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KevinOConnorKevinOConnor
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sensor_ldc1612: Initial support for bulk reading ldc1612 sensor
Signed-off-by: Alan.Ma from BigTreeTech <[email protected]> Signed-off-by: Kevin O'Connor <[email protected]>
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‎src/Kconfig

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Original file line numberDiff line numberDiff line change
@@ -104,6 +104,10 @@ config WANT_LIS2DW
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bool
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depends on HAVE_GPIO_SPI
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default y
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config WANT_LDC1612
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bool
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depends on HAVE_GPIO_I2C
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default y
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config WANT_SOFTWARE_I2C
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bool
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depends on HAVE_GPIO && HAVE_GPIO_I2C
@@ -114,7 +118,7 @@ config WANT_SOFTWARE_SPI
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default y
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config NEED_SENSOR_BULK
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bool
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depends on WANT_SENSORS || WANT_LIS2DW
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depends on WANT_SENSORS || WANT_LIS2DW || WANT_LDC1612
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default y
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menu "Optional features (to reduce code size)"
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depends on HAVE_LIMITED_CODE_SIZE
@@ -130,6 +134,9 @@ config WANT_SENSORS
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config WANT_LIS2DW
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bool "Support lis2dw 3-axis accelerometer"
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depends on HAVE_GPIO_SPI
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config WANT_LDC1612
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bool "Support ldc1612 eddy current sensor"
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depends on HAVE_GPIO_I2C
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config WANT_SOFTWARE_I2C
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bool "Support software based I2C \"bit-banging\""
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depends on HAVE_GPIO && HAVE_GPIO_I2C

‎src/Makefile

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@@ -19,4 +19,5 @@ sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \
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sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
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src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y)
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src-$(CONFIG_WANT_LIS2DW) += sensor_lis2dw.c
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src-$(CONFIG_WANT_LDC1612) += sensor_ldc1612.c
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src-$(CONFIG_NEED_SENSOR_BULK) += sensor_bulk.c

‎src/sensor_ldc1612.c

+207
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,207 @@
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// Support for eddy current sensor data from ldc1612 chip
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//
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// Copyright (C) 2023 Alan.Ma <[email protected]>
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// Copyright (C) 2024 Kevin O'Connor <[email protected]>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <string.h> // memcpy
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#include "basecmd.h" // oid_alloc
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#include "board/gpio.h" // i2c_read
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#include "board/irq.h" // irq_disable
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#include "board/misc.h" // timer_read_time
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#include "command.h" // DECL_COMMAND
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#include "i2ccmds.h" // i2cdev_oid_lookup
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#include "sched.h" // DECL_TASK
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#include "sensor_bulk.h" // sensor_bulk_report
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#include "trsync.h" // trsync_do_trigger
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enum {
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LDC_PENDING = 1<<0,
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LH_AWAIT_HOMING = 1<<1, LH_CAN_TRIGGER = 1<<2
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};
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struct ldc1612 {
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struct timer timer;
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uint32_t rest_ticks;
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struct i2cdev_s *i2c;
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uint8_t flags;
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struct sensor_bulk sb;
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// homing
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struct trsync *ts;
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uint8_t homing_flags;
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uint8_t trigger_reason;
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uint32_t trigger_threshold;
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uint32_t homing_clock;
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};
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static struct task_wake ldc1612_wake;
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// Query ldc1612 data
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static uint_fast8_t
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ldc1612_event(struct timer *timer)
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{
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struct ldc1612 *ld = container_of(timer, struct ldc1612, timer);
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if (ld->flags & LDC_PENDING)
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ld->sb.possible_overflows++;
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ld->flags |= LDC_PENDING;
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sched_wake_task(&ldc1612_wake);
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ld->timer.waketime += ld->rest_ticks;
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return SF_RESCHEDULE;
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}
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void
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command_config_ldc1612(uint32_t *args)
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{
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struct ldc1612 *ld = oid_alloc(args[0], command_config_ldc1612
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, sizeof(*ld));
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ld->timer.func = ldc1612_event;
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ld->i2c = i2cdev_oid_lookup(args[1]);
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}
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DECL_COMMAND(command_config_ldc1612, "config_ldc1612 oid=%c i2c_oid=%c");
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void
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command_ldc1612_setup_home(uint32_t *args)
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{
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struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
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ld->trigger_threshold = args[2];
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if (!ld->trigger_threshold) {
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ld->ts = NULL;
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ld->homing_flags = 0;
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return;
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}
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ld->homing_clock = args[1];
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ld->ts = trsync_oid_lookup(args[3]);
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ld->trigger_reason = args[4];
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ld->homing_flags = LH_AWAIT_HOMING | LH_CAN_TRIGGER;
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}
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DECL_COMMAND(command_ldc1612_setup_home,
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"ldc1612_setup_home oid=%c clock=%u threshold=%u"
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" trsync_oid=%c trigger_reason=%c");
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void
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command_query_ldc1612_home_state(uint32_t *args)
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{
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struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
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sendf("ldc1612_home_state oid=%c homing=%c trigger_clock=%u"
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, args[0], !!(ld->homing_flags & LH_CAN_TRIGGER), ld->homing_clock);
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}
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DECL_COMMAND(command_query_ldc1612_home_state,
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"query_ldc1612_home_state oid=%c");
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// Chip registers
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#define REG_DATA0_MSB 0x00
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#define REG_DATA0_LSB 0x01
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#define REG_STATUS 0x18
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// Read a register on the ldc1612
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static void
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read_reg(struct ldc1612 *ld, uint8_t reg, uint8_t *res)
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{
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i2c_read(ld->i2c->i2c_config, sizeof(reg), &reg, 2, res);
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}
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// Read the status register on the ldc1612
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static uint16_t
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read_reg_status(struct ldc1612 *ld)
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{
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uint8_t data_status[2];
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read_reg(ld, REG_STATUS, data_status);
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return (data_status[0] << 8) | data_status[1];
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}
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#define BYTES_PER_SAMPLE 4
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// Query ldc1612 data
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static void
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ldc1612_query(struct ldc1612 *ld, uint8_t oid)
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{
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// Clear pending flag
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irq_disable();
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ld->flags &= ~LDC_PENDING;
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irq_enable();
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// Check if data available
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uint16_t status = read_reg_status(ld);
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if (status != 0x48)
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return;
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// Read coil0 frequency
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uint8_t *d = &ld->sb.data[ld->sb.data_count];
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read_reg(ld, REG_DATA0_MSB, &d[0]);
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read_reg(ld, REG_DATA0_LSB, &d[2]);
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ld->sb.data_count += BYTES_PER_SAMPLE;
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// Check for endstop trigger
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uint8_t homing_flags = ld->homing_flags;
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if (homing_flags & LH_CAN_TRIGGER) {
139+
uint32_t time = timer_read_time();
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if (!(homing_flags & LH_AWAIT_HOMING)
141+
|| !timer_is_before(time, ld->homing_clock)) {
142+
homing_flags &= ~LH_AWAIT_HOMING;
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uint32_t data = (d[0] << 24L) | (d[1] << 16L) | (d[2] << 8) | d[3];
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if (data > ld->trigger_threshold) {
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homing_flags = 0;
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ld->homing_clock = time;
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trsync_do_trigger(ld->ts, ld->trigger_reason);
148+
}
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ld->homing_flags = homing_flags;
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}
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}
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// Flush local buffer if needed
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if (ld->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ld->sb.data))
155+
sensor_bulk_report(&ld->sb, oid);
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}
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void
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command_query_ldc1612(uint32_t *args)
160+
{
161+
struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
162+
163+
sched_del_timer(&ld->timer);
164+
ld->flags = 0;
165+
if (!args[1])
166+
// End measurements
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return;
168+
169+
// Start new measurements query
170+
ld->rest_ticks = args[1];
171+
sensor_bulk_reset(&ld->sb);
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irq_disable();
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ld->timer.waketime = timer_read_time() + ld->rest_ticks;
174+
sched_add_timer(&ld->timer);
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irq_enable();
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}
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DECL_COMMAND(command_query_ldc1612, "query_ldc1612 oid=%c rest_ticks=%u");
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void
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command_query_ldc1612_status(uint32_t *args)
181+
{
182+
struct ldc1612 *ld = oid_lookup(args[0], command_config_ldc1612);
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uint32_t time1 = timer_read_time();
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uint16_t status = read_reg_status(ld);
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uint32_t time2 = timer_read_time();
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uint32_t fifo = status == 0x48 ? BYTES_PER_SAMPLE : 0;
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sensor_bulk_status(&ld->sb, args[0], time1, time2-time1, fifo);
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}
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DECL_COMMAND(command_query_ldc1612_status, "query_ldc1612_status oid=%c");
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void
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ldc1612_task(void)
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{
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if (!sched_check_wake(&ldc1612_wake))
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return;
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uint8_t oid;
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struct ldc1612 *ld;
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foreach_oid(oid, ld, command_config_ldc1612) {
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uint_fast8_t flags = ld->flags;
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if (!(flags & LDC_PENDING))
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continue;
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ldc1612_query(ld, oid);
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}
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}
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DECL_TASK(ldc1612_task);

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