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sensor_mpu9250: Simplify mp9250_query() 

The mpu9250 code always reads from the sensor in 48 byte chunks and
always sends an mpu9250_data message immediately after that.  Make
that more clear in the querying code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-17 17:17:16 -05:00
parent 49315b3cc4
commit 84aa3caa45
1 changed files with 10 additions and 14 deletions
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24
src/sensor_mpu9250.c
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@ -40,6 +40,7 @@
#define FIFO_OVERFLOW_INT 0x10 #define FIFO_OVERFLOW_INT 0x10
#define BYTES_PER_FIFO_ENTRY 6 #define BYTES_PER_FIFO_ENTRY 6
#define BYTES_PER_BLOCK 48
struct mpu9250 { struct mpu9250 {
struct timer timer; struct timer timer;
@ -49,7 +50,7 @@ struct mpu9250 {
uint8_t flags, data_count; uint8_t flags, data_count;
// msg size must be <= 255 due to Klipper api // msg size must be <= 255 due to Klipper api
// = SAMPLES_PER_BLOCK (from mpu9250.py) * BYTES_PER_FIFO_ENTRY + 1 // = SAMPLES_PER_BLOCK (from mpu9250.py) * BYTES_PER_FIFO_ENTRY + 1
uint8_t data[48]; uint8_t data[BYTES_PER_BLOCK];
}; };
enum { enum {
@ -126,28 +127,23 @@ mp9250_reschedule_timer(struct mpu9250 *mp)
static void static void
mp9250_query(struct mpu9250 *mp, uint8_t oid) mp9250_query(struct mpu9250 *mp, uint8_t oid)
{ {
// Find remaining space in report buffer
uint8_t data_space = sizeof(mp->data) - mp->data_count;
// If not enough bytes to fill report read MPU FIFO's fill // If not enough bytes to fill report read MPU FIFO's fill
if (mp->fifo_pkts_bytes < data_space) { if (mp->fifo_pkts_bytes < BYTES_PER_BLOCK)
mp->fifo_pkts_bytes = get_fifo_status(mp) / BYTES_PER_FIFO_ENTRY mp->fifo_pkts_bytes = get_fifo_status(mp);
* BYTES_PER_FIFO_ENTRY;
}
// If we have enough bytes to fill the buffer do it and send report // If we have enough bytes to fill the buffer do it and send report
if (mp->fifo_pkts_bytes >= data_space) { if (mp->fifo_pkts_bytes >= BYTES_PER_BLOCK) {
uint8_t reg = AR_FIFO; uint8_t reg = AR_FIFO;
i2c_read(mp->i2c->i2c_config, sizeof(reg), &reg, i2c_read(mp->i2c->i2c_config, sizeof(reg), &reg
data_space, &mp->data[mp->data_count]); , BYTES_PER_BLOCK, &mp->data[0]);
mp->data_count += data_space; mp->data_count = BYTES_PER_BLOCK;
mp->fifo_pkts_bytes -= data_space; mp->fifo_pkts_bytes -= BYTES_PER_BLOCK;
mp9250_report(mp, oid); mp9250_report(mp, oid);
} }
// If we have enough bytes remaining to fill another report wake again // If we have enough bytes remaining to fill another report wake again
// otherwise schedule timed wakeup // otherwise schedule timed wakeup
if (mp->fifo_pkts_bytes > data_space) { if (mp->fifo_pkts_bytes >= BYTES_PER_BLOCK) {
sched_wake_task(&mpu9250_wake); sched_wake_task(&mpu9250_wake);
} else if (mp->flags & AX_RUNNING) { } else if (mp->flags & AX_RUNNING) {
sched_del_timer(&mp->timer); sched_del_timer(&mp->timer);