Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-14 20:10:18 +03:00
Code Issues Wiki Activity

Merge pull request #10611 from SteveCEvans/dps310_nonblock

Browse source 
Use non-blocking access to dps310 baro
This commit is contained in:
Michael Keller 2021-03-25 01:12:52 +13:00 • committed by GitHub
commit 2cb3444b7e
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
2 changed files with 20 additions and 22 deletions
Download patch file Download diff file Expand all files Collapse all files

38
src/main/drivers/barometer/barometer_dps310.c
View file

@ -112,6 +112,8 @@ static baroState_t baroState;
#define busReadBuf busReadRegisterBuffer
#define busWrite busWriteRegister
static uint8_t buf[6];
// Helper functions
static uint8_t registerRead(busDevice_t * busDev, uint8_t reg)
{
@ -213,25 +215,30 @@ static bool deviceConfigure(busDevice_t * busDev)
return true;
}
static bool deviceReadMeasurement(baroDev_t *baro)
static bool dps310ReadUP(baroDev_t *baro)
{
// 1. Check if pressure is ready
bool pressure_ready = registerRead(&baro->busdev, DPS310_REG_MEAS_CFG) & DPS310_MEAS_CFG_PRS_RDY;
if (!pressure_ready) {
if (busBusy(&baro->busdev, NULL)) {
return false;
}
// 1. Kick off read
// No need to poll for data ready as the conversion rate is 32Hz and this is sampling at 20Hz
// Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
busReadRegisterBufferStart(&baro->busdev, DPS310_REG_PSR_B2, buf, 6);
return true;
}
static bool dps310GetUP(baroDev_t *baro)
{
UNUSED(baro);
// 2. Choose scaling factors kT (for temperature) and kP (for pressure) based on the chosen precision rate.
// The scaling factors are listed in Table 9.
static float kT = 253952; // 16 times (Standard)
static float kP = 253952; // 16 times (Standard)
// 3. Read the pressure and temperature result from the registers
// Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
uint8_t buf[6];
if (!busReadBuf(&baro->busdev, DPS310_REG_PSR_B2, buf, 6)) {
return false;
}
const int32_t Praw = getTwosComplement((buf[0] << 16) + (buf[1] << 8) + buf[2], 24);
const int32_t Traw = getTwosComplement((buf[3] << 16) + (buf[4] << 8) + buf[5], 24);
@ -313,13 +320,6 @@ static void dps310StartUP(baroDev_t *baro)
UNUSED(baro);
}
static bool dps310ReadUP(baroDev_t *baro)
{
UNUSED(baro);
return true;
}
static void busDeviceInit(busDevice_t *busdev, resourceOwner_e owner)
{
#ifdef USE_BARO_SPI_DPS310
@ -378,17 +378,15 @@ bool baroDPS310Detect(baroDev_t *baro)
busDeviceRegister(busdev);
const uint32_t baroDelay = 1000000 / 32 / 2; // twice the sample rate to capture all new data
baro->ut_delay = 0;
baro->start_ut = dps310StartUT;
baro->read_ut = dps310ReadUT;
baro->get_ut = dps310GetUT;
baro->up_delay = baroDelay;
baro->up_delay = 45000; // 45ms delay plus 5 1ms cycles 50ms
baro->start_up = dps310StartUP;
baro->read_up = dps310ReadUP;
baro->get_up = deviceReadMeasurement;
baro->get_up = dps310GetUP;
baro->calculate = deviceCalculate;

4
src/main/sensors/barometer.c
View file

@ -349,7 +349,7 @@ static uint32_t recalculateBarometerTotal(uint32_t pressureTotal, int32_t newPre
nextSampleIndex = 0;
baroReady = true;
} else {
nextSampleIndex = (currentSampleIndex + 1);
nextSampleIndex = (currentSampleIndex + 1);
}
barometerSamples[currentSampleIndex] = applyBarometerMedianFilter(newPressureReading);
@ -439,7 +439,7 @@ uint32_t baroUpdate(void)
}
sleepTime = baro.dev.ut_delay;
break;
break;
}
return sleepTime;