stm32f4xx_exti: teach exti abotu new gpio handle format
am: dc6027baa1
* commit 'dc6027baa1521dbc4070164231abbfcfd6b247ce':
stm32f4xx_exti: teach exti abotu new gpio handle format
diff --git a/firmware/inc/sensors.h b/firmware/inc/sensors.h
index dc97c33..572b735 100644
--- a/firmware/inc/sensors.h
+++ b/firmware/inc/sensors.h
@@ -123,10 +123,8 @@
char ssid[WIFI_MAX_SSID_LEN]; // null-terminated
uint8_t bssid[WIFI_BSSID_LEN];
int8_t rssi; // RSSI in dBm
- struct {
- uint8_t band : 1; // 0 = 2.4 GHz, 1 = 5 GHz
- uint8_t index : 7;
- } channel;
+ uint8_t band; // 0 = 2.4 GHz, 1 = 5 GHz
+ uint8_t channelIndex;
};
struct WifiScanEvent {
diff --git a/firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c b/firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c
index d5a8159..06c8aff 100644
--- a/firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c
+++ b/firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c
@@ -381,7 +381,6 @@
static uint8_t mRegCnt = 0;
static uint8_t mRetryLeft;
-static uint8_t mag_first_ever_enable = true;
static struct SlabAllocator *mDataSlab;
@@ -591,10 +590,11 @@
static void magConfigMagic(void)
{
- // TODO: Why is this done here and not on initial configuration???
- //SPI_WRITE(BMI160_REG_MAG_CONF, 0x08);
+ // set the MAG power to NORMAL mode
+ SPI_WRITE(BMI160_REG_CMD, 0x19, 10000);
- // Some magic number to magic reg. Don't know what they are.
+ // Magic register sequence to shift register page table to access hidden
+ // register
SPI_WRITE(BMI160_REG_CMD, 0x37);
SPI_WRITE(BMI160_REG_CMD, 0x9a);
SPI_WRITE(BMI160_REG_CMD, 0xc0);
@@ -604,6 +604,8 @@
static void magIfConfig(void)
{
+ // Set the on-chip I2C pull-up register settings and shift the register
+ // table back down (magic)
SPI_WRITE(BMI160_REG_DATA_1, mTask.rxBuffer[1] | 0x30);
SPI_WRITE(BMI160_REG_MAGIC, 0x80);
@@ -632,6 +634,7 @@
magIfConfig();
mTask.mag_state = MAG_SET_REPXY;
break;
+ // TODO: Check for BMM150 ID
case MAG_SET_REPXY:
// MAG_SET_REPXY and MAG_SET_REPZ case set:
// regular preset, f_max,ODR ~ 102 Hz
@@ -681,10 +684,12 @@
case MAG_SET_DATA:
// clear mag_manual_en.
SPI_WRITE(BMI160_REG_MAG_IF_1, 0x03, 1000);
+ // set the MAG power to SUSPEND mode
+ SPI_WRITE(BMI160_REG_CMD, 0x18, 10000);
mTask.mag_state = MAG_SET_DONE;
+ mTask.init_state = INIT_ON_CHANGE_SENSORS;
break;
default:
- osLog(LOG_ERROR, "Invalid Mag Config status\n");
break;
}
SPI_READ(BMI160_REG_STATUS, 1, mTask.stateBuffer, 1000);
@@ -870,14 +875,6 @@
// set MAG power mode to NORMAL
SPI_WRITE(BMI160_REG_CMD, 0x19, 10000);
- if (mag_first_ever_enable) {
- mag_first_ever_enable = false;
- mTask.mag_state = MAG_SET_START;
- mRetryLeft = RETRY_CNT_MAG;
- SPI_READ(BMI160_REG_STATUS, 1, mTask.stateBuffer);
- } else {
- mTask.mag_state = MAG_SET_DONE;
- }
} else {
mTask.state = SENSOR_POWERING_DOWN;
@@ -1934,6 +1931,42 @@
}
}
+static void processPendingEvt(void)
+{
+ enum SensorIndex i;
+ if (mTask.pending_int[0]) {
+ osLog(LOG_INFO, "INT1 PENDING!!\n");
+ mTask.pending_int[0] = false;
+ int1Evt();
+ return;
+ }
+ if (mTask.pending_int[1]) {
+ osLog(LOG_INFO, "INT2 PENDING!!\n");
+ mTask.pending_int[1] = false;
+ int2Evt();
+ return;
+ }
+ if (mTask.pending_time_sync) {
+ osLog(LOG_INFO, "Pending Time Sync Evt\n");
+ mTask.pending_time_sync = false;
+ timeSyncEvt();
+ return;
+ }
+
+ for (i = ACC; i < NUM_OF_SENSOR; i++) {
+ if (mTask.pending_config[i]) {
+ osLog(LOG_INFO, "Process pending config event for %s\n", mSensorInfo[i].sensorName);
+ mTask.pending_config[i] = false;
+ configEvent(&mTask.sensors[i], &mTask.sensors[i].pConfig);
+ return;
+ }
+ }
+ if (mTask.sensors[STEPCNT].flush > 0) {
+ stepCntFlushGetData();
+ return;
+ }
+}
+
static void sensorInit(void)
{
@@ -1997,54 +2030,29 @@
// Reset fifo
SPI_WRITE(BMI160_REG_CMD, 0xB0, 10000);
- mTask.init_state = INIT_BMM150_MAGIC;
- spiBatchTxRx(&mTask.mode, sensorSpiCallback, &mTask);
- break;
-
- case INIT_BMM150_MAGIC:
- // set the MAG power to NORMAL mode
- SPI_WRITE(BMI160_REG_CMD, 0x19, 10000);
-
- // Mag setup magic squence... Don't know what they are doing.
- SPI_WRITE(BMI160_REG_CMD, 0x37);
- SPI_WRITE(BMI160_REG_CMD, 0x9a);
- SPI_WRITE(BMI160_REG_CMD, 0xc0);
- SPI_WRITE(BMI160_REG_MAGIC, 0x90);
- SPI_READ(BMI160_REG_DATA_1, 1, mTask.rxBuffer);
-
mTask.init_state = INIT_BMM150;
+ mTask.mag_state = MAG_SET_START;
spiBatchTxRx(&mTask.mode, sensorSpiCallback, &mTask);
break;
case INIT_BMM150:
+ // Don't check stateBuffer if we are just starting mag config
+ if (mTask.mag_state == MAG_SET_START) {
+ mRetryLeft = RETRY_CNT_MAG;
+ magConfig();
+ } else if (mTask.mag_state < MAG_SET_DATA && mTask.stateBuffer[1] & 0x04) {
+ SPI_READ(BMI160_REG_STATUS, 1, mTask.stateBuffer, 1000);
+ if (--mRetryLeft == 0) {
+ osLog(LOG_ERROR, "bmi160: Enable MAG failed. Go back to IDLE\n");
+ mTask.state = SENSOR_IDLE;
+ processPendingEvt();
+ break;
+ }
+ } else {
+ mRetryLeft = RETRY_CNT_MAG;
+ magConfig();
+ }
- SPI_WRITE(BMI160_REG_DATA_1, mTask.rxBuffer[1] | 0x30);
- SPI_WRITE(BMI160_REG_MAGIC, 0x80);
-
- // setup MAG I2C address.
- SPI_WRITE(BMI160_REG_MAG_IF_0, 0x20);
-
- // set mag_manual_enable, mag_offset=0, mag_rd_burst='0 bytes'
- // Seems need to set burst read size to 0 bytes once at the
- // beginning
- SPI_WRITE(BMI160_REG_MAG_IF_1, 0x80);
-
- // primary interface: autoconfig, secondary: magnetometer.
- SPI_WRITE(BMI160_REG_IF_CONF, 0x20);
-
- // Turn on and turn off (toggle once) the power control bit on
- // BMM150
- SPI_WRITE(BMI160_REG_MAG_IF_4, 0x01);
- SPI_WRITE(BMI160_REG_MAG_IF_3, BMM150_REG_CTRL_1, 60000);
- // TODO: verify mag is BMM150
- SPI_WRITE(BMI160_REG_MAG_IF_4, 0x00);
- SPI_WRITE(BMI160_REG_MAG_IF_3, BMM150_REG_CTRL_1, 60000);
- SPI_WRITE(BMI160_REG_MAG_IF_1, 0x00);
-
- // set the MAG power to SUSPEND mode
- SPI_WRITE(BMI160_REG_CMD, 0x18, 1000);
-
- mTask.init_state = INIT_ON_CHANGE_SENSORS;
spiBatchTxRx(&mTask.mode, sensorSpiCallback, &mTask);
break;
@@ -2092,42 +2100,6 @@
}
}
-static void processPendingEvt(void)
-{
- enum SensorIndex i;
- if (mTask.pending_int[0]) {
- osLog(LOG_INFO, "INT1 PENDING!!\n");
- mTask.pending_int[0] = false;
- int1Evt();
- return;
- }
- if (mTask.pending_int[1]) {
- osLog(LOG_INFO, "INT2 PENDING!!\n");
- mTask.pending_int[1] = false;
- int2Evt();
- return;
- }
- if (mTask.pending_time_sync) {
- osLog(LOG_INFO, "Pending Time Sync Evt\n");
- mTask.pending_time_sync = false;
- timeSyncEvt();
- return;
- }
-
- for (i = ACC; i < NUM_OF_SENSOR; i++) {
- if (mTask.pending_config[i]) {
- osLog(LOG_INFO, "Process pending config event for %s\n", mSensorInfo[i].sensorName);
- mTask.pending_config[i] = false;
- configEvent(&mTask.sensors[i], &mTask.sensors[i].pConfig);
- return;
- }
- }
- if (mTask.sensors[STEPCNT].flush > 0) {
- stepCntFlushGetData();
- return;
- }
-}
-
static void handleSpiDoneEvt(const void* evtData)
{
struct BMI160Sensor *mSensor;
@@ -2179,40 +2151,25 @@
break;
case SENSOR_POWERING_UP:
mSensor = (struct BMI160Sensor *)evtData;
- if (mSensor->idx == MAG && mTask.mag_state != MAG_SET_DONE) {
- if (mTask.mag_state < MAG_SET_DATA && mTask.stateBuffer[1] & 0x04) {
- SPI_READ(BMI160_REG_STATUS, 1, mTask.stateBuffer, 1000);
- if (--mRetryLeft == 0) {
- osLog(LOG_ERROR, "bmi160: Enable MAG failed. Go back to IDLE\n");
- mTask.state = SENSOR_IDLE;
- processPendingEvt();
- break;
- }
- } else {
- mRetryLeft = RETRY_CNT_MAG;
- magConfig();
+ if (mSensor->idx <= MAG) {
+ if (++mTask.active_data_sensor_cnt == 1) {
+ // if this is the first data sensor to enable, we need to
+ // sync the sensor time and rtc time
+ invalidate_sensortime_to_rtc_time();
+ timTimerSet(kTimeSyncPeriodNs, 100, 100, timeSyncCallback, NULL, true);
+ } else if (mSensor->idx == GYR) {
+ minimize_sensortime_history();
}
+ configInt1(true);
} else {
- if (mSensor->idx <= MAG) {
- if (++mTask.active_data_sensor_cnt == 1) {
- // if this is the first data sensor to enable, we need to
- // sync the sensor time and rtc time
- invalidate_sensortime_to_rtc_time();
- timTimerSet(kTimeSyncPeriodNs, 100, 100, timeSyncCallback, NULL, true);
- } else if (mSensor->idx == GYR) {
- minimize_sensortime_history();
- }
- configInt1(true);
- } else {
- if (++mTask.active_oneshot_sensor_cnt == 1) {
- // if this is the first one-shot sensor to enable, we need
- // to request the accel at 50Hz.
- sensorRequest(mTask.tid, mTask.sensors[ACC].handle, SENSOR_HZ(50), SENSOR_LATENCY_NODATA);
- }
- configInt2(true);
+ if (++mTask.active_oneshot_sensor_cnt == 1) {
+ // if this is the first one-shot sensor to enable, we need
+ // to request the accel at 50Hz.
+ sensorRequest(mTask.tid, mTask.sensors[ACC].handle, SENSOR_HZ(50), SENSOR_LATENCY_NODATA);
}
- mTask.state = SENSOR_POWERING_UP_DONE;
+ configInt2(true);
}
+ mTask.state = SENSOR_POWERING_UP_DONE;
SPI_READ(BMI160_REG_ERR, 1, mTask.errBuffer);
SPI_READ(BMI160_REG_PMU_STATUS, 1, mTask.pmuBuffer);
spiBatchTxRx(&mTask.mode, sensorSpiCallback, mSensor);
