229 lines
7.5 KiB
C
229 lines
7.5 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2013, 2014 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdio.h>
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#include <string.h>
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#include "py/mphal.h"
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#include "py/runtime.h"
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#include "pin.h"
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#include "i2c.h"
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#include "accel.h"
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#if MICROPY_HW_HAS_MMA7660
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/// \moduleref pyb
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/// \class Accel - accelerometer control
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///
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/// Accel is an object that controls the accelerometer. Example usage:
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///
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/// accel = pyb.Accel()
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/// for i in range(10):
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/// print(accel.x(), accel.y(), accel.z())
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///
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/// Raw values are between -32 and 31.
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#define I2C_TIMEOUT_MS (50)
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#define MMA_ADDR (76)
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#define MMA_REG_X (0)
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#define MMA_REG_Y (1)
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#define MMA_REG_Z (2)
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#define MMA_REG_TILT (3)
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#define MMA_REG_MODE (7)
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#define MMA_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0))
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void accel_init(void) {
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// PB5 is connected to AVDD; pull high to enable MMA accel device
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mp_hal_pin_low(MICROPY_HW_MMA_AVDD_PIN); // turn off AVDD
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mp_hal_pin_output(MICROPY_HW_MMA_AVDD_PIN);
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}
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STATIC void accel_start(void) {
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// start the I2C bus in master mode
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i2c_init(I2C1, MICROPY_HW_I2C1_SCL, MICROPY_HW_I2C1_SDA, 400000, I2C_TIMEOUT_MS);
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// turn off AVDD, wait 30ms, turn on AVDD, wait 30ms again
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mp_hal_pin_low(MICROPY_HW_MMA_AVDD_PIN); // turn off
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mp_hal_delay_ms(30);
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mp_hal_pin_high(MICROPY_HW_MMA_AVDD_PIN); // turn on
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mp_hal_delay_ms(30);
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int ret;
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for (int i = 0; i < 4; i++) {
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ret = i2c_writeto(I2C1, MMA_ADDR, NULL, 0, true);
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if (ret == 0) {
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break;
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}
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}
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if (ret != 0) {
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mp_raise_msg(&mp_type_OSError, "accelerometer not found");
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}
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// set MMA to active mode
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uint8_t data[2] = {MMA_REG_MODE, 1}; // active mode
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i2c_writeto(I2C1, MMA_ADDR, data, 2, true);
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// wait for MMA to become active
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mp_hal_delay_ms(30);
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}
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/******************************************************************************/
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/* MicroPython bindings */
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#define NUM_AXIS (3)
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#define FILT_DEPTH (4)
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typedef struct _pyb_accel_obj_t {
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mp_obj_base_t base;
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int16_t buf[NUM_AXIS * FILT_DEPTH];
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} pyb_accel_obj_t;
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STATIC pyb_accel_obj_t pyb_accel_obj;
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/// \classmethod \constructor()
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/// Create and return an accelerometer object.
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///
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/// Note: if you read accelerometer values immediately after creating this object
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/// you will get 0. It takes around 20ms for the first sample to be ready, so,
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/// unless you have some other code between creating this object and reading its
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/// values, you should put a `pyb.delay(20)` after creating it. For example:
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///
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/// accel = pyb.Accel()
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/// pyb.delay(20)
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/// print(accel.x())
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STATIC mp_obj_t pyb_accel_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
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// check arguments
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mp_arg_check_num(n_args, n_kw, 0, 0, false);
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// init accel object
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pyb_accel_obj.base.type = &pyb_accel_type;
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accel_start();
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return MP_OBJ_FROM_PTR(&pyb_accel_obj);
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}
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STATIC mp_obj_t read_axis(int axis) {
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uint8_t data[1] = { axis };
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i2c_writeto(I2C1, MMA_ADDR, data, 1, false);
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i2c_readfrom(I2C1, MMA_ADDR, data, 1, true);
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return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0]));
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}
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/// \method x()
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/// Get the x-axis value.
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STATIC mp_obj_t pyb_accel_x(mp_obj_t self_in) {
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return read_axis(MMA_REG_X);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_x_obj, pyb_accel_x);
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/// \method y()
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/// Get the y-axis value.
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STATIC mp_obj_t pyb_accel_y(mp_obj_t self_in) {
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return read_axis(MMA_REG_Y);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_y_obj, pyb_accel_y);
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/// \method z()
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/// Get the z-axis value.
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STATIC mp_obj_t pyb_accel_z(mp_obj_t self_in) {
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return read_axis(MMA_REG_Z);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z);
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/// \method tilt()
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/// Get the tilt register.
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STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) {
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uint8_t data[1] = { MMA_REG_TILT };
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i2c_writeto(I2C1, MMA_ADDR, data, 1, false);
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i2c_readfrom(I2C1, MMA_ADDR, data, 1, true);
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return mp_obj_new_int(data[0]);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_tilt_obj, pyb_accel_tilt);
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/// \method filtered_xyz()
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/// Get a 3-tuple of filtered x, y and z values.
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STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t self_in) {
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pyb_accel_obj_t *self = MP_OBJ_TO_PTR(self_in);
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memmove(self->buf, self->buf + NUM_AXIS, NUM_AXIS * (FILT_DEPTH - 1) * sizeof(int16_t));
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uint8_t data[NUM_AXIS] = { MMA_REG_X };
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i2c_writeto(I2C1, MMA_ADDR, data, 1, false);
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i2c_readfrom(I2C1, MMA_ADDR, data, 3, true);
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mp_obj_t tuple[NUM_AXIS];
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for (int i = 0; i < NUM_AXIS; i++) {
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self->buf[NUM_AXIS * (FILT_DEPTH - 1) + i] = MMA_AXIS_SIGNED_VALUE(data[i]);
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int32_t val = 0;
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for (int j = 0; j < FILT_DEPTH; j++) {
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val += self->buf[i + NUM_AXIS * j];
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}
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tuple[i] = mp_obj_new_int(val);
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}
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return mp_obj_new_tuple(3, tuple);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_xyz);
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STATIC mp_obj_t pyb_accel_read(mp_obj_t self_in, mp_obj_t reg) {
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uint8_t data[1] = { mp_obj_get_int(reg) };
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i2c_writeto(I2C1, MMA_ADDR, data, 1, false);
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i2c_writeto(I2C1, MMA_ADDR, data, 1, true);
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return mp_obj_new_int(data[0]);
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}
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MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_read_obj, pyb_accel_read);
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STATIC mp_obj_t pyb_accel_write(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val) {
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uint8_t data[2] = { mp_obj_get_int(reg), mp_obj_get_int(val) };
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i2c_writeto(I2C1, MMA_ADDR, data, 2, true);
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_3(pyb_accel_write_obj, pyb_accel_write);
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STATIC const mp_rom_map_elem_t pyb_accel_locals_dict_table[] = {
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// TODO add init, deinit, and perhaps reset methods
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{ MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&pyb_accel_x_obj) },
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{ MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&pyb_accel_y_obj) },
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{ MP_ROM_QSTR(MP_QSTR_z), MP_ROM_PTR(&pyb_accel_z_obj) },
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{ MP_ROM_QSTR(MP_QSTR_tilt), MP_ROM_PTR(&pyb_accel_tilt_obj) },
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{ MP_ROM_QSTR(MP_QSTR_filtered_xyz), MP_ROM_PTR(&pyb_accel_filtered_xyz_obj) },
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{ MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&pyb_accel_read_obj) },
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{ MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&pyb_accel_write_obj) },
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};
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STATIC MP_DEFINE_CONST_DICT(pyb_accel_locals_dict, pyb_accel_locals_dict_table);
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const mp_obj_type_t pyb_accel_type = {
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{ &mp_type_type },
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.name = MP_QSTR_Accel,
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.make_new = pyb_accel_make_new,
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.locals_dict = (mp_obj_dict_t*)&pyb_accel_locals_dict,
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};
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#endif // MICROPY_HW_HAS_MMA7660
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