stmhal/accel.c - lite/micropython - Linaro Git Browser

 /*
  * This file is part of the Micro Python 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 STM32_HAL_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) {
     GPIO_InitTypeDef GPIO_InitStructure;

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

 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_DISABLED;
     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
     MICROPY_HW_MMA_AVDD_PIN.gpio->BSRRH = MICROPY_HW_MMA_AVDD_PIN.pin_mask; // turn off
     HAL_Delay(30);
     MICROPY_HW_MMA_AVDD_PIN.gpio->BSRRL = MICROPY_HW_MMA_AVDD_PIN.pin_mask; // turn on
     HAL_Delay(30);

     HAL_StatusTypeDef status;

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

     // 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
     HAL_Delay(30);
 }

 /******************************************************************************/
 /* Micro Python 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(mp_obj_t type_in, mp_uint_t n_args, mp_uint_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_map_elem_t pyb_accel_locals_dict_table[] = {
     // TODO add init, deinit, and perhaps reset methods
     { 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 },
 };

 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_t)&pyb_accel_locals_dict,
 };

 #endif // MICROPY_HW_HAS_MMA7660
	/*
	* This file is part of the Micro Python 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 STM32_HAL_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) {
	GPIO_InitTypeDef GPIO_InitStructure;

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

	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_DISABLED;
	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
	MICROPY_HW_MMA_AVDD_PIN.gpio->BSRRH = MICROPY_HW_MMA_AVDD_PIN.pin_mask; // turn off
	HAL_Delay(30);
	MICROPY_HW_MMA_AVDD_PIN.gpio->BSRRL = MICROPY_HW_MMA_AVDD_PIN.pin_mask; // turn on
	HAL_Delay(30);

	HAL_StatusTypeDef status;

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

	// 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
	HAL_Delay(30);
	}

	/******************************************************************************/
	/* Micro Python 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(mp_obj_t type_in, mp_uint_t n_args, mp_uint_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_map_elem_t pyb_accel_locals_dict_table[] = {
	// TODO add init, deinit, and perhaps reset methods
	{ 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 },
	};

	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_t)&pyb_accel_locals_dict,
	};

	#endif // MICROPY_HW_HAS_MMA7660