altos: Add MMA655X driver

Just debug code at this point, will complete on real hardware

Signed-off-by: Keith Packard <keithp@keithp.com>

5 files changed, 310 insertions, 0 deletions

diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c
new file mode 100644
index 00000000..e4e41627
--- /dev/null
+++ b/src/drivers/ao_mma655x.c
@@ -0,0 +1,210 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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 <ao.h>
+#include <ao_mma655x.h>
+
+static uint8_t	mma655x_configured;
+uint8_t		ao_mma655x_valid;
+
+static void
+ao_mma655x_start(void) {
+	ao_spi_get_bit(AO_MMA655X_CS_GPIO,
+		       AO_MMA655X_CS,
+		       AO_MMA655X_CS_PIN,
+		       AO_MMA655X_SPI_INDEX,
+		       AO_SPI_SPEED_FAST);
+}
+
+static void
+ao_mma655x_stop(void) {
+	ao_spi_put_bit(AO_MMA655X_CS_GPIO,
+		       AO_MMA655X_CS,
+		       AO_MMA655X_CS_PIN,
+		       AO_MMA655X_SPI_INDEX);
+}
+
+static uint8_t
+ao_parity(uint8_t v)
+{
+	/* down to four bits */
+	v = (v ^ (v >> 4)) & 0xf;
+
+	/* Cute lookup hack -- 0x6996 encodes the sixteen
+	 * even parity values in order.
+	 */
+	return (~0x6996 >> v) & 1;
+}
+
+static void
+ao_mma655x_cmd(uint8_t d[2])
+{
+	ao_mma655x_start();
+	ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
+	ao_spi_recv(d, 2, AO_MMA655X_SPI_INDEX);
+	ao_mma655x_stop();
+}
+
+static uint8_t
+ao_mma655x_reg_write(uint8_t addr, uint8_t value)
+{
+	uint8_t	d[2];
+
+	addr |= (1 << 6);	/* write mode */
+	d[0] = addr | (ao_parity(addr^value) << 7);
+	d[1] = value;
+	ao_mma655x_cmd(d);
+	return d[1];
+}
+
+static uint8_t
+ao_mma655x_reg_read(uint8_t addr)
+{
+	uint8_t	d[2];
+
+	d[0] = addr | (ao_parity(addr) << 7);
+	d[1] = 0;
+	ao_mma655x_cmd(d);
+	return d[1];
+}
+
+static uint16_t
+ao_mma655x_value(void)
+{
+	uint8_t		d[2];
+	uint16_t	v;
+
+	d[0] = ((0 << 7) |	/* Axis selection (X) */
+		(1 << 6) |	/* Acceleration operation */
+		(1 << 5));	/* Raw data */
+	d[1] = ((1 << 3) |	/* must be one */
+		(1 << 2) |	/* Unsigned data */
+		(0 << 1) |	/* Arm disabled */
+		(1 << 0));	/* Odd parity */
+	ao_mma655x_cmd(d);
+	v = (uint16_t) d[1] << 2;
+	v |= d[0] >> 6;
+	v |= (uint16_t) (d[0] & 3) << 10;
+	return v;
+}
+
+static void
+ao_mma655x_reset(void) {
+	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
+			     (0 << AO_MMA655X_DEVCTL_RES_1) |
+			     (0 << AO_MMA655X_DEVCTL_RES_1));
+	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
+			     (1 << AO_MMA655X_DEVCTL_RES_1) |
+			     (1 << AO_MMA655X_DEVCTL_RES_1));
+	ao_mma655x_reg_write(AO_MMA655X_DEVCTL,
+			     (0 << AO_MMA655X_DEVCTL_RES_1) |
+			     (1 << AO_MMA655X_DEVCTL_RES_1));
+}
+
+#define DEVCFG_VALUE	(\
+	(1 << AO_MMA655X_DEVCFG_OC) |		/* Disable offset cancelation */ \
+	(1 << AO_MMA655X_DEVCFG_SD) |		/* Receive unsigned data */ \
+	(0 << AO_MMA655X_DEVCFG_OFMON) |	/* Disable offset monitor */ \
+	(AO_MMA655X_DEVCFG_A_CFG_DISABLE << AO_MMA655X_DEVCFG_A_CFG))
+
+#define AXISCFG_VALUE	(\
+		(0 << AO_MMA655X_AXISCFG_LPF))	/* 100Hz 4-pole filter */
+
+
+static void
+ao_mma655x_setup(void)
+{
+	uint8_t		v;
+	uint16_t	a, a_st;
+	uint8_t		stdefl;
+
+	if (mma655x_configured)
+		return;
+	mma655x_configured = 1;
+	ao_delay(AO_MS_TO_TICKS(10));	/* Top */
+	ao_mma655x_reset();
+	ao_delay(AO_MS_TO_TICKS(10));	/* Top */
+	(void) ao_mma655x_reg_read(AO_MMA655X_DEVSTAT);
+	v = ao_mma655x_reg_read(AO_MMA655X_DEVSTAT);
+
+	/* Configure R/W register values.
+	 * Most of them relate to the arming feature, which
+	 * we don't use, so the only registers we need to
+	 * write are DEVCFG and AXISCFG
+	 */
+
+	ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
+			     DEVCFG_VALUE | (0 << AO_MMA655X_DEVCFG_ENDINIT));
+
+	/* Test X axis
+	 */
+	
+	ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
+			     AXISCFG_VALUE |
+			     (1 << AO_MMA655X_AXISCFG_ST));
+	a_st = ao_mma655x_value();
+
+	stdefl = ao_mma655x_reg_read(AO_MMA655X_STDEFL);
+
+	ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
+			     AXISCFG_VALUE |
+			     (0 << AO_MMA655X_AXISCFG_ST));
+	a = ao_mma655x_value();
+	printf ("normal: %u self_test: %u stdefl: %u\n",
+		a, a_st, stdefl);
+
+	ao_mma655x_reg_write(AO_MMA655X_DEVCFG,
+			     DEVCFG_VALUE | (1 << AO_MMA655X_DEVCFG_ENDINIT));
+}
+
+static void
+ao_mma655x_dump(void)
+{
+	uint8_t	s0, s1, s2, s3;
+	uint32_t	lot;
+	uint16_t	serial;
+
+	ao_mma655x_setup();
+
+	s0 = ao_mma655x_reg_read(AO_MMA655X_SN0);
+	s1 = ao_mma655x_reg_read(AO_MMA655X_SN1);
+	s2 = ao_mma655x_reg_read(AO_MMA655X_SN2);
+	s3 = ao_mma655x_reg_read(AO_MMA655X_SN3);
+	lot = ((uint32_t) s3 << 24) | ((uint32_t) s2 << 16) |
+		((uint32_t) s1 << 8) | ((uint32_t) s0);
+	serial = lot & 0x1fff;
+	lot >>= 12;
+	printf ("MMA655X lot %d serial %d\n", lot, serial);
+	mma655x_configured = 0;
+}
+
+__code struct ao_cmds ao_mma655x_cmds[] = {
+	{ ao_mma655x_dump,	"A\0Display MMA655X data" },
+	{ 0, NULL },
+};
+
+void
+ao_mma655x_init(void)
+{
+	mma655x_configured = 0;
+	ao_mma655x_valid = 0;
+
+	ao_cmd_register(&ao_mma655x_cmds[0]);
+	ao_spi_init_cs(AO_MMA655X_CS_GPIO, (1 << AO_MMA655X_CS));
+
+//	ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x");
+}
diff --git a/src/drivers/ao_mma655x.h b/src/drivers/ao_mma655x.h
new file mode 100644
index 00000000..9c0c59dc
--- /dev/null
+++ b/src/drivers/ao_mma655x.h
@@ -0,0 +1,85 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.
+ */
+
+#ifndef _AO_MMA655X_H_
+#define _AO_MMA655X_H_
+
+
+#define AO_MMA655X_SN0		0x00
+#define AO_MMA655X_SN1		0x01
+#define AO_MMA655X_SN2		0x02
+#define AO_MMA655X_SN3		0x03
+#define AO_MMA655X_SN3		0x03
+#define AO_MMA655X_STDEFL	0x04
+#define AO_MMA655X_FCTCFG	0x06
+# define AO_MMA655X_FCTCFG_STMAG	7
+
+#define AO_MMA655X_PN		0x08
+#define AO_MMA655X_DEVCTL	0x0a
+#define AO_MMA655X_DEVCTL_RES_1		7
+#define AO_MMA655X_DEVCTL_RES_0		6
+#define AO_MMA655X_DEVCTL_OCPHASE	4
+#define AO_MMA655X_DEVCTL_OCPHASE_MASK	3
+#define AO_MMA655X_DEVCTL_OFFCFG_EN	3
+
+#define AO_MMA655X_DEVCFG	0x0b
+#define AO_MMA655X_DEVCFG_OC		7
+#define AO_MMA655X_DEVCFG_ENDINIT	5
+#define AO_MMA655X_DEVCFG_SD		4
+#define AO_MMA655X_DEVCFG_OFMON		3
+#define AO_MMA655X_DEVCFG_A_CFG		0
+#define AO_MMA655X_DEVCFG_A_CFG_DISABLE		0
+#define AO_MMA655X_DEVCFG_A_CFG_PCM		1
+#define AO_MMA655X_DEVCFG_A_CFG_MOVING_AVG_HIGH	2
+#define AO_MMA655X_DEVCFG_A_CFG_MOVING_AVG_LOW	3
+#define AO_MMA655X_DEVCFG_A_CFG_COUNT_HIGH	4
+#define AO_MMA655X_DEVCFG_A_CFG_COUNT_LOW	5
+#define AO_MMA655X_DEVCFG_A_CFG_UNFILTERED_HIGH	6
+#define AO_MMA655X_DEVCFG_A_CFG_UNFILTERED_LOW	7
+#define AO_MMA655X_DEVCFG_A_CFG_MASK		7
+
+#define AO_MMA655X_AXISCFG	0x0c
+#define AO_MMA655X_AXISCFG_ST		7
+#define AO_MMA655X_AXISCFG_LPF		0
+#define AO_MMA655X_AXISCFG_LPF_MASK	0xf
+
+#define AO_MMA655X_ARMCFG	0x0e
+#define AO_MMA655X_ARMCFG_APS		4
+#define AO_MMA655X_ARMCFG_APS_MASK	3
+#define AO_MMA655X_ARMCFG_AWS_N		2
+#define AO_MMA655X_ARMCFG_AWS_N_MASK	3
+#define AO_MMA655X_ARMCFG_AWS_P		0
+#define AO_MMA655X_ARMCFG_AWS_P_MASK	3
+
+#define AO_MMA655X_ARMT_P	0x10
+#define AO_MMA655X_ARMT_N	0x12
+
+#define AO_MMA655X_DEVSTAT	0x14
+#define AO_MMA655X_DEVSTAT_IDE		6
+#define AO_MMA655X_DEVSTAT_DEVINIT	4
+#define AO_MMA655X_DEVSTAT_MISOERR	3
+#define AO_MMA655X_DEVSTAT_OFFSET	1
+#define AO_MMA655X_DEVSTAT_DEVRES	0
+
+#define AO_MMA655X_COUNT	0x15
+#define AO_MMA655X_OFFCORR	0x16
+
+
+void
+ao_mma655x_init(void);
+
+#endif /* _AO_MMA655X_H_ */
diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile
index 4a4c983a..1dfebca0 100644
--- a/src/megametrum-v0.1/Makefile
+++ b/src/megametrum-v0.1/Makefile
@@ -19,6 +19,7 @@ INC = \
 	ao_ms5607.h \
 	ao_hmc5883.h \
 	ao_mpu6000.h \
+	ao_mma655x.h \
 	ao_cc1120_CC1120.h \
 	ao_profile.h \
 	ao_whiten.h \
@@ -56,6 +57,7 @@ ALTOS_SRC = \
 	ao_fec_tx.c \
 	ao_fec_rx.c \
 	ao_ms5607.c \
+	ao_mma655x.c \
 	ao_adc_stm.c \
 	ao_beep_stm.c \
 	ao_storage.c \
diff --git a/src/megametrum-v0.1/ao_megametrum.c b/src/megametrum-v0.1/ao_megametrum.c
index 55324514..d3ae4690 100644
--- a/src/megametrum-v0.1/ao_megametrum.c
+++ b/src/megametrum-v0.1/ao_megametrum.c
@@ -18,6 +18,7 @@
 #include <ao.h>
 #include <ao_hmc5883.h>
 #include <ao_mpu6000.h>
+#include <ao_mma655x.h>
 #include <ao_log.h>
 #include <ao_exti.h>
 #include <ao_packet.h>
@@ -53,6 +54,9 @@ main(void)
 #if HAS_MPU6000
 	ao_mpu6000_init();
 #endif
+#if HAS_MMA655X
+	ao_mma655x_init();
+#endif
 
 	ao_storage_init();
 	
diff --git a/src/megametrum-v0.1/ao_pins.h b/src/megametrum-v0.1/ao_pins.h
index 42715968..6256d2f6 100644
--- a/src/megametrum-v0.1/ao_pins.h
+++ b/src/megametrum-v0.1/ao_pins.h
@@ -305,6 +305,15 @@ struct ao_adc {
 
 #define HAS_HIGHG_ACCEL		0
 
+/*
+ * mma655x
+ */
+
+#define HAS_MMA655X		1
+#define AO_MMA655X_SPI_INDEX	AO_SPI_1_PA5_PA6_PA7
+#define AO_MMA655X_CS_GPIO	(&stm_gpiod)
+#define AO_MMA655X_CS		4
+
 #define NUM_CMDS		16
 
 /*