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-rw-r--r--stm/accel.c300
1 files changed, 0 insertions, 300 deletions
diff --git a/stm/accel.c b/stm/accel.c
deleted file mode 100644
index 99ce9b0636..0000000000
--- a/stm/accel.c
+++ /dev/null
@@ -1,300 +0,0 @@
-#include <stdio.h>
-
-#include <stm32f4xx.h>
-#include <stm32f4xx_rcc.h>
-#include <stm32f4xx_gpio.h>
-
-#include "misc.h"
-#include "mpconfig.h"
-#include "qstr.h"
-#include "systick.h"
-#include "obj.h"
-#include "runtime.h"
-#include "accel.h"
-
-#define ACCEL_ADDR (0x4c)
-
-void accel_init(void) {
- RCC->APB1ENR |= RCC_APB1ENR_I2C1EN; // enable I2C1
-
- //gpio_pin_init(GPIOB, 6 /* B6 is SCL */, 2 /* AF mode */, 1 /* open drain output */, 1 /* 25 MHz */, 0 /* no pull up or pull down */);
- //gpio_pin_init(GPIOB, 7 /* B7 is SDA */, 2 /* AF mode */, 1 /* open drain output */, 1 /* 25 MHz */, 0 /* no pull up or pull down */);
- //gpio_pin_af(GPIOB, 6, 4 /* AF 4 for I2C1 */);
- //gpio_pin_af(GPIOB, 7, 4 /* AF 4 for I2C1 */);
- // XXX untested GPIO init! (was above code)
-
- GPIO_InitTypeDef GPIO_InitStructure;
-
- // PB5 is connected to AVDD; pull high to enable MMA accel device
- GPIOB->BSRRH = GPIO_Pin_5; // PB5 low to start with
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_Init(GPIOB, &GPIO_InitStructure);
-
- // PB6=SCL, PB7=SDA
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_Init(GPIOB, &GPIO_InitStructure);
-
- // alternate functions for SCL and SDA
- GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
- GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_I2C1);
-
- // get clock speeds
- RCC_ClocksTypeDef rcc_clocks;
- RCC_GetClocksFreq(&rcc_clocks);
-
- // disable the I2C peripheral before we configure it
- I2C1->CR1 &= ~I2C_CR1_PE;
-
- // program peripheral input clock
- I2C1->CR2 = 4; // no interrupts; 4 MHz (hopefully!) (could go up to 42MHz)
-
- // configure clock control reg
- uint32_t freq = rcc_clocks.PCLK1_Frequency / (100000 << 1); // want 100kHz, this is the formula for freq
- I2C1->CCR = freq; // standard mode (speed), freq calculated as above
-
- // configure rise time reg
- I2C1->TRISE = (rcc_clocks.PCLK1_Frequency / 1000000) + 1; // formula for trise, gives maximum rise time
-
- // enable the I2C peripheral
- I2C1->CR1 |= I2C_CR1_PE;
-
- // wait 20ms, then turn on AVDD, then wait 20ms again; this seems to work, but maybe can decrease delays
- // doesn't work for soft reboot; 50ms doesn't work either...
- sys_tick_delay_ms(20);
- GPIOB->BSRRL = GPIO_Pin_5;
- sys_tick_delay_ms(20);
-
- // set START bit in CR1 to generate a start cond!
-
- // init the chip via I2C commands
- accel_start(ACCEL_ADDR, 1);
- accel_send_byte(0);
- accel_stop();
-
- /*
- // read and print all 11 registers
- accel_start(ACCEL_ADDR, 1);
- accel_send_byte(0);
- accel_restart(ACCEL_ADDR, 0);
- for (int i = 0; i <= 0xa; i++) {
- int data;
- if (i == 0xa) {
- data = accel_read_nack();
- } else {
- data = accel_read_ack();
- }
- printf(" %02x", data);
- }
- printf("\n");
- */
-
- // put into active mode
- accel_start(ACCEL_ADDR, 1);
- accel_send_byte(7); // mode
- accel_send_byte(1); // active mode
- accel_stop();
-
- /*
- // infinite loop to read values
- for (;;) {
- sys_tick_delay_ms(500);
-
- accel_start(ACCEL_ADDR, 1);
- accel_send_byte(0);
- accel_restart(ACCEL_ADDR, 0);
- for (int i = 0; i <= 3; i++) {
- int data;
- if (i == 3) {
- data = accel_read_nack();
- printf(" %02x\n", data);
- } else {
- data = accel_read_ack() & 0x3f;
- if (data & 0x20) {
- data |= ~0x1f;
- }
- printf(" % 2d", data);
- }
- }
- }
- */
-}
-
-static uint32_t i2c_get_sr(void) {
- // must read SR1 first, then SR2, as the read can clear some flags
- uint32_t sr1 = I2C1->SR1;
- uint32_t sr2 = I2C1->SR2;
- return (sr2 << 16) | sr1;
-}
-
-void accel_restart(uint8_t addr, int write) {
- // send start condition
- I2C1->CR1 |= I2C_CR1_START;
-
- // wait for BUSY, MSL and SB --> Slave has acknowledged start condition
- uint32_t timeout = 1000000;
- while ((i2c_get_sr() & 0x00030001) != 0x00030001) {
- if (--timeout == 0) {
- printf("timeout in accel_restart\n");
- return;
- }
- }
-
- if (write) {
- // send address and write bit
- I2C1->DR = (addr << 1) | 0;
- // wait for BUSY, MSL, ADDR, TXE and TRA
- timeout = 1000000;
- while ((i2c_get_sr() & 0x00070082) != 0x00070082) {
- if (--timeout == 0) {
- printf("timeout in accel_restart write\n");
- return;
- }
- }
- } else {
- // send address and read bit
- I2C1->DR = (addr << 1) | 1;
- // wait for BUSY, MSL and ADDR flags
- timeout = 1000000;
- while ((i2c_get_sr() & 0x00030002) != 0x00030002) {
- if (--timeout == 0) {
- printf("timeout in accel_restart read\n");
- return;
- }
- }
- }
-}
-
-void accel_start(uint8_t addr, int write) {
- // wait until I2C is not busy
- uint32_t timeout = 1000000;
- while (I2C1->SR2 & I2C_SR2_BUSY) {
- if (--timeout == 0) {
- printf("timeout in accel_start\n");
- return;
- }
- }
-
- // do rest of start
- accel_restart(addr, write);
-}
-
-void accel_send_byte(uint8_t data) {
- // send byte
- I2C1->DR = data;
- // wait for TRA, BUSY, MSL, TXE and BTF (byte transmitted)
- uint32_t timeout = 1000000;
- while ((i2c_get_sr() & 0x00070084) != 0x00070084) {
- if (--timeout == 0) {
- printf("timeout in accel_send_byte\n");
- return;
- }
- }
-}
-
-uint8_t accel_read_ack(void) {
- // enable ACK of received byte
- I2C1->CR1 |= I2C_CR1_ACK;
- // wait for BUSY, MSL and RXNE (byte received)
- uint32_t timeout = 1000000;
- while ((i2c_get_sr() & 0x00030040) != 0x00030040) {
- if (--timeout == 0) {
- printf("timeout in accel_read_ack\n");
- break;
- }
- }
- // read and return data
- uint8_t data = I2C1->DR;
- return data;
-}
-
-uint8_t accel_read_nack(void) {
- // disable ACK of received byte (to indicate end of receiving)
- I2C1->CR1 &= (uint16_t)~((uint16_t)I2C_CR1_ACK);
- // last byte should apparently also generate a stop condition
- I2C1->CR1 |= I2C_CR1_STOP;
- // wait for BUSY, MSL and RXNE (byte received)
- uint32_t timeout = 1000000;
- while ((i2c_get_sr() & 0x00030040) != 0x00030040) {
- if (--timeout == 0) {
- printf("timeout in accel_read_nack\n");
- break;
- }
- }
- // read and return data
- uint8_t data = I2C1->DR;
- return data;
-}
-
-void accel_stop(void) {
- // send stop condition
- I2C1->CR1 |= I2C_CR1_STOP;
-}
-
-/******************************************************************************/
-/* 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];
- }
-
- accel_start(ACCEL_ADDR, 1);
- accel_send_byte(0);
- accel_restart(ACCEL_ADDR, 0);
- for (int i = 0; i <= 2; i++) {
- int v = accel_read_ack() & 0x3f;
- if (v & 0x20) {
- v |= ~0x1f;
- }
- accel_buf[9 + i] = v;
- }
- int jolt_info = accel_read_nack();
-
- 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 mp_obj_new_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(ACCEL_ADDR, 1);
- accel_send_byte(0);
- accel_restart(ACCEL_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 mp_obj_new_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(ACCEL_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);
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