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adxl345: Implement timing via new adxl345_status messages

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Query the adxl345 message counter every 100ms so that accurate timing
can be obtained during measurements.  This allows the adxl345 data to
be exported with timestamps while captures are running.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-08-14 13:41:12 -04:00
parent dd95f80d9d
commit e34137582d
3 changed files with 168 additions and 99 deletions
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62
src/sensor_adxl345.c
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@@ -27,6 +27,7 @@ enum {
static struct task_wake adxl345_wake;
// Event handler that wakes adxl345_task() periodically
static uint_fast8_t
adxl345_event(struct timer *timer)
{
@@ -56,6 +57,27 @@ adxl_report(struct adxl345 *ax, uint8_t oid)
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)
{
irq_disable();
ax->timer.waketime = timer_read_time() + ax->rest_ticks;
sched_add_timer(&ax->timer);
irq_enable();
}
// Chip registers
#define AR_POWER_CTL 0x2D
#define AR_DATAX0 0x32
@@ -74,7 +96,7 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
if (ax->data_count + 6 > ARRAY_SIZE(ax->data))
adxl_report(ax, oid);
uint_fast8_t fifo_status = msg[8] & ~0x80; // Ignore trigger bit
if (fifo_status >= 31 && ax->limit_count != 0xffff)
if (fifo_status >= 31)
ax->limit_count++;
if (fifo_status > 1 && fifo_status <= 32) {
// More data in fifo - wake this task again
@@ -83,10 +105,7 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
// Sleep until next check time
sched_del_timer(&ax->timer);
ax->flags &= ~AX_PENDING;
irq_disable();
ax->timer.waketime = timer_read_time() + ax->rest_ticks;
sched_add_timer(&ax->timer);
irq_enable();
adxl_reschedule_timer(ax);
}
}
@@ -97,15 +116,8 @@ adxl_start(struct adxl345 *ax, uint8_t oid)
sched_del_timer(&ax->timer);
ax->flags = AX_RUNNING;
uint8_t msg[2] = { AR_POWER_CTL, 0x08 };
uint32_t start1_time = timer_read_time();
spidev_transfer(ax->spi, 0, sizeof(msg), msg);
irq_disable();
uint32_t start2_time = timer_read_time();
ax->timer.waketime = start2_time + ax->rest_ticks;
sched_add_timer(&ax->timer);
irq_enable();
sendf("adxl345_start oid=%c start1_clock=%u start2_clock=%u"
, oid, start1_time, start2_time);
adxl_reschedule_timer(ax);
}
// End measurements
@@ -123,18 +135,18 @@ adxl_stop(struct adxl345 *ax, uint8_t oid)
uint_fast8_t i;
for (i=0; i<33; i++) {
msg[0] = AR_FIFO_STATUS | AM_READ;
msg[1] = 0;
msg[1] = 0x00;
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
if (!(msg[1] & 0x3f))
uint_fast8_t fifo_status = msg[1] & ~0x80;
if (!fifo_status)
break;
adxl_query(ax, oid);
if (fifo_status <= 32)
adxl_query(ax, oid);
}
// Report final data
if (ax->data_count)
adxl_report(ax, oid);
sendf("adxl345_end oid=%c end1_clock=%u end2_clock=%u"
" limit_count=%hu sequence=%hu"
, oid, end1_time, end2_time, ax->limit_count, ax->sequence);
adxl_status(ax, oid, end1_time, end2_time, msg[1]);
}
void
@@ -159,6 +171,18 @@ command_query_adxl345(uint32_t *args)
DECL_COMMAND(command_query_adxl345,
"query_adxl345 oid=%c clock=%u rest_ticks=%u");
void
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]);
}
DECL_COMMAND(command_query_adxl345_status, "query_adxl345_status oid=%c");
void
adxl345_task(void)
{