path: root/nuttx/configs/vsn/src/sif.c

/****************************************************************************
 * config/vsn/src/sif.c
 * arch/arm/src/board/sif.c
 *
 *   Copyright (C) 2011 Uros Platise. All rights reserved.
 *
 *   Authors: Uros Platise <uros.platise@isotel.eu>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/** \file
 *  \author Uros Platise
 *  \brief VSN Sensor Interface
 *
 * Public interface:
 *  - sif_init(): should be called just once after system starts, to
 *    initialize internal data structures, device driver and hardware
 *  - individual starts() and stops() that control gpio, usart, i2c, ...
 *    are wrapped throu open() and close()
 *  - read() and write() are used for streaming
 *  - ioctl() for configuration
 *
 * STDOUT Coding 16-bit (little endian):
 *  - MSB = 0 GPIOs, followed by the both GPIO config bytes
 *  - MSB = 1 Input AD, centered around 0x4000
 *
 * STDIN Coding 16-bit (little endian):
 *  - MSB = 0 GPIOs, followed by the both GPIO config bytes
 *    - MSB-1 = 0 Analog Output (PWM or Power)
 *    - MSB-1 = 1 Analog Reference Tap
 *
 * GPIO Update cycle:
 *  - if they follow the Analog Output, they are synced with them
 *  - if they follow the Analog Reference Tap, they are synced with them
 *  - if either is configured without sample rate value, they are updated
 *    immediately, same as them
 *
 * Implementation:
 *  - Complete internal states and updateing is made via the struct
 *    vsn_sif_s, which is also accessible thru the ioctl() with
 *    SNP Message descriptor.
 **/

#include <nuttx/config.h>
#include <nuttx/fs/fs.h>
#include <semaphore.h>
#include <nuttx/clock.h>
#include <nuttx/time.h>
#include <nuttx/rtc.h>
#include <nuttx/progmem.h>

#include <nuttx/i2c.h>
#include <nuttx/sensors/lis331dl.h>

#include <nuttx/spi/spi.h>
#include <nuttx/wireless/cc1101.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <errno.h>

#include "vsn.h"
#include "stm32_gpio.h"


/****************************************************************************
 * Declarations and Structures
 ****************************************************************************/

#define VSN_SIF_READ_BUFSIZE    128
#define VSN_SIF_WRITE_BUFSIZE   128


typedef unsigned char vsn_sif_state_t;

#   define VSN_SIF_STATE_POWERDOWN  0x00    ///< power-down

#   define VSN_SIF_STATE_ACT_GPIO   0x01    ///< gpio is active
#   define VSN_SIF_STATE_ACT_USART  0x02    ///< usart is active
#   define VSN_SIF_STATE_ACT_I2C    0x04    ///< i2c is active
#   define VSN_SIF_STATE_ACT_OWIR1  0x08    ///< 1-wire is active on first GPIO
#   define VSN_SIF_STATE_ACT_OWIR2  0x10    ///< 1-wire is active on second GPIO

#   define VSN_SIF_STATE_ACT_ANOUT  0x20    ///< analog output is active
#   define VSN_SIF_STATE_ACT_ANIN   0x40    ///< analog input is active


typedef unsigned char vsn_sif_gpio_t;

#   define VSN_SIF_GPIO_STATE_MASK  7
#   define VSN_SIF_GPIO_HIGHZ       0       ///< High-Z
#   define VSN_SIF_GPIO_PULLUP      1       ///< Pull-Up
#   define VSN_SIF_GPIO_PULLDOWN    2       ///< Pull-Down
#   define VSN_SIF_GPIO_OUTLOW      3       ///< Set Low
#   define VSN_SIF_GPIO_OUTHIGH     4       ///< Set High

#   define VSN_SIF_GPIO_DISALT_MASK 0x10    ///< Disable Alternate Function, Mask Bit
#   define VSN_SIF_GPIO_TRIG_MASK   0x20    ///< Send data change to the stdout
#   define VSN_SIF_GPIO_READ_MASK   0x40    ///< Readout mask


#define VSN_SIF_ANOUT_LOW       0	// Pseudo Analog Output acts as GPIO
#define VSN_SIF_ANOUT_HIGH      1	// Pseudo Analog Output acts as GPIO high
#define	VSN_SIF_ANOUT_HIGHPWR   2	// ... acts as high power output
#define VSN_SIF_ANOUT_PWM       3	// ... acts as PWM output
#define VSN_SIF_ANOUT_PWMPWR    4	// acts as power PWM output

#define VSN_SIF_ANIN_GAINMASK   7
#define VSN_SIF_ANIN_GAIN1      0
#define VSN_SIF_ANIN_GAIN2      1
#define VSN_SIF_ANIN_GAIN4      2
#define VSN_SIF_ANIN_GAIN8      3
#define VSN_SIF_ANIN_GAIN16     4
#define VSN_SIF_ANIN_GAIN32     5
#define VSN_SIF_ANIN_GAIN64     6
#define VSN_SIF_ANIN_GAIN128    7

#define VSN_SIF_ANIN_BITS8
#define VSN_SIF_ANIN_BITS9
#define VSN_SIF_ANIN_BITS10
#define VSN_SIF_ANIN_BITS11
#define VSN_SIF_ANIN_BITS12
#define VSN_SIF_ANIN_BITS13
#define VSN_SIF_ANIN_BITS14

#define VSN_SIF_ANIN_OVERSMP1
#define VSN_SIF_ANIN_OVERSMP2
#define VSN_SIF_ANIN_OVERSMP4
#define VSN_SIF_ANIN_OVERSMP8	
#define VSN_SIF_ANIN_OVERSMP16


struct vsn_sif_s {
    vsn_sif_state_t     state;              // activity
    unsigned char       opencnt;            // open count
	
    vsn_sif_gpio_t      gpio[2];

    unsigned char       anout_opts;
    unsigned short int  anout_width;
    unsigned short int  anout_period;       // setting it to 0, disables PWM
    unsigned short int  anout_samplerate;   // as written by write()
	 		
    unsigned short int  anref_width;
    unsigned short int  anref_period;       // setting it to 0, disables PWM
    unsigned short int  anref_samplerate;   // as written by write()

    unsigned char       anin_opts;
    unsigned int        anin_samplerate;    // returned on read() as 16-bit results

        /*--- Private Data ---*/

    struct stm32_tim_dev_s * tim3;          // Timer3 is used for PWM, and Analog RefTap
    struct stm32_tim_dev_s * tim8;          // Timer8 is used for Power Switch

    struct i2c_dev_s    * i2c1;
    struct i2c_dev_s    * i2c2;

    struct spi_dev_s    * spi2;

    sem_t               exclusive_access;
};

/****************************************************************************
 * Private data
 ****************************************************************************/

struct vsn_sif_s vsn_sif;

/****************************************************************************
 * Semaphores
 ****************************************************************************/

void sif_sem_wait(void)
{
    while (sem_wait(&vsn_sif.exclusive_access) != 0)
      {
        ASSERT(errno == EINTR);
      }
}

void inline sif_sem_post(void)
{
    sem_post(&vsn_sif.exclusive_access);
}

/****************************************************************************
 * GPIOs and Alternative Functions
 ****************************************************************************/

void sif_gpios_reset(void)
{
    vsn_sif.gpio[0] = vsn_sif.gpio[1] = VSN_SIF_GPIO_HIGHZ;

    stm32_configgpio(GPIO_GP1_HIZ);
    stm32_configgpio(GPIO_GP2_HIZ);
}

void sif_gpio1_update(void)
{
    uint32_t val;

    switch(vsn_sif.gpio[0] & VSN_SIF_GPIO_STATE_MASK) {
        case VSN_SIF_GPIO_HIGHZ:    val = GPIO_GP1_HIZ; break;
        case VSN_SIF_GPIO_PULLUP:   val = GPIO_GP1_PUP; break;
        case VSN_SIF_GPIO_PULLDOWN: val = GPIO_GP1_PDN; break;
        case VSN_SIF_GPIO_OUTLOW:   val = GPIO_GP1_LOW; break;
        case VSN_SIF_GPIO_OUTHIGH:  val = GPIO_GP1_HIGH;break;
        default: return;
    }
    if (stm32_configgpio(val) == ERROR)
        printf("Error updating1\n");

    if (stm32_gpioread(val))
        vsn_sif.gpio[0] |= VSN_SIF_GPIO_READ_MASK;
    else vsn_sif.gpio[0] &= ~VSN_SIF_GPIO_READ_MASK;
}

void sif_gpio2_update(void)
{
    uint32_t val;

    switch(vsn_sif.gpio[1]) {
        case VSN_SIF_GPIO_HIGHZ:    val = GPIO_GP2_HIZ; break;
        case VSN_SIF_GPIO_PULLUP:   val = GPIO_GP2_PUP; break;
        case VSN_SIF_GPIO_PULLDOWN: val = GPIO_GP2_PDN; break;
        case VSN_SIF_GPIO_OUTLOW:   val = GPIO_GP2_LOW; break;
        case VSN_SIF_GPIO_OUTHIGH:  val = GPIO_GP2_HIGH;break;
        default: return;
    }
    if (stm32_configgpio(val) == ERROR)
        printf("Error updating2\n");

    if (stm32_gpioread(val))
        vsn_sif.gpio[1] |= VSN_SIF_GPIO_READ_MASK;
    else vsn_sif.gpio[1] &= ~VSN_SIF_GPIO_READ_MASK;
}

int sif_gpios_lock(vsn_sif_state_t peripheral)
{
    return ERROR;
}


int sif_gpios_unlock(vsn_sif_state_t peripheral)
{
    return ERROR;
}

/****************************************************************************
 * Analog Outputs
 ****************************************************************************/

static volatile int test = 0, teirq;

static int sif_anout_isr(int irq, void *context)
{
    STM32_TIM_ACKINT(vsn_sif.tim8, 0);

    test++;
    teirq = irq;

    return OK;
}

int sif_anout_init(void)
{
    vsn_sif.tim3 = stm32_tim_init(3);
    vsn_sif.tim8 = stm32_tim_init(8);

    if (!vsn_sif.tim3 || !vsn_sif.tim8) return ERROR;

    // Use the TIM3 as PWM modulated analogue output

    STM32_TIM_SETPERIOD(vsn_sif.tim3, 5);
    STM32_TIM_SETCOMPARE(vsn_sif.tim3, GPIO_OUT_PWM_TIM3_CH, 3);

    STM32_TIM_SETCLOCK(vsn_sif.tim3, 36e6);
    STM32_TIM_SETMODE(vsn_sif.tim3, STM32_TIM_MODE_UP);
    STM32_TIM_SETCHANNEL(vsn_sif.tim3, GPIO_OUT_PWM_TIM3_CH, STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);

    // Use the TIM8 to drive the upper power mosfet

    STM32_TIM_SETISR(vsn_sif.tim8, sif_anout_isr, 0);
    STM32_TIM_ENABLEINT(vsn_sif.tim8, 0);

    STM32_TIM_SETPERIOD(vsn_sif.tim8, 4096);
    STM32_TIM_SETCOMPARE(vsn_sif.tim8, GPIO_OUT_PWRPWM_TIM8_CH, 5000);

    STM32_TIM_SETCLOCK(vsn_sif.tim8, 36e6);
    STM32_TIM_SETMODE(vsn_sif.tim8, STM32_TIM_MODE_UP);
    //STM32_TIM_SETCHANNEL(vsn_sif.tim8, GPIO_OUT_PWRPWM_TIM8_CH, STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);

    vsn_sif.i2c1 = up_i2cinitialize(1);
    vsn_sif.i2c2 = up_i2cinitialize(2);

    vsn_sif.spi2 = up_spiinitialize(2);

    return OK;
}


void sif_anout_update(void)
{
}

void sif_anout_callback(void)
{
  // called at rate of PWM interrupt
}

/****************************************************************************
 * Analog Input Reference Tap
 ****************************************************************************/

void sif_anref_init(void)
{
}

/****************************************************************************
 * Analog Input Sampler Unit
 ****************************************************************************/

#if 0
/**
 * Gain is set using the shared multiplexed bus with the SDIO card.
 * The following rules apply for the SDcard:
 *
 *  - CMD serial line always starts with 0 (start-bit) and ends with 1 (stop-bit)
 *    The total length is always 48 bits protected by CRCs. When changing the
 *    gain, CMD must be seen as 1 on CK changes.
 *
 *  - An alternative mechanism would be to use suspend/resume commands
 *
 *  - If SDcard internal shift-register is 8-bit oriented there might be a need
 *    to shift 7 dummy bits to properly detect invalid start of packet
 *    (with start bit set as 1) to invalidate bus transitions (in case CK
 *    is changing).
 *
 * SDIO returns the bus in HiZ states, where CLK = 0, D = CMD = external pull-up
 */
int sif_anin_setgain(int gain)
{
    /* Shutdown the PGA and exit if gain is invalid */

    stm32_gpiowrite(GPIO_PGIA_AEN, FALSE);

    if (gain < 0 || gain > 7)
        return -1;

    sdio_gpio_request();

    /* If we have to set CLK = 1, made that first as D, CMD are 1 by pull-ups */

    if (gain & 2)
        stm32_configgpio(GPIO_PGIA_A1_H);
    else stm32_configgpio(GPIO_PGIA_A1_L);

    /* Set the D and CMD bits */

    if (gain & 1)
        stm32_configgpio(GPIO_PGIA_A0_H);
    else stm32_configgpio(GPIO_PGIA_A0_L);

    if (gain & 4)
        stm32_configgpio(GPIO_PGIA_A2_H);
    else stm32_configgpio(GPIO_PGIA_A2_L);

    /* Sample GAIN on rising edge */

    stm32_gpiowrite(GPIO_PGIA_AEN, TRUE);

    /* Release D and CMD pins to 1; however shorten rising edge actively */

    stm32_gpiowrite(GPIO_PGIA_A0_H, TRUE);
    stm32_gpiowrite(GPIO_PGIA_A2_H, TRUE);

    stm32_unconfiggpio(GPIO_PGIA_A0_H);
    stm32_unconfiggpio(GPIO_PGIA_A2_H);

    /* Release CLK by going down  */

    stm32_unconfiggpio(GPIO_PGIA_A1_L);

    sdio_gpio_release();

    return gain;
}
#endif

int sif_anin_reset(void)
{
    return OK;
}

/****************************************************************************
 * Device driver functions
 ****************************************************************************/

int devsif_open(FAR struct file *filep)
{
    sif_sem_wait();
    vsn_sif.opencnt++;

    // Start Hardware

    sif_sem_post();
    return 0;
}

int devsif_close(FAR struct file *filep)
{
    sif_sem_wait();

    if (--vsn_sif.opencnt) {

        // suspend (powerdown) hardware

        sif_gpios_reset();

        //STM32_TIM_SETCLOCK(vsn_sif.tim3, 0);
        //STM32_TIM_SETCLOCK(vsn_sif.tim8, 0);
    }

    sif_sem_post();
    return 0;
}

static ssize_t devsif_read(FAR struct file *filep, FAR char *buffer, size_t len)
{
    sif_sem_wait();
    memset(buffer, 0, len);
    sif_sem_post();
    return len;
}

static ssize_t devsif_write(FAR struct file *filep, FAR const char *buffer, size_t len)
{
    sif_sem_wait();
    printf("getpid: %d\n", getpid());
    sif_sem_post();
    return len;
}

#ifndef CONFIG_DISABLE_POLL
static int devsif_poll(FAR struct file *filep, FAR struct pollfd *fds,
                        bool setup)
{
    if (setup) {
        fds->revents |= (fds->events & (POLLIN|POLLOUT));

        if (fds->revents != 0) {
            sem_post(fds->sem);
        }
    }
    return OK;
}
#endif

int devsif_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
    sif_sem_wait();
    sif_sem_post();
    return 0;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

static const struct file_operations devsif_fops = {
    devsif_open,    /* open */
    devsif_close,   /* close */
    devsif_read,    /* read */
    devsif_write,   /* write */
    0,              /* seek */
    devsif_ioctl    /* ioctl */
#ifndef CONFIG_DISABLE_POLL
  , devsif_poll     /* poll */
#endif
};

/** Bring up the Sensor Interface by initializing all of the desired
 *  hardware components.
 **/

int sif_init(void)
{
    /* Initialize data-structure */

    vsn_sif.state   = VSN_SIF_STATE_POWERDOWN;
    vsn_sif.opencnt = 0;
    sem_init(&vsn_sif.exclusive_access, 0, 1);

    /* Initialize hardware */

    sif_gpios_reset();
    if (sif_anout_init() != OK) return -1;
    if (sif_anin_reset() != OK) return -1;

    /* If everything is okay, register the driver */

    (void)register_driver("/dev/sif0", &devsif_fops, 0666, NULL);
    return OK;
}

/** SIF Utility
 *
 * Provides direct access to the sensor connector, readings, and diagnostic.
 **/

extern int cc1101_eventcb(int irq, FAR void *context);

int sif_main(int argc, char *argv[])
{
    if (argc >= 2) {	
        if (!strcmp(argv[1], "init")) {
          return sif_init();
        }
        else if (!strcmp(argv[1], "gpio") && argc == 4) {
            vsn_sif.gpio[0] = atoi(argv[2]);
            vsn_sif.gpio[1] = atoi(argv[3]);
            sif_gpio1_update();
            sif_gpio2_update();
            printf("GPIO States: %2x %2x\n", vsn_sif.gpio[0], vsn_sif.gpio[1]);
            return 0;
        }
        else if (!strcmp(argv[1], "pwr") && argc == 3) {
            int val = atoi(argv[2]);
            //STM32_TIM_SETCOMPARE(vsn_sif.tim8, GPIO_OUT_PWRPWM_TIM8_CH, val);
            STM32_TIM_SETCOMPARE(vsn_sif.tim3, GPIO_OUT_PWM_TIM3_CH, val);
            return 0;
        }
        else if (!strcmp(argv[1], "time") && argc == 3) {
            struct timespec t_set;
            t_set.tv_sec = atoi(argv[2]);
            clock_settime(CLOCK_REALTIME, &t_set);
        }
        else if (!strcmp(argv[1], "free")) {
            size_t  page = 0, stpage = 0xFFFF;
            ssize_t status;
            do {
                status = up_progmem_ispageerased(page++);

                /* Is this beginning of new free space section */
                if (status == 0) {
                    if (stpage == 0xFFFF) stpage = page-1;
                }
                else if (status != 0) {
                    if (stpage != 0xFFFF) {
                        printf("Free Range:\t%d\t-\t%d\n", stpage, page-2);
                        stpage = 0xFFFF;
                    }
                }
            }
            while (status >= 0);
            return 0;
        }
        else if (!strcmp(argv[1], "erase") && argc == 3) {
            size_t page = atoi(argv[2]);
            printf("Erase result: %d\n", up_progmem_erasepage(page));
            return 0;
        }
        else if (!strcmp(argv[1], "flash") && argc == 3) {
            size_t page = atoi(argv[2]);
            size_t addr = page * up_progmem_pagesize(page);

            printf("Write result: %d (writing to address %xh)\n",
                up_progmem_write(addr, "Test", 4), addr);
            return 0;
        }
        else if (!strcmp(argv[1], "i2c") && argc == 3) {
            int val = atoi(argv[2]);

            I2C_SETFREQUENCY(vsn_sif.i2c1, 100000);

            struct lis331dl_dev_s * lis = lis331dl_init(vsn_sif.i2c1, val);

            if (lis) {
                const struct lis331dl_vector_s * a;
                int i;
                uint32_t time_stamp = clock_systimer();

                /* Set to 400 Hz : 3 = 133 Hz/axis */

                lis331dl_setconversion(lis, false, true);

                /* Sample some values */

                for (i=0; i<1000;) {
                    if ((a = lis331dl_getreadings(lis))) {
                        i++;
                        printf("%d %d %d\n", a->x, a->y, a->z);
                    }
                    else if (errno != 11) {
                        printf("Readings errno %d\n", errno);
                        break;
                    }
                }

                printf("Time diff = %d\n", clock_systimer() - time_stamp);

                lis331dl_deinit(lis);
            }
            else printf("Exit point: errno=%d\n", errno);

            return 0;
        }
        else if (!strcmp(argv[1], "pga")) {
            int gain = atoi(argv[2]);

            gain = vsn_muxbus_setpgagain(gain);

            printf("Gain changed: %d\n", gain);
            return 0;
        }
        else if (!strcmp(argv[1], "cc")) {
            struct cc1101_dev_s * cc;
            uint8_t buf[64];
            int sta;

            cc = cc1101_init(vsn_sif.spi2, CC1101_PIN_GDO0, GPIO_CC1101_GDO0,
                &cc1101_rfsettings_ISM1_868MHzGFSK100kbps);

            if (cc) {

                /* Work-around: enable falling edge, event and interrupt */
                stm32_gpiosetevent(GPIO_CC1101_GDO0, false, true, true, cc1101_eventcb);

                /* Enable clock to ARM PLL, allowing to speed-up to 72 MHz */
                cc1101_setgdo(cc, CC1101_PIN_GDO2, CC1101_GDO_CLK_XOSC3);

                cc1101_setchannel(cc, 0);   /* AV Test Hex, receive on that channel */
                cc1101_receive(cc);          /* Enter RX mode */
                while (1)
                {
                    fflush(stdout);
                    sta = cc1101_read(cc, buf, 64);
                    if (sta > 0) {
                        printf("Received %d bytes: rssi=%d [dBm], LQI=%d (CRC %s)\n",
                            sta, cc1101_calcRSSIdBm(buf[sta-2]), buf[sta-1]&0x7F,
                            (buf[sta-1]&0x80)?"OK":"BAD");

                        cc1101_write(cc, buf, 61);
                        cc1101_send(cc);

                        printf("Packet send back\n");

                        cc1101_receive(cc);
                    }
                }
            }
        }
    }

    fprintf(stderr, "%s:\tinit\n\tgpio\tA B\n\tpwr\tval\n", argv[0]);

    fprintf(stderr, "rtc time = %u, time / systick = %u / %u\n",
        up_rtc_time(), time(NULL), clock_systimer());
    return -1;
}