Revision 0:d35231825f42, committed 2019-12-27

Comitter:

open4416

Date:

Fri Dec 27 14:43:04 2019 +0000

Child:

1:ec8b98cf0bed

Commit message:

Initial release, works fine

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/A1333_PoOPoO.h	Fri Dec 27 14:43:04 2019 +0000
@@ -0,0 +1,95 @@
+#ifndef A1333_PoOPoO_H
+#define A1333_PoOPoO_H
+
+// A1333 Serial command Registers //
+
+#define WMASK               0x40    // write mask
+#define RMASK               0x00    // read mask
+
+#define EWA                 0x02    //r/w
+#define EWDH                0x04    //r/w
+#define EWDL                0x06    //r/w
+#define EWCS                0x08    //ro/wo
+#define ERA                 0x0A    //r/w
+#define ERCS                0x0C    //ro/wo
+#define ERDH                0x0E    //r/w
+#define ERDL                0x10    //r/w
+
+#define CTRL                0x1E    //rw/wo
+#define ANG                 0x20    //ro
+#define STA                 0x22    //ro
+#define ERR                 0x24    //ro
+#define WARN                0x26    //ro
+#define TSEN                0x28    //ro
+#define FIELD               0x2A    //ro
+#define TURNS               0x2C    //ro
+
+#define HANG                0x30    //ro
+#define ANG15               0x32    //ro
+#define ZANG                0x34    //ro
+
+#define IKEY                0x3C    //ro/wo
+
+
+// A1333 EEPROM command Registers //
+#define PWE_E               0x18
+#define ABI_E               0x19
+#define MSK_E               0x1A
+#define PWI_E               0x1B
+#define ANG_E               0x1C
+#define LPC_E               0x1D
+#define COM_E               0x1E
+#define CUS_E               0x1F    //costume
+
+// A1333 EEPROM shadow Registers //
+#define PWE_S               0x58
+#define ABI_S               0x59
+#define MSK_S               0x5A
+#define PWI_S               0x5B
+#define ANG_S               0x5C
+#define LPC_S               0x5D
+#define COM_S               0x5E
+
+
+#endif  //LSM9DS0_SH_H
+
+/*  Typical readout (break out)
+Welcome to A1333/A1339 configurator
+Temperature is now: 28.62
+Error is: A0CB
+State is: 8090
+
+Read PWE_E
+ERDH: D000
+ERDL: 0FDF
+
+Read ABI_E
+ERDH: 9402
+ERDL: 10A4
+
+Read MSK_E
+ERDH: A490
+ERDL: 1900
+
+Read PWI_E
+ERDH: B0C2
+ERDL: 710A
+
+Read ANG_E
+ERDH: 8802
+ERDL: 81D6
+
+Read LPC_E
+ERDH: 9480
+ERDL: B29F
+
+Read COM_E
+ERDH: 500C
+ERDL: 094D
+
+IKEY before unlock is: 0000
+IKEY is: 0001
+Device unlocked
+
+End of A1333/A1339 configurator
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 27 14:43:04 2019 +0000
@@ -0,0 +1,327 @@
+#include "mbed.h"
+#include "A1333_PoOPoO.h"
+
+#define pi 3.141592f
+#define d2r 0.01745329f
+#define NN  1
+#define Rms 1000000                //TT rate
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓GPIO registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+//~~~structure~~~//
+DigitalOut  led(D13);           //detection
+DigitalOut  TT_ext(D12);
+
+//~~~SPI~~~//
+DigitalOut  spi_CS(D6,1);       //low for ACC/MAG enable
+SPI spi(D4, D5, D3);            //MOSI MISO SCLK
+
+//~~~Serial~~~//
+Serial      pc(D1, D0);         //Serial reg(TX RX)
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of GPIO registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Varible registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+//~~~globle~~~//
+Ticker  TT;                         //call a timer
+int Count = 0;                      //one second counter for extrenal led blink
+
+//~~~A1333_data~~~//
+uint16_t Buff = 0x00;
+uint16_t Buff2 = 0x00;
+
+float temp = 0.0f;
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Varible registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓Function registor↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+void    init_TIMER();           //set TT_main() rate
+void    TT_main();              //timebase function rated by TT
+void    init_IO();              //initialize IO state
+void    A1333_init();           //initialize IMU
+void    A1333_getstate();       //get current state & errors
+void    A1333_ulkEEPROM();      //unlock protection of EEPROM
+void    A1333_getEEP(int X_E);  //read EEPROM of X_E
+void    A1333_writeEEP(int X_E, int32_t DataH, int32_t DataL);  //write EEPROM of X_E
+
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑end of Function registor↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑//
+
+
+
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓main funtion↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓//
+int main()
+{
+    init_IO();                  //initialized value
+    A1333_init();
+    wait_ms(100);
+    pc.printf("Welcome to A1333/A1339 configurator\n");
+
+    init_TIMER();               //start TT_main
+
+    A1333_getstate();
+    pc.printf("\n");
+
+    pc.printf("Read PWE_E\n");  //Doesnt matter for us
+    A1333_getEEP(PWE_E);
+    pc.printf("\n");
+
+    pc.printf("Read ABI_E\n");  //Need to be set for application!!
+    A1333_getEEP(ABI_E);
+    pc.printf("\n");
+
+    pc.printf("Read MSK_E\n");  //Doesnt matter for us
+    A1333_getEEP(MSK_E);
+    pc.printf("\n");
+
+    pc.printf("Read PWI_E\n");  //Doesnt matter for us
+    A1333_getEEP(PWI_E);
+    pc.printf("\n");
+
+    pc.printf("Read ANG_E\n");
+    A1333_getEEP(ANG_E);
+    pc.printf("\n");
+
+    pc.printf("Read LPC_E\n");
+    A1333_getEEP(LPC_E);
+    pc.printf("\n");
+
+    pc.printf("Read COM_E\n");
+    A1333_getEEP(COM_E);
+    pc.printf("\n");
+
+    // A1333/A1339 require unlock before eeprom access
+    A1333_ulkEEPROM();
+    pc.printf("\n");
+
+    /* Configuration sectionfor ABI_EEPROM settings "A1333/A1339"
+    ABI_SLEW_TIME, INV,  AHE,  INDEX_MODE, WDH, PLH, IOE, UVW, RESOLUTION_PAIRS,
+    [21:16],       [15], [12], [9:8],      [7], [6], [5], [4], [3:0],
+    00000010,      0,    1,    0,          1,   0,   1,   0,   0100,
+    500ns          no,   yes,  0+R,        yes, no,  yes, ABI, 1024pulse/Rev,
+    result to 0x0001, 0x10A4
+    Run follow to write in */
+//    A1333_writeEEP(ABI_E, 0x0001, 0x10A4);
+//    pc.printf("ABI_E write done\n");
+//    pc.printf("\n");
+
+    /* Configuration sectionfor ANG_EEPROM settings "A1333/A1339"
+    ORATE,   RD,   RO,        HYSTERESIS,  ZERO_OFFSET,
+    [23:20], [19], [18],      [17:12],     [11:0],
+    0000,    0,    0,         101000,      0x000-0x3FF,
+    1us,     no,   direction, 20/16383rev, Calibrate in DSM instead,
+    result to 0x0002, 0x8000
+    Run follow to write in */
+//    A1333_writeEEP(ANG_E, 0x0002, 0x8000);
+//    pc.printf("ANG_E write done\n");
+//    pc.printf("\n");
+
+    /* Configuration sectionfor LPC_EEPROM settings "A1339 only"
+    T45,     TPMD, LPMD, LPM_CYCLE_TIME, LPM_WAKE_THRESHOLD,
+    [23],    [21], [20], [17:12],        [10:0],
+    1,       1,    1,    001011,         01010011111,
+    default, no,   no,   default,        default,
+    result to 0x00B0, 0xB29F
+    Run follow to write in */
+//    A1333_writeEEP(LPC_E, 0x00B0, 0xB29F);    //A1339 only
+//    pc.printf("LPC_E write done\n");
+//    pc.printf("\n");
+
+    /* Configuration sectionfor COM_EEPROM settings "A1333/A1339"
+    LOCK,    LBE,  CSE,  DST,  DHR,  MAG_THRES_HI, MAG_THRES_LO,
+    [23:20], [19], [18], [13], [12], [11:6],       [5:0],
+    0000,    1,    1,    0,    0,    100101,       001101,
+    no,      yes,  yes,  no,   no,   default,      default,
+    result to 0x000C, 0x094D
+    Run follow to write in */
+//    A1333_writeEEP(COM_E, 0x000C, 0x094D);
+//    pc.printf("COM_E write done\n");
+//    pc.printf("\n");
+
+    pc.printf("End of A1333/A1339 configurator\n");
+
+    while(1) {                  //main() loop
+        if(Count >= NN) {       //check if main working
+            Count=0;
+            led = !led;
+        }
+    }
+}
+
+
+void init_TIMER()                   //set TT_main{} rate
+{
+    TT.attach_us(&TT_main, Rms);
+}
+
+
+void TT_main()                      //interrupt function by TT
+{
+    TT_ext = !TT_ext;               //indicate TT_main() function working
+    Count = Count+1;                //one second counter
+}
+
+
+void init_IO(void)                  //initialize
+{
+    pc.baud(115200);                //set baud rate
+    TT_ext = 0;
+    led = 1;
+}
+
+
+void A1333_init(void)                 //initialize
+{
+    //gloable config
+    spi_CS = 1;                     //high as init for disable SPI
+
+    spi.format(16, 3);              //byte width, spi mode
+    spi.frequency(1000000);         //8MHz
+}
+
+void A1333_writeEEP(int X_E, int32_t DataH, int32_t DataL)
+{
+//Read EEPROM of X_E
+    //Prepare eeprom
+    spi_CS = 0;
+    spi.write( ((((EWA+1U)|WMASK)<<8U)&0xFF00) | X_E );
+    spi_CS = 1;
+//Push in data
+    spi_CS = 0;
+    spi.write( (((EWDH|WMASK)<<8U)&0xFF00) | ((DataH>>8U)&0xFF) );
+    spi_CS = 1;
+    spi_CS = 0;
+    spi.write( ((((EWDH+1U)|WMASK)<<8U)&0xFF00) | (DataH&0xFF) );
+    spi_CS = 1;
+    spi_CS = 0;
+    spi.write( (((EWDL|WMASK)<<8U)&0xFF00) | ((DataL>>8U)&0xFF) );
+    spi_CS = 1;
+    spi_CS = 0;
+    spi.write( ((((EWDL+1U)|WMASK)<<8U)&0xFF00) | (DataL&0xFF) );
+    spi_CS = 1;
+
+//Start EEP writing
+    spi_CS = 0;
+    spi.write( (((EWCS|WMASK)<<8U)&0xFF00) | 0x80 );
+    spi_CS = 1;
+    Buff = 0x0000;
+    while((Buff & 0x0001) != 0x0001) {
+        spi_CS = 0;
+        spi.write( (EWCS << 8U) & 0xFF00 );
+        spi_CS = 1;
+        spi_CS = 0;
+        Buff = spi.write(0x0000);
+        spi_CS = 1;
+    }
+}
+
+void A1333_getstate(void)               //read IMU data give raw data
+{
+    //Read temperature as state check
+    spi_CS = 0;                         //start spi talking
+    spi.write( (TSEN << 8U) & 0xFF00 ); //read mask: RMASK = 0, no need
+    spi_CS = 1;
+    spi_CS = 0;
+    Buff = spi.write(0x0000);
+    spi_CS = 1;                         //end spi talking
+    if ((Buff & 0xF000) != 0xF000) {
+        pc.printf("Temperature read id mismatch");
+    } else {
+        temp = ((float)(Buff & 0x0FFF)/8.0f) + 25.0f;
+        pc.printf("Temperature is now: %.2f\n", temp);
+    }
+
+    //Read error check
+    spi_CS = 0;                         //start spi talking Wx
+    spi.write( (ERR << 8U) & 0xFF00 );
+    spi_CS = 1;
+    spi_CS = 0;
+    Buff = spi.write(0x0000);
+    spi_CS = 1;                         //end spi talking
+    pc.printf("Error is: %04X\n", Buff);
+
+    //Read status check
+    spi_CS = 0;                    //start spi talking Wx
+    spi.write( (STA << 8U) & 0xFF00 );
+    spi_CS = 1;
+    spi_CS = 0;
+    Buff = spi.write(0x0000);
+    spi_CS = 1;                    //end spi talking
+    pc.printf("State is: %04X\n", Buff);
+}
+
+void A1333_ulkEEPROM(void)
+{
+    //read key lock
+    spi_CS = 0;                    //start spi talking Wx
+    spi.write( (IKEY << 8U) & 0xFF00 );
+    spi_CS = 1;
+    spi_CS = 0;
+    Buff = spi.write(0x0000);
+    spi_CS = 1;
+    pc.printf("IKEY before unlock is: %04X\n", Buff);
+
+    //Now try to unlock EEPROM write
+    //write in key
+    spi_CS = 0;
+    spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x00 );
+    spi_CS = 1;
+    spi_CS = 0;
+    spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x27 );
+    spi_CS = 1;
+    spi_CS = 0;
+    spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x81 );
+    spi_CS = 1;
+    spi_CS = 0;
+    spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x1F );
+    spi_CS = 1;
+    spi_CS = 0;
+    spi.write( (((IKEY|WMASK)<<8U)&0xFF00) | 0x77 );
+    spi_CS = 1;
+
+    //read key lock again after unlock
+    spi_CS = 0;                    //start spi talking Wx
+    spi.write( (IKEY << 8U) & 0xFF00 );
+    spi_CS = 1;
+    spi_CS = 0;
+    Buff = spi.write(0x0000);
+    spi_CS = 1;
+    pc.printf("IKEY is: %04X\n", Buff);
+    if ((Buff & 0x0001) != 0x0001) {
+        pc.printf("Device fail to unlock\n");
+    } else {
+        pc.printf("Device unlocked\n");
+    }
+}
+
+void A1333_getEEP(int X_E)
+{
+    //Read eeprom
+    spi_CS = 0;
+    spi.write( ((((ERA+1U)|WMASK)<<8U)&0xFF00) | X_E );
+    spi_CS = 1;
+    spi_CS = 0;
+    spi.write( (((ERCS|WMASK)<<8U)&0xFF00) | 0x80 );
+    spi_CS = 1;
+    Buff = 0x0000;
+    while((Buff & 0x0001) != 0x0001) {
+        spi_CS = 0;
+        spi.write( (ERCS << 8U) & 0xFF00 );
+        spi_CS = 1;
+        spi_CS = 0;
+        Buff = spi.write(0x0000);
+        spi_CS = 1;
+    }
+    spi_CS = 0;
+    spi.write( (ERDH << 8U) & 0xFF00 );
+    spi_CS = 1;
+    spi_CS = 0;
+    Buff = spi.write( (ERDL << 8U) & 0xFF00 );
+    spi_CS = 1;
+    pc.printf("ERDH: %04X\n", Buff);
+
+    spi_CS = 0;
+    Buff2 = spi.write(0x0000);
+    spi_CS = 1;
+    pc.printf("ERDL: %04X\n", Buff2);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Dec 27 14:43:04 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file