1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-10 18:24:11 +01:00
LibrePilot/flight/PiOS/STM32F2xx/pios_bma180.c

417 lines
11 KiB
C
Raw Normal View History

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BMA180 BMA180 Functions
* @brief Deals with the hardware interface to the BMA180 3-axis accelerometer
* @{
*
* @file pios_bma180.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief PiOS BMA180 digital accelerometer driver.
* - Driver for the BMA180 digital accelerometer on the SPI bus.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#include "fifo_buffer.h"
static uint32_t PIOS_SPI_ACCEL;
static int32_t PIOS_BMA180_GetReg(uint8_t reg);
static int32_t PIOS_BMA180_SetReg(uint8_t reg, uint8_t data);
static int32_t PIOS_BMA180_SelectBW(enum bma180_bandwidth bw);
static int32_t PIOS_BMA180_SetRange(enum bma180_range range);
static int32_t PIOS_BMA180_Config();
static int32_t PIOS_BMA180_EnableIrq();
static void PIOS_BMA180_IRQHandler(void);
#define PIOS_BMA180_MAX_DOWNSAMPLE 10
static int16_t pios_bma180_buffer[PIOS_BMA180_MAX_DOWNSAMPLE * sizeof(struct pios_bma180_data)];
static t_fifo_buffer pios_bma180_fifo;
2011-08-13 14:13:21 +02:00
static const struct pios_bma180_cfg * dev_cfg;
static enum bma180_range range;
#define GRAV 9.81
/**
* @brief Initialize with good default settings
*/
int32_t PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
{
dev_cfg = cfg; // store config before enabling interrupt
fifoBuf_init(&pios_bma180_fifo, (uint8_t *) pios_bma180_buffer, sizeof(pios_bma180_buffer));
/* Configure EOC pin as input floating */
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
/* Configure the End Of Conversion (EOC) interrupt */
SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
EXTI_Init(&cfg->eoc_exti.init);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_Init(&cfg->eoc_irq.init);
if(PIOS_BMA180_Config() < 0)
return -1;
PIOS_DELAY_WaituS(50);
PIOS_BMA180_EnableIrq();
return 0;
}
/**
* @brief Claim the SPI bus for the accel communications and select this chip
2011-05-19 18:35:49 +02:00
* @return 0 if successful, -1 if unable to claim bus
*/
2011-05-19 18:35:49 +02:00
int32_t PIOS_BMA180_ClaimBus()
{
2011-05-19 18:35:49 +02:00
if(PIOS_SPI_ClaimBus(PIOS_SPI_ACCEL) != 0)
return -1;
PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0,0);
2011-05-19 18:35:49 +02:00
return 0;
}
/**
* @brief Release the SPI bus for the accel communications and end the transaction
2011-05-19 18:35:49 +02:00
* @return 0 if successful
*/
2011-05-19 18:35:49 +02:00
int32_t PIOS_BMA180_ReleaseBus()
{
PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0,1);
2011-05-19 18:35:49 +02:00
return PIOS_SPI_ReleaseBus(PIOS_SPI_ACCEL);
}
/**
* @brief Read a register from BMA180
2011-05-19 18:35:49 +02:00
* @returns The register value or -1 if failure to get bus
* @param reg[in] Register address to be read
*/
2011-05-19 18:35:49 +02:00
int32_t PIOS_BMA180_GetReg(uint8_t reg)
{
uint8_t data;
2011-05-19 18:35:49 +02:00
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | reg) ); // request byte
data = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,0 ); // receive response
PIOS_BMA180_ReleaseBus();
2011-05-19 18:35:49 +02:00
return data;
}
/**
* @brief Write a BMA180 register. EEPROM must be unlocked before calling this function.
* @return none
* @param reg[in] address of register to be written
* @param data[in] data that is to be written to register
*/
int32_t PIOS_BMA180_SetReg(uint8_t reg, uint8_t data)
{
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
PIOS_SPI_TransferByte(PIOS_SPI_ACCEL, 0x7f & reg);
PIOS_SPI_TransferByte(PIOS_SPI_ACCEL, data);
PIOS_BMA180_ReleaseBus();
return 0;
}
static int32_t PIOS_BMA180_EnableEeprom() {
// Enable EEPROM writing
int32_t byte = PIOS_BMA180_GetReg(BMA_CTRREG0);
if(byte < 0)
return -1;
byte |= 0x10; // Set bit 4
if(PIOS_BMA180_SetReg(BMA_CTRREG0,(uint8_t) byte) < 0) // Have to set ee_w to
return -1;
return 0;
}
static int32_t PIOS_BMA180_DisableEeprom() {
// Enable EEPROM writing
int32_t byte = PIOS_BMA180_GetReg(BMA_CTRREG0);
if(byte < 0)
return -1;
byte |= 0x10; // Set bit 4
if(PIOS_BMA180_SetReg(BMA_CTRREG0,(uint8_t) byte) < 0) // Have to set ee_w to
return -1;
return 0;
}
/**
* @brief Set the default register settings
* @return 0 if successful, -1 if not
*/
static int32_t PIOS_BMA180_Config()
{
/*
0x35 = 0x81 //smp-skip = 1 for less interrupts
0x33 = 0x81 //shadow-dis = 1, update MSB and LSB synchronously
0x27 = 0x01 //dis-i2c
0x21 = 0x02 //new_data_int = 1
*/
PIOS_DELAY_WaituS(20);
if(PIOS_BMA180_EnableEeprom() < 0)
return -1;
if(PIOS_BMA180_SetReg(BMA_RESET, BMA_RESET_CODE) < 0)
return -1;
if(PIOS_BMA180_SetReg(BMA_OFFSET_LSB1, 0x81) < 0)
return -1;
if(PIOS_BMA180_SetReg(BMA_GAIN_Y, 0x81) < 0)
return -1;
if(PIOS_BMA180_SetReg(BMA_CTRREG3, 0xFF) < 0)
return -1;
PIOS_BMA180_SelectBW(BMA_BW_600HZ);
PIOS_BMA180_SetRange(BMA_RANGE_8G);
if(PIOS_BMA180_DisableEeprom() < 0)
return -1;
return 0;
}
/**
* @brief Select the bandwidth the digital filter pass allows.
* @return 0 if successful, -1 if not
* @param rate[in] Bandwidth setting to be used
*
* EEPROM must be write-enabled before calling this function.
*/
static int32_t PIOS_BMA180_SelectBW(enum bma180_bandwidth bw)
{
uint8_t reg;
reg = PIOS_BMA180_GetReg(BMA_BW_ADDR);
reg = (reg & ~BMA_BW_MASK) | ((bw << BMA_BW_SHIFT) & BMA_BW_MASK);
return PIOS_BMA180_SetReg(BMA_BW_ADDR, reg);
}
/**
* @brief Select the full scale acceleration range.
* @return 0 if successful, -1 if not
* @param rate[in] Range setting to be used
*
*/
static int32_t PIOS_BMA180_SetRange(enum bma180_range new_range)
{
uint8_t reg;
range = new_range;
reg = PIOS_BMA180_GetReg(BMA_RANGE_ADDR);
reg = (reg & ~BMA_RANGE_MASK) | ((range << BMA_RANGE_SHIFT) & BMA_RANGE_MASK);
return PIOS_BMA180_SetReg(BMA_RANGE_ADDR, reg);
}
static int32_t PIOS_BMA180_EnableIrq()
{
if(PIOS_BMA180_EnableEeprom() < 0)
return -1;
if(PIOS_BMA180_SetReg(BMA_CTRREG3, BMA_NEW_DAT_INT) < 0)
return -1;
if(PIOS_BMA180_DisableEeprom() < 0)
return -1;
return 0;
}
/**
* @brief Connect to the correct SPI bus
*/
void PIOS_BMA180_Attach(uint32_t spi_id)
{
PIOS_SPI_ACCEL = spi_id;
}
/**
* @brief Read a single set of values from the x y z channels
* @param[out] data Int16 array of (x,y,z) sensor values
* @returns 0 if successful
2011-05-19 18:35:49 +02:00
* @retval -1 unable to claim bus
* @retval -2 unable to transfer data
*/
int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data)
{
// To save memory use same buffer for in and out but offset by
// a byte
uint8_t buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
uint8_t rec[7] = {0,0,0,0,0,0};
2011-05-19 18:35:49 +02:00
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
if(PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],7,NULL) != 0)
return -2;
PIOS_BMA180_ReleaseBus();
// | MSB | LSB | 0 | new_data |
data->x = ((rec[2] << 8) | rec[1]);
data->y = ((rec[4] << 8) | rec[3]);
data->z = ((rec[6] << 8) | rec[5]);
data->x /= 4;
data->y /= 4;
data->z /= 4;
return 0; // return number of remaining entries
}
/**
* @brief Returns the scale the BMA180 chip is using
* @return Scale (m / s^2) / LSB
*/
float PIOS_BMA180_GetScale()
{
switch (range) {
case BMA_RANGE_1G:
return GRAV / 8192.0;
case BMA_RANGE_1_5G:
return GRAV / 5460.0;
case BMA_RANGE_2G:
return GRAV / 4096.0;
case BMA_RANGE_3G:
return GRAV / 2730.0;
case BMA_RANGE_4G:
return GRAV / 2048.0;
case BMA_RANGE_8G:
return GRAV / 1024.0;
case BMA_RANGE_16G:
return GRAV / 512.0;
}
return 0;
}
/**
* @brief Get data from fifo
* @param [out] buffer pointer to a @ref pios_bma180_data structure to receive data
* @return 0 for success, -1 for failure (no data available)
*/
int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer)
{
if(fifoBuf_getUsed(&pios_bma180_fifo) < sizeof(*buffer))
return -1;
fifoBuf_getData(&pios_bma180_fifo, (uint8_t *) buffer, sizeof(*buffer));
return 0;
}
/**
* @brief Test SPI and chip functionality by reading chip ID register
* @return 0 if success, -1 if failure.
*
*/
2011-05-19 18:35:49 +02:00
int32_t PIOS_BMA180_Test()
{
// Read chip ID then version ID
uint8_t buf[3] = {0x80 | BMA_CHIPID_ADDR, 0, 0};
uint8_t rec[3] = {0,0, 0};
int32_t retval;
2011-05-19 18:35:49 +02:00
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
retval = PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],sizeof(buf),NULL);
PIOS_BMA180_ReleaseBus();
if(retval != 0)
return -2;
struct pios_bma180_data data;
if(PIOS_BMA180_ReadAccels(&data) != 0)
2011-05-19 18:35:49 +02:00
return -3;
if(rec[1] != 0x3)
2011-05-19 18:35:49 +02:00
return -4;
if(rec[2] < 0x12)
return -5;
return 0;
}
static uint8_t pios_bma180_dmabuf[8];
/**
* @brief Take data from BMA180 read and parse it into structure
* Leaving this function here in case I want to go back to using
* callback but at higher speed this it is faster to just transfer
*/
static inline void PIOS_BMA180_SPI_Callback()
{
// TODO: Make this conversion depend on configuration scale
struct pios_bma180_data data;
// Don't release bus till data has copied
PIOS_BMA180_ReleaseBus();
// Must not return before releasing bus
if(fifoBuf_getFree(&pios_bma180_fifo) < sizeof(data))
return;
// Bottom two bits indicate new data and are constant zeros. Don't right
// shift because it drops sign bit
data.x = ((pios_bma180_dmabuf[2] << 8) | pios_bma180_dmabuf[1]);
data.y = ((pios_bma180_dmabuf[4] << 8) | pios_bma180_dmabuf[3]);
data.z = ((pios_bma180_dmabuf[6] << 8) | pios_bma180_dmabuf[5]);
data.x /= 4;
data.y /= 4;
data.z /= 4;
data.temperature = pios_bma180_dmabuf[7];
fifoBuf_putData(&pios_bma180_fifo, (uint8_t *) &data, sizeof(data));
}
/**
* @brief IRQ Handler
*/
const static uint8_t pios_bma180_req_buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
static void PIOS_BMA180_IRQHandler(void)
{
// If we can't get the bus then just move on for efficiency
if(PIOS_BMA180_ClaimBus() == 0)
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,pios_bma180_req_buf,(uint8_t *) pios_bma180_dmabuf,
sizeof(pios_bma180_dmabuf), NULL);
PIOS_BMA180_SPI_Callback();
}
/**
* The physical IRQ handler
* Soon this will be generic in pios_exti and the BMA180 will register
* against it
*/
void EXTI4_IRQHandler(void)
{
if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
PIOS_BMA180_IRQHandler();
EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
}
}
/**
* @}
* @}
*/