altos: Add BMI088 test framework using Nucleo32 board for stm32f042

This allows a BMI088 chip to be connected to a nucleo-32 board
with an stm32f042 chip to be tested.

Signed-off-by: Keith Packard <[email protected]>

Author: keith-packard

libaltos/libaltos.h

@@ -42,6 +42,7 @@ struct altos_device {
 	int				serial;
 	char				name[256];
 	char				path[256];
+	int				(*method_1)(int x, int y);
 	//%mutable;
 };
 

libaltos/libaltos.i0

@@ -2,4 +2,8 @@
 %{
 #include "libaltos.h"
 %}
-
+%extend altos_device {
+	int method_1(int x, int y) {
+		return ($self->method_1)(x, y);
+	}
+}

src/nucleao-32/Makefile

@@ -3,7 +3,9 @@
 #
 #
 
-include ../stmf0/Makefile.defs
+TOPDIR=..
+
+include $(TOPDIR)/stmf0/Makefile.defs
 
 INC = \
 	ao.h \
@@ -13,8 +15,6 @@ INC = \
 	ao_pins.h \
 	ao_product.h \
 	ao_task.h \
-	ao_lisp.h \
-	ao_lisp_const.h \
 	stm32f0.h \
 	Makefile
 
@@ -25,42 +25,24 @@ ALTOS_SRC = \
 	ao_romconfig.c \
 	ao_cmd.c \
 	ao_config.c \
+	ao_data.c \
 	ao_task.c \
 	ao_led_stmf0.c \
-	ao_beep_stm.c \
 	ao_dma_stm.c \
 	ao_stdio.c \
 	ao_panic.c \
 	ao_timer.c \
 	ao_mutex.c \
 	ao_usb_stm.c \
-	ao_serial_stm.c \
 	ao_flash_stm.c \
-	ao_lisp_atom.c \
-	ao_lisp_builtin.c \
-	ao_lisp_cons.c \
-	ao_lisp_error.c \
-	ao_lisp_eval.c \
-	ao_lisp_frame.c \
-	ao_lisp_int.c \
-	ao_lisp_lambda.c \
-	ao_lisp_lex.c \
-	ao_lisp_mem.c \
-	ao_lisp_poly.c \
-	ao_lisp_read.c \
-	ao_lisp_rep.c \
-	ao_lisp_save.c \
-	ao_lisp_stack.c \
-	ao_lisp_string.c \
-	ao_lisp_os_save.c
+	ao_spi_stm.c \
+	ao_bmi088.c
 
 PRODUCT=Nucleo-32
 PRODUCT_DEF=-DNUCLEO
 IDPRODUCT=0x000a
 
-CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS)
-
-LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tload.ld -n
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) $(PROFILE_DEF)
 
 PROGNAME=nucleo-32
 PROG=$(PROGNAME)-$(VERSION).elf
@@ -72,20 +54,14 @@ OBJ=$(SRC:.c=.o)
 all: $(PROG) $(HEX)
 
 $(PROG): Makefile $(OBJ) altos.ld
-	$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+	$(call quiet,CC) $(LDFLAGS) -o $(PROG) $(OBJ) $(LIBS) -Wl,-Map=$(PROGNAME)-$(VERSION).map
 
 $(OBJ): $(INC)
 
-ao_product.h: ao-make-product.5c ../Version
-	$(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
-
-load: $(PROG)
-	stm-load $(PROG)
-
 distclean:	clean
 
 clean:
-	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+	rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx $(PROGNAME)-*.map
 	rm -f ao_product.h
 
 install:

src/nucleao-32/ao_nucleo.c

@@ -13,35 +13,21 @@
  */
 
 #include <ao.h>
-#include <ao_lisp.h>
-#include <ao_beep.h>
+#include <ao_bmi088.h>
 
-static void lisp_cmd() {
-	ao_lisp_read_eval_print();
-}
-
-static void beep() {
-	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
-}
-
-static const struct ao_cmds blink_cmds[] = {
-	{ lisp_cmd,	"l\0Run lisp interpreter" },
-	{ beep,		"b\0Beep" },
-	{ 0, 0 }
-};
+uint8_t	ao_sensor_errors;
 
-void main(void)
+int main(void)
 {
-	ao_led_init(LEDS_AVAILABLE);
+	ao_led_init();
 	ao_clock_init();
 	ao_task_init();
 	ao_timer_init();
 	ao_dma_init();
 	ao_usb_init();
-	ao_serial_init();
-	ao_beep_init();
+	ao_spi_init();
+	ao_bmi088_init();
 	ao_cmd_init();
-	ao_cmd_register(blink_cmds);
 	ao_start_scheduler();
 }
 

src/nucleao-32/ao_pins.h

@@ -47,19 +47,40 @@
 #define HAS_USB				1
 #define AO_USB_DIRECTIO			0
 #define AO_PA11_PA12_RMP		0
-#define HAS_BEEP			1
-
-#define BEEPER_TIMER			2
-#define BEEPER_CHANNEL			4
-#define BEEPER_PORT			(&stm_gpioa)
-#define BEEPER_PIN			3
+#define HAS_BEEP			0
 
 #define IS_FLASH_LOADER	0
 
-#define HAS_SERIAL_2		1
+#define HAS_SERIAL_2		0
 #define SERIAL_2_PA2_PA15	1
 #define USE_SERIAL_2_FLOW	0
 #define USE_SERIAL_2_STDIN	1
 #define DELAY_SERIAL_2_STDIN	0
 
+#define HAS_SPI_1	1
+#define SPI_1_PA5_PA6_PA7	1
+#define SPI_1_OSPEEDR		STM_OSPEEDR_HIGH
+#define SPI_1_PB3_PB4_PB5	0
+
+#define HAS_SPI_2	0
+
+#define HAS_BMI088	1
+#define HAS_IMU		1
+
+#define ao_data_along(packet)   ((packet)->bmi088.acc.x)
+#define ao_data_across(packet)  (-(packet)->bmi088.acc.y)
+#define ao_data_through(packet) ((packet)->bmi088.acc.z)
+
+#define ao_data_roll(packet)    ((packet)->bmi088.gyr.x)
+#define ao_data_pitch(packet)   (-(packet)->bmi088.gyr.y)
+#define ao_data_yaw(packet)     ((packet)->bmi088.gyr.z)
+
+#define AO_BMI088_ACC_CS_PORT	(&stm_gpioa)
+#define AO_BMI088_ACC_CS_PIN	0
+#define AO_BMI088_GYR_CS_PORT	(&stm_gpioa)
+#define AO_BMI088_GYR_CS_PIN	1
+#define AO_BMI088_SPI_BUS	(AO_SPI_1_PA5_PA6_PA7 | AO_SPI_MODE_0)
+
+#define AO_DATA_RING	32
+
 #endif /* _AO_PINS_H_ */