gyro: use async transaction

BossHobby · Nov 2, 2023 · 2c060ef · 2c060ef
1 parent 157c372
commit 2c060ef
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Showing 4 changed files with 27 additions and 19 deletions.
diff --git a/src/driver/spi_bmi270.c b/src/driver/spi_bmi270.c
@@ -200,14 +200,9 @@ void bmi270_read_data(uint8_t reg, uint8_t *data, uint32_t size) {
 
 void bmi270_read_gyro_data(gyro_data_t *data) {
   spi_bus_device_reconfigure(&gyro_bus, SPI_MODE_TRAILING_EDGE, SPI_SPEED_FAST);
+  spi_txn_wait(&gyro_bus);
 
-  uint8_t buf[12];
-  const spi_txn_segment_t gyro_segs[] = {
-      spi_make_seg_const(BMI270_REG_ACC_DATA_X_LSB | 0x80),
-      spi_make_seg_const(0xFF),
-      spi_make_seg_buffer(buf, NULL, 12),
-  };
-  spi_seg_submit_wait(&gyro_bus, gyro_segs);
+  static uint8_t buf[12];
 
   data->accel.axis[0] = -(int16_t)((buf[1] << 8) | buf[0]);
   data->accel.axis[1] = -(int16_t)((buf[3] << 8) | buf[2]);
@@ -233,6 +228,13 @@ void bmi270_read_gyro_data(gyro_data_t *data) {
   data->gyro.axis[2] = gyro_data[2];
 
   data->temp = 0;
+
+  const spi_txn_segment_t segs[] = {
+      spi_make_seg_const(BMI270_REG_ACC_DATA_X_LSB | 0x80),
+      spi_make_seg_const(0xFF),
+      spi_make_seg_buffer(buf, NULL, 12),
+  };
+  spi_seg_submit_continue(&gyro_bus, NULL, segs);
 }
 
 const uint8_t bmi270_config_file[8192] = {

diff --git a/src/driver/spi_gyro.c b/src/driver/spi_gyro.c
@@ -99,6 +99,8 @@ uint8_t gyro_spi_init() {
     break;
   }
 
+  gyro_spi_read(); // dummy read to fill buffers
+
   return gyro_type;
 }
 

diff --git a/src/driver/spi_icm42605.c b/src/driver/spi_icm42605.c
@@ -109,13 +109,9 @@ void icm42605_write(uint8_t reg, uint8_t data) {
 
 void icm42605_read_gyro_data(gyro_data_t *data) {
   spi_bus_device_reconfigure(&gyro_bus, SPI_MODE_TRAILING_EDGE, SPI_SPEED_FAST);
+  spi_txn_wait(&gyro_bus);
 
-  uint8_t buf[14];
-  const spi_txn_segment_t segs[] = {
-      spi_make_seg_const(ICM42605_TEMP_DATA1 | 0x80),
-      spi_make_seg_buffer(buf, NULL, 14),
-  };
-  spi_seg_submit_wait(&gyro_bus, segs);
+  static uint8_t buf[14];
 
   data->temp = (float)((int16_t)((buf[0] << 8) | buf[1])) / 132.48f + 25.f;
 
@@ -126,5 +122,11 @@ void icm42605_read_gyro_data(gyro_data_t *data) {
   data->gyro.axis[1] = (int16_t)((buf[8] << 8) | buf[9]);
   data->gyro.axis[0] = (int16_t)((buf[10] << 8) | buf[11]);
   data->gyro.axis[2] = (int16_t)((buf[12] << 8) | buf[13]);
+
+  const spi_txn_segment_t segs[] = {
+      spi_make_seg_const(ICM42605_TEMP_DATA1 | 0x80),
+      spi_make_seg_buffer(buf, NULL, 14),
+  };
+  spi_seg_submit_continue(&gyro_bus, NULL, segs);
 }
 #endif
diff --git a/src/driver/spi_mpu6xxx.c b/src/driver/spi_mpu6xxx.c
@@ -114,13 +114,9 @@ void mpu6xxx_write(uint8_t reg, uint8_t data) {
 
 void mpu6xxx_read_gyro_data(gyro_data_t *data) {
   spi_bus_device_reconfigure(&gyro_bus, SPI_MODE_TRAILING_EDGE, mpu6xxx_fast_divider());
+  spi_txn_wait(&gyro_bus);
 
-  uint8_t buf[14];
-  const spi_txn_segment_t segs[] = {
-      spi_make_seg_const(MPU_RA_ACCEL_XOUT_H | 0x80),
-      spi_make_seg_buffer(buf, NULL, 14),
-  };
-  spi_seg_submit_wait(&gyro_bus, segs);
+  static uint8_t buf[14];
 
   data->accel.axis[0] = -(int16_t)((buf[0] << 8) | buf[1]);
   data->accel.axis[1] = -(int16_t)((buf[2] << 8) | buf[3]);
@@ -131,6 +127,12 @@ void mpu6xxx_read_gyro_data(gyro_data_t *data) {
   data->gyro.axis[1] = (int16_t)((buf[8] << 8) | buf[9]);
   data->gyro.axis[0] = (int16_t)((buf[10] << 8) | buf[11]);
   data->gyro.axis[2] = (int16_t)((buf[12] << 8) | buf[13]);
+
+  const spi_txn_segment_t segs[] = {
+      spi_make_seg_const(MPU_RA_ACCEL_XOUT_H | 0x80),
+      spi_make_seg_buffer(buf, NULL, 14),
+  };
+  spi_seg_submit_continue(&gyro_bus, NULL, segs);
 }
 
 #endif
-Original file line number
+Diff line change
@@ Expand Up / @@ -99,6 +99,8 @@ uint8_t gyro_spi_init() { @@
         break;
       }
+      gyro_spi_read(); // dummy read to fill buffers
       return gyro_type;
     }
@@ Expand Down @@