accel.c 6.38 KB
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#include <stdio.h>
#include <string.h>

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#include "stm32f4xx_hal.h"
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#include "mpconfig.h"
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#include "nlr.h"
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#include "misc.h"
#include "qstr.h"
#include "obj.h"
#include "runtime.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
/// \class Accel - accelerometer control
///
/// Accel is an object that controls the accelerometer.
///
/// Raw values are between -30 and 30.

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#define MMA_ADDR (0x98)
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#define MMA_REG_X (0)
#define MMA_REG_Y (1)
#define MMA_REG_Z (2)
#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) {
    GPIO_InitTypeDef GPIO_InitStructure;

    // PB5 is connected to AVDD; pull high to enable MMA accel device
    GPIOB->BSRRH = GPIO_PIN_5; // turn off AVDD
    GPIO_InitStructure.Pin = GPIO_PIN_5;
    GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStructure.Speed = GPIO_SPEED_LOW;
    GPIO_InitStructure.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
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}

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STATIC void accel_start(void) {
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    // start the I2C bus in master mode
    I2CHandle1.Init.AddressingMode  = I2C_ADDRESSINGMODE_7BIT;
    I2CHandle1.Init.ClockSpeed      = 400000;
    I2CHandle1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
    I2CHandle1.Init.DutyCycle       = I2C_DUTYCYCLE_16_9;
    I2CHandle1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
    I2CHandle1.Init.NoStretchMode   = I2C_NOSTRETCH_DISABLED;
    I2CHandle1.Init.OwnAddress1     = PYB_I2C_MASTER_ADDRESS;
    I2CHandle1.Init.OwnAddress2     = 0xfe; // unused
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    i2c_init(&I2CHandle1);
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    // 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);
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    HAL_StatusTypeDef status;

    //printf("IsDeviceReady\n");
    for (int i = 0; i < 10; i++) {
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        status = HAL_I2C_IsDeviceReady(&I2CHandle1, MMA_ADDR, 10, 200);
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        //printf("  got %d\n", status);
        if (status == HAL_OK) {
            break;
        }
    }

    //printf("MemWrite\n");
    uint8_t data[1];
    data[0] = 1; // active mode
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    status = HAL_I2C_Mem_Write(&I2CHandle1, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
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    //printf("  got %d\n", status);
}

/******************************************************************************/
/* Micro Python bindings                                                      */

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#define NUM_AXIS (3)
#define FILT_DEPTH (4)
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typedef struct _pyb_accel_obj_t {
    mp_obj_base_t base;
    int16_t buf[NUM_AXIS * FILT_DEPTH];
} pyb_accel_obj_t;
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STATIC pyb_accel_obj_t pyb_accel_obj;

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/// \classmethod \constructor()
/// Create and return an accelerometer object.
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STATIC mp_obj_t pyb_accel_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
    // check arguments
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    mp_arg_check_num(n_args, n_kw, 0, 0, false);
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    // init accel object
    pyb_accel_obj.base.type = &pyb_accel_type;
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    accel_start();
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    return &pyb_accel_obj;
}

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STATIC mp_obj_t read_axis(int axis) {
    uint8_t data[1];
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    HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
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    return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0]));
}

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/// \method x()
/// Get the x-axis value.
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STATIC mp_obj_t pyb_accel_x(mp_obj_t self_in) {
    return read_axis(MMA_REG_X);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_x_obj, pyb_accel_x);

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/// \method y()
/// Get the y-axis value.
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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);
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/// \method z()
/// Get the z-axis value.
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STATIC mp_obj_t pyb_accel_z(mp_obj_t self_in) {
    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()
/// Get the tilt register.
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STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) {
    uint8_t data[1];
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    HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
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    return mp_obj_new_int(data[0]);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_tilt_obj, pyb_accel_tilt);

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/// \method filtered_xyz()
/// 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) {
    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];
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    HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200);
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    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);
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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];
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    HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
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    return mp_obj_new_int(data[0]);
}
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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[1];
    data[0] = mp_obj_get_int(val);
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    HAL_I2C_Mem_Write(&I2CHandle1, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
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    return mp_const_none;
}
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MP_DEFINE_CONST_FUN_OBJ_3(pyb_accel_write_obj, pyb_accel_write);
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STATIC const mp_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_OBJ_NEW_QSTR(MP_QSTR_x), (mp_obj_t)&pyb_accel_x_obj },
    { MP_OBJ_NEW_QSTR(MP_QSTR_y), (mp_obj_t)&pyb_accel_y_obj },
    { MP_OBJ_NEW_QSTR(MP_QSTR_z), (mp_obj_t)&pyb_accel_z_obj },
    { MP_OBJ_NEW_QSTR(MP_QSTR_tilt), (mp_obj_t)&pyb_accel_tilt_obj },
    { MP_OBJ_NEW_QSTR(MP_QSTR_filtered_xyz), (mp_obj_t)&pyb_accel_filtered_xyz_obj },
    { MP_OBJ_NEW_QSTR(MP_QSTR_read), (mp_obj_t)&pyb_accel_read_obj },
    { MP_OBJ_NEW_QSTR(MP_QSTR_write), (mp_obj_t)&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 },
    .name = MP_QSTR_Accel,
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    .make_new = pyb_accel_make_new,
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    .locals_dict = (mp_obj_t)&pyb_accel_locals_dict,
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};
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#endif // MICROPY_HW_HAS_MMA7660