kopia lustrzana https://github.com/micropython/micropython
Add working MMA support.
Damien
rodzic
d2c1a732e5
commit
6f08f8ce51
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@ -319,6 +319,10 @@ static bool fit_small_int(py_small_int_t o) {
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return true;
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}
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py_obj_t py_obj_new_int(int value) {
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return TO_SMALL_INT(value);
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}
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py_obj_t py_obj_new_const(const char *id) {
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py_obj_base_t *o = m_new(py_obj_base_t, 1);
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o->kind = O_CONST;
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@ -99,6 +99,7 @@ void py_obj_print(py_obj_t o);
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int rt_is_true(py_obj_t arg);
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int py_get_int(py_obj_t arg);
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qstr py_get_qstr(py_obj_t arg);
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py_obj_t py_obj_new_int(int value);
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py_obj_t rt_load_const_str(qstr qstr);
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py_obj_t rt_load_name(qstr qstr);
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py_obj_t rt_load_global(qstr qstr);
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129
stm/main.c
129
stm/main.c
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@ -433,6 +433,24 @@ py_obj_t pyb_servo_set(py_obj_t value) {
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return py_const_none;
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}
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#define MMA_ADDR (0x4c)
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py_obj_t pyb_mma_read() {
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mma_start(MMA_ADDR, 1);
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mma_send_byte(0);
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mma_restart(MMA_ADDR, 0);
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py_obj_t data[4];
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for (int i = 3; i >= 1; i--) {
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int v = mma_read_ack() & 0x3f;
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if (v & 0x20) {
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v |= ~0x1f;
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}
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data[i] = py_obj_new_int(v);
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}
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data[0] = py_obj_new_int(mma_read_nack());
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return rt_build_tuple(4, data); // items in reverse order in data
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}
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int main(void) {
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// TODO disable JTAG
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@ -480,6 +498,7 @@ soft_reset:
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rt_store_attr(m, qstr_from_str_static("led"), rt_make_function_1(pyb_led));
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rt_store_attr(m, qstr_from_str_static("sw"), rt_make_function_0(pyb_sw));
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rt_store_attr(m, qstr_from_str_static("servo"), rt_make_function_1(pyb_servo_set));
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rt_store_attr(m, qstr_from_str_static("mma"), rt_make_function_0(pyb_mma_read));
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rt_store_name(qstr_from_str_static("pyb"), m);
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}
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@ -554,6 +573,62 @@ soft_reset:
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// USB
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usb_init();
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// MMA
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{
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// init and reset address to zero
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mma_init();
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mma_start(MMA_ADDR, 1);
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mma_send_byte(0);
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mma_stop();
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/*
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// read and print all 11 registers
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mma_start(MMA_ADDR, 1);
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mma_send_byte(0);
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mma_restart(MMA_ADDR, 0);
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for (int i = 0; i <= 0xa; i++) {
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int data;
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if (i == 0xa) {
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data = mma_read_nack();
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} else {
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data = mma_read_ack();
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}
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printf(" %02x", data);
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}
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printf("\n");
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*/
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// put into active mode
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mma_start(MMA_ADDR, 1);
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mma_send_byte(7); // mode
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mma_send_byte(1); // active mode
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mma_stop();
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/*
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// infinite loop to read values
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for (;;) {
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sys_tick_delay_ms(500);
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mma_start(MMA_ADDR, 1);
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mma_send_byte(0);
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mma_restart(MMA_ADDR, 0);
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for (int i = 0; i <= 3; i++) {
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int data;
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if (i == 3) {
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data = mma_read_nack();
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printf(" %02x\n", data);
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} else {
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data = mma_read_ack() & 0x3f;
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if (data & 0x20) {
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data |= ~0x1f;
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}
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printf(" % 2d", data);
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}
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}
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}
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*/
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}
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// turn boot-up LED off
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led_state(PYB_LED_G1, 0);
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@ -737,60 +812,6 @@ soft_reset:
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led_state(PYB_LED_G1, 0);
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}
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// MMA testing
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if (0) {
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printf("1");
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mma_init();
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printf("2");
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mma_start(0x4c, 1);
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printf("3");
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mma_send_byte(0);
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printf("4");
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mma_stop();
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printf("5");
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mma_start(0x4c, 1);
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printf("6");
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mma_send_byte(0);
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printf("7");
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mma_restart(0x4c, 0);
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for (int i = 0; i <= 0xa; i++) {
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int data;
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if (i == 0xa) {
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data = mma_read_nack();
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} else {
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data = mma_read_ack();
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}
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printf(" %02x", data);
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}
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printf("\n");
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mma_start(0x4c, 1);
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mma_send_byte(7); // mode
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mma_send_byte(1); // active mode
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mma_stop();
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for (;;) {
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sys_tick_delay_ms(500);
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mma_start(0x4c, 1);
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mma_send_byte(0);
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mma_restart(0x4c, 0);
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for (int i = 0; i <= 3; i++) {
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int data;
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if (i == 3) {
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data = mma_read_nack();
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printf(" %02x\n", data);
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} else {
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data = mma_read_ack() & 0x3f;
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if (data & 0x20) {
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data |= 0xc0;
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}
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printf(" % 2d", data);
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}
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}
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}
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}
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// SD card testing
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if (0) {
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//sdio_init();
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62
stm/mma.c
62
stm/mma.c
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@ -4,22 +4,39 @@
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#include <stm32f4xx_rcc.h>
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#include <stm32f4xx_gpio.h>
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#include "misc.h"
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#include "systick.h"
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#include "mma.h"
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void mma_init(void) {
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RCC->APB1ENR |= RCC_APB1ENR_I2C1EN; // enable I2C1
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//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 */);
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//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 */);
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//gpio_pin_af(GPIOB, 6, 4 /* AF 4 for I2C1 */);
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//gpio_pin_af(GPIOB, 7, 4 /* AF 4 for I2C1 */);
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// XXX untested GPIO init! (was above code)
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GPIO_InitTypeDef GPIO_InitStructure;
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// PB5 is connected to AVDD; pull high to enable MMA device
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GPIOB->BSRRH = GPIO_Pin_5; // PB5 low to start with
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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// PB6=SCL, PB7=SDA
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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// alternate functions for SCL and SDA
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GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
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GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_I2C1);
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@ -43,6 +60,11 @@ void mma_init(void) {
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// enable the I2C peripheral
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I2C1->CR1 |= I2C_CR1_PE;
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// wait 20ms, then turn on AVDD, then wait 20ms again; this seems to work, but maybe can decrease delays
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sys_tick_delay_ms(20);
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GPIOB->BSRRL = GPIO_Pin_5;
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sys_tick_delay_ms(20);
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// set START bit in CR1 to generate a start cond!
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}
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@ -58,27 +80,47 @@ void mma_restart(uint8_t addr, int write) {
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I2C1->CR1 |= I2C_CR1_START;
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// wait for BUSY, MSL and SB --> Slave has acknowledged start condition
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uint32_t timeout = 1000000;
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while ((i2c_get_sr() & 0x00030001) != 0x00030001) {
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if (--timeout == 0) {
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printf("timeout in mma_restart\n");
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return;
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}
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}
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if (write) {
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// send address and write bit
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I2C1->DR = (addr << 1) | 0;
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// wait for BUSY, MSL, ADDR, TXE and TRA
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timeout = 1000000;
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while ((i2c_get_sr() & 0x00070082) != 0x00070082) {
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if (--timeout == 0) {
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printf("timeout in mma_restart write\n");
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return;
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}
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}
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} else {
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// send address and read bit
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I2C1->DR = (addr << 1) | 1;
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// wait for BUSY, MSL and ADDR flags
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timeout = 1000000;
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while ((i2c_get_sr() & 0x00030002) != 0x00030002) {
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if (--timeout == 0) {
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printf("timeout in mma_restart read\n");
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return;
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}
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}
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}
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}
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void mma_start(uint8_t addr, int write) {
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// wait until I2C is not busy
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uint32_t timeout = 1000000;
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while (I2C1->SR2 & I2C_SR2_BUSY) {
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if (--timeout == 0) {
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printf("timeout in mma_start\n");
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return;
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}
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}
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// do rest of start
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@ -89,11 +131,11 @@ void mma_send_byte(uint8_t data) {
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// send byte
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I2C1->DR = data;
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// wait for TRA, BUSY, MSL, TXE and BTF (byte transmitted)
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int timeout = 1000000;
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uint32_t timeout = 1000000;
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while ((i2c_get_sr() & 0x00070084) != 0x00070084) {
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if (timeout-- <= 0) {
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printf("mma_send_byte timed out!\n");
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break;
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if (--timeout == 0) {
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printf("timeout in mma_send_byte\n");
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return;
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}
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}
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}
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@ -102,7 +144,12 @@ uint8_t mma_read_ack(void) {
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// enable ACK of received byte
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I2C1->CR1 |= I2C_CR1_ACK;
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// wait for BUSY, MSL and RXNE (byte received)
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uint32_t timeout = 1000000;
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while ((i2c_get_sr() & 0x00030040) != 0x00030040) {
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if (--timeout == 0) {
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printf("timeout in mma_read_ack\n");
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break;
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}
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}
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// read and return data
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uint8_t data = I2C1->DR;
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@ -115,7 +162,12 @@ uint8_t mma_read_nack(void) {
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// last byte should apparently also generate a stop condition
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I2C1->CR1 |= I2C_CR1_STOP;
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// wait for BUSY, MSL and RXNE (byte received)
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uint32_t timeout = 1000000;
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while ((i2c_get_sr() & 0x00030040) != 0x00030040) {
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if (--timeout == 0) {
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printf("timeout in mma_read_nack\n");
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break;
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}
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}
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// read and return data
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uint8_t data = I2C1->DR;
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