diff options
Diffstat (limited to 'stmhal/accel.c')
| -rw-r--r-- | stmhal/accel.c | 80 |
1 files changed, 30 insertions, 50 deletions
diff --git a/stmhal/accel.c b/stmhal/accel.c index cd513b3fe8..f791691619 100644 --- a/stmhal/accel.c +++ b/stmhal/accel.c @@ -3,11 +3,13 @@ #include <stm32f4xx_hal.h> +#include "nlr.h" #include "misc.h" #include "mpconfig.h" #include "qstr.h" #include "obj.h" #include "runtime.h" +#include "i2c.h" #include "accel.h" #define MMA_ADDR (0x98) @@ -18,8 +20,6 @@ #define MMA_REG_MODE (7) #define MMA_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0)) -STATIC I2C_HandleTypeDef I2cHandle; - void accel_init(void) { GPIO_InitTypeDef GPIO_InitStructure; @@ -30,38 +30,12 @@ void accel_init(void) { GPIO_InitStructure.Speed = GPIO_SPEED_LOW; GPIO_InitStructure.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &GPIO_InitStructure); - - // PB6=SCL, PB7=SDA - GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7; - GPIO_InitStructure.Mode = GPIO_MODE_AF_OD; - GPIO_InitStructure.Speed = GPIO_SPEED_FAST; - GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines - GPIO_InitStructure.Alternate = GPIO_AF4_I2C1; - HAL_GPIO_Init(GPIOB, &GPIO_InitStructure); - - // enable the I2C1 clock - __I2C1_CLK_ENABLE(); - - // set up the I2C1 device - memset(&I2cHandle, 0, sizeof(I2C_HandleTypeDef)); - I2cHandle.Instance = I2C1; - I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; - I2cHandle.Init.ClockSpeed = 400000; - I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED; - I2cHandle.Init.DutyCycle = I2C_DUTYCYCLE_16_9; - I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED; - I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED; - I2cHandle.Init.OwnAddress1 = 0xfe; // unused - I2cHandle.Init.OwnAddress2 = 0xfe; // unused - - if (HAL_I2C_Init(&I2cHandle) != HAL_OK) { - // init error - printf("accel_init: HAL_I2C_Init failed\n"); - return; - } } -STATIC void accel_init_device(void) { +STATIC void accel_start(void) { + // start the I2C bus + i2c_start(&I2cHandle_X); + // turn off AVDD, wait 20ms, turn on AVDD, wait 20ms again GPIOB->BSRRH = GPIO_PIN_5; // turn off HAL_Delay(20); @@ -72,7 +46,7 @@ STATIC void accel_init_device(void) { //printf("IsDeviceReady\n"); for (int i = 0; i < 10; i++) { - status = HAL_I2C_IsDeviceReady(&I2cHandle, MMA_ADDR, 10, 200); + status = HAL_I2C_IsDeviceReady(&I2cHandle_X, MMA_ADDR, 10, 200); //printf(" got %d\n", status); if (status == HAL_OK) { break; @@ -82,7 +56,7 @@ STATIC void accel_init_device(void) { //printf("MemWrite\n"); uint8_t data[1]; data[0] = 1; // active mode - status = HAL_I2C_Mem_Write(&I2cHandle, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200); + status = HAL_I2C_Mem_Write(&I2cHandle_X, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200); //printf(" got %d\n", status); } @@ -99,9 +73,22 @@ typedef struct _pyb_accel_obj_t { STATIC pyb_accel_obj_t pyb_accel_obj; +STATIC mp_obj_t pyb_accel_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) { + // check arguments + if (!(n_args == 0 && n_kw == 0)) { + nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "Accel accepts no arguments")); + } + + // 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(&I2cHandle, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200); + HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200); return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0])); } @@ -125,7 +112,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z); STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) { uint8_t data[1]; - HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200); + HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200); return mp_obj_new_int(data[0]); } @@ -137,7 +124,7 @@ STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t 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(&I2cHandle, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200); + HAL_I2C_Mem_Read(&I2cHandle_X, 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++) { @@ -156,7 +143,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_ STATIC mp_obj_t pyb_accel_read_reg(mp_obj_t self_in, mp_obj_t reg) { uint8_t data[1]; - HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200); + HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200); return mp_obj_new_int(data[0]); } @@ -165,13 +152,13 @@ MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_read_reg_obj, pyb_accel_read_reg); STATIC mp_obj_t pyb_accel_write_reg(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(&I2cHandle, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200); + HAL_I2C_Mem_Write(&I2cHandle_X, 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_reg_obj, pyb_accel_write_reg); -STATIC const mp_method_t accel_methods[] = { +STATIC const mp_method_t pyb_accel_methods[] = { { "x", &pyb_accel_x_obj }, { "y", &pyb_accel_y_obj }, { "z", &pyb_accel_z_obj }, @@ -182,16 +169,9 @@ STATIC const mp_method_t accel_methods[] = { { NULL, NULL }, }; -STATIC const mp_obj_type_t accel_obj_type = { +const mp_obj_type_t pyb_accel_type = { { &mp_type_type }, .name = MP_QSTR_Accel, - .methods = accel_methods, + .make_new = pyb_accel_make_new, + .methods = pyb_accel_methods, }; - -STATIC mp_obj_t pyb_Accel(void) { - pyb_accel_obj.base.type = &accel_obj_type; - accel_init_device(); - return &pyb_accel_obj; -} - -MP_DEFINE_CONST_FUN_OBJ_0(pyb_Accel_obj, pyb_Accel); |