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sensor_angle: Add support for bulk querying of spi angle sensors
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
91ba9c00e3
commit
74937326d3
7 changed files with 524 additions and 1 deletions
276
src/sensor_angle.c
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src/sensor_angle.c
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// Support for querying magnetic angle sensors via SPI
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//
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// Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "basecmd.h" // oid_alloc
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#include "board/misc.h" // timer_read_time
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#include "board/gpio.h" // gpio_out_write
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#include "board/irq.h" // irq_disable
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#include "command.h" // DECL_COMMAND
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#include "sched.h" // DECL_TASK
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#include "spicmds.h" // spidev_transfer
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enum { SA_CHIP_A1333, SA_CHIP_AS5047D, SA_CHIP_TLE5012B, SA_CHIP_MAX };
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DECL_ENUMERATION("spi_angle_type", "a1333", SA_CHIP_A1333);
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DECL_ENUMERATION("spi_angle_type", "as5047d", SA_CHIP_AS5047D);
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DECL_ENUMERATION("spi_angle_type", "tle5012b", SA_CHIP_TLE5012B);
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enum { TCODE_ERROR = 0xff };
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enum {
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SE_OVERFLOW, SE_SCHEDULE, SE_SPI_TIME, SE_CRC, SE_DUP, SE_NO_ANGLE
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};
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#define MAX_SPI_READ_TIME timer_from_us(50)
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struct spi_angle {
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struct timer timer;
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uint32_t rest_ticks;
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struct spidev_s *spi;
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uint16_t sequence;
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uint8_t flags, chip_type, data_count, time_shift, overflow;
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uint8_t data[48];
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};
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enum {
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SA_PENDING = 1<<2,
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};
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static struct task_wake angle_wake;
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// Event handler that wakes spi_angle_task() periodically
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static uint_fast8_t
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angle_event(struct timer *timer)
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{
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struct spi_angle *sa = container_of(timer, struct spi_angle, timer);
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uint8_t flags = sa->flags;
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if (sa->flags & SA_PENDING)
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sa->overflow++;
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else
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sa->flags = flags | SA_PENDING;
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sched_wake_task(&angle_wake);
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sa->timer.waketime += sa->rest_ticks;
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return SF_RESCHEDULE;
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}
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void
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command_config_spi_angle(uint32_t *args)
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{
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uint8_t chip_type = args[2];
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if (chip_type > SA_CHIP_MAX)
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shutdown("Invalid spi_angle chip type");
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struct spi_angle *sa = oid_alloc(args[0], command_config_spi_angle
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, sizeof(*sa));
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sa->timer.func = angle_event;
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sa->spi = spidev_oid_lookup(args[1]);
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if (!spidev_have_cs_pin(sa->spi))
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shutdown("angle sensor requires cs pin");
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sa->chip_type = chip_type;
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}
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DECL_COMMAND(command_config_spi_angle,
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"config_spi_angle oid=%c spi_oid=%c spi_angle_type=%c");
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// Report local measurement buffer
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static void
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angle_report(struct spi_angle *sa, uint8_t oid)
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{
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sendf("spi_angle_data oid=%c sequence=%hu data=%*s"
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, oid, sa->sequence, sa->data_count, sa->data);
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sa->data_count = 0;
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sa->sequence++;
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}
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// Send spi_angle_data message if buffer is full
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static void
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angle_check_report(struct spi_angle *sa, uint8_t oid)
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{
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if (sa->data_count + 3 > ARRAY_SIZE(sa->data))
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angle_report(sa, oid);
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}
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// Add an error indicator to the measurement buffer
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static void
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angle_add_error(struct spi_angle *sa, uint_fast8_t error_code)
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{
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sa->data[sa->data_count] = TCODE_ERROR;
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sa->data[sa->data_count + 1] = error_code;
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sa->data[sa->data_count + 2] = 0;
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sa->data_count += 3;
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}
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// Add a measurement to the buffer
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static void
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angle_add_data(struct spi_angle *sa, uint32_t stime, uint32_t mtime
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, uint_fast16_t angle)
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{
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uint32_t tdiff = mtime - stime;
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if (sa->time_shift)
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tdiff = (tdiff + (1<<(sa->time_shift - 1))) >> sa->time_shift;
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if (tdiff >= TCODE_ERROR) {
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angle_add_error(sa, SE_SCHEDULE);
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return;
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}
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sa->data[sa->data_count] = tdiff;
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sa->data[sa->data_count + 1] = angle;
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sa->data[sa->data_count + 2] = angle >> 8;
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sa->data_count += 3;
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}
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// a1333 sensor query
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static void
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a1333_query(struct spi_angle *sa, uint32_t stime)
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{
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uint8_t msg[2] = { 0x32, 0x00 };
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uint32_t mtime1 = timer_read_time();
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spidev_transfer(sa->spi, 1, sizeof(msg), msg);
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uint32_t mtime2 = timer_read_time();
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// Data is latched on first sclk edge of response
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if (mtime2 - mtime1 > MAX_SPI_READ_TIME)
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angle_add_error(sa, SE_SPI_TIME);
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else if (msg[0] & 0x80)
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angle_add_error(sa, SE_CRC);
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else
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angle_add_data(sa, stime, mtime1, (msg[0] << 9) | (msg[1] << 1));
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}
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// as5047d sensor query
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static void
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as5047d_query(struct spi_angle *sa, uint32_t stime)
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{
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uint8_t msg[2] = { 0x7F, 0xFE };
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uint32_t mtime1 = timer_read_time();
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spidev_transfer(sa->spi, 0, sizeof(msg), msg);
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uint32_t mtime2 = timer_read_time();
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// Data is latched on CS pin rising after query request
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if (mtime2 - mtime1 > MAX_SPI_READ_TIME) {
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angle_add_error(sa, SE_SPI_TIME);
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return;
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}
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msg[0] = 0xC0;
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msg[1] = 0x00;
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spidev_transfer(sa->spi, 1, sizeof(msg), msg);
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uint_fast8_t parity = msg[0] ^ msg[1];
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parity ^= parity >> 4;
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parity ^= parity >> 2;
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parity ^= parity >> 1;
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if (parity & 1)
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angle_add_error(sa, SE_CRC);
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else if (msg[0] & 0x40)
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angle_add_error(sa, SE_NO_ANGLE);
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else
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angle_add_data(sa, stime, mtime2, (msg[0] << 10) | (msg[1] << 2));
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}
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#define TLE_READ 0x80
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#define TLE_READ_LATCH (TLE_READ | 0x04)
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#define TLE_REG_AVAL 0x02
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// crc8 "J1850" calculation for tle5012b messages
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static uint8_t
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crc8(uint8_t crc, uint8_t data)
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{
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crc ^= data;
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int i;
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for (i=0; i<8; i++)
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crc = crc & 0x80 ? (crc << 1) ^ 0x1d : crc << 1;
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return crc;
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}
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// microsecond delay helper
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static inline void
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udelay(uint32_t usecs)
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{
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uint32_t end = timer_read_time() + timer_from_us(usecs);
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while (!timer_is_before(end, timer_read_time()))
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irq_poll();
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}
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// tle5012b sensor query
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static void
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tle5012b_query(struct spi_angle *sa, uint32_t stime)
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{
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struct gpio_out cs_pin = spidev_get_cs_pin(sa->spi);
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// Latch data (data is latched on rising CS of a NULL message)
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gpio_out_write(cs_pin, 0);
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udelay(1);
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irq_disable();
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gpio_out_write(cs_pin, 1);
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uint32_t mtime = timer_read_time();
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irq_enable();
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uint8_t msg[6] = { TLE_READ_LATCH, (TLE_REG_AVAL << 4) | 0x01, 0, 0, 0, 0 };
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uint8_t start_crc = 0x3f; // 0x3f == crc8(crc8(0xff, msg[0]), msg[1])
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spidev_transfer(sa->spi, 1, sizeof(msg), msg);
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uint8_t crc = ~crc8(crc8(start_crc, msg[2]), msg[3]);
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if (crc != msg[5])
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angle_add_error(sa, SE_CRC);
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else if (!(msg[4] & (1<<4)))
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angle_add_error(sa, SE_NO_ANGLE);
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else if (!(msg[2] & 0x80))
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angle_add_error(sa, SE_DUP);
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else
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angle_add_data(sa, stime, mtime, (msg[2] << 9) | (msg[3] << 1));
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}
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void
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command_query_spi_angle(uint32_t *args)
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{
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uint8_t oid = args[0];
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struct spi_angle *sa = oid_lookup(oid, command_config_spi_angle);
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sched_del_timer(&sa->timer);
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sa->flags = 0;
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if (!args[2]) {
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// End measurements
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if (sa->data_count)
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angle_report(sa, oid);
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sendf("spi_angle_end oid=%c sequence=%hu", oid, sa->sequence);
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return;
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}
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// Start new measurements query
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sa->timer.waketime = args[1];
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sa->rest_ticks = args[2];
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sa->sequence = 0;
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sa->data_count = 0;
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sa->time_shift = args[3];
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sched_add_timer(&sa->timer);
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}
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DECL_COMMAND(command_query_spi_angle,
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"query_spi_angle oid=%c clock=%u rest_ticks=%u time_shift=%c");
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// Background task that performs measurements
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void
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spi_angle_task(void)
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{
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if (!sched_check_wake(&angle_wake))
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return;
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uint8_t oid;
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struct spi_angle *sa;
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foreach_oid(oid, sa, command_config_spi_angle) {
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uint_fast8_t flags = sa->flags;
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if (!(flags & SA_PENDING))
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continue;
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irq_disable();
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uint32_t stime = sa->timer.waketime;
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uint_fast8_t overflow = sa->overflow;
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sa->flags = 0;
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sa->overflow = 0;
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irq_enable();
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stime -= sa->rest_ticks;
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while (overflow--) {
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angle_add_error(sa, SE_OVERFLOW);
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angle_check_report(sa, oid);
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}
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uint_fast8_t chip = sa->chip_type;
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if (chip == SA_CHIP_A1333)
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a1333_query(sa, stime);
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else if (chip == SA_CHIP_AS5047D)
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as5047d_query(sa, stime);
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else if (chip == SA_CHIP_TLE5012B)
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tle5012b_query(sa, stime);
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angle_check_report(sa, oid);
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}
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}
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DECL_TASK(spi_angle_task);
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