bhi.c 12.2 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
11
12
13
#include <stdio.h>
#include <string.h>

#include "gpio.h"
#include "bhy_uc_driver.h"
#include "bhy.h"
#include "pmic.h"

#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "queue.h"

14
#include "api/interrupt-sender.h"
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
#include "epicardium.h"
#include "modules/log.h"
#include "modules/modules.h"
#include "modules/stream.h"

/* Ticks to wait when trying to acquire lock */
#define LOCK_WAIT pdMS_TO_TICKS(BHI160_MUTEX_WAIT_MS)

/* BHI160 Firmware Blob.  Contents are defined in libcard10. */
extern uint8_t bhy1_fw[];

/* Interrupt Pin */
static const gpio_cfg_t bhi160_interrupt_pin = {
	PORT_0, PIN_13, GPIO_FUNC_IN, GPIO_PAD_PULL_UP
};

/* Axis remapping matrices */
static int8_t bhi160_mapping_matrix[3 * 3] = { 0, -1, 0, 1, 0, 0, 0, 0, 1 };
static int8_t bmm150_mapping_matrix[3 * 3] = { -1, 0, 0, 0, 1, 0, 0, 0, -1 };

/*
 * From the official docs:
 *
 *    The sic matrix should be calculated for customer platform by logging
 *    uncalibrated magnetometer data.  The sic matrix here is only an example
 *    array (identity matrix). Customer should generate their own matrix.  This
 *    affects magnetometer fusion performance.
 *
 * TODO: Get data for card10
 */
/* clang-format off */
static float bhi160_sic_array[3 * 3] = { 1.0, 0.0, 0.0,
                                         0.0, 1.0, 0.0,
                                         0.0, 0.0, 1.0 };
/* clang-format on */

/* BHI160 Fifo */
static uint8_t bhi160_fifo[BHI160_FIFO_SIZE];
static size_t start_index = 0;

/* BHI160 Task ID */
static TaskHandle_t bhi160_task_id = NULL;

/* BHI160 Mutex */
static StaticSemaphore_t bhi160_mutex_data;
static SemaphoreHandle_t bhi160_mutex = NULL;

/* Streams */
static struct stream_info bhi160_streams[10];

65
66
67
/* Active */
static bool bhi160_sensor_active[10] = { 0 };

68
69
70
71
72
73
74
75
76
77
78
/* -- Utilities -------------------------------------------------------- {{{ */
/*
 * Retrieve the data size for a sensor.  This value is needed for the creation
 * of the sensor's sample queue.
 */
static size_t bhi160_lookup_data_size(enum bhi160_sensor_type type)
{
	switch (type) {
	case BHI160_ACCELEROMETER:
	case BHI160_MAGNETOMETER:
	case BHI160_ORIENTATION:
koalo's avatar
koalo committed
79
	case BHI160_GYROSCOPE:
80
81
82
83
84
85
86
87
88
89
90
91
92
93
		return sizeof(struct bhi160_data_vector);
	default:
		return 0;
	}
}

/*
 * Map a sensor type to the virtual sensor ID used by BHy1.
 */
static bhy_virtual_sensor_t bhi160_lookup_vs_id(enum bhi160_sensor_type type)
{
	switch (type) {
	case BHI160_ACCELEROMETER:
		return VS_ID_ACCELEROMETER;
koalo's avatar
koalo committed
94
95
	case BHI160_ORIENTATION:
		return VS_ID_ORIENTATION;
koalo's avatar
koalo committed
96
97
	case BHI160_GYROSCOPE:
		return VS_ID_GYROSCOPE;
98
99
100
101
102
103
104
105
106
107
108
109
110
	default:
		return -1;
	}
}

/*
 * Map a sensor type to its stream descriptor.
 */
static int bhi160_lookup_sd(enum bhi160_sensor_type type)
{
	switch (type) {
	case BHI160_ACCELEROMETER:
		return SD_BHI160_ACCELEROMETER;
koalo's avatar
koalo committed
111
112
	case BHI160_ORIENTATION:
		return SD_BHI160_ORIENTATION;
koalo's avatar
koalo committed
113
114
	case BHI160_GYROSCOPE:
		return SD_BHI160_GYROSCOPE;
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
	default:
		return -1;
	}
}
/* }}} */

/* -- API -------------------------------------------------------------- {{{ */
int epic_bhi160_enable_sensor(
	enum bhi160_sensor_type sensor_type,
	struct bhi160_sensor_config *config
) {
	bhy_virtual_sensor_t vs_id = bhi160_lookup_vs_id(sensor_type);
	if (vs_id < 0) {
		return -ENODEV;
	}

koalo's avatar
koalo committed
131
132
133
134
135
	int lockret = hwlock_acquire(HWLOCK_I2C, pdMS_TO_TICKS(100));
	if (lockret < 0) {
		return lockret;
	}

136
137
138
139
140
141
142
143
144
	if (xSemaphoreTake(bhi160_mutex, LOCK_WAIT) == pdTRUE) {
		struct stream_info *stream = &bhi160_streams[sensor_type];
		stream->item_size = bhi160_lookup_data_size(sensor_type);
		/* TODO: Sanity check length */
		stream->queue = xQueueCreate(
			config->sample_buffer_len, stream->item_size
		);
		if (stream->queue == NULL) {
			xSemaphoreGive(bhi160_mutex);
koalo's avatar
koalo committed
145
			hwlock_release(HWLOCK_I2C);
146
147
148
			return -ENOMEM;
		}

149
150
151
		int streamret =
			stream_register(bhi160_lookup_sd(sensor_type), stream);
		if (streamret < 0) {
koalo's avatar
koalo committed
152
153
154
155
			xSemaphoreGive(bhi160_mutex);
			hwlock_release(HWLOCK_I2C);
			return streamret;
		}
156

koalo's avatar
koalo committed
157
		int bhyret = bhy_enable_virtual_sensor(
158
159
160
161
162
163
164
165
			vs_id,
			VS_WAKEUP,
			config->sample_rate,
			0,
			VS_FLUSH_NONE,
			0,
			config->dynamic_range /* dynamic range is sensor dependent */
		);
koalo's avatar
koalo committed
166
167
168
169
170
		if (bhyret != BHY_SUCCESS) {
			xSemaphoreGive(bhi160_mutex);
			hwlock_release(HWLOCK_I2C);
			return bhyret;
		}
171
172
173

		bhi160_sensor_active[sensor_type] = true;

174
175
		xSemaphoreGive(bhi160_mutex);
	} else {
koalo's avatar
koalo committed
176
		hwlock_release(HWLOCK_I2C);
177
178
179
		return -EBUSY;
	}

koalo's avatar
koalo committed
180
	hwlock_release(HWLOCK_I2C);
koalo's avatar
koalo committed
181
	return bhi160_lookup_sd(sensor_type);
182
183
184
185
186
187
188
189
190
}

int epic_bhi160_disable_sensor(enum bhi160_sensor_type sensor_type)
{
	bhy_virtual_sensor_t vs_id = bhi160_lookup_vs_id(sensor_type);
	if (vs_id < 0) {
		return -ENODEV;
	}

koalo's avatar
koalo committed
191
192
193
	int lockret = hwlock_acquire(HWLOCK_I2C, pdMS_TO_TICKS(100));
	if (lockret < 0) {
		return lockret;
koalo's avatar
koalo committed
194
195
	}

196
197
	if (xSemaphoreTake(bhi160_mutex, LOCK_WAIT) == pdTRUE) {
		struct stream_info *stream = &bhi160_streams[sensor_type];
198
199
200
		int streamret              = stream_deregister(
                        bhi160_lookup_sd(sensor_type), stream
		);
koalo's avatar
koalo committed
201
202
203
204
205
		if (streamret < 0) {
			xSemaphoreGive(bhi160_mutex);
			hwlock_release(HWLOCK_I2C);
			return streamret;
		}
206
207
		vQueueDelete(stream->queue);
		stream->queue = NULL;
208
		int bhyret    = bhy_disable_virtual_sensor(vs_id, VS_WAKEUP);
koalo's avatar
koalo committed
209
210
211
212
213
		if (bhyret < 0) {
			xSemaphoreGive(bhi160_mutex);
			hwlock_release(HWLOCK_I2C);
			return bhyret;
		}
214
215
216

		bhi160_sensor_active[sensor_type] = false;

217
218
		xSemaphoreGive(bhi160_mutex);
	} else {
koalo's avatar
koalo committed
219
		hwlock_release(HWLOCK_I2C);
220
221
222
		return -EBUSY;
	}

koalo's avatar
koalo committed
223
	hwlock_release(HWLOCK_I2C);
224
225
	return 0;
}
226
227
228
229
230
231
232
233
234
235

void epic_bhi160_disable_all_sensors()
{
	for (int i = 0; i < sizeof(bhi160_sensor_active); i++) {
		if (bhi160_sensor_active[i]) {
			epic_bhi160_disable_sensor(i);
		}
	}
}

236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
/* }}} */

/* -- Driver ----------------------------------------------------------- {{{ */
/*
 * Handle a single packet from the FIFO.  For most sensors this means pushing
 * the sample into its sample queue.
 */
static void
bhi160_handle_packet(bhy_data_type_t data_type, bhy_data_generic_t *sensor_data)
{
	uint8_t sensor_id = sensor_data->data_vector.sensor_id;
	struct bhi160_data_vector data_vector;
	/*
	 * Timestamp of the next samples, counting at 32 kHz.
	 * Currently unused.
	 */
252
253
254
255
	static uint32_t timestamp           = 0;
	enum bhi160_sensor_type sensor_type = 0;
	int epic_int                        = 0;
	bool wakeup                         = false;
256
257
258

	switch (sensor_id) {
	case VS_ID_TIMESTAMP_MSW_WAKEUP:
259
260
261
		wakeup = true;
		/* fall through */
	case VS_ID_TIMESTAMP_MSW:
262
263
264
265
		MXC_ASSERT(data_type == BHY_DATA_TYPE_SCALAR_U16);
		timestamp = sensor_data->data_scalar_u16.data << 16;
		break;
	case VS_ID_TIMESTAMP_LSW_WAKEUP:
266
267
268
		wakeup = true;
		/* fall through */
	case VS_ID_TIMESTAMP_LSW:
269
270
271
272
273
		MXC_ASSERT(data_type == BHY_DATA_TYPE_SCALAR_U16);
		timestamp = (timestamp & 0xFFFF0000) |
			    sensor_data->data_scalar_u16.data;
		break;
	case VS_ID_ACCELEROMETER_WAKEUP:
koalo's avatar
koalo committed
274
	case VS_ID_ORIENTATION_WAKEUP:
275
276
277
278
	case VS_ID_GYROSCOPE_WAKEUP:
		wakeup = true;
		/* fall through */
	case VS_ID_ACCELEROMETER:
koalo's avatar
koalo committed
279
	case VS_ID_ORIENTATION:
280
281
282
283
284
285
286
	case VS_ID_GYROSCOPE:
		switch (sensor_id) {
		case VS_ID_ACCELEROMETER_WAKEUP:
		case VS_ID_ACCELEROMETER:
			sensor_type = BHI160_ACCELEROMETER;
			epic_int    = EPIC_INT_BHI160_ACCELEROMETER;
			break;
koalo's avatar
koalo committed
287
288
289
290
291
		case VS_ID_ORIENTATION_WAKEUP:
		case VS_ID_ORIENTATION:
			sensor_type = BHI160_ORIENTATION;
			epic_int    = EPIC_INT_BHI160_ORIENTATION;
			break;
292
293
294
295
		case VS_ID_GYROSCOPE_WAKEUP:
		case VS_ID_GYROSCOPE:
			sensor_type = BHI160_GYROSCOPE;
			epic_int    = EPIC_INT_BHI160_GYROSCOPE;
296
297
			break;
		}
298

koalo's avatar
koalo committed
299
		MXC_ASSERT(data_type == BHY_DATA_TYPE_VECTOR);
300
		if (bhi160_streams[sensor_type].queue == NULL) {
koalo's avatar
koalo committed
301
302
			break;
		}
303
304
305
306
		data_vector.data_type = BHI160_DATA_TYPE_VECTOR;
		data_vector.x         = sensor_data->data_vector.x;
		data_vector.y         = sensor_data->data_vector.y;
		data_vector.z         = sensor_data->data_vector.z;
koalo's avatar
koalo committed
307
		data_vector.status    = sensor_data->data_vector.status;
koalo's avatar
koalo committed
308
		xQueueSend(
309
			bhi160_streams[sensor_type].queue,
koalo's avatar
koalo committed
310
311
312
			&data_vector,
			BHI160_MUTEX_WAIT_MS
		);
313
314
		if (wakeup) {
			api_interrupt_trigger(epic_int);
koalo's avatar
koalo committed
315
316
		}
		break;
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
	default:
		break;
	}
}

/*
 * Fetch all data available from BHI160's FIFO buffer and handle all packets
 * contained in it.
 */
static int bhi160_fetch_fifo(void)
{
	/*
	 * Warning:  The code from the BHy1 docs has some issues.  This
	 * implementation looks similar, but has a few important differences.
	 * You'll probably be best of leaving it as it is ...
	 */

	int ret = BHY_SUCCESS;
	/* Number of bytes left in BHI160's FIFO buffer */
	uint16_t bytes_left_in_fifo = 1;

koalo's avatar
koalo committed
338
339
340
341
342
	int lockret = hwlock_acquire(HWLOCK_I2C, pdMS_TO_TICKS(100));
	if (lockret < 0) {
		return lockret;
	}

343
	if (xSemaphoreTake(bhi160_mutex, LOCK_WAIT) != pdTRUE) {
koalo's avatar
koalo committed
344
		hwlock_release(HWLOCK_I2C);
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
		return -EBUSY;
	}

	while (bytes_left_in_fifo) {
		/* Fill local FIFO buffer with as many bytes as possible */
		uint16_t bytes_read;
		bhy_read_fifo(
			&bhi160_fifo[start_index],
			BHI160_FIFO_SIZE - start_index,
			&bytes_read,
			&bytes_left_in_fifo
		);

		/* Add the bytes left from the last transfer on top */
		bytes_read += start_index;

		/* Handle all full packets received in this transfer */
		uint8_t *fifo_ptr   = bhi160_fifo;
		uint16_t bytes_left = bytes_read;
364
		while (bytes_left > 0) {
365
366
367
368
369
370
371
372
373
374
375
			bhy_data_generic_t sensor_data;
			bhy_data_type_t data_type;
			ret = bhy_parse_next_fifo_packet(
				&fifo_ptr,
				&bytes_left,
				&sensor_data,
				&data_type
			);

			if (ret == BHY_SUCCESS) {
				bhi160_handle_packet(data_type, &sensor_data);
376
377
			} else {
				break;
378
379
380
381
382
383
384
385
386
387
388
389
			}
		}

		/* Shift the remaining bytes to the beginning */
		for (int i = 0; i < bytes_left; i++) {
			bhi160_fifo[i] =
				bhi160_fifo[bytes_read - bytes_left + i];
		}
		start_index = bytes_left;
	}

	xSemaphoreGive(bhi160_mutex);
koalo's avatar
koalo committed
390
	hwlock_release(HWLOCK_I2C);
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
	return 0;
}

/*
 * Callback for the BHI160 interrupt pin.  This callback is called from the
 * SDK's GPIO interrupt driver, in interrupt context.
 */
static void bhi160_interrupt_callback(void *_)
{
	BaseType_t xHigherPriorityTaskWoken = pdFALSE;

	if (bhi160_task_id != NULL) {
		vTaskNotifyGiveFromISR(
			bhi160_task_id, &xHigherPriorityTaskWoken
		);
		portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
	}
}
/* }}} */

void vBhi160Task(void *pvParameters)
{
	int ret;

	bhi160_task_id = xTaskGetCurrentTaskHandle();
	bhi160_mutex   = xSemaphoreCreateMutexStatic(&bhi160_mutex_data);

koalo's avatar
koalo committed
418
419
420
421
422
	int lockret = hwlock_acquire(HWLOCK_I2C, pdMS_TO_TICKS(100));
	if (lockret < 0) {
		return;
	}

423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
	/* Take Mutex during initialization, just in case */
	if (xSemaphoreTake(bhi160_mutex, 0) != pdTRUE) {
		LOG_CRIT("bhi160", "Failed to acquire BHI160 mutex!");
		vTaskDelay(portMAX_DELAY);
	}

	memset(bhi160_streams, 0x00, sizeof(bhi160_streams));

	/* Install interrupt callback */
	GPIO_Config(&bhi160_interrupt_pin);
	GPIO_RegisterCallback(
		&bhi160_interrupt_pin, bhi160_interrupt_callback, NULL
	);
	GPIO_IntConfig(&bhi160_interrupt_pin, GPIO_INT_EDGE, GPIO_INT_RISING);
	GPIO_IntEnable(&bhi160_interrupt_pin);
	NVIC_SetPriority(
		(IRQn_Type)MXC_GPIO_GET_IRQ(bhi160_interrupt_pin.port), 2
	);
	NVIC_EnableIRQ((IRQn_Type)MXC_GPIO_GET_IRQ(bhi160_interrupt_pin.port));

	/* Upload firmware */
	ret = bhy_driver_init(bhy1_fw);
	if (ret) {
		LOG_CRIT("bhi160", "BHy1 init failed!");
		vTaskDelay(portMAX_DELAY);
	}

	/* Wait for first two interrupts */
	ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(100));
	ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(100));

	/* Remap axes to match card10 layout */
	bhy_mapping_matrix_set(
		PHYSICAL_SENSOR_INDEX_ACC, bhi160_mapping_matrix
	);
	bhy_mapping_matrix_set(
		PHYSICAL_SENSOR_INDEX_MAG, bmm150_mapping_matrix
	);
	bhy_mapping_matrix_set(
		PHYSICAL_SENSOR_INDEX_GYRO, bhi160_mapping_matrix
	);

	/* Set "SIC" matrix.  TODO: Find out what this is about */
	bhy_set_sic_matrix(bhi160_sic_array);

	xSemaphoreGive(bhi160_mutex);
koalo's avatar
koalo committed
469
	hwlock_release(HWLOCK_I2C);
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491

	/* ----------------------------------------- */

	while (1) {
		int ret = bhi160_fetch_fifo();
		if (ret == -EBUSY) {
			LOG_WARN("bhi160", "Could not acquire mutex for FIFO?");
			continue;
		} else if (ret < 0) {
			LOG_ERR("bhi160", "Unknown error: %d", -ret);
		}

		/*
		 * Wait for interrupt.  After two seconds, fetch FIFO anyway in
		 * case there are any diagnostics or errors.
		 *
		 * In the future, reads using epic_stream_read() might also
		 * trigger a FIFO fetch, from outside this task.
		 */
		ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(2000));
	}
}