Supports TMAG5273 sensor

firmware/src/CMakeLists.txt

@@ -1,34 +1,34 @@
-set(BTSTACK_ROOT ${PICO_SDK_PATH}/lib/btstack)
+set(BTSTACK_ROOT ${PICO_SDK_PATH}/lib/btstack)
-set(LWIP_ROOT ${PICO_SDK_PATH}/lib/lwip)
+set(LWIP_ROOT ${PICO_SDK_PATH}/lib/lwip)
-
+
-function(make_firmware board board_def)
+function(make_firmware board board_def)
-    pico_sdk_init()
+    pico_sdk_init()
-    add_executable(${board}
+    add_executable(${board}
-                   main.c cli.c commands.c buttons.c rgb.c save.c config.c setup.c
+                   main.c cli.c commands.c buttons.c rgb.c save.c config.c setup.c
-                   turntable.c tt_rainbow.c tt_blade.c
+                   turntable.c as5600.c tmag5273.c tt_rainbow.c tt_blade.c
-                   usb_descriptors.c)
+                   usb_descriptors.c)
-    target_compile_definitions(${board} PUBLIC ${board_def})
+    target_compile_definitions(${board} PUBLIC ${board_def})
-    pico_enable_stdio_usb(${board} 1)
+    pico_enable_stdio_usb(${board} 1)
-    pico_enable_stdio_uart(${board} 0)
+    pico_enable_stdio_uart(${board} 0)
-
+
-    pico_generate_pio_header(${board} ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio)
+    pico_generate_pio_header(${board} ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio)
-
+
-    target_compile_options(${board} PRIVATE -Wfatal-errors -O3)
+    target_compile_options(${board} PRIVATE -Wfatal-errors -O3)
-    target_include_directories(${board} PRIVATE ${CMAKE_CURRENT_LIST_DIR})
+    target_include_directories(${board} PRIVATE ${CMAKE_CURRENT_LIST_DIR})
-    target_include_directories(${board} PRIVATE 
+    target_include_directories(${board} PRIVATE 
-                               ${BTSTACK_ROOT}/src
+                               ${BTSTACK_ROOT}/src
-                               ${LWIP_ROOT}/src/include)
+                               ${LWIP_ROOT}/src/include)
-    
+    
-    target_link_libraries(${board} PRIVATE
+    target_link_libraries(${board} PRIVATE
-        pico_multicore pico_stdlib hardware_pio hardware_pwm hardware_flash
+        pico_multicore pico_stdlib hardware_pio hardware_pwm hardware_flash
-        hardware_adc hardware_i2c hardware_watchdog
+        hardware_adc hardware_i2c hardware_watchdog
-        tinyusb_device tinyusb_board)
+        tinyusb_device tinyusb_board)
-
+
-    pico_add_extra_outputs(${board})
+    pico_add_extra_outputs(${board})
-
+
-    add_custom_command(TARGET ${board} POST_BUILD
+    add_custom_command(TARGET ${board} POST_BUILD
-                       COMMAND cp ${board}.uf2 ${CMAKE_CURRENT_LIST_DIR}/..)
+                       COMMAND cp ${board}.uf2 ${CMAKE_CURRENT_LIST_DIR}/..)
-endfunction()
+endfunction()
-
+
-make_firmware(iidx_pico BOARD_IIDX_PICO)
+make_firmware(iidx_pico BOARD_IIDX_PICO)
-
+

firmware/src/as5600.c

@@ -0,0 +1,59 @@
+/*
+ * AS5600 Angular Hall Sensor
+ * WHowe <github.com/whowechina>
+ * 
+ */
+
+#include "turntable.h"
+
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "hardware/gpio.h"
+#include "hardware/i2c.h"
+
+#include "board_defs.h"
+#include "config.h"
+
+#define AS5600_ADDR 0x36
+
+static i2c_inst_t *as5600_i2c = i2c0;
+static uint16_t raw_angle = 0;
+
+void as5600_init(i2c_inst_t *i2c_port)
+{
+    as5600_i2c = i2c_port;
+}
+
+bool as5600_init_sensor()
+{
+    return true;
+}
+
+static bool as5600_is_present()
+{
+    uint8_t buf[1] = {0x0c};
+    int ret = i2c_write_blocking_until(as5600_i2c, AS5600_ADDR, buf, 1, true,
+                             make_timeout_time_ms(1));
+    return ret == 1;
+}
+
+int as5600_read_angle()
+{
+    uint8_t buf[2] = {0x0c, 0x00};
+    int ret = i2c_write_blocking_until(as5600_i2c, AS5600_ADDR, buf, 1, true,
+                             make_timeout_time_ms(1));
+    if (ret != 1) {
+        return -1;
+    }
+
+    ret = i2c_read_blocking_until(as5600_i2c, AS5600_ADDR, buf, 2, false,
+                            make_timeout_time_ms(1));
+    if (ret != 2) {
+        return -1;
+    }
+
+    return (buf[0] & 0x0f) << 8 | buf[1];
+}

firmware/src/as5600.h

@@ -0,0 +1,17 @@
+/*
+ * AS5600 Angular Hall Sensor
+ * WHowe <github.com/whowechina>
+ */
+
+#ifndef AS5600_H
+#define AS5600_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+void as5600_init(i2c_inst_t *i2c_port);
+bool as5600_init_sensor();
+bool as5600_is_present();
+int as5600_read_angle();
+
+#endif

firmware/src/board_defs.h

@@ -13,14 +13,12 @@
 #define BUTTON_RGB_NUM 11
 #define BUTTON_RGB_MAP { 6, 0, 5, 1, 4, 2, 3, 7, 8, 9, 10}
 
-
 #define TT_RGB_PIN 28
 #define TT_RGB_ORDER GRB // or RGB
 
-#define TT_AS5600_ANALOG 26
+#define TT_SENSOR_SCL 27
-#define TT_AS5600_SCL 27
+#define TT_SENSOR_SDA 26
-#define TT_AS5600_SDA 26
+#define TT_SENSOR_I2C i2c1
-#define TT_AS5600_I2C i2c1
 
 // Alternative I2C pins
 //#define TT_AS5600_SCL 21

firmware/src/tmag5273.c

@@ -0,0 +1,120 @@
+/*
+ * TMAG5273 Angular Hall Sensor
+ * WHowe <github.com/whowechina>
+ *
+ */
+
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "hardware/i2c.h"
+#include "board_defs.h"
+
+#include "tmag5273.h"
+
+#define TMAG5273_DEF_ADDR 0x35
+
+#define IO_TIMEOUT_US 1000
+
+static struct {
+    i2c_inst_t *port;
+    uint8_t addr;
+    uint16_t cache;
+    bool present;
+} instances[16] = { { i2c0, TMAG5273_DEF_ADDR } };
+#define INSTANCE_NUM count_of(instances)
+
+static int current_instance = 0;
+#define INSTANCE instances[current_instance]
+
+#define I2C_PORT INSTANCE.port
+#define I2C_ADDR INSTANCE.addr
+
+static void write_reg(uint8_t reg, uint8_t value)
+{
+    uint8_t data[2] = { reg, value };
+    i2c_write_blocking_until(I2C_PORT, I2C_ADDR, data, 2, false,
+                             time_us_64() + IO_TIMEOUT_US);
+}
+
+static uint8_t read_reg(uint8_t reg)
+{
+    uint8_t value;
+    i2c_write_blocking_until(I2C_PORT, I2C_ADDR, &reg, 1, true,
+                             time_us_64() + IO_TIMEOUT_US);
+    i2c_read_blocking_until(I2C_PORT, I2C_ADDR, &value, 1, false,
+                             time_us_64() + IO_TIMEOUT_US);
+    return value;
+}
+
+static void read_many(uint8_t reg, uint8_t *dst, uint8_t len)
+{
+    i2c_write_blocking_until(I2C_PORT, I2C_ADDR, &reg, 1, true,
+                             time_us_64() + IO_TIMEOUT_US);
+    i2c_read_blocking_until(I2C_PORT, I2C_ADDR, dst, len, false,
+                             time_us_64() + IO_TIMEOUT_US * len);
+}
+
+void tmag5273_init(unsigned instance, i2c_inst_t *i2c_port)
+{
+    if (instance < INSTANCE_NUM) {
+        current_instance = instance;
+        INSTANCE.port = i2c_port;
+        INSTANCE.addr = TMAG5273_DEF_ADDR;
+        INSTANCE.present = tmag5273_change_addr(TMAG5273_DEF_ADDR + 1 + instance);
+    }
+}
+
+void tmag5273_use(unsigned instance)
+{
+    if (instance < INSTANCE_NUM) {
+        current_instance = instance;
+    }
+}
+
+bool tmag5273_is_present(unsigned instance)
+{
+    if (instance >= INSTANCE_NUM) {
+        return false;
+    }
+    return instances[instance].present;
+}
+
+bool tmag5273_change_addr(uint8_t i2c_addr)
+{
+    tmag5273_write_reg(0x0c, (i2c_addr << 1) | 0x01);
+    INSTANCE.addr = i2c_addr;
+    tmag5273_read_reg(0x0c); // Dummy read
+    uint8_t new_addr = tmag5273_read_reg(0x0c) >> 1;
+    return new_addr == i2c_addr;
+}
+
+bool tmag5273_init_sensor()
+{
+    tmag5273_write_reg(0x03, 0x01 << 2); // Enable angle calculation
+    tmag5273_write_reg(0x02, 0x03 << 4); // X-Y
+    tmag5273_write_reg(0x00, 0x03 << 2); // 8x average mode
+    tmag5273_write_reg(0x01, 0x02); // Continuous mode
+    return true;
+}
+
+uint8_t tmag5273_read_reg(uint8_t addr)
+{
+    return read_reg(addr);
+}
+
+void tmag5273_write_reg(uint8_t addr, uint8_t value)
+{
+    write_reg(addr, value);
+}
+
+uint16_t tmag5273_read_angle()
+{
+    uint8_t buf[3] = { 0 };
+    read_many(0x18, buf, sizeof(buf));
+    if (buf[0] & 0x01) {
+        INSTANCE.cache = (buf[1] << 8 | buf[2]) & 0x1fff;
+    }
+    return INSTANCE.cache;
+}

firmware/src/tmag5273.h

@@ -0,0 +1,27 @@
+/*
+ * TMAG5273 Angular Hall Sensor
+ * WHowe <github.com/whowechina>
+ * 
+ */
+
+#ifndef TMAG5273_H
+#define TMAG5273_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "hardware/i2c.h"
+
+void tmag5273_init(unsigned instance, i2c_inst_t *i2c_port);
+void tmag5273_use(unsigned instance);
+bool tmag5273_is_present(unsigned instance);
+bool tmag5273_change_addr(uint8_t i2c_addr);
+
+bool tmag5273_init_sensor();
+
+uint8_t tmag5273_read_reg(uint8_t addr);
+void tmag5273_write_reg(uint8_t addr, uint8_t value);
+
+uint16_t tmag5273_read_angle();
+
+#endif

firmware/src/turntable.c

@@ -15,45 +15,47 @@
 #include "hardware/adc.h"
 #include "hardware/i2c.h"
 
+#include "as5600.h"
+#include "tmag5273.h"
+
 #include "board_defs.h"
 #include "config.h"
 
-static uint16_t angle = 0;
+static uint16_t raw_angle = 0;
-
+static bool use_as5600 = true;
-static void init_i2c()
-{
-    i2c_init(TT_AS5600_I2C, 400 * 1000);
-    gpio_set_function(TT_AS5600_SCL, GPIO_FUNC_I2C);
-    gpio_set_function(TT_AS5600_SDA, GPIO_FUNC_I2C);
-    gpio_set_drive_strength(TT_AS5600_SCL, GPIO_DRIVE_STRENGTH_8MA);
-    gpio_set_drive_strength(TT_AS5600_SDA, GPIO_DRIVE_STRENGTH_8MA);
-    gpio_pull_up(TT_AS5600_SCL);
-    gpio_pull_up(TT_AS5600_SDA);
-}
 
 void turntable_init()
 {
-    init_i2c();
+    i2c_init(TT_SENSOR_I2C, 400 * 1000);
+    gpio_init(TT_SENSOR_SCL);
+    gpio_init(TT_SENSOR_SDA);
+    gpio_set_function(TT_SENSOR_SCL, GPIO_FUNC_I2C);
+    gpio_set_function(TT_SENSOR_SDA, GPIO_FUNC_I2C);
+    gpio_pull_up(TT_SENSOR_SCL);
+    gpio_pull_up(TT_SENSOR_SDA);
+
+    tmag5273_init(0, TT_SENSOR_I2C);
+    if (tmag5273_is_present(0)) {
+        tmag5273_use(0);
+        tmag5273_init_sensor();
+        use_as5600 = false;
+        return;
+    }
+
+    as5600_init(TT_SENSOR_I2C);
+    as5600_init_sensor();
+    use_as5600 = true;
 }
 
 static int read_angle()
 {
-    const uint8_t as5600_addr = 0x36;
+    if (use_as5600) {
-    uint8_t buf[2] = {0x0c, 0x00};
+        return as5600_read_angle();
-    int ret = i2c_write_blocking_until(TT_AS5600_I2C, as5600_addr, buf, 1, true,
-                             make_timeout_time_ms(1));
-    if (ret != 1) {
-        return -1;
     }
 
-    ret = i2c_read_blocking_until(TT_AS5600_I2C, as5600_addr, buf, 2, false,
+    return tmag5273_read_angle() * 0x1000 / 360 / 16;
-                            make_timeout_time_ms(1));
-    if (ret != 2) {
-        return -1;
-    }
-
-    return (buf[0] & 0x0f) << 8 | buf[1];
 }
+
 void turntable_update()
 {
     int candidate = read_angle();
@@ -75,12 +77,12 @@ void turntable_update()
         }
     }
 
-    angle = candidate;
+    raw_angle = candidate;
 }
 
 uint16_t turntable_raw()
 {
-    return iidx_cfg->tt_sensor.reversed ? 4095 - angle : angle; // 12bit
+    return iidx_cfg->tt_sensor.reversed ? 4095 - raw_angle : raw_angle; // 12bit
 }
 
 uint8_t turntable_read()
@@ -96,10 +98,10 @@ uint8_t turntable_read()
     } else if (iidx_cfg->tt_sensor.ppr == 3) {
         step = 4096 / 64;
     } else {
-        return angle >> 4;
+        return raw_angle >> 4;
     }
 
-    int16_t delta = angle - old_angle;
+    int16_t delta = raw_angle - old_angle;
     if (delta == 0) {
         return counter;
     } else if (delta > 2048) {

firmware/src/turntable.h

@@ -1,17 +1,17 @@
-/*
+/*
- * IIDX Controller Turntable
+ * IIDX Controller Turntable
- * WHowe <github.com/whowechina>
+ * WHowe <github.com/whowechina>
- */
+ */
-
+
-#ifndef TURNTABLE_H
+#ifndef TURNTABLE_H
-#define TURNTABLE_H
+#define TURNTABLE_H
-
+
-#include <stdint.h>
+#include <stdint.h>
-#include <stdbool.h>
+#include <stdbool.h>
-
+
-void turntable_init();
+void turntable_init();
-uint8_t turntable_read();
+uint8_t turntable_read();
-uint16_t turntable_raw();
+uint16_t turntable_raw();
-void turntable_update();
+void turntable_update();
-
+
-#endif
+#endif