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Posted to commits@mynewt.apache.org by GitBox <gi...@apache.org> on 2018/03/22 14:46:12 UTC
[GitHub] joshgrob commented on a change in pull request #699: Sensors/BMA2XX - New PR based on PR #697 changes
joshgrob commented on a change in pull request #699: Sensors/BMA2XX - New PR based on PR #697 changes
URL: https://github.com/apache/mynewt-core/pull/699#discussion_r176446725
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File path: hw/drivers/sensors/bma2xx/src/bma2xx.c
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@@ -0,0 +1,4940 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * resarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#include <assert.h>
+#include <math.h>
+#include <string.h>
+#include <errno.h>
+
+
+#include "bma2xx/bma2xx.h"
+#include "bma2xx_priv.h"
+#include "defs/error.h"
+#include "hal/hal_gpio.h"
+#include "hal/hal_i2c.h"
+#include "hal/hal_spi.h"
+
+#if MYNEWT_VAL(BMA2XX_LOG)
+#include "log/log.h"
+#endif
+
+#if MYNEWT_VAL(BMA2XX_LOG)
+static struct log bma2xx_log;
+#define LOG_MODULE_BMA2XX (200)
+#define BMA2XX_ERROR(...) LOG_ERROR(&bma2xx_log, LOG_MODULE_BMA2XX, __VA_ARGS__)
+#define BMA2XX_INFO(...) LOG_INFO(&bma2xx_log, LOG_MODULE_BMA2XX, __VA_ARGS__)
+#else
+#define BMA2XX_ERROR(...)
+#define BMA2XX_INFO(...)
+#endif
+
+#define BMA2XX_NOTIFY_MASK 0x01
+#define BMA2XX_READ_MASK 0x02
+
+#if MYNEWT_VAL(SPI_0_MASTER) || MYNEWT_VAL(SPI_1_MASTER)
+static struct hal_spi_settings spi_bma2xx_settings = {
+ .data_order = HAL_SPI_MSB_FIRST,
+ .data_mode = HAL_SPI_MODE0,
+ .baudrate = 4000,
+ .word_size = HAL_SPI_WORD_SIZE_8BIT,
+};
+#endif
+
+static void
+delay_msec(uint32_t delay)
+{
+ delay = (delay * OS_TICKS_PER_SEC) / 1000 + 1;
+ os_time_delay(delay);
+}
+
+#if MYNEWT_VAL(BMA2XX_INT_ENABLE)
+static void
+init_interrupt(struct bma2xx_int * interrupt, struct sensor_int *ints)
+{
+ os_error_t error;
+
+ error = os_sem_init(&interrupt->wait, 0);
+ assert(error == OS_OK);
+
+ interrupt->active = false;
+ interrupt->asleep = false;
+ interrupt->ints = ints;
+}
+
+static void
+undo_interrupt(struct bma2xx_int * interrupt)
+{
+ OS_ENTER_CRITICAL(interrupt->lock);
+ interrupt->active = false;
+ interrupt->asleep = false;
+ OS_EXIT_CRITICAL(interrupt->lock);
+}
+
+static void
+wait_interrupt(struct bma2xx_int * interrupt, enum bma2xx_int_num int_num)
+{
+ bool wait;
+
+ OS_ENTER_CRITICAL(interrupt->lock);
+
+ /* Check if we did not missed interrupt */
+ if (hal_gpio_read(interrupt->ints[int_num].host_pin) ==
+ interrupt->ints[int_num].active) {
+ OS_EXIT_CRITICAL(interrupt->lock);
+ return;
+ }
+
+ if (interrupt->active) {
+ interrupt->active = false;
+ wait = false;
+ } else {
+ interrupt->asleep = true;
+ wait = true;
+ }
+ OS_EXIT_CRITICAL(interrupt->lock);
+
+ if (wait) {
+ os_error_t error;
+
+ error = os_sem_pend(&interrupt->wait, -1);
+ assert(error == OS_OK);
+ }
+}
+
+static void
+wake_interrupt(struct bma2xx_int * interrupt)
+{
+ bool wake;
+
+ OS_ENTER_CRITICAL(interrupt->lock);
+ if (interrupt->asleep) {
+ interrupt->asleep = false;
+ wake = true;
+ } else {
+ interrupt->active = true;
+ wake = false;
+ }
+ OS_EXIT_CRITICAL(interrupt->lock);
+
+ if (wake) {
+ os_error_t error;
+
+ error = os_sem_release(&interrupt->wait);
+ assert(error == OS_OK);
+ }
+}
+
+static void
+interrupt_handler(void * arg)
+{
+ struct sensor *sensor = arg;
+ struct bma2xx *bma2xx;
+
+ bma2xx = (struct bma2xx *)SENSOR_GET_DEVICE(sensor);
+
+ if (bma2xx->pdd.interrupt) {
+ wake_interrupt(bma2xx->pdd.interrupt);
+ }
+
+ sensor_mgr_put_interrupt_evt(sensor);
+}
+#endif
+
+/**
+ * Read multiple length data over SPI
+ *
+ * @param register address
+ * @param variable length payload
+ * @param length of the payload to read
+ *
+ * @return 0 on success, non-zero on failure
+ */
+int
+spi_readlen(const struct sensor_itf * itf, uint8_t addr, uint8_t *payload,
+ uint8_t len)
+{
+ int i;
+ uint16_t retval;
+ int rc;
+
+ rc = 0;
+
+ /* Select the device */
+ hal_gpio_write(itf->si_cs_pin, 0);
+
+ /* Send the address */
+ retval = hal_spi_tx_val(itf->si_num, addr | BMA2XX_SPI_READ_CMD_BIT);
+ if (retval == 0xFFFF) {
+ rc = SYS_EINVAL;
+ BMA2XX_ERROR("SPI_%u register write failed addr:0x%02X\n",
+ itf->si_num, addr);
+ goto err;
+ }
+
+ for (i = 0; i < len; i++) {
+ /* Read data */
+ retval = hal_spi_tx_val(itf->si_num, 0);
+ if (retval == 0xFFFF) {
+ rc = SYS_EINVAL;
+ BMA2XX_ERROR("SPI_%u read failed addr:0x%02X\n",
+ itf->si_num, addr);
+ goto err;
+ }
+ payload[i] = retval;
+ }
+
+ rc = 0;
+
+ err:
+ /* De-select the device */
+ hal_gpio_write(itf->si_cs_pin, 1);
+
+ return rc;
+}
+
+/**
+ * Write multiple length data SPI
+ *
+ * @param register address
+ * @param variable length payload
+ * @param length of the payload to write
+ *
+ * @return 0 on success, non-zero on failure
+ */
+int
+spi_writereg(const struct sensor_itf * itf, uint8_t addr, uint8_t payload,
+ uint8_t len)
+{
+ int i;
+ int rc;
+
+ /* Select the device */
+ hal_gpio_write(itf->si_cs_pin, 0);
+
+ /* Send the address */
+ rc = hal_spi_tx_val(itf->si_num, addr);
+ if (rc == 0xFFFF) {
+ rc = SYS_EINVAL;
+ BMA2XX_ERROR("SPI_%u register write failed addr:0x%02X\n",
+ itf->si_num, addr);
+ goto err;
+ }
+
+ for (i = 0; i < len; i++) {
+ /* Read data */
+ rc = hal_spi_tx_val(itf->si_num, payload);
+ if (rc == 0xFFFF) {
+ rc = SYS_EINVAL;
+ BMA2XX_ERROR("SPI_%u write failed addr:0x%02X:0x%02X\n",
+ itf->si_num, addr);
+ goto err;
+ }
+ }
+
+
+ rc = 0;
+
+ err:
+ /* De-select the device */
+ hal_gpio_write(itf->si_cs_pin, 1);
+
+ os_time_delay((OS_TICKS_PER_SEC * 30)/1000 + 1);
+
+ return rc;
+}
+
+int
+i2c_readlen(const struct sensor_itf * itf, uint8_t addr, uint8_t *payload,
+ uint8_t len)
+{
+ struct hal_i2c_master_data oper;
+ int rc;
+
+ oper.address = itf->si_addr;
+ oper.len = 1;
+ oper.buffer = &addr;
+
+ rc = hal_i2c_master_write(itf->si_num, &oper,
+ OS_TICKS_PER_SEC / 10, 1);
+ if (rc != 0) {
+ BMA2XX_ERROR("I2C access failed at address 0x%02X\n",
+ addr);
+ return rc;
+ }
+
+ oper.address = itf->si_addr;
+ oper.len = len;
+ oper.buffer = payload;
+
+ rc = hal_i2c_master_read(itf->si_num, &oper,
+ OS_TICKS_PER_SEC / 10, 1);
+ if (rc != 0) {
+ BMA2XX_ERROR("I2C read failed at address 0x%02X length %u\n",
+ addr, len);
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+i2c_writereg(const struct sensor_itf * itf, uint8_t addr, uint8_t data)
+{
+ uint8_t tuple[2];
+ struct hal_i2c_master_data oper;
+ int rc;
+
+ tuple[0] = addr;
+ tuple[1] = data;
+
+ oper.address = itf->si_addr;
+ oper.len = 2;
+ oper.buffer = tuple;
+
+ rc = hal_i2c_master_write(itf->si_num, &oper,
+ OS_TICKS_PER_SEC / 10, 1);
+ if (rc != 0) {
+ BMA2XX_ERROR("I2C write failed at address 0x%02X single byte\n",
+ addr);
+ return rc;
+ }
+
+ return 0;
+}
+
+static int
+get_register(const struct bma2xx * bma2xx,
+ uint8_t addr,
+ uint8_t * data)
+{
+ int rc;
+ const struct sensor_itf * itf;
+ itf = SENSOR_GET_ITF(&bma2xx->sensor);
+
+ if (itf->si_type == SENSOR_ITF_SPI) {
+ rc = spi_readlen(itf, addr, data, 1);
+ } else if (itf->si_type == SENSOR_ITF_I2C){
+ rc = i2c_readlen(itf, addr, data, 1);
+ } else {
+ rc = SYS_EINVAL;
+ }
+
+ return rc;
+}
+
+static int
+get_registers(const struct bma2xx * bma2xx,
+ uint8_t addr,
+ uint8_t * data,
+ uint8_t size)
+{
+ int rc;
+ const struct sensor_itf * itf;
+ itf = SENSOR_GET_ITF(&bma2xx->sensor);
+
+ if (itf->si_type == SENSOR_ITF_SPI) {
+ rc = spi_readlen(itf, addr, data, size);
+ } else if (itf->si_type == SENSOR_ITF_I2C){
+ rc = i2c_readlen(itf, addr, data, size);
+ } else {
+ rc = SYS_EINVAL;
+ }
+
+ return rc;
+}
+
+static int
+set_register(const struct bma2xx * bma2xx,
+ uint8_t addr,
+ uint8_t data)
+{
+ int rc;
+ const struct sensor_itf * itf;
+
+ itf = SENSOR_GET_ITF(&bma2xx->sensor);
+
+ if (itf->si_type == SENSOR_ITF_SPI) {
+ rc = spi_writereg(itf, addr, data, 1);
+ } else if (itf->si_type == SENSOR_ITF_I2C){
+ rc = i2c_writereg(itf, addr, data);
+ } else {
+ rc = SYS_EINVAL;
+ }
+
+ switch (bma2xx->power) {
+ case BMA2XX_POWER_MODE_SUSPEND:
+ case BMA2XX_POWER_MODE_LPM_1:
+ delay_msec(1);
+ break;
+ default:
+ break;
+ }
+
+ return rc;
+}
+
+int
+bma2xx_get_chip_id(const struct bma2xx * bma2xx,
+ uint8_t * chip_id)
+{
+ return get_register(bma2xx, REG_ADDR_BGW_CHIPID, chip_id);
+}
+
+static void
+compute_accel_data(struct accel_data * accel_data,
+ enum bma2xx_model model,
+ const uint8_t * raw_data,
+ float accel_scale)
+{
+ int16_t raw_accel;
+ uint8_t model_shift = 0;
+
+ switch (model) {
+ case BMA2XX_BMA280:
+ model_shift = BMA280_ACCEL_BIT_SHIFT;
+ break;
+ case BMA2XX_BMA253:
+ model_shift = BMA253_ACCEL_BIT_SHIFT;
+ break;
+ default:
+ break;
+ }
+
+ raw_accel = (int16_t)(raw_data[0] & 0xFC) | (int16_t)(raw_data[1] << 8);
+ raw_accel >>= model_shift;
+
+ accel_data->accel_g = (float)raw_accel * accel_scale;
+ accel_data->new_data = raw_data[0] & 0x01;
+}
+
+static int get_accel_scale(enum bma2xx_model model,
Review comment:
okay will add
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