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simplification

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This commit is contained in:
ReFil 2021-01-08 20:03:14 +00:00
parent f12244f4bf
commit ad5d53d4bf
2 changed files with 20 additions and 109 deletions
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117
app/drivers/sensor/ma730/ma730.c
View file

@ -50,87 +50,7 @@ static int ma730_raw_read(const struct device *dev,
if (spi_transceive(data->bus, spi_cfg, &tx, &rx)) { if (spi_transceive(data->bus, spi_cfg, &tx, &rx)) {
return -EIO; return -EIO;
} }
LOG_DBG("MA730 angle value", value);
return 0;
}
static int ma730_reg_read(const struct device *dev, uint8_t reg_addr,
uint8_t *value, uint8_t len)
{
struct ma730_data *data = dev->data;
const struct ma730_config *cfg = dev->config;
const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf;
uint8_t buffer_tx[2] = { reg_addr | 1 << 6 | , 0, 0, 0};
const struct spi_buf tx_buf = {
.buf = buffer_tx,
.len = 4,
};
const struct spi_buf_set tx = {
.buffers = &tx_buf,
.count = 1
};
const struct spi_buf rx_buf[2] = {
{
.buf = NULL,
.len = 2,
},
{
.buf = value,
.len = 1,
},
{
.buf = NULL,
.len = 1,
}
};
const struct spi_buf_set rx = {
.buffers = rx_buf,
.count = 3
};
if (len > 64) {
return -EIO;
}
if (spi_transceive(data->bus, spi_cfg, &tx, &rx)) {
return -EIO;
}
return 0;
}
static int ma730_raw_write(const struct device *dev, uint8_t reg_addr,
uint8_t *value, uint8_t len)
{
struct ma730_data *data = dev->data;
const struct ma730_config *cfg = dev->config;
const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf;
uint8_t buffer_tx[1] = { reg_addr | 1 << 7 };
const struct spi_buf tx_buf[2] = {
{
.buf = buffer_tx,
.len = 1,
},
{
.buf = value,
.len = len,
}
};
const struct spi_buf_set tx = {
.buffers = tx_buf,
.count = 2
};
if (len > 64) {
return -EIO;
}
if (spi_write(data->bus, spi_cfg, &tx)) {
return -EIO;
}
return 0; return 0;
} }
@ -140,23 +60,12 @@ static int ma730_spi_read_data(const struct device *dev,
return ma730_raw_read(dev, value); return ma730_raw_read(dev, value);
} }
static int ma730_spi_write_data(const struct device *dev, uint8_t reg_addr,
uint8_t *value, uint8_t len)
{
return ma730_raw_write(dev, reg_addr, value, len);
}
static int ma730_spi_read_reg(const struct device *dev, uint8_t reg_addr,
uint8_t *value)
{
return ma730_reg_read(dev, reg_addr, value, 1);
}
static const struct ma730_transfer_function ma730_spi_transfer_fn = { static const struct ma730_transfer_function ma730_spi_transfer_fn = {
.read_data = ma730_spi_read_data, .read_data = ma730_spi_read_data,
.read_reg = ma730_spi_read_reg,
.update_reg = ma730_spi_update_reg,
}; };
int ma730_spi_init(const struct device *dev) int ma730_spi_init(const struct device *dev)
@ -185,15 +94,16 @@ int ma730_spi_init(const struct device *dev)
} }
static int ma730_sample_fetch(const struct device *dev, enum sensor_channel chan) { static int ma730_sample_fetch(const struct device *dev, enum sensor_channel chan) {
struct ma730_data *drv_data = dev->data; struct ma730_data *data = dev->data;
const struct ma730_config *drv_cfg = dev->config; const struct ma730_config *cfg = dev->config;
uint16_t val; uint16_t val;
int8_t delta; int8_t velocity;
__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION); __ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION || chan == SENSOR_CHAN_RPM);
if (ma730_spi_read_data(dev, &value)) { if (ma730_spi_read_data(dev, &val)) {
return -EIO return -EIO
} }
data->angle = val;
} }
@ -201,12 +111,15 @@ static int ma730_channel_get(const struct device *dev, enum sensor_channel chan,
struct sensor_value *val) { struct sensor_value *val) {
struct ma730_data *drv_data = dev->data; struct ma730_data *drv_data = dev->data;
if (chan != SENSOR_CHAN_ROTATION) { if (chan != (SENSOR_CHAN_ROTATION || SENSOR_CHAN_RPM)) {
return -ENOTSUP; return -ENOTSUP;
} }
else if (chan == SENSOR_CHAN_ROTATION) {
val->val1 = drv_data->ticks; val->val1 = int(data->angle / (65536*resolution));
val->val2 = drv_data->delta; }
else {
//velocity code
}
return 0; return 0;
} }

10
app/drivers/sensor/ma730/ma730.h
View file

@ -83,18 +83,16 @@ struct ma730_data;
struct ma730_transfer_function { struct ma730_transfer_function {
int (*read_data)(const struct device *dev, int (*read_data)(const struct device *dev,
uint16_t *value); uint16_t *value);
int (*read_reg)(const struct device *dev, uint8_t reg_addr,
uint8_t *value);
int (*update_reg)(const struct device *dev, uint8_t reg_addr,
uint8_t mask, uint8_t value);
}; };
struct ma730_data { struct ma730_data {
const struct device *bus; const struct device *bus;
struct spi_cs_control cs_ctrl; struct spi_cs_control cs_ctrl;
float angle; uint16_t angle;
float velocity; int8_t velocity;
bool direction;
const struct ma730_transfer_function *hw_tf; const struct ma730_transfer_function *hw_tf;