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-rw-r--r--stmhal/accel.c234
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diff --git a/stmhal/accel.c b/stmhal/accel.c
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-/*
- * This file is part of the MicroPython project, http://micropython.org/
- *
- * The MIT License (MIT)
- *
- * Copyright (c) 2013, 2014 Damien P. George
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <stdio.h>
-#include <string.h>
-
-#include "py/mphal.h"
-#include "py/nlr.h"
-#include "py/runtime.h"
-#include "pin.h"
-#include "genhdr/pins.h"
-#include "i2c.h"
-#include "accel.h"
-
-#if MICROPY_HW_HAS_MMA7660
-
-/// \moduleref pyb
-/// \class Accel - accelerometer control
-///
-/// Accel is an object that controls the accelerometer. Example usage:
-///
-/// accel = pyb.Accel()
-/// for i in range(10):
-/// print(accel.x(), accel.y(), accel.z())
-///
-/// Raw values are between -32 and 31.
-
-#define MMA_ADDR (0x98)
-#define MMA_REG_X (0)
-#define MMA_REG_Y (1)
-#define MMA_REG_Z (2)
-#define MMA_REG_TILT (3)
-#define MMA_REG_MODE (7)
-#define MMA_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0))
-
-void accel_init(void) {
- // PB5 is connected to AVDD; pull high to enable MMA accel device
- mp_hal_pin_low(&MICROPY_HW_MMA_AVDD_PIN); // turn off AVDD
- mp_hal_pin_output(&MICROPY_HW_MMA_AVDD_PIN);
-}
-
-STATIC void accel_start(void) {
- // 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_DISABLE;
- I2CHandle1.Init.OwnAddress1 = PYB_I2C_MASTER_ADDRESS;
- I2CHandle1.Init.OwnAddress2 = 0xfe; // unused
- i2c_init(&I2CHandle1);
-
- // turn off AVDD, wait 30ms, turn on AVDD, wait 30ms again
- mp_hal_pin_low(&MICROPY_HW_MMA_AVDD_PIN); // turn off
- mp_hal_delay_ms(30);
- mp_hal_pin_high(&MICROPY_HW_MMA_AVDD_PIN); // turn on
- mp_hal_delay_ms(30);
-
- HAL_StatusTypeDef status;
-
- for (int i = 0; i < 10; i++) {
- status = HAL_I2C_IsDeviceReady(&I2CHandle1, MMA_ADDR, 10, 200);
- if (status == HAL_OK) {
- break;
- }
- }
-
- if (status != HAL_OK) {
- mp_raise_msg(&mp_type_OSError, "accelerometer not found");
- }
-
- // set MMA to active mode
- uint8_t data[1] = {1}; // active mode
- status = HAL_I2C_Mem_Write(&I2CHandle1, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
-
- // wait for MMA to become active
- mp_hal_delay_ms(30);
-}
-
-/******************************************************************************/
-/* MicroPython bindings */
-
-#define NUM_AXIS (3)
-#define FILT_DEPTH (4)
-
-typedef struct _pyb_accel_obj_t {
- mp_obj_base_t base;
- int16_t buf[NUM_AXIS * FILT_DEPTH];
-} pyb_accel_obj_t;
-
-STATIC pyb_accel_obj_t pyb_accel_obj;
-
-/// \classmethod \constructor()
-/// Create and return an accelerometer object.
-///
-/// Note: if you read accelerometer values immediately after creating this object
-/// you will get 0. It takes around 20ms for the first sample to be ready, so,
-/// unless you have some other code between creating this object and reading its
-/// values, you should put a `pyb.delay(20)` after creating it. For example:
-///
-/// accel = pyb.Accel()
-/// pyb.delay(20)
-/// print(accel.x())
-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) {
- // check arguments
- mp_arg_check_num(n_args, n_kw, 0, 0, false);
-
- // init accel object
- pyb_accel_obj.base.type = &pyb_accel_type;
- accel_start();
-
- return &pyb_accel_obj;
-}
-
-STATIC mp_obj_t read_axis(int axis) {
- uint8_t data[1];
- HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
- return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0]));
-}
-
-/// \method x()
-/// Get the x-axis value.
-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);
-
-/// \method y()
-/// Get the y-axis value.
-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);
-
-/// \method z()
-/// Get the z-axis value.
-STATIC mp_obj_t pyb_accel_z(mp_obj_t self_in) {
- return read_axis(MMA_REG_Z);
-}
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z);
-
-/// \method tilt()
-/// Get the tilt register.
-STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) {
- uint8_t data[1];
- HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
- return mp_obj_new_int(data[0]);
-}
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_tilt_obj, pyb_accel_tilt);
-
-/// \method filtered_xyz()
-/// Get a 3-tuple of filtered x, y and z values.
-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];
- HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200);
-
- 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);
- }
-
- return mp_obj_new_tuple(3, tuple);
-}
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_xyz);
-
-STATIC mp_obj_t pyb_accel_read(mp_obj_t self_in, mp_obj_t reg) {
- uint8_t data[1];
- HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
- return mp_obj_new_int(data[0]);
-}
-MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_read_obj, pyb_accel_read);
-
-STATIC mp_obj_t pyb_accel_write(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val) {
- uint8_t data[1];
- data[0] = mp_obj_get_int(val);
- HAL_I2C_Mem_Write(&I2CHandle1, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
- return mp_const_none;
-}
-MP_DEFINE_CONST_FUN_OBJ_3(pyb_accel_write_obj, pyb_accel_write);
-
-STATIC const mp_rom_map_elem_t pyb_accel_locals_dict_table[] = {
- // TODO add init, deinit, and perhaps reset methods
- { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&pyb_accel_x_obj) },
- { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&pyb_accel_y_obj) },
- { MP_ROM_QSTR(MP_QSTR_z), MP_ROM_PTR(&pyb_accel_z_obj) },
- { MP_ROM_QSTR(MP_QSTR_tilt), MP_ROM_PTR(&pyb_accel_tilt_obj) },
- { MP_ROM_QSTR(MP_QSTR_filtered_xyz), MP_ROM_PTR(&pyb_accel_filtered_xyz_obj) },
- { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&pyb_accel_read_obj) },
- { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&pyb_accel_write_obj) },
-};
-
-STATIC MP_DEFINE_CONST_DICT(pyb_accel_locals_dict, pyb_accel_locals_dict_table);
-
-const mp_obj_type_t pyb_accel_type = {
- { &mp_type_type },
- .name = MP_QSTR_Accel,
- .make_new = pyb_accel_make_new,
- .locals_dict = (mp_obj_dict_t*)&pyb_accel_locals_dict,
-};
-
-#endif // MICROPY_HW_HAS_MMA7660
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