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Merge pull request #11568 from SteveCEvans/bmi270_driver

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BMI270 driver was reading 1 byte too many
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haslinghuis 2022-05-05 01:01:21 +02:00 • committed by GitHub
commit 25330d3c93
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2 changed files with 6 additions and 6 deletions
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2
src/main/drivers/accgyro/accgyro_mpu.c
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@ -131,7 +131,7 @@ static void mpuIntExtiHandler(extiCallbackRec_t *cb)
{ {
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti); gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
// Ideally we'd use a time to capture such information, but unfortunately the port used for EXTI interrupt does // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
// not have an associated timer // not have an associated timer
uint32_t nowCycles = getCycleCounter(); uint32_t nowCycles = getCycleCounter();
int32_t gyroLastPeriod = cmpTimeCycles(nowCycles, gyro->gyroLastEXTI); int32_t gyroLastPeriod = cmpTimeCycles(nowCycles, gyro->gyroLastEXTI);

10
src/main/drivers/accgyro/accgyro_spi_bmi270.c
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@ -294,7 +294,7 @@ busStatus_e bmi270Intcallback(uint32_t arg)
void bmi270ExtiHandler(extiCallbackRec_t *cb) void bmi270ExtiHandler(extiCallbackRec_t *cb)
{ {
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti); gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
// Ideally we'd use a time to capture such information, but unfortunately the port used for EXTI interrupt does // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
// not have an associated timer // not have an associated timer
uint32_t nowCycles = getCycleCounter(); uint32_t nowCycles = getCycleCounter();
gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration; gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration;
@ -338,7 +338,7 @@ static bool bmi270AccRead(accDev_t *acc)
acc->gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80; acc->gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
busSegment_t segments[] = { busSegment_t segments[] = {
{.u.buffers = {NULL, NULL}, 8, true, NULL}, {.u.buffers = {NULL, NULL}, 7, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL}, {.u.link = {NULL, NULL}, 0, true, NULL},
}; };
segments[0].u.buffers.txData = acc->gyro->dev.txBuf; segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
@ -381,7 +381,7 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
case GYRO_EXTI_INIT: case GYRO_EXTI_INIT:
{ {
// Initialise the tx buffer to all 0x00 // Initialise the tx buffer to all 0x00
memset(gyro->dev.txBuf, 0x00, 14); memset(gyro->dev.txBuf, 0x00, 13);
#ifdef USE_GYRO_EXTI #ifdef USE_GYRO_EXTI
// Check that minimum number of interrupts have been detected // Check that minimum number of interrupts have been detected
@ -392,7 +392,7 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
if (spiUseDMA(&gyro->dev)) { if (spiUseDMA(&gyro->dev)) {
gyro->dev.callbackArg = (uint32_t)gyro; gyro->dev.callbackArg = (uint32_t)gyro;
gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80; gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
gyro->segments[0].len = 14; gyro->segments[0].len = 13;
gyro->segments[0].callback = bmi270Intcallback; gyro->segments[0].callback = bmi270Intcallback;
gyro->segments[0].u.buffers.txData = gyro->dev.txBuf; gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
gyro->segments[0].u.buffers.rxData = gyro->dev.rxBuf; gyro->segments[0].u.buffers.rxData = gyro->dev.rxBuf;
@ -416,7 +416,7 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
gyro->dev.txBuf[0] = BMI270_REG_GYR_DATA_X_LSB | 0x80; gyro->dev.txBuf[0] = BMI270_REG_GYR_DATA_X_LSB | 0x80;
busSegment_t segments[] = { busSegment_t segments[] = {
{.u.buffers = {NULL, NULL}, 8, true, NULL}, {.u.buffers = {NULL, NULL}, 7, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL}, {.u.link = {NULL, NULL}, 0, true, NULL},
}; };
segments[0].u.buffers.txData = gyro->dev.txBuf; segments[0].u.buffers.txData = gyro->dev.txBuf;