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Code Issues Releases Activity

OP-911: Use SPI_ReleaseBusISR within isr, changed a malloc with pvPortMalloc for coherence with the rest of PiOS

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+review OPReview-44
This commit is contained in:
Alessio Morale 2013-04-17 23:41:25 +02:00
parent ae62517600
commit a825772389
1 changed files with 23 additions and 17 deletions
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40
flight/PiOS/Common/pios_mpu6000.c
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@ -227,6 +227,7 @@ int32_t PIOS_MPU6000_ConfigureRanges(
/**
* @brief Claim the SPI bus for the accel communications and select this chip
* @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
* @param fromIsr[in] Tells if the function is being called from a ISR or not
*/
static int32_t PIOS_MPU6000_ClaimBus(bool fromIsr)
{
@ -246,15 +247,19 @@ static int32_t PIOS_MPU6000_ClaimBus(bool fromIsr)
/**
* @brief Release the SPI bus for the accel communications and end the transaction
* @return 0 if successful
* @param fromIsr[in] Tells if the function is being called from a ISR or not
*/
int32_t PIOS_MPU6000_ReleaseBus()
int32_t PIOS_MPU6000_ReleaseBus(bool fromIsr)
{
if(PIOS_MPU6000_Validate(dev) != 0)
return -1;
PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,1);
return PIOS_SPI_ReleaseBus(dev->spi_id);
if(fromIsr){
return PIOS_SPI_ReleaseBusISR(dev->spi_id);
} else {
return PIOS_SPI_ReleaseBus(dev->spi_id);
}
}
/**
@ -272,7 +277,7 @@ static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
data = PIOS_SPI_TransferByte(dev->spi_id,0 ); // receive response
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(false);
return data;
}
@ -290,16 +295,16 @@ static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
return -1;
if(PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(false);
return -2;
}
if(PIOS_SPI_TransferByte(dev->spi_id, data) != 0) {
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(false);
return -3;
}
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(false);
return 0;
}
@ -321,7 +326,7 @@ int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
if(PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0)
return -2;
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(false);
data->gyro_x = rec[1] << 8 | rec[2];
data->gyro_y = rec[3] << 8 | rec[4];
@ -407,6 +412,7 @@ int32_t PIOS_MPU6000_Test(void)
* @brief Run self-test operation.
* \return 0 if test succeeded
* \return non-zero value if test succeeded
* @param fromIsr[in] Tells if the function is being called from a ISR or not
*/
static int32_t PIOS_MPU6000_FifoDepth(bool fromIsr)
{
@ -417,11 +423,11 @@ static int32_t PIOS_MPU6000_FifoDepth(bool fromIsr)
return -1;
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(fromIsr);
return -1;
}
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(fromIsr);
return (mpu6000_rec_buf[1] << 8) | mpu6000_rec_buf[2];
}
@ -456,18 +462,18 @@ bool PIOS_MPU6000_IRQHandler(void)
if (PIOS_MPU6000_ClaimBus(true) != 0)
return false;
uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data) ] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data) ];
static uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data) ] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
static uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data) ];
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(true);
mpu6000_fails++;
return false;
}
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(true);
struct pios_mpu6000_data data;
static struct pios_mpu6000_data data;
// In the case where extras samples backed up grabbed an extra
if (mpu6000_count >= (sizeof(data) * 2)) {
@ -476,12 +482,12 @@ bool PIOS_MPU6000_IRQHandler(void)
return false;
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(true);
mpu6000_fails++;
return false;
}
PIOS_MPU6000_ReleaseBus();
PIOS_MPU6000_ReleaseBus(true);
}
// Rotate the sensor to OP convention. The datasheet defines X as towards the right