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sensor_bulk: New C file with helper code for sending bulk sensor measurements

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Refactor the low-level "bulk sensor" management code in the mcu.  This
updates the sensor_adxl345.c, sensor_mpu9250.c, sensor_lis2dw.c, and
sensor_angle.c code to use the same "bulk sensor" messages.  All of
these sensors will now send "sensor_bulk_data" and
"sensor_bulk_status" messages.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2023-12-17 17:59:25 -05:00
parent dc6182f3b3
commit 266e96621c
13 changed files with 153 additions and 189 deletions
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51
src/sensor_adxl345.c
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@@ -10,15 +10,15 @@
#include "basecmd.h" // oid_alloc
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "spicmds.h" // spidev_transfer
struct adxl345 {
struct timer timer;
uint32_t rest_ticks;
struct spidev_s *spi;
uint16_t sequence, limit_count;
uint8_t flags, data_count;
uint8_t data[50];
uint8_t flags;
struct sensor_bulk sb;
};
enum {
@@ -47,27 +47,6 @@ command_config_adxl345(uint32_t *args)
}
DECL_COMMAND(command_config_adxl345, "config_adxl345 oid=%c spi_oid=%c");
// Report local measurement buffer
static void
adxl_report(struct adxl345 *ax, uint8_t oid)
{
sendf("adxl345_data oid=%c sequence=%hu data=%*s"
, oid, ax->sequence, ax->data_count, ax->data);
ax->data_count = 0;
ax->sequence++;
}
// Report buffer and fifo status
static void
adxl_status(struct adxl345 *ax, uint_fast8_t oid
, uint32_t time1, uint32_t time2, uint_fast8_t fifo)
{
sendf("adxl345_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu"
, oid, time1, time2-time1, ax->sequence
, ax->data_count, fifo, ax->limit_count);
}
// Helper code to reschedule the adxl345_event() timer
static void
adxl_reschedule_timer(struct adxl345 *ax)
@@ -87,6 +66,8 @@ adxl_reschedule_timer(struct adxl345 *ax)
#define SET_FIFO_CTL 0x90
#define BYTES_PER_SAMPLE 5
// Query accelerometer data
static void
adxl_query(struct adxl345 *ax, uint8_t oid)
@@ -96,7 +77,7 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
// Extract x, y, z measurements
uint_fast8_t fifo_status = msg[8] & ~0x80; // Ignore trigger bit
uint8_t *d = &ax->data[ax->data_count];
uint8_t *d = &ax->sb.data[ax->sb.data_count];
if (((msg[2] & 0xf0) && (msg[2] & 0xf0) != 0xf0)
|| ((msg[4] & 0xf0) && (msg[4] & 0xf0) != 0xf0)
|| ((msg[6] & 0xf0) && (msg[6] & 0xf0) != 0xf0)
@@ -112,12 +93,12 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
d[3] = (msg[2] & 0x1f) | (msg[6] << 5); // x high bits and z high bits
d[4] = (msg[4] & 0x1f) | ((msg[6] << 2) & 0x60); // y high and z high
}
ax->data_count += 5;
if (ax->data_count + 5 > ARRAY_SIZE(ax->data))
adxl_report(ax, oid);
ax->sb.data_count += BYTES_PER_SAMPLE;
if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data))
sensor_bulk_report(&ax->sb, oid);
// Check fifo status
if (fifo_status >= 31)
ax->limit_count++;
ax->sb.possible_overflows++;
if (fifo_status > 1 && fifo_status <= 32) {
// More data in fifo - wake this task again
sched_wake_task(&adxl345_wake);
@@ -166,8 +147,7 @@ command_query_adxl345(uint32_t *args)
ax->timer.waketime = args[1];
ax->rest_ticks = args[2];
ax->flags = AX_HAVE_START;
ax->sequence = ax->limit_count = 0;
ax->data_count = 0;
sensor_bulk_reset(&ax->sb);
sched_add_timer(&ax->timer);
}
DECL_COMMAND(command_query_adxl345,
@@ -178,10 +158,17 @@ command_query_adxl345_status(uint32_t *args)
{
struct adxl345 *ax = oid_lookup(args[0], command_config_adxl345);
uint8_t msg[2] = { AR_FIFO_STATUS | AM_READ, 0x00 };
uint32_t time1 = timer_read_time();
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
uint32_t time2 = timer_read_time();
adxl_status(ax, args[0], time1, time2, msg[1]);
uint_fast8_t fifo_status = msg[1] & ~0x80; // Ignore trigger bit
if (fifo_status > 32)
// Query error - don't send response - host will retry
return;
sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
, fifo_status * BYTES_PER_SAMPLE);
}
DECL_COMMAND(command_query_adxl345_status, "query_adxl345_status oid=%c");