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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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45
src/sensor_lis2dw.c
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@@ -11,6 +11,7 @@
#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
#define LIS_AR_DATAX0 0x28
@@ -18,13 +19,14 @@
#define LIS_FIFO_CTRL 0x2E
#define LIS_FIFO_SAMPLES 0x2F
#define BYTES_PER_SAMPLE 6
struct lis2dw {
struct timer timer;
uint32_t rest_ticks;
struct spidev_s *spi;
uint16_t sequence, limit_count;
uint8_t flags, data_count;
uint8_t data[48];
uint8_t flags;
struct sensor_bulk sb;
};
enum {
@@ -53,27 +55,6 @@ command_config_lis2dw(uint32_t *args)
}
DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
// Report local measurement buffer
static void
lis2dw_report(struct lis2dw *ax, uint8_t oid)
{
sendf("lis2dw_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
lis2dw_status(struct lis2dw *ax, uint_fast8_t oid
, uint32_t time1, uint32_t time2, uint_fast8_t fifo)
{
sendf("lis2dw_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 lis2dw_event() timer
static void
lis2dw_reschedule_timer(struct lis2dw *ax)
@@ -93,7 +74,7 @@ lis2dw_query(struct lis2dw *ax, uint8_t oid)
uint8_t fifo_empty,fifo_ovrn = 0;
msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
uint8_t *d = &ax->data[ax->data_count];
uint8_t *d = &ax->sb.data[ax->sb.data_count];
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
@@ -108,13 +89,13 @@ lis2dw_query(struct lis2dw *ax, uint8_t oid)
d[4] = msg[5]; // z low bits
d[5] = msg[6]; // z high bits
ax->data_count += 6;
if (ax->data_count + 6 > ARRAY_SIZE(ax->data))
lis2dw_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_ovrn)
ax->limit_count++;
ax->sb.possible_overflows++;
// check if we need to run the task again (more packets in fifo?)
if (!fifo_empty) {
@@ -165,8 +146,7 @@ command_query_lis2dw(uint32_t *args)
ax->timer.waketime = args[1];
ax->rest_ticks = args[2];
ax->flags = LIS_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_lis2dw,
@@ -180,7 +160,8 @@ command_query_lis2dw_status(uint32_t *args)
uint32_t time1 = timer_read_time();
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
uint32_t time2 = timer_read_time();
lis2dw_status(ax, args[0], time1, time2, msg[1]&0x1f);
sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
, (msg[1] & 0x1f) * BYTES_PER_SAMPLE);
}
DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");