nuttx/configs/stm32f4discovery/src/stm32_xen1210.c

/************************************************************************************
 * configs/stm32f4discovery/src/stm32_xen1210.c
 *
 *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
 *   Author:  Alan Carvalho de Assis <acassis@gmail.com>
 *
 * 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.
 *
 ************************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>

#include <nuttx/spi/spi.h>
#include <nuttx/sensors/xen1210.h>

#include <nuttx/drivers/pwm.h>
#include <arch/board/board.h>

#include <nuttx/irq.h>
#include <nuttx/arch.h>
#include <nuttx/fs/ioctl.h>

#include "stm32_gpio.h"
#include "stm32_spi.h"
#include "stm32_pwm.h"

#include "stm32f4discovery.h"

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
/* Configuration ************************************************************/

#ifdef CONFIG_SENSORS_XEN1210
#ifndef CONFIG_STM32_SPI1
#  error "XEN1210 support requires CONFIG_STM32_SPI1"
#endif

#define BOARD_XEN1210_SPIDEV 1

#ifndef BOARD_XEN1210_DEVMINOR
#  define BOARD_XEN1210_DEVMINOR 0
#endif

#ifndef CONFIG_STM32_TIM1
#  error "XEN1210 needs PWM on TIM1 CH1 to be its clock!"
#endif

#ifndef CONFIG_STM32_TIM1_PWM
#  error "XEN1210 needs PWM on TIM1 CH1 to be its clock!"
#endif

#if CONFIG_STM32_TIM1_CHANNEL != XEN1210_PWMCHANNEL
#  error "XEN1210 needs PWM on TIM1 CH1 to be its clock!"
#endif

/****************************************************************************
 * Private Types
 ****************************************************************************/

struct stm32_xen1210config_s
{
  /* Configuration structure as seen by the XEN1210 driver */

  struct xen1210_config_s config;

  /* Additional private definitions only known to this driver */

  XEN1210_HANDLE handle;      /* The XEN1210 driver handle */
  xen1210_handler_t handler;  /* The XEN1210 interrupt handler */
  FAR void *arg;              /* Argument to pass to the interrupt handler */
};

/****************************************************************************
 * Static Function Prototypes
 ****************************************************************************/

/* IRQ/GPIO access callbacks.  These operations all hidden behind callbacks
 * to isolate the XEN1210 driver from differences in GPIO interrupt handling
 * by varying boards and MCUs.
 *
 *   attach  - Attach the XEN1210 interrupt handler to the GPIO interrupt
 *   enable  - Enable or disable the GPIO interrupt
 *   clear   - Acknowledge/clear any pending GPIO interrupt
 */

static int  xen1210_attach(FAR struct xen1210_config_s *state,
                           xen1210_handler_t handler, FAR void *arg);
static void xen1210_enable(FAR struct xen1210_config_s *state, bool enable);
static void xen1210_clear(FAR struct xen1210_config_s *state);

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

/* A reference to a structure of this type must be passed to the XEN1210
 * driver.  This structure provides information about the configuration
 * of the XEN1210 and provides some board-specific hooks.
 *
 * Memory for this structure is provided by the caller.  It is not copied
 * by the driver and is presumed to persist while the driver is active. The
 * memory must be writable because, under certain circumstances, the driver
 * may modify frequency or X plate resistance values.
 */

static struct stm32_xen1210config_s g_xen1210config =
{
  .config =
  {
    .frequency = XEN1210_SPI_MAXFREQUENCY,
    .attach    = xen1210_attach,
    .enable    = xen1210_enable,
    .clear     = xen1210_clear,
  },
};

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/* This is the XEN1210 Interrupt handler */

int xen1210_interrupt(int irq, FAR void *context, FAR void *arg)
{
  /* Verify that we have a handler attached */

  if (g_xen1210config.handler)
    {
      /* Yes.. forward with interrupt along with its argument */

      g_xen1210config.handler(&g_xen1210config.config, g_xen1210config.arg);
    }

  return OK;
}

/* IRQ/GPIO access callbacks.  These operations all hidden behind
 * callbacks to isolate the XEN1210 driver from differences in GPIO
 * interrupt handling by varying boards and MCUs.
 *
 *   attach  - Attach the XEN1210 interrupt handler to the GPIO interrupt
 *   enable  - Enable or disable the GPIO interrupt
 *   clear   - Acknowledge/clear any pending GPIO interrupt
 */

static int xen1210_attach(FAR struct xen1210_config_s *state,
                           xen1210_handler_t handler, FAR void *arg)
{
  FAR struct stm32_xen1210config_s *priv =
    (FAR struct stm32_xen1210config_s *)state;

  sninfo("Saving handler %p\n", handler);
  DEBUGASSERT(priv);

  /* Just save the handler and its argument.  We will use it when interrupts
   * are enabled
   */

  priv->handler = handler;
  priv->arg = arg;
  return OK;
}

static void xen1210_enable(FAR struct xen1210_config_s *state, bool enable)
{
  irqstate_t flags;

  /* Attach and enable, or detach and disable.  Enabling and disabling GPIO
   * interrupts is a multi-step process so the safest thing is to keep
   * interrupts disabled during the reconfiguration.
   */

  flags = enter_critical_section();
  if (enable)
    {
      /* Configure the interrupt using the SAVED handler */

      stm32_configgpio(GPIO_XEN1210_INT);
      (void)stm32_gpiosetevent(GPIO_XEN1210_INT, false, true,
                               true, xen1210_interrupt, NULL);
    }
  else
    {
      /* Configure the interrupt with a NULL handler to disable it */

      (void)stm32_gpiosetevent(GPIO_XEN1210_INT, false, false, false,
                               NULL, NULL);
    }

  leave_critical_section(flags);
}

static void xen1210_clear(FAR struct xen1210_config_s *state)
{
  /* Does nothing */
}

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

/************************************************************************************
 * Name: xen1210_pwm_setup
 *
 * Description:
 *   All STM32 architectures must provide the following interface to work with
 *   examples/pwm.
 *
 ************************************************************************************/

int xen1210_pwm_setup(void)
{
  static bool initialized = false;
  struct pwm_lowerhalf_s *pwm;
  struct pwm_info_s info;

  /* Have we already initialized? */

  if (!initialized)
    {
      /* Call stm32_pwminitialize() to get an instance of the PWM interface */

      pwm = stm32_pwminitialize(XEN1210_PWMTIMER);
      if (!pwm)
        {
          _err("ERROR: Failed to get the STM32 PWM lower half\n");
          return -ENODEV;
        }

      /* Define frequency and duty cycle: 2MHz @ 50% */

      info.frequency = 2000000; /* 2MHz */
      info.duty = 32768;        /* This value means 50% */

      /* Initialize PWM */

      pwm->ops->setup(pwm);
      pwm->ops->start(pwm, &info);

      /* Now we are initialized */

      initialized = true;
    }

  return 0;
}

/****************************************************************************
 * Name: xen1210_archinitialize
 *
 * Description:
 *   Each board that supports an xen1210 device must provide this function.
 *   This function is called by application-specific, setup logic to
 *   configure the accelerometer device.  This function will register the
 *   driver as /dev/accelN where N is the minor device number.
 *
 * Input Parameters:
 *   minor   - The input device minor number
 *
 * Returned Value:
 *   Zero is returned on success.  Otherwise, a negated errno value is
 *   returned to indicate the nature of the failure.
 *
 ****************************************************************************/

int xen1210_archinitialize(int minor)
{
  FAR struct spi_dev_s *dev;
  int ret;

  sninfo("minor %d\n", minor);
  DEBUGASSERT(minor == 0);

  /* Check if we are already initialized */

  if (!g_xen1210config.handle)
    {
      sninfo("Initializing\n");

      /* XEN1210 needs an external clock 1-4MHz
       * We are using PWM on TIM1 CH1 to do it!
       */

      (void)xen1210_pwm_setup();

      /* Configure the XEN1210 interrupt pin as an input */

      (void)stm32_configgpio(GPIO_XEN1210_INT);

      /* Get an instance of the I2C interface */

      dev = stm32_spibus_initialize(BOARD_XEN1210_SPIDEV);
      if (!dev)
        {
          snerr("ERROR: Failed to initialize SPI bus %d\n", BOARD_XEN1210_SPIDEV);
          return -ENODEV;
        }

      /* Instantiate the XEN1210 driver */

      g_xen1210config.handle =
        xen1210_instantiate(dev, (FAR struct xen1210_config_s *)&g_xen1210config);
      if (!g_xen1210config.handle)
        {
          snerr("ERROR: Failed to instantiate the XEN1210 driver\n");
          return -ENODEV;
        }

      /* Initialize and register the XEN1210 driver */

      ret = xen1210_register(g_xen1210config.handle, BOARD_XEN1210_DEVMINOR);
      if (ret < 0)
        {
          snerr("ERROR: Failed to register XEN1210 driver: %d\n", ret);
          return ret;
        }
    }

  return OK;
}

#endif /* CONFIG_SENSORS_XEN1210 */