From fe4dda92bc5f0b696ffbd6ee843687780a032452 Mon Sep 17 00:00:00 2001 From: 3djc Date: Sun, 7 Apr 2019 16:58:26 +0200 Subject: [PATCH] Accept both lsm6d33tr and lsm6dsltr --- .../common/arm/stm32/lsm6ds3_driver.cpp | 359 ----------------- .../common/arm/stm32/lsm6ds_driver.cpp | 360 ++++++++++++++++++ radio/src/targets/taranis/CMakeLists.txt | 2 +- 3 files changed, 361 insertions(+), 360 deletions(-) delete mode 100644 radio/src/targets/common/arm/stm32/lsm6ds3_driver.cpp create mode 100644 radio/src/targets/common/arm/stm32/lsm6ds_driver.cpp diff --git a/radio/src/targets/common/arm/stm32/lsm6ds3_driver.cpp b/radio/src/targets/common/arm/stm32/lsm6ds3_driver.cpp deleted file mode 100644 index 174499b1a..000000000 --- a/radio/src/targets/common/arm/stm32/lsm6ds3_driver.cpp +++ /dev/null @@ -1,359 +0,0 @@ -/* - * Copyright (C) OpenTX - * - * Based on code named - * th9x - http://code.google.com/p/th9x - * er9x - http://code.google.com/p/er9x - * gruvin9x - http://code.google.com/p/gruvin9x - * - * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License version 2 as - * published by the Free Software Foundation. - * - * 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. - */ - -#include "opentx.h" - - -/* COMMON VALUES FOR ACCEL-GYRO SENSORS */ -#define LSM6DS3_WHO_AM_I 0x0f -#define LSM6DS3_WHO_AM_I_DEF 0x69 -#define LSM6DS3_AXIS_EN_MASK 0x38 -#define LSM6DS3_INT1_CTRL_ADDR 0x0d -#define LSM6DS3_INT2_CTRL_ADDR 0x0e -#define LSM6DS3_INT1_FULL 0x20 -#define LSM6DS3_INT1_FTH 0x08 -#define LSM6DS3_MD1_ADDR 0x5e -#define LSM6DS3_ODR_LIST_NUM 5 -#define LSM6DS3_ODR_POWER_OFF_VAL 0x00 -#define LSM6DS3_ODR_26HZ_VAL 0x02 -#define LSM6DS3_ODR_52HZ_VAL 0x03 -#define LSM6DS3_ODR_104HZ_VAL 0x04 -#define LSM6DS3_ODR_208HZ_VAL 0x05 -#define LSM6DS3_ODR_416HZ_VAL 0x06 -#define LSM6DS3_FS_LIST_NUM 4 -#define LSM6DS3_BDU_ADDR 0x12 -#define LSM6DS3_BDU_MASK 0x40 -#define LSM6DS3_EN_BIT 0x01 -#define LSM6DS3_DIS_BIT 0x00 -#define LSM6DS3_FUNC_EN_ADDR 0x19 -#define LSM6DS3_FUNC_EN_MASK 0x04 -#define LSM6DS3_FUNC_CFG_ACCESS_ADDR 0x01 -#define LSM6DS3_FUNC_CFG_ACCESS_MASK 0x01 -#define LSM6DS3_FUNC_CFG_ACCESS_MASK2 0x04 -#define LSM6DS3_FUNC_CFG_REG2_MASK 0x80 -#define LSM6DS3_FUNC_CFG_START1_ADDR 0x62 -#define LSM6DS3_FUNC_CFG_START2_ADDR 0x63 -#define LSM6DS3_SELFTEST_ADDR 0x14 -#define LSM6DS3_SELFTEST_ACCEL_MASK 0x03 -#define LSM6DS3_SELFTEST_GYRO_MASK 0x0c -#define LSM6DS3_SELF_TEST_DISABLED_VAL 0x00 -#define LSM6DS3_SELF_TEST_POS_SIGN_VAL 0x01 -#define LSM6DS3_SELF_TEST_NEG_ACCEL_SIGN_VAL 0x02 -#define LSM6DS3_SELF_TEST_NEG_GYRO_SIGN_VAL 0x03 -#define LSM6DS3_LIR_ADDR 0x58 -#define LSM6DS3_LIR_MASK 0x01 -#define LSM6DS3_TIMER_EN_ADDR 0x58 -#define LSM6DS3_TIMER_EN_MASK 0x80 -#define LSM6DS3_PEDOMETER_EN_ADDR 0x58 -#define LSM6DS3_PEDOMETER_EN_MASK 0x40 -#define LSM6DS3_INT2_ON_INT1_ADDR 0x13 -#define LSM6DS3_INT2_ON_INT1_MASK 0x20 -#define LSM6DS3_MIN_DURATION_MS 1638 -#define LSM6DS3_ROUNDING_ADDR 0x16 -#define LSM6DS3_ROUNDING_MASK 0x04 -#define LSM6DS3_FIFO_MODE_ADDR 0x0a -#define LSM6DS3_FIFO_MODE_MASK 0x07 -#define LSM6DS3_FIFO_MODE_BYPASS 0x00 -#define LSM6DS3_FIFO_MODE_CONTINUOS 0x06 -#define LSM6DS3_FIFO_THRESHOLD_IRQ_MASK 0x08 -#define LSM6DS3_FIFO_ODR_ADDR 0x0a -#define LSM6DS3_FIFO_ODR_MASK 0x78 -#define LSM6DS3_FIFO_ODR_MAX 0x07 -#define LSM6DS3_FIFO_ODR_MAX_HZ 800 -#define LSM6DS3_FIFO_ODR_OFF 0x00 -#define LSM6DS3_FIFO_CTRL3_ADDR 0x08 -#define LSM6DS3_FIFO_ACCEL_DECIMATOR_MASK 0x07 -#define LSM6DS3_FIFO_GYRO_DECIMATOR_MASK 0x38 -#define LSM6DS3_FIFO_CTRL4_ADDR 0x09 -#define LSM6DS3_FIFO_STEP_C_DECIMATOR_MASK 0x38 -#define LSM6DS3_FIFO_THR_L_ADDR 0x06 -#define LSM6DS3_FIFO_THR_H_ADDR 0x07 -#define LSM6DS3_FIFO_THR_H_MASK 0x0f -#define LSM6DS3_FIFO_THR_IRQ_MASK 0x08 -#define LSM6DS3_FIFO_PEDO_E_ADDR 0x07 -#define LSM6DS3_FIFO_PEDO_E_MASK 0x80 -#define LSM6DS3_FIFO_STEP_C_FREQ 25 - -/* CUSTOM VALUES FOR ACCEL SENSOR */ -#define LSM6DS3_ACCEL_ODR_ADDR 0x10 -#define LSM6DS3_ACCEL_ODR_MASK 0xf0 -#define LSM6DS3_ACCEL_FS_ADDR 0x10 -#define LSM6DS3_ACCEL_FS_MASK 0x0c -#define LSM6DS3_ACCEL_FS_2G_VAL 0x00 -#define LSM6DS3_ACCEL_FS_4G_VAL 0x02 -#define LSM6DS3_ACCEL_FS_8G_VAL 0x03 -#define LSM6DS3_ACCEL_FS_16G_VAL 0x01 -#define LSM6DS3_ACCEL_FS_2G_GAIN 61 -#define LSM6DS3_ACCEL_FS_4G_GAIN 122 -#define LSM6DS3_ACCEL_FS_8G_GAIN 244 -#define LSM6DS3_ACCEL_FS_16G_GAIN 488 -#define LSM6DS3_ACCEL_OUT_X_L_ADDR 0x28 -#define LSM6DS3_ACCEL_OUT_Y_L_ADDR 0x2a -#define LSM6DS3_ACCEL_OUT_Z_L_ADDR 0x2c -#define LSM6DS3_ACCEL_AXIS_EN_ADDR 0x18 -#define LSM6DS3_ACCEL_DRDY_IRQ_MASK 0x01 -#define LSM6DS3_ACCEL_STD 1 -#define LSM6DS3_ACCEL_STD_FROM_PD 2 - -/* CUSTOM VALUES FOR GYRO SENSOR */ -#define LSM6DS3_GYRO_ODR_ADDR 0x11 -#define LSM6DS3_GYRO_ODR_MASK 0xf0 -#define LSM6DS3_GYRO_FS_ADDR 0x11 -#define LSM6DS3_GYRO_FS_MASK 0x0c -#define LSM6DS3_GYRO_FS_245_VAL 0x00 -#define LSM6DS3_GYRO_FS_500_VAL 0x01 -#define LSM6DS3_GYRO_FS_1000_VAL 0x02 -#define LSM6DS3_GYRO_FS_2000_VAL 0x03 -#define LSM6DS3_GYRO_FS_245_GAIN 8750 -#define LSM6DS3_GYRO_FS_500_GAIN 17500 -#define LSM6DS3_GYRO_FS_1000_GAIN 35000 -#define LSM6DS3_GYRO_FS_2000_GAIN 70000 -#define LSM6DS3_GYRO_OUT_X_L_ADDR 0x22 -#define LSM6DS3_GYRO_OUT_Y_L_ADDR 0x24 -#define LSM6DS3_GYRO_OUT_Z_L_ADDR 0x26 -#define LSM6DS3_GYRO_AXIS_EN_ADDR 0x19 -#define LSM6DS3_GYRO_DRDY_IRQ_MASK 0x02 -#define LSM6DS3_GYRO_STD 6 -#define LSM6DS3_GYRO_STD_FROM_PD 2 - -#define LSM6DS3_OUT_XYZ_SIZE 8 - -/* CUSTOM VALUES FOR SIGNIFICANT MOTION SENSOR */ -#define LSM6DS3_SIGN_MOTION_EN_ADDR 0x19 -#define LSM6DS3_SIGN_MOTION_EN_MASK 0x01 -#define LSM6DS3_SIGN_MOTION_DRDY_IRQ_MASK 0x40 - -/* CUSTOM VALUES FOR STEP DETECTOR SENSOR */ -#define LSM6DS3_STEP_DETECTOR_DRDY_IRQ_MASK 0x80 - -/* CUSTOM VALUES FOR STEP COUNTER SENSOR */ -#define LSM6DS3_STEP_COUNTER_DRDY_IRQ_MASK 0x80 -#define LSM6DS3_STEP_COUNTER_OUT_L_ADDR 0x4b -#define LSM6DS3_STEP_COUNTER_OUT_SIZE 2 -#define LSM6DS3_STEP_COUNTER_RES_ADDR 0x19 -#define LSM6DS3_STEP_COUNTER_RES_MASK 0x06 -#define LSM6DS3_STEP_COUNTER_RES_ALL_EN 0x03 -#define LSM6DS3_STEP_COUNTER_RES_FUNC_EN 0x02 -#define LSM6DS3_STEP_COUNTER_DURATION_ADDR 0x15 - -/* CUSTOM VALUES FOR TILT SENSOR */ -#define LSM6DS3_TILT_EN_ADDR 0x58 -#define LSM6DS3_TILT_EN_MASK 0x20 -#define LSM6DS3_TILT_DRDY_IRQ_MASK 0x02 - -#define LSM6DS3_ENABLE_AXIS 0x07 -#define LSM6DS3_FIFO_DIFF_L 0x3a -#define LSM6DS3_FIFO_DIFF_MASK 0x0fff -#define LSM6DS3_FIFO_DATA_OUT_L 0x3e -#define LSM6DS3_FIFO_ELEMENT_LEN_BYTE 6 -#define LSM6DS3_FIFO_BYTE_FOR_CHANNEL 2 -#define LSM6DS3_FIFO_DATA_OVR_2REGS 0x4000 -#define LSM6DS3_FIFO_DATA_OVR 0x40 - -#define LSM6DS3_SRC_FUNC_ADDR 0x53 -#define LSM6DS3_FIFO_DATA_AVL_ADDR 0x3b - -#define LSM6DS3_SRC_SIGN_MOTION_DATA_AVL 0x40 -#define LSM6DS3_SRC_STEP_DETECTOR_DATA_AVL 0x10 -#define LSM6DS3_SRC_TILT_DATA_AVL 0x20 -#define LSM6DS3_SRC_STEP_COUNTER_DATA_AVL 0x80 -#define LSM6DS3_FIFO_DATA_AVL 0x80 -#define LSM6DS3_RESET_ADDR 0x12 -#define LSM6DS3_RESET_MASK 0x01 - -#define LSM6DS3_ADDRESS 0xD6 -#define LSM6DSLTR_ID 0x6A - -static const char configure[][2] = { - {LSM6DS3_ACCEL_AXIS_EN_ADDR, 0x38}, - {LSM6DS3_ACCEL_ODR_ADDR, (0x3 << 4) | (0x1 << 2) | (0x3 << 0)}, - {LSM6DS3_GYRO_AXIS_EN_ADDR, 0x38}, - {LSM6DS3_GYRO_ODR_ADDR, (3 << 4) | (3 << 2) | (0 << 0)}, - {LSM6DS3_INT1_CTRL_ADDR, 0x3}, - {LSM6DS3_INT2_CTRL_ADDR, 0x3}, -}; - -static void i2c2Init() -{ - I2C_DeInit(I2CX); - - I2C_InitTypeDef I2C_InitStructure; - I2C_InitStructure.I2C_ClockSpeed = I2CX_SPEED; - I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; - I2C_InitStructure.I2C_OwnAddress1 = 0x00; - I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; - I2C_InitStructure.I2C_Ack = I2C_Ack_Enable; - I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; - I2C_Init(I2CX, &I2C_InitStructure); - I2C_Cmd(I2CX, ENABLE); - - GPIO_PinAFConfig(I2CX_SCL_GPIO, I2CX_SCL_GPIO_PinSource, I2CX_GPIO_AF); - GPIO_PinAFConfig(I2CX_SDA_GPIO, I2CX_SDA_GPIO_PinSource, I2CX_GPIO_AF); - - GPIO_InitTypeDef GPIO_InitStructure; - GPIO_InitStructure.GPIO_Pin = I2CX_SCL_GPIO_PIN; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; - GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; - GPIO_Init(I2CX_SCL_GPIO, &GPIO_InitStructure); - - GPIO_InitStructure.GPIO_Pin = I2CX_SDA_GPIO_PIN; - GPIO_Init(I2CX_SDA_GPIO, &GPIO_InitStructure); -} - -#define I2C_TIMEOUT_MAX 10000 -bool I2C2_WaitEvent(uint32_t event) -{ - uint32_t timeout = I2C_TIMEOUT_MAX; - while (!I2C_CheckEvent(I2CX, event)) { - if ((timeout--) == 0) return false; - } - return true; -} - -bool I2C2_WaitEventCleared(uint32_t event) -{ - uint32_t timeout = I2C_TIMEOUT_MAX; - while (I2C_CheckEvent(I2CX, event)) { - if ((timeout--) == 0) { - TRACE("I2C Timeout!"); - return false; - } - } - return true; -} - -int setGyroRegister(uint8_t address, uint8_t value) -{ - if (!I2C2_WaitEventCleared(I2C_FLAG_BUSY)) - return -1; - - I2C_GenerateSTART(I2CX, ENABLE); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_MODE_SELECT)) - return -1; - - I2C_Send7bitAddress(I2CX, LSM6DS3_ADDRESS, I2C_Direction_Transmitter); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) - return -1; - - I2C_SendData(I2CX, address); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_BYTE_TRANSMITTING)) - return -1; - - I2C_SendData(I2CX, value); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_BYTE_TRANSMITTED)) - return -1; - - I2C_GenerateSTOP(I2CX, ENABLE); - - return 0; -} - -int readGyroRegister(uint8_t address) -{ - if (!I2C2_WaitEventCleared(I2C_FLAG_BUSY)) - return -1; - - I2C_GenerateSTART(I2CX, ENABLE); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_MODE_SELECT)) - return -1; - - I2C_Send7bitAddress(I2CX, LSM6DS3_ADDRESS, I2C_Direction_Transmitter); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) - return -1; - - I2C_SendData(I2CX, address); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_BYTE_TRANSMITTED)) - return -1; - - I2C_GenerateSTART(I2CX, ENABLE); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_MODE_SELECT)) - return -1; - - I2C_Send7bitAddress(I2CX, LSM6DS3_ADDRESS, I2C_Direction_Receiver); - - I2C_AcknowledgeConfig(I2CX, DISABLE); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_BYTE_RECEIVED)) - return -1; - - uint8_t value = I2C_ReceiveData(I2CX); - - I2C_GenerateSTOP(I2CX, ENABLE); - - return value; -} - -int gyroInit() -{ - i2c2Init(); - - uint8_t id = readGyroRegister(LSM6DS3_WHO_AM_I); - if (id != LSM6DSLTR_ID) { - return -1; - } - - setGyroRegister(0x12, 0x05); - delay_ms(1); - setGyroRegister(0x12, 0x04); - delay_ms(1); - - for (uint8_t i = 0; i < DIM(configure); i++) { - setGyroRegister(configure[i][0], configure[i][1]); - } - - return 0; -} - -int gyroRead(uint8_t buffer[GYRO_BUFFER_LENGTH]) -{ - if (!I2C2_WaitEventCleared(I2C_FLAG_BUSY)) - return -1; - - I2C_GenerateSTART(I2CX, ENABLE); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_MODE_SELECT)) - return -1; - - I2C_Send7bitAddress(I2CX, LSM6DS3_ADDRESS, I2C_Direction_Transmitter); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) - return -1; - - I2C_SendData(I2CX, LSM6DS3_GYRO_OUT_X_L_ADDR); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_BYTE_TRANSMITTED)) - return -1; - - I2C_GenerateSTART(I2CX, ENABLE); - if (!I2C2_WaitEvent(I2C_EVENT_MASTER_MODE_SELECT)) - return -1; - - I2C_Send7bitAddress(I2CX, LSM6DS3_ADDRESS, I2C_Direction_Receiver); - - I2C_AcknowledgeConfig(I2CX, ENABLE); - for (uint8_t i=0; i