gyro: use async transaction

BossHobby · Apr 14, 2024 · e068a9f · e068a9f
1 parent b663008
commit e068a9f
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Showing 6 changed files with 59 additions and 41 deletions.
diff --git a/src/driver/spi.h b/src/driver/spi.h
@@ -148,33 +148,33 @@ static inline bool spi_txn_ready(spi_bus_device_t *bus) {
   return dev->txn_head == dev->txn_tail;
 }
 
-#define spi_seg_submit_wait(bus, segs)                                                                             \
-  {                                                                                                                \
-    static_assert(__builtin_types_compatible_p(spi_txn_segment_t[], typeof(segs)), "spi segment not const array"); \
-    const uint32_t count = sizeof(segs) / sizeof(spi_txn_segment_t);                                               \
-    static_assert(count < SPI_TXN_SEG_MAX, "spi segment count > max");                                             \
-    spi_seg_submit_wait_ex(bus, segs, count);                                                                      \
+#define spi_seg_submit_wait(_bus, _segs)                                                                            \
+  {                                                                                                                 \
+    static_assert(__builtin_types_compatible_p(spi_txn_segment_t[], typeof(_segs)), "spi segment not const array"); \
+    const uint32_t count = sizeof(_segs) / sizeof(spi_txn_segment_t);                                               \
+    static_assert(count < SPI_TXN_SEG_MAX, "spi segment count > max");                                              \
+    spi_seg_submit_wait_ex(_bus, _segs, count);                                                                     \
   }
-#define spi_seg_submit(bus, segs, ...)                                                                             \
-  {                                                                                                                \
-    static_assert(__builtin_types_compatible_p(spi_txn_segment_t[], typeof(segs)), "spi segment not const array"); \
-    const uint32_t count = sizeof(segs) / sizeof(spi_txn_segment_t);                                               \
-    static_assert(count < SPI_TXN_SEG_MAX, "spi segment count > max");                                             \
-    spi_seg_submit_ex(bus, (spi_txn_opts_t){.segs = segs, .seg_count = count, __VA_ARGS__});                       \
+#define spi_seg_submit(_bus, _segs, ...)                                                                            \
+  {                                                                                                                 \
+    static_assert(__builtin_types_compatible_p(spi_txn_segment_t[], typeof(_segs)), "spi segment not const array"); \
+    const uint32_t count = sizeof(_segs) / sizeof(spi_txn_segment_t);                                               \
+    static_assert(count < SPI_TXN_SEG_MAX, "spi segment count > max");                                              \
+    spi_seg_submit_ex(_bus, (spi_txn_opts_t){.segs = _segs, .seg_count = count, __VA_ARGS__});                      \
   }
-#define spi_seg_submit_continue(bus, segs, ...) ({ \
-  spi_seg_submit(bus, segs, __VA_ARGS__);          \
-  spi_txn_continue(bus);                           \
+#define spi_seg_submit_continue(_bus, _segs, ...) ({ \
+  spi_seg_submit(_bus, _segs, __VA_ARGS__);          \
+  spi_txn_continue(_bus);                            \
 })
 
 static inline void spi_txn_set_done(void *arg) { *((bool *)arg) = true; }
-#define spi_seg_submit_check(bus, segs, ...)                        \
+#define spi_seg_submit_check(_bus, _segs, ...)                      \
   ({                                                                \
     static volatile bool __did_submit__ = false;                    \
     static volatile bool __is_done__ = false;                       \
     if (!__did_submit__) {                                          \
       __VA_ARGS__;                                                  \
-      spi_seg_submit_continue(bus, segs,                            \
+      spi_seg_submit_continue(_bus, _segs,                          \
                               .done_fn = spi_txn_set_done,          \
                               .done_fn_arg = (void *)&__is_done__); \
       __did_submit__ = true;                                        \

diff --git a/src/driver/spi_bmi270.c b/src/driver/spi_bmi270.c
@@ -196,13 +196,9 @@ 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, 0xFF),
-      spi_make_seg_buffer(buf, NULL, 12),
-  };
-  spi_seg_submit_wait(&gyro_bus, gyro_segs);
+  static uint8_t buf[12];
 
   data->accel.pitch = -(int16_t)((buf[1] << 8) | buf[0]);
   data->accel.roll = -(int16_t)((buf[3] << 8) | buf[2]);
@@ -228,6 +224,14 @@ void bmi270_read_gyro_data(gyro_data_t *data) {
   data->gyro.yaw = gyro_data[2];
 
   data->temp = 0;
+
+  const spi_txn_segment_t segs[] = {
+      spi_make_seg_const(BMI270_REG_ACC_DATA_X_LSB | 0x80, 0xFF),
+      spi_make_seg_buffer(buf, NULL, 12),
+  };
+  spi_seg_submit(&gyro_bus, segs);
+  while (!spi_txn_continue(&gyro_bus))
+    ;
 }
 
 const uint8_t bmi270_config_file[8192] = {

diff --git a/src/driver/spi_bmi323.c b/src/driver/spi_bmi323.c
@@ -177,13 +177,9 @@ void bmi3_read_data(uint8_t reg, uint8_t *data, uint32_t size) {
 
 void bmi323_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(BMI323_REG_ACC_DATA_X_LSB | 0x80, 0xFF),
-      spi_make_seg_buffer(buf, NULL, 12),
-  };
-  spi_seg_submit_wait(&gyro_bus, gyro_segs);
+  static uint8_t buf[12];
 
   data->accel.pitch = -(int16_t)((buf[1] << 8) | buf[0]);
   data->accel.roll = -(int16_t)((buf[3] << 8) | buf[2]);
@@ -209,6 +205,14 @@ void bmi323_read_gyro_data(gyro_data_t *data) {
   data->gyro.yaw = gyro_data[2];
 
   data->temp = 0;
+
+  const spi_txn_segment_t segs[] = {
+      spi_make_seg_const(BMI323_REG_ACC_DATA_X_LSB | 0x80, 0xFF),
+      spi_make_seg_buffer(buf, NULL, 12),
+  };
+  spi_seg_submit(&gyro_bus, segs);
+  while (!spi_txn_continue(&gyro_bus))
+    ;
 }
 
 #endif
diff --git a/src/driver/spi_gyro.c b/src/driver/spi_gyro.c
@@ -108,6 +108,8 @@ 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
@@ -108,13 +108,9 @@ 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;
 
@@ -125,5 +121,13 @@ void icm42605_read_gyro_data(gyro_data_t *data) {
   data->gyro.pitch = (int16_t)((buf[8] << 8) | buf[9]);
   data->gyro.roll = (int16_t)((buf[10] << 8) | buf[11]);
   data->gyro.yaw = (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(&gyro_bus, segs);
+  while (!spi_txn_continue(&gyro_bus))
+    ;
 }
 #endif
diff --git a/src/driver/spi_mpu6xxx.c b/src/driver/spi_mpu6xxx.c
@@ -113,13 +113,9 @@ 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.pitch = -(int16_t)((buf[0] << 8) | buf[1]);
   data->accel.roll = -(int16_t)((buf[2] << 8) | buf[3]);
@@ -130,6 +126,14 @@ void mpu6xxx_read_gyro_data(gyro_data_t *data) {
   data->gyro.pitch = (int16_t)((buf[8] << 8) | buf[9]);
   data->gyro.roll = (int16_t)((buf[10] << 8) | buf[11]);
   data->gyro.yaw = (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(&gyro_bus, segs);
+  while (!spi_txn_continue(&gyro_bus))
+    ;
 }
 
 #endif