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Code Issues Releases Activity

BMA180: Use DMA for getting the accels and use callback to push it onto the

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stack.
This commit is contained in:
James Cotton 2011-08-18 12:51:22 -05:00
parent 3b6ffc8afa
commit bdb9dc0a54
2 changed files with 28 additions and 13 deletions
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40
flight/PiOS/STM32F2xx/pios_bma180.c
View File

@ -40,7 +40,7 @@ static int32_t PIOS_BMA180_SelectBW(enum bma180_bandwidth bw);
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
@ -319,24 +319,40 @@ int32_t PIOS_BMA180_Test()
return 0;
}
uint32_t pios_bma180_count = 0;
static uint8_t pios_bma_180_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;
// 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));
}
/**
* @brief IRQ Handler
*/
void PIOS_BMA180_IRQHandler(void)
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)
{
int16_t accels[3];
pios_bma180_count++;
if(PIOS_BMA180_ReadAccels(accels) < 0)
return;
if(fifoBuf_getFree(&pios_bma180_fifo) < sizeof(accels))
return;
fifoBuf_putData(&pios_bma180_fifo, accels, sizeof(accels));
// 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);
}
/**
* The physical IRQ handler
* Soon this will be generic in pios_exti and the BMA180 will register

1
flight/PiOS/inc/pios_bma180.h
View File

@ -102,7 +102,6 @@ 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();
void PIOS_BMA180_IRQHandler(void);
t_fifo_buffer * PIOS_BMA180_GetFifo();
#endif /* PIOS_BMA180_H */