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// Support for gathering acceleration data from LIS2DW chip
//
// Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
// Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <string.h> // memcpy
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_read_time
#include "basecmd.h" // oid_alloc
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "spicmds.h" // spidev_transfer
#define LIS_AR_DATAX0 0x28
#define LIS_AM_READ 0x80
#define LIS_FIFO_CTRL 0x2E
#define LIS_FIFO_SAMPLES 0x2F
#define BYTES_PER_SAMPLE 6
struct lis2dw {
struct timer timer;
uint32_t rest_ticks;
struct spidev_s *spi;
uint8_t flags;
struct sensor_bulk sb;
};
enum {
LIS_HAVE_START = 1<<0, LIS_RUNNING = 1<<1, LIS_PENDING = 1<<2,
};
static struct task_wake lis2dw_wake;
// Event handler that wakes lis2dw_task() periodically
static uint_fast8_t
lis2dw_event(struct timer *timer)
{
struct lis2dw *ax = container_of(timer, struct lis2dw, timer);
ax->flags |= LIS_PENDING;
sched_wake_task(&lis2dw_wake);
return SF_DONE;
}
void
command_config_lis2dw(uint32_t *args)
{
struct lis2dw *ax = oid_alloc(args[0], command_config_lis2dw
, sizeof(*ax));
ax->timer.func = lis2dw_event;
ax->spi = spidev_oid_lookup(args[1]);
}
DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
// Helper code to reschedule the lis2dw_event() timer
static void
lis2dw_reschedule_timer(struct lis2dw *ax)
{
irq_disable();
ax->timer.waketime = timer_read_time() + ax->rest_ticks;
sched_add_timer(&ax->timer);
irq_enable();
}
// Query accelerometer data
static void
lis2dw_query(struct lis2dw *ax, uint8_t oid)
{
uint8_t msg[7] = {0};
uint8_t fifo[2] = {LIS_FIFO_SAMPLES| LIS_AM_READ , 0};
uint8_t fifo_empty,fifo_ovrn = 0;
msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
uint8_t *d = &ax->sb.data[ax->sb.data_count];
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
spidev_transfer(ax->spi, 1, sizeof(fifo), fifo);
fifo_empty = fifo[1]&0x3F;
fifo_ovrn = fifo[1]&0x40;
d[0] = msg[1]; // x low bits
d[1] = msg[2]; // x high bits
d[2] = msg[3]; // y low bits
d[3] = msg[4]; // y high bits
d[4] = msg[5]; // z low bits
d[5] = msg[6]; // z high bits
ax->sb.data_count += BYTES_PER_SAMPLE;
if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data))
sensor_bulk_report(&ax->sb, oid);
// Check fifo status
if (fifo_ovrn)
ax->sb.possible_overflows++;
// check if we need to run the task again (more packets in fifo?)
if (!fifo_empty) {
// More data in fifo - wake this task again
sched_wake_task(&lis2dw_wake);
} else if (ax->flags & LIS_RUNNING) {
// Sleep until next check time
sched_del_timer(&ax->timer);
ax->flags &= ~LIS_PENDING;
lis2dw_reschedule_timer(ax);
}
}
// Startup measurements
static void
lis2dw_start(struct lis2dw *ax, uint8_t oid)
{
sched_del_timer(&ax->timer);
ax->flags = LIS_RUNNING;
uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0xC0};
spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
lis2dw_reschedule_timer(ax);
}
// End measurements
static void
lis2dw_stop(struct lis2dw *ax, uint8_t oid)
{
// Disable measurements
sched_del_timer(&ax->timer);
ax->flags = 0;
uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0};
spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
}
void
command_query_lis2dw(uint32_t *args)
{
struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
if (!args[2]) {
// End measurements
lis2dw_stop(ax, args[0]);
return;
}
// Start new measurements query
sched_del_timer(&ax->timer);
ax->timer.waketime = args[1];
ax->rest_ticks = args[2];
ax->flags = LIS_HAVE_START;
sensor_bulk_reset(&ax->sb);
sched_add_timer(&ax->timer);
}
DECL_COMMAND(command_query_lis2dw,
"query_lis2dw oid=%c clock=%u rest_ticks=%u");
void
command_query_lis2dw_status(uint32_t *args)
{
struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 };
uint32_t time1 = timer_read_time();
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
uint32_t time2 = timer_read_time();
sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
, (msg[1] & 0x1f) * BYTES_PER_SAMPLE);
}
DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");
void
lis2dw_task(void)
{
if (!sched_check_wake(&lis2dw_wake))
return;
uint8_t oid;
struct lis2dw *ax;
foreach_oid(oid, ax, command_config_lis2dw) {
uint_fast8_t flags = ax->flags;
if (!(flags & LIS_PENDING))
continue;
if (flags & LIS_HAVE_START)
lis2dw_start(ax, oid);
else
lis2dw_query(ax, oid);
}
}
DECL_TASK(lis2dw_task);
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