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04e7eb20fd
Make it possible to not compile in support for I2C on chips with small flash sizes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
262 lines
6.9 KiB
C
262 lines
6.9 KiB
C
// Support for gathering acceleration data from LIS2DW chip
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//
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// Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
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// Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <string.h> // memcpy
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#include "autoconf.h" // CONFIG_WANT_SPI
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#include "board/gpio.h" // irq_disable
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#include "board/irq.h" // irq_disable
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#include "board/misc.h" // timer_read_time
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#include "basecmd.h" // oid_alloc
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#include "command.h" // DECL_COMMAND
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#include "sched.h" // DECL_TASK
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#include "sensor_bulk.h" // sensor_bulk_report
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#include "spicmds.h" // spidev_transfer
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#include "i2ccmds.h" // i2cdev_s
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#define LIS_AR_DATAX0 0x28
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#define LIS_AM_READ 0x80
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#define LIS_MS_SPI 0x40
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#define LIS_MS_I2C 0x80
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#define LIS_FIFO_SAMPLES 0x2F
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#define BYTES_PER_SAMPLE 6
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struct lis2dw {
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struct timer timer;
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uint32_t rest_ticks;
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union {
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struct spidev_s *spi;
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struct i2cdev_s *i2c;
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};
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uint8_t bus_type;
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uint8_t flags;
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uint8_t model;
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struct sensor_bulk sb;
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};
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enum {
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LIS_PENDING = 1<<0,
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};
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enum {
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SPI_SERIAL, I2C_SERIAL,
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};
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DECL_ENUMERATION("bus_oid_type", "spi", SPI_SERIAL);
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DECL_ENUMERATION("bus_oid_type", "i2c", I2C_SERIAL);
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enum {
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LIS2DW, LIS3DH,
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};
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DECL_ENUMERATION("lis_chip_type", "LIS2DW", LIS2DW);
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DECL_ENUMERATION("lis_chip_type", "LIS3DH", LIS3DH);
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static struct task_wake lis2dw_wake;
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// Event handler that wakes lis2dw_task() periodically
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static uint_fast8_t
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lis2dw_event(struct timer *timer)
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{
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struct lis2dw *ax = container_of(timer, struct lis2dw, timer);
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ax->flags |= LIS_PENDING;
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sched_wake_task(&lis2dw_wake);
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return SF_DONE;
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}
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void
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command_config_lis2dw(uint32_t *args)
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{
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struct lis2dw *ax = oid_alloc(args[0], command_config_lis2dw
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, sizeof(*ax));
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ax->timer.func = lis2dw_event;
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switch (args[2]) {
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case SPI_SERIAL:
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if (CONFIG_WANT_SPI) {
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ax->spi = spidev_oid_lookup(args[1]);
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ax->bus_type = SPI_SERIAL;
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break;
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} else {
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shutdown("bus_type spi unsupported");
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}
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case I2C_SERIAL:
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if (CONFIG_WANT_I2C) {
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ax->i2c = i2cdev_oid_lookup(args[1]);
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ax->bus_type = I2C_SERIAL;
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break;
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} else {
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shutdown("bus_type i2c unsupported");
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}
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default:
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shutdown("bus_type invalid");
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}
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switch (args[3]) {
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case LIS2DW:
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case LIS3DH:
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ax->model = args[3];
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break;
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default:
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shutdown("model type invalid");
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}
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}
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DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c"
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" bus_oid=%c bus_oid_type=%c lis_chip_type=%c");
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// Helper code to reschedule the lis2dw_event() timer
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static void
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lis2dw_reschedule_timer(struct lis2dw *ax)
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{
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irq_disable();
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ax->timer.waketime = timer_read_time() + ax->rest_ticks;
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sched_add_timer(&ax->timer);
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irq_enable();
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}
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// Query accelerometer data
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static void
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lis2dw_query(struct lis2dw *ax, uint8_t oid)
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{
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uint8_t fifo_empty = 0;
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uint8_t fifo_ovrn = 0;
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uint8_t *d = &ax->sb.data[ax->sb.data_count];
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if (CONFIG_WANT_SPI && ax->bus_type == SPI_SERIAL) {
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uint8_t msg[7] = {0};
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uint8_t fifo[2] = {LIS_FIFO_SAMPLES | LIS_AM_READ , 0};
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msg[0] = LIS_AR_DATAX0 | LIS_AM_READ;
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if (ax->model == LIS3DH)
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msg[0] |= LIS_MS_SPI;
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spidev_transfer(ax->spi, 1, sizeof(msg), msg);
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spidev_transfer(ax->spi, 1, sizeof(fifo), fifo);
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if (ax->model == LIS3DH)
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fifo_empty = fifo[1] & 0x20;
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else
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fifo_empty = fifo[1] & 0x3F;
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fifo_ovrn = fifo[1] & 0x40;
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for (uint32_t i = 0; i < BYTES_PER_SAMPLE; i++)
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d[i] = msg[i + 1];
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} else if (CONFIG_WANT_I2C && ax->bus_type == I2C_SERIAL) {
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uint8_t msg_reg[] = {LIS_AR_DATAX0};
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if (ax->model == LIS3DH)
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msg_reg[0] |= LIS_MS_I2C;
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uint8_t msg[6];
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uint8_t fifo_reg[1] = {LIS_FIFO_SAMPLES};
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uint8_t fifo[1];
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int ret;
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ret = i2c_dev_read(ax->i2c, sizeof(msg_reg), msg_reg
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, sizeof(msg), msg);
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i2c_shutdown_on_err(ret);
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ret = i2c_dev_read(ax->i2c, sizeof(fifo_reg), fifo_reg
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, sizeof(fifo), fifo);
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i2c_shutdown_on_err(ret);
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if (ax->model == LIS3DH)
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fifo_empty = fifo[0] & 0x20;
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else
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fifo_empty = fifo[0] & 0x3F;
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fifo_ovrn = fifo[0] & 0x40;
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for (uint32_t i = 0; i < BYTES_PER_SAMPLE; i++)
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d[i] = msg[i];
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}
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ax->sb.data_count += BYTES_PER_SAMPLE;
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if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data))
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sensor_bulk_report(&ax->sb, oid);
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// Check fifo status
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if (fifo_ovrn)
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ax->sb.possible_overflows++;
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// check if we need to run the task again (more packets in fifo?)
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if (!fifo_empty) {
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// More data in fifo - wake this task again
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sched_wake_task(&lis2dw_wake);
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} else {
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// Sleep until next check time
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ax->flags &= ~LIS_PENDING;
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lis2dw_reschedule_timer(ax);
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}
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}
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void
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command_query_lis2dw(uint32_t *args)
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{
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struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
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sched_del_timer(&ax->timer);
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ax->flags = 0;
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if (!args[1])
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// End measurements
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return;
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// Start new measurements query
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ax->rest_ticks = args[1];
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sensor_bulk_reset(&ax->sb);
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lis2dw_reschedule_timer(ax);
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}
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DECL_COMMAND(command_query_lis2dw, "query_lis2dw oid=%c rest_ticks=%u");
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void
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command_query_lis2dw_status(uint32_t *args)
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{
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struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
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uint32_t time1 = 0;
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uint32_t time2 = 0;
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uint8_t status = 0;
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if (CONFIG_WANT_SPI && ax->bus_type == SPI_SERIAL) {
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uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 };
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time1 = timer_read_time();
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spidev_transfer(ax->spi, 1, sizeof(msg), msg);
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time2 = timer_read_time();
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status = msg[1];
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} else if (CONFIG_WANT_I2C && ax->bus_type == I2C_SERIAL) {
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uint8_t fifo_reg[1] = {LIS_FIFO_SAMPLES};
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uint8_t fifo[1];
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time1 = timer_read_time();
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int ret = i2c_dev_read(ax->i2c, sizeof(fifo_reg), fifo_reg
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, sizeof(fifo), fifo);
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time2 = timer_read_time();
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i2c_shutdown_on_err(ret);
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status = fifo[0];
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}
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sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
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, (status & 0x1f) * BYTES_PER_SAMPLE);
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}
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DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");
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void
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lis2dw_task(void)
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{
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if (!sched_check_wake(&lis2dw_wake))
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return;
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uint8_t oid;
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struct lis2dw *ax;
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foreach_oid(oid, ax, command_config_lis2dw) {
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uint_fast8_t flags = ax->flags;
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if (flags & LIS_PENDING)
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lis2dw_query(ax, oid);
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}
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}
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DECL_TASK(lis2dw_task);
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