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sensor_lis2dw: add lis3dh sensor and i2c communication

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Signed-off-by: Luke Vuksta <wulfstawulfsta@gmail.com>
This commit is contained in:
Wulfsta
2024-10-17 02:38:59 -04:00
committed by KevinOConnor
parent a34034494e
commit 0f7887fffe
6 changed files with 246 additions and 58 deletions
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6
src/Kconfig
View File

@@ -102,7 +102,7 @@ config WANT_SENSORS
default y
config WANT_LIS2DW
bool
depends on HAVE_GPIO_SPI
depends on HAVE_GPIO_SPI || HAVE_GPIO_I2C
default y
config WANT_LDC1612
bool
@@ -141,8 +141,8 @@ config WANT_SENSORS
bool "Support external sensor devices"
depends on HAVE_GPIO_I2C || HAVE_GPIO_SPI
config WANT_LIS2DW
bool "Support lis2dw 3-axis accelerometer"
depends on HAVE_GPIO_SPI
bool "Support lis2dw and lis3dh 3-axis accelerometers"
depends on HAVE_GPIO_SPI || HAVE_GPIO_I2C
config WANT_LDC1612
bool "Support ldc1612 eddy current sensor"
depends on HAVE_GPIO_I2C

4
src/ar100/gpio.h
View File

@@ -40,4 +40,8 @@ void spi_prepare(struct spi_config config);
void spi_transfer(struct spi_config config, uint8_t receive_data
, uint8_t len, uint8_t *data);
struct i2c_config {
void *cfg;
};
#endif

4
src/generic/gpio.h
View File

@@ -41,4 +41,8 @@ void spi_prepare(struct spi_config config);
void spi_transfer(struct spi_config config, uint8_t receive_data
, uint8_t len, uint8_t *data);
struct i2c_config {
uint32_t cfg;
};
#endif // gpio.h

153
src/sensor_lis2dw.c
View File

@@ -6,6 +6,8 @@
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <string.h> // memcpy
#include "autoconf.h" // CONFIG_HAVE_GPIO_SPI
#include "board/gpio.h" // irq_disable
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_read_time
#include "basecmd.h" // oid_alloc
@@ -13,9 +15,12 @@
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "spicmds.h" // spidev_transfer
#include "i2ccmds.h" // i2cdev_s
#define LIS_AR_DATAX0 0x28
#define LIS_AM_READ 0x80
#define LIS_MS_SPI 0x40
#define LIS_MS_I2C 0x80
#define LIS_FIFO_SAMPLES 0x2F
#define BYTES_PER_SAMPLE 6
@@ -23,8 +28,13 @@
struct lis2dw {
struct timer timer;
uint32_t rest_ticks;
struct spidev_s *spi;
union {
struct spidev_s *spi;
struct i2cdev_s *i2c;
};
uint8_t bus_type;
uint8_t flags;
uint8_t model;
struct sensor_bulk sb;
};
@@ -32,6 +42,20 @@ enum {
LIS_PENDING = 1<<0,
};
enum {
SPI_SERIAL, I2C_SERIAL,
};
DECL_ENUMERATION("bus_oid_type", "spi", SPI_SERIAL);
DECL_ENUMERATION("bus_oid_type", "i2c", I2C_SERIAL);
enum {
LIS2DW, LIS3DH,
};
DECL_ENUMERATION("lis_chip_type", "LIS2DW", LIS2DW);
DECL_ENUMERATION("lis_chip_type", "LIS3DH", LIS3DH);
static struct task_wake lis2dw_wake;
// Event handler that wakes lis2dw_task() periodically
@@ -50,9 +74,39 @@ command_config_lis2dw(uint32_t *args)
struct lis2dw *ax = oid_alloc(args[0], command_config_lis2dw
, sizeof(*ax));
ax->timer.func = lis2dw_event;
ax->spi = spidev_oid_lookup(args[1]);
switch (args[2]) {
case SPI_SERIAL:
if (CONFIG_HAVE_GPIO_SPI) {
ax->spi = spidev_oid_lookup(args[1]);
ax->bus_type = SPI_SERIAL;
break;
} else {
shutdown("bus_type spi unsupported");
}
case I2C_SERIAL:
if (CONFIG_HAVE_GPIO_I2C) {
ax->i2c = i2cdev_oid_lookup(args[1]);
ax->bus_type = I2C_SERIAL;
break;
} else {
shutdown("bus_type i2c unsupported");
}
default:
shutdown("bus_type invalid");
}
switch (args[3]) {
case LIS2DW:
case LIS3DH:
ax->model = args[3];
break;
default:
shutdown("model type invalid");
}
}
DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c"
" bus_oid=%c bus_oid_type=%c lis_chip_type=%c");
// Helper code to reschedule the lis2dw_event() timer
static void
@@ -68,25 +122,58 @@ lis2dw_reschedule_timer(struct lis2dw *ax)
static void
lis2dw_query(struct lis2dw *ax, uint8_t oid)
{
uint8_t msg[7] = {0};
uint8_t fifo[2] = {LIS_FIFO_SAMPLES| LIS_AM_READ , 0};
uint8_t fifo_empty,fifo_ovrn = 0;
msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
uint8_t fifo_empty = 0;
uint8_t fifo_ovrn = 0;
uint8_t *d = &ax->sb.data[ax->sb.data_count];
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
if (CONFIG_HAVE_GPIO_SPI && ax->bus_type == SPI_SERIAL) {
uint8_t msg[7] = {0};
uint8_t fifo[2] = {LIS_FIFO_SAMPLES | LIS_AM_READ , 0};
spidev_transfer(ax->spi, 1, sizeof(fifo), fifo);
fifo_empty = fifo[1]&0x3F;
fifo_ovrn = fifo[1]&0x40;
msg[0] = LIS_AR_DATAX0 | LIS_AM_READ;
if (ax->model == LIS3DH)
msg[0] |= LIS_MS_SPI;
d[0] = msg[1]; // x low bits
d[1] = msg[2]; // x high bits
d[2] = msg[3]; // y low bits
d[3] = msg[4]; // y high bits
d[4] = msg[5]; // z low bits
d[5] = msg[6]; // z high bits
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
spidev_transfer(ax->spi, 1, sizeof(fifo), fifo);
if (ax->model == LIS3DH)
fifo_empty = fifo[1] & 0x20;
else
fifo_empty = fifo[1] & 0x3F;
fifo_ovrn = fifo[1] & 0x40;
for (uint32_t i = 0; i < BYTES_PER_SAMPLE; i++)
d[i] = msg[i + 1];
} else if (CONFIG_HAVE_GPIO_I2C && ax->bus_type == I2C_SERIAL) {
uint8_t msg_reg[] = {LIS_AR_DATAX0};
if (ax->model == LIS3DH)
msg_reg[0] |= LIS_MS_I2C;
uint8_t msg[6];
uint8_t fifo_reg[1] = {LIS_FIFO_SAMPLES};
uint8_t fifo[1];
int ret;
ret = i2c_dev_read(ax->i2c, sizeof(msg_reg), msg_reg
, sizeof(msg), msg);
i2c_shutdown_on_err(ret);
ret = i2c_dev_read(ax->i2c, sizeof(fifo_reg), fifo_reg
, sizeof(fifo), fifo);
i2c_shutdown_on_err(ret);
if (ax->model == LIS3DH)
fifo_empty = fifo[0] & 0x20;
else
fifo_empty = fifo[0] & 0x3F;
fifo_ovrn = fifo[0] & 0x40;
for (uint32_t i = 0; i < BYTES_PER_SAMPLE; i++)
d[i] = msg[i];
}
ax->sb.data_count += BYTES_PER_SAMPLE;
if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data))
@@ -129,12 +216,32 @@ void
command_query_lis2dw_status(uint32_t *args)
{
struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 };
uint32_t time1 = timer_read_time();
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
uint32_t time2 = timer_read_time();
uint32_t time1 = 0;
uint32_t time2 = 0;
uint8_t status = 0;
if (CONFIG_HAVE_GPIO_SPI && ax->bus_type == SPI_SERIAL) {
uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 };
time1 = timer_read_time();
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
time2 = timer_read_time();
status = msg[1];
} else if (CONFIG_HAVE_GPIO_I2C && ax->bus_type == I2C_SERIAL) {
uint8_t fifo_reg[1] = {LIS_FIFO_SAMPLES};
uint8_t fifo[1];
time1 = timer_read_time();
int ret = i2c_dev_read(ax->i2c, sizeof(fifo_reg), fifo_reg
, sizeof(fifo), fifo);
time2 = timer_read_time();
i2c_shutdown_on_err(ret);
status = fifo[0];
}
sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
, (msg[1] & 0x1f) * BYTES_PER_SAMPLE);
, (status & 0x1f) * BYTES_PER_SAMPLE);
}
DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");