Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Merge pull request #11056 from SteveCEvans/mpu6000_bmi270

Browse source
This commit is contained in:
Michael Keller 2021-11-05 07:42:06 +13:00 • committed by GitHub
commit ac2dede3e2
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
3 changed files with 10 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -115,7 +115,7 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
// Gyro read has just completed
busStatus_e mpuIntcallback(uint32_t arg)
{
volatile gyroDev_t *gyro = (gyroDev_t *)arg;
gyroDev_t *gyro = (gyroDev_t *)arg;
int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {

22
src/main/drivers/accgyro/accgyro_spi_bmi270.c
View file

@ -260,7 +260,7 @@ extiCallbackRec_t bmi270IntCallbackRec;
// Gyro read has just completed
busStatus_e bmi270Intcallback(uint32_t arg)
{
volatile gyroDev_t *gyro = (gyroDev_t *)arg;
gyroDev_t *gyro = (gyroDev_t *)arg;
int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {
@ -274,12 +274,6 @@ busStatus_e bmi270Intcallback(uint32_t arg)
void bmi270ExtiHandler(extiCallbackRec_t *cb)
{
// Non-blocking, so this needs to be static
static busSegment_t segments[] = {
{NULL, NULL, 14, true, bmi270Intcallback},
{NULL, NULL, 0, true, NULL},
};
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
// not have an associated timer
@ -288,12 +282,7 @@ void bmi270ExtiHandler(extiCallbackRec_t *cb)
gyro->gyroLastEXTI = nowCycles;
if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
segments[0].txData = gyro->dev.txBuf;
segments[0].rxData = gyro->dev.rxBuf;
if (!spiIsBusy(&gyro->dev)) {
spiSequence(&gyro->dev, &segments[0]);
}
spiSequence(&gyro->dev, gyro->segments);
}
gyro->detectedEXTI++;
@ -387,9 +376,14 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
if (spiUseDMA(&gyro->dev)) {
// Indicate that the bus on which this device resides may initiate DMA transfers from interrupt context
spiSetAtomicWait(&gyro->dev);
gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
gyro->dev.callbackArg = (uint32_t)gyro;
gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
gyro->segments[0].len = 14;
gyro->segments[0].callback = bmi270Intcallback;
gyro->segments[0].txData = gyro->dev.txBuf;
gyro->segments[0].rxData = gyro->dev.rxBuf;
gyro->segments[0].negateCS = true;
gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
} else {
// Interrupts are present, but no DMA
gyro->gyroModeSPI = GYRO_EXTI_INT;

2
src/main/scheduler/scheduler.h
View file

@ -47,7 +47,7 @@
#define TASK_AGE_EXPEDITE_SCALE 0.9 // By scaling their expected execution time
// Gyro interrupt counts over which to measure loop time and skew
#define GYRO_RATE_COUNT 32000
#define GYRO_RATE_COUNT 25000
#define GYRO_LOCK_COUNT 400
typedef enum {