imu_aspirin_arch.c

#include "subsystems/imu.h"

#include <stm32/gpio.h>
#include <stm32/misc.h>
#include <stm32/rcc.h>
#include <stm32/exti.h>
#include <stm32/spi.h>
#include <stm32/dma.h>

#include "mcu_periph/i2c.h"

/* gyro int handler */
void exti15_10_irq_handler(void);
/* mag int handler  */
void exti9_5_irq_handler(void);
/* accelerometer int handler  */
void exti2_irq_handler(void);
/* accelerometer SPI selection */
#define Adxl345Unselect() GPIOB->BSRR = GPIO_Pin_12
#define Adxl345Select()   GPIOB->BRR = GPIO_Pin_12
/* accelerometer dma end of rx handler */
void dma1_c4_irq_handler(void);

void imu_aspirin_arch_int_enable(void) {
  NVIC_InitTypeDef NVIC_InitStructure;

#ifdef ASPIRIN_USE_GYRO_INT
  NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
#endif

  NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  /* Enable DMA1 channel4 IRQ Channel ( SPI RX) */
  NVIC_InitTypeDef NVIC_init_struct = {
    .NVIC_IRQChannel = DMA1_Channel4_IRQn,
    .NVIC_IRQChannelPreemptionPriority = 0,
    .NVIC_IRQChannelSubPriority = 0,
    .NVIC_IRQChannelCmd = ENABLE
  };
  NVIC_Init(&NVIC_init_struct);

}

void imu_aspirin_arch_int_disable(void) {
  NVIC_InitTypeDef NVIC_InitStructure;

#ifdef ASPIRIN_USE_GYRO_INT
  NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
  NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
  NVIC_Init(&NVIC_InitStructure);
#endif

  NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
  NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
  NVIC_Init(&NVIC_InitStructure);

  /* Enable DMA1 channel4 IRQ Channel ( SPI RX) */
  NVIC_InitTypeDef NVIC_init_struct = {
    .NVIC_IRQChannel = DMA1_Channel4_IRQn,
    .NVIC_IRQChannelPreemptionPriority = 0,
    .NVIC_IRQChannelSubPriority = 0,
    .NVIC_IRQChannelCmd = DISABLE
  };
  NVIC_Init(&NVIC_init_struct);

}

void imu_aspirin_arch_init(void) {

  GPIO_InitTypeDef GPIO_InitStructure;
  EXTI_InitTypeDef EXTI_InitStructure;
  SPI_InitTypeDef SPI_InitStructure;

  /* Set "mag ss" and "mag reset" as floating inputs ------------------------*/
  /* "mag ss"    (PC12) is shorted to I2C2 SDA       */
  /* "mag reset" (PC13) is shorted to I2C2 SCL       */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);

  /* Gyro --------------------------------------------------------------------*/
  /* set "eeprom ss" as floating input (on PC14) = gyro int          ---------*/
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);
  /* configure external interrupt exti15_10 on PC14( gyro int ) */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);

#ifdef ASPIRIN_USE_GYRO_INT
  GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
  EXTI_InitStructure.EXTI_Line = EXTI_Line14;
  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
  EXTI_Init(&EXTI_InitStructure);
#endif

  /* Accel */
  /* set accel slave select as output and assert it ( on PB12) */
  Adxl345Unselect();
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  /* configure external interrupt exti2 on PB2( accel int ) */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
  GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource2);

  EXTI_InitStructure.EXTI_Line = EXTI_Line2;
  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
  EXTI_Init(&EXTI_InitStructure);

  /* Enable SPI2 Periph clock -------------------------------------------------*/
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);

  /* Configure GPIOs: SCK, MISO and MOSI  --------------------------------*/
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
  SPI_Cmd(SPI2, ENABLE);

  /* configure SPI */
  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
  SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
  SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;
  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
  SPI_InitStructure.SPI_CRCPolynomial = 7;
  SPI_Init(SPI2, &SPI_InitStructure);


  /* Enable SPI_2 DMA clock ---------------------------------------------------*/
  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);


}


void adxl345_write_to_reg(uint8_t addr, uint8_t val) {

  Adxl345Select();
  SPI_I2S_SendData(SPI2, addr);
  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
  SPI_I2S_SendData(SPI2, val);
  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
  Adxl345Unselect();

}

void adxl345_clear_rx_buf(void) {
  uint8_t __attribute__ ((unused)) ret = SPI_I2S_ReceiveData(SPI2);
}

void adxl345_start_reading_data(void) {
   Adxl345Select();

   imu_aspirin.accel_tx_buf[0] = (1<<7|1<<6|ADXL345_REG_DATA_X0);

  /* SPI2_Rx_DMA_Channel configuration ------------------------------------*/
  DMA_DeInit(DMA1_Channel4);
  DMA_InitTypeDef DMA_initStructure_4 = {
    .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
    .DMA_MemoryBaseAddr = (uint32_t)imu_aspirin.accel_rx_buf,
    .DMA_DIR = DMA_DIR_PeripheralSRC,
    .DMA_BufferSize = 7,
    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
    .DMA_MemoryInc = DMA_MemoryInc_Enable,
    .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
    .DMA_Mode = DMA_Mode_Normal,
    .DMA_Priority = DMA_Priority_VeryHigh,
    .DMA_M2M = DMA_M2M_Disable
  };
  DMA_Init(DMA1_Channel4, &DMA_initStructure_4);

  /* SPI2_Tx_DMA_Channel configuration ------------------------------------*/
  DMA_DeInit(DMA1_Channel5);
  DMA_InitTypeDef DMA_initStructure_5 = {
    .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
    .DMA_MemoryBaseAddr = (uint32_t)imu_aspirin.accel_tx_buf,
    .DMA_DIR = DMA_DIR_PeripheralDST,
    .DMA_BufferSize = 7,
    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
    .DMA_MemoryInc = DMA_MemoryInc_Enable,
    .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
    .DMA_Mode = DMA_Mode_Normal,
    .DMA_Priority = DMA_Priority_Medium,
    .DMA_M2M = DMA_M2M_Disable
  };
  DMA_Init(DMA1_Channel5, &DMA_initStructure_5);

  /* Enable SPI_2 Rx request */
  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, ENABLE);
  /* Enable DMA1 Channel4 */
  DMA_Cmd(DMA1_Channel4, ENABLE);

  /* Enable SPI_2 Tx request */
  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, ENABLE);
  /* Enable DMA1 Channel5 */
  DMA_Cmd(DMA1_Channel5, ENABLE);

  /* Enable DMA1 Channel4 Transfer Complete interrupt */
  DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, ENABLE);
}

/*
 *
 * Gyro data ready
 *
 */
void exti15_10_irq_handler(void) {

  /* clear EXTI */
  if(EXTI_GetITStatus(EXTI_Line14) != RESET)
    EXTI_ClearITPendingBit(EXTI_Line14);

#ifdef ASPIRIN_USE_GYRO_INT
  imu_aspirin.gyro_eoc = TRUE;
  imu_aspirin.status = AspirinStatusReadingGyro;
#endif

}

/*
 *
 * Accel data ready
 *
 */
void exti2_irq_handler(void) {

  /* clear EXTI */
  if(EXTI_GetITStatus(EXTI_Line2) != RESET)
    EXTI_ClearITPendingBit(EXTI_Line2);

  adxl345_start_reading_data();

}

/*
 *
 * Accel end of DMA transfert
 *
 */
void dma1_c4_irq_handler(void) {
  Adxl345Unselect();
  if (DMA_GetITStatus(DMA1_IT_TC4)) {
		// clear int pending bit
		DMA_ClearITPendingBit(DMA1_IT_GL4);

    // mark as available
    imu_aspirin.accel_available = TRUE;
	}

  // disable DMA Channel
  DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE);
  /* Disable SPI_2 Rx and TX request */
  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, DISABLE);
  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, DISABLE);
  /* Disable DMA1 Channel4 and 5 */
  DMA_Cmd(DMA1_Channel4, DISABLE);
  DMA_Cmd(DMA1_Channel5, DISABLE);

}