diff options
| -rw-r--r-- | ports/stm32/accel.c | 52 |
1 files changed, 26 insertions, 26 deletions
diff --git a/ports/stm32/accel.c b/ports/stm32/accel.c index 73ddcf8cf..b4916b505 100644 --- a/ports/stm32/accel.c +++ b/ports/stm32/accel.c @@ -48,13 +48,13 @@ #define I2C_TIMEOUT_MS (50) -#define MMA_ADDR (76) -#define MMA_REG_X (0) -#define MMA_REG_Y (1) -#define MMA_REG_Z (2) -#define MMA_REG_TILT (3) -#define MMA_REG_MODE (7) -#define MMA_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0)) +#define ACCEL_ADDR (76) +#define ACCEL_REG_X (0) +#define ACCEL_REG_Y (1) +#define ACCEL_REG_Z (2) +#define ACCEL_REG_TILT (3) +#define ACCEL_REG_MODE (7) +#define ACCEL_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0)) void accel_init(void) { // PB5 is connected to AVDD; pull high to enable MMA accel device @@ -74,7 +74,7 @@ STATIC void accel_start(void) { int ret; for (int i = 0; i < 4; i++) { - ret = i2c_writeto(I2C1, MMA_ADDR, NULL, 0, true); + ret = i2c_writeto(I2C1, ACCEL_ADDR, NULL, 0, true); if (ret == 0) { break; } @@ -85,8 +85,8 @@ STATIC void accel_start(void) { } // set MMA to active mode - uint8_t data[2] = {MMA_REG_MODE, 1}; // active mode - i2c_writeto(I2C1, MMA_ADDR, data, 2, true); + uint8_t data[2] = {ACCEL_REG_MODE, 1}; // active mode + i2c_writeto(I2C1, ACCEL_ADDR, data, 2, true); // wait for MMA to become active mp_hal_delay_ms(30); @@ -129,38 +129,38 @@ STATIC mp_obj_t pyb_accel_make_new(const mp_obj_type_t *type, size_t n_args, siz STATIC mp_obj_t read_axis(int axis) { uint8_t data[1] = { axis }; - i2c_writeto(I2C1, MMA_ADDR, data, 1, false); - i2c_readfrom(I2C1, MMA_ADDR, data, 1, true); - return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0])); + i2c_writeto(I2C1, ACCEL_ADDR, data, 1, false); + i2c_readfrom(I2C1, ACCEL_ADDR, data, 1, true); + return mp_obj_new_int(ACCEL_AXIS_SIGNED_VALUE(data[0])); } /// \method x() /// Get the x-axis value. STATIC mp_obj_t pyb_accel_x(mp_obj_t self_in) { - return read_axis(MMA_REG_X); + return read_axis(ACCEL_REG_X); } STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_x_obj, pyb_accel_x); /// \method y() /// Get the y-axis value. STATIC mp_obj_t pyb_accel_y(mp_obj_t self_in) { - return read_axis(MMA_REG_Y); + return read_axis(ACCEL_REG_Y); } STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_y_obj, pyb_accel_y); /// \method z() /// Get the z-axis value. STATIC mp_obj_t pyb_accel_z(mp_obj_t self_in) { - return read_axis(MMA_REG_Z); + return read_axis(ACCEL_REG_Z); } STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z); /// \method tilt() /// Get the tilt register. STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) { - uint8_t data[1] = { MMA_REG_TILT }; - i2c_writeto(I2C1, MMA_ADDR, data, 1, false); - i2c_readfrom(I2C1, MMA_ADDR, data, 1, true); + uint8_t data[1] = { ACCEL_REG_TILT }; + i2c_writeto(I2C1, ACCEL_ADDR, data, 1, false); + i2c_readfrom(I2C1, ACCEL_ADDR, data, 1, true); return mp_obj_new_int(data[0]); } STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_tilt_obj, pyb_accel_tilt); @@ -172,13 +172,13 @@ STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t self_in) { memmove(self->buf, self->buf + NUM_AXIS, NUM_AXIS * (FILT_DEPTH - 1) * sizeof(int16_t)); - uint8_t data[NUM_AXIS] = { MMA_REG_X }; - i2c_writeto(I2C1, MMA_ADDR, data, 1, false); - i2c_readfrom(I2C1, MMA_ADDR, data, 3, true); + uint8_t data[NUM_AXIS] = { ACCEL_REG_X }; + i2c_writeto(I2C1, ACCEL_ADDR, data, 1, false); + i2c_readfrom(I2C1, ACCEL_ADDR, data, 3, true); mp_obj_t tuple[NUM_AXIS]; for (int i = 0; i < NUM_AXIS; i++) { - self->buf[NUM_AXIS * (FILT_DEPTH - 1) + i] = MMA_AXIS_SIGNED_VALUE(data[i]); + self->buf[NUM_AXIS * (FILT_DEPTH - 1) + i] = ACCEL_AXIS_SIGNED_VALUE(data[i]); int32_t val = 0; for (int j = 0; j < FILT_DEPTH; j++) { val += self->buf[i + NUM_AXIS * j]; @@ -192,15 +192,15 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_ STATIC mp_obj_t pyb_accel_read(mp_obj_t self_in, mp_obj_t reg) { uint8_t data[1] = { mp_obj_get_int(reg) }; - i2c_writeto(I2C1, MMA_ADDR, data, 1, false); - i2c_writeto(I2C1, MMA_ADDR, data, 1, true); + i2c_writeto(I2C1, ACCEL_ADDR, data, 1, false); + i2c_writeto(I2C1, ACCEL_ADDR, data, 1, true); return mp_obj_new_int(data[0]); } MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_read_obj, pyb_accel_read); STATIC mp_obj_t pyb_accel_write(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val) { uint8_t data[2] = { mp_obj_get_int(reg), mp_obj_get_int(val) }; - i2c_writeto(I2C1, MMA_ADDR, data, 2, true); + i2c_writeto(I2C1, ACCEL_ADDR, data, 2, true); return mp_const_none; } MP_DEFINE_CONST_FUN_OBJ_3(pyb_accel_write_obj, pyb_accel_write); |