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Code Issues Releases Activity

BMA180 driver; Don't externalize the fifo buffer but handle it in the driver

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layer.  General driver cleanup.
This commit is contained in:
James Cotton 2011-08-21 00:40:10 -05:00
parent 8ae53a4f97
commit af69e0a1a8
2 changed files with 64 additions and 34 deletions
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86
flight/PiOS/STM32F2xx/pios_bma180.c
View File

@ -41,14 +41,15 @@ static int32_t PIOS_BMA180_SetRange(enum bma180_range range);
static int32_t PIOS_BMA180_Config();
static int32_t PIOS_BMA180_EnableIrq();
static void PIOS_BMA180_IRQHandler(void);
volatile bool pios_bma180_data_ready = false;
#define PIOS_BMA180_MAX_DOWNSAMPLE 10
static int16_t pios_bma180_buffer[PIOS_BMA180_MAX_DOWNSAMPLE * 3];
static int16_t pios_bma180_buffer[PIOS_BMA180_MAX_DOWNSAMPLE * sizeof(struct pios_bma180_data)];
static t_fifo_buffer pios_bma180_fifo;
static const struct pios_bma180_cfg * dev_cfg;
static enum bma180_range range;
#define GRAV 9.81
/**
* @brief Initialize with good default settings
*/
@ -68,8 +69,6 @@ void PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_Init(&cfg->eoc_irq.init);
pios_bma180_data_ready = false;
PIOS_BMA180_Config();
PIOS_BMA180_SelectBW(BMA_BW_600HZ);
PIOS_BMA180_SetRange(BMA_RANGE_8G);
@ -209,9 +208,10 @@ static int32_t PIOS_BMA180_SelectBW(enum bma180_bandwidth bw)
* @param rate[in] Range setting to be used
*
*/
static int32_t PIOS_BMA180_SetRange(enum bma180_range range)
static int32_t PIOS_BMA180_SetRange(enum bma180_range new_range)
{
uint8_t reg;
range = new_range;
reg = PIOS_BMA180_GetReg(BMA_RANGE_ADDR);
reg = (reg & ~BMA_RANGE_MASK) | ((range << BMA_RANGE_SHIFT) & BMA_RANGE_MASK);
return PIOS_BMA180_SetReg(BMA_RANGE_ADDR, reg);
@ -247,7 +247,7 @@ void PIOS_BMA180_Attach(uint32_t spi_id)
* @retval -1 unable to claim bus
* @retval -2 unable to transfer data
*/
int32_t PIOS_BMA180_ReadAccels(int16_t * data)
int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data)
{
// To save memory use same buffer for in and out but offset by
// a byte
@ -261,12 +261,12 @@ int32_t PIOS_BMA180_ReadAccels(int16_t * data)
PIOS_BMA180_ReleaseBus();
// | MSB | LSB | 0 | new_data |
data[0] = (rec[2] << 8) | rec[1];
data[1] = (rec[4] << 8) | rec[3];
data[2] = (rec[6] << 8) | rec[5];
data[0] /= 4;
data[1] /= 4;
data[2] /= 4;
data->x = ((rec[2] << 8) | rec[1]);
data->y = ((rec[4] << 8) | rec[3]);
data->z = ((rec[6] << 8) | rec[5]);
data->x /= 4;
data->y /= 4;
data->z /= 4;
return 0; // return number of remaining entries
}
@ -277,12 +277,38 @@ int32_t PIOS_BMA180_ReadAccels(int16_t * data)
*/
float PIOS_BMA180_GetScale()
{
return 9.81 / 1024;
switch (range) {
case BMA_RANGE_1G:
return GRAV / 8192.0;
case BMA_RANGE_1_5G:
return GRAV / 5460.0;
case BMA_RANGE_2G:
return GRAV / 4096.0;
case BMA_RANGE_3G:
return GRAV / 2730.0;
case BMA_RANGE_4G:
return GRAV / 2048.0;
case BMA_RANGE_8G:
return GRAV / 1024.0;
case BMA_RANGE_16G:
return GRAV / 512.0;
}
return 0;
}
t_fifo_buffer * PIOS_BMA180_GetFifo()
/**
* @brief Get data from fifo
* @param [out] buffer pointer to a @ref pios_bma180_data structure to receive data
* @return 0 for success, -1 for failure (no data available)
*/
int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer)
{
return &pios_bma180_fifo;
if(fifoBuf_getUsed(&pios_bma180_fifo) < sizeof(*buffer))
return -1;
fifoBuf_getData(&pios_bma180_fifo, (uint8_t *) buffer, sizeof(*buffer));
return 0;
}
@ -306,8 +332,8 @@ int32_t PIOS_BMA180_Test()
if(retval != 0)
return -2;
int16_t data[3];
if(PIOS_BMA180_ReadAccels(data) != 0)
struct pios_bma180_data data;
if(PIOS_BMA180_ReadAccels(&data) != 0)
return -3;
if(rec[1] != 0x3)
@ -319,26 +345,29 @@ int32_t PIOS_BMA180_Test()
return 0;
}
static uint8_t pios_bma_180_dmabuf[7];
static uint8_t pios_bma180_dmabuf[7];
static void PIOS_BMA180_SPI_Callback()
{
// TODO: Make this conversion depend on configuration scale
int16_t data[3];
data[0] = (pios_bma_180_dmabuf[2] << 8) | pios_bma_180_dmabuf[1];
data[1] = (pios_bma_180_dmabuf[4] << 8) | pios_bma_180_dmabuf[3];
data[2] = (pios_bma_180_dmabuf[6] << 8) | pios_bma_180_dmabuf[5];
data[0] /= 4;
data[1] /= 4;
data[2] /= 4;
struct pios_bma180_data data;
// Don't release bus till data has copied
PIOS_BMA180_ReleaseBus();
// Must not return before releasing bus
if(fifoBuf_getFree(&pios_bma180_fifo) < sizeof(data))
return;
fifoBuf_putData(&pios_bma180_fifo, data, sizeof(data));
// Bottom two bits indicate new data and are constant zeros. Don't right
// shift because it drops sign bit
data.x = ((pios_bma180_dmabuf[2] << 8) | pios_bma180_dmabuf[1]);
data.y = ((pios_bma180_dmabuf[4] << 8) | pios_bma180_dmabuf[3]);
data.z = ((pios_bma180_dmabuf[6] << 8) | pios_bma180_dmabuf[5]);
data.x /= 4;
data.y /= 4;
data.z /= 4;
fifoBuf_putData(&pios_bma180_fifo, (uint8_t *) &data, sizeof(data));
}
/**
@ -349,7 +378,8 @@ static void PIOS_BMA180_IRQHandler(void)
{
// If we can't get the bus then just move on for efficiency
if(PIOS_BMA180_ClaimBus() == 0)
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,pios_bma180_req_buf,(uint8_t *) pios_bma_180_dmabuf, 7, PIOS_BMA180_SPI_Callback);
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,pios_bma180_req_buf,(uint8_t *) pios_bma180_dmabuf,
7, PIOS_BMA180_SPI_Callback);
}

12
flight/PiOS/inc/pios_bma180.h
View File

@ -97,12 +97,12 @@ struct pios_bma180_cfg {
};
/* Public Functions */
void PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg);
void PIOS_BMA180_Attach(uint32_t spi_id);
float PIOS_BMA180_GetScale();
int32_t PIOS_BMA180_ReadAccels(int16_t * data);
int32_t PIOS_BMA180_Test();
t_fifo_buffer * PIOS_BMA180_GetFifo();
extern void PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg);
extern void PIOS_BMA180_Attach(uint32_t spi_id);
extern float PIOS_BMA180_GetScale();
extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
extern int32_t PIOS_BMA180_Test();
#endif /* PIOS_BMA180_H */