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rusefi/firmware/hw_layer/sensors/accelerometer.cpp

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/*
* @file accelerometer.cpp
*
* stm32f4discovery has MEMS LIS302DL
* www.st.com/resource/en/datasheet/lis302dl.pdf
*
* SPI1
* LIS302DL_SPI_SCK PA5
* LIS302DL_SPI_MISO PA6
* LIS302DL_SPI_MOSI PA7
* LIS302DL_SPI_CS_PIN PE3
*
*
*
* @date May 19, 2016
* @author Andrey Belomutskiy, (c) 2012-2020
*/
#include "pch.h"
#include "accelerometer.h"
#include "hardware.h"
#if EFI_ONBOARD_MEMS
#include "mpu_util.h"
#include "lis302dl.h"
#include "periodic_thread_controller.h"
#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)
#include "lis2dw12.h"
#endif
#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)
#include "lsm303agr.h"
#endif
#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
#include "lis302dl.h"
#endif
#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)
#include "lis3dsh.h"
#endif
/*
* SPI1 configuration structure.
* Speed 5.25MHz, CPHA=1, CPOL=1, 8bits frames, MSb transmitted first.
*/
static SPIConfig accelerometerSpiCfg = {
#if SPI_SUPPORTS_CIRCULAR == TRUE
.circular = FALSE,
#endif
.end_cb = NULL,
/* HW dependent part.*/
.ssport = NULL,
.sspad = 0,
.cr1 = SPI_CR1_BR_0 | SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA |
SPI_CR1_8BIT_MODE,
.cr2 = SPI_CR2_8BIT_MODE
};
OutputPin accelerometerChipSelect;
#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)
static LIS2DW12Config lis2dw12cfg = {
#if LIS2DW12_USE_SPI
.spip = NULL,
.spicfg = &accelerometerSpiCfg,
#endif
#ifdef LIS2DW12_USE_I2C
/* TODO: */
#endif
.accsensitivity = NULL,
.accbias = NULL,
.accoutputdatarate = LIS2DW12_ACC_ODR_25HZ,
.accoutputresolution = LIS2DW12_ACC_OR_HP,
.acclowpowermode = LIS2DW12_ACC_LP_MODE2,
.accbadwidthselect = LIS2DW12_ACC_BW_ODR4,
.accfullscale = LIS2DW12_ACC_FS_4G,
};
/* LIS302DL Driver: This object represent an LIS302DL instance */
static LIS2DW12Driver LIS2DW12;
#endif //EFI_ONBOARD_MEMS_LIS2DW12 == TRUE
#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)
static LSM303AGRConfig lis2dh12cfg = {
#if LSM303AGR_USE_SPI
.spip = NULL,
.spicfg = &accelerometerSpiCfg,
#endif
.accsensitivity = NULL,
.accbias = NULL,
.accfullscale = LSM303AGR_ACC_FS_4G,
.accoutdatarate = LSM303AGR_ACC_ODR_50Hz,
#if LSM303AGR_USE_ADVANCED
.accmode = LSM303AGR_ACC_MODE_HRES,
.accblockdataupdate = LSM303AGR_ACC_BDU_CONT,
.accendianess = LSM303AGR_ACC_END_LITTLE,
#endif
/* LIS2DW12 is Accelerometer only, ignore following */
.compsensitivity = NULL,
.compbias = NULL,
.compoutputdatarate = LSM303AGR_COMP_ODR_50HZ,
#if LSM303AGR_USE_ADVANCED
.compmode = LSM303AGR_COMP_MODE_NORM,
.complp = LSM303AGR_COMP_LPOW_EN
#endif
};
/* LSM303AGR Driver: This object represent an LIS2DH12 instance */
static LSM303AGRDriver LIS2DH12;
#endif //EFI_ONBOARD_MEMS_LIS2DH12 == TRUE
#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
static LIS302DLConfig lis302dlcfg ={
#if LIS302DL_USE_SPI
.spip = NULL,
.spicfg = &accelerometerSpiCfg,
#endif
#if LIS302DL_USE_I2C
/* TODO: */
#endif
.accsensitivity = NULL,
.accbias = NULL,
.accfullscale = LIS302DL_ACC_FS_8G,
.accoutputdatarate = LIS302DL_ACC_ODR_100HZ,
#if LIS302DL_USE_ADVANCED
.acchighpass = LIS302DL_ACC_HP_0,
#endif
};
static LIS302DLDriver LIS302DL;
#endif //EFI_ONBOARD_MEMS_LIS302DL == TRUE
#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)
static LIS3DSHConfig lis3dshcfg ={
#if LIS3DSH_USE_SPI
.spip = NULL,
.spicfg = &accelerometerSpiCfg,
#endif
.accsensitivity = NULL,
.accbias = NULL,
.accfullscale = LIS3DSH_ACC_FS_4G,
.accoutputdatarate = LIS3DSH_ACC_ODR_50HZ,
#if LIS3DSH_USE_ADVANCED
.accantialiasing = LIS3DSH_ACC_BW_50HZ,
.accblockdataupdate = LIS3DSH_ACC_BDU_CONTINUOUS,
#endif
};
static LIS3DSHDriver LIS3DSH;
#endif //EFI_ONBOARD_MEMS_LIS3DSH == TRUE
enum AccelType_t {
ACCEL_UNK = 0,
ACCEL_LIS2DW12,
ACCEL_LIS2DH12, // Same as LSM303
ACCEL_LIS302DL, // STM32F4DISCOVERY (old?)
ACCEL_LIS3DSH, // STM32F4DISCOVERY
};
static AccelType_t AccelType = ACCEL_UNK;
class AccelController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
public:
AccelController() : PeriodicController("Acc SPI") { }
private:
void PeriodicTask(efitick_t nowNt) override {
msg_t ret = MSG_RESET;
float acccooked[3];
#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)
if (AccelType == ACCEL_LIS2DW12) {
ret = lis2dw12AccelerometerReadCooked(&LIS2DW12, acccooked);
}
#endif
#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)
if (AccelType == ACCEL_LIS2DH12) {
ret = lsm303agrAccelerometerReadCooked(&LIS2DH12, acccooked);
}
#endif
#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
if (AccelType == ACCEL_LIS302DL) {
ret = lis302dlAccelerometerReadCooked(&LIS302DL, acccooked);
}
#endif
#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)
if (AccelType == ACCEL_LIS3DSH) {
ret = lis3dshAccelerometerReadCooked(&LIS3DSH, acccooked);
}
#endif
if ((engineConfiguration->useSpiImu) && (ret == MSG_OK)) {
/* milli-G to G */
engine->sensors.accelerometer.lat = acccooked[0] / 1000.0;
engine->sensors.accelerometer.lon = acccooked[1] / 1000.0;
engine->sensors.accelerometer.vert = acccooked[2] / 1000.0;
}
}
};
static AccelController instance;
void initAccelerometer() {
#if HAL_USE_SPI
static SPIDriver *bus;
msg_t ret = MSG_RESET;
if (!isBrainPinValid(engineConfiguration->accelerometerCsPin))
return; // not used
bus = getSpiDevice(engineConfiguration->accelerometerSpiDevice);
if (bus == nullptr) {
// error already reported
return;
}
/* so far only Hellen boards share SPI device for SD card and accelerometer
* thus need to make sure CS pin is in a well known proper state */
if (!accelerometerChipSelect.isInitialized()) {
accelerometerChipSelect.initPin("SPI Acc", engineConfiguration->accelerometerCsPin);
}
accelerometerSpiCfg.ssport = getHwPort("SPI Acc", engineConfiguration->accelerometerCsPin);
accelerometerSpiCfg.sspad = getHwPin("SPI Acc", engineConfiguration->accelerometerCsPin);
/* Try to detect any of enabled accels */
/* Hope all device drivers know how to detect correct chip */
#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)
if (ret != MSG_OK) {
lis2dw12cfg.spip = bus;
/* LIS2DW12 Object Initialization.*/
lis2dw12ObjectInit(&LIS2DW12);
/* Activates the LIS2DW12 driver.*/
ret = lis2dw12Start(&LIS2DW12, &lis2dw12cfg);
if (ret == MSG_OK) {
AccelType = ACCEL_LIS2DW12;
}
}
#endif //EFI_ONBOARD_MEMS_LIS2DW12 == TRUE
#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)
if (ret != MSG_OK) {
lis2dh12cfg.spip = bus;
/* LIS2DH12 Object Initialization.*/
lsm303agrObjectInit(&LIS2DH12);
/* Activates the LIS2DH12 driver.*/
ret = lsm303agrStart(&LIS2DH12, &lis2dh12cfg);
if (ret == MSG_OK) {
AccelType = ACCEL_LIS2DH12;
}
}
#endif //EFI_ONBOARD_MEMS_LIS2DH12 == TRUE
#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
if (ret != MSG_OK) {
lis302dlcfg.spip = bus;
/* LIS302DL Object Initialization.*/
lis302dlObjectInit(&LIS302DL);
/* Activates the LIS302DL driver.*/
ret = lis302dlStart(&LIS302DL, &lis302dlcfg);
if (ret == MSG_OK) {
AccelType = ACCEL_LIS302DL;
}
}
#endif //EFI_ONBOARD_MEMS_LIS302DL == TRUE
#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)
if (ret != MSG_OK) {
lis3dshcfg.spip = bus;
/* LIS3DSH Object Initialization.*/
lis3dshObjectInit(&LIS3DSH);
/* Activates the LIS3DSH driver.*/
ret = lis3dshStart(&LIS3DSH, &lis3dshcfg);
if (ret == MSG_OK) {
AccelType = ACCEL_LIS3DSH;
}
}
#endif //EFI_ONBOARD_MEMS_LIS3DSH == TRUE
if (ret == MSG_OK) {
/* 50 Hz */
instance.setPeriod(20 /*ms*/);
instance.start();
efiPrintf("accelerometer init OK");
} else {
efiPrintf("accelerometer init failed %d", (int)ret);
}
#endif /* HAL_USE_SPI */
}
#endif /* EFI_ONBOARD_MEMS */
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