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Firmware updates - sensors, calibration, View support, etc (#9)

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- Modify TLV493d library to expose frame counter in order to check for lockup, and implement auto-reset in tlv_sensor in case of lockup
 - Implement MT6701 SimpleFOC sensor
 - Make display optional
 - Add optional LED, strain, ALS support
 - Connect ALS to LED and display brightness
 - Hardcoded strain gauge thresholds and haptic feedback
This commit is contained in:
Scott Bezek
2022-03-10 19:05:49 -08:00
committed by GitHub
parent 9e2725f850
commit b47fcf7da4
26 changed files with 2101 additions and 110 deletions
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97
firmware/lib/tlv/src/util/BusInterface.cpp Normal file
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/**
* BusInterface.cpp - Part of the library for Arduino to control the TLV493D-A1B6 3D magnetic sensor.
*
* The 3D magnetic sensor TLV493D-A1B6 offers accurate three dimensional sensing with extremely low power consumption
* in a small 6-pin package. With an opportunity to detect the magnetic field in x, y, and z-direction the sensor is
* ideally suited for the measurement of 3D movements, linear movements and rotation movements.
*
* Have a look at the application note/reference manual for more information.
*
* Copyright (c) 2018 Infineon Technologies AG
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
* following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list of conditions and the following
* disclaimer.
*
* 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.
*
* Neither the name of the copyright holders 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 HOLDER 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.
*/
#include "BusInterface2.h"
void tlv493d::initInterface(BusInterface_t *interface, TwoWire *bus, uint8_t adress)
{
uint8_t i;
interface->bus = bus;
interface->adress = adress;
for(i = 0; i < TLV493D_BUSIF_READSIZE; i++) {
interface->regReadData[i] = 0x00;;
}
for(i = 0; i < TLV493D_BUSIF_WRITESIZE; i++) {
interface->regWriteData[i] = 0x00;;
}
}
bool tlv493d::readOut(BusInterface_t *interface)
{
return readOut(interface, TLV493D_BUSIF_READSIZE);
}
bool tlv493d::readOut(BusInterface_t *interface, uint8_t count)
{
bool ret = BUS_ERROR;
int i;
if(count > TLV493D_BUSIF_READSIZE)
{
count = TLV493D_BUSIF_READSIZE;
}
uint8_t received_bytes = interface->bus->requestFrom(interface->adress,count);
if (received_bytes == count)
{
for(i = 0; i < count; i++)
{
interface->regReadData[i] = interface->bus->read();
}
ret = BUS_OK;
}
return ret;
}
bool tlv493d::writeOut(BusInterface_t *interface)
{
return writeOut(interface, TLV493D_BUSIF_WRITESIZE);
}
bool tlv493d::writeOut(BusInterface_t *interface, uint8_t count)
{
bool ret = BUS_ERROR;
int i;
if(count > TLV493D_BUSIF_WRITESIZE)
{
count = TLV493D_BUSIF_WRITESIZE;
}
interface->bus->beginTransmission(interface->adress);
for(i = 0; i < count; i++)
{
interface->bus->write(interface->regWriteData[i]);
}
if (interface->bus->endTransmission() == 0)
{
ret = BUS_OK;
}
return ret;
}

55
firmware/lib/tlv/src/util/BusInterface.h Normal file
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/**
* BusInterface.h - Part of the library for Arduino to control the TLV493D-A1B6 3D magnetic sensor.
*
* The 3D magnetic sensor TLV493D-A1B6 offers accurate three dimensional sensing with extremely low power consumption
* in a small 6-pin package. With an opportunity to detect the magnetic field in x, y, and z-direction the sensor is
* ideally suited for the measurement of 3D movements, linear movements and rotation movements.
*
* Have a look at the application note/reference manual for more information.
*
* Copyright (c) 2018 Infineon Technologies AG
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
* following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list of conditions and the following
* disclaimer.
*
* 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.
*
* Neither the name of the copyright holders 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 HOLDER 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.
*/
#ifndef TLV493D_BUSIF_H_INCLUDED
#define TLV493D_BUSIF_H_INCLUDED
#include <Arduino.h>
#include <Wire.h>
#define TLV493D_BUSIF_READSIZE 10
#define TLV493D_BUSIF_WRITESIZE 4
namespace tlv493d
{
typedef struct
{
TwoWire *bus;
uint8_t adress;
uint8_t regReadData[TLV493D_BUSIF_READSIZE];
uint8_t regWriteData[TLV493D_BUSIF_WRITESIZE];
} BusInterface_t;
}
#endif

52
firmware/lib/tlv/src/util/BusInterface2.h Normal file
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/**
* BusInterface2.h - Part of the library for Arduino to control the TLV493D-A1B6 3D magnetic sensor.
*
* The 3D magnetic sensor TLV493D-A1B6 offers accurate three dimensional sensing with extremely low power consumption
* in a small 6-pin package. With an opportunity to detect the magnetic field in x, y, and z-direction the sensor is
* ideally suited for the measurement of 3D movements, linear movements and rotation movements.
*
* Have a look at the application note/reference manual for more information.
*
* Copyright (c) 2018 Infineon Technologies AG
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
* following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list of conditions and the following
* disclaimer.
*
* 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.
*
* Neither the name of the copyright holders 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 HOLDER 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.
*/
#ifndef TLV493D_BUSIF_2_H_INCLUDED
#define TLV493D_BUSIF_2_H_INCLUDED
#include "BusInterface.h"
#define BUS_ERROR 1
#define BUS_OK 0
namespace tlv493d
{
void initInterface(BusInterface_t *interface, TwoWire *bus, uint8_t adress);
bool readOut(BusInterface_t *interface);
bool readOut(BusInterface_t *interface, uint8_t count);
bool writeOut(BusInterface_t *interface);
bool writeOut(BusInterface_t *interface, uint8_t count);
}
#endif

54
firmware/lib/tlv/src/util/RegMask.cpp Normal file
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/**
* RegMask.cpp - Part of the library for Arduino to control the TLV493D-A1B6 3D magnetic sensor.
*
* The 3D magnetic sensor TLV493D-A1B6 offers accurate three dimensional sensing with extremely low power consumption
* in a small 6-pin package. With an opportunity to detect the magnetic field in x, y, and z-direction the sensor is
* ideally suited for the measurement of 3D movements, linear movements and rotation movements.
*
* Have a look at the application note/reference manual for more information.
*
* Copyright (c) 2018 Infineon Technologies AG
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
* following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list of conditions and the following
* disclaimer.
*
* 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.
*
* Neither the name of the copyright holders 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 HOLDER 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.
*/
#include "RegMask.h"
uint8_t tlv493d::getFromRegs(const RegMask_t *mask, uint8_t *regData)
{
return (regData[mask->byteAdress] & mask->bitMask) >> mask->shift;
}
uint8_t tlv493d::setToRegs(const RegMask_t *mask, uint8_t *regData, uint8_t toWrite)
{
if(mask->rw == REGMASK_WRITE)
{
uint8_t regValue = regData[mask->byteAdress];
regValue &= ~(mask->bitMask);
regValue |= (toWrite << mask->shift) & mask->bitMask;
regData[mask->byteAdress] = regValue;
}
return 0;
}

57
firmware/lib/tlv/src/util/RegMask.h Normal file
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/**
* RegMask.h - Part of the library for Arduino to control the TLV493D-A1B6 3D magnetic sensor.
*
* The 3D magnetic sensor TLV493D-A1B6 offers accurate three dimensional sensing with extremely low power consumption
* in a small 6-pin package. With an opportunity to detect the magnetic field in x, y, and z-direction the sensor is
* ideally suited for the measurement of 3D movements, linear movements and rotation movements.
*
* Have a look at the application note/reference manual for more information.
*
* Copyright (c) 2018 Infineon Technologies AG
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
* following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list of conditions and the following
* disclaimer.
*
* 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.
*
* Neither the name of the copyright holders 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 HOLDER 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.
*/
#ifndef TLV493D_REGMASK_H_INCLUDED
#define TLV493D_REGMASK_H_INCLUDED
#include <Arduino.h>
#define REGMASK_READ 0
#define REGMASK_WRITE 1
namespace tlv493d
{
typedef struct
{
uint8_t rw;
uint8_t byteAdress;
uint8_t bitMask;
uint8_t shift;
} RegMask_t;
uint8_t getFromRegs(const RegMask_t *mask, uint8_t *regData);
uint8_t setToRegs(const RegMask_t *mask, uint8_t *regData, uint8_t toWrite);
}
#endif

134
firmware/lib/tlv/src/util/Tlv493d_conf.h Normal file
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/**
* Tlv493d_conf.h - Part of the library for Arduino to control the TLV493D-A1B6 3D magnetic sensor.
*
* The 3D magnetic sensor TLV493D-A1B6 offers accurate three dimensional sensing with extremely low power consumption
* in a small 6-pin package. With an opportunity to detect the magnetic field in x, y, and z-direction the sensor is
* ideally suited for the measurement of 3D movements, linear movements and rotation movements.
*
* Have a look at the application note/reference manual for more information.
*
* Copyright (c) 2018 Infineon Technologies AG
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
* following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list of conditions and the following
* disclaimer.
*
* 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.
*
* Neither the name of the copyright holders 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 HOLDER 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.
*/
#ifndef TLV493D_CONF_H_INCLUDED
#define TLV493D_CONF_H_INCLUDED
#include "RegMask.h"
#include "Tlv493d.h"
#define TLV493D_DEFAULTMODE POWERDOWNMODE
#define TLV493D_STARTUPDELAY 40
#define TLV493D_RESETDELAY 60
#define TLV493D_NUM_OF_REGMASKS 25
#define TLV493D_NUM_OF_ACCMODES 5
#define TLV493D_MEASUREMENT_READOUT 7
#define TLV493D_FAST_READOUT 3
#define TLV493D_B_MULT 0.098
#define TLV493D_TEMP_MULT 1.1
#define TLV493D_TEMP_OFFSET 315
namespace tlv493d
{
typedef struct
{
uint8_t fast;
uint8_t lp;
uint8_t lpPeriod;
uint16_t measurementTime;
} AccessMode_t;
enum Registers_e
{
R_BX1 = 0,
R_BX2,
R_BY1,
R_BY2,
R_BZ1,
R_BZ2,
R_TEMP1,
R_TEMP2,
R_FRAMECOUNTER,
R_CHANNEL,
R_POWERDOWNFLAG,
R_RES1,
R_RES2,
R_RES3,
W_PARITY,
W_ADDR,
W_INT,
W_FAST,
W_LOWPOWER,
W_TEMP_NEN,
W_LP_PERIOD,
W_PARITY_EN,
W_RES1,
W_RES2,
W_RES3
};
const RegMask_t regMasks[] = {
{ REGMASK_READ, 0, 0xFF, 0 }, // R_BX1
{ REGMASK_READ, 4, 0xF0, 4 }, // R_BX2
{ REGMASK_READ, 1, 0xFF, 0 }, // R_BY1
{ REGMASK_READ, 4, 0x0F, 0 }, // R_BY2
{ REGMASK_READ, 2, 0xFF, 0 }, // R_BZ1
{ REGMASK_READ, 5, 0x0F, 0 }, // R_BZ2
{ REGMASK_READ, 3, 0xF0, 4 }, // R_TEMP1
{ REGMASK_READ, 6, 0xFF, 0 }, // R_TEMP2
{ REGMASK_READ, 3, 0x0C, 2 }, // R_FRAMECOUNTER
{ REGMASK_READ, 3, 0x03, 0 }, // R_CHANNEL
{ REGMASK_READ, 5, 0x10, 4 }, // R_POWERDOWNFLAG
{ REGMASK_READ, 7, 0x18, 3 }, // R_RES1
{ REGMASK_READ, 8, 0xFF, 0 }, // R_RES2
{ REGMASK_READ, 9, 0x1F, 0 }, // R_RES3
{ REGMASK_WRITE, 1, 0x80, 7 }, // W_PARITY
{ REGMASK_WRITE, 1, 0x60, 5 }, // W_ADDR
{ REGMASK_WRITE, 1, 0x04, 2 }, // W_INT
{ REGMASK_WRITE, 1, 0x02, 1 }, // W_FAST
{ REGMASK_WRITE, 1, 0x01, 0 }, // W_LOWPOWER
{ REGMASK_WRITE, 3, 0x80, 7 }, // W_TEMP_EN
{ REGMASK_WRITE, 3, 0x40, 6 }, // W_LOWPOWER
{ REGMASK_WRITE, 3, 0x20, 5 }, // W_POWERDOWN
{ REGMASK_WRITE, 1, 0x18, 3 }, // W_RES1
{ REGMASK_WRITE, 2, 0xFF, 0 }, // W_RES2
{ REGMASK_WRITE, 3, 0x1F, 0 } // W_RES3
};
const AccessMode_t accModes[] = {
{ 0, 0, 0, 1000 }, // POWERDOWNMODE
{ 1, 0, 0, 0 }, // FASTMODE
{ 0, 1, 1, 10 }, // LOWPOWERMODE
{ 0, 1, 0, 100 }, // ULTRALOWPOWERMODE
{ 1, 1, 1, 10 } // MASTERCONTROLLEDMODE
};
}
#endif