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PiOS BMA180: Increase the comms speed for BMA180 and perfom SPI without
callback. This takes less time.
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@ -176,7 +176,7 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
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},
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.use_crc = false,
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.dma = {
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@ -352,7 +352,12 @@ int32_t PIOS_BMA180_Test()
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}
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static uint8_t pios_bma180_dmabuf[8];
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static void PIOS_BMA180_SPI_Callback()
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/**
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* @brief Take data from BMA180 read and parse it into structure
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* Leaving this function here in case I want to go back to using
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* callback but at higher speed this it is faster to just transfer
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*/
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static inline void PIOS_BMA180_SPI_Callback()
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{
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// TODO: Make this conversion depend on configuration scale
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struct pios_bma180_data data;
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@ -381,12 +386,16 @@ static void PIOS_BMA180_SPI_Callback()
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* @brief IRQ Handler
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*/
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const static uint8_t pios_bma180_req_buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
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int32_t setup_time;
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static void PIOS_BMA180_IRQHandler(void)
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{
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uint32_t timeval = PIOS_DELAY_GetRaw();
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// If we can't get the bus then just move on for efficiency
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if(PIOS_BMA180_ClaimBus() == 0)
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PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,pios_bma180_req_buf,(uint8_t *) pios_bma180_dmabuf,
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sizeof(pios_bma180_dmabuf), PIOS_BMA180_SPI_Callback);
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sizeof(pios_bma180_dmabuf), NULL);
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setup_time = PIOS_DELAY_DiffuS(timeval);
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PIOS_BMA180_SPI_Callback();
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}
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