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// Support for eddy current sensor data from ldc1612 chip
//
// Copyright (C) 2023 Alan.Ma <tech@biqu3d.com>
// Copyright (C) 2024 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <string.h> // memcpy
#include "basecmd.h" // oid_alloc
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_read_time
#include "command.h" // DECL_COMMAND
#include "i2ccmds.h" // i2cdev_oid_lookup
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "trsync.h" // trsync_do_trigger
enum {
LDC_PENDING = 1<<0, LDC_HAVE_INTB = 1<<1,
LH_AWAIT_HOMING = 1<<1, LH_CAN_TRIGGER = 1<<2
};
struct ldc1612 {
struct timer timer;
uint32_t rest_ticks;
struct i2cdev_s *i2c;
uint8_t flags;
struct sensor_bulk sb;
struct gpio_in intb_pin;
// homing
struct trsync *ts;
uint8_t homing_flags;
uint8_t trigger_reason, error_reason;
uint32_t trigger_threshold;
uint32_t homing_clock;
};
static struct task_wake ldc1612_wake;
// Check if the intb line is "asserted"
static int
check_intb_asserted(struct ldc1612 *ld)
{
return !gpio_in_read(ld->intb_pin);
}
// Query ldc1612 data
static uint_fast8_t
ldc1612_event(struct timer *timer)
{
struct ldc1612 *ld = container_of(timer, struct ldc1612, timer);
if (ld->flags & LDC_PENDING)
ld->sb.possible_overflows++;
if (!(ld->flags & LDC_HAVE_INTB) || check_intb_asserted(ld)) {
ld->flags |= LDC_PENDING;
sched_wake_task(&ldc1612_wake);
}
ld->timer.waketime += ld->rest_ticks;
return SF_RESCHEDULE;
}
void
command_config_ldc1612(uint32_t *args)
{
struct ldc1612 *ld = oid_alloc(args[0], command_config_ldc1612
, sizeof(*ld));
ld->timer.func = ldc1612_event;
ld->i2c = i2cdev_oid_lookup(args[1]);
}
DECL_COMMAND(command_config_ldc1612, "config_ldc1612 oid=%c i2c_oid=%c");
void
command_config_ldc1612_with_intb(uint32_t *args)
{
command_config_ldc1612(args);
struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
ld->intb_pin = gpio_in_setup(args[2], 1);
ld->flags = LDC_HAVE_INTB;
}
DECL_COMMAND(command_config_ldc1612_with_intb,
"config_ldc1612_with_intb oid=%c i2c_oid=%c intb_pin=%c");
void
command_ldc1612_setup_home(uint32_t *args)
{
struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
ld->trigger_threshold = args[2];
if (!ld->trigger_threshold) {
ld->ts = NULL;
ld->homing_flags = 0;
return;
}
ld->homing_clock = args[1];
ld->ts = trsync_oid_lookup(args[3]);
ld->trigger_reason = args[4];
ld->error_reason = args[5];
ld->homing_flags = LH_AWAIT_HOMING | LH_CAN_TRIGGER;
}
DECL_COMMAND(command_ldc1612_setup_home,
"ldc1612_setup_home oid=%c clock=%u threshold=%u"
" trsync_oid=%c trigger_reason=%c error_reason=%c");
void
command_query_ldc1612_home_state(uint32_t *args)
{
struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
sendf("ldc1612_home_state oid=%c homing=%c trigger_clock=%u"
, args[0], !!(ld->homing_flags & LH_CAN_TRIGGER), ld->homing_clock);
}
DECL_COMMAND(command_query_ldc1612_home_state,
"query_ldc1612_home_state oid=%c");
// Check if a sample should trigger a homing event
static void
check_home(struct ldc1612 *ld, uint32_t data)
{
uint8_t homing_flags = ld->homing_flags;
if (!(homing_flags & LH_CAN_TRIGGER))
return;
if (data > 0x0fffffff) {
// Sensor reports an issue - cancel homing
ld->homing_flags = 0;
trsync_do_trigger(ld->ts, ld->error_reason);
return;
}
uint32_t time = timer_read_time();
if ((homing_flags & LH_AWAIT_HOMING)
&& timer_is_before(time, ld->homing_clock))
return;
homing_flags &= ~LH_AWAIT_HOMING;
if (data > ld->trigger_threshold) {
homing_flags = 0;
ld->homing_clock = time;
trsync_do_trigger(ld->ts, ld->trigger_reason);
}
ld->homing_flags = homing_flags;
}
// Chip registers
#define REG_DATA0_MSB 0x00
#define REG_DATA0_LSB 0x01
#define REG_STATUS 0x18
// Read a register on the ldc1612
static void
read_reg(struct ldc1612 *ld, uint8_t reg, uint8_t *res)
{
int ret = i2c_dev_read(ld->i2c, sizeof(reg), ®, 2, res);
i2c_shutdown_on_err(ret);
}
// Read the status register on the ldc1612
static uint16_t
read_reg_status(struct ldc1612 *ld)
{
uint8_t data_status[2];
read_reg(ld, REG_STATUS, data_status);
return (data_status[0] << 8) | data_status[1];
}
#define BYTES_PER_SAMPLE 4
// Query ldc1612 data
static void
ldc1612_query(struct ldc1612 *ld, uint8_t oid)
{
// Check if data available (and clear INTB line)
uint16_t status = read_reg_status(ld);
irq_disable();
ld->flags &= ~LDC_PENDING;
irq_enable();
if (!(status & 0x08))
return;
// Read coil0 frequency
uint8_t *d = &ld->sb.data[ld->sb.data_count];
read_reg(ld, REG_DATA0_MSB, &d[0]);
read_reg(ld, REG_DATA0_LSB, &d[2]);
ld->sb.data_count += BYTES_PER_SAMPLE;
// Check for endstop trigger
uint32_t data = ((uint32_t)d[0] << 24)
| ((uint32_t)d[1] << 16)
| ((uint32_t)d[2] << 8)
| ((uint32_t)d[3]);
check_home(ld, data);
// Flush local buffer if needed
if (ld->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ld->sb.data))
sensor_bulk_report(&ld->sb, oid);
}
void
command_query_ldc1612(uint32_t *args)
{
struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
sched_del_timer(&ld->timer);
ld->flags &= ~LDC_PENDING;
if (!args[1])
// End measurements
return;
// Start new measurements query
ld->rest_ticks = args[1];
sensor_bulk_reset(&ld->sb);
irq_disable();
ld->timer.waketime = timer_read_time() + ld->rest_ticks;
sched_add_timer(&ld->timer);
irq_enable();
}
DECL_COMMAND(command_query_ldc1612, "query_ldc1612 oid=%c rest_ticks=%u");
void
command_query_status_ldc1612(uint32_t *args)
{
struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
if (ld->flags & LDC_HAVE_INTB) {
// Check if a sample is pending in the chip via the intb line
irq_disable();
uint32_t time = timer_read_time();
int p = check_intb_asserted(ld);
irq_enable();
sensor_bulk_status(&ld->sb, args[0], time, 0, p ? BYTES_PER_SAMPLE : 0);
return;
}
// Query sensor to see if a sample is pending
uint32_t time1 = timer_read_time();
uint16_t status = read_reg_status(ld);
uint32_t time2 = timer_read_time();
uint32_t fifo = status & 0x08 ? BYTES_PER_SAMPLE : 0;
sensor_bulk_status(&ld->sb, args[0], time1, time2-time1, fifo);
}
DECL_COMMAND(command_query_status_ldc1612, "query_status_ldc1612 oid=%c");
void
ldc1612_task(void)
{
if (!sched_check_wake(&ldc1612_wake))
return;
uint8_t oid;
struct ldc1612 *ld;
foreach_oid(oid, ld, command_config_ldc1612) {
uint_fast8_t flags = ld->flags;
if (!(flags & LDC_PENDING))
continue;
ldc1612_query(ld, oid);
}
}
DECL_TASK(ldc1612_task);
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