GET_HW_INFO refactoring
This commit is contained in:
Bertrand Songis
@@ -2092,9 +2092,10 @@ void menuModelReceiverOptions(event_t event)
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}
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}
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if (event == EVT_KEY_LONG(KEY_ENTER)) {
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if (event == EVT_KEY_LONG(KEY_ENTER) && reusableBuffer.receiverSettings.dirty) {
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killEvents(event);
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reusableBuffer.receiverSettings.state = PXX2_SETTINGS_WRITE;
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reusableBuffer.receiverSettings.dirty = 2;
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reusableBuffer.receiverSettings.dirty = 0;
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reusableBuffer.receiverSettings.timeout = 0;
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moduleSettings[g_moduleIdx].mode = MODULE_MODE_RECEIVER_SETTINGS;
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}
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@@ -106,12 +106,14 @@ void menuRadioModulesVersion(event_t event)
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if (isModulePXX2(INTERNAL_MODULE) && IS_INTERNAL_MODULE_ON()) {
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moduleSettings[INTERNAL_MODULE].mode = MODULE_MODE_GET_HARDWARE_INFO;
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reusableBuffer.hardware.modules[INTERNAL_MODULE].step = -1;
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reusableBuffer.hardware.modules[INTERNAL_MODULE].current = PXX2_HW_INFO_TX_ID;
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reusableBuffer.hardware.modules[INTERNAL_MODULE].maximum = MAX_RECEIVERS_PER_MODULE - 1;
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}
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if (isModulePXX2(EXTERNAL_MODULE) && IS_EXTERNAL_MODULE_ON()) {
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moduleSettings[EXTERNAL_MODULE].mode = MODULE_MODE_GET_HARDWARE_INFO;
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reusableBuffer.hardware.modules[EXTERNAL_MODULE].step = -1;
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reusableBuffer.hardware.modules[EXTERNAL_MODULE].current = PXX2_HW_INFO_TX_ID;
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reusableBuffer.hardware.modules[EXTERNAL_MODULE].maximum = MAX_RECEIVERS_PER_MODULE - 1;
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}
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reusableBuffer.hardware.updateTime = get_tmr10ms() + 1000 /* 10s*/;
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+2
-1
@@ -1188,7 +1188,8 @@ union ReusableBuffer
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struct {
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struct {
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int8_t step;
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int8_t current;
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int8_t maximum;
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uint8_t timeout;
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PXX2HardwareInformation information;
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struct {
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@@ -130,12 +130,12 @@ void Pxx2Pulses::setupTelemetryFrame(uint8_t module)
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void Pxx2Pulses::setupHardwareInfoFrame(uint8_t module)
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{
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if (reusableBuffer.hardware.modules[module].step >= -1 && reusableBuffer.hardware.modules[module].step < PXX2_MAX_RECEIVERS_PER_MODULE) {
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if (reusableBuffer.hardware.modules[module].current <= reusableBuffer.hardware.modules[module].maximum) {
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if (reusableBuffer.hardware.modules[module].timeout == 0) {
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addFrameType(PXX2_TYPE_C_MODULE, PXX2_TYPE_ID_HW_INFO);
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Pxx2Transport::addByte(reusableBuffer.hardware.modules[module].step);
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Pxx2Transport::addByte(reusableBuffer.hardware.modules[module].current);
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reusableBuffer.hardware.modules[module].timeout = 20;
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reusableBuffer.hardware.modules[module].step++;
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reusableBuffer.hardware.modules[module].current++;
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}
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else {
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reusableBuffer.hardware.modules[module].timeout--;
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@@ -53,6 +53,8 @@
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#define PXX2_TX_SETTINGS_FLAG0_WRITE (1 << 6)
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#define PXX2_TX_SETTINGS_FLAG1_EXTERNAL_ANTENNA (1 << 3)
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#define PXX2_HW_INFO_TX_ID 0xFF
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enum PXX2RegisterSteps {
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REGISTER_START,
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REGISTER_RX_NAME_RECEIVED,
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@@ -0,0 +1,313 @@
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/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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//#define ACC_LSB_VALUE 0.000488 // 0.488 mg/LSB
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//#define GYRO_LSB_VALUE 0.07 // 70mDPS in 2000 deg/second
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/* COMMON VALUES FOR ACCEL-GYRO SENSORS */
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#define LSM6DS3_WHO_AM_I 0x0f
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#define LSM6DS3_WHO_AM_I_DEF 0x69
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#define LSM6DS3_AXIS_EN_MASK 0x38
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#define LSM6DS3_INT1_CTRL_ADDR 0x0d
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#define LSM6DS3_INT2_CTRL_ADDR 0x0e
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#define LSM6DS3_INT1_FULL 0x20
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#define LSM6DS3_INT1_FTH 0x08
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#define LSM6DS3_MD1_ADDR 0x5e
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#define LSM6DS3_ODR_LIST_NUM 5
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#define LSM6DS3_ODR_POWER_OFF_VAL 0x00
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#define LSM6DS3_ODR_26HZ_VAL 0x02
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#define LSM6DS3_ODR_52HZ_VAL 0x03
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#define LSM6DS3_ODR_104HZ_VAL 0x04
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#define LSM6DS3_ODR_208HZ_VAL 0x05
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#define LSM6DS3_ODR_416HZ_VAL 0x06
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#define LSM6DS3_FS_LIST_NUM 4
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#define LSM6DS3_BDU_ADDR 0x12
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#define LSM6DS3_BDU_MASK 0x40
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#define LSM6DS3_EN_BIT 0x01
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#define LSM6DS3_DIS_BIT 0x00
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#define LSM6DS3_FUNC_EN_ADDR 0x19
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#define LSM6DS3_FUNC_EN_MASK 0x04
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#define LSM6DS3_FUNC_CFG_ACCESS_ADDR 0x01
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#define LSM6DS3_FUNC_CFG_ACCESS_MASK 0x01
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#define LSM6DS3_FUNC_CFG_ACCESS_MASK2 0x04
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#define LSM6DS3_FUNC_CFG_REG2_MASK 0x80
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#define LSM6DS3_FUNC_CFG_START1_ADDR 0x62
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#define LSM6DS3_FUNC_CFG_START2_ADDR 0x63
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#define LSM6DS3_SELFTEST_ADDR 0x14
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#define LSM6DS3_SELFTEST_ACCEL_MASK 0x03
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#define LSM6DS3_SELFTEST_GYRO_MASK 0x0c
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#define LSM6DS3_SELF_TEST_DISABLED_VAL 0x00
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#define LSM6DS3_SELF_TEST_POS_SIGN_VAL 0x01
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#define LSM6DS3_SELF_TEST_NEG_ACCEL_SIGN_VAL 0x02
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#define LSM6DS3_SELF_TEST_NEG_GYRO_SIGN_VAL 0x03
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#define LSM6DS3_LIR_ADDR 0x58
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#define LSM6DS3_LIR_MASK 0x01
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#define LSM6DS3_TIMER_EN_ADDR 0x58
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#define LSM6DS3_TIMER_EN_MASK 0x80
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#define LSM6DS3_PEDOMETER_EN_ADDR 0x58
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#define LSM6DS3_PEDOMETER_EN_MASK 0x40
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#define LSM6DS3_INT2_ON_INT1_ADDR 0x13
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#define LSM6DS3_INT2_ON_INT1_MASK 0x20
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#define LSM6DS3_MIN_DURATION_MS 1638
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#define LSM6DS3_ROUNDING_ADDR 0x16
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#define LSM6DS3_ROUNDING_MASK 0x04
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#define LSM6DS3_FIFO_MODE_ADDR 0x0a
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#define LSM6DS3_FIFO_MODE_MASK 0x07
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#define LSM6DS3_FIFO_MODE_BYPASS 0x00
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#define LSM6DS3_FIFO_MODE_CONTINUOS 0x06
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#define LSM6DS3_FIFO_THRESHOLD_IRQ_MASK 0x08
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#define LSM6DS3_FIFO_ODR_ADDR 0x0a
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#define LSM6DS3_FIFO_ODR_MASK 0x78
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#define LSM6DS3_FIFO_ODR_MAX 0x07
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#define LSM6DS3_FIFO_ODR_MAX_HZ 800
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#define LSM6DS3_FIFO_ODR_OFF 0x00
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#define LSM6DS3_FIFO_CTRL3_ADDR 0x08
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#define LSM6DS3_FIFO_ACCEL_DECIMATOR_MASK 0x07
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#define LSM6DS3_FIFO_GYRO_DECIMATOR_MASK 0x38
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#define LSM6DS3_FIFO_CTRL4_ADDR 0x09
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#define LSM6DS3_FIFO_STEP_C_DECIMATOR_MASK 0x38
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#define LSM6DS3_FIFO_THR_L_ADDR 0x06
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#define LSM6DS3_FIFO_THR_H_ADDR 0x07
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#define LSM6DS3_FIFO_THR_H_MASK 0x0f
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#define LSM6DS3_FIFO_THR_IRQ_MASK 0x08
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#define LSM6DS3_FIFO_PEDO_E_ADDR 0x07
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#define LSM6DS3_FIFO_PEDO_E_MASK 0x80
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#define LSM6DS3_FIFO_STEP_C_FREQ 25
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/* CUSTOM VALUES FOR ACCEL SENSOR */
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#define LSM6DS3_ACCEL_ODR_ADDR 0x10
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#define LSM6DS3_ACCEL_ODR_MASK 0xf0
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#define LSM6DS3_ACCEL_FS_ADDR 0x10
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#define LSM6DS3_ACCEL_FS_MASK 0x0c
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#define LSM6DS3_ACCEL_FS_2G_VAL 0x00
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#define LSM6DS3_ACCEL_FS_4G_VAL 0x02
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#define LSM6DS3_ACCEL_FS_8G_VAL 0x03
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#define LSM6DS3_ACCEL_FS_16G_VAL 0x01
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#define LSM6DS3_ACCEL_FS_2G_GAIN 61
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#define LSM6DS3_ACCEL_FS_4G_GAIN 122
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#define LSM6DS3_ACCEL_FS_8G_GAIN 244
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#define LSM6DS3_ACCEL_FS_16G_GAIN 488
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#define LSM6DS3_ACCEL_OUT_X_L_ADDR 0x28
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#define LSM6DS3_ACCEL_OUT_Y_L_ADDR 0x2a
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#define LSM6DS3_ACCEL_OUT_Z_L_ADDR 0x2c
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#define LSM6DS3_ACCEL_AXIS_EN_ADDR 0x18
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#define LSM6DS3_ACCEL_DRDY_IRQ_MASK 0x01
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#define LSM6DS3_ACCEL_STD 1
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#define LSM6DS3_ACCEL_STD_FROM_PD 2
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/* CUSTOM VALUES FOR GYRO SENSOR */
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#define LSM6DS3_GYRO_ODR_ADDR 0x11
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#define LSM6DS3_GYRO_ODR_MASK 0xf0
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#define LSM6DS3_GYRO_FS_ADDR 0x11
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#define LSM6DS3_GYRO_FS_MASK 0x0c
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#define LSM6DS3_GYRO_FS_245_VAL 0x00
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#define LSM6DS3_GYRO_FS_500_VAL 0x01
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#define LSM6DS3_GYRO_FS_1000_VAL 0x02
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#define LSM6DS3_GYRO_FS_2000_VAL 0x03
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#define LSM6DS3_GYRO_FS_245_GAIN 8750
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#define LSM6DS3_GYRO_FS_500_GAIN 17500
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#define LSM6DS3_GYRO_FS_1000_GAIN 35000
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#define LSM6DS3_GYRO_FS_2000_GAIN 70000
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#define LSM6DS3_GYRO_OUT_X_L_ADDR 0x22
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#define LSM6DS3_GYRO_OUT_Y_L_ADDR 0x24
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#define LSM6DS3_GYRO_OUT_Z_L_ADDR 0x26
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#define LSM6DS3_GYRO_AXIS_EN_ADDR 0x19
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#define LSM6DS3_GYRO_DRDY_IRQ_MASK 0x02
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#define LSM6DS3_GYRO_STD 6
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#define LSM6DS3_GYRO_STD_FROM_PD 2
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#define LSM6DS3_OUT_XYZ_SIZE 8
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/* CUSTOM VALUES FOR SIGNIFICANT MOTION SENSOR */
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#define LSM6DS3_SIGN_MOTION_EN_ADDR 0x19
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#define LSM6DS3_SIGN_MOTION_EN_MASK 0x01
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#define LSM6DS3_SIGN_MOTION_DRDY_IRQ_MASK 0x40
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/* CUSTOM VALUES FOR STEP DETECTOR SENSOR */
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#define LSM6DS3_STEP_DETECTOR_DRDY_IRQ_MASK 0x80
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/* CUSTOM VALUES FOR STEP COUNTER SENSOR */
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#define LSM6DS3_STEP_COUNTER_DRDY_IRQ_MASK 0x80
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#define LSM6DS3_STEP_COUNTER_OUT_L_ADDR 0x4b
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#define LSM6DS3_STEP_COUNTER_OUT_SIZE 2
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#define LSM6DS3_STEP_COUNTER_RES_ADDR 0x19
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#define LSM6DS3_STEP_COUNTER_RES_MASK 0x06
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#define LSM6DS3_STEP_COUNTER_RES_ALL_EN 0x03
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#define LSM6DS3_STEP_COUNTER_RES_FUNC_EN 0x02
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#define LSM6DS3_STEP_COUNTER_DURATION_ADDR 0x15
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/* CUSTOM VALUES FOR TILT SENSOR */
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#define LSM6DS3_TILT_EN_ADDR 0x58
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#define LSM6DS3_TILT_EN_MASK 0x20
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#define LSM6DS3_TILT_DRDY_IRQ_MASK 0x02
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#define LSM6DS3_ENABLE_AXIS 0x07
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#define LSM6DS3_FIFO_DIFF_L 0x3a
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#define LSM6DS3_FIFO_DIFF_MASK 0x0fff
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#define LSM6DS3_FIFO_DATA_OUT_L 0x3e
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#define LSM6DS3_FIFO_ELEMENT_LEN_BYTE 6
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#define LSM6DS3_FIFO_BYTE_FOR_CHANNEL 2
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#define LSM6DS3_FIFO_DATA_OVR_2REGS 0x4000
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#define LSM6DS3_FIFO_DATA_OVR 0x40
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#define LSM6DS3_SRC_FUNC_ADDR 0x53
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#define LSM6DS3_FIFO_DATA_AVL_ADDR 0x3b
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#define LSM6DS3_SRC_SIGN_MOTION_DATA_AVL 0x40
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#define LSM6DS3_SRC_STEP_DETECTOR_DATA_AVL 0x10
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#define LSM6DS3_SRC_TILT_DATA_AVL 0x20
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#define LSM6DS3_SRC_STEP_COUNTER_DATA_AVL 0x80
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#define LSM6DS3_FIFO_DATA_AVL 0x80
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#define LSM6DS3_RESET_ADDR 0x12
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#define LSM6DS3_RESET_MASK 0x01
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#define LSM6DS3_ADDRESS 0xD4
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static const char configure[][2] =
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{
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{LSM6DS3_ACCEL_AXIS_EN_ADDR, 0x38}, ///< xyz
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{LSM6DS3_ACCEL_ODR_ADDR, (0x3 << 4) | (0x1 << 2) | (0x3 << 0)}, //ODR_52Hz|16G|BW_50Hz
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{LSM6DS3_GYRO_AXIS_EN_ADDR, 0x38}, ///< xyz
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{LSM6DS3_GYRO_ODR_ADDR, (3 << 4) | (3 << 2) | (0 << 0)}, ///< ODR_52Hz|2000dps|
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{LSM6DS3_INT1_CTRL_ADDR, 0x3}, ///< GYRO_READY | ACCL_READY
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{LSM6DS3_INT2_CTRL_ADDR, 0x3}, ///< GYRO_READY | ACCL_READY
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};
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volatile int lsm6ds3_state = 1;
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int lsm6ds3Init()
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{
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int i;
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char cmd[2];
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I2C_transfer_block i2c_block[2];
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EXTILine_Config();
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cmd[0] = LSM6DS3_WHO_AM_I;
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i2c_block[0].addr = LSM6DS3_ADDRESS;
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i2c_block[0].rw = I2C_WRITE;
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i2c_block[0].stop_mode = I2C_WRITE_BYPASS_STOP;
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i2c_block[0].ack_mode = I2C_READ_RESPOND_ACK;
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i2c_block[0].len = 1;
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i2c_block[0].buf = cmd;
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i2c_block[1].addr = LSM6DS3_ADDRESS;
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i2c_block[1].rw = I2C_READ;
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i2c_block[1].stop_mode = I2C_WRITE_APPEND_STOP;
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i2c_block[1].ack_mode = I2C_READ_RESPOND_ACK;
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i2c_block[1].len = 2;
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i2c_block[1].buf = cmd;
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i2c_dma_transfer(i2c_block, 2);
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if (cmd[0] != LSM6DS3_WHO_AM_I_DEF) {
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return -1;
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}
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cmd[0] = 0x12;
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cmd[1] = 0x5;
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i2c_block[0].addr = LSM6DS3_ADDRESS;
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i2c_block[0].rw = I2C_WRITE;
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i2c_block[0].stop_mode = I2C_WRITE_APPEND_STOP;
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i2c_block[0].ack_mode = I2C_READ_RESPOND_ACK;
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i2c_block[0].len = 2;
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i2c_block[0].buf = cmd;
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i2c_dma_transfer(i2c_block, 1);
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delay_ms(1);
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cmd[0] = 0x12;
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cmd[1] = 0x4;
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i2c_block[0].addr = LSM6DS3_ADDRESS;
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i2c_block[0].rw = I2C_WRITE;
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i2c_block[0].stop_mode = I2C_WRITE_APPEND_STOP;
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i2c_block[0].ack_mode = I2C_READ_RESPOND_ACK;
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i2c_block[0].len = 2;
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i2c_block[0].buf = cmd;
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i2c_dma_transfer(i2c_block, 1);
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delay_ms(1);
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for (i = 0; i < sizeof(configure) / sizeof(configure[0]); i++) {
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i2c_block[0].addr = LSM6DS3_ADDRESS;
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i2c_block[0].rw = I2C_WRITE;
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i2c_block[0].stop_mode = I2C_WRITE_APPEND_STOP;
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i2c_block[0].ack_mode = I2C_READ_RESPOND_ACK;
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i2c_block[0].len = 2;
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i2c_block[0].buf = (char *) configure[i];
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i2c_dma_transfer(i2c_block, 1);
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}
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return 0;
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}
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int lsm6ds3Read(void *buffer, int len, OFFSET offset1)
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{
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char t_char[10];
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short t_short[7];
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short *p_short;
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I2C_transfer_block i2c_block[2];
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xSemaphoreTake(lsm6ds3_sema, portMAX_DELAY);
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t_char[0] = LSM6DS3_GYRO_OUT_X_L_ADDR;
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i2c_block[0].addr = LSM6DS3_ADDRESS;
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i2c_block[0].rw = I2C_WRITE;
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i2c_block[0].stop_mode = I2C_WRITE_BYPASS_STOP;
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i2c_block[0].len = 1;
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i2c_block[0].buf = t_char;
|
||||
|
||||
i2c_block[1].addr = LSM6DS3_ADDRESS;
|
||||
i2c_block[1].rw = I2C_READ;
|
||||
i2c_block[1].stop_mode = I2C_WRITE_APPEND_STOP;
|
||||
|
||||
i2c_block[1].len = len;
|
||||
i2c_block[1].buf = (char *) t_short;
|
||||
|
||||
i2c_dma_transfer(i2c_block, 2);
|
||||
|
||||
{
|
||||
p_short = (short *) buffer;
|
||||
*p_short++ = t_short[0];
|
||||
*p_short++ = -t_short[1];
|
||||
*p_short++ = t_short[2];
|
||||
|
||||
*p_short++ = -t_short[3];
|
||||
*p_short++ = t_short[4];
|
||||
*p_short++ = -t_short[5];
|
||||
}
|
||||
|
||||
return len;
|
||||
}
|
||||
@@ -143,6 +143,14 @@ elseif(PCB STREQUAL XLITES)
|
||||
set(STATUS_LEDS YES)
|
||||
endif()
|
||||
|
||||
#if(PCB STREQUAL XLITES)
|
||||
# add_definitions(-DGYRO)
|
||||
# set(TARGET_SRC
|
||||
# ${TARGET_SRC}
|
||||
# ../common/arm/stm32/lsm6ds3_driver.cpp
|
||||
# )
|
||||
#endif()
|
||||
|
||||
if(PCB STREQUAL XLITE OR PCB STREQUAL XLITES OR PCB STREQUAL X3)
|
||||
option(PXX1 "PXX1 protocol support" OFF)
|
||||
option(PXX2 "PXX2 protocol support" ON)
|
||||
|
||||
Reference in New Issue
Block a user