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Merge pull request #11056 from SteveCEvans/mpu6000_bmi270

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Michael Keller 2021-11-05 07:42:06 +13:00 • committed by GitHub
commit ac2dede3e2
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3 changed files with 10 additions and 16 deletions
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2
src/main/drivers/accgyro/accgyro_mpu.c
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@ -115,7 +115,7 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
// Gyro read has just completed // Gyro read has just completed
busStatus_e mpuIntcallback(uint32_t arg) 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); int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
if (gyroDmaDuration > gyro->gyroDmaMaxDuration) { 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 // Gyro read has just completed
busStatus_e bmi270Intcallback(uint32_t arg) 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); int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
if (gyroDmaDuration > gyro->gyroDmaMaxDuration) { if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {
@ -274,12 +274,6 @@ busStatus_e bmi270Intcallback(uint32_t arg)
void bmi270ExtiHandler(extiCallbackRec_t *cb) 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); 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 time to capture such information, but unfortunately the port used for EXTI interrupt does
// not have an associated timer // not have an associated timer
@ -288,12 +282,7 @@ void bmi270ExtiHandler(extiCallbackRec_t *cb)
gyro->gyroLastEXTI = nowCycles; gyro->gyroLastEXTI = nowCycles;
if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) { if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
segments[0].txData = gyro->dev.txBuf; spiSequence(&gyro->dev, gyro->segments);
segments[0].rxData = gyro->dev.rxBuf;
if (!spiIsBusy(&gyro->dev)) {
spiSequence(&gyro->dev, &segments[0]);
}
} }
gyro->detectedEXTI++; gyro->detectedEXTI++;
@ -387,9 +376,14 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
if (spiUseDMA(&gyro->dev)) { if (spiUseDMA(&gyro->dev)) {
// Indicate that the bus on which this device resides may initiate DMA transfers from interrupt context // Indicate that the bus on which this device resides may initiate DMA transfers from interrupt context
spiSetAtomicWait(&gyro->dev); spiSetAtomicWait(&gyro->dev);
gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
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].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 { } else {
// Interrupts are present, but no DMA // Interrupts are present, but no DMA
gyro->gyroModeSPI = GYRO_EXTI_INT; 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 #define TASK_AGE_EXPEDITE_SCALE 0.9 // By scaling their expected execution time
// Gyro interrupt counts over which to measure loop time and skew // 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 #define GYRO_LOCK_COUNT 400
typedef enum { typedef enum {