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lis2dw12: Add support for lis2dw12 accelerometer
lis2dw12 is an accelerometer from STMicroelectronics(https://www.st.com/resource/en/datasheet/lis2dw12.pdf) With better performance than the ADXL345 according to the datasheet. Signed-off-by: XM.Zhou from BigTreeTech zhouxm@biqu3d.com Signed-off-by: Alan.Ma from BigTreeTech tech@biqu3d.com
This commit is contained in:
bigtreetech
KevinOConnor
parent
c9aa7ac871
commit
ec1dcf3bd2
3 changed files with 487 additions and 1 deletions
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@ -15,6 +15,6 @@ src-$(CONFIG_WANT_DISPLAYS) += lcd_st7920.c lcd_hd44780.c
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src-$(CONFIG_WANT_SOFTWARE_SPI) += spi_software.c
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src-$(CONFIG_WANT_SOFTWARE_I2C) += i2c_software.c
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sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \
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sensor_angle.c
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sensor_angle.c sensor_lis2dw.c
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sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
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src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y)
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221
src/sensor_lis2dw.c
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221
src/sensor_lis2dw.c
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@ -0,0 +1,221 @@
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// Support for gathering acceleration data from LIS2DW chip
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//
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// Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
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// Copyright (C) 2020 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 <string.h> // memcpy
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#include "board/irq.h" // irq_disable
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#include "board/misc.h" // timer_read_time
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#include "basecmd.h" // oid_alloc
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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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#define LIS_AR_DATAX0 0x28
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#define LIS_AM_READ 0x80
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#define LIS_FIFO_CTRL 0x2E
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#define LIS_FIFO_SAMPLES 0x2F
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struct lis2dw {
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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, limit_count;
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uint8_t flags, data_count, fifo_disable;
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uint8_t data[48];
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};
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enum {
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LIS_HAVE_START = 1<<0, LIS_RUNNING = 1<<1, LIS_PENDING = 1<<2,
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};
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static struct task_wake lis2dw_wake;
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// Event handler that wakes lis2dw_task() periodically
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static uint_fast8_t
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lis2dw_event(struct timer *timer)
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{
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struct lis2dw *ax = container_of(timer, struct lis2dw, timer);
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ax->flags |= LIS_PENDING;
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sched_wake_task(&lis2dw_wake);
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return SF_DONE;
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}
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void
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command_config_lis2dw(uint32_t *args)
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{
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struct lis2dw *ax = oid_alloc(args[0], command_config_lis2dw
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, sizeof(*ax));
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ax->timer.func = lis2dw_event;
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ax->spi = spidev_oid_lookup(args[1]);
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}
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DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
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// Report local measurement buffer
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static void
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lis2dw_report(struct lis2dw *ax, uint8_t oid)
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{
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sendf("lis2dw_data oid=%c sequence=%hu data=%*s"
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, oid, ax->sequence, ax->data_count, ax->data);
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ax->data_count = 0;
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ax->sequence++;
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}
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// Report buffer and fifo status
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static void
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lis2dw_status(struct lis2dw *ax, uint_fast8_t oid
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, uint32_t time1, uint32_t time2, uint_fast8_t fifo)
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{
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sendf("lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
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" buffered=%c fifo=%c limit_count=%hu"
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, oid, time1, time2-time1, ax->sequence
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, ax->data_count, fifo, ax->limit_count);
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}
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// Helper code to reschedule the lis2dw_event() timer
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static void
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lis2dw_reschedule_timer(struct lis2dw *ax)
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{
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irq_disable();
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ax->timer.waketime = timer_read_time() + ax->rest_ticks;
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sched_add_timer(&ax->timer);
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irq_enable();
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}
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// Query accelerometer data
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static void
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lis2dw_query(struct lis2dw *ax, uint8_t oid)
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{
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uint8_t msg[7] = {0};
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uint8_t fifo[2] = {LIS_FIFO_SAMPLES| LIS_AM_READ , 0};
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uint8_t fifo_empty,fifo_ovrn = 0;
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msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
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uint8_t *d = &ax->data[ax->data_count];
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spidev_transfer(ax->spi, 1, sizeof(msg), msg);
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spidev_transfer(ax->spi, 1, sizeof(fifo), fifo);
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fifo_empty = fifo[1]&0x3F;
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fifo_ovrn = fifo[1]&0x40;
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d[0] = msg[1]; // x low bits
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d[1] = msg[2]; // x high bits
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d[2] = msg[3]; // y low bits
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d[3] = msg[4]; // y high bits
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d[4] = msg[5]; // z low bits
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d[5] = msg[6]; // z high bits
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ax->data_count += 6;
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if (ax->data_count + 6 > ARRAY_SIZE(ax->data))
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lis2dw_report(ax, oid);
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// Check fifo status
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if (fifo_ovrn)
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ax->limit_count++;
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// check if we need to run the task again (more packets in fifo?)
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if (!fifo_empty&&!(ax->fifo_disable)) {
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// More data in fifo - wake this task again
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sched_wake_task(&lis2dw_wake);
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} else if (ax->flags & LIS_RUNNING) {
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// Sleep until next check time
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sched_del_timer(&ax->timer);
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ax->flags &= ~LIS_PENDING;
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lis2dw_reschedule_timer(ax);
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}
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}
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// Startup measurements
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static void
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lis2dw_start(struct lis2dw *ax, uint8_t oid)
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{
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sched_del_timer(&ax->timer);
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ax->flags = LIS_RUNNING;
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ax->fifo_disable = 0;
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uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0xC0};
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spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
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lis2dw_reschedule_timer(ax);
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}
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// End measurements
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static void
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lis2dw_stop(struct lis2dw *ax, uint8_t oid)
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{
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// Disable measurements
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sched_del_timer(&ax->timer);
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ax->flags = 0;
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// Drain any measurements still in fifo
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ax->fifo_disable = 1;
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lis2dw_query(ax, oid);
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uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0};
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uint32_t end1_time = timer_read_time();
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spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
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uint32_t end2_time = timer_read_time();
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uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ , 0};
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spidev_transfer(ax->spi, 1, sizeof(msg), msg);
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uint8_t fifo_status = msg[1]&0x1f;
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//Report final data
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if (ax->data_count)
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lis2dw_report(ax, oid);
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lis2dw_status(ax, oid, end1_time, end2_time, fifo_status);
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}
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void
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command_query_lis2dw(uint32_t *args)
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{
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struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
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if (!args[2]) {
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// End measurements
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lis2dw_stop(ax, args[0]);
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return;
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}
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// Start new measurements query
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sched_del_timer(&ax->timer);
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ax->timer.waketime = args[1];
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ax->rest_ticks = args[2];
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ax->flags = LIS_HAVE_START;
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ax->sequence = ax->limit_count = 0;
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ax->data_count = 0;
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ax->fifo_disable = 0;
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sched_add_timer(&ax->timer);
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}
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DECL_COMMAND(command_query_lis2dw,
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"query_lis2dw oid=%c clock=%u rest_ticks=%u");
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void
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command_query_lis2dw_status(uint32_t *args)
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{
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struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
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uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 };
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uint32_t time1 = timer_read_time();
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spidev_transfer(ax->spi, 1, sizeof(msg), msg);
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uint32_t time2 = timer_read_time();
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lis2dw_status(ax, args[0], time1, time2, msg[1]&0x1f);
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}
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DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");
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void
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lis2dw_task(void)
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{
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if (!sched_check_wake(&lis2dw_wake))
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return;
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uint8_t oid;
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struct lis2dw *ax;
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foreach_oid(oid, ax, command_config_lis2dw) {
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uint_fast8_t flags = ax->flags;
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if (!(flags & LIS_PENDING))
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continue;
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if (flags & LIS_HAVE_START)
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lis2dw_start(ax, oid);
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else
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lis2dw_query(ax, oid);
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}
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}
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DECL_TASK(lis2dw_task);
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