stmhal: Add accelerometer driver; fix bug with LFN.

stmhal/Makefile

@@ -84,9 +84,9 @@ SRC_C = \
 	sdcard.c \
 	diskio.c \
 	lcd.c \
+	accel.c \
 
 #	servo.c \
-#	accel.c \
 #	timer.c \
 #	audio.c \
 #	i2c.c \
@@ -104,6 +104,7 @@ SRC_HAL = $(addprefix $(HAL_DIR)/src/,\
 	stm32f4xx_hal_flash.c \
 	stm32f4xx_hal_flash_ex.c \
 	stm32f4xx_hal_gpio.c \
+	stm32f4xx_hal_i2c.c \
 	stm32f4xx_hal_pcd.c \
 	stm32f4xx_hal_rcc.c \
 	stm32f4xx_hal_rcc_ex.c \

stmhal/accel.c

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

stmhal/accel.h

+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);

stmhal/import.c

+#include <stdio.h>
 #include <stdint.h>
 
 #include "misc.h"
 #include "mpconfig.h"
 #include "qstr.h"
 #include "lexer.h"
-#if 0
 #include "ff.h"
-#endif
 
 mp_import_stat_t mp_import_stat(const char *path) {
-#if 0
     FILINFO fno;
+#if _USE_LFN
+    fno.lfname = NULL;
+    fno.lfsize = 0;
+#endif
     FRESULT res = f_stat(path, &fno);
     if (res == FR_OK) {
         if ((fno.fattrib & AM_DIR) != 0) {
@@ -19,6 +21,5 @@ mp_import_stat_t mp_import_stat(const char *path) {
             return MP_IMPORT_STAT_FILE;
         }
     }
-#endif
     return MP_IMPORT_STAT_NO_EXIST;
 }

stmhal/led.c

@@ -73,6 +73,14 @@ void led_toggle(pyb_led_t led) {
     }
 }
 
+void led_debug(int n, int delay) {
+    led_state(1, n & 1);
+    led_state(2, n & 2);
+    led_state(3, n & 4);
+    led_state(4, n & 8);
+    HAL_Delay(delay);
+}
+
 /******************************************************************************/
 /* Micro Python bindings                                                      */
 

stmhal/led.h

@@ -19,5 +19,6 @@ typedef enum {
 void led_init(void);
 void led_state(pyb_led_t led, int state);
 void led_toggle(pyb_led_t led);
+void led_debug(int value, int delay);
 
 MP_DECLARE_CONST_FUN_OBJ(pyb_Led_obj);

stmhal/main.c

@@ -33,9 +33,9 @@
 #include "sdcard.h"
 #include "ff.h"
 #include "lcd.h"
+#include "accel.h"
 #if 0
 #include "servo.h"
-#include "accel.h"
 #include "timer.h"
 #include "pybwlan.h"
 #include "pin.h"
@@ -170,22 +170,6 @@ int main(void) {
     // enable the CCM RAM
     __CCMDATARAMEN_CLK_ENABLE();
 
-    // some test code to flash LEDs
-    led_init();
-
-    led_state(0, 1);
-    led_state(1, 0);
-    led_state(2, 1);
-
-#if 0
-    for (;;) {
-        HAL_Delay(500);
-        led_state(1, 1);
-        HAL_Delay(500);
-        led_state(1, 0);
-    }
-#endif
-
 #if 0
 #if defined(NETDUINO_PLUS_2)
     {
@@ -348,6 +332,11 @@ soft_reset:
     // make sure we have a /boot.py
     {
         FILINFO fno;
+#if _USE_LFN
+        fno.lfname = NULL;
+        fno.lfsize = 0;
+#endif
+        led_debug(0, 500);
         FRESULT res = f_stat("0:/boot.py", &fno);
         if (res == FR_OK) {
             if (fno.fattrib & AM_DIR) {
@@ -382,15 +371,6 @@ soft_reset:
         flash_error(4);
     }
 
-    if (first_soft_reset) {
-#if 0
-#if MICROPY_HW_HAS_MMA7660
-        // MMA accel: init and reset address to zero
-        accel_init();
-#endif
-#endif
-    }
-
     // turn boot-up LED off
     led_state(PYB_LED_GREEN, 0);
 
@@ -419,6 +399,11 @@ soft_reset:
     pyb_usb_dev_init(PYB_USB_DEV_VCP_MSC);
 #endif
 
+#if MICROPY_HW_HAS_MMA7660
+    // MMA accel: init and reset
+    accel_init();
+#endif
+
     // run main script
     {
         vstr_t *vstr = vstr_new();

stmhal/pybmodule.c

@@ -21,10 +21,10 @@
 #include "usart.h"
 #include "storage.h"
 #include "sdcard.h"
+#include "accel.h"
 #if 0
 #include "servo.h"
 #include "usb.h"
-#include "accel.h"
 #include "i2c.h"
 #include "adc.h"
 #include "audio.h"
@@ -256,13 +256,13 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = {
     { MP_OBJ_NEW_QSTR(MP_QSTR_SD), (mp_obj_t)&pyb_sdcard_obj },
 #endif
 
-#if 0
 #if MICROPY_HW_HAS_MMA7660
     { MP_OBJ_NEW_QSTR(MP_QSTR_accel), (mp_obj_t)&pyb_accel_read_obj },
-    { MP_OBJ_NEW_QSTR(MP_QSTR_accel_read), (mp_obj_t)&pyb_accel_read_all_obj },
-    { MP_OBJ_NEW_QSTR(MP_QSTR_accel_mode), (mp_obj_t)&pyb_accel_write_mode_obj },
+    //{ MP_OBJ_NEW_QSTR(MP_QSTR_accel_read), (mp_obj_t)&pyb_accel_read_all_obj },
+    //{ MP_OBJ_NEW_QSTR(MP_QSTR_accel_mode), (mp_obj_t)&pyb_accel_write_mode_obj },
 #endif
 
+#if 0
     { MP_OBJ_NEW_QSTR(MP_QSTR_hid), (mp_obj_t)&pyb_hid_send_report_obj },
 #endif
     { MP_OBJ_NEW_QSTR(MP_QSTR_Led), (mp_obj_t)&pyb_Led_obj },