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-rw-r--r--src/drivers/ao_cc1120.c4
-rw-r--r--src/drivers/ao_mma655x.c134
-rw-r--r--src/drivers/ao_mpu6000.c2
-rw-r--r--src/drivers/ao_ms5607.c35
-rw-r--r--src/drivers/ao_radio_slave.c10
5 files changed, 122 insertions, 63 deletions
diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c
index 4df931b5..2f9c296f 100644
--- a/src/drivers/ao_cc1120.c
+++ b/src/drivers/ao_cc1120.c
@@ -1028,12 +1028,12 @@ ao_radio_init(void)
AO_CC1120_SPI_CS_PORT->bsrr = ((uint32_t) (1 << AO_CC1120_SPI_CS_PIN));
for (i = 0; i < 10000; i++) {
- if ((SPI_2_GPIO->idr & (1 << SPI_2_MISO)) == 0)
+ if ((SPI_2_PORT->idr & (1 << SPI_2_MISO_PIN)) == 0)
break;
}
AO_CC1120_SPI_CS_PORT->bsrr = (1 << AO_CC1120_SPI_CS_PIN);
if (i == 10000)
- ao_panic(AO_PANIC_SELF_TEST);
+ ao_panic(AO_PANIC_SELF_TEST_CC1120);
/* Enable the EXTI interrupt for the appropriate pin */
ao_enable_port(AO_CC1120_INT_PORT);
diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c
index cd304d80..06422206 100644
--- a/src/drivers/ao_mma655x.c
+++ b/src/drivers/ao_mma655x.c
@@ -20,67 +20,101 @@
#if HAS_MMA655X
+#if 1
+#define PRINTD(...) do { printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); } while(0)
+#else
+#define PRINTD(...)
+#endif
+
static uint8_t mma655x_configured;
+uint8_t ao_mma655x_spi_index = AO_MMA655X_SPI_INDEX;
+
static void
ao_mma655x_start(void) {
- ao_spi_get_bit(AO_MMA655X_CS_GPIO,
- AO_MMA655X_CS,
+ ao_spi_get_bit(AO_MMA655X_CS_PORT,
AO_MMA655X_CS_PIN,
+ AO_MMA655X_CS,
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_spi_put_bit(AO_MMA655X_CS_PORT,
AO_MMA655X_CS_PIN,
+ AO_MMA655X_CS,
AO_MMA655X_SPI_INDEX);
}
+static void
+ao_mma655x_restart(void) {
+ uint8_t i;
+ ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, AO_MMA655X_CS, 1);
+
+ /* Emperical testing on STM32L151 at 32MHz for this delay amount */
+ for (i = 0; i < 9; i++)
+ ao_arch_nop();
+ ao_gpio_set(AO_MMA655X_CS_PORT, AO_MMA655X_CS_PIN, AO_MMA655X_CS, 0);
+}
+
static uint8_t
ao_parity(uint8_t v)
{
+ uint8_t p;
/* down to four bits */
- v = (v ^ (v >> 4)) & 0xf;
+ p = (v ^ (v >> 4)) & 0xf;
/* Cute lookup hack -- 0x6996 encodes the sixteen
* even parity values in order.
*/
- return (~0x6996 >> v) & 1;
+ p = (~0x6996 >> p) & 1;
+ return p;
}
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);
+ PRINTD("\tSEND %02x %02x\n", d[0], d[1]);
+ ao_spi_duplex(d, d, 2, AO_MMA655X_SPI_INDEX);
+ PRINTD("\t\tRECV %02x %02x\n", d[0], d[1]);
ao_mma655x_stop();
}
static uint8_t
-ao_mma655x_reg_write(uint8_t addr, uint8_t value)
+ao_mma655x_reg_read(uint8_t addr)
{
uint8_t d[2];
+ ao_mma655x_start();
+ d[0] = addr | (ao_parity(addr) << 7);
+ d[1] = 0;
+ ao_spi_send(&d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_restart();
- addr |= (1 << 6); /* write mode */
- d[0] = addr | (ao_parity(addr^value) << 7);
- d[1] = value;
- ao_mma655x_cmd(d);
+ /* Send a dummy read of 00 to clock out the SPI data */
+ d[0] = 0x80;
+ d[1] = 0x00;
+ ao_spi_duplex(&d, &d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_stop();
return d[1];
}
-static uint8_t
-ao_mma655x_reg_read(uint8_t addr)
+static void
+ao_mma655x_reg_write(uint8_t addr, uint8_t value)
{
uint8_t d[2];
- d[0] = addr | (ao_parity(addr) << 7);
- d[1] = 0;
- ao_mma655x_cmd(d);
- return d[1];
+ addr |= (1 << 6); /* write mode */
+ d[0] = addr | (ao_parity(addr^value) << 7);
+ d[1] = value;
+ ao_mma655x_start();
+ ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_stop();
+
+ addr &= ~(1 << 6);
+ PRINTD("write %x %x = %x\n",
+ addr, value, ao_mma655x_reg_read(addr));
}
static uint16_t
@@ -89,14 +123,23 @@ 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[0] = ((0 << 6) | /* Axis selection (X) */
+ (1 << 5) | /* Acceleration operation */
+ (1 << 4)); /* 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);
+ ao_mma655x_start();
+ PRINTD("value SEND %02x %02x\n", d[0], d[1]);
+ ao_spi_send(d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_restart();
+ d[0] = 0x80;
+ d[1] = 0x00;
+ ao_spi_duplex(d, d, 2, AO_MMA655X_SPI_INDEX);
+ ao_mma655x_stop();
+ PRINTD("value RECV %02x %02x\n", d[0], d[1]);
+
v = (uint16_t) d[1] << 2;
v |= d[0] >> 6;
v |= (uint16_t) (d[0] & 3) << 10;
@@ -132,6 +175,12 @@ ao_mma655x_setup(void)
uint8_t v;
uint16_t a, a_st;
uint8_t stdefl;
+ uint8_t i;
+ uint8_t s0, s1, s2, s3;
+ uint8_t pn;
+ uint32_t lot;
+ uint16_t serial;
+
if (mma655x_configured)
return;
@@ -157,7 +206,10 @@ ao_mma655x_setup(void)
ao_mma655x_reg_write(AO_MMA655X_AXISCFG,
AXISCFG_VALUE |
(1 << AO_MMA655X_AXISCFG_ST));
- a_st = ao_mma655x_value();
+ for (i = 0; i < 10; i++) {
+ a_st = ao_mma655x_value();
+ printf ("SELF-TEST %2d = %6d\n", i, a_st);
+ }
stdefl = ao_mma655x_reg_read(AO_MMA655X_STDEFL);
@@ -165,22 +217,14 @@ ao_mma655x_setup(void)
AXISCFG_VALUE |
(0 << AO_MMA655X_AXISCFG_ST));
a = ao_mma655x_value();
- printf ("normal: %u self_test: %u stdefl: %u\n",
- a, a_st, stdefl);
+
+ for (i = 0; i < 10; i++) {
+ a = ao_mma655x_value();
+ printf("NORMAL %2d = %6d\n", i, a);
+ }
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);
@@ -189,8 +233,16 @@ ao_mma655x_dump(void)
((uint32_t) s1 << 8) | ((uint32_t) s0);
serial = lot & 0x1fff;
lot >>= 12;
- printf ("MMA655X lot %d serial %d\n", lot, serial);
- mma655x_configured = 0;
+ pn = ao_mma655x_reg_read(AO_MMA655X_PN);
+ printf ("MMA655X lot %d serial %d number %d\n", lot, serial, pn);
+
+}
+
+static void
+ao_mma655x_dump(void)
+{
+ ao_mma655x_setup();
+ printf ("MMA655X value %d\n", ao_mma655x_value());
}
__code struct ao_cmds ao_mma655x_cmds[] = {
@@ -219,9 +271,9 @@ ao_mma655x_init(void)
mma655x_configured = 0;
ao_cmd_register(&ao_mma655x_cmds[0]);
- ao_spi_init_cs(AO_MMA655X_CS_GPIO, (1 << AO_MMA655X_CS));
+ ao_spi_init_cs(AO_MMA655X_CS_PORT, (1 << AO_MMA655X_CS_PIN));
- ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x");
+// ao_add_task(&ao_mma655x_task, ao_mma655x, "mma655x");
}
#endif
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index e8c80f12..b3e284e0 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -225,7 +225,7 @@ ao_mpu6000_setup(void)
errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
if (errors)
- ao_panic(AO_PANIC_SELF_TEST);
+ ao_panic(AO_PANIC_SELF_TEST_MPU6000);
/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
ao_mpu6000_reg_write(MPU6000_CONFIG,
diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c
index ec0d2202..704b4583 100644
--- a/src/drivers/ao_ms5607.c
+++ b/src/drivers/ao_ms5607.c
@@ -27,12 +27,12 @@ static uint8_t ms5607_configured;
static void
ao_ms5607_start(void) {
ao_spi_get(AO_MS5607_SPI_INDEX,AO_SPI_SPEED_FAST);
- stm_gpio_set(AO_MS5607_CS_GPIO, AO_MS5607_CS, 0);
+ stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 0);
}
static void
ao_ms5607_stop(void) {
- stm_gpio_set(AO_MS5607_CS_GPIO, AO_MS5607_CS, 1);
+ stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
ao_spi_put(AO_MS5607_SPI_INDEX);
}
@@ -92,7 +92,7 @@ ao_ms5607_prom_read(struct ao_ms5607_prom *prom)
printf ("MS5607 PROM CRC error (computed %x actual %x)\n",
crc, (((uint8_t *) prom)[15] & 0xf));
flush();
- ao_panic(AO_PANIC_SELF_TEST);
+// ao_panic(AO_PANIC_SELF_TEST_MS5607);
}
#if __BYTE_ORDER == __LITTLE_ENDIAN
@@ -120,7 +120,7 @@ static uint8_t ao_ms5607_done;
static void
ao_ms5607_isr(void)
{
- ao_exti_disable(AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+ ao_exti_disable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
ao_ms5607_done = 1;
ao_wakeup(&ao_ms5607_done);
}
@@ -135,7 +135,7 @@ ao_ms5607_get_sample(uint8_t cmd) {
ao_ms5607_start();
ao_spi_send(&cmd, 1, AO_MS5607_SPI_INDEX);
- ao_exti_enable(AO_MS5607_MISO_GPIO, AO_MS5607_MISO);
+ ao_exti_enable(AO_MS5607_MISO_PORT, AO_MS5607_MISO_PIN);
#if AO_MS5607_PRIVATE_PINS
ao_spi_put(AO_MS5607_SPI_INDEX);
#endif
@@ -144,7 +144,7 @@ ao_ms5607_get_sample(uint8_t cmd) {
ao_sleep(&ao_ms5607_done);
sei();
#if AO_MS5607_PRIVATE_PINS
- stm_gpio_set(AO_MS5607_CS_GPIO, AO_MS5607_CS, 1);
+ stm_gpio_set(AO_MS5607_CS_PORT, AO_MS5607_CS_PIN, 1);
#else
ao_ms5607_stop();
#endif
@@ -235,13 +235,14 @@ ao_ms5607_info(void)
static void
ao_ms5607_dump(void)
{
- struct ao_data sample;
+ struct ao_ms5607_sample sample;
struct ao_ms5607_value value;
- ao_data_get(&sample);
- ao_ms5607_convert(&sample.ms5607_raw, &value);
- printf ("Pressure: %8u %8d\n", sample.ms5607_raw.pres, value.pres);
- printf ("Temperature: %8u %8d\n", sample.ms5607_raw.temp, value.temp);
+ ao_ms5607_setup();
+ ao_ms5607_sample(&sample);
+ ao_ms5607_convert(&sample, &value);
+ printf ("Pressure: %8u %8d\n", sample.pres, value.pres);
+ printf ("Temperature: %8u %8d\n", sample.temp, value.temp);
printf ("Altitude: %ld\n", ao_pa_to_altitude(value.pres));
}
@@ -255,24 +256,24 @@ ao_ms5607_init(void)
{
ms5607_configured = 0;
ao_cmd_register(&ao_ms5607_cmds[0]);
- ao_spi_init_cs(AO_MS5607_CS_GPIO, (1 << AO_MS5607_CS));
+ ao_spi_init_cs(AO_MS5607_CS_PORT, (1 << AO_MS5607_CS_PIN));
- ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
+// ao_add_task(&ao_ms5607_task, ao_ms5607, "ms5607");
/* Configure the MISO pin as an interrupt; when the
* conversion is complete, the MS5607 will raise this
* pin as a signal
*/
- ao_exti_setup(AO_MS5607_MISO_GPIO,
- AO_MS5607_MISO,
+ ao_exti_setup(AO_MS5607_MISO_PORT,
+ AO_MS5607_MISO_PIN,
AO_EXTI_MODE_RISING,
ao_ms5607_isr);
/* Reset the pin from INPUT to ALTERNATE so that SPI works
* This needs an abstraction at some point...
*/
- stm_moder_set(AO_MS5607_MISO_GPIO,
- AO_MS5607_MISO,
+ stm_moder_set(AO_MS5607_MISO_PORT,
+ AO_MS5607_MISO_PIN,
STM_MODER_ALTERNATE);
}
diff --git a/src/drivers/ao_radio_slave.c b/src/drivers/ao_radio_slave.c
index 9a01bbfa..1d1f16fe 100644
--- a/src/drivers/ao_radio_slave.c
+++ b/src/drivers/ao_radio_slave.c
@@ -32,7 +32,6 @@ ao_radio_slave_low(void)
if (slave_state != 1)
ao_panic(1);
- ao_led_toggle(AO_LED_GREEN);
ao_gpio_set(AO_RADIO_SLAVE_INT_PORT, AO_RADIO_SLAVE_INT_BIT, AO_RADIO_SLAVE_INT_PIN, 0);
for (i = 0; i < 1000; i++)
ao_arch_nop();
@@ -44,7 +43,6 @@ ao_radio_slave_high(void)
{
if (slave_state != 0)
ao_panic(2);
- ao_led_toggle(AO_LED_RED);
ao_gpio_set(AO_RADIO_SLAVE_INT_PORT, AO_RADIO_SLAVE_INT_BIT, AO_RADIO_SLAVE_INT_PIN, 1);
slave_state = 1;
}
@@ -65,8 +63,10 @@ ao_radio_slave_spi(void)
/* XXX monitor CS to interrupt the receive */
ao_config.radio_setting = ao_radio_spi_request.setting;
+ ao_led_on(AO_LED_RX);
ao_radio_spi_reply.status = ao_radio_recv(&ao_radio_spi_reply.payload,
ao_radio_spi_request.recv_len);
+ ao_led_off(AO_LED_RX);
ao_radio_spi_reply.rssi = 0;
ao_spi_send(&ao_radio_spi_reply,
AO_RADIO_SPI_REPLY_HEADER_LEN + ao_radio_spi_request.recv_len,
@@ -76,9 +76,11 @@ ao_radio_slave_spi(void)
continue;
case AO_RADIO_SPI_CMAC_RECV:
ao_config.radio_setting = ao_radio_spi_request.setting;
+ ao_led_on(AO_LED_RX);
ao_radio_spi_reply.status = ao_radio_cmac_recv(&ao_radio_spi_reply.payload,
ao_radio_spi_request.recv_len,
ao_radio_spi_request.timeout);
+ ao_led_off(AO_LED_RX);
ao_radio_spi_reply.rssi = ao_radio_cmac_rssi;
ao_spi_send(&ao_radio_spi_reply,
AO_RADIO_SPI_REPLY_HEADER_LEN + ao_radio_spi_request.recv_len,
@@ -88,14 +90,18 @@ ao_radio_slave_spi(void)
continue;
case AO_RADIO_SPI_SEND:
ao_config.radio_setting = ao_radio_spi_request.setting;
+ ao_led_on(AO_LED_TX);
ao_radio_send(&ao_radio_spi_request.payload,
ao_radio_spi_request.len - AO_RADIO_SPI_REQUEST_HEADER_LEN);
+ ao_led_off(AO_LED_TX);
break;
case AO_RADIO_SPI_CMAC_SEND:
ao_config.radio_setting = ao_radio_spi_request.setting;
+ ao_led_on(AO_LED_TX);
ao_radio_cmac_send(&ao_radio_spi_request.payload,
ao_radio_spi_request.len - AO_RADIO_SPI_REQUEST_HEADER_LEN);
+ ao_led_off(AO_LED_TX);
break;
case AO_RADIO_SPI_CMAC_KEY:
generated by cgit v1.2.3 (git 2.39.1) at 2025-12-29 16:31:52 +0000