Commit 2abbae34 authored by Damien George's avatar Damien George
Browse files

stm: Rename mma -> accel.

parent 754a8dd8
...@@ -55,7 +55,7 @@ SRC_C = \ ...@@ -55,7 +55,7 @@ SRC_C = \
servo.c \ servo.c \
flash.c \ flash.c \
storage.c \ storage.c \
mma.c \ accel.c \
usart.c \ usart.c \
usb.c \ usb.c \
timer.c \ timer.c \
......
...@@ -10,11 +10,11 @@ ...@@ -10,11 +10,11 @@
#include "systick.h" #include "systick.h"
#include "obj.h" #include "obj.h"
#include "runtime.h" #include "runtime.h"
#include "mma.h" #include "accel.h"
#define MMA_ADDR (0x4c) #define ACCEL_ADDR (0x4c)
void mma_init(void) { void accel_init(void) {
RCC->APB1ENR |= RCC_APB1ENR_I2C1EN; // enable I2C1 RCC->APB1ENR |= RCC_APB1ENR_I2C1EN; // enable I2C1
//gpio_pin_init(GPIOB, 6 /* B6 is SCL */, 2 /* AF mode */, 1 /* open drain output */, 1 /* 25 MHz */, 0 /* no pull up or pull down */); //gpio_pin_init(GPIOB, 6 /* B6 is SCL */, 2 /* AF mode */, 1 /* open drain output */, 1 /* 25 MHz */, 0 /* no pull up or pull down */);
...@@ -25,7 +25,7 @@ void mma_init(void) { ...@@ -25,7 +25,7 @@ void mma_init(void) {
GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitTypeDef GPIO_InitStructure;
// PB5 is connected to AVDD; pull high to enable MMA device // PB5 is connected to AVDD; pull high to enable MMA accel device
GPIOB->BSRRH = GPIO_Pin_5; // PB5 low to start with GPIOB->BSRRH = GPIO_Pin_5; // PB5 low to start with
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
...@@ -75,21 +75,21 @@ void mma_init(void) { ...@@ -75,21 +75,21 @@ void mma_init(void) {
// set START bit in CR1 to generate a start cond! // set START bit in CR1 to generate a start cond!
// init the chip via I2C commands // init the chip via I2C commands
mma_start(MMA_ADDR, 1); accel_start(ACCEL_ADDR, 1);
mma_send_byte(0); accel_send_byte(0);
mma_stop(); accel_stop();
/* /*
// read and print all 11 registers // read and print all 11 registers
mma_start(MMA_ADDR, 1); accel_start(ACCEL_ADDR, 1);
mma_send_byte(0); accel_send_byte(0);
mma_restart(MMA_ADDR, 0); accel_restart(ACCEL_ADDR, 0);
for (int i = 0; i <= 0xa; i++) { for (int i = 0; i <= 0xa; i++) {
int data; int data;
if (i == 0xa) { if (i == 0xa) {
data = mma_read_nack(); data = accel_read_nack();
} else { } else {
data = mma_read_ack(); data = accel_read_ack();
} }
printf(" %02x", data); printf(" %02x", data);
} }
...@@ -97,26 +97,26 @@ void mma_init(void) { ...@@ -97,26 +97,26 @@ void mma_init(void) {
*/ */
// put into active mode // put into active mode
mma_start(MMA_ADDR, 1); accel_start(ACCEL_ADDR, 1);
mma_send_byte(7); // mode accel_send_byte(7); // mode
mma_send_byte(1); // active mode accel_send_byte(1); // active mode
mma_stop(); accel_stop();
/* /*
// infinite loop to read values // infinite loop to read values
for (;;) { for (;;) {
sys_tick_delay_ms(500); sys_tick_delay_ms(500);
mma_start(MMA_ADDR, 1); accel_start(ACCEL_ADDR, 1);
mma_send_byte(0); accel_send_byte(0);
mma_restart(MMA_ADDR, 0); accel_restart(ACCEL_ADDR, 0);
for (int i = 0; i <= 3; i++) { for (int i = 0; i <= 3; i++) {
int data; int data;
if (i == 3) { if (i == 3) {
data = mma_read_nack(); data = accel_read_nack();
printf(" %02x\n", data); printf(" %02x\n", data);
} else { } else {
data = mma_read_ack() & 0x3f; data = accel_read_ack() & 0x3f;
if (data & 0x20) { if (data & 0x20) {
data |= ~0x1f; data |= ~0x1f;
} }
...@@ -134,7 +134,7 @@ static uint32_t i2c_get_sr(void) { ...@@ -134,7 +134,7 @@ static uint32_t i2c_get_sr(void) {
return (sr2 << 16) | sr1; return (sr2 << 16) | sr1;
} }
void mma_restart(uint8_t addr, int write) { void accel_restart(uint8_t addr, int write) {
// send start condition // send start condition
I2C1->CR1 |= I2C_CR1_START; I2C1->CR1 |= I2C_CR1_START;
...@@ -142,7 +142,7 @@ void mma_restart(uint8_t addr, int write) { ...@@ -142,7 +142,7 @@ void mma_restart(uint8_t addr, int write) {
uint32_t timeout = 1000000; uint32_t timeout = 1000000;
while ((i2c_get_sr() & 0x00030001) != 0x00030001) { while ((i2c_get_sr() & 0x00030001) != 0x00030001) {
if (--timeout == 0) { if (--timeout == 0) {
printf("timeout in mma_restart\n"); printf("timeout in accel_restart\n");
return; return;
} }
} }
...@@ -154,7 +154,7 @@ void mma_restart(uint8_t addr, int write) { ...@@ -154,7 +154,7 @@ void mma_restart(uint8_t addr, int write) {
timeout = 1000000; timeout = 1000000;
while ((i2c_get_sr() & 0x00070082) != 0x00070082) { while ((i2c_get_sr() & 0x00070082) != 0x00070082) {
if (--timeout == 0) { if (--timeout == 0) {
printf("timeout in mma_restart write\n"); printf("timeout in accel_restart write\n");
return; return;
} }
} }
...@@ -165,48 +165,48 @@ void mma_restart(uint8_t addr, int write) { ...@@ -165,48 +165,48 @@ void mma_restart(uint8_t addr, int write) {
timeout = 1000000; timeout = 1000000;
while ((i2c_get_sr() & 0x00030002) != 0x00030002) { while ((i2c_get_sr() & 0x00030002) != 0x00030002) {
if (--timeout == 0) { if (--timeout == 0) {
printf("timeout in mma_restart read\n"); printf("timeout in accel_restart read\n");
return; return;
} }
} }
} }
} }
void mma_start(uint8_t addr, int write) { void accel_start(uint8_t addr, int write) {
// wait until I2C is not busy // wait until I2C is not busy
uint32_t timeout = 1000000; uint32_t timeout = 1000000;
while (I2C1->SR2 & I2C_SR2_BUSY) { while (I2C1->SR2 & I2C_SR2_BUSY) {
if (--timeout == 0) { if (--timeout == 0) {
printf("timeout in mma_start\n"); printf("timeout in accel_start\n");
return; return;
} }
} }
// do rest of start // do rest of start
mma_restart(addr, write); accel_restart(addr, write);
} }
void mma_send_byte(uint8_t data) { void accel_send_byte(uint8_t data) {
// send byte // send byte
I2C1->DR = data; I2C1->DR = data;
// wait for TRA, BUSY, MSL, TXE and BTF (byte transmitted) // wait for TRA, BUSY, MSL, TXE and BTF (byte transmitted)
uint32_t timeout = 1000000; uint32_t timeout = 1000000;
while ((i2c_get_sr() & 0x00070084) != 0x00070084) { while ((i2c_get_sr() & 0x00070084) != 0x00070084) {
if (--timeout == 0) { if (--timeout == 0) {
printf("timeout in mma_send_byte\n"); printf("timeout in accel_send_byte\n");
return; return;
} }
} }
} }
uint8_t mma_read_ack(void) { uint8_t accel_read_ack(void) {
// enable ACK of received byte // enable ACK of received byte
I2C1->CR1 |= I2C_CR1_ACK; I2C1->CR1 |= I2C_CR1_ACK;
// wait for BUSY, MSL and RXNE (byte received) // wait for BUSY, MSL and RXNE (byte received)
uint32_t timeout = 1000000; uint32_t timeout = 1000000;
while ((i2c_get_sr() & 0x00030040) != 0x00030040) { while ((i2c_get_sr() & 0x00030040) != 0x00030040) {
if (--timeout == 0) { if (--timeout == 0) {
printf("timeout in mma_read_ack\n"); printf("timeout in accel_read_ack\n");
break; break;
} }
} }
...@@ -215,7 +215,7 @@ uint8_t mma_read_ack(void) { ...@@ -215,7 +215,7 @@ uint8_t mma_read_ack(void) {
return data; return data;
} }
uint8_t mma_read_nack(void) { uint8_t accel_read_nack(void) {
// disable ACK of received byte (to indicate end of receiving) // disable ACK of received byte (to indicate end of receiving)
I2C1->CR1 &= (uint16_t)~((uint16_t)I2C_CR1_ACK); I2C1->CR1 &= (uint16_t)~((uint16_t)I2C_CR1_ACK);
// last byte should apparently also generate a stop condition // last byte should apparently also generate a stop condition
...@@ -224,7 +224,7 @@ uint8_t mma_read_nack(void) { ...@@ -224,7 +224,7 @@ uint8_t mma_read_nack(void) {
uint32_t timeout = 1000000; uint32_t timeout = 1000000;
while ((i2c_get_sr() & 0x00030040) != 0x00030040) { while ((i2c_get_sr() & 0x00030040) != 0x00030040) {
if (--timeout == 0) { if (--timeout == 0) {
printf("timeout in mma_read_nack\n"); printf("timeout in accel_read_nack\n");
break; break;
} }
} }
...@@ -233,7 +233,7 @@ uint8_t mma_read_nack(void) { ...@@ -233,7 +233,7 @@ uint8_t mma_read_nack(void) {
return data; return data;
} }
void mma_stop(void) { void accel_stop(void) {
// send stop condition // send stop condition
I2C1->CR1 |= I2C_CR1_STOP; I2C1->CR1 |= I2C_CR1_STOP;
} }
...@@ -241,60 +241,60 @@ void mma_stop(void) { ...@@ -241,60 +241,60 @@ void mma_stop(void) {
/******************************************************************************/ /******************************************************************************/
/* Micro Python bindings */ /* Micro Python bindings */
int mma_buf[12]; int accel_buf[12];
mp_obj_t pyb_mma_read(void) { mp_obj_t pyb_accel_read(void) {
for (int i = 0; i <= 6; i += 3) { for (int i = 0; i <= 6; i += 3) {
mma_buf[0 + i] = mma_buf[0 + i + 3]; accel_buf[0 + i] = accel_buf[0 + i + 3];
mma_buf[1 + i] = mma_buf[1 + i + 3]; accel_buf[1 + i] = accel_buf[1 + i + 3];
mma_buf[2 + i] = mma_buf[2 + i + 3]; accel_buf[2 + i] = accel_buf[2 + i + 3];
} }
mma_start(MMA_ADDR, 1); accel_start(ACCEL_ADDR, 1);
mma_send_byte(0); accel_send_byte(0);
mma_restart(MMA_ADDR, 0); accel_restart(ACCEL_ADDR, 0);
for (int i = 0; i <= 2; i++) { for (int i = 0; i <= 2; i++) {
int v = mma_read_ack() & 0x3f; int v = accel_read_ack() & 0x3f;
if (v & 0x20) { if (v & 0x20) {
v |= ~0x1f; v |= ~0x1f;
} }
mma_buf[9 + i] = v; accel_buf[9 + i] = v;
} }
int jolt_info = mma_read_nack(); int jolt_info = accel_read_nack();
mp_obj_t data[4]; mp_obj_t data[4];
data[0] = mp_obj_new_int(mma_buf[0] + mma_buf[3] + mma_buf[6] + mma_buf[9]); data[0] = mp_obj_new_int(accel_buf[0] + accel_buf[3] + accel_buf[6] + accel_buf[9]);
data[1] = mp_obj_new_int(mma_buf[1] + mma_buf[4] + mma_buf[7] + mma_buf[10]); data[1] = mp_obj_new_int(accel_buf[1] + accel_buf[4] + accel_buf[7] + accel_buf[10]);
data[2] = mp_obj_new_int(mma_buf[2] + mma_buf[5] + mma_buf[8] + mma_buf[11]); 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); data[3] = mp_obj_new_int(jolt_info);
return rt_build_tuple(4, data); return rt_build_tuple(4, data);
} }
MP_DEFINE_CONST_FUN_OBJ_0(pyb_mma_read_obj, pyb_mma_read); MP_DEFINE_CONST_FUN_OBJ_0(pyb_accel_read_obj, pyb_accel_read);
mp_obj_t pyb_mma_read_all(void) { mp_obj_t pyb_accel_read_all(void) {
mp_obj_t data[11]; mp_obj_t data[11];
mma_start(MMA_ADDR, 1); accel_start(ACCEL_ADDR, 1);
mma_send_byte(0); accel_send_byte(0);
mma_restart(MMA_ADDR, 0); accel_restart(ACCEL_ADDR, 0);
for (int i = 0; i <= 9; i++) { for (int i = 0; i <= 9; i++) {
data[i] = mp_obj_new_int(mma_read_ack()); data[i] = mp_obj_new_int(accel_read_ack());
} }
data[10] = mp_obj_new_int(mma_read_nack()); data[10] = mp_obj_new_int(accel_read_nack());
return rt_build_tuple(11, data); return rt_build_tuple(11, data);
} }
MP_DEFINE_CONST_FUN_OBJ_0(pyb_mma_read_all_obj, pyb_mma_read_all); MP_DEFINE_CONST_FUN_OBJ_0(pyb_accel_read_all_obj, pyb_accel_read_all);
mp_obj_t pyb_mma_write_mode(mp_obj_t o_int, mp_obj_t o_mode) { mp_obj_t pyb_accel_write_mode(mp_obj_t o_int, mp_obj_t o_mode) {
mma_start(MMA_ADDR, 1); accel_start(ACCEL_ADDR, 1);
mma_send_byte(6); // start at int accel_send_byte(6); // start at int
mma_send_byte(mp_obj_get_int(o_int)); accel_send_byte(mp_obj_get_int(o_int));
mma_send_byte(mp_obj_get_int(o_mode)); accel_send_byte(mp_obj_get_int(o_mode));
mma_stop(); accel_stop();
return mp_const_none; return mp_const_none;
} }
MP_DEFINE_CONST_FUN_OBJ_2(pyb_mma_write_mode_obj, pyb_mma_write_mode); MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_write_mode_obj, pyb_accel_write_mode);
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);
...@@ -38,7 +38,7 @@ ...@@ -38,7 +38,7 @@
#include "lcd.h" #include "lcd.h"
#include "storage.h" #include "storage.h"
#include "sdcard.h" #include "sdcard.h"
#include "mma.h" #include "accel.h"
#include "usart.h" #include "usart.h"
#include "usb.h" #include "usb.h"
#include "timer.h" #include "timer.h"
...@@ -463,9 +463,9 @@ soft_reset: ...@@ -463,9 +463,9 @@ soft_reset:
#endif #endif
rt_store_attr(m, MP_QSTR_pwm, rt_make_function_n(2, pyb_pwm_set)); rt_store_attr(m, MP_QSTR_pwm, rt_make_function_n(2, pyb_pwm_set));
#if MICROPY_HW_HAS_MMA7660 #if MICROPY_HW_HAS_MMA7660
rt_store_attr(m, MP_QSTR_accel, (mp_obj_t)&pyb_mma_read_obj); rt_store_attr(m, MP_QSTR_accel, (mp_obj_t)&pyb_accel_read_obj);
rt_store_attr(m, MP_QSTR_mma_read, (mp_obj_t)&pyb_mma_read_all_obj); rt_store_attr(m, MP_QSTR_accel_read, (mp_obj_t)&pyb_accel_read_all_obj);
rt_store_attr(m, MP_QSTR_mma_mode, (mp_obj_t)&pyb_mma_write_mode_obj); rt_store_attr(m, MP_QSTR_accel_mode, (mp_obj_t)&pyb_accel_write_mode_obj);
#endif #endif
rt_store_attr(m, MP_QSTR_hid, rt_make_function_n(1, pyb_hid_send_report)); rt_store_attr(m, MP_QSTR_hid, rt_make_function_n(1, pyb_hid_send_report));
#if MICROPY_HW_ENABLE_RTC #if MICROPY_HW_ENABLE_RTC
...@@ -583,8 +583,8 @@ soft_reset: ...@@ -583,8 +583,8 @@ soft_reset:
if (first_soft_reset) { if (first_soft_reset) {
#if MICROPY_HW_HAS_MMA7660 #if MICROPY_HW_HAS_MMA7660
// MMA: init and reset address to zero // MMA accel: init and reset address to zero
mma_init(); accel_init();
#endif #endif
} }
...@@ -654,17 +654,17 @@ soft_reset: ...@@ -654,17 +654,17 @@ soft_reset:
#else #else
data[0] = 0x00; data[0] = 0x00;
#endif #endif
mma_start(0x4c /* MMA_ADDR */, 1); accel_start(0x4c /* ACCEL_ADDR */, 1);
mma_send_byte(0); accel_send_byte(0);
mma_restart(0x4c /* MMA_ADDR */, 0); accel_restart(0x4c /* ACCEL_ADDR */, 0);
for (int i = 0; i <= 1; i++) { for (int i = 0; i <= 1; i++) {
int v = mma_read_ack() & 0x3f; int v = accel_read_ack() & 0x3f;
if (v & 0x20) { if (v & 0x20) {
v |= ~0x1f; v |= ~0x1f;
} }
data[1 + i] = v; data[1 + i] = v;
} }
mma_read_nack(); accel_read_nack();
usb_hid_send_report(data); usb_hid_send_report(data);
sys_tick_delay_ms(15); sys_tick_delay_ms(15);
} }
......
void mma_init(void);
void mma_restart(uint8_t addr, int write);
void mma_start(uint8_t addr, int write);
void mma_send_byte(uint8_t data);
uint8_t mma_read_ack(void);
uint8_t mma_read_nack(void);
void mma_stop(void);
MP_DECLARE_CONST_FUN_OBJ(pyb_mma_read_obj);
MP_DECLARE_CONST_FUN_OBJ(pyb_mma_read_all_obj);
MP_DECLARE_CONST_FUN_OBJ(pyb_mma_write_mode_obj);
...@@ -15,8 +15,8 @@ Q(switch) ...@@ -15,8 +15,8 @@ Q(switch)
Q(servo) Q(servo)
Q(pwm) Q(pwm)
Q(accel) Q(accel)
Q(mma_read) Q(accel_read)
Q(mma_mode) Q(accel_mode)
Q(hid) Q(hid)
Q(time) Q(time)
Q(rand) Q(rand)
......
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