitStructure.Mode = GPIO_MODE_AF_OD;
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GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
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GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines
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GPIO_InitStructure.Alternate = GPIO_AF4_I2C1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
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// enable the I2C1 clock
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__I2C1_CLK_ENABLE();
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// set up the I2C1 device
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memset(&I2cHandle, 0, sizeof(I2C_HandleTypeDef));
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I2cHandle.Instance = I2C1;
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I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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I2cHandle.Init.ClockSpeed = 400000;
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I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
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I2cHandle.Init.DutyCycle = I2C_DUTYCYCLE_16_9;
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I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
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I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
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I2cHandle.Init.OwnAddress1 = 0xfe; // unused
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I2cHandle.Init.OwnAddress2 = 0xfe; // unused
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if (HAL_I2C_Init(&I2cHandle) != HAL_OK) {
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// init error
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printf("accel_init: HAL_I2C_Init failed\n");
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return;
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}
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HAL_StatusTypeDef status;
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//printf("IsDeviceReady\n");
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for (int i = 0; i < 10; i++) {
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status = HAL_I2C_IsDeviceReady(&I2cHandle, MMA_ADDR, 10, 200);
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//printf(" got %d\n", status);
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if (status == HAL_OK) {
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break;
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}
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}
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//printf("MemWrite\n");
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uint8_t data[1];
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data[0] = 1; // active mode
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status = HAL_I2C_Mem_Write(&I2cHandle, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
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//printf(" got %d\n", status);
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}
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/******************************************************************************/
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/* Micro Python bindings */
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int accel_buf[12];
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mp_obj_t pyb_accel_read(void) {
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for (int i = 0; i <= 6; i += 3) {
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accel_buf[0 + i] = accel_buf[0 + i + 3];
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accel_buf[1 + i] = accel_buf[1 + i + 3];
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accel_buf[2 + i] = accel_buf[2 + i + 3];
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}
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uint8_t data_[4];
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HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, 0, I2C_MEMADD_SIZE_8BIT, data_, 4, 200);
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accel_buf[9] = data_[0] & 0x3f; if (accel_buf[9] & 0x20) accel_buf[9] |= ~0x1f;
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accel_buf[10] = data_[1] & 0x3f; if (accel_buf[10] & 0x20) accel_buf[10] |= ~0x1f;
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accel_buf[11] = data_[2] & 0x3f; if (accel_buf[11] & 0x20) accel_buf[11] |= ~0x1f;
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int jolt_info = data_[3];
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mp_obj_t data[4];
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data[0] = mp_obj_new_int(accel_buf[0] + accel_buf[3] + accel_buf[6] + accel_buf[9]);
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data[1] = mp_obj_new_int(accel_buf[1] + accel_buf[4] + accel_buf[7] + accel_buf[10]);
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data[2] = mp_obj_new_int(accel_buf[2] + accel_buf[5] + accel_buf[8] + accel_buf[11]);
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data[3] = mp_obj_new_int(jolt_info);
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return rt_build_tuple(4, data);
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}
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MP_DEFINE_CONST_FUN_OBJ_0(pyb_accel_read_obj, pyb_accel_read);
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/*
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mp_obj_t pyb_accel_read_all(void) {
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mp_obj_t data[11];
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accel_start(MMA_ADDR, 1);
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accel_send_byte(0);
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accel_restart(MMA_ADDR, 0);
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for (int i = 0; i <= 9; i++) {
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data[i] = mp_obj_new_int(accel_read_ack());
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}
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data[10] = mp_obj_new_int(accel_read_nack());
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return rt_build_tuple(11, data);
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}
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MP_DEFINE_CONST_FUN_OBJ_0(pyb_accel_read_all_obj, pyb_accel_read_all);
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mp_obj_t pyb_accel_write_mode(mp_obj_t o_int, mp_obj_t o_mode) {
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accel_start(MMA_ADDR, 1);
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accel_send_byte(6); // start at int
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accel_send_byte(mp_obj_get_int(o_int));
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accel_send_byte(mp_obj_get_int(o_mode));
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accel_stop();
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_write_mode_obj, pyb_accel_write_mode);
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*/
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