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Code Issues Releases Activity

Make the BMA180 driver use the appropriate claim method from the ISR. Also

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slow down this bus to 10 MHz.
This commit is contained in:
James Cotton 2012-01-21 09:55:57 -06:00
parent ff0bd87f4e
commit 5dbbfec8a9
2 changed files with 31 additions and 24 deletions
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53
flight/PiOS/STM32F4xx/pios_bma180.c
View File

@ -85,8 +85,22 @@ int32_t PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
*/
int32_t PIOS_BMA180_ClaimBus()
{
if(PIOS_SPI_ClaimBus(PIOS_SPI_ACCEL) != 0)
if(PIOS_SPI_ClaimBus(PIOS_SPI_ACCEL) != 0) {
return -1;
}
PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0,0);
return 0;
}
/**
* @brief Claim the SPI bus for the accel communications and select this chip
* @return 0 if successful, -1 if unable to claim bus
*/
int32_t PIOS_BMA180_ClaimBusISR()
{
if(PIOS_SPI_ClaimBusISR(PIOS_SPI_ACCEL) != 0) {
return -1;
}
PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0,0);
return 0;
}
@ -347,17 +361,25 @@ int32_t PIOS_BMA180_Test()
return 0;
}
static uint8_t pios_bma180_dmabuf[8];
/**
* @brief Take data from BMA180 read and parse it into structure
* Leaving this function here in case I want to go back to using
* callback but at higher speed this it is faster to just transfer
* @brief IRQ Handler. Read data from the BMA180 FIFO and push onto a local fifo.
*/
static inline void PIOS_BMA180_SPI_Callback()
{
static void PIOS_BMA180_IRQHandler(void)
{
const static uint8_t pios_bma180_req_buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
uint8_t pios_bma180_dmabuf[8];
// If we can't get the bus then just move on for efficiency
if(PIOS_BMA180_ClaimBusISR() != 0) {
return; // Something else is using bus, miss this data
}
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,pios_bma180_req_buf,(uint8_t *) pios_bma180_dmabuf,
sizeof(pios_bma180_dmabuf), NULL);
// TODO: Make this conversion depend on configuration scale
struct pios_bma180_data data;
// Don't release bus till data has copied
PIOS_BMA180_ReleaseBus();
@ -376,22 +398,7 @@ static inline void PIOS_BMA180_SPI_Callback()
data.temperature = pios_bma180_dmabuf[7];
fifoBuf_putData(&pios_bma180_fifo, (uint8_t *) &data, sizeof(data));
}
/**
* @brief IRQ Handler
*/
const static uint8_t pios_bma180_req_buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
static void PIOS_BMA180_IRQHandler(void)
{
// If we can't get the bus then just move on for efficiency
if(PIOS_BMA180_ClaimBus() != 0) {
return; // Something else is using bus, miss this data
}
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,pios_bma180_req_buf,(uint8_t *) pios_bma180_dmabuf,
sizeof(pios_bma180_dmabuf), NULL);
PIOS_BMA180_SPI_Callback();
}

2
flight/Revolution/System/pios_board.c
View File

@ -57,7 +57,7 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
},
.use_crc = false,
.dma = {