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/*
* 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_mpu6000.h>
#include <ao_exti.h>
static uint8_t ao_mpu6000_wake;
static uint8_t ao_mpu6000_configured;
static void
ao_mpu6000_isr(void)
{
ao_exti_disable(&AO_MPU6000_INT_PORT, AO_MPU6000_INT_PIN);
ao_mpu6000_wake = 1;
ao_wakeup(&ao_mpu6000_wake);
}
static void
ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
{
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX);
if (len)
ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX);
ao_i2c_stop(AO_MPU6000_I2C_INDEX);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
}
static void
ao_mpu6000_read(uint8_t addr, uint8_t *data, uint8_t len)
{
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
if (len)
ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX);
ao_i2c_stop(AO_MPU6000_I2C_INDEX);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
}
static void
ao_mpu6000_setup(void)
{
if (ao_mpu6000_configured)
return;
/* Enable the EXTI interrupt for the appropriate pin */
ao_enable_port(AO_MPU6000_INT_PORT);
ao_exti_setup(&AO_MPU6000_INT_PORT, AO_MPU6000_INT_PIN,
AO_EXTI_MODE_FALLING, ao_mpu6000_isr);
ao_mpu6000_configured = 1;
}
static void
ao_mpu6000_show(void)
{
uint8_t addr;
uint8_t data[14];
uint8_t i;
ao_mpu6000_read(MPU6000_WHO_AM_I, data, 1);
printf ("mpu6000 WHO_AM_I: %02x\n", data[0]);
ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, data, 1);
for (i = 0; i < 14; i++)
printf ("reg %02x: %02x\n", i + MPU6000_ACCEL_XOUT_H, data[i]);
}
static const struct ao_cmds ao_mpu6000_cmds[] = {
{ ao_mpu6000_show, "I\0Show MPU6000 status" },
{ 0, NULL }
};
void
ao_mpu6000_init(void)
{
ao_mpu6000_configured = 0;
ao_cmd_register(&ao_mpu6000_cmds[0]);
}
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