diff options
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/ao_hmc5883.c | 18 | ||||
-rw-r--r-- | src/drivers/ao_hmc5883.h | 2 | ||||
-rw-r--r-- | src/drivers/ao_mpu6000.c | 39 | ||||
-rw-r--r-- | src/drivers/ao_ms5607.c | 4 | ||||
-rw-r--r-- | src/drivers/ao_rn4678.c | 193 | ||||
-rw-r--r-- | src/drivers/ao_rn4678.h | 7 |
6 files changed, 146 insertions, 117 deletions
diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c index f668fb66..c33aa536 100644 --- a/src/drivers/ao_hmc5883.c +++ b/src/drivers/ao_hmc5883.c @@ -126,13 +126,15 @@ struct ao_hmc5883_sample ao_hmc5883_current; static void ao_hmc5883(void) { + struct ao_hmc5883_sample sample; ao_hmc5883_setup(); for (;;) { - ao_hmc5883_sample(&ao_hmc5883_current); - ao_arch_critical( - AO_DATA_PRESENT(AO_DATA_HMC5883); - AO_DATA_WAIT(); - ); + ao_hmc5883_sample(&sample); + ao_arch_block_interrupts(); + ao_hmc5883_current = sample; + AO_DATA_PRESENT(AO_DATA_HMC5883); + AO_DATA_WAIT(); + ao_arch_release_interrupts(); } } @@ -141,10 +143,8 @@ static struct ao_task ao_hmc5883_task; static void ao_hmc5883_show(void) { - struct ao_data sample; - ao_data_get(&sample); - printf ("X: %d Y: %d Z: %d missed irq: %lu\n", - sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq); + printf ("X: %d Z: %d Y: %d missed irq: %lu\n", + ao_hmc5883_current.x, ao_hmc5883_current.z, ao_hmc5883_current.y, ao_hmc5883_missed_irq); } static const struct ao_cmds ao_hmc5883_cmds[] = { diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h index 78637b02..b90733df 100644 --- a/src/drivers/ao_hmc5883.h +++ b/src/drivers/ao_hmc5883.h @@ -77,7 +77,7 @@ #define HMC5883_ID_C 12 struct ao_hmc5883_sample { - int16_t x, y, z; + int16_t x, z, y; }; extern struct ao_hmc5883_sample ao_hmc5883_current; diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index 650407ad..81d3c16c 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -192,7 +192,7 @@ _ao_mpu6000_setup(void) _ao_mpu6000_wait_alive(); /* Reset the whole chip */ - + _ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1, (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET)); @@ -292,7 +292,7 @@ _ao_mpu6000_setup(void) ao_delay(AO_MS_TO_TICKS(200)); _ao_mpu6000_sample(&normal_mode); - + errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x); errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y); errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z); @@ -315,7 +315,7 @@ _ao_mpu6000_setup(void) /* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */ _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 1000 / 200 - 1); - + ao_delay(AO_MS_TO_TICKS(100)); ao_mpu6000_configured = 1; } @@ -325,6 +325,7 @@ struct ao_mpu6000_sample ao_mpu6000_current; static void ao_mpu6000(void) { + struct ao_mpu6000_sample sample; /* ao_mpu6000_init already grabbed the SPI bus and mutex */ _ao_mpu6000_setup(); #if AO_MPU6000_SPI @@ -335,14 +336,15 @@ ao_mpu6000(void) #if AO_MPU6000_SPI ao_mpu6000_spi_get(); #endif - _ao_mpu6000_sample(&ao_mpu6000_current); + _ao_mpu6000_sample(&sample); #if AO_MPU6000_SPI ao_mpu6000_spi_put(); -#endif - ao_arch_critical( - AO_DATA_PRESENT(AO_DATA_MPU6000); - AO_DATA_WAIT(); - ); +#endif + ao_arch_block_interrupts(); + ao_mpu6000_current = sample; + AO_DATA_PRESENT(AO_DATA_MPU6000); + AO_DATA_WAIT(); + ao_arch_release_interrupts(); } } @@ -351,16 +353,13 @@ static struct ao_task ao_mpu6000_task; static void ao_mpu6000_show(void) { - struct ao_data sample; - - ao_data_get(&sample); printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n", - sample.mpu6000.accel_x, - sample.mpu6000.accel_y, - sample.mpu6000.accel_z, - sample.mpu6000.gyro_x, - sample.mpu6000.gyro_y, - sample.mpu6000.gyro_z); + ao_mpu6000_current.accel_x, + ao_mpu6000_current.accel_y, + ao_mpu6000_current.accel_z, + ao_mpu6000_current.gyro_x, + ao_mpu6000_current.gyro_y, + ao_mpu6000_current.gyro_z); } static const struct ao_cmds ao_mpu6000_cmds[] = { @@ -374,7 +373,7 @@ ao_mpu6000_init(void) ao_mpu6000_configured = 0; ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000"); - + #if AO_MPU6000_SPI ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN)); @@ -386,7 +385,7 @@ ao_mpu6000_init(void) ao_cur_task = &ao_mpu6000_task; ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz); ao_cur_task = NULL; -#endif +#endif ao_cmd_register(&ao_mpu6000_cmds[0]); } diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c index 0afdf012..914e0c1b 100644 --- a/src/drivers/ao_ms5607.c +++ b/src/drivers/ao_ms5607.c @@ -201,11 +201,13 @@ __xdata struct ao_ms5607_sample ao_ms5607_current; static void ao_ms5607(void) { + struct ao_ms5607_sample sample; ao_ms5607_setup(); for (;;) { - ao_ms5607_sample(&ao_ms5607_current); + ao_ms5607_sample(&sample); ao_arch_block_interrupts(); + ao_ms5607_current = sample; AO_DATA_PRESENT(AO_DATA_MS5607); AO_DATA_WAIT(); ao_arch_release_interrupts(); diff --git a/src/drivers/ao_rn4678.c b/src/drivers/ao_rn4678.c index 4e3d12cb..98dc35b5 100644 --- a/src/drivers/ao_rn4678.c +++ b/src/drivers/ao_rn4678.c @@ -39,7 +39,7 @@ static void ao_rn_log_char(char c, char dir) { if (dir != ao_rn_dir) { - putchar(dir); + putchar(dir); putchar('\n'); ao_rn_dir = dir; } switch (c) { @@ -100,84 +100,81 @@ static const char *status_strings[] = { "RFCOMM_CLOSE", "RFCOMM_OPEN", "CONNECT", + "LCONNECT", "DISCONN", "BONDED", }; #define NUM_STATUS_STRING (sizeof status_strings/sizeof status_strings[0]) +static char ao_rn_buffer[64]; +static int ao_rn_buf_cnt, ao_rn_buf_ptr; +static int ao_rn_draining; +static AO_TICK_TYPE ao_rn_buf_time; + +/* Well, this is annoying. The status strings from the RN4678 can't be + * disabled due to a firmware bug. So, this code finds those in the + * input and strips them out. + */ int _ao_wrap_rn_pollchar(void) { - static char buffer[64]; - static int buf_cnt, buf_ptr; - static int draining; int c = AO_READ_AGAIN; unsigned i; int done = 0; - while (!done && !draining) { + while (!done && !ao_rn_draining) { c = _ao_serial_rn_pollchar(); - if (c == AO_READ_AGAIN) + if (c == AO_READ_AGAIN) { + if (ao_rn_buf_cnt && (ao_time() - ao_rn_buf_time) > AO_MS_TO_TICKS(1000)) { + ao_rn_draining = 1; + continue; + } return AO_READ_AGAIN; + } - if (buf_cnt) { + if (ao_rn_buf_cnt) { /* buffering chars */ if (c == STATUS_CHAR) { /* End of status string, drop it and carry on */ - buffer[buf_cnt] = '\0'; - ao_rn_dbg("discard %s\n", buffer); - buf_cnt = 0; - } else if (buf_cnt == sizeof(buffer)) { + ao_rn_buffer[ao_rn_buf_cnt] = '\0'; +// ao_rn_dbg("discard %s\n", ao_rn_buffer); + ao_rn_buf_cnt = 0; + } else if (ao_rn_buf_cnt == sizeof(ao_rn_buffer)) { /* If we filled the buffer, just give up */ - draining = 1; + ao_rn_draining = 1; } else { - buffer[buf_cnt++] = c; + ao_rn_buffer[ao_rn_buf_cnt++] = c; for (i = 0; i < NUM_STATUS_STRING; i++) { int cmp = strlen(status_strings[i]); - if (cmp >= buf_cnt) - cmp = buf_cnt-1; - if (memcmp(buffer+1, status_strings[i], cmp) == 0) + if (cmp >= ao_rn_buf_cnt) + cmp = ao_rn_buf_cnt-1; + if (memcmp(ao_rn_buffer+1, status_strings[i], cmp) == 0) break; } if (i == NUM_STATUS_STRING) - draining = 1; + ao_rn_draining = 1; } } else if (c == STATUS_CHAR) { - buffer[0] = c; - buf_cnt = 1; - buf_ptr = 0; + ao_rn_buffer[0] = c; + ao_rn_buf_cnt = 1; + ao_rn_buf_ptr = 0; + ao_rn_buf_time = ao_time(); } else done = 1; } - if (draining) { - c = buffer[buf_ptr++] & 0xff; - if (buf_ptr == buf_cnt) { - buf_ptr = buf_cnt = 0; - draining = 0; + if (ao_rn_draining) { + c = ao_rn_buffer[ao_rn_buf_ptr++] & 0xff; + if (ao_rn_buf_ptr == ao_rn_buf_cnt) { + ao_rn_buf_ptr = ao_rn_buf_cnt = 0; + ao_rn_draining = 0; } } -#if AO_RN_DEBUG - ao_arch_release_interrupts(); - ao_usb_putchar(c); ao_usb_flush(); - ao_arch_block_interrupts(); -#endif return c; } -#if AO_RN_DEBUG -static void -ao_wrap_rn_putchar(char c) -{ - ao_usb_putchar(c); ao_usb_flush(); - ao_serial_rn_putchar(c); -} -#else -#define ao_wrap_rn_putchar ao_serial_rn_putchar -#endif - static void ao_rn_puts(char *s) { @@ -192,7 +189,7 @@ ao_rn_drain(void) { int timeout = 0; - ao_rn_dbg("drain...\n"); +// ao_rn_dbg("drain...\n"); ao_serial_rn_drain(); while (!timeout) { ao_arch_block_interrupts(); @@ -204,13 +201,13 @@ ao_rn_drain(void) } ao_arch_release_interrupts(); } - ao_rn_dbg("drain done\n"); +// ao_rn_dbg("drain done\n"); } static void ao_rn_send_cmd(char *cmd, char *param) { - ao_rn_dbg("send_cmd %s%s\n", cmd, param ? param : ""); +// ao_rn_dbg("send_cmd %s%s\n", cmd, param ? param : ""); ao_rn_drain(); ao_rn_puts(cmd); if (param) @@ -244,20 +241,20 @@ ao_rn_wait_for(int timeout, char *match) AO_TICK_TYPE giveup_time = ao_time() + timeout; int c; - ao_rn_dbg("wait for %d, \"%s\"\n", timeout, match); +// ao_rn_dbg("wait for %d, \"%s\"\n", timeout, match); memset(reply, ' ', sizeof(reply)); while (memcmp(reply, match, match_len) != 0) { c = ao_rn_wait_char(giveup_time); if (c == AO_READ_AGAIN) { - ao_rn_dbg("\twait for timeout\n"); +// ao_rn_dbg("\twait for timeout\n"); return AO_RN_TIMEOUT; } reply[match_len] = (char) c; memmove(reply, reply+1, match_len); reply[match_len] = '\0'; - ao_rn_dbg("\tmatch now \"%s\"\n", reply); +// ao_rn_dbg("\tmatch now \"%s\"\n", reply); } - ao_rn_dbg("\twait for ok\n"); +// ao_rn_dbg("\twait for ok\n"); return AO_RN_OK; } @@ -266,20 +263,20 @@ ao_rn_wait_line(AO_TICK_TYPE giveup_time, char *line, int len) { char *l = line; - ao_rn_dbg("wait line\n"); +// ao_rn_dbg("wait line\n"); for (;;) { int c = ao_rn_wait_char(giveup_time); /* timeout */ if (c == AO_READ_AGAIN) { - ao_rn_dbg("\twait line timeout\n"); +// ao_rn_dbg("\twait line timeout\n"); return AO_RN_TIMEOUT; } /* done */ if (c == '\r') { *l = '\0'; - ao_rn_dbg("\twait line \"%s\"\n", line); +// ao_rn_dbg("\twait line \"%s\"\n", line); return AO_RN_OK; } @@ -302,7 +299,7 @@ ao_rn_wait_status(void) AO_TICK_TYPE giveup_time = ao_time() + AO_RN_CMD_TIMEOUT; int status; - ao_rn_dbg("wait status\n"); +// ao_rn_dbg("wait status\n"); status = ao_rn_wait_line(giveup_time, message, sizeof (message)); if (status == AO_RN_OK) if (strncmp(message, "AOK", 3) != 0) @@ -317,7 +314,7 @@ ao_rn_set_name(void) char *s = sn + 8; int n; - ao_rn_dbg("set name...\n"); +// ao_rn_dbg("set name...\n"); *--s = '\0'; n = ao_serial_number; do { @@ -330,7 +327,7 @@ ao_rn_set_name(void) static int ao_rn_get_name(char *name, int len) { - ao_rn_dbg("get name...\n"); +// ao_rn_dbg("get name...\n"); ao_rn_send_cmd(AO_RN_GET_NAME_CMD, NULL); return ao_rn_wait_line(ao_time() + AO_RN_CMD_TIMEOUT, name, len); } @@ -404,12 +401,18 @@ ao_rn(void) continue; } - ao_rn_puts("$$$"); - /* After it reboots, it can take a moment before it responds * to commands */ - (void) ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> "); + status = ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> "); + + if (status == AO_RN_TIMEOUT) { + ao_rn_puts("$$$"); + (void) ao_rn_wait_for(AO_RN_REBOOT_TIMEOUT, "CMD> "); + } + + ao_rn_send_cmd(AO_RN_VERSION_CMD, NULL); + (void) ao_rn_wait_status(); /* Check to see if the name is already set and assume * that the device is ready to go @@ -417,7 +420,9 @@ ao_rn(void) status = ao_rn_get_name(name, sizeof (name)); if (status != AO_RN_OK) { ao_rn_dbg("get name failed\n"); - continue; + status = ao_rn_get_name(name, sizeof (name)); + if (status != AO_RN_OK) + continue; } if (strncmp(name, "TeleBT-", 7) == 0) { @@ -433,6 +438,12 @@ ao_rn(void) continue; } + ao_rn_send_cmd(AO_RN_SET_STATUS_STRING, AO_RN_STATUS_STRING_ENABLE); + if (ao_rn_wait_status() != AO_RN_OK) { + ao_rn_dbg("set status string\n"); + continue; + } + /* Select 'fast' mode to ignore command sequence (more or less) */ ao_rn_send_cmd(AO_RN_SET_FAST_MODE, NULL); if (ao_rn_wait_status() != AO_RN_OK) { @@ -465,17 +476,27 @@ ao_rn(void) ao_exti_enable(AO_RN_CONNECTED_PORT, AO_RN_CONNECTED_PIN); -#if 1 +#if AO_RN_DEBUG + + /* + * Separate debug code when things aren't working. Just dump + * inbound bluetooth characters to stdout + */ + for (;;) { + int c; + + ao_arch_block_interrupts(); + while ((c = _ao_rn_pollchar()) == AO_READ_AGAIN) + ao_sleep(&ao_serial_rn_rx_fifo); + ao_arch_release_interrupts(); + } +#else ao_rn_stdio = ao_add_stdio(_ao_wrap_rn_pollchar, - ao_wrap_rn_putchar, + ao_serial_rn_putchar, NULL); ao_rn_echo(0); - ao_rn_check_link(); - - ao_rn_dbg("RN running\n"); - /* * Now just hang around and flash the blue LED when we've got * a connection @@ -487,27 +508,11 @@ ao_rn(void) ao_arch_release_interrupts(); while (ao_rn_connected) { ao_led_for(AO_BT_LED, AO_MS_TO_TICKS(20)); + if (ao_rn_buf_cnt != 0) + ao_wakeup(&ao_stdin_ready); ao_delay(AO_SEC_TO_TICKS(3)); } } -#else - - /* - * Separate debug code when things aren't working. Just dump - * inbound bluetooth characters to stdout - */ - for (;;) { - int c; - - while (rn_cmd_running) - ao_delay(AO_MS_TO_TICKS(1000)); - - ao_arch_block_interrupts(); - while ((c = _ao_wrap_rn_pollchar()) == AO_READ_AGAIN) - ao_sleep(&ao_serial_rn_rx_fifo); - ao_arch_release_interrupts(); - putchar(c); flush(); - } #endif } @@ -539,19 +544,39 @@ ao_rn_factory(void) /* Right after power on, poke P3_1 five times to force a * factory reset */ - for (i = 0; i < 10; i++) { + for (i = 0; i < 20; i++) { v = 1-v; - ao_delay(AO_MS_TO_TICKS(100)); + ao_delay(AO_MS_TO_TICKS(50)); ao_gpio_set(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, foo, v); ao_led_toggle(AO_BT_LED); } /* And let P3_1 float again */ ao_enable_input(AO_RN_P3_1_PORT, AO_RN_P3_1_PIN, AO_EXTI_MODE_PULL_NONE); + + printf("Reboot BT\n"); flush(); + ao_delay(AO_MS_TO_TICKS(100)); + ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 0); + ao_delay(AO_MS_TO_TICKS(100)); + ao_gpio_set(AO_RN_RST_N_PORT, AO_RN_RST_N_PIN, foo, 1); } +#if AO_RN_DEBUG +static void +ao_rn_send(void) +{ + int c; + + while ((c = getchar()) != '~') + ao_rn_putchar(c); +} +#endif + static const struct ao_cmds rn_cmds[] = { { ao_rn_factory, "F\0Factory reset rn4678" }, +#if AO_RN_DEBUG + { ao_rn_send, "B\0Send data to rn4678. End with ~" }, +#endif { 0 }, }; diff --git a/src/drivers/ao_rn4678.h b/src/drivers/ao_rn4678.h index d6fea23a..a4dcea38 100644 --- a/src/drivers/ao_rn4678.h +++ b/src/drivers/ao_rn4678.h @@ -56,7 +56,7 @@ */ -#define AO_RN_REBOOT_MSG "%REBOOT%" +#define AO_RN_REBOOT_MSG "REBOOT" #define AO_RN_CMD_TIMEOUT AO_MS_TO_TICKS(200) @@ -67,11 +67,14 @@ #define AO_RN_SET_NAME_CMD "SN," #define AO_RN_GET_NAME_CMD "GN" -#define AO_RN_SET_STATUS_STRING "SO," +#define AO_RN_SET_STATUS_STRING "so," #define AO_RN_STATUS_STRING_DISABLE " " +#define AO_RN_STATUS_STRING_ENABLE "%,%" #define AO_RN_REBOOT_CMD "R,1" +#define AO_RN_VERSION_CMD "V" + #define AO_RN_TIMEOUT -1 #define AO_RN_ERROR 0 #define AO_RN_OK 1 |