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sensor_mpu9250: Check for overflows on each query_mpu9250_status command 

Move overflow detection from mp9250_stop() to
command_query_mpu9250_status().  Currently the host ignores any
contents returned from a stop request, so overflow reporting at that
point has limited utility.

In practice, this change will result in one additional i2c transaction
to the mpu9250 device every 100ms.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-20 16:48:29 -05:00
parent 84aa3caa45
commit 96ab906946
1 changed files with 12 additions and 10 deletions
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22
src/sensor_mpu9250.c
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@ -196,14 +196,6 @@ mp9250_stop(struct mpu9250 *mp, uint8_t oid)
i2c_write(mp->i2c->i2c_config, sizeof(msg), msg); i2c_write(mp->i2c->i2c_config, sizeof(msg), msg);
uint32_t end2_time = timer_read_time(); uint32_t end2_time = timer_read_time();
// Detect if a FIFO overrun occured
uint8_t int_reg[] = {AR_INT_STATUS};
uint8_t int_msg;
i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, sizeof(int_msg),
&int_msg);
if (int_msg & FIFO_OVERFLOW_INT)
mp->limit_count++;
// Report final data // Report final data
if (mp->data_count > 0) if (mp->data_count > 0)
mp9250_report(mp, oid); mp9250_report(mp, oid);
@ -245,14 +237,24 @@ void
command_query_mpu9250_status(uint32_t *args) command_query_mpu9250_status(uint32_t *args)
{ {
struct mpu9250 *mp = oid_lookup(args[0], command_config_mpu9250); struct mpu9250 *mp = oid_lookup(args[0], command_config_mpu9250);
// Detect if a FIFO overrun occurred
uint8_t int_reg[] = {AR_INT_STATUS};
uint8_t int_msg;
i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, sizeof(int_msg),
&int_msg);
if (int_msg & FIFO_OVERFLOW_INT)
mp->limit_count++;
// Read latest FIFO count (with precise timing)
uint8_t reg[] = {AR_FIFO_COUNT_H}; uint8_t reg[] = {AR_FIFO_COUNT_H};
uint8_t msg[2]; uint8_t msg[2];
uint32_t time1 = timer_read_time(); uint32_t time1 = timer_read_time();
i2c_read(mp->i2c->i2c_config, sizeof(reg), reg, sizeof(msg), msg); i2c_read(mp->i2c->i2c_config, sizeof(reg), reg, sizeof(msg), msg);
uint32_t time2 = timer_read_time(); uint32_t time2 = timer_read_time();
uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1]; uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1];
// Report status
mp9250_status(mp, args[0], time1, time2, fifo_bytes / BYTES_PER_FIFO_ENTRY); mp9250_status(mp, args[0], time1, time2, fifo_bytes / BYTES_PER_FIFO_ENTRY);
} }
DECL_COMMAND(command_query_mpu9250_status, "query_mpu9250_status oid=%c"); DECL_COMMAND(command_query_mpu9250_status, "query_mpu9250_status oid=%c");